2025-10-24T22:07:33.263Z,1761343653.263 [DataOverHttps](INFO): Received command: restart logs
2025-10-24T22:07:33.281Z,1761343653.281 [CommandExec](IMPORTANT): got command restart logs
2025-10-24T22:07:33.371Z,1761343653.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095176,0.989223,0.111258],[-0.995341,-0.096297,0.004736],[0.015399,-0.110289,0.993780]]
2025-10-24T22:07:33.775Z,1761343653.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114355,0.986025,0.121152],[-0.993324,-0.111622,-0.029135],[-0.015204,-0.123675,0.992206]]
2025-10-24T22:07:34.179Z,1761343654.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125666,0.984598,0.121549],[-0.991871,-0.127166,0.004633],[0.020019,-0.119979,0.992575]]
2025-10-24T22:07:34.583Z,1761343654.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128160,0.984198,0.122184],[-0.987574,-0.137946,0.075285],[0.090950,-0.111018,0.989648]]
2025-10-24T22:07:34.987Z,1761343654.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131561,0.986028,0.102181],[-0.989595,-0.136691,0.044906],[0.058246,-0.095210,0.993752]]
2025-10-24T22:07:35.268Z,1761343655.268 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:07:35.391Z,1761343655.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142015,0.986685,0.079275],[-0.989860,-0.141318,-0.014365],[-0.002971,-0.080511,0.996749]]
2025-10-24T22:07:35.794Z,1761343655.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130079,0.986521,0.099275],[-0.990954,-0.132689,0.020122],[0.033024,-0.095760,0.994857]]
2025-10-24T22:07:36.198Z,1761343656.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132279,0.984368,0.116282],[-0.990581,-0.135469,0.019936],[0.035377,-0.112549,0.993016]]
2025-10-24T22:07:36.603Z,1761343656.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118079,0.987893,0.100623],[-0.992546,-0.114340,-0.042172],[-0.030156,-0.104853,0.994030]]
2025-10-24T22:07:37.007Z,1761343657.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106690,0.993204,0.046518],[-0.993395,-0.104490,-0.047419],[-0.042236,-0.051270,0.997791]]
2025-10-24T22:07:37.411Z,1761343657.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151528,0.987225,0.049253],[-0.988330,-0.152105,0.008173],[0.015560,-0.047440,0.998753]]
2025-10-24T22:07:37.815Z,1761343657.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175732,0.979076,0.102607],[-0.984060,-0.177595,0.009238],[0.027268,-0.099348,0.994679]]
2025-10-24T22:07:38.220Z,1761343658.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159594,0.975743,0.149852],[-0.986630,-0.162733,0.008847],[0.033018,-0.146436,0.988669]]
2025-10-24T22:07:38.623Z,1761343658.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158282,0.976998,0.142904],[-0.985765,-0.164667,0.033945],[0.056695,-0.135497,0.989154]]
2025-10-24T22:07:39.027Z,1761343659.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175429,0.980734,0.085940],[-0.980075,-0.182236,0.079015],[0.093154,-0.070366,0.993162]]
2025-10-24T22:07:39.431Z,1761343659.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180100,0.983006,0.035534],[-0.974397,-0.183232,0.130295],[0.134591,-0.011158,0.990838]]
2025-10-24T22:07:39.835Z,1761343659.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164938,0.986167,0.016415],[-0.976795,-0.165631,0.135784],[0.136625,0.006361,0.990602]]
2025-10-24T22:07:40.267Z,1761343660.267 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,  -175,  -360A
2025-10-24T22:07:40.643Z,1761343660.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190621,0.975676,0.108261],[-0.981345,-0.192207,0.004304],[0.025008,-0.105421,0.994113]]
2025-10-24T22:07:41.047Z,1761343661.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198202,0.966057,0.165681],[-0.979854,-0.199517,-0.008836],[0.024520,-0.164095,0.986140]]
2025-10-24T22:07:41.451Z,1761343661.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183145,0.967284,0.175554],[-0.982888,-0.183752,-0.012938],[0.019743,-0.174919,0.984385]]
2025-10-24T22:07:41.855Z,1761343661.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171137,0.976284,0.132593],[-0.985117,-0.167367,-0.039162],[-0.016041,-0.137322,0.990397]]
2025-10-24T22:07:42.260Z,1761343662.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166903,0.980612,0.102684],[-0.985881,-0.164555,-0.030989],[-0.013491,-0.106406,0.994231]]
2025-10-24T22:07:42.663Z,1761343662.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175224,0.980104,0.093233],[-0.984447,-0.175638,-0.003811],[0.012640,-0.092451,0.995637]]
2025-10-24T22:07:43.067Z,1761343663.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197792,0.976922,0.080630],[-0.978805,-0.201288,0.037738],[0.053097,-0.071457,0.996029]]
2025-10-24T22:07:43.475Z,1761343663.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180205,0.981529,0.064242],[-0.981063,-0.184066,0.060295],[0.071006,-0.052160,0.996111]]
2025-10-24T22:07:43.875Z,1761343663.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166378,0.984749,0.050861],[-0.984134,-0.169056,0.053861],[0.061638,-0.041093,0.997252]]
2025-10-24T22:07:44.279Z,1761343664.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148321,0.987266,0.057497],[-0.987942,-0.150532,0.036217],[0.044411,-0.051432,0.997689]]
2025-10-24T22:07:44.682Z,1761343664.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147975,0.987594,0.052545],[-0.988876,-0.148558,0.007356],[0.015071,-0.050872,0.998591]]
2025-10-24T22:07:45.087Z,1761343665.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179770,0.978064,0.105226],[-0.983647,-0.179921,-0.008137],[0.010974,-0.104968,0.994415]]
2025-10-24T22:07:45.493Z,1761343665.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176559,0.965630,0.190751],[-0.984267,-0.171873,-0.040973],[-0.006779,-0.194984,0.980783]]
2025-10-24T22:07:45.894Z,1761343665.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181327,0.953597,0.240362],[-0.983034,-0.182627,-0.017049],[0.027638,-0.239376,0.970533]]
2025-10-24T22:07:46.299Z,1761343666.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174661,0.953204,0.246772],[-0.982168,-0.186370,0.024730],[0.069563,-0.238052,0.968758]]
2025-10-24T22:07:46.702Z,1761343666.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154266,0.967678,0.199503],[-0.986369,-0.162537,0.025667],[0.057264,-0.192824,0.979561]]
2025-10-24T22:07:47.108Z,1761343667.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124962,0.986302,0.107668],[-0.991967,-0.122052,-0.033237],[-0.019640,-0.110956,0.993631]]
2025-10-24T22:07:47.265Z,1761343667.265 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:07:47.511Z,1761343667.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105383,0.994232,0.019918],[-0.993508,-0.104401,-0.045182],[-0.042842,-0.024550,0.998780]]
2025-10-24T22:07:47.920Z,1761343667.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123575,0.992161,-0.018593],[-0.991805,-0.124100,-0.030374],[-0.032443,0.014687,0.999366]]
2025-10-24T22:07:48.319Z,1761343668.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151711,0.987788,0.035472],[-0.988402,-0.151364,-0.012293],[-0.006774,-0.036926,0.999295]]
2025-10-24T22:07:48.723Z,1761343668.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151282,0.984370,0.090167],[-0.987903,-0.153707,0.020540],[0.034078,-0.085969,0.995715]]
2025-10-24T22:07:49.126Z,1761343669.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153813,0.981552,0.113567],[-0.986194,-0.159634,0.044031],[0.061348,-0.105227,0.992554]]
2025-10-24T22:07:49.531Z,1761343669.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131180,0.986155,0.101436],[-0.989731,-0.136137,0.043572],[0.056778,-0.094679,0.993887]]
2025-10-24T22:07:50.013Z,1761343670.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110132,0.993433,0.031029],[-0.992885,-0.111386,0.042105],[0.045285,-0.026171,0.998631]]
2025-10-24T22:07:50.743Z,1761343670.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127086,0.991739,0.017390],[-0.991322,-0.127587,0.031644],[0.033602,-0.013217,0.999348]]
2025-10-24T22:07:51.147Z,1761343671.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108864,0.993187,0.041567],[-0.992639,-0.110846,0.048791],[0.053066,-0.035949,0.997944]]
2025-10-24T22:07:51.551Z,1761343671.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.116816,0.990923,0.066527],[-0.993113,-0.115944,-0.016839],[-0.008973,-0.068036,0.997643]]
2025-10-24T22:07:52.001Z,1761343672.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121461,0.977029,0.175104],[-0.992225,-0.124338,0.005515],[0.027160,-0.173073,0.984535]]
2025-10-24T22:07:52.762Z,1761343672.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118813,0.979386,0.163362],[-0.988922,-0.131466,0.068917],[0.088973,-0.153364,0.984156]]
2025-10-24T22:07:53.166Z,1761343673.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123647,0.984626,0.123383],[-0.990892,-0.129194,0.037981],[0.053338,-0.117563,0.991632]]
2025-10-24T22:07:53.571Z,1761343673.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134623,0.988248,0.072403],[-0.990641,-0.135889,0.012829],[0.022517,-0.069998,0.997293]]
2025-10-24T22:07:53.997Z,1761343673.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177491,0.981648,0.069747],[-0.982893,-0.173282,-0.062406],[-0.049175,-0.079631,0.995611]]
2025-10-24T22:07:54.784Z,1761343674.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177384,0.977336,0.115538],[-0.984093,-0.174975,-0.030751],[-0.009838,-0.119155,0.992827]]
2025-10-24T22:07:55.193Z,1761343675.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165361,0.976618,0.137378],[-0.980588,-0.177695,0.082899],[0.105372,-0.121003,0.987044]]
2025-10-24T22:07:55.597Z,1761343675.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144520,0.985399,0.090011],[-0.987548,-0.149351,0.049437],[0.062159,-0.081746,0.994713]]
2025-10-24T22:07:55.868Z,1761343675.868 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:07:56.002Z,1761343676.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141980,0.989181,0.036913],[-0.989768,-0.141333,-0.019600],[-0.014171,-0.039318,0.999126]]
2025-10-24T22:07:56.403Z,1761343676.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160092,0.986584,0.031976],[-0.986026,-0.158321,-0.051845],[-0.046087,-0.039830,0.998143]]
2025-10-24T22:07:56.805Z,1761343676.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165303,0.983261,0.076631],[-0.986117,-0.166021,0.003057],[0.015729,-0.075062,0.997055]]
2025-10-24T22:07:57.206Z,1761343677.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183903,0.976589,0.111598],[-0.982001,-0.187512,0.022662],[0.043058,-0.105422,0.993495]]
2025-10-24T22:07:57.611Z,1761343677.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193308,0.973026,0.125904],[-0.981106,-0.192737,-0.016819],[0.007901,-0.126776,0.991900]]
2025-10-24T22:07:58.017Z,1761343678.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185544,0.973298,0.135148],[-0.982171,-0.187923,0.004953],[0.030218,-0.131820,0.990813]]
2025-10-24T22:07:58.418Z,1761343678.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139087,0.982648,0.122712],[-0.988647,-0.144900,0.039753],[0.056844,-0.115790,0.991646]]
2025-10-24T22:07:58.822Z,1761343678.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132355,0.988314,0.075619],[-0.990865,-0.133914,0.015905],[0.025846,-0.072823,0.997010]]
2025-10-24T22:07:59.226Z,1761343679.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162982,0.984697,0.061717],[-0.986622,-0.162903,-0.006336],[0.003815,-0.061924,0.998074]]
2025-10-24T22:07:59.632Z,1761343679.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150627,0.984264,0.092387],[-0.988532,-0.150973,-0.003268],[0.010731,-0.091820,0.995718]]
2025-10-24T22:08:00.438Z,1761343680.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165831,0.983202,0.076248],[-0.981423,-0.156977,-0.110301],[-0.096479,-0.093123,0.990969]]
2025-10-24T22:08:00.843Z,1761343680.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187063,0.979769,0.071131],[-0.977548,-0.178511,-0.111955],[-0.096993,-0.090476,0.991164]]
2025-10-24T22:08:01.248Z,1761343681.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202382,0.976096,0.079237],[-0.979281,-0.201121,-0.023668],[-0.007166,-0.082385,0.996575]]
2025-10-24T22:08:01.651Z,1761343681.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180193,0.982136,0.054212],[-0.983111,-0.181615,0.022534],[0.031977,-0.049236,0.998275]]
2025-10-24T22:08:02.066Z,1761343682.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136025,0.989883,0.040352],[-0.990685,-0.136170,0.000846],[0.006332,-0.039861,0.999185]]
2025-10-24T22:08:02.462Z,1761343682.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131860,0.989516,0.058912],[-0.990861,-0.129868,-0.036458],[-0.028425,-0.063181,0.997597]]
2025-10-24T22:08:02.867Z,1761343682.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167354,0.982584,0.080757],[-0.984722,-0.162594,-0.062336],[-0.048119,-0.089955,0.994783]]
2025-10-24T22:08:03.271Z,1761343683.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167789,0.980719,0.100181],[-0.985821,-0.167137,-0.014929],[0.002103,-0.101266,0.994857]]
2025-10-24T22:08:03.675Z,1761343683.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129831,0.987838,0.085561],[-0.988880,-0.135313,0.061703],[0.072530,-0.076599,0.994420]]
2025-10-24T22:08:04.079Z,1761343684.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155773,0.986869,0.042705],[-0.985302,-0.158304,0.064186],[0.070103,-0.032079,0.997024]]
2025-10-24T22:08:04.482Z,1761343684.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183308,0.981170,0.060854],[-0.983026,-0.183433,-0.003573],[0.007657,-0.060476,0.998140]]
2025-10-24T22:08:04.496Z,1761343684.496 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:08:04.886Z,1761343684.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193315,0.977012,0.089869],[-0.979317,-0.186570,-0.078288],[-0.059721,-0.103145,0.992872]]
2025-10-24T22:08:05.290Z,1761343685.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189304,0.975712,0.110226],[-0.981673,-0.185549,-0.043479],[-0.021971,-0.116437,0.992955]]
2025-10-24T22:08:05.696Z,1761343685.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195453,0.975145,0.104362],[-0.978687,-0.200779,0.043132],[0.063014,-0.093707,0.993604]]
2025-10-24T22:08:06.101Z,1761343686.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177234,0.981689,0.069820],[-0.981355,-0.181643,0.062840],[0.074372,-0.057380,0.995578]]
2025-10-24T22:08:06.502Z,1761343686.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165121,0.985266,0.044559],[-0.985159,-0.166913,0.040016],[0.046864,-0.037290,0.998205]]
2025-10-24T22:08:06.906Z,1761343686.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184781,0.980110,0.072383],[-0.982099,-0.186892,0.023497],[0.036557,-0.066745,0.997100]]
2025-10-24T22:08:07.310Z,1761343687.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189333,0.972744,0.133877],[-0.981061,-0.193081,0.015472],[0.040899,-0.128412,0.990877]]
2025-10-24T22:08:07.716Z,1761343687.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159948,0.972916,0.166889],[-0.986954,-0.154470,-0.045390],[-0.018381,-0.171971,0.984930]]
2025-10-24T22:08:08.118Z,1761343688.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161135,0.975557,0.149415],[-0.983045,-0.145225,-0.111949],[-0.087514,-0.164921,0.982417]]
2025-10-24T22:08:08.524Z,1761343688.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189116,0.966843,0.171610],[-0.981147,-0.178964,-0.072960],[-0.039829,-0.182173,0.982460]]
2025-10-24T22:08:08.927Z,1761343688.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186925,0.965206,0.182857],[-0.982086,-0.188115,-0.010974],[0.023806,-0.181633,0.983078]]
2025-10-24T22:08:09.331Z,1761343689.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140922,0.984901,0.100557],[-0.990021,-0.140248,-0.013780],[0.000531,-0.101496,0.994836]]
2025-10-24T22:08:09.735Z,1761343689.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133222,0.991074,0.004981],[-0.989647,-0.132756,-0.054537],[-0.053389,-0.012195,0.998499]]
2025-10-24T22:08:10.543Z,1761343690.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162814,0.985983,0.036455],[-0.985705,-0.164168,0.037882],[0.043336,-0.029766,0.998617]]
2025-10-24T22:08:10.947Z,1761343690.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113820,0.989526,0.088786],[-0.988778,-0.121529,0.086877],[0.096757,-0.077901,0.992255]]
2025-10-24T22:08:11.350Z,1761343691.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110649,0.989846,0.089229],[-0.992173,-0.115243,0.048081],[0.057876,-0.083211,0.994850]]
2025-10-24T22:08:11.756Z,1761343691.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126695,0.984539,0.120963],[-0.991490,-0.129373,0.014521],[0.029946,-0.118094,0.992551]]
2025-10-24T22:08:12.160Z,1761343692.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105135,0.986600,0.124772],[-0.993962,-0.108215,0.018155],[0.031414,-0.122110,0.992019]]
2025-10-24T22:08:12.562Z,1761343692.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082955,0.992267,0.092331],[-0.995120,-0.087448,0.045717],[0.053437,-0.088087,0.994678]]
2025-10-24T22:08:12.966Z,1761343692.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090041,0.994113,0.060262],[-0.993330,-0.094016,0.066753],[0.072025,-0.053849,0.995948]]
2025-10-24T22:08:13.370Z,1761343693.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090517,0.994558,0.051591],[-0.993932,-0.093468,0.057984],[0.062490,-0.046029,0.996984]]
2025-10-24T22:08:13.777Z,1761343693.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089035,0.993081,0.076565],[-0.991643,-0.095586,0.086643],[0.093362,-0.068211,0.993293]]
2025-10-24T22:08:14.178Z,1761343694.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067771,0.989596,0.126910],[-0.980875,-0.089349,0.172916],[0.182457,-0.112764,0.976726]]
2025-10-24T22:08:14.582Z,1761343694.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031206,0.990655,0.132771],[-0.977381,-0.058043,0.203364],[0.209170,-0.123422,0.970059]]
2025-10-24T22:08:14.987Z,1761343694.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000202,0.996079,0.088473],[-0.985176,-0.014979,0.170890],[0.171545,-0.087196,0.981310]]
2025-10-24T22:08:15.392Z,1761343695.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001327,0.999383,0.035092],[-0.993356,-0.005355,0.114960],[0.115077,-0.034706,0.992750]]
2025-10-24T22:08:15.795Z,1761343695.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014320,0.998525,0.052379],[-0.996797,-0.018378,0.077833],[0.078681,-0.051097,0.995589]]
2025-10-24T22:08:16.198Z,1761343696.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023236,0.995475,0.092145],[-0.994825,-0.032142,0.096381],[0.098907,-0.089429,0.991070]]
2025-10-24T22:08:16.264Z,1761343696.264 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:08:16.602Z,1761343696.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043133,0.991228,0.124926],[-0.986016,-0.062383,0.154536],[0.160974,-0.116513,0.980057]]
2025-10-24T22:08:17.008Z,1761343697.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014938,0.990500,0.136696],[-0.980329,-0.041417,0.192978],[0.196806,-0.131124,0.971635]]
2025-10-24T22:08:17.411Z,1761343697.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060723,0.992354,0.107455],[-0.987301,0.043881,0.152681],[0.146798,-0.115362,0.982416]]
2025-10-24T22:08:17.816Z,1761343697.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101867,0.992221,0.071552],[-0.990757,0.094714,0.097105],[0.089573,-0.080782,0.992699]]
2025-10-24T22:08:18.219Z,1761343698.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086473,0.994441,0.060079],[-0.990207,0.079157,0.114999],[0.109604,-0.069435,0.991547]]
2025-10-24T22:08:18.624Z,1761343698.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085501,0.994680,0.057458],[-0.987449,0.076911,0.137947],[0.132794,-0.068532,0.988772]]
2025-10-24T22:08:19.026Z,1761343699.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094580,0.993582,0.062042],[-0.991518,0.088437,0.095243],[0.089145,-0.070524,0.993519]]
2025-10-24T22:08:19.430Z,1761343699.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121582,0.989678,0.075862],[-0.990615,0.116177,0.072008],[0.062451,-0.083905,0.994515]]
2025-10-24T22:08:19.835Z,1761343699.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154112,0.983155,0.098259],[-0.987346,0.149476,0.052958],[0.037379,-0.105177,0.993751]]
2025-10-24T22:08:20.239Z,1761343700.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155833,0.980357,0.120898],[-0.986917,0.159650,-0.022495],[-0.041355,-0.115811,0.992410]]
2025-10-24T22:08:20.644Z,1761343700.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133878,0.980973,0.140598],[-0.986448,0.145495,-0.075845],[-0.094858,-0.128539,0.987157]]
2025-10-24T22:08:21.046Z,1761343701.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131591,0.979939,0.149675],[-0.991049,0.133474,-0.002558],[-0.022484,-0.147998,0.988732]]
2025-10-24T22:08:21.450Z,1761343701.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174925,0.973840,0.145045],[-0.979284,0.156823,0.128101],[0.102004,-0.164448,0.981097]]
2025-10-24T22:08:21.855Z,1761343701.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219993,0.970403,0.099605],[-0.971316,0.208456,0.114416],[0.090267,-0.121919,0.988427]]
2025-10-24T22:08:22.259Z,1761343702.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233145,0.971782,0.035811],[-0.969328,0.229297,0.088466],[0.077759,-0.055338,0.995435]]
2025-10-24T22:08:22.662Z,1761343702.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215662,0.976440,0.007370],[-0.970996,0.213650,0.107332],[0.103228,-0.030303,0.994196]]
2025-10-24T22:08:23.066Z,1761343703.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220237,0.973912,0.054692],[-0.969014,0.212012,0.126737],[0.111836,-0.080909,0.990427]]
2025-10-24T22:08:23.470Z,1761343703.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234505,0.966847,0.101069],[-0.965569,0.219619,0.139438],[0.112618,-0.130288,0.985059]]
2025-10-24T22:08:23.879Z,1761343703.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244922,0.963156,0.111105],[-0.960854,0.225820,0.160518],[0.129514,-0.146070,0.980760]]
2025-10-24T22:08:24.278Z,1761343704.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250827,0.962339,0.104826],[-0.959614,0.232935,0.157739],[0.127381,-0.140158,0.981901]]
2025-10-24T22:08:24.682Z,1761343704.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280215,0.956352,0.082888],[-0.951365,0.265162,0.156825],[0.128001,-0.122801,0.984142]]
2025-10-24T22:08:24.824Z,1761343704.824 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:08:25.087Z,1761343705.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288575,0.957408,0.009690],[-0.941049,0.281749,0.187199],[0.176496,-0.063140,0.982274]]
2025-10-24T22:08:25.491Z,1761343705.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285153,0.956853,-0.055851],[-0.929538,0.290284,0.227363],[0.233766,-0.012918,0.972207]]
2025-10-24T22:08:25.895Z,1761343705.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293911,0.954189,-0.056043],[-0.925076,0.298718,0.234526],[0.240523,-0.017086,0.970493]]
2025-10-24T22:08:26.298Z,1761343706.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309397,0.950711,-0.020541],[-0.918387,0.304341,0.252868],[0.246656,-0.059372,0.967283]]
2025-10-24T22:08:26.703Z,1761343706.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331908,0.943285,-0.007082],[-0.917243,0.324480,0.231037],[0.220232,-0.070187,0.972919]]
2025-10-24T22:08:27.106Z,1761343707.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343615,0.938966,0.016453],[-0.923085,0.334477,0.189841],[0.172751,-0.080419,0.981677]]
2025-10-24T22:08:27.510Z,1761343707.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352825,0.934828,0.040139],[-0.922558,0.340391,0.181718],[0.156212,-0.101146,0.982531]]
2025-10-24T22:08:27.927Z,1761343707.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354601,0.933851,0.046689],[-0.921079,0.340289,0.189253],[0.160847,-0.110114,0.980818]]
2025-10-24T22:08:28.321Z,1761343708.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353662,0.933019,0.066319],[-0.921425,0.335313,0.196318],[0.160931,-0.130538,0.978295]]
2025-10-24T22:08:28.723Z,1761343708.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348578,0.934576,0.071147],[-0.924267,0.330142,0.191668],[0.155639,-0.132570,0.978878]]
2025-10-24T22:08:29.127Z,1761343709.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364850,0.930994,0.011585],[-0.905655,0.351978,0.236433],[0.216040,-0.096755,0.971579]]
2025-10-24T22:08:29.531Z,1761343709.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366400,0.926807,-0.082335],[-0.895989,0.375305,0.237382],[0.250908,-0.013205,0.967921]]
2025-10-24T22:08:29.987Z,1761343709.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348192,0.934199,-0.077685],[-0.928641,0.355061,0.107506],[0.128015,0.034709,0.991165]]
2025-10-24T22:08:30.339Z,1761343710.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370762,0.928642,0.012668],[-0.928615,0.370895,-0.010510],[-0.014459,-0.007867,0.999865]]
2025-10-24T22:08:30.742Z,1761343710.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380934,0.922813,0.057486],[-0.923964,0.382245,-0.013421],[-0.034359,-0.048002,0.998256]]
2025-10-24T22:08:31.146Z,1761343711.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361045,0.931387,0.046527],[-0.931916,0.358516,0.054756],[0.034319,-0.063128,0.997415]]
2025-10-24T22:08:31.552Z,1761343711.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372520,0.926384,0.055145],[-0.925120,0.366001,0.100979],[0.073363,-0.088633,0.993359]]
2025-10-24T22:08:31.987Z,1761343711.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393644,0.917687,0.053805],[-0.915794,0.386405,0.109605],[0.079792,-0.092420,0.992518]]
2025-10-24T22:08:32.358Z,1761343712.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366063,0.929344,0.048149],[-0.925573,0.358237,0.122394],[0.096497,-0.089369,0.991313]]
2025-10-24T22:08:32.762Z,1761343712.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340807,0.936394,0.083771],[-0.937863,0.332443,0.099466],[0.065290,-0.112464,0.991508]]
2025-10-24T22:08:33.167Z,1761343713.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354101,0.930155,0.097075],[-0.934998,0.349914,0.057783],[0.019780,-0.111226,0.993598]]
2025-10-24T22:08:33.440Z,1761343713.440 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:08:33.570Z,1761343713.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375371,0.925170,0.056185],[-0.926811,0.375364,0.011069],[-0.010849,-0.056228,0.998359]]
2025-10-24T22:08:33.990Z,1761343713.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368818,0.929255,-0.021399],[-0.929083,0.369245,0.021515],[0.027894,0.011947,0.999539]]
2025-10-24T22:08:34.378Z,1761343714.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356635,0.933243,-0.043236],[-0.928233,0.359202,0.096734],[0.105807,0.005635,0.994371]]
2025-10-24T22:08:34.782Z,1761343714.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355121,0.934377,-0.028785],[-0.924745,0.355636,0.135534],[0.136876,-0.021512,0.990354]]
2025-10-24T22:08:35.187Z,1761343715.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365121,0.930842,-0.014854],[-0.919691,0.363130,0.149350],[0.144416,-0.040870,0.988673]]
2025-10-24T22:08:35.590Z,1761343715.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383071,0.923702,0.005634],[-0.915372,0.378785,0.136439],[0.123895,-0.057423,0.990632]]
2025-10-24T22:08:35.999Z,1761343715.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382758,0.922221,0.054815],[-0.922786,0.378800,0.070541],[0.044291,-0.077583,0.996002]]
2025-10-24T22:08:36.398Z,1761343716.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379107,0.922377,0.074151],[-0.925126,0.379569,0.008304],[-0.020486,-0.071747,0.997212]]
2025-10-24T22:08:36.802Z,1761343716.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386475,0.921059,0.047823],[-0.921324,0.387931,-0.025901],[-0.042409,-0.034050,0.998520]]
2025-10-24T22:08:37.206Z,1761343717.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386049,0.922289,-0.018668],[-0.922402,0.385678,-0.020687],[-0.011879,0.025206,0.999612]]
2025-10-24T22:08:37.612Z,1761343717.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382896,0.922908,-0.040394],[-0.922332,0.384382,0.039421],[0.051909,0.022163,0.998406]]
2025-10-24T22:08:38.015Z,1761343718.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397171,0.917735,0.004113],[-0.915167,0.395716,0.076671],[0.068736,-0.034216,0.997048]]
2025-10-24T22:08:38.419Z,1761343718.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397254,0.914921,0.071480],[-0.917491,0.394254,0.052671],[0.020009,-0.086505,0.996050]]
2025-10-24T22:08:38.823Z,1761343718.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393354,0.913235,0.106178],[-0.919371,0.391387,0.039649],[-0.005348,-0.113213,0.993556]]
2025-10-24T22:08:39.226Z,1761343719.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399699,0.913225,0.079125],[-0.916167,0.395208,0.066702],[0.029643,-0.099153,0.994631]]
2025-10-24T22:08:39.633Z,1761343719.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409933,0.910757,0.049767],[-0.911470,0.406981,0.059899],[0.034300,-0.069916,0.996963]]
2025-10-24T22:08:40.443Z,1761343720.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416442,0.909127,-0.008035],[-0.902614,0.414485,0.116146],[0.108922,-0.041116,0.993200]]
2025-10-24T22:08:40.848Z,1761343720.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414720,0.909145,0.038258],[-0.905752,0.408408,0.113205],[0.087295,-0.081601,0.992835]]
2025-10-24T22:08:41.252Z,1761343721.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434127,0.897688,0.075434],[-0.900330,0.429503,0.070241],[0.030656,-0.098409,0.994674]]
2025-10-24T22:08:41.654Z,1761343721.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436310,0.898308,0.051736],[-0.898347,0.431625,0.081682],[0.051045,-0.082116,0.995315]]
2025-10-24T22:08:42.055Z,1761343722.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427671,0.903613,0.024099],[-0.896814,0.420811,0.136538],[0.113236,-0.080006,0.990342]]
2025-10-24T22:08:42.124Z,1761343722.124 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:08:42.458Z,1761343722.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403709,0.913917,0.042139],[-0.912502,0.398905,0.090633],[0.066022,-0.075041,0.994992]]
2025-10-24T22:08:42.864Z,1761343722.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396236,0.913141,0.095759],[-0.916590,0.399480,-0.016663],[-0.053470,-0.081169,0.995265]]
2025-10-24T22:08:43.269Z,1761343723.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416451,0.905189,0.084862],[-0.904365,0.422019,-0.063430],[-0.093229,-0.050331,0.994372]]
2025-10-24T22:08:43.671Z,1761343723.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418631,0.907901,0.021532],[-0.907898,0.418960,-0.013919],[-0.021658,-0.013722,0.999671]]
2025-10-24T22:08:44.075Z,1761343724.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409108,0.912102,-0.026474],[-0.910127,0.409963,0.059997],[0.065577,-0.000450,0.997847]]
2025-10-24T22:08:44.480Z,1761343724.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434795,0.900330,-0.018944],[-0.893742,0.434000,0.113444],[0.110359,-0.032394,0.993364]]
2025-10-24T22:08:44.883Z,1761343724.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420423,0.907041,0.022821],[-0.902993,0.415827,0.108127],[0.088586,-0.066066,0.993875]]
2025-10-24T22:08:45.287Z,1761343725.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407818,0.911046,0.060658],[-0.912550,0.404462,0.060523],[0.030606,-0.080036,0.996322]]
2025-10-24T22:08:45.690Z,1761343725.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425645,0.904573,0.023967],[-0.904890,0.425501,0.011065],[-0.000189,-0.026398,0.999651]]
2025-10-24T22:08:46.095Z,1761343726.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424855,0.904566,-0.035484],[-0.905082,0.425224,0.003230],[0.018011,0.030743,0.999365]]
2025-10-24T22:08:46.500Z,1761343726.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406364,0.913491,-0.020054],[-0.912997,0.406817,0.030621],[0.036130,0.005866,0.999330]]
2025-10-24T22:08:46.902Z,1761343726.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393956,0.917941,0.046722],[-0.918003,0.390449,0.069422],[0.045483,-0.070240,0.996493]]
2025-10-24T22:08:47.306Z,1761343727.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407022,0.908245,0.097081],[-0.911969,0.398089,0.099186],[0.051438,-0.128906,0.990322]]
2025-10-24T22:08:47.711Z,1761343727.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424211,0.897044,0.123922],[-0.905427,0.417778,0.075258],[0.015738,-0.144128,0.989434]]
2025-10-24T22:08:48.116Z,1761343728.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423925,0.897800,0.119341],[-0.904829,0.425595,0.012406],[-0.039653,-0.113242,0.992776]]
2025-10-24T22:08:48.518Z,1761343728.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413742,0.909072,0.049049],[-0.910381,0.412842,0.027724],[0.004953,-0.056124,0.998411]]
2025-10-24T22:08:48.922Z,1761343728.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411404,0.911264,-0.018570],[-0.908117,0.411555,0.077112],[0.077912,-0.014860,0.996850]]
2025-10-24T22:08:49.327Z,1761343729.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402006,0.914957,-0.035288],[-0.913138,0.403457,0.058325],[0.067602,0.008776,0.997674]]
2025-10-24T22:08:49.732Z,1761343729.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411163,0.911378,-0.018328],[-0.911496,0.411292,0.003781],[0.010984,0.015151,0.999825]]
2025-10-24T22:08:50.538Z,1761343730.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433707,0.901025,-0.007197],[-0.897174,0.432566,0.089248],[0.083528,-0.032250,0.995983]]
2025-10-24T22:08:50.628Z,1761343730.628 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:08:50.943Z,1761343730.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404922,0.912961,0.050405],[-0.911034,0.398149,0.107210],[0.077809,-0.089332,0.992958]]
2025-10-24T22:08:51.350Z,1761343731.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411530,0.904311,0.113424],[-0.911395,0.408093,0.053100],[0.001732,-0.125226,0.992127]]
2025-10-24T22:08:51.751Z,1761343731.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409998,0.905932,0.105777],[-0.912022,0.408584,0.035717],[-0.010862,-0.111115,0.993748]]
2025-10-24T22:08:52.154Z,1761343732.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381494,0.920827,0.080866],[-0.924061,0.377636,0.059186],[0.023962,-0.097304,0.994966]]
2025-10-24T22:08:52.558Z,1761343732.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360747,0.930708,0.060363],[-0.932526,0.358827,0.040466],[0.016002,-0.070888,0.997356]]
2025-10-24T22:08:52.964Z,1761343732.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372289,0.926649,0.052178],[-0.928083,0.372166,0.012415],[-0.007915,-0.053047,0.998561]]
2025-10-24T22:08:53.368Z,1761343733.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385838,0.921465,0.045064],[-0.922534,0.385773,0.010485],[-0.007723,-0.045619,0.998929]]
2025-10-24T22:08:53.771Z,1761343733.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371720,0.927460,0.040514],[-0.928233,0.370643,0.031735],[0.014417,-0.049403,0.998675]]
2025-10-24T22:08:54.175Z,1761343734.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368996,0.927649,0.057525],[-0.928915,0.366022,0.056070],[0.030958,-0.074125,0.996768]]
2025-10-24T22:08:54.579Z,1761343734.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362965,0.929844,0.060385],[-0.930360,0.358036,0.079002],[0.051840,-0.084855,0.995044]]
2025-10-24T22:08:54.982Z,1761343734.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343609,0.935964,0.076846],[-0.939083,0.341798,0.036007],[0.007435,-0.084537,0.996393]]
2025-10-24T22:08:55.388Z,1761343735.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348188,0.934950,0.068067],[-0.937340,0.346265,0.038647],[0.012564,-0.077258,0.996932]]
2025-10-24T22:08:55.790Z,1761343735.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347942,0.937509,-0.003727],[-0.933357,0.346769,0.092709],[0.088208,-0.028779,0.995686]]
2025-10-24T22:08:56.196Z,1761343736.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335489,0.940581,-0.052475],[-0.934759,0.339292,0.105384],[0.116927,0.013697,0.993046]]
2025-10-24T22:08:56.598Z,1761343736.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325300,0.945284,-0.024880],[-0.943442,0.326222,0.059128],[0.064009,0.004238,0.997940]]
2025-10-24T22:08:57.002Z,1761343737.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326366,0.944341,0.041291],[-0.945025,0.326918,-0.007211],[-0.020308,-0.036667,0.999121]]
2025-10-24T22:08:57.408Z,1761343737.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328517,0.939689,0.095195],[-0.943779,0.330528,-0.005738],[-0.036856,-0.087958,0.995442]]
2025-10-24T22:08:57.811Z,1761343737.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348638,0.931404,0.104591],[-0.937083,0.344244,0.058057],[0.018070,-0.118252,0.992819]]
2025-10-24T22:08:58.214Z,1761343738.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321949,0.942628,0.088329],[-0.945922,0.316344,0.071825],[0.039762,-0.106676,0.993499]]
2025-10-24T22:08:58.618Z,1761343738.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288003,0.955548,0.063105],[-0.957165,0.285186,0.050031],[0.029810,-0.074811,0.996752]]
2025-10-24T22:08:59.022Z,1761343739.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282875,0.958690,0.029916],[-0.958384,0.281257,0.048937],[0.038502,-0.042514,0.998354]]
2025-10-24T22:08:59.340Z,1761343739.340 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:08:59.428Z,1761343739.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284139,0.958656,0.015621],[-0.956981,0.282569,0.065887],[0.058749,-0.033670,0.997705]]
2025-10-24T22:08:59.830Z,1761343739.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266653,0.963040,0.038085],[-0.960546,0.262306,0.092453],[0.079046,-0.061235,0.994988]]
2025-10-24T22:09:00.255Z,1761343740.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259085,0.963928,0.060970],[-0.960821,0.250785,0.118026],[0.098478,-0.089160,0.991137]]
2025-10-24T22:09:00.639Z,1761343740.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257142,0.964871,0.053873],[-0.960444,0.249000,0.124686],[0.106892,-0.083804,0.990732]]
2025-10-24T22:09:01.044Z,1761343741.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262208,0.963737,0.049568],[-0.962074,0.257060,0.091284],[0.075232,-0.071624,0.994591]]
2025-10-24T22:09:01.446Z,1761343741.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283387,0.958782,0.020693],[-0.956140,0.280808,0.083332],[0.074087,-0.043401,0.996307]]
2025-10-24T22:09:01.850Z,1761343741.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252821,0.966757,-0.038230],[-0.956000,0.255695,0.143819],[0.148813,0.000187,0.988865]]
2025-10-24T22:09:02.257Z,1761343742.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208589,0.976792,-0.048654],[-0.960353,0.213980,0.178701],[0.184965,0.009449,0.982700]]
2025-10-24T22:09:02.658Z,1761343742.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220354,0.974881,0.032406],[-0.970327,0.215693,0.109278],[0.099543,-0.055524,0.993483]]
2025-10-24T22:09:03.063Z,1761343743.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237653,0.964006,0.119217],[-0.971157,0.238255,0.009390],[-0.019352,-0.118010,0.992824]]
2025-10-24T22:09:03.468Z,1761343743.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240395,0.952236,0.188302],[-0.969560,0.244855,-0.000440],[-0.046526,-0.182464,0.982111]]
2025-10-24T22:09:03.873Z,1761343743.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233148,0.954311,0.186904],[-0.972436,0.229465,0.041414],[-0.003366,-0.191407,0.981505]]
2025-10-24T22:09:04.275Z,1761343744.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206061,0.967736,0.145005],[-0.978537,0.204064,0.028681],[-0.001834,-0.147803,0.989015]]
2025-10-24T22:09:04.679Z,1761343744.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173416,0.980799,0.089224],[-0.983833,0.176638,-0.029522],[-0.044716,-0.082662,0.995574]]
2025-10-24T22:09:05.082Z,1761343745.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197725,0.979919,0.025753],[-0.980087,0.197131,0.023860],[0.018305,-0.029958,0.999384]]
2025-10-24T22:09:05.488Z,1761343745.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204407,0.977856,-0.044896],[-0.974324,0.207663,0.086999],[0.094396,0.025960,0.995196]]
2025-10-24T22:09:05.890Z,1761343745.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156244,0.985959,-0.058930],[-0.986323,0.158916,0.043743],[0.052494,0.051289,0.997303]]
2025-10-24T22:09:06.294Z,1761343746.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140063,0.989804,-0.025899],[-0.990131,0.139885,-0.008570],[-0.004859,0.026844,0.999628]]
2025-10-24T22:09:06.699Z,1761343746.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144270,0.989536,0.002335],[-0.989527,0.144257,0.005049],[0.004659,-0.003039,0.999985]]
2025-10-24T22:09:07.105Z,1761343747.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134245,0.990099,0.041007],[-0.990922,0.133827,0.012790],[0.007175,-0.042352,0.999077]]
2025-10-24T22:09:07.506Z,1761343747.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130594,0.985896,0.104662],[-0.991418,0.130505,0.007735],[-0.006033,-0.104774,0.994478]]
2025-10-24T22:09:07.914Z,1761343747.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122722,0.982788,0.138085],[-0.992146,0.118100,0.041213],[0.024195,-0.142058,0.989563]]
2025-10-24T22:09:08.020Z,1761343748.020 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:09:08.314Z,1761343748.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096551,0.986190,0.134560],[-0.992906,0.086006,0.082103],[0.069397,-0.141533,0.987498]]
2025-10-24T22:09:08.720Z,1761343748.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086072,0.988233,0.126441],[-0.995532,0.080365,0.049568],[0.038823,-0.130143,0.990735]]
2025-10-24T22:09:09.122Z,1761343749.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063819,0.992747,0.101885],[-0.997137,0.059284,0.046940],[0.040559,-0.104589,0.993688]]
2025-10-24T22:09:09.526Z,1761343749.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057562,0.993335,0.099863],[-0.995080,0.049007,0.086104],[0.080636,-0.104329,0.991269]]
2025-10-24T22:09:09.970Z,1761343749.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072148,0.994473,0.076277],[-0.994009,0.065397,0.087576],[0.082104,-0.082138,0.993233]]
2025-10-24T22:09:10.337Z,1761343750.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073660,0.995453,0.060393],[-0.992995,0.067598,0.096914],[0.092391,-0.067108,0.993459]]
2025-10-24T22:09:10.738Z,1761343750.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082303,0.993755,0.075345],[-0.992226,0.074626,0.099590],[0.093346,-0.082955,0.992172]]
2025-10-24T22:09:11.142Z,1761343751.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088845,0.992321,0.086055],[-0.992495,0.080909,0.091693],[0.084026,-0.093555,0.992062]]
2025-10-24T22:09:11.546Z,1761343751.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092716,0.989648,0.109545],[-0.990951,0.080991,0.107032],[0.097052,-0.118477,0.988202]]
2025-10-24T22:09:11.992Z,1761343751.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110627,0.987087,0.115846],[-0.993403,0.106281,0.043065],[0.030196,-0.119846,0.992333]]
2025-10-24T22:09:12.354Z,1761343752.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098190,0.990298,0.098332],[-0.994435,0.101430,-0.028494],[-0.038191,-0.094987,0.994746]]
2025-10-24T22:09:12.758Z,1761343752.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079241,0.993415,0.082752],[-0.996722,0.080315,-0.009722],[-0.016304,-0.081711,0.996523]]
2025-10-24T22:09:13.162Z,1761343753.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087740,0.992437,0.085852],[-0.996141,0.087582,0.005621],[-0.001941,-0.086014,0.996292]]
2025-10-24T22:09:13.569Z,1761343753.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084333,0.992521,0.088260],[-0.995857,0.086977,-0.026546],[-0.034024,-0.085655,0.995744]]
2025-10-24T22:09:13.991Z,1761343753.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073339,0.991337,0.108959],[-0.995361,0.079580,-0.054075],[-0.062278,-0.104488,0.992574]]
2025-10-24T22:09:14.375Z,1761343754.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055139,0.989771,0.131581],[-0.997408,0.060702,-0.038645],[-0.046237,-0.129109,0.990552]]
2025-10-24T22:09:14.779Z,1761343754.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043853,0.989604,0.136973],[-0.998937,0.045381,-0.008055],[-0.014188,-0.136475,0.990542]]
2025-10-24T22:09:15.183Z,1761343755.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060746,0.994235,0.088352],[-0.997631,0.057613,0.037590],[0.032283,-0.090426,0.995380]]
2025-10-24T22:09:15.588Z,1761343755.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073029,0.997012,0.025159],[-0.993748,0.070608,0.086485],[0.084450,-0.031317,0.995935]]
2025-10-24T22:09:15.995Z,1761343755.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068287,0.997642,0.006823],[-0.997174,0.068038,0.031844],[0.031305,-0.008978,0.999470]]
2025-10-24T22:09:16.394Z,1761343756.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051337,0.998602,0.012612],[-0.998207,0.051698,-0.030155],[-0.030765,-0.011042,0.999466]]
2025-10-24T22:09:16.536Z,1761343756.536 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:09:16.798Z,1761343756.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024804,0.997822,0.061129],[-0.998833,0.022202,0.042889],[0.041439,-0.062122,0.997208]]
2025-10-24T22:09:17.202Z,1761343757.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055491,0.989377,0.134365],[-0.994104,0.042190,0.099889],[0.093159,-0.139115,0.985885]]
2025-10-24T22:09:17.606Z,1761343757.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078612,0.975577,0.205109],[-0.996439,0.070604,0.046082],[0.030475,-0.208002,0.977654]]
2025-10-24T22:09:18.011Z,1761343758.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059706,0.970628,0.233058],[-0.998036,0.062482,-0.004537],[-0.018966,-0.232330,0.972452]]
2025-10-24T22:09:18.416Z,1761343758.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060027,0.976297,0.207943],[-0.998106,0.061510,-0.000667],[-0.013442,-0.207509,0.978141]]
2025-10-24T22:09:18.818Z,1761343758.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079751,0.989272,0.122394],[-0.995871,0.073730,0.052966],[0.043373,-0.126113,0.991067]]
2025-10-24T22:09:19.222Z,1761343759.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097497,0.994841,0.028018],[-0.993810,0.095813,0.056230],[0.053256,-0.033326,0.998025]]
2025-10-24T22:09:19.627Z,1761343759.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100269,0.994566,-0.028023],[-0.994785,0.099682,-0.021620],[-0.018709,0.030045,0.999373]]
2025-10-24T22:09:20.032Z,1761343760.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094123,0.995511,-0.009937],[-0.994105,0.093441,-0.054990],[-0.053815,0.015054,0.998437]]
2025-10-24T22:09:20.434Z,1761343760.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087248,0.994181,0.063174],[-0.995530,0.089318,-0.030707],[-0.036171,-0.060213,0.997530]]
2025-10-24T22:09:20.839Z,1761343760.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076584,0.984473,0.157949],[-0.997013,0.077209,0.002184],[-0.010045,-0.157644,0.987445]]
2025-10-24T22:09:21.243Z,1761343761.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054310,0.974809,0.216327],[-0.995853,0.037043,0.083092],[0.072985,-0.219942,0.972779]]
2025-10-24T22:09:21.647Z,1761343761.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091333,0.972199,0.215607],[-0.984758,0.055993,0.164673],[0.148022,-0.227361,0.962495]]
2025-10-24T22:09:22.050Z,1761343762.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164776,0.972011,0.167461],[-0.978918,0.140387,0.148359],[0.120698,-0.188376,0.974652]]
2025-10-24T22:09:22.454Z,1761343762.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170778,0.980752,0.094657],[-0.983908,0.164624,0.069462],[0.052542,-0.104996,0.993084]]
2025-10-24T22:09:22.862Z,1761343762.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163698,0.986281,0.021300],[-0.986245,0.163115,0.026730],[0.022889,-0.025382,0.999416]]
2025-10-24T22:09:23.262Z,1761343763.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184413,0.981707,-0.047363],[-0.981973,0.186069,0.033283],[0.041487,0.040371,0.998323]]
2025-10-24T22:09:23.666Z,1761343763.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175994,0.983354,-0.045174],[-0.984306,0.175189,-0.021234],[-0.012966,0.048203,0.998753]]
2025-10-24T22:09:24.070Z,1761343764.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169464,0.985370,0.018112],[-0.985505,0.169578,-0.004915],[-0.007914,-0.017016,0.999824]]
2025-10-24T22:09:24.476Z,1761343764.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178245,0.979050,0.098442],[-0.982053,0.170734,0.080136],[0.061649,-0.110959,0.991911]]
2025-10-24T22:09:24.888Z,1761343764.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191538,0.972747,0.130679],[-0.975966,0.174664,0.130321],[0.103944,-0.152499,0.982822]]
2025-10-24T22:09:25.285Z,1761343765.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216671,0.970280,0.107753],[-0.967230,0.198394,0.158449],[0.132363,-0.138554,0.981470]]
2025-10-24T22:09:25.292Z,1761343765.292 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:09:25.692Z,1761343765.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218926,0.975316,0.028817],[-0.975500,0.218119,0.028721],[0.021727,-0.034399,0.999172]]
2025-10-24T22:09:26.096Z,1761343766.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240156,0.970582,0.017208],[-0.969275,0.240729,-0.050560],[-0.053215,-0.004537,0.998573]]
2025-10-24T22:09:26.501Z,1761343766.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249526,0.968367,-0.001245],[-0.967419,0.249224,-0.044584],[-0.042863,0.012329,0.999005]]
2025-10-24T22:09:26.905Z,1761343766.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279289,0.960165,0.008951],[-0.959964,0.278996,0.025086],[0.021589,-0.015599,0.999645]]
2025-10-24T22:09:27.336Z,1761343767.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274768,0.960895,0.034391],[-0.960845,0.273072,0.047008],[0.035779,-0.045960,0.998302]]
2025-10-24T22:09:27.707Z,1761343767.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253166,0.964264,0.078117],[-0.967354,0.253288,0.008518],[-0.011573,-0.077723,0.996908]]
2025-10-24T22:09:28.112Z,1761343768.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253677,0.961843,0.102496],[-0.966100,0.257191,-0.022439],[-0.047944,-0.093329,0.994480]]
2025-10-24T22:09:28.514Z,1761343768.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263688,0.958607,0.107431],[-0.963616,0.266828,-0.015724],[-0.043739,-0.099376,0.994088]]
2025-10-24T22:09:28.919Z,1761343768.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276642,0.956962,0.087709],[-0.959693,0.270412,0.076594],[0.049580,-0.105363,0.993197]]
2025-10-24T22:09:29.323Z,1761343769.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288269,0.956839,0.036869],[-0.946655,0.278986,0.161280],[0.144033,-0.081394,0.986220]]
2025-10-24T22:09:29.728Z,1761343769.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275635,0.961122,0.016440],[-0.955838,0.272225,0.110757],[0.101976,-0.046243,0.993711]]
2025-10-24T22:09:30.130Z,1761343770.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265290,0.963885,0.023378],[-0.963962,0.264654,0.027124],[0.019958,-0.029731,0.999359]]
2025-10-24T22:09:30.534Z,1761343770.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254686,0.966951,0.011904],[-0.966693,0.254257,0.029288],[0.025294,-0.018967,0.999500]]
2025-10-24T22:09:30.940Z,1761343770.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260276,0.965524,0.004454],[-0.965006,0.259978,0.034280],[0.031940,-0.013221,0.999402]]
2025-10-24T22:09:31.343Z,1761343771.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260640,0.965129,0.024355],[-0.965193,0.259925,0.029012],[0.021670,-0.031069,0.999282]]
2025-10-24T22:09:31.746Z,1761343771.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256900,0.963960,0.069168],[-0.966425,0.255867,0.023553],[0.005006,-0.072897,0.997327]]
2025-10-24T22:09:32.150Z,1761343772.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250229,0.964523,0.084152],[-0.968184,0.249476,0.019517],[-0.002169,-0.086358,0.996262]]
2025-10-24T22:09:32.554Z,1761343772.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259590,0.962837,0.074544],[-0.965489,0.257071,0.041770],[0.021054,-0.082815,0.996343]]
2025-10-24T22:09:32.961Z,1761343772.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276304,0.960025,0.044805],[-0.960130,0.273673,0.057033],[0.042491,-0.058777,0.997366]]
2025-10-24T22:09:33.362Z,1761343773.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266654,0.962891,0.041668],[-0.963589,0.265461,0.032032],[0.019782,-0.048693,0.998618]]
2025-10-24T22:09:33.766Z,1761343773.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235156,0.970003,0.061617],[-0.971926,0.234165,0.022939],[0.007822,-0.065281,0.997836]]
2025-10-24T22:09:33.929Z,1761343773.929 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:09:34.170Z,1761343774.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241023,0.967254,0.079542],[-0.970465,0.239331,0.030304],[0.010274,-0.084497,0.996371]]
2025-10-24T22:09:34.574Z,1761343774.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249487,0.966999,0.051670],[-0.968070,0.247706,0.038501],[0.024431,-0.059626,0.997922]]
2025-10-24T22:09:34.979Z,1761343774.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217103,0.976121,0.007389],[-0.973037,0.215801,0.081418],[0.077879,-0.024866,0.996653]]
2025-10-24T22:09:35.382Z,1761343775.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228479,0.973536,-0.004970],[-0.962605,0.226671,0.148364],[0.145564,-0.029114,0.988920]]
2025-10-24T22:09:35.786Z,1761343775.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273513,0.961674,-0.019324],[-0.946604,0.272683,0.172005],[0.170682,-0.028754,0.984906]]
2025-10-24T22:09:36.190Z,1761343776.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262730,0.964660,-0.020098],[-0.954039,0.262837,0.143965],[0.144160,-0.018650,0.989379]]
2025-10-24T22:09:36.595Z,1761343776.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243153,0.969076,0.042049],[-0.965541,0.237664,0.106047],[0.092774,-0.066386,0.993472]]
2025-10-24T22:09:36.999Z,1761343776.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246073,0.963914,0.101574],[-0.968966,0.242104,0.049899],[0.023507,-0.110701,0.993576]]
2025-10-24T22:09:37.403Z,1761343777.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265413,0.958360,0.105363],[-0.963912,0.261416,0.050340],[0.020701,-0.114922,0.993159]]
2025-10-24T22:09:37.807Z,1761343777.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254500,0.965708,0.051364],[-0.965625,0.250855,0.068113],[0.052893,-0.066934,0.996354]]
2025-10-24T22:09:38.212Z,1761343778.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232394,0.972427,0.019469],[-0.972620,0.232382,0.002896],[-0.001708,-0.019609,0.999806]]
2025-10-24T22:09:38.615Z,1761343778.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259741,0.965673,0.003065],[-0.964427,0.259565,-0.050057],[-0.049135,0.010046,0.998742]]
2025-10-24T22:09:39.019Z,1761343779.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275852,0.961161,-0.008716],[-0.961193,0.275803,-0.006434],[-0.003781,0.010153,0.999941]]
2025-10-24T22:09:39.423Z,1761343779.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239381,0.970874,0.009976],[-0.969093,0.238286,0.063865],[0.059628,-0.024956,0.997909]]
2025-10-24T22:09:39.829Z,1761343779.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224292,0.973348,0.047812],[-0.969520,0.217908,0.112015],[0.098611,-0.071478,0.992556]]
2025-10-24T22:09:40.230Z,1761343780.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232861,0.972371,0.016426],[-0.960459,0.227292,0.160801],[0.152625,-0.053221,0.986850]]
2025-10-24T22:09:40.634Z,1761343780.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248544,0.968455,-0.017909],[-0.961369,0.248900,0.117553],[0.118302,-0.012000,0.992905]]
2025-10-24T22:09:41.038Z,1761343781.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230488,0.973009,-0.011323],[-0.972170,0.230759,0.040432],[0.041954,0.001688,0.999118]]
2025-10-24T22:09:41.444Z,1761343781.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223983,0.973964,0.035017],[-0.973017,0.221434,0.064837],[0.055395,-0.048594,0.997281]]
2025-10-24T22:09:41.846Z,1761343781.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199661,0.975055,0.096967],[-0.976686,0.190071,0.099783],[0.078863,-0.114629,0.990273]]
2025-10-24T22:09:42.250Z,1761343782.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205861,0.969834,0.130547],[-0.976952,0.195987,0.084574],[0.056437,-0.144949,0.987828]]
2025-10-24T22:09:42.540Z,1761343782.540 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:09:42.655Z,1761343782.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233070,0.968800,0.084292],[-0.969308,0.224468,0.100275],[0.078226,-0.105076,0.991383]]
2025-10-24T22:09:43.061Z,1761343783.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220522,0.975382,-0.000616],[-0.973038,0.220036,0.069146],[0.067579,-0.014649,0.997606]]
2025-10-24T22:09:43.463Z,1761343783.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203096,0.978685,-0.030438],[-0.979145,0.202830,-0.011625],[-0.005203,0.032164,0.999469]]
2025-10-24T22:09:43.866Z,1761343783.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216095,0.976358,-0.005288],[-0.976372,0.216097,-0.000207],[0.000941,0.005208,0.999986]]
2025-10-24T22:09:44.270Z,1761343784.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214210,0.976218,0.033366],[-0.975365,0.211931,0.061221],[0.052694,-0.045658,0.997566]]
2025-10-24T22:09:44.676Z,1761343784.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210843,0.974626,0.075161],[-0.976490,0.206469,0.061949],[0.044859,-0.086455,0.995245]]
2025-10-24T22:09:45.079Z,1761343785.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211333,0.974184,0.079393],[-0.977032,0.208281,0.045031],[0.027333,-0.087086,0.995826]]
2025-10-24T22:09:45.482Z,1761343785.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209835,0.974708,0.076902],[-0.976576,0.205105,0.065047],[0.047629,-0.088749,0.994915]]
2025-10-24T22:09:45.887Z,1761343785.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216414,0.973406,0.075141],[-0.972448,0.208089,0.105088],[0.086657,-0.095813,0.991620]]
2025-10-24T22:09:46.292Z,1761343786.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226586,0.971858,0.064424],[-0.970143,0.219322,0.103543],[0.086499,-0.085962,0.992536]]
2025-10-24T22:09:46.694Z,1761343786.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214740,0.976489,0.018879],[-0.972997,0.212217,0.090780],[0.084639,-0.037863,0.995692]]
2025-10-24T22:09:47.098Z,1761343787.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192346,0.981053,-0.023200],[-0.976360,0.193694,0.095934],[0.098610,0.004199,0.995117]]
2025-10-24T22:09:47.503Z,1761343787.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187675,0.981910,-0.025123],[-0.976347,0.189285,0.104492],[0.107357,0.004918,0.994208]]
2025-10-24T22:09:47.912Z,1761343787.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191021,0.981556,0.007605],[-0.977576,0.189536,0.091768],[0.088634,-0.024964,0.995751]]
2025-10-24T22:09:48.311Z,1761343788.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190661,0.980605,0.045405],[-0.976714,0.184862,0.108887],[0.098381,-0.065109,0.993017]]
2025-10-24T22:09:48.715Z,1761343788.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172690,0.982358,0.071766],[-0.980826,0.164824,0.103984],[0.090321,-0.088347,0.991986]]
2025-10-24T22:09:49.121Z,1761343789.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174637,0.979472,0.100680],[-0.984204,0.170631,0.047187],[0.029040,-0.107331,0.993799]]
2025-10-24T22:09:49.522Z,1761343789.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176507,0.978331,0.108233],[-0.983402,0.170583,0.061820],[0.042018,-0.117348,0.992202]]
2025-10-24T22:09:49.950Z,1761343789.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152083,0.985901,0.069783],[-0.980304,0.141466,0.137809],[0.125995,-0.089367,0.987997]]
2025-10-24T22:09:50.736Z,1761343790.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183510,0.982760,0.022523],[-0.979777,0.180998,0.085303],[0.079755,-0.037722,0.996100]]
2025-10-24T22:09:51.138Z,1761343791.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170034,0.985421,0.005853],[-0.982417,0.169045,0.079247],[0.077102,-0.019224,0.996838]]
2025-10-24T22:09:51.284Z,1761343791.284 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:09:51.542Z,1761343791.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143111,0.986719,0.076847],[-0.988908,0.139444,0.051154],[0.039759,-0.083315,0.995730]]
2025-10-24T22:09:51.977Z,1761343791.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147445,0.976178,0.159175],[-0.988294,0.151785,-0.015393],[-0.039187,-0.155042,0.987130]]
2025-10-24T22:09:52.352Z,1761343792.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155812,0.971455,0.178878],[-0.985693,0.164697,-0.035848],[-0.064286,-0.170734,0.983218]]
2025-10-24T22:09:52.754Z,1761343792.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154415,0.974332,0.163811],[-0.988002,0.151808,0.028393],[0.002796,-0.166230,0.986083]]
2025-10-24T22:09:53.169Z,1761343793.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161820,0.981055,0.106516],[-0.985389,0.154829,0.070973],[0.053136,-0.116445,0.991775]]
2025-10-24T22:09:53.563Z,1761343793.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158062,0.986813,0.034883],[-0.983533,0.154205,0.094259],[0.087637,-0.049207,0.994936]]
2025-10-24T22:09:53.997Z,1761343793.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155742,0.987723,-0.012120],[-0.986171,0.156178,0.055459],[0.056671,0.003315,0.998387]]
2025-10-24T22:09:54.371Z,1761343794.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177792,0.983990,-0.012411],[-0.983850,0.177473,-0.023271],[-0.020696,0.016348,0.999652]]
2025-10-24T22:09:54.775Z,1761343794.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184843,0.982537,0.021291],[-0.980617,0.185827,-0.062110],[-0.064981,-0.009397,0.997842]]
2025-10-24T22:09:55.180Z,1761343795.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170903,0.980677,0.095206],[-0.984857,0.172887,-0.012926],[-0.029136,-0.091555,0.995374]]
2025-10-24T22:09:55.584Z,1761343795.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172255,0.970907,0.166336],[-0.983985,0.161737,0.074936],[0.045854,-0.176581,0.983218]]
2025-10-24T22:09:55.000Z,1761343796.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183916,0.963933,0.192374],[-0.978763,0.161566,0.126171],[0.090539,-0.211493,0.973177]]
2025-10-24T22:09:56.391Z,1761343796.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180806,0.970334,0.160505],[-0.977613,0.159454,0.137285],[0.107620,-0.181734,0.977441]]
2025-10-24T22:09:56.795Z,1761343796.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168044,0.980797,0.098988],[-0.983694,0.160312,0.081528],[0.064094,-0.111074,0.991743]]
2025-10-24T22:09:57.201Z,1761343797.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159673,0.986765,0.028285],[-0.987166,0.159525,0.007439],[0.002829,-0.029110,0.999572]]
2025-10-24T22:09:57.605Z,1761343797.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179253,0.982972,-0.040423],[-0.982729,0.176986,-0.054040],[-0.045965,0.049412,0.997720]]
2025-10-24T22:09:58.006Z,1761343798.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169681,0.984556,-0.043096],[-0.985198,0.168387,-0.032095],[-0.024343,0.047904,0.998555]]
2025-10-24T22:09:58.411Z,1761343798.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182590,0.982872,0.024965],[-0.982534,0.181483,0.041108],[0.035873,-0.032035,0.998843]]
2025-10-24T22:09:58.816Z,1761343798.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223704,0.968156,0.112385],[-0.973002,0.215118,0.083619],[0.056781,-0.128057,0.990140]]
2025-10-24T22:09:59.219Z,1761343799.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209067,0.963038,0.169849],[-0.976506,0.196319,0.088854],[0.052226,-0.184435,0.981456]]
2025-10-24T22:09:59.623Z,1761343799.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169593,0.968058,0.184669],[-0.985116,0.161194,0.059696],[0.028022,-0.192044,0.980986]]
2025-10-24T22:09:59.892Z,1761343799.892 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:10:00.026Z,1761343800.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156528,0.975394,0.155258],[-0.987666,0.155180,0.020840],[-0.003766,-0.156605,0.987654]]
2025-10-24T22:10:00.835Z,1761343800.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180380,0.983542,-0.010395],[-0.983590,0.180408,0.001855],[0.003700,0.009890,0.999944]]
2025-10-24T22:10:01.239Z,1761343801.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165835,0.984860,-0.050490],[-0.986020,0.166437,0.007941],[0.016224,0.048467,0.998693]]
2025-10-24T22:10:01.642Z,1761343801.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155540,0.987686,-0.016843],[-0.985811,0.156289,0.061244],[0.063122,0.007078,0.997981]]
2025-10-24T22:10:02.048Z,1761343802.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152061,0.986653,0.058250],[-0.981641,0.143897,0.125199],[0.115146,-0.076219,0.990420]]
2025-10-24T22:10:02.459Z,1761343802.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162777,0.979308,0.120248],[-0.982620,0.149880,0.109512],[0.089223,-0.135984,0.986685]]
2025-10-24T22:10:02.866Z,1761343802.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187814,0.972485,0.137834],[-0.981948,0.182699,0.048977],[0.022447,-0.144545,0.989244]]
2025-10-24T22:10:03.274Z,1761343803.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181935,0.976691,0.113909],[-0.983288,0.181490,0.014345],[-0.006662,-0.114615,0.993388]]
2025-10-24T22:10:03.683Z,1761343803.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183523,0.978598,0.093093],[-0.982873,0.184284,0.000421],[-0.016743,-0.091576,0.995657]]
2025-10-24T22:10:04.090Z,1761343804.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163588,0.984460,0.063854],[-0.986130,0.161340,0.038939],[0.028032,-0.069338,0.997199]]
2025-10-24T22:10:04.509Z,1761343804.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177135,0.982518,0.057288],[-0.979289,0.170155,0.109724],[0.098058,-0.075537,0.992310]]
2025-10-24T22:10:04.903Z,1761343804.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218784,0.972673,0.077717],[-0.972178,0.210456,0.102847],[0.083680,-0.098056,0.991656]]
2025-10-24T22:10:05.308Z,1761343805.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233252,0.967937,0.093229],[-0.972170,0.229959,0.044780],[0.021906,-0.101079,0.994637]]
2025-10-24T22:10:05.710Z,1761343805.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249532,0.964639,0.084884],[-0.967727,0.245221,0.058066],[0.035198,-0.096634,0.994697]]
2025-10-24T22:10:06.114Z,1761343806.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255631,0.965341,0.052624],[-0.965905,0.252715,0.056229],[0.040981,-0.065204,0.997030]]
2025-10-24T22:10:06.518Z,1761343806.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249818,0.967452,0.040333],[-0.968292,0.249649,0.009243],[-0.001127,-0.041364,0.999143]]
2025-10-24T22:10:06.924Z,1761343806.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240671,0.968314,0.066675],[-0.970605,0.240244,0.014464],[-0.002012,-0.068197,0.997670]]
2025-10-24T22:10:07.327Z,1761343807.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239932,0.967045,0.085181],[-0.969155,0.233513,0.078809],[0.056321,-0.101462,0.993244]]
2025-10-24T22:10:07.747Z,1761343807.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243882,0.967251,0.070332],[-0.967743,0.237996,0.082658],[0.063213,-0.088222,0.994093]]
2025-10-24T22:10:08.139Z,1761343808.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264783,0.960219,0.088710],[-0.964235,0.262512,0.036568],[0.011826,-0.095220,0.995386]]
2025-10-24T22:10:08.546Z,1761343808.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276901,0.952391,0.127581],[-0.960662,0.277327,0.014770],[-0.021315,-0.126652,0.991718]]
2025-10-24T22:10:08.947Z,1761343808.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293465,0.944955,0.144703],[-0.955343,0.295375,0.008592],[-0.034622,-0.140763,0.989438]]
2025-10-24T22:10:09.350Z,1761343809.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292743,0.948361,0.122115],[-0.955712,0.294244,0.005962],[-0.030277,-0.118453,0.992498]]
2025-10-24T22:10:09.718Z,1761343809.718 [DataOverHttps](IMPORTANT): SBD MTMSN=20251024T221008
2025-10-24T22:10:09.755Z,1761343809.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272261,0.959895,0.066893],[-0.962143,0.270679,0.031843],[0.012459,-0.073031,0.997252]]
2025-10-24T22:10:10.559Z,1761343810.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287276,0.957783,0.011135],[-0.955335,0.285662,0.075712],[0.069335,-0.032388,0.997068]]
2025-10-24T22:10:10.962Z,1761343810.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288315,0.955901,0.055920],[-0.957157,0.286066,0.044908],[0.026931,-0.066472,0.997425]]
2025-10-24T22:10:11.367Z,1761343811.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296504,0.950799,0.089814],[-0.954029,0.290570,0.073472],[0.043760,-0.107470,0.993245]]
2025-10-24T22:10:11.771Z,1761343811.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321055,0.943654,0.080256],[-0.943229,0.310991,0.116635],[0.085104,-0.113146,0.989927]]
2025-10-24T22:10:12.174Z,1761343812.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315809,0.945966,0.073578],[-0.947867,0.311061,0.069202],[0.042576,-0.091597,0.994886]]
2025-10-24T22:10:12.579Z,1761343812.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295644,0.951995,0.079376],[-0.955274,0.294027,0.031615],[0.006759,-0.085173,0.996343]]
2025-10-24T22:10:12.983Z,1761343812.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326087,0.943513,0.058748],[-0.945003,0.323683,0.046888],[0.025224,-0.070806,0.997171]]
2025-10-24T22:10:13.388Z,1761343813.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349444,0.936339,0.034044],[-0.936921,0.348879,0.021518],[0.008271,-0.039416,0.999189]]
2025-10-24T22:10:13.792Z,1761343813.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348551,0.937285,-0.002939],[-0.936269,0.348316,0.045560],[0.043726,-0.013128,0.998957]]
2025-10-24T22:10:14.195Z,1761343814.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336876,0.941374,-0.018164],[-0.931680,0.336069,0.137951],[0.135967,-0.029549,0.990273]]
2025-10-24T22:10:14.600Z,1761343814.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333369,0.941286,0.053344],[-0.936185,0.323812,0.136762],[0.111458,-0.095532,0.989167]]
2025-10-24T22:10:15.003Z,1761343815.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332925,0.932921,0.137183],[-0.942793,0.326643,0.066681],[0.017398,-0.151535,0.988299]]
2025-10-24T22:10:15.408Z,1761343815.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343127,0.929730,0.133661],[-0.939286,0.339305,0.051117],[0.002173,-0.143085,0.989708]]
2025-10-24T22:10:15.810Z,1761343815.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344342,0.934568,0.089503],[-0.938644,0.340732,0.053379],[0.019390,-0.102392,0.994555]]
2025-10-24T22:10:16.214Z,1761343816.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332927,0.941575,0.050958],[-0.942518,0.330646,0.048304],[0.028633,-0.064111,0.997532]]
2025-10-24T22:10:16.620Z,1761343816.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340334,0.940288,-0.005564],[-0.937703,0.339827,0.072321],[0.069893,-0.019396,0.997366]]
2025-10-24T22:10:17.024Z,1761343817.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320477,0.945697,-0.054335],[-0.936584,0.324931,0.131265],[0.141792,0.008821,0.989857]]
2025-10-24T22:10:17.416Z,1761343817.416 [DataOverHttps](INFO): Received command: sched asap "load Engineering/marl3.tl;set marl.NeedCommsTime 30 min;set marl.ContactLabel 20 count;set marl.CenterLatitude 36.7749 degree;set marl.CenterLongitude -121.8631661 degree;set marl.SpeedUpdateTimeout 15 min" 4f48p 1 2
2025-10-24T22:10:17.431Z,1761343817.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292058,0.955204,-0.047837],[-0.935230,0.295701,0.194692],[0.200116,-0.012123,0.979697]]
2025-10-24T22:10:17.496Z,1761343817.496 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/marl3.tl;set marl.NeedCommsTime 30 min;set marl.ContactLabel 20 count;set marl.CenterLatitude 36.7749 degree;set marl.CenterLongitude -121.8631661 degree;set marl.SpeedUpdateTimeout 15 min" 4f48p 1 2.000000
2025-10-24T22:10:17.497Z,1761343817.497 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=4f48p
2025-10-24T22:10:17.498Z,1761343817.498 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='4f48p'): "load Engineering/marl3.tl;set marl.NeedCommsTime 30 min;set marl.ContactLabel 20 count;set marl.CenterLatitude 36.7749 degree;set marl.CenterLongitude -121.8631661 degree;set marl.SpeedUpdateTimeout 15 min", ASAP
2025-10-24T22:10:17.834Z,1761343817.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289351,0.957220,-0.002436],[-0.932468,0.282441,0.225235],[0.216288,-0.062901,0.974301]]
2025-10-24T22:10:18.238Z,1761343818.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298550,0.952921,0.053000],[-0.936421,0.281749,0.209122],[0.184345,-0.112063,0.976452]]
2025-10-24T22:10:18.418Z,1761343818.418 [DataOverHttps](IMPORTANT): SBD MTMSN=20251024T221017
2025-10-24T22:10:18.645Z,1761343818.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302452,0.950225,0.074796],[-0.942189,0.286173,0.174310],[0.144229,-0.123193,0.981846]]
2025-10-24T22:10:19.047Z,1761343819.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309352,0.950075,0.040725],[-0.936659,0.297029,0.185590],[0.164228,-0.095559,0.981783]]
2025-10-24T22:10:19.450Z,1761343819.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311855,0.949634,-0.030687],[-0.920678,0.310010,0.237162],[0.234730,-0.045708,0.970985]]
2025-10-24T22:10:19.854Z,1761343819.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310771,0.949028,-0.052596],[-0.914849,0.313671,0.254285],[0.257822,-0.030907,0.965698]]
2025-10-24T22:10:20.258Z,1761343820.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290254,0.956154,-0.039023],[-0.927747,0.291159,0.233476],[0.234601,-0.031564,0.971579]]
2025-10-24T22:10:20.664Z,1761343820.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272443,0.962160,0.004864],[-0.932087,0.262666,0.249439],[0.238723,-0.072492,0.968378]]
2025-10-24T22:10:21.066Z,1761343821.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266305,0.963684,0.019851],[-0.920249,0.248068,0.302662],[0.286746,-0.098869,0.952891]]
2025-10-24T22:10:21.474Z,1761343821.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273912,0.961750,0.003134],[-0.906828,0.257181,0.333949],[0.320369,-0.094315,0.942586]]
2025-10-24T22:10:21.875Z,1761343821.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301568,0.952968,-0.030138],[-0.901986,0.295393,0.314903],[0.308995,-0.067781,0.948645]]
2025-10-24T22:10:22.279Z,1761343822.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305727,0.949588,-0.069380],[-0.905968,0.312546,0.285547],[0.292836,-0.024443,0.955850]]
2025-10-24T22:10:22.683Z,1761343822.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299198,0.950948,-0.078601],[-0.905373,0.308937,0.291303],[0.301297,-0.015994,0.953396]]
2025-10-24T22:10:23.087Z,1761343823.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291605,0.953297,-0.078681],[-0.906089,0.301650,0.296667],[0.306545,-0.015218,0.951734]]
2025-10-24T22:10:23.491Z,1761343823.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299749,0.952499,-0.053808],[-0.899536,0.300969,0.316626],[0.317781,-0.046506,0.947023]]
2025-10-24T22:10:23.896Z,1761343823.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317441,0.948032,-0.021612],[-0.887096,0.304937,0.346517],[0.335099,-0.090827,0.937795]]
2025-10-24T22:10:24.299Z,1761343824.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314561,0.949234,-0.002600],[-0.893598,0.297046,0.336520],[0.320208,-0.103533,0.941673]]
2025-10-24T22:10:24.702Z,1761343824.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298249,0.954446,0.008998],[-0.914326,0.282981,0.289705],[0.273962,-0.094632,0.957074]]
2025-10-24T22:10:25.106Z,1761343825.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292037,0.956226,0.018630],[-0.931927,0.280129,0.230304],[0.215004,-0.084619,0.972940]]
2025-10-24T22:10:25.513Z,1761343825.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319637,0.947272,0.022528],[-0.931363,0.309716,0.191415],[0.174345,-0.082165,0.981251]]
2025-10-24T22:10:25.939Z,1761343825.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354357,0.935098,-0.004829],[-0.923262,0.350682,0.156877],[0.148389,-0.051132,0.987606]]
2025-10-24T22:10:26.008Z,1761343826.008 [DataOverHttps](INFO): Received command: sched asap "set marl.AcousticContactTimeout 0.5 h;set marl.SendObservationDataInterval 2 min;set marl.TrackingUpdatePeriod 60 s;set marl.Depth 15 m;set marl.MaxDepth 35 m;run" 4f48p 2 2
2025-10-24T22:10:26.033Z,1761343826.033 [CommandExec](IMPORTANT): got command schedule asap "set marl.AcousticContactTimeout 0.5 h;set marl.SendObservationDataInterval 2 min;set marl.TrackingUpdatePeriod 60 s;set marl.Depth 15 m;set marl.MaxDepth 35 m;run" 4f48p 2 2.000000
2025-10-24T22:10:26.033Z,1761343826.033 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=4f48p
2025-10-24T22:10:26.034Z,1761343826.034 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='4f48p'): "set marl.AcousticContactTimeout 0.5 h;set marl.SendObservationDataInterval 2 min;set marl.TrackingUpdatePeriod 60 s;set marl.Depth 15 m;set marl.MaxDepth 35 m;run", ASAP
2025-10-24T22:10:26.160Z,1761343826.160 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/marl3.tl
2025-10-24T22:10:26.160Z,1761343826.160 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/marl3.tl
2025-10-24T22:10:26.161Z,1761343826.161 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/marl3.tl
2025-10-24T22:10:26.165Z,1761343826.165 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/marl3.tl
2025-10-24T22:10:26.319Z,1761343826.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339354,0.939763,-0.041042],[-0.928717,0.341657,0.144067],[0.149412,-0.010773,0.988716]]
2025-10-24T22:10:26.724Z,1761343826.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302732,0.952512,-0.032771],[-0.938347,0.303899,0.164772],[0.166907,-0.019132,0.985787]]
2025-10-24T22:10:27.127Z,1761343827.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318115,0.947661,0.027218],[-0.932756,0.307717,0.187821],[0.169616,-0.085137,0.981826]]
2025-10-24T22:10:27.530Z,1761343827.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335170,0.939354,0.072630],[-0.928147,0.315958,0.196758],[0.161877,-0.133359,0.977758]]
2025-10-24T22:10:27.979Z,1761343827.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328622,0.941323,0.076931],[-0.935458,0.313188,0.163801],[0.130096,-0.125795,0.983489]]
2025-10-24T22:10:28.012Z,1761343828.012 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:10:28.340Z,1761343828.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335370,0.939414,0.070910],[-0.939971,0.328626,0.091973],[0.063098,-0.097498,0.993234]]
2025-10-24T22:10:28.742Z,1761343828.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366476,0.929083,0.050004],[-0.930328,0.366694,0.005067],[-0.013629,-0.048377,0.998736]]
2025-10-24T22:10:29.146Z,1761343829.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368418,0.929471,0.018737],[-0.928118,0.368893,-0.050154],[-0.053529,0.001087,0.998566]]
2025-10-24T22:10:29.550Z,1761343829.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325932,0.945384,0.004123],[-0.944743,0.325867,-0.035658],[-0.035054,0.007727,0.999356]]
2025-10-24T22:10:29.987Z,1761343829.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336214,0.941612,0.018092],[-0.941172,0.335240,0.042538],[0.033989,-0.031329,0.998931]]
2025-10-24T22:10:30.763Z,1761343830.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393286,0.917902,0.052752],[-0.918071,0.388960,0.076525],[0.049724,-0.078526,0.995671]]
2025-10-24T22:10:31.167Z,1761343831.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401600,0.914939,0.040061],[-0.910848,0.394489,0.121387],[0.095258,-0.085239,0.991796]]
2025-10-24T22:10:31.572Z,1761343831.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382136,0.922654,0.051793],[-0.914588,0.369582,0.164125],[0.132288,-0.110087,0.985079]]
2025-10-24T22:10:31.991Z,1761343831.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373234,0.921557,0.106911],[-0.925527,0.361915,0.111432],[0.063998,-0.140539,0.988005]]
2025-10-24T22:10:32.379Z,1761343832.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368932,0.923554,0.104580],[-0.928941,0.362641,0.074566],[0.030941,-0.124659,0.991717]]
2025-10-24T22:10:32.783Z,1761343832.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392595,0.918108,0.054283],[-0.918095,0.387724,0.082289],[0.054503,-0.082143,0.995129]]
2025-10-24T22:10:32.967Z,1761343832.967 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/marl3.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="marl">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ContactLabel">
        <Units:count />
        <Value>8</Value>
    </DefineArg>
    <DefineArg Name="SendDataLabel">
        <Units:count />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="ContactDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="CenterLatitude">
        <Units:degree />
        <Value>36.81544</Value>
    </DefineArg>
    <DefineArg Name="CenterLongitude">
        <Units:degree />
        <Value>-121.82506</Value>
    </DefineArg>
    <DefineArg Name="CenterNorthingsDelta">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="CenterEastingsDelta">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="CircleRadius">
        <Units:meter />
        <Value>50</Value>
    </DefineArg>
    <DefineArg Name="SpeedUpdateTimeout">
        <Units:second />
        <Value>240</Value>
    </DefineArg>
    <DefineArg Name="StateUpdateDelay">
        <Units:second />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="HorizontalCommandMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="AcousticContactTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="SendObservationDataInterval">
        <Units:minute />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriod">
        <Units:second />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="CircleMaxError">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="CircleTurnToPort">
        <False />
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MyTempVar">
        <Units:none_str />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="KwpHeading">
        <Units:radian_per_meter />
        <Value>0.010</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1.5</Value>
    </DefineArg>
    <DefineOutput Name="HeadingMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="RudderMode">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="Heading">
        <Units:degree />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="RudderAngle">
        <Units:degree />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="TimeLastSendData">
        <Units:second />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="ElapsedSinceLastSendData">
        <Units:second />
        <Value>0</Value>
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/AbortDrift.tl">
        <RedefineArg Name="AcousticTimeout">
            <Arg Name="AcousticContactTimeout" />
        </RedefineArg>
    </Insert>
    <Estimation:TrackAcousticContact>
        <Parallel />
        <Setting>
            <Estimation:TrackAcousticContact.contactDepthSetting />
            <Arg Name="ContactDepth" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.contactLabelSetting />
            <Arg Name="ContactLabel" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numberOfSamplesSetting />
            <Arg Name="NumberOfPings" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.updatePeriodSetting />
            <Arg Name="TrackingUpdatePeriod" />
        </Setting>
    </Estimation:TrackAcousticContact>
    <Aggregate Id="SendObservationData">
        <When>
            <Elapsed>
                <Arg Name="MyTempVar" />
            </Elapsed>
            <Ge>
                <Arg Name="SendObservationDataInterval" />
            </Ge>
        </When>
        <Syslog Severity="Info">
            Got test_good : 
            <CustomUri Uri="_.send_observations" />
            <Units:none_str />
             and temp var is 
            <Arg Name="MyTempVar" />
            <Units:none_str />
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="ElapsedSinceLastSendData" />
            <Elapsed>
                <Arg Name="MyTempVar" />
            </Elapsed>
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="MyTempVar" />
            <CustomUri Uri="_.send_observations" />
        </Assign>
        <Sensor:SendDirect>
            <Parallel />
            <Setting>
                <Sensor:SendDirect.destType />
                <String>modem</String>
            </Setting>
            <Setting>
                <Sensor:SendDirect.destId />
                <Arg Name="SendDataLabel" />
            </Setting>
            <Setting>
                <Sensor:SendDirect.destName />
                <String>_.others_observations</String>
            </Setting>
            <Setting>
                <Sensor:SendDirect.value />
                <Arg Name="MyTempVar" />
            </Setting>
            <Setting>
                <Sensor:SendDirect.unit />
                <String>none_str</String>
            </Setting>
        </Sensor:SendDirect>
        <Syslog Severity="Info">
            SendData: sent send_observations : 
            <Arg Name="MyTempVar" />
            <Units:none_str />
             to nearby vehicles. Elapsed time 
            <Arg Name="ElapsedSinceLastSendData" />
            <Units:minute />
        </Syslog>
    </Aggregate>
    <Aggregate Id="UpdateContactLabel">
        <When>
            <Elapsed>
                <CustomUri Uri="_.contactLabelSetting" />
            </Elapsed>
            <Lt>
                <Elapsed>
                    <Arg Name="ContactLabel" />
                </Elapsed>
            </Lt>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="ContactLabel" />
            <Abs>
                <CustomUri Uri="_.contactLabelSetting" />
            </Abs>
        </Assign>
        <Syslog Severity="Info">
            Upadating ContactLabel 
            <CustomUri Uri="_.contactLabelSetting" />
            <Units:count />
        </Syslog>
    </Aggregate>
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Aggregate Id="SpeedTimeout">
        <When>
            <Elapsed>
                <Arg Name="Speed" />
            </Elapsed>
            <Ge>
                <Arg Name="SpeedUpdateTimeout" />
            </Ge>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="Speed" />
            <Units:meter_per_second />
            <Value>0</Value>
        </Assign>
        <Syslog Severity="Fault">
            Speed timeout reached. Stopping vehicle (speed 
            <Arg Name="Speed" />
            <Units:meter_per_second />
            ).
        </Syslog>
    </Aggregate>
    <Aggregate Id="UpdateSpeed">
        <When>
            <Elapsed>
                <CustomUri Uri="_.speedCmd" />
            </Elapsed>
            <Lt>
                <Elapsed>
                    <Arg Name="Speed" />
                </Elapsed>
            </Lt>
            <And>
                <Elapsed>
                    <Arg Name="Speed" />
                </Elapsed>
                <Gt>
                    <Arg Name="StateUpdateDelay" />
                </Gt>
            </And>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="Speed" />
            <CustomUri Uri="_.speedCmd" />
        </Assign>
    </Aggregate>
    <Aggregate Id="UpdateCommandMode">
        <When>
            <Elapsed>
                <CustomUri Uri="_.horizontalCmdMode" />
            </Elapsed>
            <Lt>
                <Elapsed>
                    <Arg Name="HorizontalCommandMode" />
                </Elapsed>
            </Lt>
            <And>
                <CustomUri Uri="_.horizontalCmdMode" />
                <Eq>
                    <Arg Name="HeadingMode" />
                </Eq>
                <Or>
                    <CustomUri Uri="_.horizontalCmdMode" />
                    <Eq>
                        <Arg Name="RudderMode" />
                    </Eq>
                </Or>
            </And>
            <And>
                <Elapsed>
                    <Arg Name="HorizontalCommandMode" />
                </Elapsed>
                <Gt>
                    <Arg Name="StateUpdateDelay" />
                </Gt>
            </And>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="HorizontalCommandMode" />
            <CustomUri Uri="_.horizontalCmdMode" />
        </Assign>
    </Aggregate>
    <Aggregate Id="UpdateHeading">
        <When>
            <Elapsed>
                <CustomUri Uri="_.headingCmd" />
            </Elapsed>
            <Lt>
                <Elapsed>
                    <Arg Name="Heading" />
                </Elapsed>
            </Lt>
            <And>
                <Elapsed>
                    <Arg Name="Heading" />
                </Elapsed>
                <Gt>
                    <Arg Name="StateUpdateDelay" />
                </Gt>
            </And>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="Heading" />
            <CustomUri Uri="_.headingCmd" />
        </Assign>
        <Syslog Severity="Info">
            Updating heading 
            <Arg Name="Heading" />
            <Units:degree />
        </Syslog>
    </Aggregate>
    <Aggregate Id="UpdateRudder">
        <When>
            <Elapsed>
                <CustomUri Uri="_.rudderAngleCmd" />
            </Elapsed>
            <Lt>
                <Elapsed>
                    <Arg Name="RudderAngle" />
                </Elapsed>
            </Lt>
            <And>
                <Elapsed>
                    <Arg Name="RudderAngle" />
                </Elapsed>
                <Gt>
                    <Arg Name="StateUpdateDelay" />
                </Gt>
            </And>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="RudderAngle" />
            <CustomUri Uri="_.rudderAngleCmd" />
        </Assign>
        <Syslog Severity="Info">
            Updating rudder angle 
            <Arg Name="RudderAngle" />
            <Units:degree />
        </Syslog>
    </Aggregate>
    <Insert Id="Science" Filename="Insert/Science.tl" />
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Assign>
        <Sequence />
        <Arg Name="BackseatDriver:EnableBackseat" />
        <True />
    </Assign>
    <Insert Filename="Insert/PowerOnly.tl" />
    <Call RefId="NeedComms" Id="StartingMission" PriorityHere="false" />
    <Aggregate Id="JoystickControl">
        <Sequence />
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyNeutral />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Pitch>
            <While>
                <Arg Name="MassHold" />
            </While>
            <Setting>
                <Guidance:Pitch.massPosition />
                <Control:VerticalControl.massDefault />
            </Setting>
        </Guidance:Pitch>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Aggregate Id="CmdHeading">
            <While>
                <Arg Name="HorizontalCommandMode" />
                <Eq>
                    <Arg Name="HeadingMode" />
                </Eq>
            </While>
            <Guidance:Point>
                <Parallel />
                <Setting>
                    <Guidance:Point.forceUpdate />
                    <True />
                </Setting>
                <Setting>
                    <Guidance:Point.heading />
                    <Arg Name="Heading" />
                </Setting>
            </Guidance:Point>
        </Aggregate>
        <Aggregate Id="CmdRudder">
            <While>
                <Arg Name="HorizontalCommandMode" />
                <Eq>
                    <Arg Name="RudderMode" />
                </Eq>
            </While>
            <Guidance:Point>
                <Parallel />
                <Setting>
                    <Guidance:Point.forceUpdate />
                    <True />
                </Setting>
                <Setting>
                    <Guidance:Point.rudderAngle />
                    <Arg Name="RudderAngle" />
                </Setting>
            </Guidance:Point>
        </Aggregate>
    </Aggregate>
</Mission>

2025-10-24T22:10:32.995Z,1761343832.995 [MissionManager](INFO): DefineArg marl.MissionTimeout = 4.000000 h
2025-10-24T22:10:33.002Z,1761343833.002 [MissionManager](INFO): DefineArg marl.NeedCommsTime = 1.000000 h
2025-10-24T22:10:33.009Z,1761343833.009 [MissionManager](INFO): DefineArg marl.ContactLabel = 8.000000 count
2025-10-24T22:10:33.017Z,1761343833.017 [MissionManager](INFO): DefineArg marl.SendDataLabel = 10.000000 count
2025-10-24T22:10:33.040Z,1761343833.040 [MissionManager](INFO): DefineArg marl.ContactDepth = nan m
2025-10-24T22:10:33.043Z,1761343833.043 [MissionManager](INFO): DefineArg marl.CenterLatitude = 36.815441 arcdeg
2025-10-24T22:10:33.055Z,1761343833.055 [MissionManager](INFO): DefineArg marl.CenterLongitude = -121.825058 arcdeg
2025-10-24T22:10:33.066Z,1761343833.066 [MissionManager](INFO): DefineArg marl.CenterNorthingsDelta = 0.000000 m
2025-10-24T22:10:33.077Z,1761343833.077 [MissionManager](INFO): DefineArg marl.CenterEastingsDelta = 0.000000 m
2025-10-24T22:10:33.093Z,1761343833.093 [MissionManager](INFO): DefineArg marl.CircleRadius = 50.000000 m
2025-10-24T22:10:33.104Z,1761343833.104 [MissionManager](INFO): DefineArg marl.SpeedUpdateTimeout = 240.000000 s
2025-10-24T22:10:33.107Z,1761343833.107 [MissionManager](INFO): DefineArg marl.StateUpdateDelay = 10.000000 s
2025-10-24T22:10:33.119Z,1761343833.119 [MissionManager](INFO): DefineArg marl.HorizontalCommandMode = 0.000000 count
2025-10-24T22:10:33.130Z,1761343833.130 [MissionManager](INFO): DefineArg marl.AcousticContactTimeout = 4.000000 h
2025-10-24T22:10:33.149Z,1761343833.149 [MissionManager](INFO): DefineArg marl.SendObservationDataInterval = 1.000000 min
2025-10-24T22:10:33.161Z,1761343833.161 [MissionManager](INFO): DefineArg marl.TrackingUpdatePeriod = 30.000000 s
2025-10-24T22:10:33.187Z,1761343833.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410707,0.911221,-0.031554],[-0.901735,0.411064,0.133793],[0.134886,-0.026496,0.990507]]
2025-10-24T22:10:33.192Z,1761343833.192 [MissionManager](INFO): DefineArg marl.Depth = 20.000000 m
2025-10-24T22:10:33.195Z,1761343833.195 [MissionManager](INFO): DefineArg marl.MaxDepth = 60.000000 m
2025-10-24T22:10:33.207Z,1761343833.207 [MissionManager](INFO): DefineArg marl.MinAltitude = 5.000000 m
2025-10-24T22:10:33.226Z,1761343833.226 [MissionManager](INFO): DefineArg marl.MassHold = 1 bool
2025-10-24T22:10:33.249Z,1761343833.249 [MissionManager](INFO): DefineArg marl.BuoyancyHold = 1 bool
2025-10-24T22:10:33.264Z,1761343833.264 [MissionManager](INFO): DefineArg marl.NumberOfPings = 1.000000 count
2025-10-24T22:10:33.267Z,1761343833.267 [MissionManager](INFO): DefineArg marl.CircleMaxError = 10.000000 m
2025-10-24T22:10:33.278Z,1761343833.278 [MissionManager](INFO): DefineArg marl.CircleTurnToPort = 0 bool
2025-10-24T22:10:33.286Z,1761343833.286 [MissionManager](INFO): DefineArg marl.Speed = 0.000000 m/s
2025-10-24T22:10:33.322Z,1761343833.322 [MissionManager](INFO): DefineArg marl.MyTempVar = nan n/a str
2025-10-24T22:10:33.333Z,1761343833.333 [MissionManager](INFO): DefineArg marl.KwpHeading = 0.010000 rad/m
2025-10-24T22:10:33.344Z,1761343833.344 [MissionManager](INFO): DefineArg marl.MinOffshore = 1.500000 km
2025-10-24T22:10:33.356Z,1761343833.356 [MissionManager](INFO): DefineOutput marl.HeadingMode = 0.000000 count
2025-10-24T22:10:33.374Z,1761343833.374 [MissionManager](INFO): DefineOutput marl.RudderMode = 1.000000 count
2025-10-24T22:10:33.389Z,1761343833.389 [MissionManager](INFO): DefineOutput marl.Heading = 0.000000 arcdeg
2025-10-24T22:10:33.400Z,1761343833.400 [MissionManager](INFO): DefineOutput marl.RudderAngle = 0.000000 arcdeg
2025-10-24T22:10:33.412Z,1761343833.412 [MissionManager](INFO): DefineOutput marl.TimeLastSendData = 0.000000 s
2025-10-24T22:10:33.422Z,1761343833.422 [MissionManager](INFO): DefineOutput marl.ElapsedSinceLastSendData = 0.000000 s
2025-10-24T22:10:33.423Z,1761343833.423 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/AbortDrift.tl
2025-10-24T22:10:33.423Z,1761343833.423 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/AbortDrift.tl
2025-10-24T22:10:33.424Z,1761343833.424 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/AbortDrift.tl
2025-10-24T22:10:33.548Z,1761343833.548 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/AbortDrift.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="AbortDrift">
    <DefineArg Name="AcousticTimeout">
        <Units:hour />
        <Value>96</Value>
    </DefineArg>
    <Parallel />
    <Syslog Severity="Info">
        Insert acoustic timeout set to 
        <Arg Name="AcousticTimeout" />
        <Units:hour />
        .
    </Syslog>
    <Guidance:AbortDrift>
        <Sequence />
        <Setting>
            <Guidance:AbortDrift.acousticTimeout />
            <Arg Name="AcousticTimeout" />
        </Setting>
    </Guidance:AbortDrift>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>stop</String>
        </Setting>
    </Guidance:Execute>
</Aggregate>

2025-10-24T22:10:33.565Z,1761343833.565 [MissionManager](INFO): DefineArg marl:AbortDrift.AcousticTimeout = 96.000000 h
2025-10-24T22:10:33.567Z,1761343833.567 [marl:AbortDrift:B.AbortDrift](DEBUG): Construct AbortDrift.
2025-10-24T22:10:33.574Z,1761343833.574 [marl:AbortDrift:C.Execute](DEBUG): Construct Execute.
2025-10-24T22:10:33.591Z,1761343833.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384601,0.920372,-0.070690],[-0.906473,0.391033,0.159372],[0.174324,0.002784,0.984684]]
2025-10-24T22:10:33.605Z,1761343833.605 [MissionManager](INFO): RedefineArg marl:AbortDrift.AcousticTimeout = reader:marl.AcousticContactTimeout
2025-10-24T22:10:33.804Z,1761343833.804 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-10-24T22:10:33.804Z,1761343833.804 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-10-24T22:10:33.805Z,1761343833.805 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-10-24T22:10:33.998Z,1761343833.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378405,0.925480,-0.017208],[-0.919705,0.378016,0.106049],[0.104651,-0.024303,0.994212]]
2025-10-24T22:10:34.398Z,1761343834.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381645,0.923737,0.032503],[-0.922819,0.378799,0.070117],[0.052457,-0.056754,0.997009]]
2025-10-24T22:10:34.551Z,1761343834.551 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-10-24T22:10:34.584Z,1761343834.584 [MissionManager](INFO): DefineArg marl:NeedComms.DiveInterval = 1.000000 h
2025-10-24T22:10:34.587Z,1761343834.587 [MissionManager](INFO): DefineArg marl:NeedComms.WaitForPitchUp = 10.000000 min
2025-10-24T22:10:34.601Z,1761343834.601 [MissionManager](INFO): DefineArg marl:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-10-24T22:10:34.609Z,1761343834.609 [MissionManager](INFO): DefineArg marl:NeedComms.SurfaceDepthRate = nan m/s
2025-10-24T22:10:34.620Z,1761343834.620 [MissionManager](INFO): DefineArg marl:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-10-24T22:10:34.623Z,1761343834.623 [MissionManager](INFO): DefineArg marl:NeedComms.SurfacingTimeout = 1000.000000 s
2025-10-24T22:10:34.631Z,1761343834.631 [MissionManager](INFO): DefineArg marl:NeedComms.GPSTimeout = 7.000000 min
2025-10-24T22:10:34.646Z,1761343834.646 [MissionManager](INFO): DefineArg marl:NeedComms.CommsTimeout = 30.000000 min
2025-10-24T22:10:34.669Z,1761343834.669 [marl:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-10-24T22:10:34.738Z,1761343834.738 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-10-24T22:10:34.738Z,1761343834.738 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-10-24T22:10:34.739Z,1761343834.739 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-10-24T22:10:34.802Z,1761343834.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370058,0.928287,0.036607],[-0.926964,0.366345,0.080800],[0.061595,-0.063834,0.996058]]
2025-10-24T22:10:34.992Z,1761343834.992 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-10-24T22:10:35.007Z,1761343835.007 [MissionManager](INFO): DefineArg marl:StandardEnvelopes.MinAltitude = 5.000000 m
2025-10-24T22:10:35.022Z,1761343835.022 [MissionManager](INFO): DefineArg marl:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-10-24T22:10:35.033Z,1761343835.033 [MissionManager](INFO): DefineArg marl:StandardEnvelopes.MaxDepth = 200.000000 m
2025-10-24T22:10:35.048Z,1761343835.048 [MissionManager](INFO): DefineArg marl:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-10-24T22:10:35.049Z,1761343835.049 [marl:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-10-24T22:10:35.073Z,1761343835.073 [marl:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-10-24T22:10:35.103Z,1761343835.103 [marl:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-10-24T22:10:35.206Z,1761343835.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355874,0.934029,0.030723],[-0.933714,0.353992,0.053554],[0.039145,-0.047745,0.998092]]
2025-10-24T22:10:35.298Z,1761343835.298 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-10-24T22:10:35.298Z,1761343835.298 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-10-24T22:10:35.320Z,1761343835.320 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-10-24T22:10:35.610Z,1761343835.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369232,0.927969,0.050404],[-0.929218,0.367771,0.036044],[0.014911,-0.060145,0.998078]]
2025-10-24T22:10:36.016Z,1761343836.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388192,0.919713,0.058608],[-0.921487,0.386472,0.038739],[0.012978,-0.069045,0.997529]]
2025-10-24T22:10:36.419Z,1761343836.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378421,0.923927,0.056182],[-0.925630,0.377565,0.025560],[0.002403,-0.061676,0.998093]]
2025-10-24T22:10:36.823Z,1761343836.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360015,0.931414,0.053454],[-0.931661,0.355922,0.072990],[0.048958,-0.076079,0.995899]]
2025-10-24T22:10:37.227Z,1761343837.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349337,0.934917,0.062398],[-0.933593,0.341623,0.108158],[0.079802,-0.096038,0.992174]]
2025-10-24T22:10:37.631Z,1761343837.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371504,0.925633,0.072027],[-0.928264,0.368843,0.047768],[0.017649,-0.084605,0.996258]]
2025-10-24T22:10:38.037Z,1761343838.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362895,0.931011,0.039065],[-0.931472,0.363599,-0.012481],[-0.025824,-0.031858,0.999159]]
2025-10-24T22:10:38.439Z,1761343838.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328442,0.944501,-0.006682],[-0.944448,0.328497,0.010374],[0.011993,0.002904,0.999924]]
2025-10-24T22:10:38.842Z,1761343838.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302688,0.953084,-0.003315],[-0.951995,0.302505,0.046871],[0.045674,-0.011031,0.998895]]
2025-10-24T22:10:39.247Z,1761343839.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335696,0.940638,0.050080],[-0.941797,0.334137,0.037037],[0.018105,-0.059598,0.998058]]
2025-10-24T22:10:39.652Z,1761343839.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368752,0.926064,0.080174],[-0.929012,0.364301,0.064972],[0.030960,-0.098441,0.994661]]
2025-10-24T22:10:40.056Z,1761343840.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364755,0.927259,0.084524],[-0.930723,0.360507,0.061555],[0.026606,-0.101121,0.994518]]
2025-10-24T22:10:40.460Z,1761343840.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332288,0.938884,0.089900],[-0.943157,0.330140,0.038235],[0.006219,-0.097495,0.995217]]
2025-10-24T22:10:40.725Z,1761343840.725 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDepthAvgProfilesChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledRBRTridente">
        <Science:RBRTridente.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="NumberOfLayers">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlAvgProfiles">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepthAvgProfiles">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="EnabledRBRTridente" />
            </Or>
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
        <Aggregate Id="SyslogSendDataPeakDepthAvgProfilesChl">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="PeakDepthAvgProfilesChlActive" />
                </Not>
            </Break>
            <Syslog Severity="Info">
                PeakChlAvgProfiles = 
                <Arg Name="PeakChlAvgProfiles" />
                <Units:microgram_per_liter />
                . PeakChlDepthAvgProfiles = 
                <Arg Name="PeakChlDepthAvgProfiles" />
                <Units:meter />
            </Syslog>
            <SendData Service="Express">
                <Arg Name="PeakChlAvgProfiles" />
                <Arg Name="PeakChlDepthAvgProfiles" />
            </SendData>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDepthAvgProfilesChl">
        <While>
            <Arg Name="PeakDepthAvgProfilesChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectHorizontal</Syslog>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <False />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <OutputArg Name="PeakChlAvgProfiles">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepthAvgProfiles">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-10-24T22:10:40.754Z,1761343840.754 [MissionManager](INFO): DefineArg marl:Science.PeakDetectChlActive = 0 bool
2025-10-24T22:10:40.757Z,1761343840.757 [MissionManager](INFO): DefineArg marl:Science.PeakDepthAvgProfilesChlActive = 0 bool
2025-10-24T22:10:40.759Z,1761343840.759 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectChlActive = 0 bool
2025-10-24T22:10:40.763Z,1761343840.763 [MissionManager](INFO): DefineArg marl:Science.TimeWindowPeakReport = nan min
2025-10-24T22:10:40.766Z,1761343840.766 [MissionManager](INFO): DefineArg marl:Science.HighestChlPeakReportActive = 0 bool
2025-10-24T22:10:40.789Z,1761343840.789 [MissionManager](INFO): DefineArg marl:Science.HighestSaltPeakReportActive = 0 bool
2025-10-24T22:10:40.791Z,1761343840.791 [MissionManager](INFO): DefineArg marl:Science.HighestOilPeakReportActive = 0 bool
2025-10-24T22:10:40.799Z,1761343840.799 [MissionManager](INFO): DefineArg marl:Science.PatchTracking = 0 bool
2025-10-24T22:10:40.803Z,1761343840.803 [MissionManager](INFO): DefineArg marl:Science.FilterWidthHorizontal = 3.000000 count
2025-10-24T22:10:40.818Z,1761343840.818 [MissionManager](INFO): DefineArg marl:Science.NumProfilesSlidingwindow = 100.000000 count
2025-10-24T22:10:40.825Z,1761343840.825 [MissionManager](INFO): DefineArg marl:Science.OffPeakFractionHorizontal = 80.000000 %
2025-10-24T22:10:40.832Z,1761343840.832 [MissionManager](INFO): DefineArg marl:Science.PeakDetectNO3Active = 0 bool
2025-10-24T22:10:40.835Z,1761343840.835 [MissionManager](INFO): DefineArg marl:Science.PeakDetectOilActive = 0 bool
2025-10-24T22:10:40.842Z,1761343840.842 [MissionManager](INFO): DefineArg marl:Science.PeakDetectFDOMActive = 0 bool
2025-10-24T22:10:40.845Z,1761343840.845 [MissionManager](INFO): DefineArg marl:Science.PeakDetectSalinityActive = 0 bool
2025-10-24T22:10:40.863Z,1761343840.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324153,0.944490,0.053515],[-0.943955,0.319211,0.083979],[0.062235,-0.077738,0.995030]]
2025-10-24T22:10:40.900Z,1761343840.900 [MissionManager](INFO): DefineArg marl:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-10-24T22:10:40.903Z,1761343840.903 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-10-24T22:10:40.914Z,1761343840.914 [MissionManager](INFO): DefineArg marl:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-10-24T22:10:40.933Z,1761343840.933 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-10-24T22:10:40.936Z,1761343840.936 [MissionManager](INFO): DefineArg marl:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-10-24T22:10:40.939Z,1761343840.939 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-10-24T22:10:40.957Z,1761343840.957 [MissionManager](INFO): DefineArg marl:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-10-24T22:10:40.959Z,1761343840.959 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-10-24T22:10:40.971Z,1761343840.971 [MissionManager](INFO): DefineArg marl:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-10-24T22:10:40.983Z,1761343840.983 [MissionManager](INFO): DefineArg marl:Science.EnabledAanderaaO2 = 0 bool
2025-10-24T22:10:40.991Z,1761343840.991 [MissionManager](INFO): DefineArg marl:Science.EnabledNeilBrown = 0 bool
2025-10-24T22:10:41.008Z,1761343841.008 [MissionManager](INFO): DefineArg marl:Science.EnabledRBRTridente = 0 bool
2025-10-24T22:10:41.013Z,1761343841.013 [MissionManager](INFO): DefineArg marl:Science.EnabledSeabird = 1 bool
2025-10-24T22:10:41.025Z,1761343841.025 [MissionManager](INFO): DefineArg marl:Science.EnabledWetLabsBB2FL = 1 bool
2025-10-24T22:10:41.030Z,1761343841.030 [MissionManager](INFO): DefineArg marl:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-10-24T22:10:41.045Z,1761343841.045 [MissionManager](INFO): DefineArg marl:Science.EnabledWetLabsUBAT = 0 bool
2025-10-24T22:10:41.051Z,1761343841.051 [MissionManager](INFO): DefineArg marl:Science.LowPassWindowLength = 20.000000 count
2025-10-24T22:10:41.062Z,1761343841.062 [MissionManager](INFO): DefineArg marl:Science.MedianFilterLen = 5.000000 count
2025-10-24T22:10:41.080Z,1761343841.080 [MissionManager](INFO): DefineArg marl:Science.ShallowBound = nan m
2025-10-24T22:10:41.083Z,1761343841.083 [MissionManager](INFO): DefineArg marl:Science.DeepBound = nan m
2025-10-24T22:10:41.091Z,1761343841.091 [MissionManager](INFO): DefineArg marl:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-10-24T22:10:41.095Z,1761343841.095 [MissionManager](INFO): DefineArg marl:Science.OffPeakFractionVerticalAscent = nan %
2025-10-24T22:10:41.106Z,1761343841.106 [MissionManager](INFO): DefineArg marl:Science.OffPeakFractionVerticalDescent = nan %
2025-10-24T22:10:41.110Z,1761343841.110 [MissionManager](INFO): DefineArg marl:Science.ChlPeakThresh = 0.000000 ug/l
2025-10-24T22:10:41.129Z,1761343841.129 [MissionManager](INFO): DefineArg marl:Science.NumberOfLayers = 1.000000 count
2025-10-24T22:10:41.136Z,1761343841.136 [MissionManager](INFO): DefineArg marl:Science.ChlThreshTriggerActive = 0 bool
2025-10-24T22:10:41.139Z,1761343841.139 [MissionManager](INFO): DefineArg marl:Science.ChlLowerThresh = nan ug/l
2025-10-24T22:10:41.147Z,1761343841.147 [MissionManager](INFO): DefineArg marl:Science.ChlUpperThresh = nan ug/l
2025-10-24T22:10:41.154Z,1761343841.154 [MissionManager](INFO): DefineArg marl:Science.NumProfilesThresh = 5.000000 count
2025-10-24T22:10:41.168Z,1761343841.168 [MissionManager](INFO): DefineArg marl:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-10-24T22:10:41.171Z,1761343841.171 [MissionManager](INFO): DefineArg marl:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-10-24T22:10:41.182Z,1761343841.182 [MissionManager](INFO): DefineArg marl:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-10-24T22:10:41.185Z,1761343841.185 [MissionManager](INFO): DefineArg marl:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-10-24T22:10:41.189Z,1761343841.189 [MissionManager](INFO): DefineOutput marl:Science.GoDown = 1 bool
2025-10-24T22:10:41.209Z,1761343841.209 [MissionManager](INFO): DefineOutput marl:Science.PeakChl = nan ug/l
2025-10-24T22:10:41.216Z,1761343841.216 [MissionManager](INFO): DefineOutput marl:Science.PeakChlDepth = nan m
2025-10-24T22:10:41.219Z,1761343841.219 [MissionManager](INFO): DefineOutput marl:Science.PeakChlTemperature = nan degC
2025-10-24T22:10:41.231Z,1761343841.231 [MissionManager](INFO): DefineOutput marl:Science.PeakChlLatitude = nan arcdeg
2025-10-24T22:10:41.235Z,1761343841.235 [MissionManager](INFO): DefineOutput marl:Science.PeakChlLongitude = nan arcdeg
2025-10-24T22:10:41.246Z,1761343841.246 [MissionManager](INFO): DefineOutput marl:Science.PeakChlAvgProfiles = nan ug/l
2025-10-24T22:10:41.250Z,1761343841.250 [MissionManager](INFO): DefineOutput marl:Science.PeakChlDepthAvgProfiles = nan m
2025-10-24T22:10:41.267Z,1761343841.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337591,0.941024,0.022511],[-0.934991,0.332472,0.123508],[0.108739,-0.062742,0.992088]]
2025-10-24T22:10:41.286Z,1761343841.286 [MissionManager](INFO): DefineOutput marl:Science.EdgeChl = nan ug/l
2025-10-24T22:10:41.309Z,1761343841.309 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:10:41.318Z,1761343841.318 [MissionManager](INFO): DefineOutput marl:Science.EdgeChlDepth = nan m
2025-10-24T22:10:41.326Z,1761343841.326 [MissionManager](INFO): DefineOutput marl:Science.EdgeChlTemperature = nan degC
2025-10-24T22:10:41.341Z,1761343841.341 [MissionManager](INFO): DefineOutput marl:Science.EdgeChlLatitude = nan arcdeg
2025-10-24T22:10:41.347Z,1761343841.347 [MissionManager](INFO): DefineOutput marl:Science.EdgeChlLongitude = nan arcdeg
2025-10-24T22:10:41.359Z,1761343841.359 [MissionManager](INFO): DefineOutput marl:Science.PeakNO3 = nan umol/l
2025-10-24T22:10:41.372Z,1761343841.372 [MissionManager](INFO): DefineOutput marl:Science.PeakNO3Depth = nan m
2025-10-24T22:10:41.375Z,1761343841.375 [MissionManager](INFO): DefineOutput marl:Science.PeakNO3Latitude = nan arcdeg
2025-10-24T22:10:41.398Z,1761343841.398 [MissionManager](INFO): DefineOutput marl:Science.PeakNO3Longitude = nan arcdeg
2025-10-24T22:10:41.402Z,1761343841.402 [MissionManager](INFO): DefineOutput marl:Science.PeakOil = nan kg/m3
2025-10-24T22:10:41.414Z,1761343841.414 [MissionManager](INFO): DefineOutput marl:Science.PeakOilDepth = nan m
2025-10-24T22:10:41.421Z,1761343841.421 [MissionManager](INFO): DefineOutput marl:Science.PeakOilLatitude = nan arcdeg
2025-10-24T22:10:41.428Z,1761343841.428 [MissionManager](INFO): DefineOutput marl:Science.PeakOilLongitude = nan arcdeg
2025-10-24T22:10:41.436Z,1761343841.436 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOM = nan ppb
2025-10-24T22:10:41.442Z,1761343841.442 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOMDepth = nan m
2025-10-24T22:10:41.446Z,1761343841.446 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOMTemperature = nan degC
2025-10-24T22:10:41.453Z,1761343841.453 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOMLatitude = nan arcdeg
2025-10-24T22:10:41.461Z,1761343841.461 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOMLongitude = nan arcdeg
2025-10-24T22:10:41.469Z,1761343841.469 [MissionManager](INFO): DefineOutput marl:Science.PeakSalt = nan psu
2025-10-24T22:10:41.480Z,1761343841.480 [MissionManager](INFO): DefineOutput marl:Science.PeakSaltDepth = nan m
2025-10-24T22:10:41.488Z,1761343841.488 [MissionManager](INFO): DefineOutput marl:Science.PeakSaltTemperature = nan degC
2025-10-24T22:10:41.491Z,1761343841.491 [MissionManager](INFO): DefineOutput marl:Science.PeakSaltLatitude = nan arcdeg
2025-10-24T22:10:41.498Z,1761343841.498 [MissionManager](INFO): DefineOutput marl:Science.PeakSaltLongitude = nan arcdeg
2025-10-24T22:10:41.503Z,1761343841.503 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-10-24T22:10:41.514Z,1761343841.514 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-10-24T22:10:41.518Z,1761343841.518 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-10-24T22:10:41.533Z,1761343841.533 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-10-24T22:10:41.537Z,1761343841.537 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-10-24T22:10:41.557Z,1761343841.557 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-10-24T22:10:41.562Z,1761343841.562 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-10-24T22:10:41.573Z,1761343841.573 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-10-24T22:10:41.578Z,1761343841.578 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-10-24T22:10:41.589Z,1761343841.589 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-10-24T22:10:41.593Z,1761343841.593 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-10-24T22:10:41.608Z,1761343841.608 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-10-24T22:10:41.611Z,1761343841.611 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-10-24T22:10:41.619Z,1761343841.619 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-10-24T22:10:41.627Z,1761343841.627 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-10-24T22:10:41.634Z,1761343841.634 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-10-24T22:10:41.653Z,1761343841.653 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-10-24T22:10:41.671Z,1761343841.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353154,0.934803,0.037743],[-0.934629,0.350709,0.058921],[0.041842,-0.056084,0.997549]]
2025-10-24T22:10:41.693Z,1761343841.693 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-10-24T22:10:41.705Z,1761343841.705 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-10-24T22:10:41.725Z,1761343841.725 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-10-24T22:10:41.736Z,1761343841.736 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-10-24T22:10:41.739Z,1761343841.739 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-10-24T22:10:41.751Z,1761343841.751 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-10-24T22:10:41.758Z,1761343841.758 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-10-24T22:10:41.774Z,1761343841.774 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-10-24T22:10:41.787Z,1761343841.787 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-10-24T22:10:41.800Z,1761343841.800 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-10-24T22:10:41.803Z,1761343841.803 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-10-24T22:10:41.811Z,1761343841.811 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-10-24T22:10:41.819Z,1761343841.819 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-10-24T22:10:41.838Z,1761343841.838 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-10-24T22:10:41.849Z,1761343841.849 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-10-24T22:10:41.853Z,1761343841.853 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-10-24T22:10:41.864Z,1761343841.864 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-10-24T22:10:41.867Z,1761343841.867 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-10-24T22:10:41.875Z,1761343841.875 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-10-24T22:10:41.883Z,1761343841.883 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-10-24T22:10:41.887Z,1761343841.887 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-10-24T22:10:41.899Z,1761343841.899 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-10-24T22:10:41.907Z,1761343841.907 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-10-24T22:10:41.920Z,1761343841.920 [MissionManager](INFO): DefineOutput marl:Science.PatchChl = nan ug/l
2025-10-24T22:10:41.936Z,1761343841.936 [MissionManager](INFO): DefineOutput marl:Science.PatchChlDepth = nan m
2025-10-24T22:10:41.969Z,1761343841.969 [MissionManager](INFO): DefineOutput marl:Science.PatchChlLatitude = nan arcdeg
2025-10-24T22:10:41.982Z,1761343841.982 [MissionManager](INFO): DefineOutput marl:Science.PatchChlLongitude = nan arcdeg
2025-10-24T22:10:41.994Z,1761343841.994 [MissionManager](INFO): DefineOutput marl:Science.PatchChlDistance = nan m
2025-10-24T22:10:41.997Z,1761343841.997 [MissionManager](INFO): DefineOutput marl:Science.PatchSalt = nan psu
2025-10-24T22:10:42.013Z,1761343842.013 [MissionManager](INFO): DefineOutput marl:Science.PatchSaltDepth = nan m
2025-10-24T22:10:42.020Z,1761343842.020 [MissionManager](INFO): DefineOutput marl:Science.PatchSaltLatitude = nan arcdeg
2025-10-24T22:10:42.024Z,1761343842.024 [MissionManager](INFO): DefineOutput marl:Science.PatchSaltLongitude = nan arcdeg
2025-10-24T22:10:42.031Z,1761343842.031 [MissionManager](INFO): DefineOutput marl:Science.PatchSaltDistance = nan m
2025-10-24T22:10:42.039Z,1761343842.039 [MissionManager](INFO): DefineOutput marl:Science.PatchOil = nan psu
2025-10-24T22:10:42.054Z,1761343842.054 [MissionManager](INFO): DefineOutput marl:Science.PatchOilDepth = nan m
2025-10-24T22:10:42.075Z,1761343842.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357388,0.931776,0.063777],[-0.933951,0.356767,0.021275],[-0.002930,-0.067168,0.997737]]
2025-10-24T22:10:42.089Z,1761343842.089 [MissionManager](INFO): DefineOutput marl:Science.PatchOilLatitude = nan arcdeg
2025-10-24T22:10:42.101Z,1761343842.101 [MissionManager](INFO): DefineOutput marl:Science.PatchOilLongitude = nan arcdeg
2025-10-24T22:10:42.113Z,1761343842.113 [MissionManager](INFO): DefineOutput marl:Science.PatchOilDistance = nan m
2025-10-24T22:10:42.116Z,1761343842.116 [MissionManager](INFO): DefineOutput marl:Science.TriggeredOnChl = 0 bool
2025-10-24T22:10:42.131Z,1761343842.131 [MissionManager](INFO): DefineOutput marl:Science.ChlTriggering = nan ug/l
2025-10-24T22:10:42.205Z,1761343842.205 [marl:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-24T22:10:42.247Z,1761343842.247 [marl:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-24T22:10:42.299Z,1761343842.299 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-24T22:10:42.334Z,1761343842.334 [marl:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-24T22:10:42.361Z,1761343842.361 [marl:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-24T22:10:42.386Z,1761343842.386 [marl:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-24T22:10:42.413Z,1761343842.413 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-24T22:10:42.453Z,1761343842.453 [marl:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-24T22:10:42.479Z,1761343842.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347156,0.935262,0.069046],[-0.937737,0.345285,0.037798],[0.011510,-0.077869,0.996897]]
2025-10-24T22:10:42.505Z,1761343842.505 [marl:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-24T22:10:42.542Z,1761343842.542 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-24T22:10:42.582Z,1761343842.582 [marl:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-24T22:10:42.624Z,1761343842.624 [marl:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-24T22:10:42.672Z,1761343842.672 [marl:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-24T22:10:42.702Z,1761343842.702 [marl:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-24T22:10:42.764Z,1761343842.764 [marl:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-24T22:10:42.794Z,1761343842.794 [marl:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-24T22:10:42.842Z,1761343842.842 [marl:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-24T22:10:42.883Z,1761343842.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341967,0.934996,0.094031],[-0.939709,0.340018,0.036521],[0.002175,-0.100851,0.994899]]
2025-10-24T22:10:42.913Z,1761343842.913 [marl:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-24T22:10:42.980Z,1761343842.980 [marl:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-10-24T22:10:43.014Z,1761343843.014 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-10-24T22:10:43.014Z,1761343843.014 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-10-24T22:10:43.015Z,1761343843.015 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-10-24T22:10:43.059Z,1761343843.059 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-10-24T22:10:43.071Z,1761343843.071 [MissionManager](INFO): DefineArg marl:BackseatDriver.EnableBackseat = 0 bool
2025-10-24T22:10:43.078Z,1761343843.078 [marl:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-10-24T22:10:43.098Z,1761343843.098 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-10-24T22:10:43.098Z,1761343843.098 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-10-24T22:10:43.099Z,1761343843.099 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-10-24T22:10:43.287Z,1761343843.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343828,0.934019,0.096906],[-0.939022,0.342476,0.030780],[-0.004439,-0.101580,0.994817]]
2025-10-24T22:10:43.472Z,1761343843.472 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-10-24T22:10:43.481Z,1761343843.481 [MissionManager](INFO): DefineArg marl:PowerOnly.SampleAll = 0 bool
2025-10-24T22:10:43.492Z,1761343843.492 [MissionManager](INFO): DefineArg marl:PowerOnly.SampleLoad1 = 0 bool
2025-10-24T22:10:43.495Z,1761343843.495 [MissionManager](INFO): DefineArg marl:PowerOnly.SampleLoad2 = 0 bool
2025-10-24T22:10:43.514Z,1761343843.514 [MissionManager](INFO): DefineArg marl:PowerOnly.SampleLoad3 = 0 bool
2025-10-24T22:10:43.526Z,1761343843.526 [MissionManager](INFO): DefineArg marl:PowerOnly.EnabledPowerOnly = 0 bool
2025-10-24T22:10:43.551Z,1761343843.551 [marl:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-10-24T22:10:43.563Z,1761343843.563 [marl:JoystickControl:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-10-24T22:10:43.575Z,1761343843.575 [marl:JoystickControl:B.Pitch](DEBUG): Construct.
2025-10-24T22:10:43.610Z,1761343843.610 [marl:JoystickControl:C.Pitch](DEBUG): Construct.
2025-10-24T22:10:43.640Z,1761343843.640 [marl:JoystickControl:D.SetSpeed](DEBUG): Construct.
2025-10-24T22:10:43.657Z,1761343843.657 [marl:JoystickControl:CmdHeading:A.Point](DEBUG): Construct.
2025-10-24T22:10:43.690Z,1761343843.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357488,0.933266,0.034890],[-0.933329,0.355687,0.048825],[0.033157,-0.050018,0.998198]]
2025-10-24T22:10:43.702Z,1761343843.702 [marl:JoystickControl:CmdRudder:A.Point](DEBUG): Construct.
2025-10-24T22:10:43.984Z,1761343843.984 [MissionManager](DEBUG): 
mission marl {
  """
  This mission is a test to deploy MARL in the Gazebo sim for multi-agent target traccking using range-only.
  """

  arguments {
    # Mission-wide settings

    MissionTimeout = 4 hour
      """
      Maximum duration of mission
      """

    NeedCommsTime = 1 hour
      """
      Elapsed time after previous surface communications when vehicle will
      begin to ascend for additional surface communications
      """

    # You probably need to change these.

    ContactLabel = 8 count
      """
      The acoustic address of the asset to be tracked. This is the default value, but it will be overwritten by bash file duirng simulation launch.
      tethys = 6
      brizo = 11
      daphne = 8
      galene = 9
      makai = 5
      pontus = 10
      triton = 12
      """

    SendDataLabel = 10 count
      """
      The acoustic address of the asset to send observation data 255 broadcast (it doesn't work,says it is not mapped), 10 is pontus 
      This is the default value, but it will be overwritten by bash file duirng simulation launch.
      """
    
    ContactDepth = NaN meter
      """
      The asset's depth to be tracked
      """

    CenterLatitude = 36.81544 degree
      """
      The latitude of the center of the circle. Fill this in to specify a
      start position, it will be overwritten once the vehicle receives an
      acoustic signal from the contact.
      """

    CenterLongitude = -121.82506 degree
      """
      The longitude of the center of the circle. Fill this in to specify a
      start position, it will be overwritten once the vehicle receives an
      acoustic signal from the contact.
      """

    CenterNorthingsDelta = 0 meter
      """
      Desired change in latitude to achieve, expressed as a distance.
      """

    CenterEastingsDelta = 0 meter
      """
      Desired change in longitude to achieve, expressed as a distance.
      """

    CircleRadius = 50 meter
      """
      Radius of circle around acoustic contact during wait time
      """

    SpeedUpdateTimeout = 240 second
      """
      Max time allowed between speed command updates.
      """
    StateUpdateDelay = 10 second
      """
      Minimum time delay between state updates to avoid rapid changes.
      """

    HorizontalCommandMode = 0 count
      """
      Mission horizontal command mode. 0 = Heading command (default). 1 = Rudder angle command.
      """

    AcousticContactTimeout = 4 hour
      """"
        If the vehicle does not receive an acoustic signal for more than this
        length of time, it will surface for communications with shore.
      """

    SendObservationDataInterval = 1 minute
      """
      How often to send back some a-comms data
      """

    TrackingUpdatePeriod = 30 second
      """
      How long to wait between acoustic queries
      """

        # parameters for constant depth trajectory
    Depth = 20 meter
      """
      Depth of flat and level flight during the mission.
      """

    MaxDepth = 60 meter
      """
      Maximum depth for the entire mission.
      """
    MinAltitude = 5 meter
      """
      Minimum height above the sea floor for the entire mission.
      """
    MassHold = true
      """
      Set to True in order to hold mass at default position, False to allow
      mass to run on its own.
      """

    BuoyancyHold = true
      """
      Set to True in order to hold buoyancy at neutral position, False to
      allow buoyancy to run on its own.
      """


      #  You probably do not need to change these.


    NumberOfPings = 1 count
      """
      Number of return pings to request with each acoustic query (more than 1
      will activate oneway mode)
      """

    CircleMaxError = 10 meter
      """
      If this distance away from the circle, drive straight towards (or away
      from the center). Otherwise, try to reduce distance from the ideal
      circle.
      """

    CircleTurnToPort = false
      """
      If true, vehicle turns to the left around the center point. If false,
      vehicle turns to the right.
      """

    Speed = 0 meter_per_second
      """
      Vehicle speed.
      """

    MyTempVar = NaN none_str

      """
      A custom variable  from the backseat driver interface.
      """
    # You are even less likely to need to change these.

    KwpHeading = 0.010 radian_per_meter
      """
      Used to relax waypoint cross-track error constant that is adjusted for
      docking. (You can override this setting by passing an argument.)
      """

    MinOffshore = 1.5 kilometer
      """
      Minimum offshore distance for the entire mission.
      """

  }

  output {
    HeadingMode = 0 count
      """
      Heading angle command mode enumaration.
      """

    RudderMode = 1 count
      """
      Rudder angle command mode enumaration.
      """

    Heading = 0 degree
      """
      Commanded vehicle heading. Mission will init Heading to current vehicle heading.
      """

    RudderAngle = 0 degree
      """
      Commanded vehicle RudderAngle. Only acitve when mission is in rudder commands mode.
      """

    TimeLastSendData = 0 second
    ElapsedSinceLastSendData = 0 second
      """
      Time elapsed since last Send Data fix.
      """ 
  }

  # Missions should always start with a timeout.

  timeout duration=MissionTimeout

  # Add tracking directive high in the stack (above NeedComms to enable tracking from surface).

  insert Insert/AbortDrift.tl {
    redefineArg AcousticTimeout = AcousticContactTimeout
  }

  behavior Estimation:TrackAcousticContact {
    run in parallel

    set contactDepthSetting = ContactDepth
    set contactLabelSetting = ContactLabel
    set numberOfSamplesSetting = NumberOfPings
    set updatePeriodSetting = TrackingUpdatePeriod
  }

  #assign in sequence customUri "_.others_observations" = "999"

  aggregate SendObservationData {

     run when ( elapsed (MyTempVar) >= SendObservationDataInterval )

     syslog info "Got test_good : " + customUri "_.send_observations"~none_str + " and temp var is " + MyTempVar~none_str
     assign in sequence ElapsedSinceLastSendData = elapsed (MyTempVar) 

     assign in sequence MyTempVar = customUri "_.send_observations"

     behavior Sensor:SendDirect {
        run in parallel

        set destType = "modem"
        set destId = SendDataLabel
        set destName = "_.others_observations"
        set value = MyTempVar
        set unit = "none_str"

     }
     syslog info "SendData: sent send_observations : " + MyTempVar~none_str + " to nearby vehicles. Elapsed time " + ElapsedSinceLastSendData~minute

  }


  aggregate UpdateContactLabel {
    run when (
      elapsed ( customUri "_.contactLabelSetting" ) < ( elapsed ( ContactLabel ) )
    )

    assign in sequence ContactLabel = abs ( customUri "_.contactLabelSetting" )

    syslog info "Upadating ContactLabel " + customUri "_.contactLabelSetting"~count
  }

  # Most missions have the NeedComms aggregate at high priority.

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime


  # Missions should almost always start with standard safety envelopes; most missions should not expose the parameters of these envelopes.

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  # Add guidance update directives high in the stack.

  aggregate SpeedTimeout {
    run when ( elapsed ( Speed ) >= SpeedUpdateTimeout )

    assign in sequence Speed = 0 meter_per_second

    syslog fault "Speed timeout reached. Stopping vehicle (speed " + Speed~meter_per_second + ")."
  }

  aggregate UpdateSpeed {
    run when (
      elapsed ( customUri "_.speedCmd" ) < ( elapsed ( Speed ) )
      and (elapsed ( Speed) > StateUpdateDelay)
    )

    assign in sequence Speed = customUri "_.speedCmd"

    #syslog info "Updating vehicle speed " + Speed~meter_per_second
  }

  aggregate UpdateCommandMode {
    run when (
      elapsed ( customUri "_.horizontalCmdMode" ) < ( elapsed ( HorizontalCommandMode ) )
      and (
        customUri "_.horizontalCmdMode" == HeadingMode
        or ( customUri "_.horizontalCmdMode" == RudderMode )
      )
      and (elapsed ( HorizontalCommandMode) > StateUpdateDelay)
    )

    assign in sequence HorizontalCommandMode = customUri "_.horizontalCmdMode"

    #syslog info "Updating horizontal command mode " + HorizontalCommandMode~count
  }

  aggregate UpdateHeading {
    run when (
      elapsed ( customUri "_.headingCmd" ) < ( elapsed ( Heading ) )
      and (elapsed ( Heading) > StateUpdateDelay)
    )

    assign in sequence Heading = customUri "_.headingCmd"

    syslog info "Updating heading " + Heading~degree
  }

  aggregate UpdateRudder {
    run when (
      elapsed ( customUri "_.rudderAngleCmd" ) < ( elapsed ( RudderAngle ) )
      and (elapsed ( RudderAngle) > StateUpdateDelay)
    )

    assign in sequence RudderAngle = customUri "_.rudderAngleCmd"

    syslog info "Updating rudder angle " + RudderAngle~degree
  }

  insert id="Science" Insert/Science.tl

  # Power the Backseat payload.

  insert Insert/BackseatDriver.tl

  assign in sequence BackseatDriver:EnableBackseat = true

  insert Insert/PowerOnly.tl

  # Check for additional instructions first.
  call id="StartingMission" priorityHere=false refId="NeedComms"

  aggregate JoystickControl {
    run in sequence

    behavior Guidance:Buoyancy {
    run in parallel

    set position = Control:VerticalControl.buoyancyNeutral
  }

  behavior Guidance:Pitch {
    run while ( MassHold )

    set massPosition = Control:VerticalControl.massDefault
  }

  behavior Guidance:Pitch {
    run in parallel

    set depth = Depth
  }

  behavior Guidance:SetSpeed {
    run in parallel

    set speed = Speed
  }

    aggregate CmdHeading {
      run while ( HorizontalCommandMode == HeadingMode )

      behavior Guidance:Point {
        run in parallel

        set forceUpdate = true
        set heading = Heading
      }
    }

    aggregate CmdRudder {
      run while ( HorizontalCommandMode == RudderMode )

      behavior Guidance:Point {
        run in parallel

        set forceUpdate = true
        set rudderAngle = RudderAngle
      }
    }
  }
}


2025-10-24T22:10:43.985Z,1761343843.985 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/marl3.tl id=marl
2025-10-24T22:10:44.095Z,1761343844.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334753,0.942075,-0.020860],[-0.941610,0.335274,0.031002],[0.036200,0.009264,0.999302]]
2025-10-24T22:10:44.498Z,1761343844.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307373,0.951587,-0.001823],[-0.951453,0.307296,-0.017492],[-0.016085,0.007111,0.999845]]
2025-10-24T22:10:44.902Z,1761343844.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324626,0.945770,0.011750],[-0.945487,0.324138,0.031439],[0.025926,-0.021316,0.999437]]
2025-10-24T22:10:45.306Z,1761343845.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323424,0.946178,-0.012003],[-0.939533,0.322610,0.114891],[0.112580,-0.025881,0.993306]]
2025-10-24T22:10:45.710Z,1761343845.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306949,0.951427,-0.023861],[-0.945215,0.307681,0.109094],[0.111136,-0.010932,0.993745]]
2025-10-24T22:10:46.118Z,1761343846.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306676,0.951636,-0.018423],[-0.948943,0.307196,0.071685],[0.073877,-0.004501,0.997257]]
2025-10-24T22:10:46.520Z,1761343846.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296789,0.954935,0.003861],[-0.953644,0.296172,0.053341],[0.049794,-0.019513,0.998569]]
2025-10-24T22:10:46.923Z,1761343846.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303557,0.952259,0.032510],[-0.952183,0.301938,0.046706],[0.034660,-0.045133,0.998379]]
2025-10-24T22:10:47.327Z,1761343847.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321373,0.945028,0.060349],[-0.946581,0.318809,0.048419],[0.026518,-0.072686,0.997002]]
2025-10-24T22:10:47.731Z,1761343847.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301939,0.949100,0.089673],[-0.953276,0.301559,0.018087],[-0.009875,-0.090944,0.995807]]
2025-10-24T22:10:48.137Z,1761343848.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286587,0.948917,0.132003],[-0.956464,0.291318,-0.017622],[-0.055177,-0.121205,0.991093]]
2025-10-24T22:10:48.539Z,1761343848.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264661,0.957211,0.117057],[-0.961501,0.271240,-0.044093],[-0.073957,-0.100880,0.992146]]
2025-10-24T22:10:48.942Z,1761343848.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277977,0.958138,0.068559],[-0.960465,0.278374,0.003885],[-0.015363,-0.066929,0.997639]]
2025-10-24T22:10:49.347Z,1761343849.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295898,0.955075,0.016608],[-0.954826,0.295232,0.033861],[0.027436,-0.025877,0.999289]]
2025-10-24T22:10:49.750Z,1761343849.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294886,0.955532,-0.000045],[-0.955337,0.294826,0.020210],[0.019324,-0.005916,0.999796]]
2025-10-24T22:10:50.200Z,1761343850.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276497,0.960963,0.010007],[-0.952618,0.272692,0.134753],[0.126763,-0.046792,0.990829]]
2025-10-24T22:10:50.964Z,1761343850.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256115,0.964018,0.071235],[-0.964684,0.250207,0.082345],[0.061559,-0.089809,0.994055]]
2025-10-24T22:10:51.367Z,1761343851.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278280,0.958118,0.067599],[-0.960497,0.277759,0.017179],[-0.002316,-0.069709,0.997565]]
2025-10-24T22:10:51.771Z,1761343851.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246285,0.969186,0.004602],[-0.968343,0.245866,0.043154],[0.040693,-0.015085,0.999058]]
2025-10-24T22:10:52.175Z,1761343852.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230542,0.972862,0.019765],[-0.969505,0.227917,0.090081],[0.083131,-0.039929,0.995738]]
2025-10-24T22:10:52.584Z,1761343852.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249929,0.966038,0.065627],[-0.966219,0.244425,0.081709],[0.062893,-0.083832,0.994493]]
2025-10-24T22:10:52.988Z,1761343852.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195606,0.972686,0.124978],[-0.974255,0.178173,0.138135],[0.112094,-0.148780,0.982496]]
2025-10-24T22:10:53.391Z,1761343853.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229442,0.961981,0.148149],[-0.961493,0.200354,0.188121],[0.151286,-0.185607,0.970908]]
2025-10-24T22:10:53.795Z,1761343853.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276901,0.956361,0.093272],[-0.949511,0.257427,0.179332],[0.147495,-0.138220,0.979357]]
2025-10-24T22:10:54.200Z,1761343854.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267321,0.963566,0.008960],[-0.957215,0.264467,0.117457],[0.110807,-0.039976,0.993038]]
2025-10-24T22:10:54.600Z,1761343854.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241153,0.970161,-0.025166],[-0.967965,0.242314,0.065789],[0.069924,0.008495,0.997516]]
2025-10-24T22:10:54.632Z,1761343854.632 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:10:55.002Z,1761343855.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245047,0.969460,-0.009980],[-0.967390,0.245178,0.063589],[0.064094,-0.005928,0.997926]]
2025-10-24T22:10:55.406Z,1761343855.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250444,0.967550,0.033538],[-0.968014,0.249725,0.024196],[0.015036,-0.038525,0.999144]]
2025-10-24T22:10:55.811Z,1761343855.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261699,0.962973,0.064785],[-0.964858,0.262679,-0.006943],[-0.023704,-0.060691,0.997875]]
2025-10-24T22:10:56.214Z,1761343856.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255677,0.964368,0.067999],[-0.966278,0.252690,0.049553],[0.030605,-0.078375,0.996454]]
2025-10-24T22:10:56.618Z,1761343856.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241891,0.967858,0.068847],[-0.968147,0.236018,0.083583],[0.064648,-0.086872,0.994120]]
2025-10-24T22:10:57.024Z,1761343857.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274559,0.958108,0.081526],[-0.960495,0.269255,0.070365],[0.045466,-0.097625,0.994184]]
2025-10-24T22:10:57.427Z,1761343857.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300106,0.951666,0.065333],[-0.952869,0.295883,0.067032],[0.044461,-0.082371,0.995609]]
2025-10-24T22:10:57.831Z,1761343857.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270172,0.960673,0.064147],[-0.961425,0.265608,0.071519],[0.051668,-0.080995,0.995374]]
2025-10-24T22:10:58.235Z,1761343858.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250443,0.961184,0.115774],[-0.967597,0.244535,0.062922],[0.032169,-0.127781,0.991281]]
2025-10-24T22:10:58.640Z,1761343858.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268791,0.955005,0.125369],[-0.962881,0.263072,0.060446],[0.024745,-0.136963,0.990267]]
2025-10-24T22:10:59.043Z,1761343859.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291054,0.955576,0.046493],[-0.954894,0.287168,0.075581],[0.058872,-0.066394,0.996055]]
2025-10-24T22:10:59.447Z,1761343859.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303220,0.952584,-0.025339],[-0.950083,0.304261,0.069044],[0.073480,0.003139,0.997292]]
2025-10-24T22:10:59.851Z,1761343859.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286367,0.957795,-0.024961],[-0.957177,0.287143,0.036889],[0.042500,0.013329,0.999008]]
2025-10-24T22:11:00.254Z,1761343860.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265405,0.963636,0.031087],[-0.963508,0.263929,0.044648],[0.034819,-0.041802,0.998519]]
2025-10-24T22:11:00.659Z,1761343860.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264652,0.960193,0.089377],[-0.962787,0.257822,0.081056],[0.054786,-0.107502,0.992694]]
2025-10-24T22:11:01.063Z,1761343861.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277541,0.954658,0.107699],[-0.959574,0.270006,0.079458],[0.046776,-0.125398,0.991003]]
2025-10-24T22:11:01.469Z,1761343861.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313033,0.947540,0.064640],[-0.948151,0.307845,0.079000],[0.054957,-0.086019,0.994777]]
2025-10-24T22:11:01.871Z,1761343861.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319112,0.947713,-0.002737],[-0.944240,0.318187,0.084661],[0.081105,-0.024431,0.996406]]
2025-10-24T22:11:02.275Z,1761343862.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287014,0.957679,-0.021773],[-0.955490,0.287830,0.064746],[0.068273,0.002221,0.997664]]
2025-10-24T22:11:02.679Z,1761343862.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274951,0.961450,-0.003878],[-0.958622,0.274448,0.075652],[0.073800,-0.017083,0.997127]]
2025-10-24T22:11:03.084Z,1761343863.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296047,0.954841,0.025195],[-0.951474,0.292479,0.095672],[0.083983,-0.052296,0.995094]]
2025-10-24T22:11:03.488Z,1761343863.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300044,0.951841,0.063019],[-0.952417,0.295202,0.075884],[0.053626,-0.082789,0.995123]]
2025-10-24T22:11:03.891Z,1761343863.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273952,0.955497,0.109433],[-0.961179,0.268115,0.065189],[0.032948,-0.123043,0.991854]]
2025-10-24T22:11:04.294Z,1761343864.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259939,0.956889,0.129598],[-0.965158,0.253288,0.065690],[0.030032,-0.142157,0.989388]]
2025-10-24T22:11:04.700Z,1761343864.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277617,0.956903,0.085243],[-0.960410,0.274289,0.048775],[0.023292,-0.095409,0.995166]]
2025-10-24T22:11:05.103Z,1761343865.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284455,0.958578,0.014619],[-0.958689,0.284418,0.004612],[0.000263,-0.015327,0.999882]]
2025-10-24T22:11:05.507Z,1761343865.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265376,0.963598,-0.032484],[-0.963923,0.265888,0.012528],[0.020709,0.027988,0.999394]]
2025-10-24T22:11:05.917Z,1761343865.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259650,0.965311,-0.027523],[-0.962777,0.260975,0.070376],[0.075117,0.008225,0.997141]]
2025-10-24T22:11:06.314Z,1761343866.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260337,0.965379,0.016390],[-0.963866,0.258862,0.062869],[0.056450,-0.032165,0.997887]]
2025-10-24T22:11:06.718Z,1761343866.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248936,0.965493,0.076512],[-0.968518,0.248005,0.021593],[0.001872,-0.079478,0.996835]]
2025-10-24T22:11:07.013Z,1761343867.013 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:11:07.123Z,1761343867.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261948,0.954092,0.145229],[-0.965065,0.259852,0.033562],[-0.005717,-0.148947,0.988829]]
2025-10-24T22:11:07.527Z,1761343867.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287210,0.941335,0.177198],[-0.957818,0.280359,0.063112],[0.009730,-0.187850,0.982150]]
2025-10-24T22:11:07.975Z,1761343867.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281966,0.945677,0.161832],[-0.959386,0.276413,0.056338],[0.008545,-0.171145,0.985209]]
2025-10-24T22:11:08.335Z,1761343868.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271222,0.956758,0.105129],[-0.962134,0.266415,0.057624],[0.027124,-0.116777,0.992788]]
2025-10-24T22:11:08.739Z,1761343868.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259922,0.964398,0.048747],[-0.965407,0.260616,-0.008346],[-0.020753,-0.044891,0.998776]]
2025-10-24T22:11:09.144Z,1761343869.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274630,0.961361,0.019039],[-0.959669,0.275277,-0.057076],[-0.060112,-0.002596,0.998188]]
2025-10-24T22:11:09.547Z,1761343869.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300297,0.953409,-0.028857],[-0.953104,0.301119,0.030338],[0.037613,0.018393,0.999123]]
2025-10-24T22:11:09.834Z,1761343869.834 [CommandExec](IMPORTANT): got command set marl.NeedCommsTime 30 minute
2025-10-24T22:11:09.835Z,1761343869.835 [CommandExec](IMPORTANT): got command set marl.ContactLabel 20 count
2025-10-24T22:11:09.840Z,1761343869.840 [CommandExec](IMPORTANT): got command set marl.CenterLatitude 36.7749 degree
2025-10-24T22:11:09.841Z,1761343869.841 [CommandExec](IMPORTANT): got command set marl.CenterLongitude -121.8631661 degree
2025-10-24T22:11:09.842Z,1761343869.842 [CommandExec](IMPORTANT): got command set marl.SpeedUpdateTimeout 15 minute
2025-10-24T22:11:09.986Z,1761343869.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288696,0.955858,-0.054677],[-0.946199,0.293564,0.136116],[0.146159,0.012439,0.989183]]
2025-10-24T22:11:10.355Z,1761343870.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251667,0.967773,0.008905],[-0.960440,0.248606,0.125497],[0.119239,-0.040137,0.992054]]
2025-10-24T22:11:10.761Z,1761343870.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232057,0.966997,0.105198],[-0.971056,0.224015,0.082875],[0.056574,-0.121385,0.990992]]
2025-10-24T22:11:11.163Z,1761343871.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251588,0.956369,0.148534],[-0.967800,0.249902,0.030218],[-0.008219,-0.151354,0.988446]]
2025-10-24T22:11:11.567Z,1761343871.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263171,0.957157,0.120795],[-0.961928,0.269906,-0.042969],[-0.073731,-0.104887,0.991747]]
2025-10-24T22:11:11.987Z,1761343871.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255258,0.964239,0.071311],[-0.966534,0.256427,-0.007589],[-0.025604,-0.066988,0.997425]]
2025-10-24T22:11:12.377Z,1761343872.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247562,0.967985,0.041458],[-0.967359,0.244558,0.066386],[0.054122,-0.056540,0.996932]]
2025-10-24T22:11:12.779Z,1761343872.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261962,0.963375,0.057305],[-0.963566,0.257768,0.071381],[0.053995,-0.073917,0.995802]]
2025-10-24T22:11:13.183Z,1761343873.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262030,0.962623,0.068530],[-0.964858,0.259861,0.039017],[0.019750,-0.076345,0.996886]]
2025-10-24T22:11:13.587Z,1761343873.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249512,0.965067,0.079936],[-0.968372,0.248710,0.019993],[-0.000586,-0.082396,0.996599]]
2025-10-24T22:11:13.995Z,1761343873.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251157,0.965721,0.065593],[-0.967852,0.249607,0.030974],[0.013539,-0.071264,0.997366]]
2025-10-24T22:11:14.395Z,1761343874.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255425,0.965183,0.056396],[-0.965318,0.251332,0.070664],[0.054029,-0.072490,0.995905]]
2025-10-24T22:11:14.799Z,1761343874.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268650,0.960152,0.077041],[-0.962425,0.264280,0.062396],[0.039549,-0.090909,0.995074]]
2025-10-24T22:11:15.203Z,1761343875.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266096,0.960037,0.086724],[-0.963830,0.266383,0.008462],[-0.014978,-0.085839,0.996196]]
2025-10-24T22:11:15.607Z,1761343875.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263566,0.962530,0.063794],[-0.963464,0.265934,-0.031865],[-0.047636,-0.053065,0.997454]]
2025-10-24T22:11:16.011Z,1761343876.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257340,0.965925,0.027643],[-0.964901,0.258407,-0.046808],[-0.052356,-0.014628,0.998521]]
2025-10-24T22:11:16.415Z,1761343876.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260135,0.965201,0.026792],[-0.965511,0.259706,0.018480],[0.010879,-0.030675,0.999470]]
2025-10-24T22:11:16.818Z,1761343876.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290947,0.954475,0.065788],[-0.955084,0.285712,0.078638],[0.056261,-0.085712,0.994730]]
2025-10-24T22:11:17.223Z,1761343877.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316053,0.942340,0.110023],[-0.948303,0.310250,0.066832],[0.028844,-0.125458,0.991679]]
2025-10-24T22:11:17.628Z,1761343877.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310058,0.944657,0.107182],[-0.948121,0.298914,0.108243],[0.070214,-0.135183,0.988330]]
2025-10-24T22:11:18.031Z,1761343878.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275838,0.958080,0.077436],[-0.950636,0.260004,0.169380],[0.142146,-0.120335,0.982504]]
2025-10-24T22:11:18.435Z,1761343878.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269759,0.958453,0.092721],[-0.960606,0.261174,0.094997],[0.066834,-0.114695,0.991150]]
2025-10-24T22:11:18.838Z,1761343878.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296314,0.949740,0.100961],[-0.954826,0.297060,0.007906],[-0.022483,-0.098743,0.994859]]
2025-10-24T22:11:19.244Z,1761343879.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321926,0.945781,0.043147],[-0.946537,0.320514,0.036591],[0.020778,-0.052620,0.998398]]
2025-10-24T22:11:19.381Z,1761343879.381 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:11:19.646Z,1761343879.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315595,0.948863,-0.007685],[-0.945978,0.315249,0.075787],[0.074334,-0.016648,0.997094]]
2025-10-24T22:11:20.050Z,1761343880.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301087,0.953593,-0.002534],[-0.950481,0.300317,0.079977],[0.077027,-0.021671,0.996793]]
2025-10-24T22:11:20.455Z,1761343880.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286363,0.957266,0.040472],[-0.954460,0.281325,0.099311],[0.083682,-0.067068,0.994233]]
2025-10-24T22:11:20.860Z,1761343880.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293380,0.953780,0.065054],[-0.953665,0.287238,0.089535],[0.066710,-0.088308,0.993857]]
2025-10-24T22:11:21.262Z,1761343881.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297425,0.952936,0.058749],[-0.953739,0.293724,0.064102],[0.043829,-0.075097,0.996213]]
2025-10-24T22:11:21.667Z,1761343881.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284003,0.957957,0.040758],[-0.958414,0.284867,-0.017112],[-0.028003,-0.034203,0.999023]]
2025-10-24T22:11:22.071Z,1761343882.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290694,0.956320,0.030799],[-0.956065,0.291590,-0.030234],[-0.037894,-0.020657,0.999068]]
2025-10-24T22:11:22.476Z,1761343882.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304244,0.952174,0.028285],[-0.952490,0.304516,-0.005741],[-0.014079,-0.025194,0.999583]]
2025-10-24T22:11:22.879Z,1761343882.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277956,0.959369,0.048497],[-0.960345,0.278679,-0.008713],[-0.021874,-0.044152,0.998785]]
2025-10-24T22:11:23.283Z,1761343883.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237834,0.967746,0.083086],[-0.971286,0.237503,0.013989],[-0.006195,-0.084027,0.996444]]
2025-10-24T22:11:23.688Z,1761343883.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250777,0.961986,0.108140],[-0.967115,0.244072,0.071541],[0.042427,-0.122525,0.991558]]
2025-10-24T22:11:24.092Z,1761343884.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266212,0.958582,0.101245],[-0.963184,0.260451,0.066650],[0.037520,-0.115260,0.992626]]
2025-10-24T22:11:24.495Z,1761343884.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268742,0.961587,0.055932],[-0.963062,0.267222,0.033221],[0.016998,-0.062793,0.997882]]
2025-10-24T22:11:24.899Z,1761343884.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272795,0.962064,0.003837],[-0.961925,0.272681,0.018573],[0.016822,-0.008758,0.999820]]
2025-10-24T22:11:25.303Z,1761343885.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272999,0.961838,-0.018435],[-0.961717,0.273341,0.019647],[0.023936,0.012365,0.999637]]
2025-10-24T22:11:25.709Z,1761343885.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243575,0.969864,-0.005991],[-0.966346,0.243209,0.083812],[0.082743,-0.014625,0.996464]]
2025-10-24T22:11:26.111Z,1761343886.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199366,0.978117,0.059500],[-0.972763,0.190216,0.132479],[0.118262,-0.084291,0.989398]]
2025-10-24T22:11:26.515Z,1761343886.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221044,0.964607,0.143778],[-0.974535,0.212768,0.070786],[0.037689,-0.155764,0.987075]]
2025-10-24T22:11:26.918Z,1761343886.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244365,0.953546,0.176168],[-0.968736,0.248093,0.000891],[-0.042856,-0.170878,0.984360]]
2025-10-24T22:11:27.324Z,1761343887.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237452,0.959469,0.151774],[-0.970836,0.239719,0.003454],[-0.033069,-0.148168,0.988409]]
2025-10-24T22:11:27.728Z,1761343887.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236762,0.968239,0.080358],[-0.971565,0.235743,0.022078],[0.002432,-0.083300,0.996521]]
2025-10-24T22:11:28.131Z,1761343888.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258904,0.965443,0.029817],[-0.965808,0.258320,0.022053],[0.013588,-0.034507,0.999312]]
2025-10-24T22:11:28.535Z,1761343888.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269081,0.963027,0.013238],[-0.963085,0.268932,0.011954],[0.007952,-0.015966,0.999841]]
2025-10-24T22:11:28.940Z,1761343888.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252794,0.966541,0.043524],[-0.967485,0.252909,0.002937],[-0.008169,-0.042851,0.999048]]
2025-10-24T22:11:29.343Z,1761343889.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247775,0.964656,0.089701],[-0.967768,0.250752,-0.023414],[-0.045079,-0.081008,0.995694]]
2025-10-24T22:11:29.748Z,1761343889.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251289,0.961255,0.113325],[-0.965229,0.257581,-0.044554],[-0.072018,-0.098189,0.992558]]
2025-10-24T22:11:30.150Z,1761343890.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268933,0.958028,0.099281],[-0.962699,0.270558,-0.003038],[-0.029771,-0.094761,0.995055]]
2025-10-24T22:11:30.556Z,1761343890.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310909,0.948354,0.062935],[-0.950131,0.308438,0.046018],[0.024230,-0.074104,0.996956]]
2025-10-24T22:11:30.958Z,1761343890.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278973,0.959098,0.048014],[-0.960241,0.278057,0.024933],[0.010563,-0.053060,0.998535]]
2025-10-24T22:11:31.362Z,1761343891.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220694,0.972966,0.068059],[-0.974379,0.223040,-0.028960],[-0.043357,-0.059924,0.997261]]
2025-10-24T22:11:31.767Z,1761343891.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207797,0.975951,0.065880],[-0.977240,0.210067,-0.029548],[-0.042676,-0.058240,0.997390]]
2025-10-24T22:11:31.977Z,1761343891.977 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:11:32.172Z,1761343892.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234534,0.971809,0.024099],[-0.971760,0.233715,0.032557],[0.026007,-0.031055,0.999179]]
2025-10-24T22:11:32.575Z,1761343892.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245031,0.968670,-0.040481],[-0.960298,0.248234,0.127310],[0.133370,0.007679,0.991037]]
2025-10-24T22:11:32.979Z,1761343892.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234458,0.971669,-0.029805],[-0.954305,0.235896,0.183453],[0.185286,-0.014569,0.982577]]
2025-10-24T22:11:33.383Z,1761343893.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234806,0.971359,0.036439],[-0.966543,0.229331,0.114897],[0.103250,-0.062198,0.992709]]
2025-10-24T22:11:33.788Z,1761343893.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240979,0.968330,0.065317],[-0.970383,0.241570,-0.001199],[-0.016940,-0.063093,0.997864]]
2025-10-24T22:11:34.191Z,1761343894.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230138,0.972135,0.044599],[-0.973119,0.230299,0.001571],[-0.008744,-0.043761,0.999004]]
2025-10-24T22:11:34.595Z,1761343894.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208747,0.977618,0.026212],[-0.976906,0.207194,0.052210],[0.045610,-0.036505,0.998292]]
2025-10-24T22:11:34.999Z,1761343894.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214399,0.976126,0.034813],[-0.974367,0.211254,0.077338],[0.068137,-0.050502,0.996397]]
2025-10-24T22:11:35.404Z,1761343895.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203578,0.976945,0.064302],[-0.977043,0.198507,0.077348],[0.062800,-0.078572,0.994928]]
2025-10-24T22:11:35.807Z,1761343895.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178450,0.980592,0.081214],[-0.980740,0.170600,0.095107],[0.079406,-0.096621,0.992149]]
2025-10-24T22:11:36.210Z,1761343896.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183454,0.981400,0.056558],[-0.973461,0.173360,0.149402],[0.136818,-0.082466,0.987158]]
2025-10-24T22:11:36.615Z,1761343896.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199588,0.979870,-0.004423],[-0.962685,0.196925,0.185628],[0.182763,-0.032791,0.982610]]
2025-10-24T22:11:37.020Z,1761343897.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194424,0.980044,-0.041380],[-0.965578,0.198644,0.167925],[0.172794,0.007307,0.984931]]
2025-10-24T22:11:37.426Z,1761343897.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191413,0.981071,-0.029345],[-0.970021,0.193650,0.146827],[0.149730,0.000361,0.988727]]
2025-10-24T22:11:37.827Z,1761343897.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188564,0.982014,0.009620],[-0.971351,0.185056,0.149104],[0.144642,-0.037460,0.988775]]
2025-10-24T22:11:38.237Z,1761343898.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144101,0.986624,0.076215],[-0.965523,0.123309,0.229260],[0.216795,-0.106624,0.970377]]
2025-10-24T22:11:38.570Z,1761343898.570 [CommandExec](IMPORTANT): got command set marl.AcousticContactTimeout 0.5 hour
2025-10-24T22:11:38.571Z,1761343898.571 [CommandExec](IMPORTANT): got command set marl.SendObservationDataInterval 2 minute
2025-10-24T22:11:38.587Z,1761343898.587 [CommandExec](IMPORTANT): got command set marl.TrackingUpdatePeriod 60 second
2025-10-24T22:11:38.587Z,1761343898.587 [CommandExec](IMPORTANT): got command set marl.Depth 15 meter
2025-10-24T22:11:38.592Z,1761343898.592 [CommandExec](IMPORTANT): got command set marl.MaxDepth 35 meter
2025-10-24T22:11:38.593Z,1761343898.593 [CommandExec](IMPORTANT): got command run
2025-10-24T22:11:38.601Z,1761343898.601 [CommandExec](IMPORTANT): Running 
2025-10-24T22:11:38.651Z,1761343898.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143628,0.987717,0.061524],[-0.947168,0.119184,0.297771],[0.286781,-0.101042,0.952653]]
2025-10-24T22:11:38.706Z,1761343898.706 [DefaultWithUndock] Stopped
2025-10-24T22:11:38.706Z,1761343898.706 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-10-24T22:11:38.706Z,1761343898.706 [DefaultWithUndock:SurfaceDefault] Stopped
2025-10-24T22:11:38.706Z,1761343898.706 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2025-10-24T22:11:38.706Z,1761343898.706 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2025-10-24T22:11:38.706Z,1761343898.706 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-24T22:11:38.706Z,1761343898.706 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-10-24T22:11:38.706Z,1761343898.706 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-10-24T22:11:38.706Z,1761343898.706 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-10-24T22:11:38.706Z,1761343898.706 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-10-24T22:11:38.707Z,1761343898.707 [MissionManager](IMPORTANT): Started mission marl
2025-10-24T22:11:38.707Z,1761343898.707 [marl] Running Loop=1
2025-10-24T22:11:38.707Z,1761343898.707 [marl](DEBUG): Aggregate::initialize marl
2025-10-24T22:11:38.707Z,1761343898.707 [marl:AbortDrift] Running Loop=1
2025-10-24T22:11:38.707Z,1761343898.707 [marl:AbortDrift](DEBUG): Aggregate::initialize marl:AbortDrift
2025-10-24T22:11:38.707Z,1761343898.707 [marl:AbortDrift:A] Running Loop=1
2025-10-24T22:11:38.707Z,1761343898.707 [marl:B.] Running Loop=1
2025-10-24T22:11:38.707Z,1761343898.707 [marl:B.](INFO): Initializing TrackAcousticContact.
2025-10-24T22:11:38.707Z,1761343898.707 [marl:StandardEnvelopes] Running Loop=1
2025-10-24T22:11:38.716Z,1761343898.716 [marl:StandardEnvelopes](DEBUG): Aggregate::initialize marl:StandardEnvelopes
2025-10-24T22:11:38.716Z,1761343898.716 [marl:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-10-24T22:11:38.716Z,1761343898.716 [marl:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-10-24T22:11:38.716Z,1761343898.716 [marl:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-10-24T22:11:38.716Z,1761343898.716 [marl:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-10-24T22:11:38.716Z,1761343898.716 [marl:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-10-24T22:11:38.717Z,1761343898.717 [marl:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-10-24T22:11:38.717Z,1761343898.717 [marl:Science] Running Loop=1
2025-10-24T22:11:38.717Z,1761343898.717 [marl:Science](DEBUG): Aggregate::initialize marl:Science
2025-10-24T22:11:38.717Z,1761343898.717 [marl:Science:A] Running Loop=1
2025-10-24T22:11:38.717Z,1761343898.717 [marl:Science:B] Running Loop=1
2025-10-24T22:11:38.717Z,1761343898.717 [marl:Science:C] Running Loop=1
2025-10-24T22:11:38.717Z,1761343898.717 [marl:Science:D] Running Loop=1
2025-10-24T22:11:38.717Z,1761343898.717 [marl:Science:E] Running Loop=1
2025-10-24T22:11:38.717Z,1761343898.717 [marl:Science:F] Running Loop=1
2025-10-24T22:11:38.717Z,1761343898.717 [marl:Science:Read_Oil] Running Loop=1
2025-10-24T22:11:38.717Z,1761343898.717 [marl:Science:PeakDetectChl] Running Loop=1
2025-10-24T22:11:38.717Z,1761343898.717 [marl:Science:PeakDetectChl](DEBUG): Aggregate::initialize marl:Science:PeakDetectChl
2025-10-24T22:11:38.718Z,1761343898.718 [marl:Science:PeakDetectChl:A] Running Loop=1
2025-10-24T22:11:38.718Z,1761343898.718 [marl:Science:EdgeDetectChl] Running Loop=1
2025-10-24T22:11:38.718Z,1761343898.718 [marl:Science:EdgeDetectChl](DEBUG): Aggregate::initialize marl:Science:EdgeDetectChl
2025-10-24T22:11:38.718Z,1761343898.718 [marl:Science:EdgeDetectChl:A] Running Loop=1
2025-10-24T22:11:38.718Z,1761343898.718 [marl:Science:HighestChlPeakReport] Running Loop=1
2025-10-24T22:11:38.718Z,1761343898.718 [marl:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize marl:Science:HighestChlPeakReport
2025-10-24T22:11:38.718Z,1761343898.718 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-24T22:11:38.718Z,1761343898.718 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-24T22:11:38.719Z,1761343898.719 [marl:Science:PeakDepthAvgProfilesChl] Running Loop=1
2025-10-24T22:11:38.719Z,1761343898.719 [marl:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::initialize marl:Science:PeakDepthAvgProfilesChl
2025-10-24T22:11:38.719Z,1761343898.719 [marl:Science:PeakDepthAvgProfilesChl:A] Running Loop=1
2025-10-24T22:11:38.719Z,1761343898.719 [marl:Science:PeakDetectNO3] Running Loop=1
2025-10-24T22:11:38.719Z,1761343898.719 [marl:Science:PeakDetectNO3](DEBUG): Aggregate::initialize marl:Science:PeakDetectNO3
2025-10-24T22:11:38.719Z,1761343898.719 [marl:Science:PeakDetectNO3:A] Running Loop=1
2025-10-24T22:11:38.719Z,1761343898.719 [marl:Science:PeakDetectOil] Running Loop=1
2025-10-24T22:11:38.719Z,1761343898.719 [marl:Science:PeakDetectOil](DEBUG): Aggregate::initialize marl:Science:PeakDetectOil
2025-10-24T22:11:38.719Z,1761343898.719 [marl:Science:PeakDetectOil:A] Running Loop=1
2025-10-24T22:11:38.728Z,1761343898.728 [marl:Science:HighestOilPeakReport] Running Loop=1
2025-10-24T22:11:38.728Z,1761343898.728 [marl:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize marl:Science:HighestOilPeakReport
2025-10-24T22:11:38.728Z,1761343898.728 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-24T22:11:38.728Z,1761343898.728 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-24T22:11:38.729Z,1761343898.729 [marl:Science:PeakDetectFDOM] Running Loop=1
2025-10-24T22:11:38.729Z,1761343898.729 [marl:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize marl:Science:PeakDetectFDOM
2025-10-24T22:11:38.729Z,1761343898.729 [marl:Science:PeakDetectFDOM:A] Running Loop=1
2025-10-24T22:11:38.729Z,1761343898.729 [marl:Science:PeakDetectSalinity] Running Loop=1
2025-10-24T22:11:38.729Z,1761343898.729 [marl:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize marl:Science:PeakDetectSalinity
2025-10-24T22:11:38.729Z,1761343898.729 [marl:Science:PeakDetectSalinity:A] Running Loop=1
2025-10-24T22:11:38.729Z,1761343898.729 [marl:Science:HighestSaltPeakReport] Running Loop=1
2025-10-24T22:11:38.729Z,1761343898.729 [marl:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize marl:Science:HighestSaltPeakReport
2025-10-24T22:11:38.730Z,1761343898.730 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-24T22:11:38.730Z,1761343898.730 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-24T22:11:38.730Z,1761343898.730 [marl:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-10-24T22:11:38.731Z,1761343898.731 [marl:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize marl:Science:PeakDetectPlanktivoreLMavgROI
2025-10-24T22:11:38.731Z,1761343898.731 [marl:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-10-24T22:11:38.731Z,1761343898.731 [marl:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-10-24T22:11:38.731Z,1761343898.731 [marl:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize marl:Science:EdgeDetectPlanktivoreLMavgROI
2025-10-24T22:11:38.731Z,1761343898.731 [marl:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-10-24T22:11:38.731Z,1761343898.731 [marl:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-10-24T22:11:38.731Z,1761343898.731 [marl:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize marl:Science:PeakDetectPlanktivoreHMavgROI
2025-10-24T22:11:38.731Z,1761343898.731 [marl:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-10-24T22:11:38.731Z,1761343898.731 [marl:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-10-24T22:11:38.740Z,1761343898.740 [marl:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize marl:Science:EdgeDetectPlanktivoreHMavgROI
2025-10-24T22:11:38.740Z,1761343898.740 [marl:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-10-24T22:11:38.740Z,1761343898.740 [marl:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-10-24T22:11:38.740Z,1761343898.740 [marl:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize marl:Science:PeakDetectPlanktivoreDiatoms
2025-10-24T22:11:38.740Z,1761343898.740 [marl:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-10-24T22:11:38.740Z,1761343898.740 [marl:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-10-24T22:11:38.740Z,1761343898.740 [marl:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize marl:Science:EdgeDetectPlanktivoreDiatoms
2025-10-24T22:11:38.741Z,1761343898.741 [marl:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-10-24T22:11:38.741Z,1761343898.741 [marl:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-10-24T22:11:38.741Z,1761343898.741 [marl:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize marl:Science:PeakDetectPlanktivoreDinoflagellates
2025-10-24T22:11:38.741Z,1761343898.741 [marl:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-10-24T22:11:38.741Z,1761343898.741 [marl:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-10-24T22:11:38.741Z,1761343898.741 [marl:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize marl:Science:EdgeDetectPlanktivoreDinoflagellates
2025-10-24T22:11:38.741Z,1761343898.741 [marl:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-10-24T22:11:38.741Z,1761343898.741 [marl:Science:ChlThreshTrigger] Running Loop=1
2025-10-24T22:11:38.741Z,1761343898.741 [marl:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize marl:Science:ChlThreshTrigger
2025-10-24T22:11:38.742Z,1761343898.742 [marl:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-10-24T22:11:38.742Z,1761343898.742 [marl:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-10-24T22:11:38.742Z,1761343898.742 [marl:Science:OceanCurrent] Running Loop=1
2025-10-24T22:11:38.742Z,1761343898.742 [marl:Science:OceanCurrent](DEBUG): Aggregate::initialize marl:Science:OceanCurrent
2025-10-24T22:11:38.742Z,1761343898.742 [marl:Science:OceanCurrent:A.] Running Loop=1
2025-10-24T22:11:38.742Z,1761343898.742 [marl:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-10-24T22:11:38.742Z,1761343898.742 [marl:BackseatDriver] Running Loop=1
2025-10-24T22:11:38.742Z,1761343898.742 [marl:BackseatDriver](DEBUG): Aggregate::initialize marl:BackseatDriver
2025-10-24T22:11:38.743Z,1761343898.743 [marl:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-10-24T22:11:38.743Z,1761343898.743 [marl:PowerOnly] Running Loop=1
2025-10-24T22:11:38.743Z,1761343898.743 [marl:PowerOnly](DEBUG): Aggregate::initialize marl:PowerOnly
2025-10-24T22:11:38.743Z,1761343898.743 [marl:PowerOnly:A] Running Loop=1
2025-10-24T22:11:38.743Z,1761343898.743 [marl:PowerOnly:B] Running Loop=1
2025-10-24T22:11:38.743Z,1761343898.743 [marl:PowerOnly:C] Running Loop=1
2025-10-24T22:11:38.743Z,1761343898.743 [marl:PowerOnly:D] Running Loop=1
2025-10-24T22:11:38.743Z,1761343898.743 [marl:PowerOnly:E.Wait] Running Loop=1
2025-10-24T22:11:38.743Z,1761343898.743 [marl:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-10-24T22:11:38.743Z,1761343898.743 [marl:F] Running Loop=1
2025-10-24T22:11:38.753Z,1761343898.753 [marl:PowerOnly] Running Loop=1
2025-10-24T22:11:38.753Z,1761343898.753 [marl:PowerOnly:D] Stopped
2025-10-24T22:11:38.753Z,1761343898.753 [marl:PowerOnly:C] Stopped
2025-10-24T22:11:38.753Z,1761343898.753 [marl:PowerOnly:B] Stopped
2025-10-24T22:11:38.753Z,1761343898.753 [marl:PowerOnly:A] Stopped
2025-10-24T22:11:38.753Z,1761343898.753 [marl:BackseatDriver] Running Loop=1
2025-10-24T22:11:38.754Z,1761343898.754 [marl:Science] Running Loop=1
2025-10-24T22:11:38.755Z,1761343898.755 [marl:Science:ChlThreshTrigger] Stopped
2025-10-24T22:11:38.755Z,1761343898.755 [marl:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize marl:Science:ChlThreshTrigger
2025-10-24T22:11:38.755Z,1761343898.755 [marl:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-10-24T22:11:38.755Z,1761343898.755 [marl:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-10-24T22:11:38.755Z,1761343898.755 [marl:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-10-24T22:11:38.765Z,1761343898.765 [marl:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectPlanktivoreDinoflagellates
2025-10-24T22:11:38.765Z,1761343898.765 [marl:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-10-24T22:11:38.765Z,1761343898.765 [marl:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-10-24T22:11:38.766Z,1761343898.766 [marl:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectPlanktivoreDinoflagellates
2025-10-24T22:11:38.766Z,1761343898.766 [marl:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-10-24T22:11:38.766Z,1761343898.766 [marl:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-10-24T22:11:38.766Z,1761343898.766 [marl:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectPlanktivoreDiatoms
2025-10-24T22:11:38.766Z,1761343898.766 [marl:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-10-24T22:11:38.766Z,1761343898.766 [marl:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-10-24T22:11:38.766Z,1761343898.766 [marl:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectPlanktivoreDiatoms
2025-10-24T22:11:38.766Z,1761343898.766 [marl:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-10-24T22:11:38.766Z,1761343898.766 [marl:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-10-24T22:11:38.766Z,1761343898.766 [marl:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectPlanktivoreHMavgROI
2025-10-24T22:11:38.766Z,1761343898.766 [marl:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-10-24T22:11:38.766Z,1761343898.766 [marl:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-10-24T22:11:38.767Z,1761343898.767 [marl:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectPlanktivoreHMavgROI
2025-10-24T22:11:38.767Z,1761343898.767 [marl:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-10-24T22:11:38.767Z,1761343898.767 [marl:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-10-24T22:11:38.767Z,1761343898.767 [marl:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectPlanktivoreLMavgROI
2025-10-24T22:11:38.767Z,1761343898.767 [marl:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-10-24T22:11:38.767Z,1761343898.767 [marl:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-10-24T22:11:38.767Z,1761343898.767 [marl:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectPlanktivoreLMavgROI
2025-10-24T22:11:38.767Z,1761343898.767 [marl:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-10-24T22:11:38.767Z,1761343898.767 [marl:Science:HighestSaltPeakReport] Stopped
2025-10-24T22:11:38.767Z,1761343898.767 [marl:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize marl:Science:HighestSaltPeakReport
2025-10-24T22:11:38.767Z,1761343898.767 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-24T22:11:38.767Z,1761343898.767 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-24T22:11:38.767Z,1761343898.767 [marl:Science:PeakDetectSalinity] Stopped
2025-10-24T22:11:38.776Z,1761343898.776 [marl:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectSalinity
2025-10-24T22:11:38.776Z,1761343898.776 [marl:Science:PeakDetectSalinity:A] Stopped
2025-10-24T22:11:38.776Z,1761343898.776 [marl:Science:PeakDetectFDOM] Stopped
2025-10-24T22:11:38.776Z,1761343898.776 [marl:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectFDOM
2025-10-24T22:11:38.776Z,1761343898.776 [marl:Science:PeakDetectFDOM:A] Stopped
2025-10-24T22:11:38.776Z,1761343898.776 [marl:Science:HighestOilPeakReport] Stopped
2025-10-24T22:11:38.776Z,1761343898.776 [marl:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize marl:Science:HighestOilPeakReport
2025-10-24T22:11:38.776Z,1761343898.776 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-24T22:11:38.776Z,1761343898.776 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-24T22:11:38.777Z,1761343898.777 [marl:Science:PeakDetectOil] Stopped
2025-10-24T22:11:38.777Z,1761343898.777 [marl:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectOil
2025-10-24T22:11:38.777Z,1761343898.777 [marl:Science:PeakDetectOil:A] Stopped
2025-10-24T22:11:38.777Z,1761343898.777 [marl:Science:PeakDetectNO3] Stopped
2025-10-24T22:11:38.777Z,1761343898.777 [marl:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectNO3
2025-10-24T22:11:38.777Z,1761343898.777 [marl:Science:PeakDetectNO3:A] Stopped
2025-10-24T22:11:38.777Z,1761343898.777 [marl:Science:PeakDepthAvgProfilesChl] Stopped
2025-10-24T22:11:38.777Z,1761343898.777 [marl:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::uninitialize marl:Science:PeakDepthAvgProfilesChl
2025-10-24T22:11:38.777Z,1761343898.777 [marl:Science:PeakDepthAvgProfilesChl:A] Stopped
2025-10-24T22:11:38.777Z,1761343898.777 [marl:Science:HighestChlPeakReport] Stopped
2025-10-24T22:11:38.777Z,1761343898.777 [marl:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize marl:Science:HighestChlPeakReport
2025-10-24T22:11:38.777Z,1761343898.777 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-24T22:11:38.777Z,1761343898.777 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-24T22:11:38.778Z,1761343898.778 [marl:Science:EdgeDetectChl] Stopped
2025-10-24T22:11:38.778Z,1761343898.778 [marl:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectChl
2025-10-24T22:11:38.778Z,1761343898.778 [marl:Science:EdgeDetectChl:A] Stopped
2025-10-24T22:11:38.778Z,1761343898.778 [marl:Science:PeakDetectChl] Stopped
2025-10-24T22:11:38.778Z,1761343898.778 [marl:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectChl
2025-10-24T22:11:38.778Z,1761343898.778 [marl:Science:PeakDetectChl:A] Stopped
2025-10-24T22:11:38.778Z,1761343898.778 [marl:Science:OceanCurrent:A.] Running Loop=1
2025-10-24T22:11:38.779Z,1761343898.779 [marl:Science:Read_Oil] Stopped
2025-10-24T22:11:38.779Z,1761343898.779 [marl:Science:F] Stopped
2025-10-24T22:11:38.779Z,1761343898.779 [marl:Science:E] Running Loop=1
2025-10-24T22:11:38.788Z,1761343898.788 [marl:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-10-24T22:11:38.788Z,1761343898.788 [marl:Science:D] Stopped
2025-10-24T22:11:38.788Z,1761343898.788 [marl:Science:C] Running Loop=1
2025-10-24T22:11:38.789Z,1761343898.789 [marl:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-10-24T22:11:38.790Z,1761343898.790 [marl:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-10-24T22:11:38.790Z,1761343898.790 [marl:Science:B] Running Loop=1
2025-10-24T22:11:38.790Z,1761343898.790 [marl:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-10-24T22:11:38.791Z,1761343898.791 [marl:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-10-24T22:11:38.791Z,1761343898.791 [marl:Science:A] Stopped
2025-10-24T22:11:38.791Z,1761343898.791 [marl:StandardEnvelopes] Running Loop=1
2025-10-24T22:11:38.791Z,1761343898.791 [marl:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-10-24T22:11:38.800Z,1761343898.800 [marl:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-10-24T22:11:38.800Z,1761343898.800 [marl:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-10-24T22:11:38.801Z,1761343898.801 [marl:F] Stopped
2025-10-24T22:11:38.801Z,1761343898.801 [marl:H] Running Loop=1
2025-10-24T22:11:38.801Z,1761343898.801 [marl:B.] Running Loop=1
2025-10-24T22:11:38.802Z,1761343898.802 [marl:AbortDrift] Running Loop=1
2025-10-24T22:11:38.803Z,1761343898.803 [marl:AbortDrift:A](INFO): Insert acoustic timeout set to  0.500000 h .
2025-10-24T22:11:38.803Z,1761343898.803 [marl:AbortDrift:A] Stopped
2025-10-24T22:11:38.803Z,1761343898.803 [marl:AbortDrift:B.AbortDrift] Running Loop=1
2025-10-24T22:11:38.803Z,1761343898.803 [marl:AbortDrift:B.AbortDrift](INFO): Initializing AbortDrift.
2025-10-24T22:11:38.803Z,1761343898.803 [marl:AbortDrift:B.AbortDrift](IMPORTANT): Acoustic timeout set to: 0.50 hours.
2025-10-24T22:11:39.043Z,1761343899.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155979,0.987433,0.025423],[-0.940639,0.140634,0.308903],[0.301446,-0.072096,0.950754]]
2025-10-24T22:11:39.086Z,1761343899.086 [marl:H] Stopped
2025-10-24T22:11:39.086Z,1761343899.086 [marl:I] Running Loop=1
2025-10-24T22:11:39.087Z,1761343899.087 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761343488.00. Resetting abort timer.
2025-10-24T22:11:39.096Z,1761343899.096 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761337344.00. Resetting abort timer.
2025-10-24T22:11:39.448Z,1761343899.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146336,0.989205,-0.007740],[-0.950125,0.142724,0.277296],[0.275407,-0.033224,0.960753]]
2025-10-24T22:11:39.494Z,1761343899.494 [marl:I] Stopped
2025-10-24T22:11:39.494Z,1761343899.494 [marl:J] Running Loop=1
2025-10-24T22:11:39.593Z,1761343899.593 [WetLabsBB2FL](INFO): Powering up
2025-10-24T22:11:39.850Z,1761343899.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139804,0.990164,0.005436],[-0.957791,0.133837,0.254410],[0.251180,-0.040774,0.967081]]
2025-10-24T22:11:39.904Z,1761343899.904 [marl:J] Stopped
2025-10-24T22:11:39.904Z,1761343899.904 [marl:U] Running Loop=1
2025-10-24T22:11:40.251Z,1761343900.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136427,0.990517,0.016269],[-0.948619,0.125888,0.290300],[0.285499,-0.055037,0.956797]]
2025-10-24T22:11:40.337Z,1761343900.337 [marl:U] Stopped
2025-10-24T22:11:40.337Z,1761343900.337 [marl:StartingMission] Running Loop=1
2025-10-24T22:11:40.337Z,1761343900.337 [marl:StartingMission](DEBUG): Aggregate::initialize marl:StartingMission
2025-10-24T22:11:40.337Z,1761343900.337 [marl:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-10-24T22:11:40.654Z,1761343900.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137357,0.990409,0.014944],[-0.929747,0.123711,0.346795],[0.341620,-0.061529,0.937822]]
2025-10-24T22:11:40.679Z,1761343900.679 [marl:NeedComms] Running Loop=1
2025-10-24T22:11:40.679Z,1761343900.679 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms
2025-10-24T22:11:40.679Z,1761343900.679 [marl:NeedComms:B.GoToSurface] Running Loop=1
2025-10-24T22:11:40.696Z,1761343900.696 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-24T22:11:40.696Z,1761343900.696 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-24T22:11:40.697Z,1761343900.697 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-24T22:11:40.697Z,1761343900.697 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-24T22:11:40.697Z,1761343900.697 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-24T22:11:40.698Z,1761343900.698 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-24T22:11:40.698Z,1761343900.698 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-24T22:11:40.698Z,1761343900.698 [marl:NeedComms:A] Running Loop=1
2025-10-24T22:11:40.699Z,1761343900.699 [marl:NeedComms:A](INFO): last time_fix was:  1761343544.000000 second since 1970/01/01T00:00:00Z 
2025-10-24T22:11:40.699Z,1761343900.699 [marl:NeedComms:A] Stopped
2025-10-24T22:11:40.700Z,1761343900.700 [BackseatComponent](INFO): Powering up
2025-10-24T22:11:40.701Z,1761343900.701 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-10-24T22:11:41.062Z,1761343901.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134094,0.990917,-0.010095],[-0.930582,0.129418,0.342445],[0.340641,-0.036526,0.939484]]
2025-10-24T22:11:41.118Z,1761343901.118 [marl:NeedComms:C] Running Loop=1
2025-10-24T22:11:41.462Z,1761343901.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121138,0.992468,-0.018249],[-0.949438,0.121211,0.289613],[0.289643,-0.017757,0.956970]]
2025-10-24T22:11:41.496Z,1761343901.496 [marl:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-10-24T22:11:41.866Z,1761343901.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102415,0.994714,-0.007461],[-0.962199,0.100964,0.252941],[0.252357,-0.018726,0.967453]]
2025-10-24T22:11:42.021Z,1761343902.021 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-10-24T22:11:42.270Z,1761343902.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104038,0.993752,0.040415],[-0.973388,0.093395,0.209269],[0.204187,-0.061111,0.977023]]
2025-10-24T22:11:42.678Z,1761343902.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107079,0.990499,0.086288],[-0.979817,0.090392,0.178290],[0.168797,-0.103637,0.980187]]
2025-10-24T22:11:43.087Z,1761343903.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119292,0.988783,0.089871],[-0.974643,0.099364,0.200492],[0.189313,-0.111509,0.975565]]
2025-10-24T22:11:43.092Z,1761343903.092 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221142.00,A,3646.47596,N,12151.88787,W,0.739,116.65,241025,,,D*77
2025-10-24T22:11:43.094Z,1761343903.094 [NAL9602](INFO): GPS fix at 20251024T221142: (36.774599, -121.864798)
2025-10-24T22:11:43.115Z,1761343903.115 [marl:NeedComms:C] Stopped
2025-10-24T22:11:43.115Z,1761343903.115 [marl:NeedComms:D] Running Loop=1
2025-10-24T22:11:43.117Z,1761343903.117 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761343872.00. Resetting abort timer.
2025-10-24T22:11:43.482Z,1761343903.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120233,0.991436,0.050972],[-0.973645,0.107740,0.201018],[0.193805,-0.073798,0.978260]]
2025-10-24T22:11:43.540Z,1761343903.540 [marl:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-10-24T22:11:43.887Z,1761343903.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085547,0.995828,0.031761],[-0.988934,0.080990,0.124298],[0.121207,-0.042043,0.991736]]
2025-10-24T22:11:44.290Z,1761343904.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050706,0.997438,0.050467],[-0.997283,0.047866,0.055990],[0.053431,-0.053169,0.997155]]
2025-10-24T22:11:44.694Z,1761343904.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056394,0.995395,0.077514],[-0.994527,0.049166,0.092185],[0.087949,-0.082289,0.992720]]
2025-10-24T22:11:45.099Z,1761343905.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068175,0.995179,0.070509],[-0.987880,0.057459,0.144192],[0.139446,-0.079485,0.987034]]
2025-10-24T22:11:45.503Z,1761343905.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076321,0.995079,0.063182],[-0.990674,0.068505,0.117778],[0.112871,-0.071582,0.991028]]
2025-10-24T22:11:45.912Z,1761343905.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083913,0.993877,0.071878],[-0.996121,0.081747,0.032568],[0.026492,-0.074332,0.996882]]
2025-10-24T22:11:46.310Z,1761343906.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062238,0.993174,0.098653],[-0.997990,0.063113,-0.005773],[-0.011960,-0.098096,0.995105]]
2025-10-24T22:11:46.715Z,1761343906.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037209,0.991074,0.128013],[-0.999239,0.038404,-0.006877],[-0.011732,-0.127660,0.991749]]
2025-10-24T22:11:47.119Z,1761343907.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062200,0.989842,0.127845],[-0.998060,0.061328,0.010753],[0.002803,-0.128265,0.991736]]
2025-10-24T22:11:47.524Z,1761343907.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073744,0.993524,0.086444],[-0.996989,0.071361,0.030348],[0.023983,-0.088422,0.995794]]
2025-10-24T22:11:47.966Z,1761343907.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068591,0.996781,0.041504],[-0.996656,0.066612,0.047317],[0.044400,-0.044611,0.998017]]
2025-10-24T22:11:48.331Z,1761343908.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075029,0.997093,0.013252],[-0.995285,0.074060,0.062631],[0.061467,-0.017888,0.997949]]
2025-10-24T22:11:48.736Z,1761343908.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067024,0.997746,0.003343],[-0.997172,0.066871,0.034311],[0.034010,-0.005634,0.999406]]
2025-10-24T22:11:49.139Z,1761343909.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056650,0.998088,0.024725],[-0.997516,0.055544,0.043313],[0.041857,-0.027117,0.998756]]
2025-10-24T22:11:49.545Z,1761343909.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097607,0.993123,0.064646],[-0.993250,0.093117,0.069164],[0.062668,-0.070961,0.995508]]
2025-10-24T22:11:49.986Z,1761343909.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108212,0.989959,0.090952],[-0.992977,0.103231,0.057797],[0.047828,-0.096568,0.994177]]
2025-10-24T22:11:50.352Z,1761343910.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081741,0.989951,0.115395],[-0.996366,0.078385,0.033332],[0.023952,-0.117701,0.992760]]
2025-10-24T22:11:50.754Z,1761343910.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088965,0.986976,0.134031],[-0.995965,0.089742,0.000243],[-0.011788,-0.133511,0.990977]]
2025-10-24T22:11:51.158Z,1761343911.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114463,0.989901,0.083630],[-0.992995,0.116492,-0.019782],[-0.029324,-0.080779,0.996301]]
2025-10-24T22:11:51.568Z,1761343911.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113403,0.993340,0.020385],[-0.993531,0.113255,0.008300],[0.005936,-0.021195,0.999758]]
2025-10-24T22:11:51.987Z,1761343911.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112417,0.993619,0.009107],[-0.993529,0.112249,0.017307],[0.016175,-0.010994,0.999809]]
2025-10-24T22:11:52.003Z,1761343912.003 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20251024T200320/Courier0058.lzma
2025-10-24T22:11:52.371Z,1761343912.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120469,0.991526,0.048620],[-0.992611,0.121027,-0.008684],[-0.014495,-0.047215,0.998780]]
2025-10-24T22:11:52.775Z,1761343912.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139603,0.986432,0.086385],[-0.989644,0.141934,-0.021428],[-0.033398,-0.082499,0.996031]]
2025-10-24T22:11:53.006Z,1761343913.006 [DataOverHttps](INFO): Moved sent file to Logs/20251024T200320/Courier0058.lzma.bak
2025-10-24T22:11:53.006Z,1761343913.006 [DataOverHttps](INFO): SBD MOMSN=26231847
2025-10-24T22:11:53.179Z,1761343913.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129963,0.986130,0.103237],[-0.990165,0.134519,-0.038445],[-0.051799,-0.097225,0.993914]]
2025-10-24T22:11:53.584Z,1761343913.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118169,0.985369,0.122818],[-0.992378,0.121543,-0.020328],[-0.034958,-0.119480,0.992221]]
2025-10-24T22:11:53.992Z,1761343913.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138276,0.980905,0.136770],[-0.990382,0.137624,0.014256],[-0.004839,-0.137426,0.990500]]
2025-10-24T22:11:54.390Z,1761343914.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160811,0.979818,0.118732],[-0.986671,0.156556,0.044389],[0.024905,-0.124287,0.991934]]
2025-10-24T22:11:54.794Z,1761343914.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146957,0.986660,0.070040],[-0.987067,0.141695,0.074980],[0.064055,-0.080153,0.994722]]
2025-10-24T22:11:55.229Z,1761343915.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102695,0.993863,0.041101],[-0.993639,0.100578,0.050645],[0.046200,-0.046040,0.997871]]
2025-10-24T22:11:55.602Z,1761343915.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112117,0.993392,0.024521],[-0.992951,0.111044,0.041451],[0.038454,-0.028996,0.998840]]
2025-10-24T22:11:56.007Z,1761343916.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137475,0.990451,0.010355],[-0.990258,0.137200,0.023759],[0.022112,-0.013520,0.999664]]
2025-10-24T22:11:56.410Z,1761343916.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129588,0.991380,0.019284],[-0.991537,0.129713,-0.005392],[-0.007847,-0.018423,0.999799]]
2025-10-24T22:11:56.816Z,1761343916.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151562,0.986688,0.058955],[-0.988323,0.152221,-0.006825],[-0.015709,-0.057232,0.998237]]
2025-10-24T22:11:57.219Z,1761343917.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140410,0.986886,0.079629],[-0.990012,0.140976,-0.001501],[-0.012707,-0.078623,0.996823]]
2025-10-24T22:11:57.231Z,1761343917.231 [NAL9602](INFO): SBD MO Status=0, MOMSN=2548, MT Status=0, MTMSN=0
2025-10-24T22:11:57.231Z,1761343917.231 [NAL9602](INFO): No messages in MT queue
2025-10-24T22:11:57.622Z,1761343917.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134690,0.985490,0.103286],[-0.990867,0.134628,0.007600],[-0.006415,-0.103367,0.994623]]
2025-10-24T22:11:58.026Z,1761343918.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151827,0.981600,0.115807],[-0.988406,0.150947,0.016382],[-0.001400,-0.116951,0.993137]]
2025-10-24T22:11:58.431Z,1761343918.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149125,0.980735,0.126177],[-0.987610,0.141418,0.068030],[0.048876,-0.134758,0.989672]]
2025-10-24T22:11:58.835Z,1761343918.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111069,0.986457,0.120692],[-0.988675,0.097345,0.114218],[0.100922,-0.132011,0.986097]]
2025-10-24T22:11:59.240Z,1761343919.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105810,0.991688,0.073203],[-0.990884,0.098978,0.091387],[0.083382,-0.082205,0.993121]]
2025-10-24T22:11:59.645Z,1761343919.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137611,0.990376,0.014758],[-0.990481,0.137644,-0.001234],[-0.003253,-0.014448,0.999890]]
2025-10-24T22:12:00.054Z,1761343920.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131663,0.991127,-0.018211],[-0.985929,0.129019,-0.106296],[-0.103003,0.031950,0.994168]]
2025-10-24T22:12:00.452Z,1761343920.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098069,0.995175,0.003044],[-0.993612,0.098085,-0.055803],[-0.055832,0.002448,0.998437]]
2025-10-24T22:12:00.854Z,1761343920.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114816,0.990596,0.074407],[-0.989836,0.107756,0.092811],[0.083920,-0.084306,0.992900]]
2025-10-24T22:12:01.259Z,1761343921.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169625,0.970777,0.169765],[-0.980828,0.149527,0.124970],[0.095933,-0.187709,0.977529]]
2025-10-24T22:12:01.666Z,1761343921.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181506,0.956756,0.227316],[-0.982110,0.164570,0.091530],[0.050162,-0.239863,0.969510]]
2025-10-24T22:12:02.070Z,1761343922.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180597,0.957100,0.226591],[-0.982781,0.166447,0.080237],[0.039079,-0.237180,0.970679]]
2025-10-24T22:12:02.471Z,1761343922.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199426,0.964030,0.175716],[-0.979525,0.191072,0.063420],[0.027565,-0.184766,0.982396]]
2025-10-24T22:12:02.875Z,1761343922.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217240,0.972982,0.078180],[-0.976090,0.215922,0.025035],[0.007478,-0.081749,0.996625]]
2025-10-24T22:12:03.279Z,1761343923.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225736,0.973842,-0.025982],[-0.973960,0.226180,0.015620],[0.021088,0.021780,0.999540]]
2025-10-24T22:12:03.686Z,1761343923.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248761,0.964804,-0.085274],[-0.968563,0.247969,-0.019921],[0.001925,0.087548,0.996158]]
2025-10-24T22:12:04.086Z,1761343924.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257963,0.964471,-0.057013],[-0.963931,0.252919,-0.082874],[-0.065510,0.076335,0.994928]]
2025-10-24T22:12:04.507Z,1761343924.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264754,0.962960,0.051127],[-0.960199,0.268147,-0.078202],[-0.089015,-0.028388,0.995626]]
2025-10-24T22:12:04.897Z,1761343924.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286999,0.947818,0.138825],[-0.957414,0.288576,0.009075],[-0.031460,-0.135518,0.990275]]
2025-10-24T22:12:05.307Z,1761343925.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267601,0.951339,0.152788],[-0.962576,0.256901,0.086308],[0.042857,-0.170166,0.984483]]
2025-10-24T22:12:05.703Z,1761343925.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255528,0.953642,0.158971],[-0.966786,0.251124,0.047551],[0.005426,-0.165841,0.986137]]
2025-10-24T22:12:06.107Z,1761343926.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275253,0.953719,0.121059],[-0.960717,0.277524,-0.001979],[-0.035484,-0.115758,0.992643]]
2025-10-24T22:12:06.512Z,1761343926.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277784,0.958186,0.068672],[-0.960008,0.279490,-0.016432],[-0.034938,-0.061362,0.997504]]
2025-10-24T22:12:06.915Z,1761343926.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302127,0.952617,0.035206],[-0.953105,0.302552,-0.007339],[-0.017643,-0.031338,0.999353]]
2025-10-24T22:12:07.323Z,1761343927.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311859,0.949094,0.044311],[-0.948593,0.308367,0.071283],[0.053990,-0.064263,0.996471]]
2025-10-24T22:12:07.722Z,1761343927.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287236,0.955671,0.064717],[-0.953062,0.278389,0.119048],[0.095754,-0.095874,0.990777]]
2025-10-24T22:12:08.127Z,1761343928.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292333,0.953931,0.067508],[-0.953636,0.285504,0.095217],[0.071557,-0.092213,0.993165]]
2025-10-24T22:12:08.537Z,1761343928.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316935,0.947554,0.041161],[-0.947943,0.315053,0.046330],[0.030932,-0.053702,0.998078]]
2025-10-24T22:12:08.935Z,1761343928.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317930,0.948050,0.011013],[-0.947975,0.317662,0.020841],[0.016260,-0.017066,0.999722]]
2025-10-24T22:12:09.343Z,1761343929.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338648,0.940459,0.029225],[-0.940736,0.337818,0.029928],[0.018273,-0.037628,0.999125]]
2025-10-24T22:12:09.744Z,1761343929.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357378,0.931275,0.070768],[-0.932237,0.351093,0.087562],[0.056698,-0.097265,0.993642]]
2025-10-24T22:12:10.000Z,1761343930.000 [DataOverHttps](INFO): Sending 269 bytes from file Logs/20251024T220733/Courier0000.lzma
2025-10-24T22:12:10.151Z,1761343930.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352596,0.929391,0.109127],[-0.931954,0.338231,0.130623],[0.084490,-0.147759,0.985408]]
2025-10-24T22:12:10.556Z,1761343930.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348153,0.927052,0.139154],[-0.936082,0.335816,0.104780],[0.050406,-0.166739,0.984712]]
2025-10-24T22:12:10.955Z,1761343930.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347258,0.929033,0.127710],[-0.937733,0.342795,0.056120],[0.008359,-0.139246,0.990223]]
2025-10-24T22:12:11.002Z,1761343931.002 [DataOverHttps](INFO): Moved sent file to Logs/20251024T220733/Courier0000.lzma.bak
2025-10-24T22:12:11.002Z,1761343931.002 [DataOverHttps](INFO): SBD MOMSN=26231849
2025-10-24T22:12:11.363Z,1761343931.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349172,0.933076,0.086301],[-0.937048,0.348116,0.027496],[-0.004387,-0.090469,0.995890]]
2025-10-24T22:12:11.763Z,1761343931.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368244,0.929510,0.020179],[-0.929727,0.368107,0.010291],[0.002138,-0.022551,0.999743]]
2025-10-24T22:12:12.168Z,1761343932.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368803,0.929464,-0.008994],[-0.929457,0.368664,-0.014040],[-0.009734,0.013538,0.999861]]
2025-10-24T22:12:12.570Z,1761343932.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371202,0.928468,0.012541],[-0.928129,0.371406,-0.025164],[-0.028022,-0.002298,0.999605]]
2025-10-24T22:12:12.975Z,1761343932.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374379,0.926124,0.046193],[-0.927118,0.372932,0.037071],[0.017106,-0.056705,0.998244]]
2025-10-24T22:12:13.390Z,1761343933.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358744,0.929554,0.085045],[-0.932993,0.354277,0.063340],[0.028749,-0.102069,0.994362]]
2025-10-24T22:12:13.783Z,1761343933.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345143,0.933538,0.096868],[-0.938457,0.341814,0.049608],[0.013200,-0.108029,0.994060]]
2025-10-24T22:12:14.187Z,1761343934.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364365,0.927883,0.079191],[-0.931143,0.361678,0.046486],[0.014492,-0.090676,0.995775]]
2025-10-24T22:12:14.591Z,1761343934.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379358,0.923821,0.051408],[-0.925235,0.378452,0.026718],[0.005228,-0.057701,0.998320]]
2025-10-24T22:12:14.996Z,1761343934.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345034,0.936974,0.055059],[-0.937918,0.346413,-0.017561],[-0.035527,-0.045582,0.998329]]
2025-10-24T22:12:15.399Z,1761343935.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363272,0.930015,0.055721],[-0.931403,0.363979,-0.002747],[-0.022836,-0.050901,0.998443]]
2025-10-24T22:12:15.803Z,1761343935.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384502,0.923120,0.002703],[-0.922668,0.384218,0.032572],[0.029029,-0.015018,0.999466]]
2025-10-24T22:12:16.207Z,1761343936.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374323,0.925901,-0.050884],[-0.926252,0.375943,0.026888],[0.044025,0.037067,0.998343]]
2025-10-24T22:12:16.612Z,1761343936.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348977,0.936642,-0.030284],[-0.936948,0.349366,0.008498],[0.018540,0.025409,0.999505]]
2025-10-24T22:12:17.023Z,1761343937.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312135,0.949751,0.023349],[-0.949896,0.311569,0.024957],[0.016428,-0.029969,0.999416]]
2025-10-24T22:12:17.419Z,1761343937.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340586,0.936174,0.087056],[-0.939694,0.335860,0.064592],[0.031231,-0.103805,0.994107]]
2025-10-24T22:12:17.822Z,1761343937.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400216,0.913058,0.078435],[-0.912426,0.389026,0.127033],[0.085475,-0.122407,0.988793]]
2025-10-24T22:12:18.226Z,1761343938.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361529,0.931913,0.028878],[-0.926080,0.355333,0.126945],[0.108040,-0.072638,0.991489]]
2025-10-24T22:12:18.631Z,1761343938.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305087,0.952115,0.019955],[-0.949454,0.302474,0.083946],[0.073891,-0.044557,0.996270]]
2025-10-24T22:12:19.037Z,1761343939.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312620,0.949260,0.034267],[-0.949597,0.311445,0.035615],[0.023135,-0.043673,0.998778]]
2025-10-24T22:12:19.439Z,1761343939.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329308,0.943608,0.034061],[-0.944064,0.329700,-0.006471],[-0.017336,-0.030025,0.999399]]
2025-10-24T22:12:19.843Z,1761343939.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308994,0.950807,0.022104],[-0.951062,0.308950,0.005473],[-0.001625,-0.022713,0.999741]]
2025-10-24T22:12:20.248Z,1761343940.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292944,0.955505,0.034549],[-0.954927,0.290573,0.060684],[0.047945,-0.050768,0.997559]]
2025-10-24T22:12:20.653Z,1761343940.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288868,0.955230,0.063954],[-0.952774,0.280303,0.116843],[0.093685,-0.094686,0.991089]]
2025-10-24T22:12:21.056Z,1761343941.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285771,0.952753,0.102938],[-0.952545,0.270659,0.139293],[0.104851,-0.137858,0.984887]]
2025-10-24T22:12:21.458Z,1761343941.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281104,0.953933,0.104844],[-0.957090,0.270651,0.103574],[0.070427,-0.129461,0.989080]]
2025-10-24T22:12:21.862Z,1761343941.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295280,0.953802,0.055419],[-0.954096,0.291335,0.069462],[0.050107,-0.073386,0.996044]]
2025-10-24T22:12:22.266Z,1761343942.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271957,0.962005,-0.024198],[-0.960186,0.272941,0.059557],[0.063899,0.007037,0.997932]]
2025-10-24T22:12:22.681Z,1761343942.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226383,0.973455,-0.033709],[-0.973006,0.227601,0.038183],[0.044841,0.024155,0.998702]]
2025-10-24T22:12:23.075Z,1761343943.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218478,0.975672,0.018235],[-0.975272,0.217673,0.038250],[0.033350,-0.026141,0.999102]]
2025-10-24T22:12:23.481Z,1761343943.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212493,0.975151,0.062667],[-0.975450,0.207888,0.072663],[0.057830,-0.076569,0.995386]]
2025-10-24T22:12:23.888Z,1761343943.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248721,0.964005,0.093976],[-0.967004,0.241622,0.080755],[0.055141,-0.110961,0.992294]]
2025-10-24T22:12:24.292Z,1761343944.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244136,0.968047,0.057302],[-0.969321,0.241865,0.043789],[0.028531,-0.066235,0.997396]]
2025-10-24T22:12:24.697Z,1761343944.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203835,0.977113,0.060841],[-0.978748,0.204813,-0.010226],[-0.022453,-0.057463,0.998095]]
2025-10-24T22:12:25.099Z,1761343945.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212904,0.971425,0.104903],[-0.974030,0.219481,-0.055625],[-0.077060,-0.090336,0.992926]]
2025-10-24T22:12:25.507Z,1761343945.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203505,0.973248,0.106652],[-0.978981,0.203773,0.008497],[-0.013463,-0.106139,0.994260]]
2025-10-24T22:12:25.907Z,1761343945.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193552,0.977394,0.085078],[-0.976685,0.183748,0.111011],[0.092868,-0.104581,0.990171]]
2025-10-24T22:12:26.309Z,1761343946.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188747,0.980187,0.060069],[-0.979290,0.183305,0.085972],[0.073258,-0.075052,0.994485]]
2025-10-24T22:12:26.712Z,1761343946.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181481,0.982375,0.044769],[-0.982166,0.178792,0.058159],[0.049130,-0.054526,0.997303]]
2025-10-24T22:12:27.115Z,1761343947.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196590,0.979671,0.039975],[-0.977551,0.192686,0.085244],[0.075808,-0.055835,0.995558]]
2025-10-24T22:12:27.524Z,1761343947.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213928,0.976218,0.035124],[-0.973646,0.210179,0.088533],[0.079045,-0.053138,0.995454]]
2025-10-24T22:12:27.957Z,1761343947.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202036,0.977363,0.062799],[-0.978768,0.199230,0.048183],[0.034581,-0.071201,0.996862]]
2025-10-24T22:12:27.990Z,1761343947.990 [NAL9602](INFO): Not Powering down - fast GPS
2025-10-24T22:12:28.327Z,1761343948.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185089,0.978422,0.091823],[-0.982325,0.181551,0.045563],[0.027909,-0.098634,0.994732]]
2025-10-24T22:12:28.731Z,1761343948.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184022,0.973492,0.135828],[-0.980814,0.172821,0.090201],[0.064336,-0.149821,0.986618]]
2025-10-24T22:12:29.134Z,1761343949.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202565,0.964104,0.171669],[-0.979261,0.200103,0.031712],[-0.003778,-0.174533,0.984644]]
2025-10-24T22:12:29.299Z,1761343949.299 [DataOverHttps](INFO): Sending 106 bytes from file Logs/20251024T200320/Express0059.lzma
2025-10-24T22:12:29.546Z,1761343949.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185648,0.972102,0.143361],[-0.981129,0.191408,-0.027368],[-0.054045,-0.135575,0.989292]]
2025-10-24T22:12:29.977Z,1761343949.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171778,0.976680,0.128799],[-0.984879,0.173244,-0.000183],[-0.022492,-0.126820,0.991671]]
2025-10-24T22:12:30.302Z,1761343950.302 [DataOverHttps](INFO): Moved sent file to Logs/20251024T200320/Express0059.lzma.bak
2025-10-24T22:12:30.302Z,1761343950.302 [DataOverHttps](INFO): SBD MOMSN=26231853
2025-10-24T22:12:30.346Z,1761343950.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163376,0.981973,0.095069],[-0.986155,0.159775,0.044389],[0.028399,-0.101005,0.994480]]
2025-10-24T22:12:30.751Z,1761343950.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184289,0.980277,0.071380],[-0.980002,0.177720,0.089505],[0.075054,-0.086447,0.993425]]
2025-10-24T22:12:31.154Z,1761343951.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202524,0.977737,0.054909],[-0.976086,0.197023,0.091857],[0.078994,-0.072200,0.994257]]
2025-10-24T22:12:31.558Z,1761343951.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214611,0.975608,0.046161],[-0.975705,0.212021,0.055197],[0.044063,-0.056885,0.997408]]
2025-10-24T22:12:31.986Z,1761343951.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228999,0.973275,0.017181],[-0.972147,0.227757,0.055295],[0.049904,-0.029365,0.998322]]
2025-10-24T22:12:32.367Z,1761343952.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233065,0.972373,-0.013090],[-0.969242,0.233367,0.078169],[0.079064,-0.005531,0.996854]]
2025-10-24T22:12:32.775Z,1761343952.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214387,0.976747,0.001989],[-0.972772,0.213331,0.090574],[0.088044,-0.021353,0.995888]]
2025-10-24T22:12:33.174Z,1761343953.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203469,0.976753,0.067478],[-0.977034,0.198106,0.078480],[0.063287,-0.081896,0.994629]]
2025-10-24T22:12:33.579Z,1761343953.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236339,0.967458,0.090384],[-0.966389,0.224351,0.125532],[0.101169,-0.117014,0.987964]]
2025-10-24T22:12:33.632Z,1761343953.632 [marl:SendObservationData] Running Loop=1
2025-10-24T22:12:33.632Z,1761343953.632 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T22:12:33.632Z,1761343953.632 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T22:12:33.634Z,1761343953.634 [marl:SendObservationData:A] Running Loop=1
2025-10-24T22:12:33.634Z,1761343953.634 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T22:12:33.635Z,1761343953.635 [marl:SendObservationData:A](ERROR): data element is not active.
2025-10-24T22:12:33.635Z,1761343953.635 [marl:SendObservationData:A](INFO): Got test_good :   n/a str  and temp var is  nan n/a str 
2025-10-24T22:12:33.635Z,1761343953.635 [marl:SendObservationData:A] Stopped
2025-10-24T22:12:33.635Z,1761343953.635 [marl:SendObservationData:B] Running Loop=1
2025-10-24T22:12:33.995Z,1761343953.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246452,0.968448,0.037029],[-0.959594,0.238488,0.149344],[0.135801,-0.072339,0.988092]]
2025-10-24T22:12:34.100Z,1761343954.100 [marl:SendObservationData:B] Stopped
2025-10-24T22:12:34.100Z,1761343954.100 [marl:SendObservationData:C] Running Loop=1
2025-10-24T22:12:34.386Z,1761343954.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238224,0.971198,-0.004797],[-0.966460,0.237544,0.097608],[0.095936,-0.018617,0.995213]]
2025-10-24T22:12:34.458Z,1761343954.458 [marl:SendObservationData:C] Stopped
2025-10-24T22:12:34.458Z,1761343954.458 [marl:SendObservationData:E] Running Loop=1
2025-10-24T22:12:34.791Z,1761343954.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210680,0.977229,-0.025270],[-0.972783,0.212132,0.093236],[0.096474,0.004939,0.995323]]
2025-10-24T22:12:34.836Z,1761343954.836 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.012981 min 
2025-10-24T22:12:34.836Z,1761343954.836 [marl:SendObservationData:E] Stopped
2025-10-24T22:12:34.837Z,1761343954.837 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T22:12:34.837Z,1761343954.837 [marl:SendObservationData] Stopped
2025-10-24T22:12:34.837Z,1761343954.837 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T22:12:34.837Z,1761343954.837 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T22:12:35.194Z,1761343955.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166883,0.985975,0.001758],[-0.980657,0.165797,0.104035],[0.102285,-0.019085,0.994572]]
2025-10-24T22:12:35.606Z,1761343955.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160106,0.983640,0.082568],[-0.983984,0.152400,0.092467],[0.078371,-0.096050,0.992286]]
2025-10-24T22:12:36.006Z,1761343956.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208695,0.969746,0.126643],[-0.977198,0.201592,0.066664],[0.039117,-0.137668,0.989706]]
2025-10-24T22:12:36.406Z,1761343956.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244181,0.964774,0.097916],[-0.969654,0.241651,0.037102],[0.012134,-0.104004,0.994503]]
2025-10-24T22:12:36.811Z,1761343956.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224287,0.973356,0.047688],[-0.974303,0.225007,-0.010247],[-0.020704,-0.044164,0.998810]]
2025-10-24T22:12:37.216Z,1761343957.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194467,0.980548,0.026603],[-0.980385,0.195179,-0.027413],[-0.032072,-0.020751,0.999270]]
2025-10-24T22:12:37.618Z,1761343957.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184873,0.982016,0.038286],[-0.982574,0.185461,-0.012371],[-0.019249,-0.035332,0.999190]]
2025-10-24T22:12:38.022Z,1761343958.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175449,0.982785,0.057896],[-0.984234,0.176437,-0.012372],[-0.022374,-0.054812,0.998246]]
2025-10-24T22:12:38.426Z,1761343958.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184567,0.979322,0.082848],[-0.982733,0.185015,0.002310],[-0.013066,-0.081844,0.996560]]
2025-10-24T22:12:38.832Z,1761343958.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176108,0.978753,0.105017],[-0.984357,0.174536,0.024050],[0.005210,-0.107609,0.994180]]
2025-10-24T22:12:38.852Z,1761343958.852 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:12:39.061Z,1761343959.061 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:12:39.061Z,1761343959.061 [DAT](INFO): setting remote address to 0
2025-10-24T22:12:39.234Z,1761343959.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175506,0.978550,0.107873],[-0.983549,0.169525,0.062390],[0.042765,-0.117048,0.992205]]
2025-10-24T22:12:39.313Z,1761343959.313 [DAT](INFO): DAT read: 

2025-10-24T22:12:39.313Z,1761343959.313 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:12:39.314Z,1761343959.314 [DAT](INFO): set remote address to 0
2025-10-24T22:12:39.314Z,1761343959.314 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:12:39.314Z,1761343959.314 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:12:39.565Z,1761343959.565 [DAT](INFO): DAT read: user:7>

2025-10-24T22:12:39.566Z,1761343959.566 [DAT](INFO): DAT read: Tx time:22:12:38.5594

2025-10-24T22:12:39.566Z,1761343959.566 [DAT](INFO): Ping request sent.
2025-10-24T22:12:39.566Z,1761343959.566 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:12:39.566Z,1761343959.566 [DAT](INFO): publishing transmit ping time
2025-10-24T22:12:39.567Z,1761343959.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000842
2025-10-24T22:12:39.639Z,1761343959.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177342,0.981233,0.075707],[-0.981371,0.170541,0.088468],[0.073896,-0.089986,0.993198]]
2025-10-24T22:12:39.817Z,1761343959.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250669
2025-10-24T22:12:40.043Z,1761343960.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180841,0.982677,0.040539],[-0.980484,0.176899,0.085783],[0.077126,-0.055261,0.995489]]
2025-10-24T22:12:40.069Z,1761343960.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502683
2025-10-24T22:12:40.321Z,1761343960.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754649
2025-10-24T22:12:40.448Z,1761343960.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191567,0.981270,0.020299],[-0.977046,0.188697,0.098869],[0.093186,-0.038773,0.994893]]
2025-10-24T22:12:40.573Z,1761343960.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006634
2025-10-24T22:12:40.825Z,1761343960.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258618
2025-10-24T22:12:40.850Z,1761343960.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189756,0.981615,0.020604],[-0.976022,0.186312,0.112553],[0.106645,-0.041468,0.993432]]
2025-10-24T22:12:41.077Z,1761343961.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510650
2025-10-24T22:12:41.254Z,1761343961.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177994,0.982201,0.060001],[-0.980860,0.172198,0.090899],[0.078949,-0.075032,0.994051]]
2025-10-24T22:12:41.329Z,1761343961.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762788
2025-10-24T22:12:41.581Z,1761343961.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014632
2025-10-24T22:12:41.671Z,1761343961.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158563,0.980036,0.119943],[-0.987056,0.160300,-0.004915],[-0.024044,-0.117612,0.992769]]
2025-10-24T22:12:41.833Z,1761343961.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266909
2025-10-24T22:12:42.065Z,1761343962.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153785,0.974043,0.166105],[-0.984700,0.165017,-0.055998],[-0.081955,-0.154951,0.984517]]
2025-10-24T22:12:42.085Z,1761343962.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518764
2025-10-24T22:12:42.337Z,1761343962.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770782
2025-10-24T22:12:42.473Z,1761343962.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182384,0.972921,0.141986],[-0.983166,0.182076,0.015265],[-0.011000,-0.142380,0.989751]]
2025-10-24T22:12:42.589Z,1761343962.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022964
2025-10-24T22:12:42.841Z,1761343962.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274753
2025-10-24T22:12:42.871Z,1761343962.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173961,0.983669,0.046182],[-0.979535,0.168028,0.110810],[0.101241,-0.064513,0.992768]]
2025-10-24T22:12:43.093Z,1761343963.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526679
2025-10-24T22:12:43.279Z,1761343963.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122456,0.992119,-0.026551],[-0.987027,0.124539,0.101328],[0.103836,0.013798,0.994499]]
2025-10-24T22:12:43.345Z,1761343963.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778647
2025-10-24T22:12:43.597Z,1761343963.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030753
2025-10-24T22:12:43.683Z,1761343963.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102120,0.994095,-0.036686],[-0.993643,0.103692,0.043841],[0.047386,0.031976,0.998365]]
2025-10-24T22:12:43.849Z,1761343963.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282685
2025-10-24T22:12:44.082Z,1761343964.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118012,0.992927,-0.013002],[-0.992921,0.117814,-0.015076],[-0.013437,0.014689,0.999802]]
2025-10-24T22:12:44.101Z,1761343964.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534734
2025-10-24T22:12:44.353Z,1761343964.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786764
2025-10-24T22:12:44.490Z,1761343964.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106399,0.993673,0.035957],[-0.994322,0.106385,0.002320],[-0.001520,-0.036000,0.999351]]
2025-10-24T22:12:44.605Z,1761343964.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038665
2025-10-24T22:12:44.857Z,1761343964.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290687
2025-10-24T22:12:44.894Z,1761343964.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095023,0.986621,0.132476],[-0.993849,0.086421,0.069246],[0.056870,-0.138241,0.988765]]
2025-10-24T22:12:45.109Z,1761343965.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542795
2025-10-24T22:12:45.298Z,1761343965.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078167,0.967919,0.238794],[-0.996932,0.076860,0.014794],[-0.004035,-0.239218,0.970957]]
2025-10-24T22:12:45.361Z,1761343965.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794722
2025-10-24T22:12:45.613Z,1761343965.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046711
2025-10-24T22:12:45.699Z,1761343965.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059017,0.962997,0.262969],[-0.997959,0.063351,-0.008025],[-0.024387,-0.261959,0.964771]]
2025-10-24T22:12:45.865Z,1761343965.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298704
2025-10-24T22:12:46.102Z,1761343966.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054659,0.975141,0.214739],[-0.997775,0.045118,0.049088],[0.038180,-0.216945,0.975437]]
2025-10-24T22:12:46.117Z,1761343966.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550521
2025-10-24T22:12:46.369Z,1761343966.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802697
2025-10-24T22:12:46.507Z,1761343966.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060067,0.993615,0.095509],[-0.996937,0.054915,0.055683],[0.050082,-0.098561,0.993870]]
2025-10-24T22:12:46.621Z,1761343966.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054695
2025-10-24T22:12:46.873Z,1761343966.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306771
2025-10-24T22:12:46.915Z,1761343966.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059086,0.997941,-0.024941],[-0.997833,0.059768,0.027521],[0.028955,0.023261,0.999310]]
2025-10-24T22:12:47.125Z,1761343967.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558576
2025-10-24T22:12:47.314Z,1761343967.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057867,0.995326,-0.077321],[-0.998321,0.057902,-0.001784],[0.002701,0.077294,0.997005]]
2025-10-24T22:12:47.389Z,1761343967.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.822756
2025-10-24T22:12:47.590Z,1761343967.590 [DataOverHttps](INFO): Sending 1014 bytes from file Logs/20251024T220733/Express0001.lzma
2025-10-24T22:12:47.641Z,1761343967.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.075254
2025-10-24T22:12:47.718Z,1761343967.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036133,0.996370,-0.077082],[-0.999079,0.037803,0.020321],[0.023162,0.076277,0.996818]]
2025-10-24T22:12:47.893Z,1761343967.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.326639
2025-10-24T22:12:48.122Z,1761343968.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005676,0.999976,0.003902],[-0.996100,0.005310,0.088067],[0.088044,-0.004387,0.996107]]
2025-10-24T22:12:48.145Z,1761343968.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.578790
2025-10-24T22:12:48.397Z,1761343968.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.830646
2025-10-24T22:12:48.528Z,1761343968.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024397,0.989549,0.142121],[-0.996070,0.011954,0.087756],[0.085140,-0.143703,0.985952]]
2025-10-24T22:12:48.590Z,1761343968.590 [DataOverHttps](INFO): Moved sent file to Logs/20251024T220733/Express0001.lzma.bak
2025-10-24T22:12:48.590Z,1761343968.590 [DataOverHttps](INFO): SBD MOMSN=26231856
2025-10-24T22:12:48.650Z,1761343968.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.084304
2025-10-24T22:12:48.901Z,1761343968.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.334721
2025-10-24T22:12:48.930Z,1761343968.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046073,0.971922,0.230746],[-0.998681,0.039580,0.032691],[0.022641,-0.231948,0.972465]]
2025-10-24T22:12:49.153Z,1761343969.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.586663
2025-10-24T22:12:49.335Z,1761343969.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052187,0.968954,0.241669],[-0.998632,0.051393,0.009594],[-0.003124,-0.241839,0.970311]]
2025-10-24T22:12:49.405Z,1761343969.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.838655
2025-10-24T22:12:49.657Z,1761343969.657 [DAT](INFO): Reached modem response timeout
2025-10-24T22:12:49.739Z,1761343969.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072045,0.981691,0.176328],[-0.997149,0.066913,0.034890],[0.022453,-0.178339,0.983713]]
2025-10-24T22:12:50.142Z,1761343970.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084260,0.993113,0.081410],[-0.996332,0.082748,0.021781],[0.014894,-0.082946,0.996443]]
2025-10-24T22:12:50.195Z,1761343970.195 [marl:NeedComms:D] Stopped
2025-10-24T22:12:50.196Z,1761343970.196 [marl:NeedComms:E] Running Loop=1
2025-10-24T22:12:50.546Z,1761343970.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063872,0.997958,0.000784],[-0.997277,0.063799,0.036987],[0.036862,-0.003145,0.999315]]
2025-10-24T22:12:50.588Z,1761343970.588 [marl:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-10-24T22:12:50.956Z,1761343970.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042985,0.998957,-0.015394],[-0.996894,0.043904,0.065382],[0.065990,0.012535,0.997742]]
2025-10-24T22:12:51.357Z,1761343971.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048126,0.998633,0.020403],[-0.997827,0.047147,0.046019],[0.044994,-0.022574,0.998732]]
2025-10-24T22:12:51.758Z,1761343971.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047196,0.996018,0.075634],[-0.998461,0.044834,0.032640],[0.029119,-0.077058,0.996601]]
2025-10-24T22:12:51.927Z,1761343971.927 [DAT](INFO): DAT read: Response Not Received

2025-10-24T22:12:51.930Z,1761343971.930 [DAT](INFO): response not received
2025-10-24T22:12:51.931Z,1761343971.931 [DAT](ERROR): No response from remote modem.
2025-10-24T22:12:52.162Z,1761343972.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048979,0.990124,0.131358],[-0.995506,0.037721,0.086858],[0.081045,-0.135022,0.987523]]
2025-10-24T22:12:52.171Z,1761343972.171 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221251.00,A,3646.47157,N,12151.87766,W,0.447,110.39,241025,,,D*7A
2025-10-24T22:12:52.173Z,1761343972.173 [NAL9602](INFO): GPS fix at 20251024T221251: (36.774526, -121.864628)
2025-10-24T22:12:52.275Z,1761343972.275 [marl:NeedComms:E] Stopped
2025-10-24T22:12:52.276Z,1761343972.276 [marl:NeedComms](INFO): Completed marl:NeedComms
2025-10-24T22:12:52.276Z,1761343972.276 [marl:NeedComms] Stopped
2025-10-24T22:12:52.277Z,1761343972.277 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms
2025-10-24T22:12:52.277Z,1761343972.277 [marl:NeedComms:B.GoToSurface] Stopped
2025-10-24T22:12:52.277Z,1761343972.277 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-24T22:12:52.278Z,1761343972.278 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344000.00. Resetting abort timer.
2025-10-24T22:12:52.569Z,1761343972.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047547,0.984462,0.169039],[-0.993191,0.028577,0.112938],[0.106352,-0.173258,0.979117]]
2025-10-24T22:12:52.606Z,1761343972.606 [marl:StartingMission](INFO): Completed marl:StartingMission
2025-10-24T22:12:52.606Z,1761343972.606 [marl:StartingMission] Stopped
2025-10-24T22:12:52.606Z,1761343972.606 [marl:StartingMission](DEBUG): Aggregate::uninitialize marl:StartingMission
2025-10-24T22:12:52.606Z,1761343972.606 [marl:JoystickControl] Running Loop=1
2025-10-24T22:12:52.607Z,1761343972.607 [marl:JoystickControl](DEBUG): Aggregate::initialize marl:JoystickControl
2025-10-24T22:12:52.607Z,1761343972.607 [marl:JoystickControl:A.Buoyancy] Running Loop=1
2025-10-24T22:12:52.607Z,1761343972.607 [marl:JoystickControl:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-10-24T22:12:52.607Z,1761343972.607 [marl:JoystickControl:B.Pitch] Running Loop=1
2025-10-24T22:12:52.607Z,1761343972.607 [marl:JoystickControl:B.Pitch](DEBUG): Initialize.
2025-10-24T22:12:52.607Z,1761343972.607 [marl:JoystickControl:C.Pitch] Running Loop=1
2025-10-24T22:12:52.607Z,1761343972.607 [marl:JoystickControl:C.Pitch](DEBUG): Initialize.
2025-10-24T22:12:52.607Z,1761343972.607 [marl:JoystickControl:D.SetSpeed] Running Loop=1
2025-10-24T22:12:52.607Z,1761343972.607 [marl:JoystickControl:D.SetSpeed](DEBUG): Initialize.
2025-10-24T22:12:52.608Z,1761343972.608 [marl:JoystickControl:CmdHeading] Running Loop=1
2025-10-24T22:12:52.612Z,1761343972.612 [marl:JoystickControl:CmdHeading](DEBUG): Aggregate::initialize marl:JoystickControl:CmdHeading
2025-10-24T22:12:52.612Z,1761343972.612 [marl:JoystickControl:CmdHeading:A.Point] Running Loop=1
2025-10-24T22:12:52.612Z,1761343972.612 [marl:JoystickControl:CmdHeading:A.Point](DEBUG): Initialize.
2025-10-24T22:12:52.612Z,1761343972.612 [marl:JoystickControl:CmdRudder] Running Loop=1
2025-10-24T22:12:52.612Z,1761343972.612 [marl:JoystickControl:CmdRudder](DEBUG): Aggregate::initialize marl:JoystickControl:CmdRudder
2025-10-24T22:12:52.612Z,1761343972.612 [marl:JoystickControl:CmdRudder:A.Point] Running Loop=1
2025-10-24T22:12:52.613Z,1761343972.613 [marl:JoystickControl:CmdRudder:A.Point](DEBUG): Initialize.
2025-10-24T22:12:52.975Z,1761343972.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061626,0.981068,0.183599],[-0.996661,0.050617,0.064065],[0.053559,-0.186934,0.980911]]
2025-10-24T22:12:53.021Z,1761343973.021 [marl:JoystickControl:CmdRudder] Stopped
2025-10-24T22:12:53.021Z,1761343973.021 [marl:JoystickControl:CmdRudder](DEBUG): Aggregate::uninitialize marl:JoystickControl:CmdRudder
2025-10-24T22:12:53.021Z,1761343973.021 [marl:JoystickControl:CmdRudder:A.Point] Stopped
2025-10-24T22:12:53.021Z,1761343973.021 [marl:JoystickControl:CmdHeading] Running Loop=1
2025-10-24T22:12:53.021Z,1761343973.021 [marl:JoystickControl:CmdHeading:A.Point] Running Loop=1
2025-10-24T22:12:53.022Z,1761343973.022 [marl:JoystickControl:D.SetSpeed] Running Loop=1
2025-10-24T22:12:53.022Z,1761343973.022 [marl:JoystickControl:C.Pitch] Running Loop=1
2025-10-24T22:12:53.022Z,1761343973.022 [marl:JoystickControl:B.Pitch] Running Loop=1
2025-10-24T22:12:53.023Z,1761343973.023 [marl:JoystickControl:A.Buoyancy] Running Loop=1
2025-10-24T22:12:53.374Z,1761343973.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072350,0.985536,0.153245],[-0.997332,0.069985,0.020776],[0.009751,-0.154340,0.987970]]
2025-10-24T22:12:54.182Z,1761343974.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079310,0.993737,0.078725],[-0.996846,0.078831,0.009176],[0.002912,-0.079204,0.996854]]
2025-10-24T22:12:54.623Z,1761343974.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073335,0.993967,0.081556],[-0.995720,0.077585,-0.050220],[-0.056244,-0.077525,0.995403]]
2025-10-24T22:12:55.015Z,1761343975.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087147,0.992257,0.088495],[-0.996006,0.088519,-0.011689],[-0.019432,-0.087122,0.996008]]
2025-10-24T22:12:55.419Z,1761343975.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096910,0.991617,0.085462],[-0.995285,0.096203,0.012363],[0.004037,-0.086257,0.996265]]
2025-10-24T22:12:55.823Z,1761343975.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071824,0.991132,0.111793],[-0.996687,0.075607,-0.029978],[-0.038164,-0.109270,0.993279]]
2025-10-24T22:12:56.229Z,1761343976.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075539,0.988106,0.133943],[-0.996856,0.078055,-0.013627],[-0.023920,-0.132493,0.990895]]
2025-10-24T22:12:56.631Z,1761343976.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096480,0.991547,0.086751],[-0.994704,0.092949,0.043871],[0.035437,-0.090524,0.995264]]
2025-10-24T22:12:57.034Z,1761343977.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082838,0.996197,-0.027014],[-0.996431,0.083238,0.014035],[0.016230,0.025755,0.999537]]
2025-10-24T22:12:57.445Z,1761343977.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060809,0.995283,-0.075589],[-0.997764,0.062714,0.023088],[0.027720,0.074016,0.996872]]
2025-10-24T22:12:57.842Z,1761343977.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088553,0.995563,-0.031814],[-0.990263,0.091436,0.104965],[0.107409,0.022209,0.993967]]
2025-10-24T22:12:58.256Z,1761343978.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113188,0.992618,0.043577],[-0.991185,0.109768,0.074180],[0.068849,-0.051589,0.996292]]
2025-10-24T22:12:58.655Z,1761343978.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086225,0.991404,0.098406],[-0.995931,0.088371,-0.017649],[-0.026194,-0.096484,0.994990]]
2025-10-24T22:12:59.054Z,1761343979.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080483,0.985313,0.150600],[-0.996656,0.077412,0.026156],[0.014114,-0.152201,0.988249]]
2025-10-24T22:12:59.068Z,1761343979.068 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:12:59.465Z,1761343979.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105415,0.980479,0.165980],[-0.992174,0.092469,0.083903],[0.066917,-0.173525,0.982553]]
2025-10-24T22:12:59.862Z,1761343979.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140351,0.980644,0.136523],[-0.989854,0.142061,-0.002811],[-0.022151,-0.134743,0.990633]]
2025-10-24T22:13:00.302Z,1761343980.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133840,0.988260,0.073677],[-0.985228,0.140706,-0.097611],[-0.106832,-0.059524,0.992494]]
2025-10-24T22:13:00.677Z,1761343980.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088789,0.995050,0.044635],[-0.992750,0.092051,-0.077296],[-0.081022,-0.037448,0.996009]]
2025-10-24T22:13:01.074Z,1761343981.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087071,0.993172,0.077640],[-0.995961,0.088498,-0.015135],[-0.021903,-0.076008,0.996867]]
2025-10-24T22:13:01.478Z,1761343981.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122339,0.983998,0.129543],[-0.992459,0.122289,0.008377],[-0.007599,-0.129590,0.991539]]
2025-10-24T22:13:01.882Z,1761343981.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143726,0.977533,0.154180],[-0.989567,0.140390,0.032374],[0.010002,-0.157224,0.987512]]
2025-10-24T22:13:02.293Z,1761343982.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164059,0.978287,0.126646],[-0.986441,0.162141,0.025378],[0.004293,-0.129092,0.991623]]
2025-10-24T22:13:02.692Z,1761343982.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186352,0.979588,0.075370],[-0.982425,0.186628,0.003421],[-0.010715,-0.074683,0.997150]]
2025-10-24T22:13:03.095Z,1761343983.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184080,0.981836,0.045959],[-0.982564,0.182571,0.035143],[0.026113,-0.051627,0.998325]]
2025-10-24T22:13:03.499Z,1761343983.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163679,0.985327,0.048380],[-0.982259,0.158227,0.100658],[0.091526,-0.063998,0.993744]]
2025-10-24T22:13:03.908Z,1761343983.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188721,0.980622,0.052584],[-0.971947,0.178862,0.152732],[0.140367,-0.079932,0.986868]]
2025-10-24T22:13:04.307Z,1761343984.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226217,0.972344,0.058085],[-0.968708,0.218318,0.118076],[0.102129,-0.082978,0.991304]]
2025-10-24T22:13:05.116Z,1761343985.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203368,0.974261,0.097250],[-0.979101,0.202515,0.018670],[-0.001505,-0.099014,0.995085]]
2025-10-24T22:13:05.519Z,1761343985.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234234,0.966534,0.104623],[-0.971564,0.228895,0.060591],[0.034616,-0.115841,0.992664]]
2025-10-24T22:13:05.981Z,1761343985.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240266,0.970347,0.026458],[-0.970640,0.240480,-0.005175],[-0.011384,-0.024438,0.999637]]
2025-10-24T22:13:06.737Z,1761343986.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245007,0.969374,0.016898],[-0.969469,0.244775,0.014665],[0.010079,-0.019975,0.999750]]
2025-10-24T22:13:07.140Z,1761343987.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247502,0.967475,0.052303],[-0.967798,0.244304,0.060693],[0.045941,-0.065641,0.996785]]
2025-10-24T22:13:07.543Z,1761343987.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255474,0.962734,0.088751],[-0.965846,0.250029,0.068018],[0.043293,-0.103097,0.993729]]
2025-10-24T22:13:07.562Z,1761343987.562 [NAL9602](INFO): SBD MO Status=0, MOMSN=2549, MT Status=0, MTMSN=0
2025-10-24T22:13:07.562Z,1761343987.562 [NAL9602](INFO): No messages in MT queue
2025-10-24T22:13:07.981Z,1761343987.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275162,0.955869,0.102958],[-0.961310,0.272102,0.042945],[0.013034,-0.110792,0.993758]]
2025-10-24T22:13:08.355Z,1761343988.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290239,0.952463,0.092604],[-0.956266,0.292339,-0.009679],[-0.036290,-0.085745,0.995656]]
2025-10-24T22:13:08.750Z,1761343988.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318309,0.943532,0.091797],[-0.943227,0.324914,-0.068946],[-0.094879,-0.064640,0.993388]]
2025-10-24T22:13:09.154Z,1761343989.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300103,0.950695,0.078209],[-0.949067,0.305824,-0.075787],[-0.095968,-0.051482,0.994052]]
2025-10-24T22:13:09.559Z,1761343989.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277876,0.957397,0.078594],[-0.958998,0.281225,-0.035136],[-0.055742,-0.065608,0.996287]]
2025-10-24T22:13:09.987Z,1761343989.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303834,0.948160,0.093155],[-0.952700,0.301657,0.036966],[0.006949,-0.099980,0.994965]]
2025-10-24T22:13:10.366Z,1761343990.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303619,0.950353,0.068150],[-0.949445,0.295785,0.105192],[0.079812,-0.096643,0.992114]]
2025-10-24T22:13:10.770Z,1761343990.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286824,0.957585,0.027623],[-0.951008,0.281145,0.128611],[0.115390,-0.063159,0.991310]]
2025-10-24T22:13:11.174Z,1761343991.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328036,0.944541,0.015338],[-0.941027,0.325306,0.092978],[0.082832,-0.044934,0.995550]]
2025-10-24T22:13:11.580Z,1761343991.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345801,0.937912,0.027241],[-0.937181,0.343817,0.059007],[0.045977,-0.045934,0.997886]]
2025-10-24T22:13:11.991Z,1761343991.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325834,0.940936,0.092040],[-0.945383,0.323330,0.041343],[0.009142,-0.100484,0.994897]]
2025-10-24T22:13:12.390Z,1761343992.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327558,0.933490,0.145953],[-0.944736,0.325781,0.036610],[-0.013374,-0.149879,0.988614]]
2025-10-24T22:13:12.791Z,1761343992.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312999,0.942749,0.115131],[-0.949724,0.311640,0.030092],[-0.007510,-0.118762,0.992894]]
2025-10-24T22:13:13.196Z,1761343993.196 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:13:13.198Z,1761343993.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325285,0.944501,0.045904],[-0.945553,0.325440,0.004269],[-0.010907,-0.044793,0.998937]]
2025-10-24T22:13:13.598Z,1761343993.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363378,0.931168,-0.029698],[-0.931565,0.363573,0.001243],[0.011955,0.027214,0.999558]]
2025-10-24T22:13:14.002Z,1761343994.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330432,0.941072,-0.072097],[-0.940198,0.334893,0.062240],[0.082717,0.047219,0.995454]]
2025-10-24T22:13:14.417Z,1761343994.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300900,0.952881,-0.038437],[-0.951107,0.302797,0.060906],[0.069675,0.018231,0.997403]]
2025-10-24T22:13:14.812Z,1761343994.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346787,0.936424,0.053369],[-0.937941,0.346095,0.021999],[0.002130,-0.057686,0.998333]]
2025-10-24T22:13:15.247Z,1761343995.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347829,0.928205,0.132102],[-0.937154,0.348346,0.019929],[-0.027519,-0.130732,0.991036]]
2025-10-24T22:13:15.619Z,1761343995.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327654,0.928139,0.176640],[-0.944675,0.324849,0.045413],[-0.015231,-0.181748,0.983227]]
2025-10-24T22:13:16.024Z,1761343996.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327134,0.933640,0.145943],[-0.944364,0.317431,0.086108],[0.034067,-0.165992,0.985538]]
2025-10-24T22:13:16.434Z,1761343996.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348659,0.935276,0.060799],[-0.934441,0.341864,0.099743],[0.072503,-0.091589,0.993154]]
2025-10-24T22:13:16.831Z,1761343996.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345455,0.938311,-0.015302],[-0.936772,0.345767,0.053881],[0.055848,-0.004279,0.998430]]
2025-10-24T22:13:17.235Z,1761343997.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348147,0.936950,-0.030293],[-0.937101,0.348708,0.015603],[0.025183,0.022955,0.999419]]
2025-10-24T22:13:17.640Z,1761343997.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362383,0.932015,-0.005193],[-0.931974,0.362416,0.008859],[0.010139,0.001629,0.999947]]
2025-10-24T22:13:18.043Z,1761343998.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343953,0.937979,0.043500],[-0.938801,0.344437,-0.003925],[-0.018665,-0.039488,0.999046]]
2025-10-24T22:13:18.447Z,1761343998.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355504,0.930817,0.084826],[-0.934261,0.356580,0.002625],[-0.027804,-0.080183,0.996392]]
2025-10-24T22:13:18.851Z,1761343998.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371852,0.926300,0.060783],[-0.926077,0.365648,0.093176],[0.064084,-0.090937,0.993792]]
2025-10-24T22:13:19.256Z,1761343999.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349100,0.936573,0.031004],[-0.926998,0.340311,0.157684],[0.137131,-0.083788,0.987003]]
2025-10-24T22:13:19.665Z,1761343999.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356568,0.932319,0.060331],[-0.931484,0.349780,0.099959],[0.072091,-0.091839,0.993161]]
2025-10-24T22:13:20.062Z,1761344000.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377125,0.923883,0.064933],[-0.926006,0.374847,0.044744],[0.016998,-0.077002,0.996886]]
2025-10-24T22:13:20.466Z,1761344000.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363875,0.930449,0.043114],[-0.929845,0.360146,0.075385],[0.054615,-0.067520,0.996222]]
2025-10-24T22:13:20.872Z,1761344000.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344667,0.936309,0.067309],[-0.938060,0.340837,0.062244],[0.035338,-0.084593,0.995789]]
2025-10-24T22:13:21.274Z,1761344001.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334588,0.936537,0.104640],[-0.941850,0.336007,0.004284],[-0.031147,-0.099988,0.994501]]
2025-10-24T22:13:21.683Z,1761344001.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350234,0.929737,0.113692],[-0.936132,0.351530,0.009102],[-0.031503,-0.109619,0.993474]]
2025-10-24T22:13:22.083Z,1761344002.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364235,0.927577,0.083273],[-0.931302,0.362480,0.035841],[0.003060,-0.090607,0.995882]]
2025-10-24T22:13:22.381Z,1761344002.381 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:13:22.488Z,1761344002.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345899,0.937372,0.041088],[-0.938260,0.345779,0.010223],[-0.004625,-0.042088,0.999103]]
2025-10-24T22:13:22.895Z,1761344002.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309048,0.950999,0.009471],[-0.950881,0.309164,-0.015581],[-0.017746,-0.004191,0.999834]]
2025-10-24T22:13:23.294Z,1761344003.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320617,0.947103,0.014162],[-0.947115,0.320339,0.018884],[0.013349,-0.019468,0.999721]]
2025-10-24T22:13:23.699Z,1761344003.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359618,0.932003,0.045225],[-0.933038,0.359727,0.006004],[-0.010673,-0.044356,0.998959]]
2025-10-24T22:13:24.104Z,1761344004.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360543,0.927753,0.096353],[-0.926165,0.368331,-0.080937],[-0.110579,-0.060058,0.992051]]
2025-10-24T22:13:24.507Z,1761344004.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347796,0.931518,0.106361],[-0.928733,0.357833,-0.097011],[-0.128427,-0.065041,0.989584]]
2025-10-24T22:13:24.917Z,1761344004.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341962,0.937284,0.067532],[-0.939564,0.342306,0.006758],[-0.016783,-0.065762,0.997694]]
2025-10-24T22:13:25.315Z,1761344005.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351396,0.935221,0.043383],[-0.934843,0.347981,0.070549],[0.050882,-0.065347,0.996565]]
2025-10-24T22:13:25.720Z,1761344005.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372307,0.926262,0.058536],[-0.928064,0.370927,0.033304],[0.009135,-0.066724,0.997730]]
2025-10-24T22:13:26.122Z,1761344006.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362069,0.930264,0.059294],[-0.932151,0.361377,0.022383],[-0.000605,-0.063375,0.997990]]
2025-10-24T22:13:26.533Z,1761344006.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368415,0.928978,0.035649],[-0.925049,0.362503,0.113469],[0.092487,-0.074781,0.992902]]
2025-10-24T22:13:26.937Z,1761344006.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393845,0.919078,-0.013468],[-0.901591,0.389121,0.188991],[0.178939,-0.062290,0.981886]]
2025-10-24T22:13:27.339Z,1761344007.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399191,0.916528,-0.024947],[-0.910987,0.399560,0.102246],[0.103680,-0.018089,0.994446]]
2025-10-24T22:13:27.744Z,1761344007.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386125,0.922250,-0.019059],[-0.922290,0.386357,0.010439],[0.016991,0.013547,0.999764]]
2025-10-24T22:13:28.552Z,1761344008.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362495,0.928736,0.077761],[-0.931479,0.358284,0.063086],[0.030729,-0.095301,0.994974]]
2025-10-24T22:13:28.955Z,1761344008.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372427,0.923117,0.095670],[-0.927155,0.365527,0.082297],[0.041000,-0.119351,0.992005]]
2025-10-24T22:13:29.359Z,1761344009.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376007,0.922613,0.086046],[-0.926421,0.372398,0.055349],[0.019022,-0.100526,0.994753]]
2025-10-24T22:13:29.763Z,1761344009.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395019,0.916194,0.067441],[-0.918287,0.391658,0.057912],[0.026645,-0.084807,0.996041]]
2025-10-24T22:13:30.168Z,1761344010.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390247,0.919171,0.053215],[-0.919767,0.386579,0.067722],[0.041676,-0.075374,0.996284]]
2025-10-24T22:13:30.571Z,1761344010.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355746,0.932237,0.066180],[-0.934261,0.356589,-0.000995],[-0.024527,-0.061475,0.997807]]
2025-10-24T22:13:30.975Z,1761344010.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345843,0.937635,0.035110],[-0.936654,0.347208,-0.046107],[-0.055422,-0.016940,0.998319]]
2025-10-24T22:13:31.383Z,1761344011.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348282,0.936965,-0.028220],[-0.937306,0.348496,0.002873],[0.012527,0.025450,0.999598]]
2025-10-24T22:13:31.782Z,1761344011.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365133,0.930001,-0.042141],[-0.929974,0.366452,0.029339],[0.042728,0.028478,0.998681]]
2025-10-24T22:13:31.904Z,1761344011.904 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:13:32.186Z,1761344012.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363285,0.931677,0.001572],[-0.931280,0.363080,0.029838],[0.027229,-0.012303,0.999553]]
2025-10-24T22:13:32.590Z,1761344012.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316787,0.945514,0.075162],[-0.948239,0.313857,0.048340],[0.022116,-0.086585,0.995999]]
2025-10-24T22:13:32.995Z,1761344012.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307191,0.942887,0.128835],[-0.951122,0.299698,0.074481],[0.031616,-0.145418,0.988865]]
2025-10-24T22:13:33.406Z,1761344013.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325503,0.937878,0.120134],[-0.945431,0.320889,0.056484],[0.014426,-0.131964,0.991149]]
2025-10-24T22:13:33.802Z,1761344013.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331634,0.937989,0.100968],[-0.943174,0.332033,0.013330],[-0.021021,-0.099651,0.994800]]
2025-10-24T22:13:34.207Z,1761344014.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325189,0.943823,0.058730],[-0.944521,0.327207,-0.028556],[-0.046169,-0.046186,0.997865]]
2025-10-24T22:13:34.611Z,1761344014.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287117,0.957309,0.033522],[-0.956839,0.288268,-0.036880],[-0.044969,-0.021487,0.998757]]
2025-10-24T22:13:34.836Z,1761344014.836 [BackseatComponent](IMPORTANT): ptvr-v2b: running backseat_app backseat application.
2025-10-24T22:13:35.016Z,1761344015.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273116,0.961074,0.041758],[-0.961180,0.274402,-0.028913],[-0.039246,-0.032241,0.998709]]
2025-10-24T22:13:35.422Z,1761344015.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284142,0.958223,0.032757],[-0.957555,0.285341,-0.040868],[-0.048507,-0.019755,0.998627]]
2025-10-24T22:13:35.824Z,1761344015.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274423,0.961469,0.016424],[-0.961590,0.274486,-0.001688],[-0.006131,-0.015330,0.999864]]
2025-10-24T22:13:36.227Z,1761344016.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236915,0.971140,0.027546],[-0.969823,0.234724,0.065945],[0.057576,-0.042338,0.997443]]
2025-10-24T22:13:36.631Z,1761344016.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229773,0.969323,0.087278],[-0.973237,0.229194,0.016739],[-0.003778,-0.088789,0.996043]]
2025-10-24T22:13:37.035Z,1761344017.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253942,0.962577,0.094652],[-0.967179,0.253611,0.015706],[-0.008887,-0.095534,0.995387]]
2025-10-24T22:13:37.440Z,1761344017.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233134,0.972040,0.028034],[-0.969337,0.229990,0.086542],[0.077674,-0.047350,0.995854]]
2025-10-24T22:13:37.670Z,1761344017.670 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:13:37.670Z,1761344017.670 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:13:37.813Z,1761344017.813 [DAT](ERROR): Failed to copy DAT.enableBroadcast's data value to LCM message.
2025-10-24T22:13:37.814Z,1761344017.814 [DAT](INFO): Activating messaging.
2025-10-24T22:13:37.842Z,1761344017.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194420,0.980861,-0.010601],[-0.977474,0.194631,0.081624],[0.082125,-0.005507,0.996607]]
2025-10-24T22:13:38.001Z,1761344018.001 [marl:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.horizontalCmdMode with code: 2221
2025-10-24T22:13:38.003Z,1761344018.003 [marl:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.rudderAngleCmd with code: 2222
2025-10-24T22:13:38.015Z,1761344018.015 [marl:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.speedCmd with code: 2223
2025-10-24T22:13:38.246Z,1761344018.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178924,0.983842,-0.006385],[-0.982523,0.179015,0.051020],[0.051338,-0.002855,0.998677]]
2025-10-24T22:13:38.346Z,1761344018.346 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:13:38.346Z,1761344018.346 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:13:38.346Z,1761344018.346 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:13:38.347Z,1761344018.347 [marl:UpdateRudder:A] Stopped
2025-10-24T22:13:38.347Z,1761344018.347 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:13:38.347Z,1761344018.347 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:13:38.347Z,1761344018.347 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:13:38.347Z,1761344018.347 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:13:38.347Z,1761344018.347 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:13:38.352Z,1761344018.352 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:13:38.352Z,1761344018.352 [marl:UpdateCommandMode] Stopped
2025-10-24T22:13:38.352Z,1761344018.352 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:13:38.352Z,1761344018.352 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:13:38.352Z,1761344018.352 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:13:38.353Z,1761344018.353 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:13:38.353Z,1761344018.353 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:13:38.353Z,1761344018.353 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:13:38.353Z,1761344018.353 [marl:UpdateSpeed] Stopped
2025-10-24T22:13:38.353Z,1761344018.353 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:13:38.655Z,1761344018.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183552,0.982939,0.011848],[-0.982602,0.183115,0.031013],[0.028314,-0.017335,0.999449]]
2025-10-24T22:13:38.709Z,1761344018.709 [marl:JoystickControl:CmdRudder] Running Loop=1
2025-10-24T22:13:38.709Z,1761344018.709 [marl:JoystickControl:CmdRudder](DEBUG): Aggregate::initialize marl:JoystickControl:CmdRudder
2025-10-24T22:13:38.709Z,1761344018.709 [marl:JoystickControl:CmdRudder:A.Point] Running Loop=1
2025-10-24T22:13:38.709Z,1761344018.709 [marl:JoystickControl:CmdRudder] Running Loop=1
2025-10-24T22:13:38.709Z,1761344018.709 [marl:JoystickControl:CmdRudder:A.Point] Running Loop=1
2025-10-24T22:13:38.710Z,1761344018.710 [marl:JoystickControl:CmdHeading] Stopped
2025-10-24T22:13:38.710Z,1761344018.710 [marl:JoystickControl:CmdHeading](DEBUG): Aggregate::uninitialize marl:JoystickControl:CmdHeading
2025-10-24T22:13:38.710Z,1761344018.710 [marl:JoystickControl:CmdHeading:A.Point] Stopped
2025-10-24T22:13:38.734Z,1761344018.734 [marl:UpdateRudder:B](INFO): Updating rudder angle  0.000000 arcdeg 
2025-10-24T22:13:38.734Z,1761344018.734 [marl:UpdateRudder:B] Stopped
2025-10-24T22:13:38.734Z,1761344018.734 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:13:38.734Z,1761344018.734 [marl:UpdateRudder] Stopped
2025-10-24T22:13:38.734Z,1761344018.734 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:13:39.054Z,1761344019.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163671,0.985558,0.043431],[-0.986070,0.162117,0.037207],[0.029629,-0.048916,0.998363]]
2025-10-24T22:13:39.067Z,1761344019.067 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221338.00,A,3646.46849,N,12151.87041,W,0.117,116.97,241025,,,D*73
2025-10-24T22:13:39.069Z,1761344019.069 [NAL9602](INFO): GPS fix at 20251024T221338: (36.774475, -121.864507)
2025-10-24T22:13:39.124Z,1761344019.124 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:13:39.125Z,1761344019.125 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344000.00. Resetting abort timer.
2025-10-24T22:13:39.325Z,1761344019.325 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:13:39.325Z,1761344019.325 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:13:39.461Z,1761344019.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160047,0.982686,0.093339],[-0.986870,0.157210,0.037050],[0.021735,-0.098043,0.994945]]
2025-10-24T22:13:39.577Z,1761344019.577 [DAT](INFO): DAT read: user:8>

2025-10-24T22:13:39.577Z,1761344019.577 [DAT](INFO): DAT read: Tx time:22:13:38.5592

2025-10-24T22:13:39.578Z,1761344019.578 [DAT](INFO): Ping request sent.
2025-10-24T22:13:39.578Z,1761344019.578 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:13:39.578Z,1761344019.578 [DAT](INFO): publishing transmit ping time
2025-10-24T22:13:39.579Z,1761344019.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000927
2025-10-24T22:13:39.829Z,1761344019.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250822
2025-10-24T22:13:39.867Z,1761344019.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162715,0.981310,0.102735],[-0.985395,0.166920,-0.033692],[-0.050211,-0.095752,0.994138]]
2025-10-24T22:13:40.081Z,1761344020.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502849
2025-10-24T22:13:40.267Z,1761344020.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131354,0.987282,0.089561],[-0.987382,0.138356,-0.077040],[-0.088452,-0.078311,0.992997]]
2025-10-24T22:13:40.333Z,1761344020.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754988
2025-10-24T22:13:40.585Z,1761344020.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006792
2025-10-24T22:13:40.677Z,1761344020.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090969,0.991441,0.093642],[-0.995653,0.092434,-0.011419],[-0.019977,-0.092196,0.995540]]
2025-10-24T22:13:40.837Z,1761344020.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258837
2025-10-24T22:13:41.074Z,1761344021.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110578,0.987928,0.108494],[-0.993223,0.105914,0.047862],[0.035793,-0.113051,0.992944]]
2025-10-24T22:13:41.089Z,1761344021.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511015
2025-10-24T22:13:41.341Z,1761344021.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762994
2025-10-24T22:13:41.480Z,1761344021.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115098,0.987711,0.105737],[-0.992711,0.110539,0.048028],[0.035749,-0.110494,0.993234]]
2025-10-24T22:13:41.593Z,1761344021.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015570
2025-10-24T22:13:41.845Z,1761344021.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266916
2025-10-24T22:13:41.889Z,1761344021.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101754,0.990405,0.093510],[-0.994780,0.102020,0.001949],[-0.007610,-0.093220,0.995616]]
2025-10-24T22:13:41.909Z,1761344021.909 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221341.00,A,3646.46850,N,12151.87040,W,0.544,103.84,241025,,,D*70
2025-10-24T22:13:41.911Z,1761344021.911 [NAL9602](INFO): GPS fix at 20251024T221341: (36.774475, -121.864507)
2025-10-24T22:13:41.921Z,1761344021.921 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:13:42.015Z,1761344022.015 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344000.00. Resetting abort timer.
2025-10-24T22:13:42.097Z,1761344022.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518836
2025-10-24T22:13:42.286Z,1761344022.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110653,0.991823,0.063579],[-0.992500,0.113619,-0.045099],[-0.051954,-0.058112,0.996957]]
2025-10-24T22:13:42.349Z,1761344022.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770971
2025-10-24T22:13:42.601Z,1761344022.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022918
2025-10-24T22:13:42.691Z,1761344022.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105362,0.994434,0.000504],[-0.994378,0.105362,-0.010554],[-0.010548,0.000611,0.999944]]
2025-10-24T22:13:42.853Z,1761344022.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275318
2025-10-24T22:13:43.096Z,1761344023.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103516,0.994163,-0.030403],[-0.994618,0.103600,0.001190],[0.004333,0.030116,0.999537]]
2025-10-24T22:13:43.105Z,1761344023.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526697
2025-10-24T22:13:43.358Z,1761344023.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779899
2025-10-24T22:13:43.499Z,1761344023.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106812,0.994173,-0.014524],[-0.994248,0.106681,-0.009509],[-0.007904,0.015456,0.999849]]
2025-10-24T22:13:43.609Z,1761344023.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030973
2025-10-24T22:13:43.861Z,1761344023.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283177
2025-10-24T22:13:43.907Z,1761344023.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077297,0.995721,0.050638],[-0.995558,0.074346,0.057773],[0.053761,-0.054879,0.997045]]
2025-10-24T22:13:44.113Z,1761344024.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534899
2025-10-24T22:13:44.309Z,1761344024.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059866,0.989357,0.132624],[-0.995202,0.048855,0.084775],[0.077394,-0.137063,0.987534]]
2025-10-24T22:13:44.365Z,1761344024.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787395
2025-10-24T22:13:44.617Z,1761344024.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038936
2025-10-24T22:13:44.711Z,1761344024.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062398,0.982153,0.177432],[-0.996568,0.051625,0.064704],[0.054390,-0.180860,0.982004]]
2025-10-24T22:13:44.869Z,1761344024.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291450
2025-10-24T22:13:45.115Z,1761344025.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072759,0.982183,0.173269],[-0.995192,0.060077,0.077350],[0.065562,-0.178063,0.981832]]
2025-10-24T22:13:45.121Z,1761344025.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542708
2025-10-24T22:13:45.124Z,1761344025.124 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221344.00,A,3646.46832,N,12151.86983,W,0.836,111.89,241025,,,D*70
2025-10-24T22:13:45.127Z,1761344025.127 [NAL9602](INFO): GPS fix at 20251024T221344: (36.774472, -121.864497)
2025-10-24T22:13:45.234Z,1761344025.234 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344000.00. Resetting abort timer.
2025-10-24T22:13:45.373Z,1761344025.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795214
2025-10-24T22:13:45.519Z,1761344025.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081881,0.989728,0.117189],[-0.994630,0.073681,0.072677],[0.063296,-0.122511,0.990447]]
2025-10-24T22:13:45.625Z,1761344025.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047036
2025-10-24T22:13:45.878Z,1761344025.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299630
2025-10-24T22:13:45.981Z,1761344025.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053450,0.997928,0.035809],[-0.996809,0.051193,0.061253],[0.059293,-0.038968,0.997480]]
2025-10-24T22:13:46.129Z,1761344026.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550867
2025-10-24T22:13:46.327Z,1761344026.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040625,0.999149,-0.007089],[-0.996886,0.041010,0.067347],[0.067581,0.004331,0.997704]]
2025-10-24T22:13:46.381Z,1761344026.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803267
2025-10-24T22:13:46.633Z,1761344026.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054892
2025-10-24T22:13:46.731Z,1761344026.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088411,0.995864,-0.020954],[-0.994317,0.089487,0.057671],[0.059308,0.015736,0.998116]]
2025-10-24T22:13:46.885Z,1761344026.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307547
2025-10-24T22:13:47.137Z,1761344027.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558842
2025-10-24T22:13:47.138Z,1761344027.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112605,0.993480,-0.017847],[-0.992866,0.113208,0.037440],[0.039216,0.013504,0.999139]]
2025-10-24T22:13:47.390Z,1761344027.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811681
2025-10-24T22:13:47.542Z,1761344027.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077081,0.996706,0.025228],[-0.996634,0.076318,0.029934],[0.027910,-0.027451,0.999233]]
2025-10-24T22:13:47.642Z,1761344027.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.064264
2025-10-24T22:13:47.893Z,1761344027.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314963
2025-10-24T22:13:48.007Z,1761344028.007 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221347.00,A,3646.46808,N,12151.86951,W,0.583,38.67,241025,,,D*4C
2025-10-24T22:13:48.021Z,1761344028.021 [NAL9602](INFO): GPS fix at 20251024T221347: (36.774468, -121.864492)
2025-10-24T22:13:48.145Z,1761344028.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566919
2025-10-24T22:13:48.146Z,1761344028.146 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344000.00. Resetting abort timer.
2025-10-24T22:13:48.397Z,1761344028.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818864
2025-10-24T22:13:48.420Z,1761344028.420 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:13:48.420Z,1761344028.420 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:13:48.420Z,1761344028.420 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:13:48.421Z,1761344028.421 [marl:UpdateRudder:A] Stopped
2025-10-24T22:13:48.421Z,1761344028.421 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:13:48.421Z,1761344028.421 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:13:48.421Z,1761344028.421 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:13:48.421Z,1761344028.421 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:13:48.421Z,1761344028.421 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:13:48.421Z,1761344028.421 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:13:48.421Z,1761344028.421 [marl:UpdateCommandMode] Stopped
2025-10-24T22:13:48.421Z,1761344028.421 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:13:48.422Z,1761344028.422 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:13:48.422Z,1761344028.422 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:13:48.422Z,1761344028.422 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:13:48.422Z,1761344028.422 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:13:48.422Z,1761344028.422 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:13:48.422Z,1761344028.422 [marl:UpdateSpeed] Stopped
2025-10-24T22:13:48.422Z,1761344028.422 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:13:48.649Z,1761344028.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071237
2025-10-24T22:13:48.750Z,1761344028.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070582,0.985959,0.151338],[-0.990132,0.087663,-0.109336],[-0.121067,-0.142127,0.982417]]
2025-10-24T22:13:48.795Z,1761344028.795 [marl:UpdateRudder:B](INFO): Updating rudder angle  0.000000 arcdeg 
2025-10-24T22:13:48.795Z,1761344028.795 [marl:UpdateRudder:B] Stopped
2025-10-24T22:13:48.795Z,1761344028.795 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:13:48.795Z,1761344028.795 [marl:UpdateRudder] Stopped
2025-10-24T22:13:48.795Z,1761344028.795 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:13:48.901Z,1761344028.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322832
2025-10-24T22:13:49.154Z,1761344029.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029033,0.994007,0.105386],[-0.991629,0.041912,-0.122130],[-0.125815,-0.100958,0.986903]]
2025-10-24T22:13:49.156Z,1761344029.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578480
2025-10-24T22:13:49.409Z,1761344029.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831280
2025-10-24T22:13:49.558Z,1761344029.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009965,0.997124,0.075123],[-0.999766,0.011377,-0.018396],[-0.019197,-0.074922,0.997005]]
2025-10-24T22:13:49.661Z,1761344029.661 [DAT](INFO): Reached modem response timeout
2025-10-24T22:13:49.988Z,1761344029.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081509,0.996316,0.026642],[-0.996337,0.080759,0.028107],[0.025852,-0.028835,0.999250]]
2025-10-24T22:13:50.770Z,1761344030.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095524,0.995331,0.013850],[-0.995280,0.095261,0.018507],[0.017101,-0.015552,0.999733]]
2025-10-24T22:13:51.179Z,1761344031.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131911,0.990908,0.026469],[-0.990493,0.130709,0.042890],[0.039041,-0.031875,0.998729]]
2025-10-24T22:13:51.188Z,1761344031.188 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221350.00,A,3646.46795,N,12151.86890,W,1.244,92.08,241025,,,D*49
2025-10-24T22:13:51.190Z,1761344031.190 [NAL9602](INFO): GPS fix at 20251024T221350: (36.774466, -121.864482)
2025-10-24T22:13:51.244Z,1761344031.244 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344000.00. Resetting abort timer.
2025-10-24T22:13:51.578Z,1761344031.578 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:13:51.592Z,1761344031.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142200,0.989481,0.026591],[-0.989715,0.142554,-0.011921],[-0.015586,-0.024622,0.999575]]
2025-10-24T22:13:51.931Z,1761344031.931 [DAT](INFO): DAT read: Response Not Received

2025-10-24T22:13:51.932Z,1761344031.932 [DAT](INFO): response not received
2025-10-24T22:13:51.932Z,1761344031.932 [DAT](ERROR): No response from remote modem.
2025-10-24T22:13:52.003Z,1761344032.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141305,0.989792,0.018575],[-0.989910,0.141072,0.013330],[0.010573,-0.020271,0.999739]]
2025-10-24T22:13:52.391Z,1761344032.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108435,0.992782,0.051238],[-0.994016,0.107596,0.018856],[0.013207,-0.052976,0.998508]]
2025-10-24T22:13:52.797Z,1761344032.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105389,0.989240,0.101480],[-0.994379,0.105875,0.000594],[-0.010157,-0.100972,0.994837]]
2025-10-24T22:13:53.202Z,1761344033.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108300,0.990254,0.087566],[-0.994080,0.107105,0.018238],[0.008682,-0.089023,0.995992]]
2025-10-24T22:13:53.635Z,1761344033.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128355,0.990946,0.039376],[-0.991142,0.126813,0.039459],[0.034108,-0.044092,0.998445]]
2025-10-24T22:13:54.003Z,1761344034.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166181,0.986007,0.013199],[-0.986078,0.166242,-0.003614],[-0.005758,-0.012415,0.999906]]
2025-10-24T22:13:54.015Z,1761344034.015 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221353.00,A,3646.46771,N,12151.86837,W,0.739,108.60,241025,,,D*7F
2025-10-24T22:13:54.017Z,1761344034.017 [NAL9602](INFO): GPS fix at 20251024T221353: (36.774462, -121.864473)
2025-10-24T22:13:54.126Z,1761344034.126 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344000.00. Resetting abort timer.
2025-10-24T22:13:54.409Z,1761344034.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158457,0.986643,0.037771],[-0.985694,0.160298,-0.052070],[-0.057429,-0.028980,0.997929]]
2025-10-24T22:13:54.811Z,1761344034.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108886,0.988428,0.105611],[-0.993834,0.110482,-0.009367],[-0.020927,-0.103940,0.994363]]
2025-10-24T22:13:55.219Z,1761344035.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098579,0.979480,0.175789],[-0.995128,0.096708,0.019199],[0.001804,-0.176825,0.984241]]
2025-10-24T22:13:55.618Z,1761344035.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147128,0.972859,0.178605],[-0.988452,0.151237,-0.009538],[-0.036290,-0.175139,0.983875]]
2025-10-24T22:13:56.024Z,1761344036.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152693,0.983031,0.101661],[-0.986652,0.157524,-0.041271],[-0.056585,-0.094003,0.993963]]
2025-10-24T22:13:56.427Z,1761344036.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122663,0.992307,0.016771],[-0.992247,0.122961,-0.018076],[-0.019999,-0.014424,0.999696]]
2025-10-24T22:13:56.832Z,1761344036.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137810,0.990431,-0.007401],[-0.990458,0.137796,-0.002411],[-0.001368,0.007663,0.999970]]
2025-10-24T22:13:56.841Z,1761344036.841 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221356.00,A,3646.46744,N,12151.86802,W,0.194,145.14,241025,,,D*71
2025-10-24T22:13:56.849Z,1761344036.849 [NAL9602](INFO): GPS fix at 20251024T221356: (36.774457, -121.864467)
2025-10-24T22:13:56.933Z,1761344036.933 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344000.00. Resetting abort timer.
2025-10-24T22:13:57.239Z,1761344037.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172110,0.985048,0.007665],[-0.985026,0.172175,-0.008874],[-0.010061,-0.006023,0.999931]]
2025-10-24T22:13:57.638Z,1761344037.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159394,0.986415,0.039735],[-0.986679,0.160504,-0.026503],[-0.032521,-0.034982,0.998859]]
2025-10-24T22:13:58.042Z,1761344038.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151049,0.985208,0.080932],[-0.985731,0.156269,-0.062559],[-0.074281,-0.070328,0.994754]]
2025-10-24T22:13:58.447Z,1761344038.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171323,0.979889,0.102306],[-0.983722,0.175853,-0.036970],[-0.054217,-0.094307,0.994066]]
2025-10-24T22:13:58.488Z,1761344038.488 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:13:58.488Z,1761344038.488 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:13:58.488Z,1761344038.488 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:13:58.488Z,1761344038.488 [marl:UpdateRudder:A] Stopped
2025-10-24T22:13:58.489Z,1761344038.489 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:13:58.489Z,1761344038.489 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:13:58.489Z,1761344038.489 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:13:58.489Z,1761344038.489 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:13:58.489Z,1761344038.489 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:13:58.489Z,1761344038.489 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:13:58.489Z,1761344038.489 [marl:UpdateCommandMode] Stopped
2025-10-24T22:13:58.489Z,1761344038.489 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:13:58.489Z,1761344038.489 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:13:58.490Z,1761344038.490 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:13:58.490Z,1761344038.490 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:13:58.490Z,1761344038.490 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:13:58.490Z,1761344038.490 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:13:58.490Z,1761344038.490 [marl:UpdateSpeed] Stopped
2025-10-24T22:13:58.490Z,1761344038.490 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:13:58.857Z,1761344038.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144513,0.985879,0.084610],[-0.989321,0.145599,-0.006765],[-0.018989,-0.082728,0.996391]]
2025-10-24T22:13:58.920Z,1761344038.920 [marl:UpdateRudder:B](INFO): Updating rudder angle  0.000000 arcdeg 
2025-10-24T22:13:58.920Z,1761344038.920 [marl:UpdateRudder:B] Stopped
2025-10-24T22:13:58.920Z,1761344038.920 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:13:58.920Z,1761344038.920 [marl:UpdateRudder] Stopped
2025-10-24T22:13:58.920Z,1761344038.920 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:13:59.263Z,1761344039.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113930,0.989996,0.083239],[-0.992823,0.116521,-0.026939],[-0.036369,-0.079572,0.996165]]
2025-10-24T22:13:59.663Z,1761344039.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129039,0.990336,0.050821],[-0.990211,0.131434,-0.046989],[-0.053215,-0.044260,0.997602]]
2025-10-24T22:14:00.062Z,1761344040.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111263,0.993780,0.004778],[-0.993402,0.111352,-0.027440],[-0.027801,-0.001694,0.999612]]
2025-10-24T22:14:00.075Z,1761344040.075 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221359.00,A,3646.46704,N,12151.86776,W,0.525,131.77,241025,,,D*7E
2025-10-24T22:14:00.077Z,1761344040.077 [NAL9602](INFO): GPS fix at 20251024T221359: (36.774451, -121.864463)
2025-10-24T22:14:00.134Z,1761344040.134 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344000.00. Resetting abort timer.
2025-10-24T22:14:00.466Z,1761344040.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136584,0.990482,0.017011],[-0.990624,0.136511,0.005358],[0.002985,-0.017583,0.999841]]
2025-10-24T22:14:00.872Z,1761344040.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186888,0.980960,0.052822],[-0.982309,0.187258,-0.002105],[-0.011957,-0.051494,0.998602]]
2025-10-24T22:14:01.212Z,1761344041.212 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:14:01.285Z,1761344041.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176729,0.981982,0.066924],[-0.983968,0.174613,0.036299],[0.023959,-0.072266,0.997098]]
2025-10-24T22:14:01.688Z,1761344041.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144054,0.986729,0.074931],[-0.988553,0.140060,0.056099],[0.044860,-0.082154,0.995609]]
2025-10-24T22:14:02.091Z,1761344042.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163544,0.984470,0.063816],[-0.985466,0.160012,0.057043],[0.045946,-0.072218,0.996330]]
2025-10-24T22:14:02.496Z,1761344042.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168230,0.985552,0.019638],[-0.985339,0.167553,0.032135],[0.028380,-0.024756,0.999291]]
2025-10-24T22:14:02.907Z,1761344042.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152217,0.987588,0.038726],[-0.988215,0.152720,-0.010362],[-0.016148,-0.036693,0.999196]]
2025-10-24T22:14:02.945Z,1761344042.945 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221402.00,A,3646.46702,N,12151.86750,W,0.389,99.81,241025,,,D*4F
2025-10-24T22:14:02.947Z,1761344042.947 [NAL9602](INFO): GPS fix at 20251024T221402: (36.774450, -121.864458)
2025-10-24T22:14:03.062Z,1761344043.062 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344000.00. Resetting abort timer.
2025-10-24T22:14:03.311Z,1761344043.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160712,0.983722,0.080389],[-0.986118,0.163481,-0.029087],[-0.041756,-0.074598,0.996339]]
2025-10-24T22:14:03.715Z,1761344043.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168992,0.983003,0.071736],[-0.985516,0.167483,0.026598],[0.014131,-0.075192,0.997069]]
2025-10-24T22:14:04.119Z,1761344044.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157820,0.986759,0.037401],[-0.987241,0.156858,0.027404],[0.021174,-0.041248,0.998924]]
2025-10-24T22:14:04.939Z,1761344044.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159328,0.986567,0.036070],[-0.987015,0.158432,0.026473],[0.020403,-0.039820,0.998999]]
2025-10-24T22:14:05.339Z,1761344045.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168069,0.981238,0.094471],[-0.985281,0.164177,0.047613],[0.031209,-0.101083,0.994388]]
2025-10-24T22:14:05.735Z,1761344045.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159093,0.975930,0.149162],[-0.987208,0.155659,0.034498],[0.010450,-0.152743,0.988211]]
2025-10-24T22:14:06.140Z,1761344046.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165458,0.970823,0.173568],[-0.985948,0.158723,0.052092],[0.023023,-0.179748,0.983443]]
2025-10-24T22:14:06.147Z,1761344046.147 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221405.00,A,3646.46690,N,12151.86708,W,1.069,108.71,241025,,,D*75
2025-10-24T22:14:06.149Z,1761344046.149 [NAL9602](INFO): GPS fix at 20251024T221405: (36.774448, -121.864451)
2025-10-24T22:14:06.250Z,1761344046.250 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344000.00. Resetting abort timer.
2025-10-24T22:14:06.543Z,1761344046.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177542,0.971290,0.158348],[-0.984049,0.177055,0.017290],[-0.011242,-0.158892,0.987232]]
2025-10-24T22:14:06.947Z,1761344046.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166940,0.982938,0.077225],[-0.985334,0.169127,-0.022649],[-0.035324,-0.072311,0.996756]]
2025-10-24T22:14:07.356Z,1761344047.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174257,0.984697,0.002627],[-0.984452,0.174153,0.022914],[0.022106,-0.006579,0.999734]]
2025-10-24T22:14:07.756Z,1761344047.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182019,0.982976,-0.025034],[-0.979237,0.183519,0.086117],[0.089245,0.008839,0.995970]]
2025-10-24T22:14:08.159Z,1761344048.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176539,0.984247,-0.009547],[-0.973395,0.176016,0.146701],[0.146070,-0.016606,0.989135]]
2025-10-24T22:14:08.563Z,1761344048.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199742,0.979142,0.037195],[-0.971428,0.192917,0.138241],[0.128182,-0.063745,0.989700]]
2025-10-24T22:14:08.631Z,1761344048.631 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:14:08.636Z,1761344048.636 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:14:08.636Z,1761344048.636 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:14:08.636Z,1761344048.636 [marl:UpdateRudder:A] Stopped
2025-10-24T22:14:08.636Z,1761344048.636 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:14:08.636Z,1761344048.636 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:14:08.637Z,1761344048.637 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:14:08.637Z,1761344048.637 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:14:08.637Z,1761344048.637 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:14:08.637Z,1761344048.637 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:14:08.637Z,1761344048.637 [marl:UpdateCommandMode] Stopped
2025-10-24T22:14:08.637Z,1761344048.637 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:14:08.637Z,1761344048.637 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:14:08.637Z,1761344048.637 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:14:08.637Z,1761344048.638 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:14:08.638Z,1761344048.638 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:14:08.638Z,1761344048.638 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:14:08.638Z,1761344048.638 [marl:UpdateSpeed] Stopped
2025-10-24T22:14:08.638Z,1761344048.638 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:14:08.968Z,1761344048.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216501,0.973395,0.075029],[-0.974165,0.210333,0.082236],[0.064267,-0.090894,0.993785]]
2025-10-24T22:14:08.975Z,1761344048.975 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221408.00,A,3646.46657,N,12151.86650,W,0.641,106.57,241025,,,D*78
2025-10-24T22:14:08.977Z,1761344048.977 [NAL9602](INFO): GPS fix at 20251024T221408: (36.774443, -121.864442)
2025-10-24T22:14:09.048Z,1761344049.048 [marl:UpdateRudder:B](INFO): Updating rudder angle  1.000000 arcdeg 
2025-10-24T22:14:09.048Z,1761344049.048 [marl:UpdateRudder:B] Stopped
2025-10-24T22:14:09.048Z,1761344049.048 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:14:09.048Z,1761344049.048 [marl:UpdateRudder] Stopped
2025-10-24T22:14:09.049Z,1761344049.049 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:14:09.050Z,1761344049.050 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344000.00. Resetting abort timer.
2025-10-24T22:14:09.371Z,1761344049.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213174,0.973487,0.082942],[-0.977005,0.212770,0.013784],[-0.004229,-0.083973,0.996459]]
2025-10-24T22:14:09.774Z,1761344049.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190866,0.978389,0.079535],[-0.980271,0.194219,-0.036724],[-0.051377,-0.070957,0.996155]]
2025-10-24T22:14:10.179Z,1761344050.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197163,0.977815,0.070743],[-0.979525,0.199476,-0.027203],[-0.040711,-0.063931,0.997124]]
2025-10-24T22:14:10.585Z,1761344050.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221713,0.974029,0.045952],[-0.974763,0.220125,0.037184],[0.026103,-0.053037,0.998251]]
2025-10-24T22:14:10.986Z,1761344050.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214730,0.976639,0.008242],[-0.974318,0.213619,0.071217],[0.067792,-0.023323,0.997427]]
2025-10-24T22:14:11.390Z,1761344051.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231353,0.972580,0.023749],[-0.972121,0.230148,0.044861],[0.038166,-0.033466,0.998711]]
2025-10-24T22:14:11.794Z,1761344051.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271912,0.961414,0.041800],[-0.962215,0.272272,-0.003065],[-0.014328,-0.039387,0.999121]]
2025-10-24T22:14:12.200Z,1761344052.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265980,0.961987,0.061930],[-0.963961,0.265037,0.023119],[0.005827,-0.065848,0.997813]]
2025-10-24T22:14:12.211Z,1761344052.211 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221411.00,A,3646.46652,N,12151.86608,W,0.778,99.74,241025,,,D*45
2025-10-24T22:14:12.213Z,1761344052.213 [NAL9602](INFO): GPS fix at 20251024T221411: (36.774442, -121.864435)
2025-10-24T22:14:12.277Z,1761344052.277 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344000.00. Resetting abort timer.
2025-10-24T22:14:12.602Z,1761344052.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237378,0.964959,0.111831],[-0.970157,0.229632,0.077876],[0.049467,-0.126979,0.990671]]
2025-10-24T22:14:12.864Z,1761344052.864 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:14:13.007Z,1761344053.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246083,0.956590,0.156135],[-0.969191,0.241093,0.050432],[0.010599,-0.163735,0.986447]]
2025-10-24T22:14:13.413Z,1761344053.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244155,0.961265,0.127898],[-0.969243,0.246105,0.000571],[-0.030927,-0.124103,0.991787]]
2025-10-24T22:14:13.822Z,1761344053.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244183,0.968584,0.047105],[-0.969727,0.243795,0.013916],[0.001995,-0.049077,0.998793]]
2025-10-24T22:14:14.218Z,1761344054.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222657,0.973914,-0.043775],[-0.974447,0.223694,0.020352],[0.029614,0.038125,0.998834]]
2025-10-24T22:14:14.623Z,1761344054.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207384,0.976049,-0.065732],[-0.978100,0.208094,0.004077],[0.017658,0.063447,0.997829]]
2025-10-24T22:14:15.027Z,1761344055.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217535,0.975606,-0.029525],[-0.973354,0.219082,0.067709],[0.072526,0.014009,0.997268]]
2025-10-24T22:14:15.035Z,1761344055.035 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221414.00,A,3646.46655,N,12151.86601,W,0.603,115.88,241025,,,D*75
2025-10-24T22:14:15.037Z,1761344055.037 [NAL9602](INFO): GPS fix at 20251024T221414: (36.774442, -121.864434)
2025-10-24T22:14:15.115Z,1761344055.115 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344000.00. Resetting abort timer.
2025-10-24T22:14:15.431Z,1761344055.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233559,0.971909,0.029047],[-0.967262,0.229185,0.108993],[0.099274,-0.053552,0.993618]]
2025-10-24T22:14:15.838Z,1761344055.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232705,0.968379,0.089946],[-0.972372,0.229908,0.040441],[0.018483,-0.096872,0.995125]]
2025-10-24T22:14:16.240Z,1761344056.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222709,0.967900,0.116490],[-0.974882,0.221419,0.024069],[-0.002497,-0.118924,0.992900]]
2025-10-24T22:14:16.651Z,1761344056.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204713,0.970750,0.125451],[-0.978725,0.204812,0.012246],[-0.013806,-0.125289,0.992024]]
2025-10-24T22:14:17.046Z,1761344057.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228052,0.963411,0.140825],[-0.972741,0.231687,-0.009762],[-0.042032,-0.134760,0.989986]]
2025-10-24T22:14:17.450Z,1761344057.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242293,0.962743,0.120082],[-0.970078,0.242386,0.014055],[-0.015575,-0.119895,0.992664]]
2025-10-24T22:14:17.856Z,1761344057.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232943,0.968362,0.089511],[-0.972395,0.230644,0.035361],[0.013597,-0.095277,0.995358]]
2025-10-24T22:14:17.863Z,1761344057.863 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221417.00,A,3646.46641,N,12151.86570,W,0.311,130.31,241025,,,D*75
2025-10-24T22:14:17.865Z,1761344057.865 [NAL9602](INFO): GPS fix at 20251024T221417: (36.774440, -121.864428)
2025-10-24T22:14:17.997Z,1761344057.997 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344000.00. Resetting abort timer.
2025-10-24T22:14:18.259Z,1761344058.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205825,0.976423,0.065069],[-0.978421,0.206566,-0.004798],[-0.018126,-0.062677,0.997869]]
2025-10-24T22:14:18.671Z,1761344058.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196365,0.980015,0.031803],[-0.980408,0.196750,-0.009436],[-0.015504,-0.029328,0.999450]]
2025-10-24T22:14:18.752Z,1761344058.752 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:14:18.753Z,1761344058.753 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:14:18.753Z,1761344058.753 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:14:18.753Z,1761344058.753 [marl:UpdateRudder:A] Stopped
2025-10-24T22:14:18.753Z,1761344058.753 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:14:18.753Z,1761344058.753 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:14:18.753Z,1761344058.753 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:14:18.754Z,1761344058.754 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:14:18.754Z,1761344058.754 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:14:18.754Z,1761344058.754 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:14:18.754Z,1761344058.754 [marl:UpdateCommandMode] Stopped
2025-10-24T22:14:18.754Z,1761344058.754 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:14:18.754Z,1761344058.754 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:14:18.754Z,1761344058.754 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:14:18.754Z,1761344058.754 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:14:18.755Z,1761344058.755 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:14:18.755Z,1761344058.755 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:14:18.755Z,1761344058.755 [marl:UpdateSpeed] Stopped
2025-10-24T22:14:18.755Z,1761344058.755 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:14:19.067Z,1761344059.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206096,0.978304,-0.021125],[-0.977263,0.206880,0.046458],[0.049820,0.011070,0.998697]]
2025-10-24T22:14:19.133Z,1761344059.133 [marl:UpdateRudder:B](INFO): Updating rudder angle  1.000000 arcdeg 
2025-10-24T22:14:19.133Z,1761344059.133 [marl:UpdateRudder:B] Stopped
2025-10-24T22:14:19.133Z,1761344059.133 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:14:19.133Z,1761344059.133 [marl:UpdateRudder] Stopped
2025-10-24T22:14:19.133Z,1761344059.133 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:14:19.470Z,1761344059.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189500,0.980542,-0.051258],[-0.978446,0.192942,0.073602],[0.082060,0.036205,0.995970]]
2025-10-24T22:14:19.874Z,1761344059.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185484,0.982630,-0.005884],[-0.981487,0.185552,0.047477],[0.047744,-0.003031,0.998855]]
2025-10-24T22:14:20.278Z,1761344060.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192287,0.980929,0.028344],[-0.980963,0.191334,0.033213],[0.027156,-0.034191,0.999046]]
2025-10-24T22:14:20.692Z,1761344060.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176003,0.983217,0.048033],[-0.984305,0.175137,0.021703],[0.012926,-0.051099,0.998610]]
2025-10-24T22:14:21.086Z,1761344061.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153582,0.986719,0.052896],[-0.988001,0.152455,0.024735],[0.016343,-0.056060,0.998294]]
2025-10-24T22:14:21.091Z,1761344061.091 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221420.00,A,3646.46624,N,12151.86536,W,0.389,131.58,241025,,,D*7F
2025-10-24T22:14:21.094Z,1761344061.094 [NAL9602](INFO): GPS fix at 20251024T221420: (36.774437, -121.864423)
2025-10-24T22:14:21.150Z,1761344061.150 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344000.00. Resetting abort timer.
2025-10-24T22:14:21.491Z,1761344061.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147968,0.986256,0.073519],[-0.988928,0.146702,0.022360],[0.011267,-0.076014,0.997043]]
2025-10-24T22:14:21.896Z,1761344061.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151625,0.983602,0.097658],[-0.988426,0.150387,0.019959],[0.004945,-0.099554,0.995020]]
2025-10-24T22:14:22.304Z,1761344062.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141745,0.984546,0.102846],[-0.989885,0.140343,0.020774],[0.006019,-0.104751,0.994480]]
2025-10-24T22:14:22.400Z,1761344062.400 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:14:22.706Z,1761344062.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138079,0.985107,0.102457],[-0.990414,0.136945,0.018062],[0.003762,-0.103969,0.994573]]
2025-10-24T22:14:23.106Z,1761344063.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143917,0.987502,0.064251],[-0.989579,0.143908,0.004794],[-0.004512,-0.064271,0.997922]]
2025-10-24T22:14:23.512Z,1761344063.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142960,0.989473,0.022494],[-0.989597,0.143274,-0.013022],[-0.016108,-0.020399,0.999662]]
2025-10-24T22:14:23.935Z,1761344063.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118643,0.992608,0.025560],[-0.992810,0.119001,-0.012964],[-0.015910,-0.023838,0.999589]]
2025-10-24T22:14:23.971Z,1761344063.971 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221423.00,A,3646.46606,N,12151.86466,W,0.778,106.91,241025,,,D*73
2025-10-24T22:14:23.990Z,1761344063.990 [NAL9602](INFO): GPS fix at 20251024T221423: (36.774434, -121.864411)
2025-10-24T22:14:24.055Z,1761344064.055 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344000.00. Resetting abort timer.
2025-10-24T22:14:24.322Z,1761344064.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106269,0.993043,0.050722],[-0.993884,0.107623,-0.024742],[-0.030028,-0.047783,0.998406]]
2025-10-24T22:14:24.723Z,1761344064.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098010,0.993714,0.054093],[-0.994604,0.099665,-0.028794],[-0.034005,-0.050979,0.998121]]
2025-10-24T22:14:25.129Z,1761344065.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078021,0.995880,0.046223],[-0.996227,0.076112,0.041706],[0.038016,-0.049303,0.998060]]
2025-10-24T22:14:25.531Z,1761344065.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102434,0.992538,0.066151],[-0.993164,0.098303,0.062949],[0.055976,-0.072146,0.995822]]
2025-10-24T22:14:25.988Z,1761344065.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123511,0.988493,0.087327],[-0.991914,0.125565,-0.018417],[-0.029171,-0.084346,0.996009]]
2025-10-24T22:14:26.339Z,1761344066.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118357,0.987193,0.106966],[-0.987444,0.128363,-0.092073],[-0.104625,-0.094726,0.989990]]
2025-10-24T22:14:26.746Z,1761344066.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100270,0.990972,0.088994],[-0.993244,0.104947,-0.049519],[-0.058412,-0.083428,0.994800]]
2025-10-24T22:14:27.152Z,1761344067.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083109,0.994804,0.058797],[-0.996028,0.081030,0.036917],[0.031961,-0.061632,0.997587]]
2025-10-24T22:14:27.159Z,1761344067.159 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221426.00,A,3646.46570,N,12151.86390,W,0.544,123.94,241025,,,D*75
2025-10-24T22:14:27.162Z,1761344067.162 [NAL9602](INFO): GPS fix at 20251024T221426: (36.774428, -121.864398)
2025-10-24T22:14:27.229Z,1761344067.229 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344128.00. Resetting abort timer.
2025-10-24T22:14:27.555Z,1761344067.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085265,0.995152,0.049004],[-0.996060,0.083932,0.028649],[0.024397,-0.051254,0.998388]]
2025-10-24T22:14:28.004Z,1761344068.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109308,0.992706,0.050858],[-0.993131,0.111217,-0.036342],[-0.041734,-0.046537,0.998044]]
2025-10-24T22:14:28.364Z,1761344068.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110657,0.991856,0.063056],[-0.991098,0.114853,-0.067325],[-0.074019,-0.055045,0.995737]]
2025-10-24T22:14:28.767Z,1761344068.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100583,0.990074,0.098170],[-0.988984,0.110264,-0.098754],[-0.108598,-0.087156,0.990258]]
2025-10-24T22:14:28.863Z,1761344068.863 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:14:28.863Z,1761344068.863 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:14:28.863Z,1761344068.863 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:14:28.863Z,1761344068.863 [marl:UpdateRudder:A] Stopped
2025-10-24T22:14:28.864Z,1761344068.864 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:14:28.864Z,1761344068.864 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:14:28.864Z,1761344068.864 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:14:28.864Z,1761344068.864 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:14:28.864Z,1761344068.864 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:14:28.865Z,1761344068.865 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:14:28.865Z,1761344068.865 [marl:UpdateCommandMode] Stopped
2025-10-24T22:14:28.865Z,1761344068.865 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:14:28.865Z,1761344068.865 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:14:28.865Z,1761344068.865 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:14:28.865Z,1761344068.865 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:14:28.865Z,1761344068.865 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:14:28.865Z,1761344068.865 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:14:28.866Z,1761344068.866 [marl:UpdateSpeed] Stopped
2025-10-24T22:14:28.866Z,1761344068.866 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:14:29.170Z,1761344069.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093226,0.991072,0.095312],[-0.988773,0.103385,-0.107884],[-0.116775,-0.084185,0.989584]]
2025-10-24T22:14:29.217Z,1761344069.217 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:14:29.217Z,1761344069.217 [marl:UpdateRudder:B] Stopped
2025-10-24T22:14:29.217Z,1761344069.217 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:14:29.217Z,1761344069.217 [marl:UpdateRudder] Stopped
2025-10-24T22:14:29.218Z,1761344069.218 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:14:29.576Z,1761344069.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109981,0.992080,0.060681],[-0.991030,0.114118,-0.069542],[-0.075916,-0.052489,0.995732]]
2025-10-24T22:14:29.991Z,1761344069.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110588,0.993320,0.032948],[-0.993828,0.110815,-0.005120],[-0.008737,-0.032179,0.999444]]
2025-10-24T22:14:29.998Z,1761344069.998 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221429.00,A,3646.46572,N,12151.86375,W,0.544,130.96,241025,,,D*73
2025-10-24T22:14:30.003Z,1761344070.003 [NAL9602](INFO): GPS fix at 20251024T221429: (36.774429, -121.864396)
2025-10-24T22:14:30.084Z,1761344070.084 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344128.00. Resetting abort timer.
2025-10-24T22:14:30.383Z,1761344070.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083549,0.995286,0.049251],[-0.996242,0.082293,0.027009],[0.022829,-0.051322,0.998421]]
2025-10-24T22:14:30.798Z,1761344070.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077787,0.993604,0.081859],[-0.995866,0.081302,-0.040513],[-0.046909,-0.078369,0.995820]]
2025-10-24T22:14:31.190Z,1761344071.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088233,0.992930,0.079401],[-0.989565,0.096491,-0.107004],[-0.113909,-0.069131,0.991083]]
2025-10-24T22:14:31.596Z,1761344071.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073420,0.994834,0.070108],[-0.994889,0.077947,-0.064186],[-0.069319,-0.065038,0.995472]]
2025-10-24T22:14:31.868Z,1761344071.868 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:14:32.402Z,1761344072.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088841,0.990863,0.101481],[-0.995868,0.090288,-0.009751],[-0.018824,-0.100195,0.994790]]
2025-10-24T22:14:32.811Z,1761344072.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089811,0.991226,0.096978],[-0.995480,0.092359,-0.022110],[-0.030873,-0.094554,0.995041]]
2025-10-24T22:14:33.212Z,1761344073.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096632,0.991837,0.083192],[-0.993820,0.100735,-0.046619],[-0.054619,-0.078173,0.995442]]
2025-10-24T22:14:33.217Z,1761344073.217 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221432.00,A,3646.46559,N,12151.86362,W,0.156,130.96,241025,,,D*71
2025-10-24T22:14:33.220Z,1761344073.220 [NAL9602](INFO): GPS fix at 20251024T221432: (36.774426, -121.864394)
2025-10-24T22:14:33.248Z,1761344073.248 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344128.00. Resetting abort timer.
2025-10-24T22:14:33.615Z,1761344073.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118982,0.991387,0.054735],[-0.988864,0.123282,-0.083368],[-0.089398,-0.044206,0.995014]]
2025-10-24T22:14:34.019Z,1761344074.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122645,0.992112,0.025932],[-0.988920,0.124369,-0.081056],[-0.083642,-0.015704,0.996372]]
2025-10-24T22:14:34.422Z,1761344074.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100178,0.993230,0.058813],[-0.994200,0.102249,-0.033328],[-0.039116,-0.055133,0.997713]]
2025-10-24T22:14:34.833Z,1761344074.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127756,0.973230,0.191055],[-0.989276,0.138792,-0.045490],[-0.070789,-0.183195,0.980525]]
2025-10-24T22:14:34.874Z,1761344074.874 [marl:SendObservationData] Running Loop=1
2025-10-24T22:14:34.874Z,1761344074.874 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T22:14:34.874Z,1761344074.874 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T22:14:34.875Z,1761344074.875 [marl:SendObservationData:A] Running Loop=1
2025-10-24T22:14:34.876Z,1761344074.876 [marl:SendObservationData:A](ERROR): data element is not active.
2025-10-24T22:14:34.877Z,1761344074.877 [marl:SendObservationData:A](INFO): Got test_good :   n/a str  and temp var is  nan n/a str 
2025-10-24T22:14:34.877Z,1761344074.877 [marl:SendObservationData:A] Stopped
2025-10-24T22:14:34.877Z,1761344074.877 [marl:SendObservationData:B] Running Loop=1
2025-10-24T22:14:35.235Z,1761344075.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131630,0.974929,0.179407],[-0.990197,0.137843,-0.022559],[-0.046723,-0.174679,0.983516]]
2025-10-24T22:14:35.291Z,1761344075.291 [marl:SendObservationData:B] Stopped
2025-10-24T22:14:35.291Z,1761344075.291 [marl:SendObservationData:C] Running Loop=1
2025-10-24T22:14:35.642Z,1761344075.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108652,0.982871,0.148861],[-0.993492,0.112513,-0.017746],[-0.034191,-0.145964,0.988699]]
2025-10-24T22:14:35.708Z,1761344075.708 [marl:SendObservationData:C] Stopped
2025-10-24T22:14:35.709Z,1761344075.709 [marl:SendObservationData:E] Running Loop=1
2025-10-24T22:14:36.043Z,1761344076.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119830,0.985648,0.118908],[-0.992318,0.122622,-0.016420],[-0.030765,-0.116026,0.992770]]
2025-10-24T22:14:36.068Z,1761344076.068 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221435.00,A,3646.46536,N,12151.86328,W,0.564,116.95,241025,,,D*73
2025-10-24T22:14:36.071Z,1761344076.071 [NAL9602](INFO): GPS fix at 20251024T221435: (36.774423, -121.864388)
2025-10-24T22:14:36.144Z,1761344076.144 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.013871 min 
2025-10-24T22:14:36.144Z,1761344076.144 [marl:SendObservationData:E] Stopped
2025-10-24T22:14:36.145Z,1761344076.145 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T22:14:36.145Z,1761344076.145 [marl:SendObservationData] Stopped
2025-10-24T22:14:36.145Z,1761344076.145 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T22:14:36.145Z,1761344076.145 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T22:14:36.146Z,1761344076.146 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344128.00. Resetting abort timer.
2025-10-24T22:14:36.445Z,1761344076.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120276,0.990377,0.068465],[-0.992705,0.120564,-0.000080],[-0.008334,-0.067956,0.997653]]
2025-10-24T22:14:36.846Z,1761344076.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076483,0.995659,0.053035],[-0.996902,0.077339,-0.014289],[-0.018328,-0.051778,0.998490]]
2025-10-24T22:14:37.252Z,1761344077.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059908,0.991934,0.111706],[-0.997469,0.063781,-0.031427],[-0.038298,-0.109541,0.993244]]
2025-10-24T22:14:37.659Z,1761344077.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081340,0.981721,0.172069],[-0.996476,0.083649,-0.006195],[-0.020475,-0.170959,0.985065]]
2025-10-24T22:14:37.880Z,1761344077.880 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:14:37.880Z,1761344077.880 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:14:38.059Z,1761344078.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080790,0.977114,0.196777],[-0.996730,0.078954,0.017167],[0.001238,-0.197521,0.980298]]
2025-10-24T22:14:38.465Z,1761344078.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088855,0.981124,0.171755],[-0.994398,0.077468,0.071916],[0.057253,-0.177183,0.982511]]
2025-10-24T22:14:38.866Z,1761344078.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059212,0.990834,0.121414],[-0.992134,0.044974,0.116825],[0.110294,-0.127376,0.985703]]
2025-10-24T22:14:38.887Z,1761344078.887 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221438.00,A,3646.46494,N,12151.86252,W,1.380,134.08,241025,,,D*72
2025-10-24T22:14:38.893Z,1761344078.893 [NAL9602](INFO): GPS fix at 20251024T221438: (36.774416, -121.864375)
2025-10-24T22:14:38.959Z,1761344078.959 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:14:38.964Z,1761344078.964 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:14:38.964Z,1761344078.964 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:14:38.964Z,1761344078.964 [marl:UpdateRudder:A] Stopped
2025-10-24T22:14:38.964Z,1761344078.964 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:14:38.964Z,1761344078.964 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:14:38.964Z,1761344078.964 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:14:38.965Z,1761344078.965 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:14:38.965Z,1761344078.965 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:14:38.965Z,1761344078.965 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:14:38.965Z,1761344078.965 [marl:UpdateCommandMode] Stopped
2025-10-24T22:14:38.965Z,1761344078.965 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:14:38.965Z,1761344078.965 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:14:38.965Z,1761344078.965 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:14:38.965Z,1761344078.965 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:14:38.966Z,1761344078.966 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:14:38.966Z,1761344078.966 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:14:38.966Z,1761344078.966 [marl:UpdateSpeed] Stopped
2025-10-24T22:14:38.966Z,1761344078.966 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:14:38.972Z,1761344078.972 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344128.00. Resetting abort timer.
2025-10-24T22:14:39.279Z,1761344079.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028078,0.994725,0.098662],[-0.994088,0.017430,0.107173],[0.104888,-0.101088,0.989333]]
2025-10-24T22:14:39.347Z,1761344079.347 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:14:39.347Z,1761344079.347 [marl:UpdateRudder:B] Stopped
2025-10-24T22:14:39.347Z,1761344079.347 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:14:39.347Z,1761344079.347 [marl:UpdateRudder] Stopped
2025-10-24T22:14:39.368Z,1761344079.368 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:14:39.370Z,1761344079.370 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:14:39.581Z,1761344079.581 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:14:39.581Z,1761344079.581 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:14:39.689Z,1761344079.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057605,0.993863,0.094433],[-0.993320,0.047585,0.105119],[0.099981,-0.099858,0.989966]]
2025-10-24T22:14:39.833Z,1761344079.833 [DAT](INFO): DAT read: user:9>

2025-10-24T22:14:39.834Z,1761344079.834 [DAT](INFO): DAT read: Tx time:22:14:38.8091

2025-10-24T22:14:39.834Z,1761344079.834 [DAT](INFO): Ping request sent.
2025-10-24T22:14:39.834Z,1761344079.834 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:14:39.835Z,1761344079.835 [DAT](INFO): publishing transmit ping time
2025-10-24T22:14:39.835Z,1761344079.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000942
2025-10-24T22:14:40.079Z,1761344080.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083047,0.993087,0.082950],[-0.996358,0.081126,0.026274],[0.019363,-0.084830,0.996207]]
2025-10-24T22:14:40.085Z,1761344080.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250550
2025-10-24T22:14:40.337Z,1761344080.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502321
2025-10-24T22:14:40.482Z,1761344080.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060975,0.994306,0.087395],[-0.998102,0.061495,-0.003258],[-0.008614,-0.087031,0.996168]]
2025-10-24T22:14:40.589Z,1761344080.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754529
2025-10-24T22:14:40.841Z,1761344080.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006358
2025-10-24T22:14:40.887Z,1761344080.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071831,0.986965,0.144014],[-0.995320,0.061572,0.074477],[0.064639,-0.148690,0.986769]]
2025-10-24T22:14:41.093Z,1761344081.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258345
2025-10-24T22:14:41.296Z,1761344081.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086516,0.973659,0.210960],[-0.989578,0.059521,0.131122],[0.115111,-0.220106,0.968660]]
2025-10-24T22:14:41.345Z,1761344081.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510968
2025-10-24T22:14:41.597Z,1761344081.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762417
2025-10-24T22:14:41.696Z,1761344081.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075090,0.960349,0.268500],[-0.993455,0.048806,0.103268],[0.086069,-0.274497,0.957728]]
2025-10-24T22:14:41.849Z,1761344081.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014338
2025-10-24T22:14:42.101Z,1761344082.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266363
2025-10-24T22:14:42.115Z,1761344082.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089175,0.964184,0.249793],[-0.995804,0.081138,0.042313],[0.020530,-0.252518,0.967374]]
2025-10-24T22:14:42.120Z,1761344082.120 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221441.00,A,3646.46465,N,12151.86249,W,0.933,193.45,241025,,,D*7F
2025-10-24T22:14:42.122Z,1761344082.122 [NAL9602](INFO): GPS fix at 20251024T221441: (36.774411, -121.864375)
2025-10-24T22:14:42.190Z,1761344082.190 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344128.00. Resetting abort timer.
2025-10-24T22:14:42.353Z,1761344082.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518305
2025-10-24T22:14:42.503Z,1761344082.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108096,0.984486,0.138211],[-0.994060,0.105262,0.027670],[0.012692,-0.140381,0.990016]]
2025-10-24T22:14:42.605Z,1761344082.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770320
2025-10-24T22:14:42.857Z,1761344082.857 [DAT](INFO): DAT read: Rx Time:22:14:41.2933

2025-10-24T22:14:42.857Z,1761344082.857 [DAT](INFO): Rx dataTimestamp_ set to:1761344082.857069
2025-10-24T22:14:42.858Z,1761344082.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023393
2025-10-24T22:14:42.910Z,1761344082.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095482,0.995111,0.025234],[-0.994717,0.094423,0.040273],[0.037694,-0.028946,0.998870]]
2025-10-24T22:14:43.109Z,1761344083.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274392
2025-10-24T22:14:43.312Z,1761344083.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090933,0.995791,0.011450],[-0.995773,0.091068,-0.011912],[-0.012905,-0.010319,0.999864]]
2025-10-24T22:14:43.368Z,1761344083.368 [DAT](INFO): DAT read: 22:14:41.2933 LVL= 32064, 32753, 29426, 32755, AGC= 66, IDX= 448,-0.18, 2.011, 1.081,-0.089, 0.656, PHS= 1.457, 0.471,-0.789, RAW=  56.0, -11.7, CAL=  58.9, -12.6, ROT=  91.1,  12.6

2025-10-24T22:14:43.369Z,1761344083.369 [DAT](INFO): got valid direction response:
 22:14:41.2933 LVL= 32064, 32753, 29426, 32755, AGC= 66, IDX= 448,-0.18, 2.011, 1.081,-0.089, 0.656, PHS= 1.457, 0.471,-0.789, RAW=  56.0, -11.7, CAL=  58.9, -12.6, ROT=  91.1,  12.6

2025-10-24T22:14:43.371Z,1761344083.371 [DAT](INFO): DAT read: Range 11 to 20 : 60.0 m  (Round-trip  80.0 ms) speed  0.4 m/s

2025-10-24T22:14:43.371Z,1761344083.371 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-24T22:14:43.373Z,1761344083.373 [DAT](INFO): direction in FSK: [-0.018735,0.975737,-0.218143]
2025-10-24T22:14:43.373Z,1761344083.373 [DAT](INFO): publishing direction and range info
2025-10-24T22:14:43.714Z,1761344083.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086318,0.994716,0.055587],[-0.996005,0.087442,-0.018120],[-0.022885,-0.053801,0.998289]]
2025-10-24T22:14:43.783Z,1761344083.783 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344128.00. Resetting abort timer.
2025-10-24T22:14:44.123Z,1761344084.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049013,0.991182,0.123112],[-0.998463,0.045429,0.031750],[0.025877,-0.124479,0.991885]]
2025-10-24T22:14:44.525Z,1761344084.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067677,0.976493,0.204650],[-0.997691,0.065051,0.019543],[0.005770,-0.205500,0.978640]]
2025-10-24T22:14:44.873Z,1761344084.873 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:14:44.926Z,1761344084.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079898,0.971559,0.222911],[-0.996246,0.085304,-0.014714],[-0.033311,-0.220899,0.974728]]
2025-10-24T22:14:44.931Z,1761344084.931 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221444.00,A,3646.46454,N,12151.86403,W,1.419,261.67,241025,,,D*7A
2025-10-24T22:14:44.942Z,1761344084.942 [NAL9602](INFO): GPS fix at 20251024T221444: (36.774409, -121.864401)
2025-10-24T22:14:44.966Z,1761344084.966 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344128.00. Resetting abort timer.
2025-10-24T22:14:45.331Z,1761344085.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059121,0.970079,0.235480],[-0.997715,0.065152,-0.017907],[-0.032713,-0.233883,0.971714]]
2025-10-24T22:14:45.734Z,1761344085.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074582,0.971524,0.224895],[-0.996468,0.081334,-0.020893],[-0.038590,-0.222542,0.974159]]
2025-10-24T22:14:46.151Z,1761344086.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038835,0.983617,0.176038],[-0.999172,0.040367,-0.005127],[-0.012149,-0.175693,0.984370]]
2025-10-24T22:14:46.542Z,1761344086.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030965,0.988173,0.150181],[-0.999164,0.026593,0.031035],[0.026674,-0.151016,0.988171]]
2025-10-24T22:14:46.947Z,1761344086.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030798,0.989908,0.138324],[-0.995129,0.017402,0.097031],[0.093645,-0.140638,0.985622]]
2025-10-24T22:14:47.351Z,1761344087.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050707,0.988043,0.145601],[-0.993951,0.035705,0.103863],[0.097422,-0.149986,0.983876]]
2025-10-24T22:14:47.763Z,1761344087.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069357,0.986562,0.147936],[-0.995288,0.058359,0.077436],[0.067762,-0.152610,0.985961]]
2025-10-24T22:14:48.163Z,1761344088.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077634,0.985250,0.152498],[-0.994923,0.066737,0.075329],[0.064041,-0.157572,0.985429]]
2025-10-24T22:14:48.187Z,1761344088.187 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221447.00,A,3646.46441,N,12151.86380,W,1.283,130.11,241025,,,D*72
2025-10-24T22:14:48.193Z,1761344088.193 [NAL9602](INFO): GPS fix at 20251024T221447: (36.774407, -121.864397)
2025-10-24T22:14:48.325Z,1761344088.325 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344128.00. Resetting abort timer.
2025-10-24T22:14:48.593Z,1761344088.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091180,0.982737,0.160980],[-0.991466,0.074462,0.107005],[0.093171,-0.169363,0.981140]]
2025-10-24T22:14:48.979Z,1761344088.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121623,0.976985,0.175236],[-0.986646,0.099727,0.128780],[0.108340,-0.188559,0.976068]]
2025-10-24T22:14:49.048Z,1761344089.048 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:14:49.048Z,1761344089.048 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:14:49.048Z,1761344089.048 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:14:49.049Z,1761344089.049 [marl:UpdateRudder:A] Stopped
2025-10-24T22:14:49.049Z,1761344089.049 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:14:49.049Z,1761344089.049 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:14:49.049Z,1761344089.049 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:14:49.049Z,1761344089.049 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:14:49.049Z,1761344089.049 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:14:49.049Z,1761344089.049 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:14:49.049Z,1761344089.049 [marl:UpdateCommandMode] Stopped
2025-10-24T22:14:49.050Z,1761344089.050 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:14:49.050Z,1761344089.050 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:14:49.050Z,1761344089.050 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:14:49.050Z,1761344089.050 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:14:49.050Z,1761344089.050 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:14:49.050Z,1761344089.050 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:14:49.050Z,1761344089.050 [marl:UpdateSpeed] Stopped
2025-10-24T22:14:49.050Z,1761344089.050 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:14:49.383Z,1761344089.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110980,0.969907,0.216713],[-0.991301,0.092509,0.093620],[0.070755,-0.225218,0.971736]]
2025-10-24T22:14:49.436Z,1761344089.436 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:14:49.436Z,1761344089.436 [marl:UpdateRudder:B] Stopped
2025-10-24T22:14:49.436Z,1761344089.436 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:14:49.436Z,1761344089.436 [marl:UpdateRudder] Stopped
2025-10-24T22:14:49.437Z,1761344089.437 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:14:49.792Z,1761344089.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114304,0.960208,0.254823],[-0.993192,0.104648,0.051178],[0.022474,-0.258938,0.965632]]
2025-10-24T22:14:50.198Z,1761344090.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141606,0.971121,0.192018],[-0.986253,0.121714,0.111761],[0.085162,-0.205205,0.975007]]
2025-10-24T22:14:50.595Z,1761344090.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135306,0.985563,0.101777],[-0.980607,0.118506,0.156095],[0.141780,-0.120924,0.982484]]
2025-10-24T22:14:50.999Z,1761344090.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114381,0.986013,0.121224],[-0.991372,0.105426,0.077891],[0.064021,-0.129088,0.989564]]
2025-10-24T22:14:51.007Z,1761344091.007 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221450.00,A,3646.46411,N,12151.86404,W,1.536,251.67,241025,,,D*76
2025-10-24T22:14:51.009Z,1761344091.009 [NAL9602](INFO): GPS fix at 20251024T221450: (36.774402, -121.864401)
2025-10-24T22:14:51.093Z,1761344091.093 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344128.00. Resetting abort timer.
2025-10-24T22:14:51.404Z,1761344091.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102138,0.981062,0.164579],[-0.994731,0.099259,0.025646],[0.008824,-0.166331,0.986031]]
2025-10-24T22:14:51.814Z,1761344091.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104180,0.979097,0.174687],[-0.994353,0.098972,0.038288],[0.020198,-0.177689,0.983879]]
2025-10-24T22:14:51.846Z,1761344091.846 [marl:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.send_observations with code: 2259
2025-10-24T22:14:52.218Z,1761344092.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107875,0.979637,0.169337],[-0.994164,0.106375,0.017932],[-0.000446,-0.170283,0.985395]]
2025-10-24T22:14:52.614Z,1761344092.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086691,0.978411,0.187606],[-0.996177,0.083105,0.026909],[0.010737,-0.189222,0.981876]]
2025-10-24T22:14:53.019Z,1761344093.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087772,0.973772,0.209916],[-0.995809,0.080334,0.043721],[0.025710,-0.212874,0.976741]]
2025-10-24T22:14:53.423Z,1761344093.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096910,0.975009,0.199913],[-0.993958,0.084407,0.070165],[0.051537,-0.205505,0.977298]]
2025-10-24T22:14:53.831Z,1761344093.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103777,0.982041,0.157565],[-0.990631,0.087918,0.104502],[0.088772,-0.166933,0.981964]]
2025-10-24T22:14:54.231Z,1761344094.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107417,0.983658,0.144491],[-0.989653,0.091883,0.110206],[0.095129,-0.154834,0.983350]]
2025-10-24T22:14:54.253Z,1761344094.253 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221453.00,A,3646.46418,N,12151.86570,W,1.361,263.34,241025,,,D*7D
2025-10-24T22:14:54.256Z,1761344094.256 [NAL9602](INFO): GPS fix at 20251024T221453: (36.774403, -121.864428)
2025-10-24T22:14:54.314Z,1761344094.314 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344128.00. Resetting abort timer.
2025-10-24T22:14:54.634Z,1761344094.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091737,0.984329,0.150602],[-0.986479,0.069208,0.148557],[0.135806,-0.162194,0.977369]]
2025-10-24T22:14:54.844Z,1761344094.844 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:14:55.038Z,1761344095.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105507,0.975004,0.195540],[-0.980932,0.069770,0.181394],[0.163217,-0.210950,0.963774]]
2025-10-24T22:14:55.442Z,1761344095.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110757,0.979986,0.165409],[-0.972715,0.072752,0.220300],[0.203857,-0.185296,0.961305]]
2025-10-24T22:14:55.846Z,1761344095.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109164,0.989340,0.096382],[-0.973874,0.087023,0.209753],[0.199130,-0.116761,0.972992]]
2025-10-24T22:14:56.269Z,1761344096.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089461,0.992314,0.085502],[-0.984367,0.075014,0.159358],[0.151719,-0.098421,0.983511]]
2025-10-24T22:14:56.663Z,1761344096.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070345,0.992388,0.101081],[-0.984073,0.052455,0.169850],[0.163255,-0.111420,0.980272]]
2025-10-24T22:14:57.058Z,1761344097.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069799,0.987358,0.142309],[-0.971443,0.034847,0.234700],[0.226774,-0.154627,0.961595]]
2025-10-24T22:14:57.067Z,1761344097.067 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221456.00,A,3646.46414,N,12151.86685,W,0.972,261.07,241025,,,D*76
2025-10-24T22:14:57.069Z,1761344097.069 [NAL9602](INFO): GPS fix at 20251024T221456: (36.774402, -121.864447)
2025-10-24T22:14:57.142Z,1761344097.142 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344128.00. Resetting abort timer.
2025-10-24T22:14:57.462Z,1761344097.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074465,0.983687,0.163755],[-0.951464,0.020911,0.307048],[0.298614,-0.178671,0.937500]]
2025-10-24T22:14:57.870Z,1761344097.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066689,0.983334,0.169133],[-0.943716,0.007126,0.330680],[0.323964,-0.181666,0.928464]]
2025-10-24T22:14:58.275Z,1761344098.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047031,0.985627,0.162255],[-0.944853,-0.008808,0.327375],[0.324099,-0.168704,0.930859]]
2025-10-24T22:14:58.682Z,1761344098.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015086,0.989117,0.146354],[-0.930649,-0.039630,0.363761],[0.365602,-0.141692,0.919923]]
2025-10-24T22:14:59.085Z,1761344099.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016352,0.984835,0.172721],[-0.922664,-0.051698,0.382124],[0.385258,-0.165612,0.907826]]
2025-10-24T22:14:59.486Z,1761344099.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040125,0.976495,0.211771],[-0.914950,-0.049270,0.400548],[0.401567,-0.209832,0.891467]]
2025-10-24T22:14:59.907Z,1761344099.907 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221459.00,A,3646.46402,N,12151.86696,W,0.564,223.53,241025,,,D*70
2025-10-24T22:14:59.925Z,1761344099.925 [NAL9602](INFO): GPS fix at 20251024T221459: (36.774400, -121.864449)
2025-10-24T22:15:00.030Z,1761344100.030 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344128.00. Resetting abort timer.
2025-10-24T22:15:00.299Z,1761344100.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055519,0.974109,0.219157],[-0.903849,-0.044229,0.425559],[0.424234,-0.221712,0.877992]]
2025-10-24T22:15:00.699Z,1761344100.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055768,0.978572,0.198208],[-0.899688,-0.036831,0.434976],[0.432956,-0.202583,0.878356]]
2025-10-24T22:15:00.793Z,1761344100.793 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:15:00.793Z,1761344100.793 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:15:00.793Z,1761344100.793 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:15:00.794Z,1761344100.794 [marl:UpdateRudder:A] Stopped
2025-10-24T22:15:00.794Z,1761344100.794 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:15:00.794Z,1761344100.794 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:15:00.794Z,1761344100.794 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:15:00.794Z,1761344100.794 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:15:00.794Z,1761344100.794 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:15:00.795Z,1761344100.795 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:15:00.795Z,1761344100.795 [marl:UpdateCommandMode] Stopped
2025-10-24T22:15:00.795Z,1761344100.795 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:15:00.795Z,1761344100.795 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:15:00.795Z,1761344100.795 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:15:00.795Z,1761344100.795 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:15:00.795Z,1761344100.795 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:15:00.795Z,1761344100.795 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:15:00.795Z,1761344100.795 [marl:UpdateSpeed] Stopped
2025-10-24T22:15:00.800Z,1761344100.800 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:15:01.103Z,1761344101.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043376,0.977963,0.204223],[-0.896274,-0.052217,0.440417],[0.441375,-0.202143,0.874257]]
2025-10-24T22:15:01.171Z,1761344101.171 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-24T22:15:01.171Z,1761344101.171 [marl:UpdateRudder:B] Stopped
2025-10-24T22:15:01.171Z,1761344101.171 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:15:01.171Z,1761344101.171 [marl:UpdateRudder] Stopped
2025-10-24T22:15:01.171Z,1761344101.171 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:15:01.273Z,1761344101.273 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:15:01.274Z,1761344101.274 [DAT](INFO): #Outgoing data=1
2025-10-24T22:15:01.274Z,1761344101.274 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:15:01.508Z,1761344101.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041212,0.967475,0.249587],[-0.892346,-0.076732,0.444782],[0.449467,-0.241048,0.860160]]
2025-10-24T22:15:01.525Z,1761344101.525 [DAT](INFO): setting remote address to 10
2025-10-24T22:15:01.777Z,1761344101.777 [DAT](INFO): DAT read: user:10>

2025-10-24T22:15:01.778Z,1761344101.778 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:15:01.778Z,1761344101.778 [DAT](INFO): set remote address to 10
2025-10-24T22:15:01.778Z,1761344101.778 [DAT](INFO): entering online mode
2025-10-24T22:15:01.929Z,1761344101.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055265,0.960796,0.271691],[-0.882933,-0.080034,0.462627],[0.466235,-0.265452,0.843896]]
2025-10-24T22:15:02.029Z,1761344102.029 [DAT](INFO): DAT read: user:11>

2025-10-24T22:15:02.029Z,1761344102.029 [DAT](INFO): DAT read: 

2025-10-24T22:15:02.030Z,1761344102.030 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:15:02.031Z,1761344102.031 [DAT](INFO): commRate: 600
2025-10-24T22:15:02.031Z,1761344102.031 [DAT](INFO): online mode acknowledged
2025-10-24T22:15:02.031Z,1761344102.031 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:15:02.314Z,1761344102.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076213,0.959098,0.272620],[-0.876514,-0.065891,0.476845],[0.475305,-0.275297,0.835642]]
2025-10-24T22:15:02.738Z,1761344102.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073795,0.968335,0.238499],[-0.871568,-0.053609,0.487336],[0.484690,-0.243831,0.840013]]
2025-10-24T22:15:03.132Z,1761344103.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060753,0.977039,0.204213],[-0.863083,-0.051350,0.502445],[0.501395,-0.206778,0.840146]]
2025-10-24T22:15:03.137Z,1761344103.137 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221502.00,A,3646.46334,N,12151.86738,W,1.050,238.20,241025,,,D*75
2025-10-24T22:15:03.139Z,1761344103.139 [NAL9602](INFO): GPS fix at 20251024T221502: (36.774389, -121.864456)
2025-10-24T22:15:03.162Z,1761344103.162 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344128.00. Resetting abort timer.
2025-10-24T22:15:03.535Z,1761344103.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061668,0.975486,0.211246],[-0.857783,-0.056412,0.510907],[0.510299,-0.212710,0.833276]]
2025-10-24T22:15:03.979Z,1761344103.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070721,0.973007,0.219671],[-0.856491,-0.053647,0.513366],[0.511294,-0.224452,0.829578]]
2025-10-24T22:15:04.342Z,1761344104.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074648,0.975038,0.209114],[-0.851021,-0.047018,0.523023],[0.519799,-0.217003,0.826268]]
2025-10-24T22:15:04.754Z,1761344104.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068163,0.976094,0.206382],[-0.838277,-0.056133,0.542348],[0.540968,-0.209973,0.814411]]
2025-10-24T22:15:05.155Z,1761344105.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053763,0.971276,0.231802],[-0.818962,-0.089928,0.566757],[0.571323,-0.220308,0.790604]]
2025-10-24T22:15:05.306Z,1761344105.306 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:15:04.3580

2025-10-24T22:15:05.306Z,1761344105.306 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:15:05.554Z,1761344105.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035054,0.956718,0.288899],[-0.799748,-0.146500,0.582187],[0.599312,-0.251454,0.759998]]
2025-10-24T22:15:05.983Z,1761344105.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017872,0.934807,0.354706],[-0.788315,-0.205044,0.580100],[0.615012,-0.289987,0.733258]]
2025-10-24T22:15:05.993Z,1761344105.993 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221505.00,A,3646.46472,N,12151.86535,W,3.149,238.20,241025,,,D*73
2025-10-24T22:15:05.995Z,1761344105.995 [NAL9602](INFO): GPS fix at 20251024T221505: (36.774412, -121.864423)
2025-10-24T22:15:06.035Z,1761344106.035 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344128.00. Resetting abort timer.
2025-10-24T22:15:06.432Z,1761344106.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010934,0.910153,0.414128],[-0.777483,-0.268176,0.568860],[0.628809,-0.315757,0.710560]]
2025-10-24T22:15:06.840Z,1761344106.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044234,0.881996,0.469177],[-0.763678,-0.332633,0.553309],[0.644080,-0.333825,0.688275]]
2025-10-24T22:15:07.644Z,1761344107.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103861,0.807369,0.580834],[-0.731804,-0.457524,0.505109],[0.673555,-0.372596,0.638354]]
2025-10-24T22:15:08.046Z,1761344108.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135667,0.762472,0.632638],[-0.715379,-0.517154,0.469877],[0.685439,-0.388829,0.615617]]
2025-10-24T22:15:08.451Z,1761344108.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170653,0.712292,0.680822],[-0.701074,-0.573294,0.424064],[0.692368,-0.404939,0.597203]]
2025-10-24T22:15:08.869Z,1761344108.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203645,0.666872,0.716806],[-0.690324,-0.616978,0.377876],[0.694249,-0.417876,0.586002]]
2025-10-24T22:15:08.874Z,1761344108.874 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221508.00,A,3646.46759,N,12151.86247,W,4.607,238.20,241025,,,D*7C
2025-10-24T22:15:08.877Z,1761344108.877 [NAL9602](INFO): GPS fix at 20251024T221508: (36.774460, -121.864374)
2025-10-24T22:15:08.899Z,1761344108.899 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344128.00. Resetting abort timer.
2025-10-24T22:15:09.258Z,1761344109.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231334,0.630477,0.740934],[-0.677099,-0.651211,0.342726],[0.698586,-0.422402,0.577542]]
2025-10-24T22:15:09.674Z,1761344109.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274285,0.587516,0.761310],[-0.642297,-0.701118,0.309658],[0.715697,-0.404053,0.569666]]
2025-10-24T22:15:10.071Z,1761344110.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293284,0.573672,0.764778],[-0.629313,-0.718045,0.297282],[0.719688,-0.394096,0.571610]]
2025-10-24T22:15:10.476Z,1761344110.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313825,0.563047,0.764520],[-0.621845,-0.730362,0.282631],[0.717511,-0.386716,0.579334]]
2025-10-24T22:15:10.896Z,1761344110.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337709,0.562822,0.754443],[-0.618569,-0.736850,0.272809],[0.709454,-0.374545,0.596984]]
2025-10-24T22:15:11.283Z,1761344111.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363880,0.570137,0.736569],[-0.617466,-0.739707,0.267525],[0.697371,-0.357459,0.621205]]
2025-10-24T22:15:11.687Z,1761344111.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390515,0.585559,0.710365],[-0.616810,-0.739250,0.270286],[0.683406,-0.332609,0.649867]]
2025-10-24T22:15:12.087Z,1761344112.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416420,0.599675,0.683363],[-0.614462,-0.739614,0.274603],[0.670097,-0.305550,0.676468]]
2025-10-24T22:15:12.490Z,1761344112.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440246,0.601977,0.666189],[-0.610231,-0.744865,0.269804],[0.658637,-0.287749,0.695268]]
2025-10-24T22:15:12.894Z,1761344112.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460432,0.593058,0.660519],[-0.606535,-0.753484,0.253727],[0.648165,-0.283804,0.706638]]
2025-10-24T22:15:13.298Z,1761344113.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478515,0.579599,0.659612],[-0.604386,-0.762341,0.231415],[0.636977,-0.287925,0.715094]]
2025-10-24T22:15:13.706Z,1761344113.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497163,0.566003,0.657624],[-0.601597,-0.771028,0.208799],[0.625227,-0.291818,0.723832]]
2025-10-24T22:15:13.765Z,1761344113.765 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:15:13.765Z,1761344113.765 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:15:13.765Z,1761344113.765 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:15:13.765Z,1761344113.765 [marl:UpdateRudder:A] Stopped
2025-10-24T22:15:13.765Z,1761344113.765 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:15:13.765Z,1761344113.765 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:15:13.765Z,1761344113.765 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:15:13.766Z,1761344113.766 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:15:13.766Z,1761344113.766 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:15:13.766Z,1761344113.766 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:15:13.766Z,1761344113.766 [marl:UpdateCommandMode] Stopped
2025-10-24T22:15:13.766Z,1761344113.766 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:15:13.766Z,1761344113.766 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:15:13.766Z,1761344113.766 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:15:13.766Z,1761344113.766 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:15:13.767Z,1761344113.767 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:15:13.767Z,1761344113.767 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:15:13.767Z,1761344113.767 [marl:UpdateSpeed] Stopped
2025-10-24T22:15:13.767Z,1761344113.767 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:15:14.106Z,1761344114.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518201,0.551125,0.654010],[-0.595687,-0.781291,0.186393],[0.613698,-0.292996,0.733163]]
2025-10-24T22:15:14.166Z,1761344114.166 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-24T22:15:14.166Z,1761344114.166 [marl:UpdateRudder:B] Stopped
2025-10-24T22:15:14.166Z,1761344114.166 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:15:14.166Z,1761344114.166 [marl:UpdateRudder] Stopped
2025-10-24T22:15:14.166Z,1761344114.166 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:15:14.512Z,1761344114.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542666,0.532754,0.649374],[-0.584171,-0.794896,0.163966],[0.603539,-0.290367,0.742582]]
2025-10-24T22:15:14.915Z,1761344114.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569267,0.509138,0.645533],[-0.567550,-0.811437,0.139491],[0.594829,-0.286965,0.750886]]
2025-10-24T22:15:15.318Z,1761344115.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595893,0.479370,0.644295],[-0.547809,-0.829293,0.110357],[0.587211,-0.287189,0.756773]]
2025-10-24T22:15:15.395Z,1761344115.395 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:15:15.650Z,1761344115.650 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:15:15.651Z,1761344115.651 [DAT](INFO): #Outgoing data=1
2025-10-24T22:15:15.651Z,1761344115.651 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:15:15.738Z,1761344115.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621970,0.445336,0.644072],[-0.526063,-0.846901,0.077568],[0.580009,-0.290578,0.761022]]
2025-10-24T22:15:15.902Z,1761344115.902 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:15:16.126Z,1761344116.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647404,0.407741,0.643907],[-0.503138,-0.863244,0.040761],[0.572469,-0.297585,0.764018]]
2025-10-24T22:15:16.530Z,1761344116.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671773,0.368992,0.642313],[-0.479682,-0.877439,0.002383],[0.564470,-0.306506,0.766439]]
2025-10-24T22:15:16.942Z,1761344116.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695274,0.328816,0.639120],[-0.454423,-0.890040,-0.036440],[0.556860,-0.315767,0.768243]]
2025-10-24T22:15:17.341Z,1761344117.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717908,0.288059,0.633742],[-0.427033,-0.901193,-0.074120],[0.549773,-0.323840,0.769985]]
2025-10-24T22:15:17.743Z,1761344117.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739408,0.246950,0.626332],[-0.397934,-0.910711,-0.110701],[0.543069,-0.331092,0.771657]]
2025-10-24T22:15:18.146Z,1761344118.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759875,0.203928,0.617255],[-0.367269,-0.918136,-0.148796],[0.536380,-0.339765,0.772564]]
2025-10-24T22:15:18.551Z,1761344118.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779092,0.161347,0.605791],[-0.336461,-0.922966,-0.186890],[0.528971,-0.349430,0.773362]]
2025-10-24T22:15:18.966Z,1761344118.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796695,0.122302,0.591878],[-0.307684,-0.924981,-0.223024],[0.520200,-0.359794,0.774558]]
2025-10-24T22:15:19.177Z,1761344119.177 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:15:18.2079

2025-10-24T22:15:19.177Z,1761344119.177 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:15:19.359Z,1761344119.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812378,0.088280,0.576410],[-0.281616,-0.924956,-0.255242],[0.510621,-0.369680,0.776275]]
2025-10-24T22:15:19.763Z,1761344119.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826084,0.059064,0.560444],[-0.258051,-0.923751,-0.283010],[0.500994,-0.378413,0.778337]]
2025-10-24T22:15:20.168Z,1761344120.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838690,0.034871,0.543491],[-0.235322,-0.923182,-0.303905],[0.491144,-0.382778,0.782470]]
2025-10-24T22:15:20.570Z,1761344120.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850381,0.013155,0.526002],[-0.211400,-0.923995,-0.318660],[0.481831,-0.382179,0.788529]]
2025-10-24T22:15:20.974Z,1761344120.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860847,-0.006297,0.508824],[-0.187375,-0.925744,-0.328465],[0.473109,-0.378099,0.795744]]
2025-10-24T22:15:21.380Z,1761344121.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870746,-0.025736,0.491059],[-0.160833,-0.928798,-0.333867],[0.464687,-0.369692,0.804608]]
2025-10-24T22:15:21.783Z,1761344121.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880778,-0.051273,0.470745],[-0.128424,-0.930997,-0.341689],[0.455781,-0.361407,0.813418]]
2025-10-24T22:15:22.191Z,1761344122.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890598,-0.083601,0.447042],[-0.091533,-0.929896,-0.356251],[0.445485,-0.358196,0.820511]]
2025-10-24T22:15:22.590Z,1761344122.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899553,-0.120839,0.419764],[-0.053231,-0.923486,-0.379921],[0.433555,-0.364103,0.824293]]
2025-10-24T22:15:23.003Z,1761344123.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907040,-0.157628,0.390425],[-0.015198,-0.914417,-0.404489],[0.420770,-0.372821,0.827017]]
2025-10-24T22:15:23.400Z,1761344123.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912702,-0.193457,0.359929],[0.023198,-0.903940,-0.427029],[0.407966,-0.381400,0.829517]]
2025-10-24T22:15:23.802Z,1761344123.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916619,-0.227874,0.328456],[0.061555,-0.892283,-0.447260],[0.394995,-0.389748,0.831911]]
2025-10-24T22:15:24.214Z,1761344124.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918932,-0.259813,0.296752],[0.098022,-0.879214,-0.466234],[0.382043,-0.399349,0.833405]]
2025-10-24T22:15:24.610Z,1761344124.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919715,-0.289321,0.265363],[0.133058,-0.865652,-0.482641],[0.369350,-0.408584,0.834649]]
2025-10-24T22:15:25.015Z,1761344125.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919432,-0.315944,0.234146],[0.166690,-0.852393,-0.495622],[0.356173,-0.416661,0.836382]]
2025-10-24T22:15:25.419Z,1761344125.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917958,-0.340312,0.203816],[0.200073,-0.840870,-0.502899],[0.342525,-0.420862,0.839971]]
2025-10-24T22:15:25.824Z,1761344125.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914929,-0.363930,0.174525],[0.233855,-0.830421,-0.505681],[0.328962,-0.421849,0.844883]]
2025-10-24T22:15:25.881Z,1761344125.881 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:15:26.226Z,1761344126.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910242,-0.387940,0.144781],[0.268736,-0.819470,-0.506212],[0.315023,-0.421867,0.850170]]
2025-10-24T22:15:26.631Z,1761344126.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903838,-0.412139,0.114970],[0.304633,-0.808522,-0.503479],[0.300459,-0.420040,0.856324]]
2025-10-24T22:15:26.714Z,1761344126.714 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:15:26.715Z,1761344126.715 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:15:26.715Z,1761344126.715 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:15:26.715Z,1761344126.715 [marl:UpdateRudder:A] Stopped
2025-10-24T22:15:26.715Z,1761344126.715 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:15:26.715Z,1761344126.715 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:15:26.715Z,1761344126.715 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:15:26.715Z,1761344126.715 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:15:26.720Z,1761344126.720 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:15:26.720Z,1761344126.720 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:15:26.720Z,1761344126.720 [marl:UpdateCommandMode] Stopped
2025-10-24T22:15:26.720Z,1761344126.720 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:15:26.720Z,1761344126.720 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:15:26.720Z,1761344126.720 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:15:26.720Z,1761344126.720 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:15:26.721Z,1761344126.721 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:15:26.721Z,1761344126.721 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:15:26.721Z,1761344126.721 [marl:UpdateSpeed] Stopped
2025-10-24T22:15:26.721Z,1761344126.721 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:15:27.034Z,1761344127.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895409,-0.436761,0.086500],[0.341291,-0.798043,-0.496636],[0.285942,-0.415171,0.863638]]
2025-10-24T22:15:27.086Z,1761344127.086 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-24T22:15:27.086Z,1761344127.086 [marl:UpdateRudder:B] Stopped
2025-10-24T22:15:27.086Z,1761344127.086 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:15:27.086Z,1761344127.086 [marl:UpdateRudder] Stopped
2025-10-24T22:15:27.087Z,1761344127.087 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:15:27.438Z,1761344127.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884879,-0.462220,0.057803],[0.378032,-0.785068,-0.490673],[0.272178,-0.412335,0.869425]]
2025-10-24T22:15:27.844Z,1761344127.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872128,-0.488393,0.029404],[0.414946,-0.770140,-0.484462],[0.259253,-0.410312,0.874318]]
2025-10-24T22:15:28.246Z,1761344128.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857039,-0.515249,0.001740],[0.451827,-0.753161,-0.478122],[0.247662,-0.408983,0.878292]]
2025-10-24T22:15:28.657Z,1761344128.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839523,-0.542658,-0.026879],[0.489221,-0.733481,-0.471878],[0.236353,-0.409302,0.881254]]
2025-10-24T22:15:29.054Z,1761344129.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819648,-0.569969,-0.057560],[0.526998,-0.710808,-0.465860],[0.224612,-0.412175,0.882984]]
2025-10-24T22:15:29.264Z,1761344129.264 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:15:29.459Z,1761344129.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797254,-0.597105,-0.088611],[0.565204,-0.686850,-0.456926],[0.211971,-0.414369,0.885080]]
2025-10-24T22:15:29.517Z,1761344129.517 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:15:29.517Z,1761344129.517 [DAT](INFO): #Outgoing data=2
2025-10-24T22:15:29.517Z,1761344129.517 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:15:29.769Z,1761344129.769 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:15:29.863Z,1761344129.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772792,-0.623267,-0.119711],[0.602805,-0.661823,-0.445665],[0.198541,-0.416568,0.887160]]
2025-10-24T22:15:30.268Z,1761344130.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746480,-0.648422,-0.149389],[0.639319,-0.636653,-0.431212],[0.184499,-0.417398,0.889797]]
2025-10-24T22:15:30.682Z,1761344130.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718459,-0.672278,-0.178489],[0.674407,-0.610460,-0.415348],[0.170269,-0.418785,0.891980]]
2025-10-24T22:15:31.074Z,1761344131.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688700,-0.694747,-0.207410],[0.708083,-0.582965,-0.398460],[0.155916,-0.421283,0.893427]]
2025-10-24T22:15:31.479Z,1761344131.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656936,-0.715544,-0.237555],[0.740607,-0.553435,-0.381066],[0.141199,-0.426271,0.893508]]
2025-10-24T22:15:31.884Z,1761344131.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623384,-0.734940,-0.266937],[0.771666,-0.523158,-0.361715],[0.126188,-0.431474,0.893256]]
2025-10-24T22:15:32.286Z,1761344132.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588261,-0.753473,-0.293645],[0.801078,-0.493320,-0.338982],[0.110553,-0.434643,0.893792]]
2025-10-24T22:15:32.697Z,1761344132.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552226,-0.770064,-0.319449],[0.828347,-0.463477,-0.314691],[0.094274,-0.438395,0.893824]]
2025-10-24T22:15:33.045Z,1761344133.045 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:15:32.1092

2025-10-24T22:15:33.045Z,1761344133.045 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:15:33.107Z,1761344133.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516111,-0.786135,-0.340030],[0.852936,-0.435430,-0.287925],[0.078289,-0.438625,0.895253]]
2025-10-24T22:15:33.500Z,1761344133.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480640,-0.800195,-0.358711],[0.874619,-0.407837,-0.262128],[0.063458,-0.439724,0.895888]]
2025-10-24T22:15:33.906Z,1761344133.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446146,-0.813262,-0.373576],[0.893580,-0.381622,-0.236389],[0.049682,-0.439284,0.896973]]
2025-10-24T22:15:34.307Z,1761344134.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411272,-0.825570,-0.386380],[0.910760,-0.354960,-0.210997],[0.037043,-0.438676,0.897881]]
2025-10-24T22:15:34.710Z,1761344134.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375891,-0.837578,-0.396446],[0.926318,-0.327935,-0.185456],[0.025325,-0.436946,0.899131]]
2025-10-24T22:15:35.116Z,1761344135.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339425,-0.850698,-0.401378],[0.940526,-0.300486,-0.158492],[0.014221,-0.431302,0.902095]]
2025-10-24T22:15:35.518Z,1761344135.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302220,-0.863152,-0.404513],[0.953233,-0.272256,-0.131238],[0.003147,-0.425258,0.905067]]
2025-10-24T22:15:35.954Z,1761344135.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264474,-0.873928,-0.407804],[0.964357,-0.243317,-0.103986],[-0.008350,-0.420770,0.907129]]
2025-10-24T22:15:36.328Z,1761344136.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226404,-0.881376,-0.414629],[0.973818,-0.213777,-0.077319],[-0.020491,-0.421278,0.906700]]
2025-10-24T22:15:36.732Z,1761344136.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188567,-0.889227,-0.416795],[0.981515,-0.184787,-0.049818],[-0.032719,-0.418485,0.907634]]
2025-10-24T22:15:37.134Z,1761344137.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150921,-0.895405,-0.418895],[0.987513,-0.155926,-0.022486],[-0.045182,-0.417058,0.907756]]
2025-10-24T22:15:37.539Z,1761344137.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114721,-0.898625,-0.423454],[0.991748,-0.128163,0.003297],[-0.057234,-0.419581,0.905912]]
2025-10-24T22:15:37.980Z,1761344137.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078790,-0.902142,-0.424184],[0.994540,-0.100342,0.028674],[-0.068432,-0.419608,0.905122]]
2025-10-24T22:15:38.167Z,1761344138.167 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:15:38.167Z,1761344138.167 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:15:38.349Z,1761344138.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044046,-0.904892,-0.423356],[0.995979,-0.072867,0.052126],[-0.078017,-0.419357,0.904463]]
2025-10-24T22:15:38.752Z,1761344138.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009844,-0.907874,-0.419127],[0.996249,-0.044942,0.073951],[-0.085975,-0.416826,0.904911]]
2025-10-24T22:15:39.163Z,1761344139.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023869,-0.907895,-0.418517],[0.995438,-0.017101,0.093871],[-0.092382,-0.418848,0.903345]]
2025-10-24T22:15:39.558Z,1761344139.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057785,-0.908220,-0.414485],[0.993576,0.011853,0.112547],[-0.097304,-0.418326,0.903070]]
2025-10-24T22:15:39.621Z,1761344139.621 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:15:39.621Z,1761344139.621 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:15:39.621Z,1761344139.621 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:15:39.622Z,1761344139.622 [marl:UpdateRudder:A] Stopped
2025-10-24T22:15:39.622Z,1761344139.622 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:15:39.622Z,1761344139.622 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:15:39.622Z,1761344139.622 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:15:39.622Z,1761344139.622 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:15:39.622Z,1761344139.622 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:15:39.622Z,1761344139.622 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:15:39.623Z,1761344139.623 [marl:UpdateCommandMode] Stopped
2025-10-24T22:15:39.623Z,1761344139.623 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:15:39.623Z,1761344139.623 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:15:39.623Z,1761344139.623 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:15:39.623Z,1761344139.623 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:15:39.623Z,1761344139.623 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:15:39.623Z,1761344139.623 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:15:39.623Z,1761344139.623 [marl:UpdateSpeed] Stopped
2025-10-24T22:15:39.624Z,1761344139.624 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:15:39.625Z,1761344139.625 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:15:39.849Z,1761344139.849 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:15:39.902Z,1761344139.902 [DAT](INFO): entering command mode
2025-10-24T22:15:39.989Z,1761344139.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093399,-0.908103,-0.408199],[0.990450,0.042983,0.130999],[-0.101415,-0.416536,0.903445]]
2025-10-24T22:15:40.045Z,1761344140.045 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:15:40.045Z,1761344140.045 [marl:UpdateRudder:B] Stopped
2025-10-24T22:15:40.045Z,1761344140.045 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:15:40.045Z,1761344140.045 [marl:UpdateRudder] Stopped
2025-10-24T22:15:40.045Z,1761344140.045 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:15:40.102Z,1761344140.102 [DAT](INFO): DAT read: 

2025-10-24T22:15:40.103Z,1761344140.103 [DAT](INFO): DAT read: user:12>

2025-10-24T22:15:40.103Z,1761344140.103 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:15:40.104Z,1761344140.104 [DAT](INFO): setting remote address to 0
2025-10-24T22:15:40.353Z,1761344140.353 [DAT](INFO): DAT read: user:12>

2025-10-24T22:15:40.354Z,1761344140.354 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:15:40.354Z,1761344140.354 [DAT](INFO): set remote address to 0
2025-10-24T22:15:40.354Z,1761344140.354 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:15:40.355Z,1761344140.355 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:15:40.371Z,1761344140.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131049,-0.908080,-0.397765],[0.985753,0.076686,0.149700],[-0.105436,-0.411717,0.905192]]
2025-10-24T22:15:40.605Z,1761344140.605 [DAT](INFO): DAT read: user:13>

2025-10-24T22:15:40.605Z,1761344140.605 [DAT](INFO): DAT read: Tx time:22:15:39.5590

2025-10-24T22:15:40.606Z,1761344140.606 [DAT](INFO): Ping request sent.
2025-10-24T22:15:40.606Z,1761344140.606 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:15:40.606Z,1761344140.606 [DAT](INFO): publishing transmit ping time
2025-10-24T22:15:40.607Z,1761344140.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000971
2025-10-24T22:15:40.774Z,1761344140.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170365,-0.907231,-0.384589],[0.979254,0.112423,0.168589],[-0.109713,-0.405332,0.907562]]
2025-10-24T22:15:40.857Z,1761344140.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250748
2025-10-24T22:15:41.109Z,1761344141.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502900
2025-10-24T22:15:41.181Z,1761344141.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210345,-0.905410,-0.368764],[0.970895,0.149273,0.187300],[-0.114536,-0.397429,0.910457]]
2025-10-24T22:15:41.365Z,1761344141.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758914
2025-10-24T22:15:41.583Z,1761344141.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251024,-0.901327,-0.352983],[0.960464,0.186565,0.206648],[-0.120403,-0.390901,0.912524]]
2025-10-24T22:15:41.613Z,1761344141.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006784
2025-10-24T22:15:41.865Z,1761344141.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258861
2025-10-24T22:15:41.994Z,1761344141.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291553,-0.895393,-0.336552],[0.948026,0.223601,0.226381],[-0.127447,-0.385063,0.914048]]
2025-10-24T22:15:42.118Z,1761344142.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512060
2025-10-24T22:15:42.369Z,1761344142.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762923
2025-10-24T22:15:42.390Z,1761344142.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331972,-0.888429,-0.316998],[0.933440,0.260965,0.246143],[-0.135955,-0.377612,0.915929]]
2025-10-24T22:15:42.622Z,1761344142.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015509
2025-10-24T22:15:42.795Z,1761344142.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370559,-0.880405,-0.295926],[0.917218,0.296688,0.265870],[-0.146276,-0.369949,0.917465]]
2025-10-24T22:15:42.874Z,1761344142.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267705
2025-10-24T22:15:43.125Z,1761344143.125 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:15:43.125Z,1761344143.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519074
2025-10-24T22:15:43.200Z,1761344143.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405830,-0.872512,-0.272076],[0.900133,0.330007,0.284352],[-0.158314,-0.360303,0.919303]]
2025-10-24T22:15:43.377Z,1761344143.377 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:15:43.377Z,1761344143.377 [DAT](INFO): #Outgoing data=3
2025-10-24T22:15:43.377Z,1761344143.377 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:15:43.378Z,1761344143.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771963
2025-10-24T22:15:43.602Z,1761344143.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436211,-0.865798,-0.245179],[0.883195,0.359771,0.300884],[-0.172297,-0.347790,0.921605]]
2025-10-24T22:15:43.629Z,1761344143.629 [DAT](INFO): DAT read: Rx Time:22:15:42.0266

2025-10-24T22:15:43.629Z,1761344143.629 [DAT](INFO): Rx dataTimestamp_ set to:1761344143.629137
2025-10-24T22:15:43.630Z,1761344143.630 [DAT](INFO): setting remote address to 10
2025-10-24T22:15:43.633Z,1761344143.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025406
2025-10-24T22:15:43.881Z,1761344143.881 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:15:43.881Z,1761344143.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275068
2025-10-24T22:15:44.008Z,1761344144.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459782,-0.862734,-0.210454],[0.867888,0.386360,0.312244],[-0.188072,-0.326215,0.926398]]
2025-10-24T22:15:44.144Z,1761344144.144 [DAT](INFO): DAT read: 22:15:42.0266 LVL= 19552, 22193, 12050, 20643, AGC= 40, IDX= 182,-0.14,-0.404,-0.334, 0.951,-0.419, PHS= 0.117, 0.129, 1.325, RAW= 210.5, -24.8, CAL= 209.9, -28.3, ROT= 300.1,  28.3

2025-10-24T22:15:44.146Z,1761344144.146 [DAT](INFO): got valid direction response:
 22:15:42.0266 LVL= 19552, 22193, 12050, 20643, AGC= 40, IDX= 182,-0.14,-0.404,-0.334, 0.951,-0.419, PHS= 0.117, 0.129, 1.325, RAW= 210.5, -24.8, CAL= 209.9, -28.3, ROT= 300.1,  28.3

2025-10-24T22:15:44.148Z,1761344144.148 [DAT](INFO): DAT read: Bearing 164.0, -37.3 (Local)

2025-10-24T22:15:44.148Z,1761344144.148 [DAT](INFO): Local bearing/azimuth received:
 Bearing 164.0, -37.3 (Local)

2025-10-24T22:15:44.151Z,1761344144.151 [DAT](INFO): DAT read: Range 11 to 20 : 47.5 m  (Round-trip  63.4 ms) speed  0.6 m/s

2025-10-24T22:15:44.161Z,1761344144.161 [DAT](INFO): DAT read: user:14>

2025-10-24T22:15:44.162Z,1761344144.162 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:15:44.162Z,1761344144.162 [DAT](INFO): set remote address to 10
2025-10-24T22:15:44.163Z,1761344144.163 [DAT](INFO): entering online mode
2025-10-24T22:15:44.385Z,1761344144.385 [DAT](INFO): DAT read: user:15>

2025-10-24T22:15:44.385Z,1761344144.385 [DAT](INFO): DAT read: 

2025-10-24T22:15:44.386Z,1761344144.386 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:15:44.387Z,1761344144.387 [DAT](INFO): commRate: 600
2025-10-24T22:15:44.387Z,1761344144.387 [DAT](INFO): online mode acknowledged
2025-10-24T22:15:44.387Z,1761344144.387 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:15:44.388Z,1761344144.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781606
2025-10-24T22:15:44.473Z,1761344144.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474792,-0.862597,-0.174639],[0.855931,0.406391,0.319731],[-0.204827,-0.301285,0.931275]]
2025-10-24T22:15:44.638Z,1761344144.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031601
2025-10-24T22:15:44.889Z,1761344144.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282938
2025-10-24T22:15:44.917Z,1761344144.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486817,-0.865832,-0.115517],[0.840419,0.428212,0.332160],[-0.238129,-0.258784,0.936123]]
2025-10-24T22:15:45.142Z,1761344145.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535634
2025-10-24T22:15:45.393Z,1761344145.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787169
2025-10-24T22:15:45.646Z,1761344145.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039994
2025-10-24T22:15:45.900Z,1761344145.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294114
2025-10-24T22:15:46.115Z,1761344146.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485925,-0.872050,-0.058357],[0.827037,0.437195,0.353371],[-0.282644,-0.219975,0.933661]]
2025-10-24T22:15:46.150Z,1761344146.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544066
2025-10-24T22:15:46.401Z,1761344146.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795342
2025-10-24T22:15:46.521Z,1761344146.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483122,-0.874464,-0.043654],[0.823783,0.437100,0.361006],[-0.296605,-0.210372,0.931541]]
2025-10-24T22:15:46.655Z,1761344146.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049529
2025-10-24T22:15:46.909Z,1761344146.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302039
2025-10-24T22:15:46.925Z,1761344146.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480302,-0.876588,-0.030053],[0.820456,0.436905,0.368736],[-0.310099,-0.201762,0.929048]]
2025-10-24T22:15:47.159Z,1761344147.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553503
2025-10-24T22:15:47.327Z,1761344147.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477366,-0.878534,-0.017318],[0.817968,0.437084,0.374015],[-0.321015,-0.192707,0.927261]]
2025-10-24T22:15:47.413Z,1761344147.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806981
2025-10-24T22:15:47.666Z,1761344147.666 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:15:46.7079

2025-10-24T22:15:47.666Z,1761344147.666 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:15:47.667Z,1761344147.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.061059
2025-10-24T22:15:47.739Z,1761344147.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475204,-0.879866,-0.004051],[0.815974,0.438965,0.376159],[-0.329192,-0.182058,0.926546]]
2025-10-24T22:15:47.921Z,1761344147.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314654
2025-10-24T22:15:48.148Z,1761344148.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472775,-0.881178,0.003087],[0.814932,0.438560,0.378881],[-0.335216,-0.176609,0.925440]]
2025-10-24T22:15:48.169Z,1761344148.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563531
2025-10-24T22:15:48.421Z,1761344148.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814942
2025-10-24T22:15:48.539Z,1761344148.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471094,-0.882036,0.009083],[0.813816,0.438583,0.381246],[-0.340257,-0.172211,0.924429]]
2025-10-24T22:15:48.673Z,1761344148.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067380
2025-10-24T22:15:48.925Z,1761344148.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318902
2025-10-24T22:15:48.943Z,1761344148.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470422,-0.882362,0.011855],[0.812439,0.438309,0.384483],[-0.344450,-0.171237,0.923056]]
2025-10-24T22:15:49.181Z,1761344149.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574910
2025-10-24T22:15:49.347Z,1761344149.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470335,-0.882379,0.013847],[0.810705,0.438222,0.388225],[-0.348630,-0.171370,0.921460]]
2025-10-24T22:15:49.429Z,1761344149.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822959
2025-10-24T22:15:49.681Z,1761344149.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074969
2025-10-24T22:15:49.750Z,1761344149.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470435,-0.882296,0.015659],[0.808691,0.438155,0.392479],[-0.353144,-0.171972,0.919628]]
2025-10-24T22:15:49.936Z,1761344149.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.329465
2025-10-24T22:15:50.157Z,1761344150.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470741,-0.882116,0.016537],[0.806351,0.437764,0.397694],[-0.358052,-0.173876,0.917369]]
2025-10-24T22:15:50.185Z,1761344150.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578860
2025-10-24T22:15:50.437Z,1761344150.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830906
2025-10-24T22:15:50.558Z,1761344150.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470634,-0.882117,0.019328],[0.804261,0.437899,0.401757],[-0.362860,-0.173536,0.915542]]
2025-10-24T22:15:50.693Z,1761344150.693 [DAT](INFO): Reached modem response timeout
2025-10-24T22:15:50.963Z,1761344150.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470323,-0.882254,0.020618],[0.802984,0.437522,0.404711],[-0.366079,-0.173789,0.914212]]
2025-10-24T22:15:51.369Z,1761344151.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469127,-0.882915,0.019510],[0.803082,0.435691,0.406488],[-0.367394,-0.175026,0.913448]]
2025-10-24T22:15:51.770Z,1761344151.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466552,-0.884300,0.018498],[0.804516,0.432964,0.406566],[-0.367536,-0.174802,0.913434]]
2025-10-24T22:15:52.174Z,1761344152.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464169,-0.885593,0.016484],[0.806474,0.430250,0.405568],[-0.366260,-0.174958,0.913916]]
2025-10-24T22:15:52.579Z,1761344152.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461296,-0.887108,0.015677],[0.808894,0.427754,0.403381],[-0.364549,-0.173397,0.914898]]
2025-10-24T22:15:52.645Z,1761344152.645 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:15:52.645Z,1761344152.645 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:15:52.645Z,1761344152.645 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:15:52.646Z,1761344152.646 [marl:UpdateRudder:A] Stopped
2025-10-24T22:15:52.646Z,1761344152.646 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:15:52.646Z,1761344152.646 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:15:52.646Z,1761344152.646 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:15:52.646Z,1761344152.646 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:15:52.646Z,1761344152.646 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:15:52.647Z,1761344152.647 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:15:52.647Z,1761344152.647 [marl:UpdateCommandMode] Stopped
2025-10-24T22:15:52.647Z,1761344152.647 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:15:52.647Z,1761344152.647 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:15:52.647Z,1761344152.647 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:15:52.647Z,1761344152.647 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:15:52.656Z,1761344152.656 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:15:52.656Z,1761344152.656 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:15:52.656Z,1761344152.656 [marl:UpdateSpeed] Stopped
2025-10-24T22:15:52.656Z,1761344152.656 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:15:52.982Z,1761344152.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458377,-0.888641,0.014424],[0.811522,0.425105,0.400897],[-0.362385,-0.172057,0.916010]]
2025-10-24T22:15:53.030Z,1761344153.030 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:15:53.030Z,1761344153.030 [marl:UpdateRudder:B] Stopped
2025-10-24T22:15:53.030Z,1761344153.030 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:15:53.031Z,1761344153.031 [marl:UpdateRudder] Stopped
2025-10-24T22:15:53.031Z,1761344153.031 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:15:53.386Z,1761344153.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455623,-0.890070,0.013541],[0.814209,0.422842,0.397831],[-0.359823,-0.170235,0.917359]]
2025-10-24T22:15:53.998Z,1761344153.998 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.156509
2025-10-24T22:15:54.195Z,1761344154.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450154,-0.892860,0.012708],[0.821346,0.419599,0.386429],[-0.350359,-0.163515,0.922232]]
2025-10-24T22:15:54.601Z,1761344154.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447037,-0.894482,0.007811],[0.826176,0.416215,0.379734],[-0.342916,-0.163302,0.925063]]
2025-10-24T22:15:55.000Z,1761344155.000 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:15:55.004Z,1761344155.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443384,-0.896323,-0.003929],[0.831955,0.409904,0.373937],[-0.333558,-0.169067,0.927446]]
2025-10-24T22:15:55.435Z,1761344155.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440137,-0.897771,-0.016934],[0.837852,0.403833,0.367319],[-0.322929,-0.175859,0.929941]]
2025-10-24T22:15:55.810Z,1761344155.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440012,-0.897318,-0.034774],[0.842575,0.399155,0.361584],[-0.310576,-0.188401,0.931691]]
2025-10-24T22:15:56.713Z,1761344156.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453373,-0.886822,-0.089444],[0.845795,0.396384,0.357088],[-0.281219,-0.237545,0.929779]]
2025-10-24T22:15:57.119Z,1761344157.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466335,-0.876954,-0.116113],[0.843665,0.401433,0.356484],[-0.266009,-0.264201,0.927058]]
2025-10-24T22:15:57.506Z,1761344157.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482059,-0.865174,-0.138180],[0.839290,0.410747,0.356201],[-0.251419,-0.287683,0.924136]]
2025-10-24T22:15:57.761Z,1761344157.760 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-24T22:15:57.761Z,1761344157.761 [DAT](ERROR): Ack receipt timeout failure.
2025-10-24T22:15:57.921Z,1761344157.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500332,-0.851200,-0.158510],[0.832408,0.422511,0.358584],[-0.238255,-0.311356,0.919941]]
2025-10-24T22:15:58.016Z,1761344158.016 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:15:58.265Z,1761344158.265 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:15:58.265Z,1761344158.265 [DAT](INFO): #Outgoing data=4
2025-10-24T22:15:58.265Z,1761344158.265 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:15:58.386Z,1761344158.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520546,-0.835761,-0.174744],[0.823134,0.436823,0.362817],[-0.226896,-0.332701,0.915330]]
2025-10-24T22:15:58.518Z,1761344158.518 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:15:58.817Z,1761344158.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541842,-0.819111,-0.188319],[0.812029,0.452385,0.368724],[-0.216833,-0.352711,0.910263]]
2025-10-24T22:15:59.228Z,1761344159.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563041,-0.802210,-0.198604],[0.799938,0.468664,0.374770],[-0.207566,-0.369882,0.905596]]
2025-10-24T22:15:59.634Z,1761344159.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583661,-0.785487,-0.205792],[0.787185,0.485180,0.380710],[-0.199196,-0.384202,0.901504]]
2025-10-24T22:16:00.039Z,1761344160.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603223,-0.769026,-0.211473],[0.774151,0.500769,0.387196],[-0.191865,-0.397277,0.897418]]
2025-10-24T22:16:00.444Z,1761344160.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622165,-0.753252,-0.213359],[0.760649,0.517118,0.392432],[-0.185268,-0.406448,0.894693]]
2025-10-24T22:16:00.842Z,1761344160.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639678,-0.738566,-0.212914],[0.747464,0.533136,0.396312],[-0.179190,-0.412657,0.893087]]
2025-10-24T22:16:01.247Z,1761344161.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655769,-0.725774,-0.207891],[0.734667,0.550051,0.397125],[-0.173872,-0.413153,0.893909]]
2025-10-24T22:16:01.658Z,1761344161.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670810,-0.713614,-0.201915],[0.722094,0.566391,0.397216],[-0.169096,-0.412258,0.895237]]
2025-10-24T22:16:01.793Z,1761344161.793 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:16:00.8578

2025-10-24T22:16:01.793Z,1761344161.793 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:16:02.055Z,1761344162.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683646,-0.703060,-0.195793],[0.710998,0.581080,0.396015],[-0.164651,-0.409942,0.897127]]
2025-10-24T22:16:02.458Z,1761344162.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694268,-0.694174,-0.190036],[0.701673,0.594089,0.393336],[-0.160145,-0.406424,0.899540]]
2025-10-24T22:16:02.862Z,1761344162.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702501,-0.687247,-0.184888],[0.694515,0.605298,0.388926],[-0.155376,-0.401628,0.902526]]
2025-10-24T22:16:03.269Z,1761344163.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708985,-0.681229,-0.182393],[0.689077,0.614155,0.384690],[-0.150045,-0.398422,0.904846]]
2025-10-24T22:16:03.696Z,1761344163.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713908,-0.675175,-0.185671],[0.685245,0.619038,0.383707],[-0.144132,-0.401161,0.904597]]
2025-10-24T22:16:03.893Z,1761344163.893 [Radio_Surface](INFO): Powering down
2025-10-24T22:16:04.117Z,1761344164.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717588,-0.670040,-0.190036],[0.682931,0.623405,0.380752],[-0.136650,-0.403004,0.904939]]
2025-10-24T22:16:04.501Z,1761344164.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720421,-0.665548,-0.195036],[0.681658,0.627681,0.375978],[-0.127811,-0.403810,0.905871]]
2025-10-24T22:16:05.314Z,1761344165.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726528,-0.653727,-0.211654],[0.679188,0.636495,0.365482],[-0.104209,-0.409286,0.906436]]
2025-10-24T22:16:05.710Z,1761344165.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730789,-0.646363,-0.219457],[0.676543,0.643104,0.358757],[-0.090754,-0.410648,0.907266]]
2025-10-24T22:16:05.760Z,1761344165.760 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:16:05.760Z,1761344165.760 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:16:05.760Z,1761344165.760 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:16:05.760Z,1761344165.760 [marl:UpdateRudder:A] Stopped
2025-10-24T22:16:05.761Z,1761344165.761 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:16:05.761Z,1761344165.761 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:16:05.761Z,1761344165.761 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:16:05.761Z,1761344165.761 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:16:05.761Z,1761344165.761 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:16:05.761Z,1761344165.761 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:16:05.761Z,1761344165.761 [marl:UpdateCommandMode] Stopped
2025-10-24T22:16:05.761Z,1761344165.761 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:16:05.761Z,1761344165.761 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:16:05.762Z,1761344165.762 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:16:05.762Z,1761344165.762 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:16:05.762Z,1761344165.762 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:16:05.762Z,1761344165.762 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:16:05.762Z,1761344165.762 [marl:UpdateSpeed] Stopped
2025-10-24T22:16:05.762Z,1761344165.762 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:16:06.122Z,1761344166.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736467,-0.637719,-0.225678],[0.672066,0.651734,0.351525],[-0.077093,-0.410557,0.908570]]
2025-10-24T22:16:06.183Z,1761344166.183 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:16:06.183Z,1761344166.183 [marl:UpdateRudder:B] Stopped
2025-10-24T22:16:06.183Z,1761344166.183 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:16:06.183Z,1761344166.183 [marl:UpdateRudder] Stopped
2025-10-24T22:16:06.183Z,1761344166.183 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:16:06.518Z,1761344166.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742998,-0.627718,-0.232213],[0.666254,0.660656,0.345889],[-0.063707,-0.411708,0.909086]]
2025-10-24T22:16:06.924Z,1761344166.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750427,-0.616640,-0.237939],[0.658970,0.670151,0.341549],[-0.051158,-0.413102,0.909247]]
2025-10-24T22:16:07.341Z,1761344167.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759314,-0.604272,-0.241449],[0.649517,0.681205,0.337770],[-0.039629,-0.413298,0.909733]]
2025-10-24T22:16:07.737Z,1761344167.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783229,-0.572549,-0.242365],[0.621351,0.707145,0.337445],[-0.021817,-0.414890,0.909610]]
2025-10-24T22:16:08.139Z,1761344168.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794747,-0.557636,-0.239624],[0.606802,0.721564,0.333371],[-0.012996,-0.410350,0.911835]]
2025-10-24T22:16:08.543Z,1761344168.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805470,-0.543058,-0.237288],[0.592622,0.735307,0.328821],[-0.004089,-0.405478,0.914096]]
2025-10-24T22:16:08.599Z,1761344168.599 [DAT](INFO): DAT read: Rx Time:22:16:07.0634

2025-10-24T22:16:08.600Z,1761344168.600 [DAT](INFO): Rx dataTimestamp_ set to:1761344168.598918
2025-10-24T22:16:08.948Z,1761344168.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816123,-0.526734,-0.237686],[0.577859,0.747185,0.328320],[0.004658,-0.405298,0.914173]]
2025-10-24T22:16:09.358Z,1761344169.358 [DAT](INFO): DAT read: 22:16:07.0634 LVL= 32752, 32753, 32562, 32755, AGC= 57, IDX= 289,-0.33,-0.162,-1.296, 0.634,-0.106, PHS= 0.046,-1.145, 0.696, RAW= 170.4,   5.0, CAL= 169.6,   3.8, ROT= 340.4,  -3.8

2025-10-24T22:16:09.359Z,1761344169.359 [DAT](INFO): got valid direction response:
 22:16:07.0634 LVL= 32752, 32753, 32562, 32755, AGC= 57, IDX= 289,-0.33,-0.162,-1.296, 0.634,-0.106, PHS= 0.046,-1.145, 0.696, RAW= 170.4,   5.0, CAL= 169.6,   3.8, ROT= 340.4,  -3.8

2025-10-24T22:16:09.368Z,1761344169.368 [DAT](INFO): DAT read: 

2025-10-24T22:16:09.369Z,1761344169.369 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:16:09.369Z,1761344169.369 [DAT](INFO): Got DATA 2
2025-10-24T22:16:09.370Z,1761344169.370 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:16:09.370Z,1761344169.370 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:16:09.370Z,1761344169.370 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:16:09.371Z,1761344169.371 [DAT](INFO): DAT read: CRC:Pass MPD:03.1 PSNR:11.3 AGC:65 SPD:+1.1 CCERR:006

2025-10-24T22:16:09.371Z,1761344169.371 [DAT](INFO): Got CRC:Pass
2025-10-24T22:16:09.371Z,1761344169.371 [DAT](INFO): Got CRC:Pass
2025-10-24T22:16:09.372Z,1761344169.372 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:16:09.372Z,1761344169.372 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:16:09.372Z,1761344169.372 [DAT](INFO): Got ack
2025-10-24T22:16:09.372Z,1761344169.372 [DAT](INFO): DAT read: 

2025-10-24T22:16:09.373Z,1761344169.373 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:16:09.373Z,1761344169.373 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:16:09.373Z,1761344169.373 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-24T22:16:09.374Z,1761344169.374 [DAT](INFO): direction in FSK: [0.939986,-0.334714,0.066274]
2025-10-24T22:16:09.421Z,1761344169.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826596,-0.509748,-0.238531],[0.562637,0.758542,0.328715],[0.013374,-0.405921,0.913810]]
2025-10-24T22:16:09.506Z,1761344169.506 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344128.00. Resetting abort timer.
2025-10-24T22:16:09.605Z,1761344169.605 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:16:09.605Z,1761344169.605 [DAT](INFO): #Outgoing data=4
2025-10-24T22:16:09.605Z,1761344169.605 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:16:09.804Z,1761344169.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837148,-0.492329,-0.238317],[0.546541,0.770285,0.328562],[0.021812,-0.405305,0.913921]]
2025-10-24T22:16:09.857Z,1761344169.857 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:16:10.213Z,1761344170.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847351,-0.474806,-0.237815],[0.530185,0.781731,0.328330],[0.030014,-0.404297,0.914135]]
2025-10-24T22:16:10.611Z,1761344170.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857274,-0.457567,-0.236036],[0.513525,0.792898,0.328031],[0.037057,-0.402423,0.914704]]
2025-10-24T22:16:11.014Z,1761344171.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866254,-0.441191,-0.234421],[0.497744,0.802567,0.328842],[0.043056,-0.401543,0.914827]]
2025-10-24T22:16:11.423Z,1761344171.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873972,-0.426281,-0.233360],[0.483514,0.811009,0.329362],[0.048856,-0.400686,0.914912]]
2025-10-24T22:16:11.824Z,1761344171.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880778,-0.412725,-0.232138],[0.470354,0.819209,0.328123],[0.054745,-0.398190,0.915668]]
2025-10-24T22:16:11.899Z,1761344171.899 [DAT](INFO): DAT read: Rx Time:22:16:10.3122

2025-10-24T22:16:11.901Z,1761344171.901 [DAT](INFO): Rx dataTimestamp_ set to:1761344171.900112
2025-10-24T22:16:12.226Z,1761344172.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887705,-0.398078,-0.231332],[0.456440,0.826760,0.328833],[0.060355,-0.397496,0.915617]]
2025-10-24T22:16:12.426Z,1761344172.426 [DAT](INFO): DAT read: 22:16:10.3122 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 468,-0.37,-2.032, 3.074,-1.349,-1.962, PHS= 0.031,-1.202, 0.569, RAW= 167.2,   7.7, CAL= 166.8,   7.8, ROT= 343.2,  -7.8

2025-10-24T22:16:12.427Z,1761344172.427 [DAT](INFO): got valid direction response:
 22:16:10.3122 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 468,-0.37,-2.032, 3.074,-1.349,-1.962, PHS= 0.031,-1.202, 0.569, RAW= 167.2,   7.7, CAL= 166.8,   7.8, ROT= 343.2,  -7.8

2025-10-24T22:16:12.427Z,1761344172.427 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-24T22:16:12.433Z,1761344172.433 [DAT](INFO): direction in FSK: [0.948462,-0.286357,0.135716]
2025-10-24T22:16:12.631Z,1761344172.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893962,-0.383960,-0.231099],[0.443210,0.833799,0.329157],[0.066307,-0.396679,0.915560]]
2025-10-24T22:16:12.653Z,1761344172.653 [DAT](INFO): DAT read: 

2025-10-24T22:16:12.654Z,1761344172.654 [DAT](INFO): DAT read: DATA(0002):àd

2025-10-24T22:16:12.654Z,1761344172.654 [DAT](INFO): Got DATA 2
2025-10-24T22:16:12.655Z,1761344172.655 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:16:12.655Z,1761344172.655 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:16:12.656Z,1761344172.656 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:16:12.658Z,1761344172.658 [DAT](INFO): DAT read: CRC:Fail {0001} MPD:04.3 PSNR:11.4 AGC:64 SPD:+0.8 CCERR:005

2025-10-24T22:16:12.659Z,1761344172.659 [DAT](INFO): unknown deviceResponse_: CRC:Fail {0001} MPD:04.3 PSNR:11.4 AGC:64 SPD:+0.8 CCERR:005

2025-10-24T22:16:12.659Z,1761344172.659 [DAT](INFO): DAT read: 

2025-10-24T22:16:12.659Z,1761344172.659 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:16:12.710Z,1761344172.710 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344128.00. Resetting abort timer.
2025-10-24T22:16:13.034Z,1761344173.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900279,-0.368866,-0.231159],[0.429211,0.840767,0.329984],[0.072631,-0.396293,0.915246]]
2025-10-24T22:16:13.157Z,1761344173.157 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:16:12.1578

2025-10-24T22:16:13.157Z,1761344173.157 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:16:13.440Z,1761344173.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905975,-0.353734,-0.232553],[0.415887,0.846282,0.332933],[0.079036,-0.398345,0.913824]]
2025-10-24T22:16:13.842Z,1761344173.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911257,-0.339178,-0.233601],[0.403043,0.851057,0.336539],[0.084661,-0.400825,0.912235]]
2025-10-24T22:16:14.246Z,1761344174.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916351,-0.325146,-0.233628],[0.390287,0.855585,0.340073],[0.089315,-0.402808,0.910916]]
2025-10-24T22:16:14.655Z,1761344174.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920656,-0.312574,-0.233860],[0.379012,0.859197,0.343700],[0.093500,-0.405065,0.909494]]
2025-10-24T22:16:15.102Z,1761344175.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924369,-0.302080,-0.233000],[0.368936,0.863277,0.344439],[0.097096,-0.404351,0.909435]]
2025-10-24T22:16:15.498Z,1761344175.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927997,-0.291623,-0.231900],[0.358782,0.867283,0.345103],[0.100483,-0.403456,0.909465]]
2025-10-24T22:16:15.997Z,1761344175.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931652,-0.281198,-0.230114],[0.348370,0.871258,0.345757],[0.103262,-0.402289,0.909670]]
2025-10-24T22:16:16.447Z,1761344176.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935401,-0.270002,-0.228306],[0.337398,0.874717,0.347897],[0.105771,-0.402454,0.909309]]
2025-10-24T22:16:16.843Z,1761344176.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939240,-0.257753,-0.226697],[0.325625,0.877998,0.350837],[0.108610,-0.403339,0.908582]]
2025-10-24T22:16:17.247Z,1761344177.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943290,-0.244406,-0.224654],[0.312495,0.882113,0.352452],[0.112029,-0.402668,0.908465]]
2025-10-24T22:16:17.660Z,1761344177.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947484,-0.229409,-0.222812],[0.297875,0.886614,0.353818],[0.116379,-0.401607,0.908388]]
2025-10-24T22:16:18.070Z,1761344178.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952007,-0.211771,-0.220988],[0.281097,0.890608,0.357493],[0.121107,-0.402455,0.907394]]
2025-10-24T22:16:18.461Z,1761344178.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956766,-0.192471,-0.218066],[0.262072,0.895668,0.359302],[0.126160,-0.400917,0.907386]]
2025-10-24T22:16:18.863Z,1761344178.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961439,-0.171921,-0.214660],[0.241636,0.900790,0.360818],[0.131331,-0.398774,0.907597]]
2025-10-24T22:16:18.889Z,1761344178.889 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:16:18.889Z,1761344178.889 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:16:18.890Z,1761344178.890 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:16:18.890Z,1761344178.890 [marl:UpdateRudder:A] Stopped
2025-10-24T22:16:18.890Z,1761344178.890 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:16:18.890Z,1761344178.890 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:16:18.890Z,1761344178.890 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:16:18.890Z,1761344178.890 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:16:18.891Z,1761344178.891 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:16:18.891Z,1761344178.891 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:16:18.891Z,1761344178.891 [marl:UpdateCommandMode] Stopped
2025-10-24T22:16:18.891Z,1761344178.891 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:16:18.891Z,1761344178.891 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:16:18.891Z,1761344178.891 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:16:18.891Z,1761344178.891 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:16:18.891Z,1761344178.891 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:16:18.892Z,1761344178.892 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:16:18.892Z,1761344178.892 [marl:UpdateSpeed] Stopped
2025-10-24T22:16:18.892Z,1761344178.892 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:16:19.268Z,1761344179.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965900,-0.151149,-0.210217],[0.220542,0.905648,0.362166],[0.135641,-0.396177,0.908100]]
2025-10-24T22:16:19.294Z,1761344179.294 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:16:19.294Z,1761344179.294 [marl:UpdateRudder:B] Stopped
2025-10-24T22:16:19.295Z,1761344179.295 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:16:19.295Z,1761344179.295 [marl:UpdateRudder] Stopped
2025-10-24T22:16:19.295Z,1761344179.295 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:16:19.691Z,1761344179.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969657,-0.131967,-0.205792],[0.200749,0.910225,0.362201],[0.139518,-0.392523,0.909099]]
2025-10-24T22:16:20.090Z,1761344180.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972490,-0.115645,-0.202211],[0.183896,0.913977,0.361702],[0.142987,-0.388938,0.910100]]
2025-10-24T22:16:20.562Z,1761344180.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976997,-0.086825,-0.194778],[0.154459,0.917862,0.365611],[0.147035,-0.387287,0.910159]]
2025-10-24T22:16:20.990Z,1761344180.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979246,-0.072081,-0.189426],[0.138910,0.919273,0.368296],[0.147587,-0.386965,0.910207]]
2025-10-24T22:16:21.387Z,1761344181.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981585,-0.054795,-0.182996],[0.120639,0.920582,0.371450],[0.148109,-0.386686,0.910240]]
2025-10-24T22:16:21.790Z,1761344181.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983697,-0.036022,-0.176190],[0.100952,0.921410,0.375250],[0.148826,-0.386919,0.910025]]
2025-10-24T22:16:22.198Z,1761344182.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985429,-0.016783,-0.169255],[0.080563,0.922465,0.377582],[0.149795,-0.385716,0.910376]]
2025-10-24T22:16:22.600Z,1761344182.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986774,0.003233,-0.162069],[0.059299,0.923302,0.379470],[0.150866,-0.384061,0.910899]]
2025-10-24T22:16:23.003Z,1761344183.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987648,0.023409,-0.154933],[0.038263,0.922813,0.383344],[0.151948,-0.384537,0.910518]]
2025-10-24T22:16:23.240Z,1761344183.240 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:16:23.406Z,1761344183.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988023,0.042323,-0.148387],[0.018359,0.922575,0.385380],[0.153209,-0.383489,0.910749]]
2025-10-24T22:16:23.494Z,1761344183.494 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:16:23.494Z,1761344183.494 [DAT](INFO): #Outgoing data=4
2025-10-24T22:16:23.494Z,1761344183.494 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:16:23.746Z,1761344183.746 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:16:23.811Z,1761344183.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987992,0.057717,-0.143319],[0.001802,0.923237,0.384226],[0.154494,-0.379871,0.912047]]
2025-10-24T22:16:24.220Z,1761344184.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987688,0.071596,-0.139089],[-0.012461,0.922302,0.386269],[0.155937,-0.379780,0.911839]]
2025-10-24T22:16:24.619Z,1761344184.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987209,0.084935,-0.134922],[-0.025876,0.920415,0.390085],[0.157317,-0.381605,0.910840]]
2025-10-24T22:16:25.023Z,1761344185.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986637,0.097553,-0.130501],[-0.038641,0.918195,0.394239],[0.158285,-0.383928,0.909695]]
2025-10-24T22:16:25.124Z,1761344185.124 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:16:25.447Z,1761344185.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985938,0.109954,-0.125843],[-0.051478,0.916261,0.397260],[0.158985,-0.385196,0.909037]]
2025-10-24T22:16:25.884Z,1761344185.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985133,0.121983,-0.120963],[-0.064328,0.914838,0.398665],[0.159292,-0.384957,0.909084]]
2025-10-24T22:16:26.130Z,1761344186.130 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-24T22:16:26.131Z,1761344186.131 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:16:26.282Z,1761344186.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984346,0.133092,-0.115540],[-0.076531,0.913298,0.400036],[0.158764,-0.384932,0.909187]]
2025-10-24T22:16:26.729Z,1761344186.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983598,0.143679,-0.109048],[-0.088836,0.912032,0.400382],[0.156982,-0.384128,0.909837]]
2025-10-24T22:16:27.025Z,1761344187.025 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:16:26.0577

2025-10-24T22:16:27.025Z,1761344187.025 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:16:27.148Z,1761344187.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982785,0.154705,-0.100994],[-0.101895,0.909864,0.402200],[0.154113,-0.384985,0.909965]]
2025-10-24T22:16:27.558Z,1761344187.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981668,0.167328,-0.091270],[-0.116784,0.906478,0.405782],[0.150633,-0.387684,0.909401]]
2025-10-24T22:16:27.985Z,1761344187.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979966,0.182052,-0.080769],[-0.134113,0.903001,0.408169],[0.147242,-0.389160,0.909326]]
2025-10-24T22:16:28.354Z,1761344188.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977785,0.197166,-0.071152],[-0.152110,0.900974,0.406335],[0.144221,-0.386485,0.910950]]
2025-10-24T22:16:28.760Z,1761344188.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975038,0.212701,-0.063711],[-0.170454,0.900920,0.399110],[0.142290,-0.378288,0.914687]]
2025-10-24T22:16:29.162Z,1761344189.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971658,0.229598,-0.056263],[-0.189868,0.899789,0.392850],[0.140823,-0.371033,0.917880]]
2025-10-24T22:16:29.567Z,1761344189.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967578,0.247652,-0.049614],[-0.210019,0.898001,0.386635],[0.140304,-0.363679,0.920897]]
2025-10-24T22:16:29.987Z,1761344189.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962689,0.267050,-0.043745],[-0.231249,0.895804,0.379550],[0.140545,-0.355273,0.924136]]
2025-10-24T22:16:30.375Z,1761344190.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957141,0.287237,-0.037100],[-0.252965,0.891484,0.375853],[0.141033,-0.350359,0.925936]]
2025-10-24T22:16:30.780Z,1761344190.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951311,0.306930,-0.028303],[-0.274208,0.884664,0.377067],[0.140772,-0.350947,0.925753]]
2025-10-24T22:16:31.182Z,1761344191.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945402,0.325396,-0.018242],[-0.294233,0.876254,0.381585],[0.140151,-0.355384,0.924154]]
2025-10-24T22:16:31.586Z,1761344191.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939995,0.341102,-0.007659],[-0.311763,0.867831,0.386876],[0.138611,-0.361274,0.922100]]
2025-10-24T22:16:31.992Z,1761344191.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935197,0.354129,0.000345],[-0.326679,0.862330,0.386870],[0.136704,-0.361912,0.922134]]
2025-10-24T22:16:32.082Z,1761344192.082 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:16:32.082Z,1761344192.082 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:16:32.082Z,1761344192.082 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:16:32.083Z,1761344192.083 [marl:UpdateRudder:A] Stopped
2025-10-24T22:16:32.083Z,1761344192.083 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:16:32.083Z,1761344192.083 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:16:32.083Z,1761344192.083 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:16:32.083Z,1761344192.083 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:16:32.083Z,1761344192.083 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:16:32.088Z,1761344192.088 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:16:32.088Z,1761344192.088 [marl:UpdateCommandMode] Stopped
2025-10-24T22:16:32.088Z,1761344192.088 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:16:32.088Z,1761344192.088 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:16:32.088Z,1761344192.088 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:16:32.088Z,1761344192.088 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:16:32.089Z,1761344192.089 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:16:32.089Z,1761344192.089 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:16:32.089Z,1761344192.089 [marl:UpdateSpeed] Stopped
2025-10-24T22:16:32.089Z,1761344192.089 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:16:32.396Z,1761344192.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930976,0.365035,0.005796],[-0.339138,0.858832,0.383917],[0.135166,-0.359383,0.923349]]
2025-10-24T22:16:32.438Z,1761344192.438 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-24T22:16:32.438Z,1761344192.438 [marl:UpdateRudder:B] Stopped
2025-10-24T22:16:32.438Z,1761344192.438 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:16:32.439Z,1761344192.439 [marl:UpdateRudder] Stopped
2025-10-24T22:16:32.439Z,1761344192.439 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:16:32.798Z,1761344192.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926660,0.375733,0.011172],[-0.351130,0.854607,0.382563],[0.134194,-0.358429,0.923862]]
2025-10-24T22:16:33.607Z,1761344193.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917013,0.398051,0.025353],[-0.376058,0.841664,0.387533],[0.132919,-0.364907,0.921507]]
2025-10-24T22:16:34.015Z,1761344194.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910544,0.411632,0.038330],[-0.391768,0.829546,0.397960],[0.132017,-0.377376,0.916602]]
2025-10-24T22:16:34.414Z,1761344194.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902560,0.426878,0.056211],[-0.410121,0.812602,0.414100],[0.131093,-0.396804,0.908494]]
2025-10-24T22:16:34.818Z,1761344194.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892790,0.444078,0.075630],[-0.431211,0.793917,0.428663],[0.130316,-0.415319,0.900293]]
2025-10-24T22:16:35.225Z,1761344195.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880233,0.464848,0.095425],[-0.456187,0.773516,0.439962],[0.130703,-0.430801,0.892932]]
2025-10-24T22:16:35.628Z,1761344195.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864704,0.489171,0.114010],[-0.484370,0.752027,0.447036],[0.132938,-0.441777,0.887221]]
2025-10-24T22:16:36.048Z,1761344196.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847367,0.514714,0.130532],[-0.513255,0.730875,0.449878],[0.136156,-0.448208,0.883499]]
2025-10-24T22:16:36.130Z,1761344196.130 [marl:SendObservationData] Running Loop=1
2025-10-24T22:16:36.130Z,1761344196.130 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T22:16:36.130Z,1761344196.130 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T22:16:36.131Z,1761344196.131 [marl:SendObservationData:A] Running Loop=1
2025-10-24T22:16:36.132Z,1761344196.132 [marl:SendObservationData:A](INFO): Got test_good :  41da3efea000000040514000000000004042631fd7357842c05e7751f9ab0a8b3fc07fee40000000404e000000000000 n/a str  and temp var is  nan n/a str 
2025-10-24T22:16:36.132Z,1761344196.132 [marl:SendObservationData:A] Stopped
2025-10-24T22:16:36.133Z,1761344196.133 [marl:SendObservationData:B] Running Loop=1
2025-10-24T22:16:36.434Z,1761344196.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828710,0.540582,0.144953],[-0.541917,0.710301,0.449221],[0.139881,-0.450826,0.881584]]
2025-10-24T22:16:36.490Z,1761344196.490 [marl:SendObservationData:B] Stopped
2025-10-24T22:16:36.490Z,1761344196.490 [marl:SendObservationData:C] Running Loop=1
2025-10-24T22:16:36.839Z,1761344196.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808871,0.566665,0.156903],[-0.570149,0.690660,0.444882],[0.143732,-0.449310,0.881738]]
2025-10-24T22:16:36.868Z,1761344196.868 [marl:SendObservationData:C] Stopped
2025-10-24T22:16:36.868Z,1761344196.868 [marl:SendObservationData:E] Running Loop=1
2025-10-24T22:16:37.108Z,1761344197.108 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:16:37.248Z,1761344197.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788101,0.591657,0.169819],[-0.597682,0.669549,0.440999],[0.147218,-0.449049,0.881296]]
2025-10-24T22:16:37.274Z,1761344197.274 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.013032 min 
2025-10-24T22:16:37.274Z,1761344197.274 [marl:SendObservationData:E] Stopped
2025-10-24T22:16:37.274Z,1761344197.274 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T22:16:37.274Z,1761344197.274 [marl:SendObservationData] Stopped
2025-10-24T22:16:37.275Z,1761344197.275 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T22:16:37.275Z,1761344197.275 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T22:16:37.366Z,1761344197.366 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:16:37.366Z,1761344197.366 [DAT](INFO): #Outgoing data=5
2025-10-24T22:16:37.366Z,1761344197.366 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:16:37.613Z,1761344197.613 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:16:37.649Z,1761344197.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766855,0.615822,0.180823],[-0.624080,0.649672,0.434109],[0.149858,-0.445747,0.882526]]
2025-10-24T22:16:38.050Z,1761344198.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744599,0.639643,0.190866],[-0.649896,0.629422,0.425986],[0.152344,-0.441231,0.884368]]
2025-10-24T22:16:38.340Z,1761344198.340 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:16:38.340Z,1761344198.340 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:16:38.454Z,1761344198.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721331,0.662743,0.201128],[-0.674999,0.607679,0.418452],[0.155105,-0.437604,0.885689]]
2025-10-24T22:16:38.860Z,1761344198.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697058,0.685664,0.209702],[-0.699342,0.585617,0.409846],[0.158212,-0.432339,0.887723]]
2025-10-24T22:16:39.266Z,1761344199.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672625,0.706672,0.219522],[-0.722103,0.562006,0.403380],[0.161685,-0.429841,0.888310]]
2025-10-24T22:16:39.673Z,1761344199.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648662,0.725742,0.229208],[-0.742908,0.538368,0.397804],[0.165305,-0.428321,0.888378]]
2025-10-24T22:16:39.710Z,1761344199.710 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:16:39.889Z,1761344199.889 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:16:39.940Z,1761344199.940 [DAT](INFO): entering command mode
2025-10-24T22:16:40.073Z,1761344200.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626294,0.743296,0.235089],[-0.761146,0.517812,0.390549],[0.168562,-0.423535,0.890059]]
2025-10-24T22:16:40.141Z,1761344200.141 [DAT](INFO): DAT read: 

2025-10-24T22:16:40.141Z,1761344200.141 [DAT](INFO): DAT read: user:16>

2025-10-24T22:16:40.142Z,1761344200.142 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:16:40.142Z,1761344200.142 [DAT](INFO): setting remote address to 0
2025-10-24T22:16:40.393Z,1761344200.393 [DAT](INFO): DAT read: user:16>

2025-10-24T22:16:40.394Z,1761344200.394 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:16:40.394Z,1761344200.394 [DAT](INFO): set remote address to 0
2025-10-24T22:16:40.394Z,1761344200.394 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:16:40.394Z,1761344200.394 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:16:40.554Z,1761344200.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604981,0.758526,0.242149],[-0.777548,0.497288,0.384869],[0.171516,-0.421121,0.890640]]
2025-10-24T22:16:40.647Z,1761344200.647 [DAT](INFO): DAT read: user:17>

2025-10-24T22:16:40.648Z,1761344200.648 [DAT](INFO): DAT read: Tx time:22:16:39.6087

2025-10-24T22:16:40.649Z,1761344200.649 [DAT](INFO): Ping request sent.
2025-10-24T22:16:40.649Z,1761344200.649 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:16:40.649Z,1761344200.649 [DAT](INFO): publishing transmit ping time
2025-10-24T22:16:40.650Z,1761344200.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001321
2025-10-24T22:16:40.897Z,1761344200.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247657
2025-10-24T22:16:40.959Z,1761344200.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583947,0.771751,0.251807],[-0.792943,0.475800,0.380599],[0.173918,-0.421918,0.889796]]
2025-10-24T22:16:41.149Z,1761344201.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500290
2025-10-24T22:16:41.395Z,1761344201.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541510,0.794535,0.274738],[-0.822115,0.432145,0.370644],[0.175764,-0.426574,0.887210]]
2025-10-24T22:16:41.401Z,1761344201.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751652
2025-10-24T22:16:41.653Z,1761344201.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004218
2025-10-24T22:16:41.805Z,1761344201.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519969,0.803917,0.288703],[-0.836029,0.409652,0.365021],[0.175179,-0.431163,0.885105]]
2025-10-24T22:16:41.905Z,1761344201.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255574
2025-10-24T22:16:42.157Z,1761344202.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508333
2025-10-24T22:16:42.213Z,1761344202.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497079,0.813207,0.302667],[-0.850021,0.386301,0.358099],[0.174288,-0.435277,0.883265]]
2025-10-24T22:16:42.413Z,1761344202.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763161
2025-10-24T22:16:42.610Z,1761344202.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472294,0.823160,0.315193],[-0.864212,0.362090,0.349326],[0.173423,-0.437378,0.882397]]
2025-10-24T22:16:42.661Z,1761344202.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012019
2025-10-24T22:16:42.913Z,1761344202.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263605
2025-10-24T22:16:43.022Z,1761344203.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446375,0.833762,0.324947],[-0.878084,0.338157,0.338553],[0.172390,-0.436452,0.883058]]
2025-10-24T22:16:43.165Z,1761344203.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515664
2025-10-24T22:16:43.417Z,1761344203.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767577
2025-10-24T22:16:43.421Z,1761344203.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419300,0.843819,0.334900],[-0.891510,0.313044,0.327434],[0.171457,-0.435860,0.883532]]
2025-10-24T22:16:43.671Z,1761344203.671 [DAT](INFO): DAT read: Rx Time:22:16:42.0602

2025-10-24T22:16:43.671Z,1761344203.671 [DAT](INFO): Rx dataTimestamp_ set to:1761344203.671167
2025-10-24T22:16:43.672Z,1761344203.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023252
2025-10-24T22:16:43.823Z,1761344203.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391572,0.854117,0.342281],[-0.904174,0.288152,0.315336],[0.170705,-0.432958,0.885103]]
2025-10-24T22:16:43.924Z,1761344203.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274221
2025-10-24T22:16:44.179Z,1761344204.179 [DAT](INFO): DAT read: 22:16:42.0602 LVL= 21520, 25841, 18930, 25267, AGC= 41, IDX= 336, 0.20,-1.824,-2.279,-0.985,-2.280, PHS= 0.558, 0.046, 1.251, RAW= 185.0, -32.1, CAL= 184.7, -33.9, ROT= 325.3,  33.9

2025-10-24T22:16:44.180Z,1761344204.180 [DAT](INFO): got valid direction response:
 22:16:42.0602 LVL= 21520, 25841, 18930, 25267, AGC= 41, IDX= 336, 0.20,-1.824,-2.279,-0.985,-2.280, PHS= 0.558, 0.046, 1.251, RAW= 185.0, -32.1, CAL= 184.7, -33.9, ROT= 325.3,  33.9

2025-10-24T22:16:44.181Z,1761344204.181 [DAT](INFO): DAT read: Bearing  51.2,  -3.2 (Local)

2025-10-24T22:16:44.182Z,1761344204.182 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.2,  -3.2 (Local)

2025-10-24T22:16:44.183Z,1761344204.183 [DAT](INFO): DAT read: Range 11 to 20 : 35.4 m  (Round-trip  47.3 ms) speed -0.3 m/s

2025-10-24T22:16:44.184Z,1761344204.184 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-24T22:16:44.185Z,1761344204.185 [DAT](INFO): direction in FSK: [0.682390,-0.472509,-0.557745]
2025-10-24T22:16:44.185Z,1761344204.185 [DAT](INFO): publishing direction and range info
2025-10-24T22:16:44.351Z,1761344204.351 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344256.00. Resetting abort timer.
2025-10-24T22:16:44.707Z,1761344204.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335903,0.873023,0.353553],[-0.926766,0.239329,0.289529],[0.168150,-0.424914,0.889479]]
2025-10-24T22:16:45.114Z,1761344205.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308604,0.880605,0.359580],[-0.936474,0.215042,0.277080],[0.166674,-0.422246,0.891027]]
2025-10-24T22:16:45.189Z,1761344205.189 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:16:45.189Z,1761344205.189 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:16:45.189Z,1761344205.189 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:16:45.190Z,1761344205.190 [marl:UpdateRudder:A] Stopped
2025-10-24T22:16:45.190Z,1761344205.190 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:16:45.190Z,1761344205.190 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:16:45.190Z,1761344205.190 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:16:45.190Z,1761344205.190 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:16:45.190Z,1761344205.190 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:16:45.190Z,1761344205.190 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:16:45.190Z,1761344205.190 [marl:UpdateCommandMode] Stopped
2025-10-24T22:16:45.191Z,1761344205.191 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:16:45.191Z,1761344205.191 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:16:45.191Z,1761344205.191 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:16:45.191Z,1761344205.191 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:16:45.191Z,1761344205.191 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:16:45.191Z,1761344205.191 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:16:45.191Z,1761344205.191 [marl:UpdateSpeed] Stopped
2025-10-24T22:16:45.191Z,1761344205.191 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:16:45.524Z,1761344205.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282650,0.886821,0.365591],[-0.945063,0.192211,0.264407],[0.164212,-0.420241,0.892430]]
2025-10-24T22:16:45.586Z,1761344205.586 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-24T22:16:45.586Z,1761344205.586 [marl:UpdateRudder:B] Stopped
2025-10-24T22:16:45.586Z,1761344205.586 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:16:45.586Z,1761344205.586 [marl:UpdateRudder] Stopped
2025-10-24T22:16:45.586Z,1761344205.586 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:16:45.961Z,1761344205.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256975,0.891705,0.372593],[-0.952828,0.169345,0.251877],[0.161503,-0.419743,0.893159]]
2025-10-24T22:16:46.322Z,1761344206.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231184,0.896447,0.378069],[-0.959971,0.147018,0.238414],[0.158142,-0.418053,0.894552]]
2025-10-24T22:16:46.727Z,1761344206.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204749,0.900002,0.384805],[-0.966583,0.123952,0.224397],[0.154260,-0.417891,0.895305]]
2025-10-24T22:16:47.139Z,1761344207.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177231,0.903560,0.390088],[-0.972656,0.100362,0.209445],[0.150096,-0.416542,0.896640]]
2025-10-24T22:16:47.534Z,1761344207.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147851,0.907336,0.393549],[-0.978121,0.075263,0.193947],[0.146355,-0.413613,0.898612]]
2025-10-24T22:16:47.701Z,1761344207.701 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-24T22:16:47.701Z,1761344207.701 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:16:47.957Z,1761344207.957 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:16:47.957Z,1761344207.957 [DAT](INFO): #Outgoing data=6
2025-10-24T22:16:47.958Z,1761344207.958 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:16:48.005Z,1761344208.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117315,0.911842,0.393422],[-0.982740,0.049535,0.178237],[0.143036,-0.407542,0.901915]]
2025-10-24T22:16:48.206Z,1761344208.206 [DAT](INFO): setting remote address to 10
2025-10-24T22:16:48.345Z,1761344208.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086152,0.915430,0.393147],[-0.986377,0.022867,0.162904],[0.140137,-0.401826,0.904930]]
2025-10-24T22:16:48.457Z,1761344208.457 [DAT](INFO): DAT read: user:18>

2025-10-24T22:16:48.458Z,1761344208.458 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:16:48.458Z,1761344208.458 [DAT](INFO): set remote address to 10
2025-10-24T22:16:48.458Z,1761344208.458 [DAT](INFO): entering online mode
2025-10-24T22:16:48.709Z,1761344208.709 [DAT](INFO): DAT read: user:19>

2025-10-24T22:16:48.709Z,1761344208.709 [DAT](INFO): DAT read: 

2025-10-24T22:16:48.710Z,1761344208.710 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:16:48.711Z,1761344208.711 [DAT](INFO): commRate: 600
2025-10-24T22:16:48.711Z,1761344208.711 [DAT](INFO): online mode acknowledged
2025-10-24T22:16:48.711Z,1761344208.711 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:16:48.755Z,1761344208.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055248,0.917972,0.392779],[-0.988931,-0.003946,0.148323],[0.137706,-0.396626,0.907593]]
2025-10-24T22:16:49.154Z,1761344209.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025158,0.918176,0.395374],[-0.990428,-0.030799,0.134547],[0.135715,-0.394975,0.908612]]
2025-10-24T22:16:49.554Z,1761344209.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003525,0.915704,0.401837],[-0.991003,-0.056962,0.121112],[0.133792,-0.397795,0.907667]]
2025-10-24T22:16:50.013Z,1761344210.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031183,0.912898,0.406994],[-0.990777,-0.081952,0.107909],[0.131864,-0.399876,0.907034]]
2025-10-24T22:16:50.364Z,1761344210.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057365,0.908377,0.414198],[-0.989933,-0.105524,0.094322],[0.129388,-0.404618,0.905286]]
2025-10-24T22:16:50.766Z,1761344210.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083193,0.904257,0.418807],[-0.988442,-0.128324,0.080720],[0.126734,-0.407251,0.904481]]
2025-10-24T22:16:51.173Z,1761344211.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109349,0.898874,0.424343],[-0.986247,-0.151338,0.066429],[0.123931,-0.411244,0.903061]]
2025-10-24T22:16:51.987Z,1761344211.987 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:16:51.0076

2025-10-24T22:16:51.988Z,1761344211.988 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:16:52.002Z,1761344212.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165477,0.887483,0.430107],[-0.979032,-0.200362,0.036759],[0.118800,-0.415006,0.902029]]
2025-10-24T22:16:52.383Z,1761344212.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195938,0.883020,0.426478],[-0.973659,-0.226899,0.022462],[0.116602,-0.410843,0.904219]]
2025-10-24T22:16:52.787Z,1761344212.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227503,0.879183,0.418664],[-0.966989,-0.254647,0.009288],[0.114778,-0.402730,0.908094]]
2025-10-24T22:16:53.191Z,1761344213.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259813,0.871983,0.414902],[-0.959018,-0.283297,-0.005145],[0.113054,-0.399235,0.909852]]
2025-10-24T22:16:54.005Z,1761344214.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323429,0.851450,0.412828],[-0.939765,-0.340029,-0.034953],[0.110612,-0.399266,0.910138]]
2025-10-24T22:16:54.402Z,1761344214.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353138,0.838239,0.415511],[-0.929093,-0.366381,-0.050500],[0.109904,-0.403882,0.908185]]
2025-10-24T22:16:54.806Z,1761344214.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379709,0.825788,0.417007],[-0.918642,-0.389772,-0.064620],[0.109175,-0.407617,0.906603]]
2025-10-24T22:16:55.614Z,1761344215.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425534,0.799953,0.423079],[-0.898412,-0.429514,-0.091505],[0.108519,-0.419038,0.901460]]
2025-10-24T22:16:56.020Z,1761344216.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445243,0.788151,0.424943],[-0.888819,-0.446500,-0.103146],[0.108443,-0.423623,0.899324]]
2025-10-24T22:16:56.256Z,1761344216.256 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:16:56.423Z,1761344216.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463606,0.775988,0.427684],[-0.879342,-0.462197,-0.114591],[0.108753,-0.429205,0.896636]]
2025-10-24T22:16:56.829Z,1761344216.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481280,0.765791,0.426537],[-0.869741,-0.477792,-0.123552],[0.109181,-0.430440,0.895991]]
2025-10-24T22:16:57.230Z,1761344217.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498443,0.756693,0.423049],[-0.859995,-0.493155,-0.131171],[0.109373,-0.429201,0.896562]]
2025-10-24T22:16:57.260Z,1761344217.260 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:16:57.634Z,1761344217.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515362,0.746965,0.420053],[-0.849982,-0.508023,-0.139442],[0.109238,-0.428901,0.896723]]
2025-10-24T22:16:58.042Z,1761344218.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532785,0.738365,0.413470],[-0.839233,-0.523798,-0.146025],[0.108755,-0.424797,0.898732]]
2025-10-24T22:16:58.102Z,1761344218.102 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:16:58.102Z,1761344218.102 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:16:58.102Z,1761344218.102 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:16:58.103Z,1761344218.103 [marl:UpdateRudder:A] Stopped
2025-10-24T22:16:58.103Z,1761344218.103 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:16:58.103Z,1761344218.103 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:16:58.103Z,1761344218.103 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:16:58.103Z,1761344218.103 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:16:58.103Z,1761344218.103 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:16:58.103Z,1761344218.103 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:16:58.103Z,1761344218.103 [marl:UpdateCommandMode] Stopped
2025-10-24T22:16:58.104Z,1761344218.104 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:16:58.104Z,1761344218.104 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:16:58.104Z,1761344218.104 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:16:58.104Z,1761344218.104 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:16:58.104Z,1761344218.104 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:16:58.105Z,1761344218.105 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:16:58.105Z,1761344218.105 [marl:UpdateSpeed] Stopped
2025-10-24T22:16:58.105Z,1761344218.105 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:16:58.447Z,1761344218.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550901,0.730659,0.403294],[-0.827687,-0.540270,-0.151799],[0.106974,-0.417427,0.902392]]
2025-10-24T22:16:58.507Z,1761344218.507 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:16:58.507Z,1761344218.507 [marl:UpdateRudder:B] Stopped
2025-10-24T22:16:58.507Z,1761344218.507 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:16:58.507Z,1761344218.507 [marl:UpdateRudder] Stopped
2025-10-24T22:16:58.508Z,1761344218.508 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:16:58.789Z,1761344218.789 [DAT](INFO): DAT read: Rx Time:22:16:57.2528

2025-10-24T22:16:58.790Z,1761344218.790 [DAT](INFO): Rx dataTimestamp_ set to:1761344218.789690
2025-10-24T22:16:58.870Z,1761344218.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570079,0.724003,0.388367],[-0.815034,-0.557955,-0.156223],[0.103585,-0.405592,0.908166]]
2025-10-24T22:16:59.274Z,1761344219.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590535,0.715382,0.373494],[-0.800904,-0.576358,-0.162373],[0.099108,-0.395020,0.913311]]
2025-10-24T22:16:59.550Z,1761344219.550 [DAT](INFO): DAT read: 22:16:57.2528 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 373, 0.14, 0.777, 1.825,-0.038, 1.403, PHS=-0.525, 0.466,-1.485, RAW= 359.5,  17.9, CAL= 359.8,  22.2, ROT= 150.2, -22.2

2025-10-24T22:16:59.551Z,1761344219.551 [DAT](INFO): got valid direction response:
 22:16:57.2528 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 373, 0.14, 0.777, 1.825,-0.038, 1.403, PHS=-0.525, 0.466,-1.485, RAW= 359.5,  17.9, CAL= 359.8,  22.2, ROT= 150.2, -22.2

2025-10-24T22:16:59.552Z,1761344219.552 [DAT](INFO): DAT read: 

2025-10-24T22:16:59.552Z,1761344219.552 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:16:59.553Z,1761344219.553 [DAT](INFO): Got DATA 2
2025-10-24T22:16:59.553Z,1761344219.553 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:16:59.554Z,1761344219.554 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:16:59.554Z,1761344219.554 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:16:59.555Z,1761344219.555 [DAT](INFO): DAT read: CRC:Pass MPD:04.8 PSNR:10.0 AGC:61 SPD:-1.4 CCERR:007

2025-10-24T22:16:59.555Z,1761344219.555 [DAT](INFO): Got CRC:Pass
2025-10-24T22:16:59.555Z,1761344219.555 [DAT](INFO): Got CRC:Pass
2025-10-24T22:16:59.555Z,1761344219.555 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:16:59.555Z,1761344219.555 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:16:59.556Z,1761344219.556 [DAT](INFO): Got ack
2025-10-24T22:16:59.556Z,1761344219.556 [DAT](INFO): DAT read: 

2025-10-24T22:16:59.556Z,1761344219.556 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:16:59.557Z,1761344219.557 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:16:59.557Z,1761344219.557 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-24T22:16:59.558Z,1761344219.558 [DAT](INFO): direction in FSK: [-0.803438,0.460134,0.377841]
2025-10-24T22:16:59.683Z,1761344219.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612876,0.703829,0.359176],[-0.784582,-0.596042,-0.170778],[0.093885,-0.386469,0.917512]]
2025-10-24T22:16:59.753Z,1761344219.753 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344256.00. Resetting abort timer.
2025-10-24T22:16:59.799Z,1761344219.799 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:16:59.799Z,1761344219.799 [DAT](INFO): #Outgoing data=7
2025-10-24T22:16:59.799Z,1761344219.799 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:17:00.048Z,1761344220.048 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:17:00.079Z,1761344220.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635818,0.691101,0.343678],[-0.766830,-0.616259,-0.179433],[0.087789,-0.377629,0.921786]]
2025-10-24T22:17:00.509Z,1761344220.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659072,0.677131,0.327287],[-0.747709,-0.636791,-0.188223],[0.080962,-0.368768,0.925989]]
2025-10-24T22:17:00.887Z,1761344220.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681424,0.661973,0.312175],[-0.728239,-0.655801,-0.198981],[0.073005,-0.362928,0.928953]]
2025-10-24T22:17:01.291Z,1761344221.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701628,0.648399,0.295459],[-0.709654,-0.673182,-0.207887],[0.064104,-0.355533,0.932463]]
2025-10-24T22:17:01.695Z,1761344221.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718595,0.639112,0.274149],[-0.693310,-0.689140,-0.210731],[0.054246,-0.341501,0.938315]]
2025-10-24T22:17:02.100Z,1761344222.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730968,0.636424,0.246272],[-0.681039,-0.703212,-0.204151],[0.043255,-0.316949,0.947456]]
2025-10-24T22:17:02.502Z,1761344222.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737631,0.640943,0.212350],[-0.674496,-0.713867,-0.188281],[0.030913,-0.282111,0.958884]]
2025-10-24T22:17:02.906Z,1761344222.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738407,0.650871,0.176414],[-0.674125,-0.719288,-0.167872],[0.017629,-0.242883,0.969895]]
2025-10-24T22:17:03.311Z,1761344223.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734079,0.664380,0.140453],[-0.679052,-0.719422,-0.146016],[0.004035,-0.202562,0.979261]]
2025-10-24T22:17:03.325Z,1761344223.325 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:17:02.3576

2025-10-24T22:17:03.325Z,1761344223.325 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:17:03.715Z,1761344223.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725346,0.680022,0.106975],[-0.688322,-0.714379,-0.125996],[-0.009259,-0.165023,0.986246]]
2025-10-24T22:17:04.120Z,1761344224.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713294,0.696546,0.077684],[-0.700524,-0.705099,-0.110010],[-0.021852,-0.132889,0.990890]]
2025-10-24T22:17:04.522Z,1761344224.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698736,0.713410,0.053045],[-0.714611,-0.692628,-0.097970],[-0.033152,-0.106362,0.993775]]
2025-10-24T22:17:04.929Z,1761344224.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682516,0.730165,0.032113],[-0.729589,-0.678061,-0.089069],[-0.043260,-0.084221,0.995508]]
2025-10-24T22:17:05.333Z,1761344225.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665200,0.746547,0.013278],[-0.744844,-0.662230,-0.081600],[-0.052125,-0.064170,0.996577]]
2025-10-24T22:17:05.736Z,1761344225.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646923,0.762552,-0.002166],[-0.760189,-0.645137,-0.076882],[-0.060024,-0.048090,0.997038]]
2025-10-24T22:17:06.138Z,1761344226.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627664,0.778307,-0.016635],[-0.775527,-0.626997,-0.073703],[-0.067794,-0.033360,0.997142]]
2025-10-24T22:17:06.542Z,1761344226.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607466,0.793815,-0.029015],[-0.790687,-0.607767,-0.073710],[-0.076146,-0.021835,0.996858]]
2025-10-24T22:17:06.954Z,1761344226.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586871,0.808712,-0.039586],[-0.805180,-0.588059,-0.076632],[-0.085252,-0.013099,0.996273]]
2025-10-24T22:17:07.353Z,1761344227.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565911,0.822967,-0.049711],[-0.818930,-0.568063,-0.081594],[-0.095388,-0.005465,0.995425]]
2025-10-24T22:17:07.754Z,1761344227.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545198,0.836319,-0.057697],[-0.831602,-0.548242,-0.088704],[-0.105816,-0.000380,0.994386]]
2025-10-24T22:17:08.158Z,1761344228.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526464,0.847854,-0.063085],[-0.842338,-0.530225,-0.096579],[-0.115334,0.002293,0.993324]]
2025-10-24T22:17:08.562Z,1761344228.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512606,0.856122,-0.065499],[-0.849877,-0.516767,-0.103254],[-0.122246,0.002737,0.992496]]
2025-10-24T22:17:08.968Z,1761344228.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503098,0.861653,-0.066685],[-0.854920,-0.507490,-0.107542],[-0.126506,0.002907,0.991962]]
2025-10-24T22:17:09.375Z,1761344229.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495287,0.866294,-0.065006],[-0.859109,-0.499534,-0.111343],[-0.128929,0.000700,0.991654]]
2025-10-24T22:17:09.774Z,1761344229.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488315,0.870458,-0.062059],[-0.862965,-0.492239,-0.113984],[-0.129767,-0.002105,0.991542]]
2025-10-24T22:17:10.129Z,1761344230.129 [DAT](INFO): DAT read: Rx Time:22:17:08.6077

2025-10-24T22:17:10.130Z,1761344230.130 [DAT](INFO): Rx dataTimestamp_ set to:1761344230.129636
2025-10-24T22:17:10.187Z,1761344230.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482156,0.874184,-0.057685],[-0.866462,-0.485558,-0.116091],[-0.129494,-0.005992,0.991562]]
2025-10-24T22:17:10.585Z,1761344230.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476471,0.877669,-0.051690],[-0.869842,-0.479140,-0.117472],[-0.127869,-0.011011,0.991730]]
2025-10-24T22:17:10.894Z,1761344230.894 [DAT](INFO): DAT read: 22:17:08.6077 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 471,-0.23,-1.459,-0.721,-2.468,-1.279, PHS=-0.078, 0.603,-1.233, RAW=   8.5,   8.8, CAL=   8.4,   9.4, ROT= 141.6,  -9.4

2025-10-24T22:17:10.895Z,1761344230.895 [DAT](INFO): got valid direction response:
 22:17:08.6077 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 471,-0.23,-1.459,-0.721,-2.468,-1.279, PHS=-0.078, 0.603,-1.233, RAW=   8.5,   8.8, CAL=   8.4,   9.4, ROT= 141.6,  -9.4

2025-10-24T22:17:10.896Z,1761344230.896 [DAT](INFO): DAT read: 

2025-10-24T22:17:10.896Z,1761344230.896 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:17:10.897Z,1761344230.897 [DAT](INFO): Got DATA 2
2025-10-24T22:17:10.897Z,1761344230.898 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:17:10.898Z,1761344230.898 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:17:10.898Z,1761344230.898 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:17:10.899Z,1761344230.899 [DAT](INFO): DAT read: CRC:Pass MPD:04.3 PSNR:13.5 AGC:56 SPD:-1.1 CCERR:009

2025-10-24T22:17:10.899Z,1761344230.899 [DAT](INFO): Got CRC:Pass
2025-10-24T22:17:10.899Z,1761344230.899 [DAT](INFO): Got CRC:Pass
2025-10-24T22:17:10.899Z,1761344230.899 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:17:10.900Z,1761344230.900 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:17:10.900Z,1761344230.900 [DAT](INFO): Got ack
2025-10-24T22:17:10.900Z,1761344230.900 [DAT](INFO): DAT read: 

2025-10-24T22:17:10.900Z,1761344230.900 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:17:10.901Z,1761344230.901 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:17:10.901Z,1761344230.901 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-24T22:17:10.902Z,1761344230.902 [DAT](INFO): direction in FSK: [-0.773170,0.612807,0.163326]
2025-10-24T22:17:10.987Z,1761344230.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471114,0.880835,-0.046714],[-0.873105,-0.473202,-0.117337],[-0.125460,-0.014493,0.991993]]
2025-10-24T22:17:11.074Z,1761344231.074 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:17:11.074Z,1761344231.074 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:17:11.074Z,1761344231.074 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:17:11.074Z,1761344231.074 [marl:UpdateRudder:A] Stopped
2025-10-24T22:17:11.074Z,1761344231.074 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:17:11.074Z,1761344231.074 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:17:11.075Z,1761344231.075 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:17:11.075Z,1761344231.075 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:17:11.075Z,1761344231.075 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:17:11.075Z,1761344231.075 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:17:11.075Z,1761344231.075 [marl:UpdateCommandMode] Stopped
2025-10-24T22:17:11.075Z,1761344231.075 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:17:11.075Z,1761344231.075 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:17:11.075Z,1761344231.075 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:17:11.088Z,1761344231.088 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:17:11.088Z,1761344231.088 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:17:11.088Z,1761344231.088 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:17:11.088Z,1761344231.088 [marl:UpdateSpeed] Stopped
2025-10-24T22:17:11.088Z,1761344231.088 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:17:11.090Z,1761344231.090 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344256.00. Resetting abort timer.
2025-10-24T22:17:11.144Z,1761344231.144 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:17:11.144Z,1761344231.144 [DAT](INFO): #Outgoing data=7
2025-10-24T22:17:11.144Z,1761344231.144 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:17:11.392Z,1761344231.392 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:17:11.426Z,1761344231.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460233,0.887064,-0.036107],[-0.879840,-0.461164,-0.114931],[-0.118602,-0.021126,0.992717]]
2025-10-24T22:17:11.472Z,1761344231.472 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:17:11.472Z,1761344231.472 [marl:UpdateRudder:B] Stopped
2025-10-24T22:17:11.473Z,1761344231.473 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:17:11.473Z,1761344231.473 [marl:UpdateRudder] Stopped
2025-10-24T22:17:11.473Z,1761344231.473 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:17:12.209Z,1761344232.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441825,0.896766,-0.024515],[-0.889993,-0.441593,-0.113612],[-0.112709,-0.028379,0.993223]]
2025-10-24T22:17:12.615Z,1761344232.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429193,0.903053,-0.016959],[-0.896470,-0.428204,-0.113943],[-0.110159,-0.033700,0.993343]]
2025-10-24T22:17:13.024Z,1761344233.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415691,0.909460,-0.009148],[-0.903210,-0.413974,-0.113299],[-0.106828,-0.038835,0.993519]]
2025-10-24T22:17:13.439Z,1761344233.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400283,0.916391,-0.000532],[-0.910613,-0.397824,-0.111889],[-0.102746,-0.044303,0.993721]]
2025-10-24T22:17:13.827Z,1761344233.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384533,0.923065,0.009261],[-0.917918,-0.381287,-0.109758],[-0.097782,-0.050707,0.993915]]
2025-10-24T22:17:14.230Z,1761344234.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370163,0.928679,0.023107],[-0.924368,-0.365745,-0.108509],[-0.092318,-0.061525,0.993827]]
2025-10-24T22:17:14.636Z,1761344234.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358287,0.932587,0.043719],[-0.929594,-0.352013,-0.109282],[-0.086525,-0.079795,0.993049]]
2025-10-24T22:17:14.674Z,1761344234.674 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:17:13.7076

2025-10-24T22:17:14.674Z,1761344234.674 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:17:15.039Z,1761344235.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348065,0.934763,0.071194],[-0.933980,-0.339221,-0.112293],[-0.080817,-0.105579,0.991121]]
2025-10-24T22:17:15.444Z,1761344235.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338713,0.935477,0.100783],[-0.937837,-0.327050,-0.116190],[-0.075733,-0.133873,0.988101]]
2025-10-24T22:17:15.846Z,1761344235.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329392,0.935308,0.129228],[-0.941515,-0.315064,-0.119518],[-0.071072,-0.161038,0.984386]]
2025-10-24T22:17:16.250Z,1761344236.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320371,0.934387,0.155833],[-0.944916,-0.303571,-0.122386],[-0.067049,-0.186458,0.980172]]
2025-10-24T22:17:16.659Z,1761344236.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312934,0.933559,0.174757],[-0.947654,-0.294613,-0.123111],[-0.063446,-0.204134,0.976885]]
2025-10-24T22:17:17.059Z,1761344237.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307823,0.932434,0.189240],[-0.949587,-0.288666,-0.122295],[-0.059405,-0.217345,0.974286]]
2025-10-24T22:17:17.462Z,1761344237.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304617,0.931430,0.199113],[-0.950887,-0.285324,-0.120016],[-0.054975,-0.225893,0.972600]]
2025-10-24T22:17:17.866Z,1761344237.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302903,0.931164,0.202938],[-0.951665,-0.284176,-0.116526],[-0.050834,-0.228425,0.972233]]
2025-10-24T22:17:18.270Z,1761344238.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302111,0.931482,0.202660],[-0.952132,-0.284454,-0.111938],[-0.046620,-0.226777,0.972830]]
2025-10-24T22:17:18.680Z,1761344238.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302260,0.932028,0.199907],[-0.952278,-0.285895,-0.106919],[-0.042499,-0.222684,0.973964]]
2025-10-24T22:17:19.074Z,1761344239.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303559,0.932625,0.195098],[-0.952045,-0.288670,-0.101387],[-0.038237,-0.216519,0.975529]]
2025-10-24T22:17:19.483Z,1761344239.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305648,0.932773,0.191088],[-0.951566,-0.292254,-0.095442],[-0.033179,-0.211004,0.976922]]
2025-10-24T22:17:19.883Z,1761344239.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308541,0.932151,0.189467],[-0.950828,-0.296581,-0.089255],[-0.027006,-0.207689,0.977822]]
2025-10-24T22:17:20.286Z,1761344240.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311967,0.931152,0.188767],[-0.949888,-0.301556,-0.082321],[-0.019729,-0.204989,0.978565]]
2025-10-24T22:17:20.691Z,1761344240.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315128,0.929942,0.189478],[-0.948969,-0.306168,-0.075619],[-0.012310,-0.203638,0.978969]]
2025-10-24T22:17:21.095Z,1761344241.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317459,0.928630,0.192008],[-0.948259,-0.309823,-0.069387],[-0.004946,-0.204101,0.978937]]
2025-10-24T22:17:21.481Z,1761344241.481 [DAT](INFO): DAT read: Rx Time:22:17:19.9627

2025-10-24T22:17:21.481Z,1761344241.481 [DAT](INFO): Rx dataTimestamp_ set to:1761344241.480992
2025-10-24T22:17:21.498Z,1761344241.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317769,0.927469,0.197040],[-0.948166,-0.311325,-0.063711],[0.002254,-0.207072,0.978323]]
2025-10-24T22:17:21.942Z,1761344241.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315727,0.926412,0.205126],[-0.948804,-0.310364,-0.058688],[0.009294,-0.213154,0.976974]]
2025-10-24T22:17:22.242Z,1761344242.242 [DAT](INFO): DAT read: 22:17:19.9627 LVL= 29056, 27377, 32754, 32755, AGC= 49, IDX= 476,-0.34,-1.431,-1.095,-2.795,-1.318, PHS=-0.011, 0.267,-1.521, RAW=  21.7,  15.0, CAL=  20.3,  17.6, ROT= 129.7, -17.6

2025-10-24T22:17:22.243Z,1761344242.243 [DAT](INFO): got valid direction response:
 22:17:19.9627 LVL= 29056, 27377, 32754, 32755, AGC= 49, IDX= 476,-0.34,-1.431,-1.095,-2.795,-1.318, PHS=-0.011, 0.267,-1.521, RAW=  21.7,  15.0, CAL=  20.3,  17.6, ROT= 129.7, -17.6

2025-10-24T22:17:22.243Z,1761344242.243 [DAT](INFO): DAT read: 

2025-10-24T22:17:22.244Z,1761344242.244 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:17:22.245Z,1761344242.245 [DAT](INFO): Got DATA 2
2025-10-24T22:17:22.245Z,1761344242.245 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:17:22.246Z,1761344242.246 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:17:22.246Z,1761344242.246 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:17:22.247Z,1761344242.247 [DAT](INFO): DAT read: CRC:Pass MPD:03.3 PSNR:10.4 AGC:57 SPD:-0.8 CCERR:008

2025-10-24T22:17:22.247Z,1761344242.247 [DAT](INFO): Got CRC:Pass
2025-10-24T22:17:22.247Z,1761344242.247 [DAT](INFO): Got CRC:Pass
2025-10-24T22:17:22.247Z,1761344242.247 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:17:22.247Z,1761344242.247 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:17:22.248Z,1761344242.248 [DAT](INFO): Got ack
2025-10-24T22:17:22.248Z,1761344242.248 [DAT](INFO): DAT read: 

2025-10-24T22:17:22.248Z,1761344242.248 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:17:22.249Z,1761344242.249 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:17:22.249Z,1761344242.249 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-10-24T22:17:22.250Z,1761344242.250 [DAT](INFO): direction in FSK: [-0.608867,0.733385,0.302370]
2025-10-24T22:17:22.307Z,1761344242.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311010,0.925990,0.214045],[-0.950267,-0.306836,-0.053333],[0.016291,-0.219987,0.975367]]
2025-10-24T22:17:22.403Z,1761344242.403 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344256.00. Resetting abort timer.
2025-10-24T22:17:22.489Z,1761344242.489 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:17:22.490Z,1761344242.490 [DAT](INFO): #Outgoing data=7
2025-10-24T22:17:22.490Z,1761344242.490 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:17:22.710Z,1761344242.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304365,0.926092,0.222969],[-0.952273,-0.301517,-0.047570],[0.023175,-0.226806,0.973664]]
2025-10-24T22:17:22.741Z,1761344242.741 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:17:23.114Z,1761344243.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295753,0.926515,0.232594],[-0.954800,-0.294303,-0.041739],[0.029782,-0.234425,0.971678]]
2025-10-24T22:17:23.519Z,1761344243.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285415,0.927731,0.240526],[-0.957714,-0.285603,-0.034853],[0.036361,-0.240303,0.970017]]
2025-10-24T22:17:23.991Z,1761344243.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273643,0.929138,0.248639],[-0.960909,-0.275408,-0.028371],[0.042116,-0.246683,0.968181]]
2025-10-24T22:17:24.066Z,1761344244.066 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:17:24.066Z,1761344244.066 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:17:24.066Z,1761344244.066 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:17:24.067Z,1761344244.067 [marl:UpdateRudder:A] Stopped
2025-10-24T22:17:24.067Z,1761344244.067 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:17:24.067Z,1761344244.067 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:17:24.067Z,1761344244.067 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:17:24.067Z,1761344244.067 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:17:24.067Z,1761344244.067 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:17:24.067Z,1761344244.067 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:17:24.067Z,1761344244.067 [marl:UpdateCommandMode] Stopped
2025-10-24T22:17:24.068Z,1761344244.068 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:17:24.068Z,1761344244.068 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:17:24.068Z,1761344244.068 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:17:24.068Z,1761344244.068 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:17:24.068Z,1761344244.068 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:17:24.068Z,1761344244.068 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:17:24.069Z,1761344244.069 [marl:UpdateSpeed] Stopped
2025-10-24T22:17:24.069Z,1761344244.069 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:17:24.327Z,1761344244.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261810,0.931294,0.253274],[-0.963973,-0.265121,-0.021607],[0.047026,-0.249806,0.967153]]
2025-10-24T22:17:24.401Z,1761344244.401 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:17:24.402Z,1761344244.402 [marl:UpdateRudder:B] Stopped
2025-10-24T22:17:24.402Z,1761344244.402 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:17:24.402Z,1761344244.402 [marl:UpdateRudder] Stopped
2025-10-24T22:17:24.402Z,1761344244.402 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:17:24.732Z,1761344244.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249773,0.934213,0.254674],[-0.966956,-0.254518,-0.014704],[0.051082,-0.249931,0.966915]]
2025-10-24T22:17:25.134Z,1761344245.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238233,0.937566,0.253407],[-0.969667,-0.244309,-0.007698],[0.054693,-0.247554,0.967329]]
2025-10-24T22:17:25.539Z,1761344245.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227872,0.941768,0.247279],[-0.971950,-0.235189,0.000054],[0.058208,-0.240330,0.968944]]
2025-10-24T22:17:25.990Z,1761344245.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219766,0.945707,0.239458],[-0.973560,-0.228286,0.008087],[0.062313,-0.231350,0.970873]]
2025-10-24T22:17:26.017Z,1761344246.017 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:17:25.0575

2025-10-24T22:17:26.017Z,1761344246.017 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:17:26.346Z,1761344246.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214377,0.949375,0.229627],[-0.974442,-0.224032,0.016517],[0.067125,-0.220218,0.973138]]
2025-10-24T22:17:26.750Z,1761344246.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210820,0.952532,0.219630],[-0.974843,-0.221497,0.024889],[0.072354,-0.208858,0.975266]]
2025-10-24T22:17:27.154Z,1761344247.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208265,0.954974,0.211308],[-0.974968,-0.219899,0.032875],[0.077861,-0.199171,0.976867]]
2025-10-24T22:17:27.396Z,1761344247.396 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:17:27.559Z,1761344247.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205423,0.956665,0.206384],[-0.975138,-0.217985,0.039842],[0.083104,-0.193069,0.977660]]
2025-10-24T22:17:27.994Z,1761344247.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202867,0.958183,0.201817],[-0.975221,-0.216280,0.046556],[0.088258,-0.187372,0.978316]]
2025-10-24T22:17:28.372Z,1761344248.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200351,0.959073,0.200094],[-0.975249,-0.214731,0.052728],[0.093536,-0.184578,0.978357]]
2025-10-24T22:17:28.400Z,1761344248.400 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:17:28.771Z,1761344248.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197712,0.959493,0.200706],[-0.975319,-0.213080,0.057879],[0.098301,-0.184309,0.977940]]
2025-10-24T22:17:29.175Z,1761344249.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196091,0.959673,0.201433],[-0.975157,-0.212433,0.062781],[0.103040,-0.184118,0.977488]]
2025-10-24T22:17:29.580Z,1761344249.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195180,0.959385,0.203678],[-0.974801,-0.212635,0.067447],[0.108017,-0.185381,0.976712]]
2025-10-24T22:17:29.999Z,1761344249.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194414,0.958679,0.207698],[-0.974405,-0.213106,0.071557],[0.112862,-0.188470,0.975572]]
2025-10-24T22:17:30.391Z,1761344250.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193534,0.957683,0.213045],[-0.973993,-0.213627,0.075504],[0.117821,-0.192892,0.974121]]
2025-10-24T22:17:30.791Z,1761344250.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191627,0.956979,0.217876],[-0.973738,-0.213180,0.079930],[0.122938,-0.196837,0.972698]]
2025-10-24T22:17:31.196Z,1761344251.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187606,0.956453,0.223610],[-0.973917,-0.210713,0.084182],[0.127634,-0.201985,0.971036]]
2025-10-24T22:17:31.598Z,1761344251.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181815,0.956279,0.229073],[-0.974458,-0.206445,0.088389],[0.131815,-0.207151,0.969388]]
2025-10-24T22:17:32.005Z,1761344252.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174760,0.956866,0.232090],[-0.975232,-0.200675,0.093015],[0.135577,-0.210086,0.968237]]
2025-10-24T22:17:32.407Z,1761344252.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167003,0.957659,0.234519],[-0.976157,-0.194049,0.097271],[0.138660,-0.212683,0.967233]]
2025-10-24T22:17:32.461Z,1761344252.461 [CTD_Seabird](ERROR): Failed to parse device response: 13.41.12
2025-10-24T22:17:32.812Z,1761344252.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159001,0.959047,0.234409],[-0.977123,-0.186833,0.101609],[0.141243,-0.212890,0.966814]]
2025-10-24T22:17:32.821Z,1761344252.821 [DAT](INFO): DAT read: Rx Time:22:17:31.3153

2025-10-24T22:17:32.821Z,1761344252.821 [DAT](INFO): Rx dataTimestamp_ set to:1761344252.821045
2025-10-24T22:17:33.214Z,1761344253.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152155,0.960307,0.233795],[-0.977841,-0.180678,0.105746],[0.143791,-0.212525,0.966518]]
2025-10-24T22:17:33.582Z,1761344253.582 [DAT](INFO): DAT read: 22:17:31.3153 LVL= 23120, 20513, 32722, 32755, AGC= 53, IDX= 454, 0.07,-0.193,-0.027,-1.671,-0.055, PHS=-0.035, 0.073,-1.660, RAW=  26.8,  18.8, CAL=  24.6,  22.1, ROT= 125.4, -22.1

2025-10-24T22:17:33.583Z,1761344253.583 [DAT](INFO): got valid direction response:
 22:17:31.3153 LVL= 23120, 20513, 32722, 32755, AGC= 53, IDX= 454, 0.07,-0.193,-0.027,-1.671,-0.055, PHS=-0.035, 0.073,-1.660, RAW=  26.8,  18.8, CAL=  24.6,  22.1, ROT= 125.4, -22.1

2025-10-24T22:17:33.584Z,1761344253.584 [DAT](INFO): DAT read: 

2025-10-24T22:17:33.584Z,1761344253.584 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:17:33.585Z,1761344253.585 [DAT](INFO): Got DATA 2
2025-10-24T22:17:33.585Z,1761344253.585 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:17:33.586Z,1761344253.586 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:17:33.586Z,1761344253.586 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:17:33.587Z,1761344253.587 [DAT](INFO): DAT read: CRC:Pass MPD:04.3 PSNR:12.8 AGC:56 SPD:-1.1 CCERR:010

2025-10-24T22:17:33.587Z,1761344253.587 [DAT](INFO): Got CRC:Pass
2025-10-24T22:17:33.587Z,1761344253.587 [DAT](INFO): Got CRC:Pass
2025-10-24T22:17:33.587Z,1761344253.587 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:17:33.591Z,1761344253.591 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:17:33.591Z,1761344253.591 [DAT](INFO): Got ack
2025-10-24T22:17:33.591Z,1761344253.591 [DAT](INFO): DAT read: 

2025-10-24T22:17:33.592Z,1761344253.592 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:17:33.592Z,1761344253.592 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:17:33.593Z,1761344253.593 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-10-24T22:17:33.593Z,1761344253.593 [DAT](INFO): direction in FSK: [-0.536721,0.755239,0.376224]
2025-10-24T22:17:33.651Z,1761344253.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146226,0.961346,0.233306],[-0.978367,-0.175427,0.109653],[0.146343,-0.212225,0.966201]]
2025-10-24T22:17:33.745Z,1761344253.745 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344256.00. Resetting abort timer.
2025-10-24T22:17:33.829Z,1761344253.829 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:17:34.027Z,1761344254.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140808,0.962829,0.230506],[-0.978787,-0.170381,0.113779],[0.148824,-0.209595,0.966396]]
2025-10-24T22:17:34.081Z,1761344254.081 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:17:34.426Z,1761344254.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136485,0.964249,0.227148],[-0.978967,-0.166382,0.118071],[0.151643,-0.206256,0.966676]]
2025-10-24T22:17:34.830Z,1761344254.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132415,0.965195,0.225534],[-0.979145,-0.162745,0.121610],[0.154081,-0.204728,0.966615]]
2025-10-24T22:17:35.235Z,1761344255.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128364,0.966380,0.222783],[-0.979372,-0.158874,0.124859],[0.156055,-0.202160,0.966839]]
2025-10-24T22:17:35.639Z,1761344255.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124612,0.967407,0.220442],[-0.979494,-0.155390,0.128236],[0.158311,-0.199942,0.966934]]
2025-10-24T22:17:36.045Z,1761344256.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120268,0.968640,0.217422],[-0.979664,-0.151235,0.131860],[0.160606,-0.197142,0.967130]]
2025-10-24T22:17:36.447Z,1761344256.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115325,0.969982,0.214090],[-0.979830,-0.146495,0.135915],[0.163199,-0.194097,0.967312]]
2025-10-24T22:17:36.862Z,1761344256.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108794,0.971069,0.212575],[-0.980179,-0.140410,0.139765],[0.165570,-0.193156,0.967097]]
2025-10-24T22:17:36.904Z,1761344256.904 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:17:36.904Z,1761344256.904 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:17:36.905Z,1761344256.905 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:17:36.905Z,1761344256.905 [marl:UpdateRudder:A] Stopped
2025-10-24T22:17:36.905Z,1761344256.905 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:17:36.906Z,1761344256.906 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:17:36.906Z,1761344256.906 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:17:36.906Z,1761344256.906 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:17:36.906Z,1761344256.906 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:17:36.907Z,1761344256.907 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:17:36.907Z,1761344256.907 [marl:UpdateCommandMode] Stopped
2025-10-24T22:17:36.915Z,1761344256.915 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:17:36.915Z,1761344256.915 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:17:36.920Z,1761344256.920 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:17:36.920Z,1761344256.920 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:17:36.920Z,1761344256.920 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:17:36.920Z,1761344256.920 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:17:36.921Z,1761344256.921 [marl:UpdateSpeed] Stopped
2025-10-24T22:17:36.921Z,1761344256.921 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:17:37.259Z,1761344257.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100391,0.972408,0.210579],[-0.980688,-0.132415,0.143933],[0.167846,-0.192063,0.966923]]
2025-10-24T22:17:37.283Z,1761344257.283 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-24T22:17:37.283Z,1761344257.283 [marl:UpdateRudder:B] Stopped
2025-10-24T22:17:37.283Z,1761344257.283 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:17:37.283Z,1761344257.283 [marl:UpdateRudder] Stopped
2025-10-24T22:17:37.283Z,1761344257.283 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:17:37.358Z,1761344257.358 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:17:36.4075

2025-10-24T22:17:37.359Z,1761344257.359 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:17:37.663Z,1761344257.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090784,0.973705,0.208941],[-0.981251,-0.123278,0.148151],[0.170014,-0.191574,0.966641]]
2025-10-24T22:17:38.067Z,1761344258.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080021,0.974930,0.207627],[-0.981925,-0.112940,0.151881],[0.171522,-0.191721,0.966345]]
2025-10-24T22:17:38.467Z,1761344258.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068348,0.976161,0.206006],[-0.982702,-0.101497,0.154904],[0.172121,-0.191855,0.966212]]
2025-10-24T22:17:38.849Z,1761344258.849 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:17:38.849Z,1761344258.849 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:17:39.274Z,1761344259.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045487,0.978271,0.202280],[-0.984486,-0.078249,0.157047],[0.169463,-0.191998,0.966654]]
2025-10-24T22:17:39.683Z,1761344259.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036394,0.978915,0.201001],[-0.985283,-0.068762,0.156487],[0.167009,-0.192347,0.967011]]
2025-10-24T22:17:40.091Z,1761344260.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032026,0.979314,0.199797],[-0.985771,-0.063952,0.155451],[0.165012,-0.191975,0.967428]]
2025-10-24T22:17:40.165Z,1761344260.165 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:17:40.401Z,1761344260.401 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:17:40.452Z,1761344260.452 [DAT](INFO): entering command mode
2025-10-24T22:17:40.487Z,1761344260.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034703,0.977618,0.207504],[-0.985834,-0.067577,0.153509],[0.164096,-0.199238,0.966114]]
2025-10-24T22:17:40.653Z,1761344260.653 [DAT](INFO): DAT read: 

2025-10-24T22:17:40.654Z,1761344260.654 [DAT](INFO): DAT read: user:20>

2025-10-24T22:17:40.654Z,1761344260.654 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:17:40.655Z,1761344260.655 [DAT](INFO): setting remote address to 0
2025-10-24T22:17:40.890Z,1761344260.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045452,0.972356,0.229038],[-0.985222,-0.081534,0.150631],[0.165141,-0.218806,0.961692]]
2025-10-24T22:17:40.905Z,1761344260.905 [DAT](INFO): DAT read: user:20>

2025-10-24T22:17:40.906Z,1761344260.906 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:17:40.906Z,1761344260.906 [DAT](INFO): set remote address to 0
2025-10-24T22:17:40.906Z,1761344260.906 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:17:40.907Z,1761344260.907 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:17:41.157Z,1761344261.157 [DAT](INFO): DAT read: user:21>

2025-10-24T22:17:41.157Z,1761344261.157 [DAT](INFO): DAT read: Tx time:22:17:40.1085

2025-10-24T22:17:41.158Z,1761344261.158 [DAT](INFO): Ping request sent.
2025-10-24T22:17:41.158Z,1761344261.158 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:17:41.158Z,1761344261.158 [DAT](INFO): publishing transmit ping time
2025-10-24T22:17:41.159Z,1761344261.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000977
2025-10-24T22:17:41.295Z,1761344261.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063053,0.962720,0.263049],[-0.983831,-0.104231,0.145646],[0.167634,-0.249612,0.953726]]
2025-10-24T22:17:41.409Z,1761344261.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251242
2025-10-24T22:17:41.661Z,1761344261.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503287
2025-10-24T22:17:41.704Z,1761344261.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086513,0.948668,0.304212],[-0.981351,-0.133763,0.138052],[0.171657,-0.286596,0.942548]]
2025-10-24T22:17:41.916Z,1761344261.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757254
2025-10-24T22:17:42.106Z,1761344262.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114303,0.931849,0.344373],[-0.977590,-0.167189,0.127925],[0.176782,-0.322034,0.930076]]
2025-10-24T22:17:42.165Z,1761344262.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007101
2025-10-24T22:17:42.417Z,1761344262.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259005
2025-10-24T22:17:42.511Z,1761344262.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144313,0.912114,0.383695],[-0.972500,-0.202365,0.115288],[0.182802,-0.356506,0.916235]]
2025-10-24T22:17:42.669Z,1761344262.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511571
2025-10-24T22:17:42.910Z,1761344262.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175713,0.891054,0.418506],[-0.965919,-0.238131,0.101463],[0.190069,-0.386414,0.902528]]
2025-10-24T22:17:42.921Z,1761344262.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763053
2025-10-24T22:17:43.173Z,1761344263.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015021
2025-10-24T22:17:43.318Z,1761344263.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207891,0.868908,0.449200],[-0.957847,-0.273924,0.086569],[0.198267,-0.412268,0.889227]]
2025-10-24T22:17:43.425Z,1761344263.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266965
2025-10-24T22:17:43.679Z,1761344263.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520627
2025-10-24T22:17:43.766Z,1761344263.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240589,0.844712,0.478099],[-0.948192,-0.309830,0.070263],[0.207482,-0.436425,0.875491]]
2025-10-24T22:17:43.932Z,1761344263.932 [DAT](INFO): DAT read: Rx Time:22:17:42.5375

2025-10-24T22:17:43.933Z,1761344263.933 [DAT](INFO): Rx dataTimestamp_ set to:1761344263.932673
2025-10-24T22:17:43.935Z,1761344263.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777155
2025-10-24T22:17:44.181Z,1761344264.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022963
2025-10-24T22:17:44.433Z,1761344264.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274943
2025-10-24T22:17:44.607Z,1761344264.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304351,0.800125,0.516885],[-0.925188,-0.377446,0.039511],[0.226710,-0.466191,0.855142]]
2025-10-24T22:17:44.690Z,1761344264.690 [DAT](INFO): DAT read: 22:17:42.5375 LVL= 28736, 24929, 27890, 15011, AGC= 37, IDX=  89,-0.33, 0.578, 0.302, 0.627,-0.932, PHS= 1.612, 1.279, 1.515, RAW= 133.6, -79.2, CAL= 136.4, -77.7, ROT=  13.6,  77.7

2025-10-24T22:17:44.691Z,1761344264.691 [DAT](INFO): got valid direction response:
 22:17:42.5375 LVL= 28736, 24929, 27890, 15011, AGC= 37, IDX=  89,-0.33, 0.578, 0.302, 0.627,-0.932, PHS= 1.612, 1.279, 1.515, RAW= 133.6, -79.2, CAL= 136.4, -77.7, ROT=  13.6,  77.7

2025-10-24T22:17:44.692Z,1761344264.692 [DAT](INFO): DAT read: Bearing 330.2,  32.1 (Local)

2025-10-24T22:17:44.693Z,1761344264.693 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.2,  32.1 (Local)

2025-10-24T22:17:44.694Z,1761344264.694 [DAT](INFO): DAT read: Range 11 to 20 : 18.6 m  (Round-trip  24.8 ms) speed  0.1 m/s

2025-10-24T22:17:44.695Z,1761344264.695 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-24T22:17:44.697Z,1761344264.697 [DAT](INFO): direction in FSK: [0.207057,0.050092,-0.977046]
2025-10-24T22:17:44.697Z,1761344264.697 [DAT](INFO): publishing direction and range info
2025-10-24T22:17:44.723Z,1761344264.723 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344256.00. Resetting abort timer.
2025-10-24T22:17:45.421Z,1761344265.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364438,0.762944,0.533948],[-0.899018,-0.437751,0.011879],[0.242799,-0.475700,0.845434]]
2025-10-24T22:17:46.226Z,1761344266.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420022,0.732714,0.535455],[-0.871313,-0.490576,-0.012174],[0.253761,-0.471663,0.844476]]
2025-10-24T22:17:46.634Z,1761344266.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445954,0.719057,0.532993],[-0.857301,-0.514279,-0.023492],[0.257215,-0.467412,0.845793]]
2025-10-24T22:17:47.068Z,1761344267.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494157,0.691664,0.526697],[-0.828961,-0.557435,-0.045717],[0.261978,-0.459203,0.848823]]
2025-10-24T22:17:47.457Z,1761344267.457 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:17:47.463Z,1761344267.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516499,0.676848,0.524505],[-0.814762,-0.576901,-0.057862],[0.263424,-0.457232,0.849439]]
2025-10-24T22:17:47.708Z,1761344267.708 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:17:47.849Z,1761344267.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537319,0.662234,0.522240],[-0.800936,-0.594643,-0.070016],[0.264179,-0.455901,0.849920]]
2025-10-24T22:17:47.963Z,1761344267.963 [DAT](INFO): setting remote address to 10
2025-10-24T22:17:48.213Z,1761344268.213 [DAT](INFO): DAT read: user:22>

2025-10-24T22:17:48.214Z,1761344268.214 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:17:48.215Z,1761344268.215 [DAT](INFO): set remote address to 10
2025-10-24T22:17:48.215Z,1761344268.215 [DAT](INFO): entering online mode
2025-10-24T22:17:48.289Z,1761344268.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556648,0.648120,0.519695],[-0.787623,-0.610670,-0.082051],[0.264184,-0.454997,0.850403]]
2025-10-24T22:17:48.465Z,1761344268.465 [DAT](INFO): DAT read: user:23>

2025-10-24T22:17:48.465Z,1761344268.465 [DAT](INFO): DAT read: 

2025-10-24T22:17:48.466Z,1761344268.466 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:17:48.467Z,1761344268.467 [DAT](INFO): commRate: 600
2025-10-24T22:17:48.467Z,1761344268.467 [DAT](INFO): online mode acknowledged
2025-10-24T22:17:48.467Z,1761344268.467 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:17:48.689Z,1761344268.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575204,0.636068,0.514352],[-0.774639,-0.625577,-0.092672],[0.262821,-0.451742,0.852557]]
2025-10-24T22:17:49.090Z,1761344269.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593495,0.626916,0.504718],[-0.761956,-0.639627,-0.101493],[0.259203,-0.444809,0.857297]]
2025-10-24T22:17:49.496Z,1761344269.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611896,0.619438,0.491813],[-0.749163,-0.653318,-0.109229],[0.253650,-0.435285,0.863822]]
2025-10-24T22:17:49.905Z,1761344269.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630531,0.613232,0.475791],[-0.736018,-0.666998,-0.115720],[0.246388,-0.423156,0.871913]]
2025-10-24T22:17:50.003Z,1761344270.003 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:17:50.003Z,1761344270.003 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:17:50.003Z,1761344270.003 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:17:50.003Z,1761344270.003 [marl:UpdateRudder:A] Stopped
2025-10-24T22:17:50.003Z,1761344270.003 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:17:50.003Z,1761344270.003 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:17:50.004Z,1761344270.004 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:17:50.004Z,1761344270.004 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:17:50.004Z,1761344270.004 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:17:50.004Z,1761344270.004 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:17:50.004Z,1761344270.004 [marl:UpdateCommandMode] Stopped
2025-10-24T22:17:50.005Z,1761344270.005 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:17:50.005Z,1761344270.005 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:17:50.005Z,1761344270.005 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:17:50.005Z,1761344270.005 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:17:50.005Z,1761344270.005 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:17:50.005Z,1761344270.005 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:17:50.005Z,1761344270.005 [marl:UpdateSpeed] Stopped
2025-10-24T22:17:50.005Z,1761344270.005 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:17:50.315Z,1761344270.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649608,0.607844,0.456656],[-0.722100,-0.681221,-0.120455],[0.237865,-0.408000,0.881451]]
2025-10-24T22:17:50.377Z,1761344270.377 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-24T22:17:50.377Z,1761344270.377 [marl:UpdateRudder:B] Stopped
2025-10-24T22:17:50.378Z,1761344270.378 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:17:50.378Z,1761344270.378 [marl:UpdateRudder] Stopped
2025-10-24T22:17:50.378Z,1761344270.378 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:17:50.706Z,1761344270.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669407,0.599445,0.438817],[-0.706809,-0.695770,-0.127770],[0.228725,-0.395690,0.889446]]
2025-10-24T22:17:51.110Z,1761344271.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689923,0.588441,0.421596],[-0.689880,-0.710895,-0.136728],[0.219254,-0.385182,0.896416]]
2025-10-24T22:17:51.516Z,1761344271.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711637,0.573645,0.405590],[-0.670436,-0.727052,-0.148024],[0.209972,-0.377262,0.901990]]
2025-10-24T22:17:51.742Z,1761344271.742 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:17:50.8074

2025-10-24T22:17:51.742Z,1761344271.742 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:17:51.945Z,1761344271.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734751,0.554566,0.390639],[-0.647776,-0.744529,-0.161438],[0.201314,-0.371663,0.906278]]
2025-10-24T22:17:52.330Z,1761344272.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758483,0.530783,0.378118],[-0.622407,-0.761976,-0.178889],[0.193166,-0.371028,0.908309]]
2025-10-24T22:17:52.727Z,1761344272.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782752,0.503831,0.365313],[-0.594103,-0.779749,-0.197567],[0.185312,-0.371680,0.909678]]
2025-10-24T22:17:53.131Z,1761344273.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806458,0.474268,0.353123],[-0.563995,-0.796346,-0.218499],[0.177581,-0.375369,0.909705]]
2025-10-24T22:17:53.534Z,1761344273.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829358,0.443365,0.339989],[-0.532393,-0.811706,-0.240189],[0.169480,-0.380210,0.909240]]
2025-10-24T22:17:53.978Z,1761344273.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850724,0.411557,0.326941],[-0.500259,-0.824846,-0.263383],[0.161279,-0.387621,0.907601]]
2025-10-24T22:17:54.343Z,1761344274.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870779,0.379076,0.313121],[-0.467098,-0.836631,-0.286126],[0.153503,-0.395411,0.905587]]
2025-10-24T22:17:54.754Z,1761344274.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889214,0.346850,0.298317],[-0.433672,-0.846724,-0.308200],[0.145693,-0.403428,0.903338]]
2025-10-24T22:17:55.150Z,1761344275.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906322,0.313888,0.282940],[-0.399254,-0.855427,-0.329911],[0.138479,-0.411971,0.900613]]
2025-10-24T22:17:55.558Z,1761344275.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921652,0.281694,0.266845],[-0.365131,-0.862332,-0.350803],[0.131290,-0.420752,0.897625]]
2025-10-24T22:17:55.982Z,1761344275.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935207,0.251237,0.249536],[-0.331480,-0.868983,-0.367408],[0.124536,-0.426319,0.895959]]
2025-10-24T22:17:56.363Z,1761344276.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947135,0.221739,0.231877],[-0.298324,-0.874609,-0.382181],[0.118058,-0.431151,0.894523]]
2025-10-24T22:17:56.779Z,1761344276.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957669,0.192852,0.213726],[-0.265237,-0.879690,-0.394709],[0.111892,-0.434689,0.893603]]
2025-10-24T22:17:57.170Z,1761344277.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966657,0.165006,0.195824],[-0.233014,-0.883936,-0.405415],[0.106200,-0.437527,0.892912]]
2025-10-24T22:17:57.579Z,1761344277.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974152,0.139563,0.177626],[-0.202207,-0.889276,-0.410245],[0.100704,-0.435558,0.894510]]
2025-10-24T22:17:57.990Z,1761344277.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980506,0.114994,0.159323],[-0.171827,-0.895114,-0.411397],[0.095304,-0.430753,0.897424]]
2025-10-24T22:17:58.384Z,1761344278.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985887,0.091139,0.140433],[-0.141261,-0.903057,-0.405627],[0.089850,-0.419740,0.903186]]
2025-10-24T22:17:58.524Z,1761344278.524 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:17:58.795Z,1761344278.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990261,0.066762,0.122170],[-0.110455,-0.910928,-0.397505],[0.084750,-0.407128,0.909431]]
2025-10-24T22:17:59.191Z,1761344279.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993667,0.041990,0.104223],[-0.079619,-0.917624,-0.389393],[0.079287,-0.395225,0.915156]]
2025-10-24T22:17:59.529Z,1761344279.529 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:17:59.602Z,1761344279.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996093,0.016024,0.086847],[-0.048259,-0.922352,-0.383324],[0.073961,-0.386017,0.919522]]
2025-10-24T22:17:59.000Z,1761344280.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997477,-0.010480,0.070208],[-0.017160,-0.924107,-0.381749],[0.068881,-0.381991,0.921596]]
2025-10-24T22:18:00.403Z,1761344280.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997823,-0.039281,0.052971],[0.016065,-0.923831,-0.382463],[0.063959,-0.380779,0.922451]]
2025-10-24T22:18:00.810Z,1761344280.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996984,-0.069010,0.035500],[0.050114,-0.921777,-0.384468],[0.059256,-0.381530,0.922455]]
2025-10-24T22:18:01.211Z,1761344281.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994853,-0.099880,0.017081],[0.085419,-0.917321,-0.388877],[0.054510,-0.385416,0.921131]]
2025-10-24T22:18:01.620Z,1761344281.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991363,-0.131127,-0.002194],[0.121385,-0.911123,-0.393853],[0.049646,-0.390718,0.919171]]
2025-10-24T22:18:01.821Z,1761344281.821 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:18:02.018Z,1761344282.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986543,-0.162070,-0.021616],[0.157255,-0.904304,-0.396869],[0.044773,-0.394927,0.917621]]
2025-10-24T22:18:02.073Z,1761344282.073 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:18:02.324Z,1761344282.324 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:18:02.422Z,1761344282.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980228,-0.193416,-0.041763],[0.193813,-0.895952,-0.399633],[0.039878,-0.399826,0.915723]]
2025-10-24T22:18:02.831Z,1761344282.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972598,-0.223759,-0.063131],[0.229880,-0.884921,-0.405054],[0.034768,-0.408468,0.912110]]
2025-10-24T22:18:02.885Z,1761344282.885 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:18:02.885Z,1761344282.885 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:18:02.885Z,1761344282.885 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:18:02.886Z,1761344282.886 [marl:UpdateRudder:A] Stopped
2025-10-24T22:18:02.886Z,1761344282.886 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:18:02.886Z,1761344282.886 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:18:02.886Z,1761344282.886 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:18:02.886Z,1761344282.886 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:18:02.886Z,1761344282.886 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:18:02.886Z,1761344282.886 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:18:02.886Z,1761344282.886 [marl:UpdateCommandMode] Stopped
2025-10-24T22:18:02.887Z,1761344282.887 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:18:02.887Z,1761344282.887 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:18:02.887Z,1761344282.887 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:18:02.887Z,1761344282.887 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:18:02.887Z,1761344282.887 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:18:02.887Z,1761344282.887 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:18:02.887Z,1761344282.887 [marl:UpdateSpeed] Stopped
2025-10-24T22:18:02.887Z,1761344282.887 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:18:03.232Z,1761344283.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963634,-0.253336,-0.085027],[0.265567,-0.872515,-0.410113],[0.029709,-0.417779,0.908063]]
2025-10-24T22:18:03.303Z,1761344283.303 [marl:UpdateRudder:B](INFO): Updating rudder angle  -13.750987 arcdeg 
2025-10-24T22:18:03.308Z,1761344283.308 [marl:UpdateRudder:B] Stopped
2025-10-24T22:18:03.308Z,1761344283.308 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:18:03.308Z,1761344283.308 [marl:UpdateRudder] Stopped
2025-10-24T22:18:03.308Z,1761344283.308 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:18:03.634Z,1761344283.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953767,-0.281392,-0.105580],[0.299523,-0.860967,-0.411123],[0.024786,-0.423739,0.905445]]
2025-10-24T22:18:04.038Z,1761344284.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942943,-0.308972,-0.124073],[0.332323,-0.850458,-0.407778],[0.020473,-0.425744,0.904612]]
2025-10-24T22:18:04.442Z,1761344284.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931569,-0.334956,-0.141362],[0.363222,-0.840603,-0.401816],[0.015761,-0.425665,0.904743]]
2025-10-24T22:18:04.864Z,1761344284.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919992,-0.359593,-0.155908],[0.391809,-0.833635,-0.389278],[0.010011,-0.419219,0.907830]]
2025-10-24T22:18:05.255Z,1761344285.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909267,-0.381106,-0.167308],[0.416205,-0.829899,-0.371538],[0.002746,-0.407461,0.913218]]
2025-10-24T22:18:05.606Z,1761344285.606 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:18:04.6574

2025-10-24T22:18:05.606Z,1761344285.606 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:18:05.659Z,1761344285.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899581,-0.400506,-0.174207],[0.436708,-0.830544,-0.345661],[-0.006247,-0.387028,0.922047]]
2025-10-24T22:18:06.059Z,1761344286.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892068,-0.415409,-0.177905],[0.451580,-0.834283,-0.316301],[-0.017029,-0.362501,0.931828]]
2025-10-24T22:18:06.464Z,1761344286.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887649,-0.424421,-0.178738],[0.459548,-0.841557,-0.283896],[-0.029927,-0.334139,0.942049]]
2025-10-24T22:18:06.867Z,1761344286.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886570,-0.427775,-0.176074],[0.460453,-0.852629,-0.246998],[-0.044466,-0.300055,0.952885]]
2025-10-24T22:18:07.276Z,1761344287.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889038,-0.425399,-0.169253],[0.453906,-0.867288,-0.204402],[-0.059838,-0.258546,0.964144]]
2025-10-24T22:18:08.080Z,1761344288.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903091,-0.403077,-0.148174],[0.419500,-0.901834,-0.103516],[-0.091904,-0.155643,0.983529]]
2025-10-24T22:18:08.531Z,1761344288.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913312,-0.384135,-0.135284],[0.392873,-0.918531,-0.044171],[-0.107295,-0.093491,0.989822]]
2025-10-24T22:18:08.934Z,1761344288.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924011,-0.361446,-0.124737],[0.362580,-0.931843,0.014293],[-0.121401,-0.032020,0.992087]]
2025-10-24T22:18:09.339Z,1761344289.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933988,-0.337398,-0.117596],[0.331208,-0.941009,0.069304],[-0.134042,0.025780,0.990640]]
2025-10-24T22:18:09.752Z,1761344289.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942795,-0.313231,-0.114119],[0.300275,-0.946593,0.117455],[-0.144815,0.076468,0.986499]]
2025-10-24T22:18:10.146Z,1761344290.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950715,-0.287544,-0.116013],[0.269202,-0.951122,0.151321],[-0.153854,0.112632,0.981653]]
2025-10-24T22:18:10.567Z,1761344290.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957511,-0.261361,-0.121911],[0.238814,-0.955551,0.172890],[-0.161679,0.136431,0.977367]]
2025-10-24T22:18:10.955Z,1761344290.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963241,-0.235245,-0.129717],[0.209330,-0.959914,0.186405],[-0.168368,0.152399,0.973872]]
2025-10-24T22:18:11.364Z,1761344291.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968025,-0.208489,-0.139497],[0.180194,-0.964803,0.191536],[-0.174521,0.160275,0.971522]]
2025-10-24T22:18:11.766Z,1761344291.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971875,-0.181710,-0.149803],[0.151713,-0.969621,0.191878],[-0.180119,0.163755,0.969918]]
2025-10-24T22:18:12.166Z,1761344292.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974874,-0.153965,-0.160982],[0.122967,-0.974554,0.187412],[-0.185740,0.162907,0.969000]]
2025-10-24T22:18:12.423Z,1761344292.423 [DAT](INFO): DAT read: Rx Time:22:18:10.8806

2025-10-24T22:18:12.423Z,1761344292.423 [DAT](INFO): Rx dataTimestamp_ set to:1761344292.423192
2025-10-24T22:18:12.571Z,1761344292.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977108,-0.124909,-0.172213],[0.093508,-0.979263,0.179724],[-0.191090,0.159506,0.968526]]
2025-10-24T22:18:12.977Z,1761344292.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978595,-0.095595,-0.182246],[0.063848,-0.982898,0.172729],[-0.195642,0.157396,0.967962]]
2025-10-24T22:18:13.187Z,1761344293.187 [DAT](INFO): DAT read: 22:18:10.8806 LVL= 32752, 32433, 32754, 32755, AGC= 60, IDX= 356,-0.09, 1.457,-2.703, 2.580, 2.554, PHS=-0.995, 1.072,-0.017, RAW= 301.8,  -0.7, CAL= 300.3,  -4.7, ROT= 209.7,   4.7

2025-10-24T22:18:13.188Z,1761344293.188 [DAT](INFO): got valid direction response:
 22:18:10.8806 LVL= 32752, 32433, 32754, 32755, AGC= 60, IDX= 356,-0.09, 1.457,-2.703, 2.580, 2.554, PHS=-0.995, 1.072,-0.017, RAW= 301.8,  -0.7, CAL= 300.3,  -4.7, ROT= 209.7,   4.7

2025-10-24T22:18:13.189Z,1761344293.189 [DAT](INFO): DAT read: 

2025-10-24T22:18:13.189Z,1761344293.189 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:18:13.189Z,1761344293.189 [DAT](INFO): Got DATA 2
2025-10-24T22:18:13.190Z,1761344293.190 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:18:13.190Z,1761344293.190 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:18:13.191Z,1761344293.191 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:18:13.194Z,1761344293.194 [DAT](INFO): DAT read: CRC:Pass MPD:04.1 PSNR:09.7 AGC:57 SPD:-1.1 CCERR:008

2025-10-24T22:18:13.195Z,1761344293.195 [DAT](INFO): Got CRC:Pass
2025-10-24T22:18:13.195Z,1761344293.195 [DAT](INFO): Got CRC:Pass
2025-10-24T22:18:13.196Z,1761344293.196 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:18:13.196Z,1761344293.196 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:18:13.197Z,1761344293.197 [DAT](INFO): Got ack
2025-10-24T22:18:13.197Z,1761344293.197 [DAT](INFO): DAT read: 

2025-10-24T22:18:13.198Z,1761344293.198 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:18:13.198Z,1761344293.198 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:18:13.198Z,1761344293.198 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-24T22:18:13.200Z,1761344293.200 [DAT](INFO): direction in FSK: [-0.865711,-0.493793,-0.081939]
2025-10-24T22:18:13.382Z,1761344293.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979305,-0.065090,-0.191638],[0.033857,-0.986217,0.161956],[-0.199538,0.152116,0.968011]]
2025-10-24T22:18:13.423Z,1761344293.423 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344256.00. Resetting abort timer.
2025-10-24T22:18:13.433Z,1761344293.433 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:18:13.685Z,1761344293.685 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:18:13.782Z,1761344293.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979301,-0.034703,-0.199413],[0.003366,-0.987849,0.155382],[-0.202382,0.151494,0.967518]]
2025-10-24T22:18:14.187Z,1761344294.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978419,-0.003896,-0.206596],[-0.027182,-0.988707,0.147377],[-0.204837,0.149812,0.967263]]
2025-10-24T22:18:14.591Z,1761344294.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976671,0.027564,-0.212964],[-0.058484,-0.988382,0.140287],[-0.206623,0.149469,0.966936]]
2025-10-24T22:18:14.995Z,1761344294.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974076,0.057385,-0.218824],[-0.088544,-0.986833,0.135354],[-0.208175,0.151221,0.966331]]
2025-10-24T22:18:15.401Z,1761344295.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970637,0.086950,-0.224283],[-0.118329,-0.984365,0.130475],[-0.209431,0.153183,0.965750]]
2025-10-24T22:18:15.804Z,1761344295.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966204,0.116614,-0.229892],[-0.148424,-0.980829,0.126276],[-0.210759,0.156130,0.964989]]
2025-10-24T22:18:15.827Z,1761344295.827 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:18:15.828Z,1761344295.828 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:18:15.828Z,1761344295.828 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:18:15.828Z,1761344295.828 [marl:UpdateRudder:A] Stopped
2025-10-24T22:18:15.829Z,1761344295.829 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:18:15.829Z,1761344295.829 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:18:15.829Z,1761344295.829 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:18:15.829Z,1761344295.829 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:18:15.829Z,1761344295.829 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:18:15.829Z,1761344295.829 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:18:15.829Z,1761344295.829 [marl:UpdateCommandMode] Stopped
2025-10-24T22:18:15.829Z,1761344295.829 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:18:15.830Z,1761344295.830 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:18:15.830Z,1761344295.830 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:18:15.830Z,1761344295.830 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:18:15.830Z,1761344295.830 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:18:15.830Z,1761344295.830 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:18:15.830Z,1761344295.830 [marl:UpdateSpeed] Stopped
2025-10-24T22:18:15.830Z,1761344295.830 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:18:16.211Z,1761344296.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960976,0.145463,-0.235300],[-0.177756,-0.976442,0.122327],[-0.211963,0.159380,0.964194]]
2025-10-24T22:18:16.294Z,1761344296.294 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-24T22:18:16.294Z,1761344296.294 [marl:UpdateRudder:B] Stopped
2025-10-24T22:18:16.294Z,1761344296.294 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:18:16.294Z,1761344296.294 [marl:UpdateRudder] Stopped
2025-10-24T22:18:16.294Z,1761344296.294 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:18:16.611Z,1761344296.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954682,0.176066,-0.239966],[-0.207721,-0.971576,0.113544],[-0.213154,0.158245,0.964118]]
2025-10-24T22:18:16.961Z,1761344296.961 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:18:16.0073

2025-10-24T22:18:16.961Z,1761344296.961 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:18:17.022Z,1761344297.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947577,0.205896,-0.244345],[-0.237278,-0.965583,0.106526],[-0.214002,0.158919,0.963819]]
2025-10-24T22:18:17.428Z,1761344297.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939421,0.236175,-0.248413],[-0.267173,-0.958545,0.099042],[-0.214724,0.159412,0.963577]]
2025-10-24T22:18:17.862Z,1761344297.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930387,0.266728,-0.251469],[-0.296991,-0.950577,0.090550],[-0.214888,0.158931,0.963620]]
2025-10-24T22:18:18.265Z,1761344298.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920182,0.298862,-0.252877],[-0.327628,-0.941453,0.079538],[-0.214301,0.156039,0.964223]]
2025-10-24T22:18:18.683Z,1761344298.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896927,0.361554,-0.254560],[-0.388110,-0.919564,0.061416],[-0.211879,0.153883,0.965105]]
2025-10-24T22:18:19.483Z,1761344299.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875156,0.417484,-0.244558],[-0.436041,-0.899588,0.024703],[-0.209688,0.128256,0.969320]]
2025-10-24T22:18:19.885Z,1761344299.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866745,0.440643,-0.233638],[-0.452798,-0.891612,-0.001806],[-0.209110,0.104225,0.972322]]
2025-10-24T22:18:20.287Z,1761344300.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861049,0.459496,-0.217849],[-0.463819,-0.885276,-0.034015],[-0.208487,0.071754,0.975390]]
2025-10-24T22:18:20.698Z,1761344300.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858420,0.473070,-0.198291],[-0.469074,-0.880401,-0.069738],[-0.207567,0.033148,0.977659]]
2025-10-24T22:18:21.096Z,1761344301.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859512,0.480306,-0.174774],[-0.467771,-0.877011,-0.109735],[-0.205986,-0.012564,0.978474]]
2025-10-24T22:18:21.903Z,1761344301.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873408,0.473788,-0.112620],[-0.444243,-0.869890,-0.214335],[-0.199517,-0.137171,0.970246]]
2025-10-24T22:18:22.303Z,1761344302.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885017,0.459356,-0.075739],[-0.423435,-0.861839,-0.279171],[-0.193514,-0.215000,0.957250]]
2025-10-24T22:18:22.726Z,1761344302.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898603,0.436897,-0.040417],[-0.397714,-0.849972,-0.345500],[-0.185301,-0.294393,0.937548]]
2025-10-24T22:18:23.110Z,1761344303.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912863,0.408103,-0.011551],[-0.368796,-0.836417,-0.405457],[-0.175130,-0.365867,0.914041]]
2025-10-24T22:18:23.514Z,1761344303.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927013,0.374903,0.009737],[-0.337500,-0.822644,-0.457548],[-0.163527,-0.427439,0.889132]]
2025-10-24T22:18:23.771Z,1761344303.771 [DAT](INFO): DAT read: Rx Time:22:18:22.2360

2025-10-24T22:18:23.771Z,1761344303.771 [DAT](INFO): Rx dataTimestamp_ set to:1761344303.770947
2025-10-24T22:18:23.943Z,1761344303.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940493,0.339084,0.022264],[-0.304578,-0.812107,-0.497708],[-0.150684,-0.474872,0.867059]]
2025-10-24T22:18:24.328Z,1761344304.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952849,0.302247,0.026926],[-0.270508,-0.805870,-0.526687],[-0.137490,-0.509137,0.849633]]
2025-10-24T22:18:24.533Z,1761344304.533 [DAT](INFO): DAT read: 22:18:22.2360 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 476,-0.09, 2.185,-2.575, 2.108, 2.563, PHS=-0.276, 1.189,-0.500, RAW= 337.0,  -5.3, CAL= 336.6,  -8.3, ROT= 173.4,   8.3

2025-10-24T22:18:24.534Z,1761344304.534 [DAT](INFO): got valid direction response:
 22:18:22.2360 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 476,-0.09, 2.185,-2.575, 2.108, 2.563, PHS=-0.276, 1.189,-0.500, RAW= 337.0,  -5.3, CAL= 336.6,  -8.3, ROT= 173.4,   8.3

2025-10-24T22:18:24.534Z,1761344304.534 [DAT](INFO): DAT read: 

2025-10-24T22:18:24.535Z,1761344304.535 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:18:24.535Z,1761344304.535 [DAT](INFO): Got DATA 2
2025-10-24T22:18:24.539Z,1761344304.539 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:18:24.539Z,1761344304.539 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:18:24.541Z,1761344304.541 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:18:24.543Z,1761344304.543 [DAT](INFO): DAT read: CRC:Pass MPD:40.5 PSNR:10.3 AGC:65 SPD:-1.1 CCERR:008

2025-10-24T22:18:24.543Z,1761344304.543 [DAT](INFO): Got CRC:Pass
2025-10-24T22:18:24.543Z,1761344304.543 [DAT](INFO): Got CRC:Pass
2025-10-24T22:18:24.543Z,1761344304.543 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:18:24.543Z,1761344304.543 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:18:24.543Z,1761344304.543 [DAT](INFO): Got ack
2025-10-24T22:18:24.544Z,1761344304.544 [DAT](INFO): DAT read: 

2025-10-24T22:18:24.545Z,1761344304.545 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:18:24.545Z,1761344304.545 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:18:24.546Z,1761344304.546 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-24T22:18:24.547Z,1761344304.547 [DAT](INFO): direction in FSK: [-0.982968,0.113733,-0.144356]
2025-10-24T22:18:24.728Z,1761344304.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963658,0.265987,0.024796],[-0.236324,-0.805537,-0.543379],[-0.124558,-0.529491,0.839121]]
2025-10-24T22:18:24.777Z,1761344304.777 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:18:24.787Z,1761344304.787 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344256.00. Resetting abort timer.
2025-10-24T22:18:25.029Z,1761344305.029 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:18:25.131Z,1761344305.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972638,0.231678,0.017326],[-0.203418,-0.813217,-0.545251],[-0.112233,-0.533857,0.838093]]
2025-10-24T22:18:25.567Z,1761344305.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980457,0.196653,0.005600],[-0.169302,-0.828911,-0.533146],[-0.100203,-0.523674,0.846005]]
2025-10-24T22:18:25.978Z,1761344305.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986984,0.160663,-0.007076],[-0.134268,-0.847455,-0.513607],[-0.088515,-0.505972,0.857996]]
2025-10-24T22:18:26.343Z,1761344306.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992091,0.124048,-0.019182],[-0.098635,-0.864937,-0.492092],[-0.077635,-0.486308,0.870332]]
2025-10-24T22:18:26.746Z,1761344306.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995712,0.087516,-0.029992],[-0.063004,-0.878882,-0.472859],[-0.067742,-0.468942,0.880627]]
2025-10-24T22:18:27.152Z,1761344307.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997952,0.050215,-0.039634],[-0.026782,-0.890594,-0.454010],[-0.058096,-0.452018,0.890115]]
2025-10-24T22:18:27.558Z,1761344307.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998751,0.013969,-0.047977],[0.008506,-0.898593,-0.438702],[-0.049240,-0.438562,0.897351]]
2025-10-24T22:18:27.994Z,1761344307.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998224,-0.021333,-0.055612],[0.043057,-0.903590,-0.426229],[-0.041158,-0.427867,0.902904]]
2025-10-24T22:18:28.310Z,1761344308.310 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:18:27.3573

2025-10-24T22:18:28.310Z,1761344308.310 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:18:28.390Z,1761344308.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996458,-0.055555,-0.063121],[0.076992,-0.904594,-0.419263],[-0.033807,-0.422638,0.905668]]
2025-10-24T22:18:28.843Z,1761344308.843 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:18:28.843Z,1761344308.843 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:18:28.843Z,1761344308.843 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:18:28.844Z,1761344308.844 [marl:UpdateRudder:A] Stopped
2025-10-24T22:18:28.844Z,1761344308.844 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:18:28.844Z,1761344308.844 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:18:28.844Z,1761344308.844 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:18:28.844Z,1761344308.844 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:18:28.845Z,1761344308.845 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:18:28.845Z,1761344308.845 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:18:28.845Z,1761344308.845 [marl:UpdateCommandMode] Stopped
2025-10-24T22:18:28.845Z,1761344308.845 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:18:28.845Z,1761344308.845 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:18:28.845Z,1761344308.845 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:18:28.845Z,1761344308.845 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:18:28.846Z,1761344308.846 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:18:28.846Z,1761344308.846 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:18:28.846Z,1761344308.846 [marl:UpdateSpeed] Stopped
2025-10-24T22:18:28.846Z,1761344308.846 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:18:29.205Z,1761344309.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989640,-0.119688,-0.079290],[0.141783,-0.901615,-0.408642],[-0.022579,-0.415650,0.909244]]
2025-10-24T22:18:29.227Z,1761344309.227 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-24T22:18:29.227Z,1761344309.227 [marl:UpdateRudder:B] Stopped
2025-10-24T22:18:29.227Z,1761344309.227 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:18:29.227Z,1761344309.227 [marl:UpdateRudder] Stopped
2025-10-24T22:18:29.244Z,1761344309.244 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:18:29.605Z,1761344309.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984970,-0.148498,-0.088218],[0.171758,-0.896046,-0.409392],[-0.018254,-0.418391,0.908084]]
2025-10-24T22:18:29.652Z,1761344309.652 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:18:30.007Z,1761344310.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979573,-0.175858,-0.097520],[0.200565,-0.889363,-0.410861],[-0.014477,-0.422027,0.906467]]
2025-10-24T22:18:30.411Z,1761344310.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973592,-0.201878,-0.106601],[0.228017,-0.882920,-0.410439],[-0.011262,-0.423907,0.905636]]
2025-10-24T22:18:30.656Z,1761344310.656 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:18:30.817Z,1761344310.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967011,-0.227680,-0.114248],[0.254611,-0.877954,-0.405426],[-0.007997,-0.421140,0.906960]]
2025-10-24T22:18:31.221Z,1761344311.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959920,-0.252874,-0.120862],[0.280234,-0.873134,-0.398881],[-0.004662,-0.416764,0.909003]]
2025-10-24T22:18:32.026Z,1761344312.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943900,-0.301588,-0.134527],[0.330227,-0.859983,-0.389076],[0.001650,-0.411673,0.911330]]
2025-10-24T22:18:32.431Z,1761344312.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934960,-0.325098,-0.141988],[0.354721,-0.851431,-0.386313],[0.004697,-0.411553,0.911374]]
2025-10-24T22:18:32.835Z,1761344312.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925257,-0.348358,-0.150157],[0.379266,-0.841613,-0.384506],[0.007572,-0.412717,0.910828]]
2025-10-24T22:18:33.238Z,1761344313.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914856,-0.372004,-0.157007],[0.403632,-0.832024,-0.380549],[0.010932,-0.411521,0.911335]]
2025-10-24T22:18:33.644Z,1761344313.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903605,-0.395787,-0.163863],[0.428125,-0.821524,-0.376574],[0.014426,-0.410428,0.911779]]
2025-10-24T22:18:34.046Z,1761344314.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891547,-0.419553,-0.170645],[0.452572,-0.810250,-0.372388],[0.017971,-0.409231,0.912254]]
2025-10-24T22:18:34.452Z,1761344314.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878330,-0.443539,-0.178351],[0.477574,-0.797378,-0.368934],[0.021424,-0.409221,0.912184]]
2025-10-24T22:18:34.854Z,1761344314.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864153,-0.467603,-0.185973],[0.502627,-0.783956,-0.364388],[0.024594,-0.408362,0.912489]]
2025-10-24T22:18:35.113Z,1761344315.113 [DAT](INFO): DAT read: Rx Time:22:18:33.5908

2025-10-24T22:18:35.113Z,1761344315.113 [DAT](INFO): Rx dataTimestamp_ set to:1761344315.113068
2025-10-24T22:18:35.258Z,1761344315.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848533,-0.492506,-0.193468],[0.528416,-0.769546,-0.358575],[0.027718,-0.406494,0.913233]]
2025-10-24T22:18:35.875Z,1761344315.875 [DAT](INFO): DAT read: 22:18:33.5908 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 477,-0.40,-2.116,-0.258,-0.801,-1.129, PHS=-0.885, 0.916, 0.284, RAW= 290.2,  -4.0, CAL= 289.8,  -9.0, ROT= 220.2,   9.0

2025-10-24T22:18:35.876Z,1761344315.876 [DAT](INFO): got valid direction response:
 22:18:33.5908 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 477,-0.40,-2.116,-0.258,-0.801,-1.129, PHS=-0.885, 0.916, 0.284, RAW= 290.2,  -4.0, CAL= 289.8,  -9.0, ROT= 220.2,   9.0

2025-10-24T22:18:35.876Z,1761344315.876 [DAT](INFO): DAT read: 

2025-10-24T22:18:35.877Z,1761344315.877 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:18:35.877Z,1761344315.877 [DAT](INFO): Got DATA 2
2025-10-24T22:18:35.878Z,1761344315.878 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:18:35.878Z,1761344315.878 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:18:35.879Z,1761344315.879 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:18:35.880Z,1761344315.880 [DAT](INFO): DAT read: CRC:Pass MPD:04.1 PSNR:12.9 AGC:54 SPD:-1.1 CCERR:010

2025-10-24T22:18:35.880Z,1761344315.880 [DAT](INFO): Got CRC:Pass
2025-10-24T22:18:35.880Z,1761344315.880 [DAT](INFO): Got CRC:Pass
2025-10-24T22:18:35.880Z,1761344315.880 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:18:35.880Z,1761344315.880 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:18:35.880Z,1761344315.880 [DAT](INFO): Got ack
2025-10-24T22:18:35.881Z,1761344315.881 [DAT](INFO): DAT read: 

2025-10-24T22:18:35.881Z,1761344315.881 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:18:35.881Z,1761344315.881 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:18:35.882Z,1761344315.882 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-10-24T22:18:35.883Z,1761344315.883 [DAT](INFO): direction in FSK: [-0.754392,-0.637511,-0.156434]
2025-10-24T22:18:36.099Z,1761344316.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813038,-0.542708,-0.210801],[0.581313,-0.736605,-0.345672],[0.032321,-0.403586,0.914371]]
2025-10-24T22:18:36.121Z,1761344316.121 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:18:36.213Z,1761344316.213 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344256.00. Resetting abort timer.
2025-10-24T22:18:36.373Z,1761344316.373 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:18:36.980Z,1761344316.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771684,-0.592982,-0.229947],[0.635076,-0.698886,-0.328995],[0.034382,-0.399914,0.915908]]
2025-10-24T22:18:37.003Z,1761344317.003 [marl:SendObservationData] Running Loop=1
2025-10-24T22:18:37.004Z,1761344317.004 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T22:18:37.005Z,1761344317.005 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T22:18:37.005Z,1761344317.005 [marl:SendObservationData:A] Running Loop=1
2025-10-24T22:18:37.007Z,1761344317.007 [marl:SendObservationData:A](INFO): Got test_good :  41da3efec0000000405140000000000040426328d348512ac05e774d47d00ddb40278a77e00000004041b33340000000 n/a str  and temp var is  nan n/a str 
2025-10-24T22:18:37.007Z,1761344317.007 [marl:SendObservationData:A] Stopped
2025-10-24T22:18:37.007Z,1761344317.007 [marl:SendObservationData:B] Running Loop=1
2025-10-24T22:18:37.387Z,1761344317.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748935,-0.617175,-0.241229],[0.661738,-0.677561,-0.320958],[0.034640,-0.400008,0.915857]]
2025-10-24T22:18:37.412Z,1761344317.412 [marl:SendObservationData:B] Stopped
2025-10-24T22:18:37.412Z,1761344317.412 [marl:SendObservationData:C] Running Loop=1
2025-10-24T22:18:37.787Z,1761344317.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725004,-0.640710,-0.252704],[0.687875,-0.655157,-0.312406],[0.034601,-0.400324,0.915720]]
2025-10-24T22:18:37.829Z,1761344317.829 [marl:SendObservationData:C] Stopped
2025-10-24T22:18:37.829Z,1761344317.829 [marl:SendObservationData:E] Running Loop=1
2025-10-24T22:18:38.190Z,1761344318.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699780,-0.663930,-0.263637],[0.713526,-0.631806,-0.302824],[0.034487,-0.400022,0.915857]]
2025-10-24T22:18:38.247Z,1761344318.247 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.009066 min 
2025-10-24T22:18:38.247Z,1761344318.247 [marl:SendObservationData:E] Stopped
2025-10-24T22:18:38.248Z,1761344318.248 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T22:18:38.248Z,1761344318.248 [marl:SendObservationData] Stopped
2025-10-24T22:18:38.248Z,1761344318.248 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T22:18:38.248Z,1761344318.248 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T22:18:38.598Z,1761344318.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673735,-0.685797,-0.275253],[0.738191,-0.607448,-0.293398],[0.034009,-0.400861,0.915507]]
2025-10-24T22:18:38.849Z,1761344318.849 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:18:38.849Z,1761344318.849 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:18:39.000Z,1761344319.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647299,-0.705864,-0.287681],[0.761499,-0.582254,-0.284779],[0.033512,-0.403406,0.914407]]
2025-10-24T22:18:39.404Z,1761344319.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619871,-0.724720,-0.300902],[0.784019,-0.555967,-0.276071],[0.032782,-0.407041,0.912822]]
2025-10-24T22:18:39.650Z,1761344319.650 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:18:38.7073

2025-10-24T22:18:39.651Z,1761344319.651 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:18:39.806Z,1761344319.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592174,-0.742395,-0.313335],[0.805172,-0.529669,-0.266738],[0.032061,-0.410244,0.911412]]
2025-10-24T22:18:40.211Z,1761344320.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563393,-0.761125,-0.321368],[0.825604,-0.504030,-0.253637],[0.031071,-0.408220,0.912355]]
2025-10-24T22:18:40.275Z,1761344320.275 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:18:40.405Z,1761344320.405 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:18:40.456Z,1761344320.456 [DAT](INFO): entering command mode
2025-10-24T22:18:40.625Z,1761344320.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534244,-0.779688,-0.326604],[0.844802,-0.478790,-0.238894],[0.029888,-0.403544,0.914472]]
2025-10-24T22:18:40.658Z,1761344320.658 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:18:40.658Z,1761344320.658 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:18:40.909Z,1761344320.909 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:18:40.909Z,1761344320.909 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:18:41.019Z,1761344321.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504815,-0.797063,-0.331439],[0.862772,-0.453404,-0.223718],[0.028042,-0.398892,0.916569]]
2025-10-24T22:18:41.161Z,1761344321.161 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:18:41.162Z,1761344321.162 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:18:41.413Z,1761344321.413 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:18:41.413Z,1761344321.413 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:18:41.425Z,1761344321.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475449,-0.812304,-0.337801],[0.879360,-0.427482,-0.209726],[0.025957,-0.396763,0.917554]]
2025-10-24T22:18:41.666Z,1761344321.666 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:18:41.666Z,1761344321.666 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:18:41.827Z,1761344321.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446475,-0.825437,-0.345419],[0.894476,-0.401396,-0.196961],[0.023929,-0.396907,0.917547]]
2025-10-24T22:18:41.885Z,1761344321.885 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:18:41.886Z,1761344321.886 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:18:41.886Z,1761344321.886 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:18:41.886Z,1761344321.886 [marl:UpdateRudder:A] Stopped
2025-10-24T22:18:41.886Z,1761344321.886 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:18:41.886Z,1761344321.886 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:18:41.886Z,1761344321.886 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:18:41.886Z,1761344321.886 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:18:41.887Z,1761344321.887 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:18:41.887Z,1761344321.887 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:18:41.887Z,1761344321.887 [marl:UpdateCommandMode] Stopped
2025-10-24T22:18:41.887Z,1761344321.887 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:18:41.887Z,1761344321.887 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:18:41.887Z,1761344321.887 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:18:41.887Z,1761344321.887 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:18:41.887Z,1761344321.887 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:18:41.888Z,1761344321.888 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:18:41.888Z,1761344321.888 [marl:UpdateSpeed] Stopped
2025-10-24T22:18:41.888Z,1761344321.888 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:18:41.920Z,1761344321.920 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:18:41.921Z,1761344321.921 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:18:42.169Z,1761344322.169 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:18:42.169Z,1761344322.169 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:18:42.234Z,1761344322.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417969,-0.837288,-0.352492],[0.908207,-0.375943,-0.183919],[0.021476,-0.397009,0.917563]]
2025-10-24T22:18:42.318Z,1761344322.318 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:18:42.318Z,1761344322.318 [marl:UpdateRudder:B] Stopped
2025-10-24T22:18:42.318Z,1761344322.318 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:18:42.319Z,1761344322.319 [marl:UpdateRudder] Stopped
2025-10-24T22:18:42.319Z,1761344322.319 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:18:42.421Z,1761344322.421 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:18:42.421Z,1761344322.421 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:18:42.659Z,1761344322.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390146,-0.846784,-0.361584],[0.920566,-0.350821,-0.171705],[0.018546,-0.399852,0.916392]]
2025-10-24T22:18:42.674Z,1761344322.674 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:18:42.674Z,1761344322.674 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:18:42.925Z,1761344322.925 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:18:42.925Z,1761344322.925 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:18:43.038Z,1761344323.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362430,-0.855131,-0.370669],[0.931883,-0.325902,-0.159315],[0.015433,-0.403161,0.914999]]
2025-10-24T22:18:43.177Z,1761344323.177 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:18:43.177Z,1761344323.177 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:18:43.429Z,1761344323.429 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:18:43.429Z,1761344323.429 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:18:43.444Z,1761344323.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335163,-0.862617,-0.378890],[0.942075,-0.301425,-0.147099],[0.012683,-0.406245,0.913676]]
2025-10-24T22:18:43.685Z,1761344323.685 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:18:42.7572

2025-10-24T22:18:43.686Z,1761344323.686 [DAT](DEBUG): Re-entering command mode due to unexpected online mode.
2025-10-24T22:18:43.686Z,1761344323.686 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:18:43.740Z,1761344323.740 [DAT](INFO): entering command mode
2025-10-24T22:18:43.847Z,1761344323.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308137,-0.869579,-0.385855],[0.951288,-0.277327,-0.134686],[0.010112,-0.408561,0.912675]]
2025-10-24T22:18:43.939Z,1761344323.939 [DAT](INFO): DAT read: 

2025-10-24T22:18:43.941Z,1761344323.941 [DAT](INFO): DAT read: user:24>

2025-10-24T22:18:43.943Z,1761344323.943 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:18:43.946Z,1761344323.946 [DAT](INFO): setting remote address to 0
2025-10-24T22:18:44.189Z,1761344324.189 [DAT](INFO): DAT read: user:24>

2025-10-24T22:18:44.190Z,1761344324.190 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:18:44.190Z,1761344324.190 [DAT](INFO): set remote address to 0
2025-10-24T22:18:44.190Z,1761344324.190 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:18:44.191Z,1761344324.191 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:18:44.257Z,1761344324.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282913,-0.876005,-0.390608],[0.959118,-0.255295,-0.122137],[0.007272,-0.409193,0.912419]]
2025-10-24T22:18:44.441Z,1761344324.441 [DAT](INFO): DAT read: user:25>

2025-10-24T22:18:44.442Z,1761344324.442 [DAT](INFO): DAT read: Tx time:22:18:43.4083

2025-10-24T22:18:44.442Z,1761344324.442 [DAT](INFO): Ping request sent.
2025-10-24T22:18:44.442Z,1761344324.442 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:18:44.442Z,1761344324.442 [DAT](INFO): publishing transmit ping time
2025-10-24T22:18:44.443Z,1761344324.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000976
2025-10-24T22:18:44.667Z,1761344324.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260600,-0.883969,-0.388184],[0.965439,-0.236937,-0.108578],[0.004005,-0.403063,0.915163]]
2025-10-24T22:18:44.693Z,1761344324.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250851
2025-10-24T22:18:44.945Z,1761344324.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502809
2025-10-24T22:18:45.060Z,1761344325.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242145,-0.892910,-0.379574],[0.970240,-0.222903,-0.094596],[-0.000143,-0.391184,0.920312]]
2025-10-24T22:18:45.197Z,1761344325.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755161
2025-10-24T22:18:45.449Z,1761344325.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006789
2025-10-24T22:18:45.464Z,1761344325.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228610,-0.903965,-0.361365],[0.973500,-0.214519,-0.079240],[-0.005889,-0.369904,0.929051]]
2025-10-24T22:18:45.701Z,1761344325.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258852
2025-10-24T22:18:45.867Z,1761344325.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221149,-0.916510,-0.333321],[0.975145,-0.212579,-0.062468],[-0.013605,-0.338851,0.940742]]
2025-10-24T22:18:45.956Z,1761344325.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513444
2025-10-24T22:18:46.205Z,1761344326.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762733
2025-10-24T22:18:46.270Z,1761344326.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220109,-0.929066,-0.297301],[0.975194,-0.216900,-0.044178],[-0.023440,-0.299650,0.953761]]
2025-10-24T22:18:46.457Z,1761344326.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014919
2025-10-24T22:18:46.688Z,1761344326.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224903,-0.940337,-0.255314],[0.973736,-0.226437,-0.023774],[-0.035457,-0.253955,0.966566]]
2025-10-24T22:18:46.710Z,1761344326.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268269
2025-10-24T22:18:46.961Z,1761344326.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518925
2025-10-24T22:18:47.213Z,1761344327.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771465
2025-10-24T22:18:47.465Z,1761344327.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022899
2025-10-24T22:18:47.482Z,1761344327.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248503,-0.952989,-0.173374],[0.966649,-0.255434,0.018516],[-0.061931,-0.162990,0.984682]]
2025-10-24T22:18:47.717Z,1761344327.717 [DAT](INFO): DAT read: Rx Time:22:18:46.3058

2025-10-24T22:18:47.717Z,1761344327.717 [DAT](INFO): Rx dataTimestamp_ set to:1761344327.717053
2025-10-24T22:18:47.718Z,1761344327.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275972
2025-10-24T22:18:47.886Z,1761344327.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264193,-0.954398,-0.139020],[0.961566,-0.271824,0.038769],[-0.074790,-0.123434,0.989530]]
2025-10-24T22:18:47.973Z,1761344327.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529435
2025-10-24T22:18:48.224Z,1761344328.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781156
2025-10-24T22:18:48.290Z,1761344328.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281060,-0.953020,-0.112949],[0.955737,-0.288629,0.057104],[-0.087022,-0.091900,0.991958]]
2025-10-24T22:18:48.479Z,1761344328.479 [DAT](INFO): DAT read: 22:18:46.3058 LVL= 32752, 22401, 30818, 31107, AGC= 43, IDX= 295, 0.25, 2.623,-2.017,-2.879, 2.915, PHS=-0.190, 1.396, 0.444, RAW= 306.6, -22.9, CAL= 306.5, -27.0, ROT= 203.5,  27.0

2025-10-24T22:18:48.480Z,1761344328.480 [DAT](INFO): got valid direction response:
 22:18:46.3058 LVL= 32752, 22401, 30818, 31107, AGC= 43, IDX= 295, 0.25, 2.623,-2.017,-2.879, 2.915, PHS=-0.190, 1.396, 0.444, RAW= 306.6, -22.9, CAL= 306.5, -27.0, ROT= 203.5,  27.0

2025-10-24T22:18:48.481Z,1761344328.481 [DAT](INFO): DAT read: Bearing 286,  31 (Remote)

2025-10-24T22:18:48.481Z,1761344328.481 [DAT](INFO): Remote Bearing received:Bearing 286,  31 (Remote)

2025-10-24T22:18:48.482Z,1761344328.482 [DAT](INFO): DAT read: Bearing 112.8, -13.2 (Local)

2025-10-24T22:18:48.483Z,1761344328.483 [DAT](INFO): Local bearing/azimuth received:
 Bearing 112.8, -13.2 (Local)

2025-10-24T22:18:48.484Z,1761344328.484 [DAT](INFO): DAT read: Range 11 to 20 : 651.2 m  (Round-trip  868.3 ms) speed -1.0 m/s

2025-10-24T22:18:48.485Z,1761344328.485 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-24T22:18:48.486Z,1761344328.486 [DAT](INFO): direction in FSK: [-0.817107,-0.355288,-0.453991]
2025-10-24T22:18:48.486Z,1761344328.486 [DAT](INFO): publishing direction and range info
2025-10-24T22:18:48.698Z,1761344328.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298687,-0.950042,-0.090589],[0.949303,-0.305516,0.074058],[-0.098035,-0.063877,0.993131]]
2025-10-24T22:18:48.762Z,1761344328.762 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344384.00. Resetting abort timer.
2025-10-24T22:18:49.099Z,1761344329.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316918,-0.945487,-0.074949],[0.942315,-0.322858,0.088346],[-0.107728,-0.042627,0.993266]]
2025-10-24T22:18:49.505Z,1761344329.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334881,-0.940072,-0.064175],[0.935126,-0.339939,0.099904],[-0.115733,-0.026555,0.992925]]
2025-10-24T22:18:49.733Z,1761344329.733 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:18:49.930Z,1761344329.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368029,-0.928278,-0.053421],[0.921055,-0.371828,0.115769],[-0.127329,-0.006598,0.991839]]
2025-10-24T22:18:49.985Z,1761344329.985 [DAT](INFO): DAT read: user:26>Rx Time:22:18:48.4421

2025-10-24T22:18:49.985Z,1761344329.985 [DAT](INFO): Rx dataTimestamp_ set to:1761344329.985219
2025-10-24T22:18:49.986Z,1761344329.986 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:18:49.986Z,1761344329.986 [DAT](INFO): #Outgoing data=3
2025-10-24T22:18:49.987Z,1761344329.987 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:18:50.236Z,1761344330.236 [DAT](INFO): setting remote address to 10
2025-10-24T22:18:50.490Z,1761344330.490 [DAT](INFO): DAT read: 

2025-10-24T22:18:50.494Z,1761344330.494 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:18:50.495Z,1761344330.495 [DAT](INFO): set remote address to 10
2025-10-24T22:18:50.500Z,1761344330.500 [DAT](INFO): entering online mode
2025-10-24T22:18:50.727Z,1761344330.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395777,-0.916723,-0.054585],[0.908383,-0.399522,0.123377],[-0.134910,-0.000755,0.990857]]
2025-10-24T22:18:50.747Z,1761344330.747 [DAT](INFO): DAT read: user:27>22:18:48.4421 LVL= 32752, 32113, 21922, 32755, AGC= 58, IDX= 316,-0.9,-2.811,-1.528,-0.377,-1.575, PHS=-1.134, 0.092, 1.154, RAW= 242.4,  -1.1, CAL= 238.6,  -1.8, ROT= 271.4,   1.8

2025-10-24T22:18:50.748Z,1761344330.748 [DAT](INFO): DAT read: 

2025-10-24T22:18:50.749Z,1761344330.749 [DAT](INFO): DAT read: 

2025-10-24T22:18:50.750Z,1761344330.750 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:18:50.751Z,1761344330.751 [DAT](INFO): commRate: 600
2025-10-24T22:18:50.751Z,1761344330.751 [DAT](INFO): online mode acknowledged
2025-10-24T22:18:50.751Z,1761344330.751 [DAT](INFO): DAT read: 

2025-10-24T22:18:50.752Z,1761344330.752 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:18:50.752Z,1761344330.752 [DAT](INFO): Got DATA 2
2025-10-24T22:18:50.753Z,1761344330.753 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:18:50.753Z,1761344330.753 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:18:50.753Z,1761344330.753 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:18:50.755Z,1761344330.755 [DAT](INFO): DAT read: CRC:Pass MPD:03.9 PSNR:13.4 AGC:55 SPD:+0.1 CCERR:011

2025-10-24T22:18:50.755Z,1761344330.755 [DAT](INFO): Got CRC:Pass
2025-10-24T22:18:50.755Z,1761344330.755 [DAT](INFO): Got CRC:Pass
2025-10-24T22:18:50.755Z,1761344330.755 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:18:50.755Z,1761344330.755 [DAT](INFO): Got ack
2025-10-24T22:18:50.755Z,1761344330.755 [DAT](INFO): DAT read: 

2025-10-24T22:18:50.764Z,1761344330.764 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:18:50.764Z,1761344330.764 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:18:51.132Z,1761344331.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407165,-0.911683,-0.055233],[0.902816,-0.410890,0.126856],[-0.138347,0.001786,0.990382]]
2025-10-24T22:18:51.529Z,1761344331.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417493,-0.906867,-0.057366],[0.897587,-0.421408,0.129433],[-0.141553,0.002546,0.989927]]
2025-10-24T22:18:51.966Z,1761344331.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427327,-0.902210,-0.058380],[0.892516,-0.431275,0.131975],[-0.144247,0.004291,0.989532]]
2025-10-24T22:18:52.331Z,1761344332.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436593,-0.897716,-0.059091],[0.887663,-0.440532,0.134111],[-0.146425,0.006099,0.989203]]
2025-10-24T22:18:52.738Z,1761344332.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445371,-0.893281,-0.060772],[0.882984,-0.449449,0.135405],[-0.148269,0.006644,0.988925]]
2025-10-24T22:18:53.141Z,1761344333.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454186,-0.888640,-0.063512],[0.878146,-0.458564,0.136300],[-0.150246,0.006132,0.988630]]
2025-10-24T22:18:53.542Z,1761344333.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463120,-0.883837,-0.065966],[0.873074,-0.467754,0.137655],[-0.152520,0.006158,0.988281]]
2025-10-24T22:18:54.019Z,1761344334.019 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:18:53.0572

2025-10-24T22:18:54.019Z,1761344334.019 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:18:54.351Z,1761344334.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484234,-0.872331,-0.067495],[0.860690,-0.488794,0.142455],[-0.157259,0.010889,0.987497]]
2025-10-24T22:18:54.764Z,1761344334.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497753,-0.864574,-0.068941],[0.852663,-0.502345,0.143579],[-0.158767,0.012684,0.987235]]
2025-10-24T22:18:54.790Z,1761344334.790 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:18:54.790Z,1761344334.790 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:18:54.790Z,1761344334.790 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:18:54.791Z,1761344334.791 [marl:UpdateRudder:A] Stopped
2025-10-24T22:18:54.791Z,1761344334.791 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:18:54.791Z,1761344334.791 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:18:54.791Z,1761344334.791 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:18:54.791Z,1761344334.791 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:18:54.791Z,1761344334.791 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:18:54.791Z,1761344334.791 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:18:54.792Z,1761344334.792 [marl:UpdateCommandMode] Stopped
2025-10-24T22:18:54.792Z,1761344334.792 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:18:54.792Z,1761344334.792 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:18:54.792Z,1761344334.792 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:18:54.792Z,1761344334.792 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:18:54.792Z,1761344334.792 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:18:54.793Z,1761344334.793 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:18:54.793Z,1761344334.793 [marl:UpdateSpeed] Stopped
2025-10-24T22:18:54.793Z,1761344334.793 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:18:55.158Z,1761344335.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512093,-0.856034,-0.070468],[0.843933,-0.516720,0.144145],[-0.159805,0.014345,0.987044]]
2025-10-24T22:18:55.195Z,1761344335.195 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:18:55.195Z,1761344335.195 [marl:UpdateRudder:B] Stopped
2025-10-24T22:18:55.195Z,1761344335.195 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:18:55.195Z,1761344335.195 [marl:UpdateRudder] Stopped
2025-10-24T22:18:55.196Z,1761344335.196 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:18:55.563Z,1761344335.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527690,-0.846388,-0.071908],[0.834208,-0.532327,0.143959],[-0.160124,0.015979,0.986968]]
2025-10-24T22:18:55.986Z,1761344335.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543219,-0.836315,-0.074095],[0.824195,-0.548001,0.142819],[-0.160045,0.016513,0.986971]]
2025-10-24T22:18:56.372Z,1761344336.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559005,-0.825708,-0.075626],[0.813942,-0.563852,0.139893],[-0.158153,0.016645,0.987274]]
2025-10-24T22:18:56.803Z,1761344336.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574778,-0.814764,-0.076095],[0.803463,-0.579538,0.136320],[-0.155168,0.017214,0.987738]]
2025-10-24T22:18:57.194Z,1761344337.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590409,-0.803565,-0.075510],[0.792798,-0.594937,0.132370],[-0.151291,0.018289,0.988320]]
2025-10-24T22:18:57.545Z,1761344337.545 [DAT](INFO): DAT read: Rx Time:22:18:55.9935

2025-10-24T22:18:57.545Z,1761344337.545 [DAT](INFO): Rx dataTimestamp_ set to:1761344337.544999
2025-10-24T22:18:57.607Z,1761344337.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604463,-0.792985,-0.076154],[0.782929,-0.608999,0.127052],[-0.147128,0.017175,0.988968]]
2025-10-24T22:18:58.053Z,1761344338.053 [DAT](INFO): DAT read: 22:18:55.9935 LVL= 28112, 17313, 21314, 27091, AGC= 53, IDX= 458,-0.02,-3.122,-1.656,-1.022,-1.892, PHS=-1.128, 0.281, 0.825, RAW= 254.3,   0.3, CAL= 250.3,  -2.4, ROT= 259.7,   2.4

2025-10-24T22:18:58.054Z,1761344338.054 [DAT](INFO): got valid direction response:
 22:18:55.9935 LVL= 28112, 17313, 21314, 27091, AGC= 53, IDX= 458,-0.02,-3.122,-1.656,-1.022,-1.892, PHS=-1.128, 0.281, 0.825, RAW= 254.3,   0.3, CAL= 250.3,  -2.4, ROT= 259.7,   2.4

2025-10-24T22:18:58.055Z,1761344338.055 [DAT](INFO): DAT read: 

2025-10-24T22:18:58.056Z,1761344338.056 [DAT](INFO): DAT read: $Packet for address 50

2025-10-24T22:18:58.056Z,1761344338.056 [DAT](INFO): received a packet notification
2025-10-24T22:18:58.068Z,1761344338.068 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-24T22:18:58.069Z,1761344338.069 [DAT](INFO): direction in FSK: [-0.178645,-0.983022,-0.041876]
2025-10-24T22:18:58.109Z,1761344338.109 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344384.00. Resetting abort timer.
2025-10-24T22:18:58.406Z,1761344338.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623503,-0.776527,-0.090825],[0.769526,-0.630064,0.104157],[-0.138106,-0.004950,0.990405]]
2025-10-24T22:18:58.812Z,1761344338.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627721,-0.771223,-0.105742],[0.766938,-0.635978,0.085659],[-0.133312,-0.027328,0.990697]]
2025-10-24T22:18:59.214Z,1761344339.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630079,-0.766483,-0.124512],[0.765876,-0.639864,0.063305],[-0.128193,-0.055473,0.990197]]
2025-10-24T22:18:59.561Z,1761344339.561 [DAT](INFO): DAT read: Rx Time:22:18:58.1776

2025-10-24T22:18:59.561Z,1761344339.561 [DAT](INFO): Rx dataTimestamp_ set to:1761344339.561099
2025-10-24T22:18:59.631Z,1761344339.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631408,-0.761712,-0.145323],[0.765667,-0.642071,0.038711],[-0.122795,-0.086826,0.988627]]
2025-10-24T22:19:00.326Z,1761344340.326 [DAT](INFO): DAT read: 22:18:58.1776 LVL= 29088, 19601, 13650, 28899, AGC= 78, IDX= 296,-0.08, 2.244,-2.846,-1.868,-2.904, PHS=-1.033, 0.103, 0.992, RAW= 244.0,  -0.7, CAL= 240.1,  -1.2, ROT= 269.9,   1.2

2025-10-24T22:19:00.327Z,1761344340.327 [DAT](INFO): got valid direction response:
 22:18:58.1776 LVL= 29088, 19601, 13650, 28899, AGC= 78, IDX= 296,-0.08, 2.244,-2.846,-1.868,-2.904, PHS=-1.033, 0.103, 0.992, RAW= 244.0,  -0.7, CAL= 240.1,  -1.2, ROT= 269.9,   1.2

2025-10-24T22:19:00.329Z,1761344340.329 [DAT](INFO): DAT read: 

2025-10-24T22:19:00.329Z,1761344340.329 [DAT](INFO): DAT read: $Packet for address 10

2025-10-24T22:19:00.330Z,1761344340.330 [DAT](INFO): received a packet notification
2025-10-24T22:19:00.344Z,1761344340.344 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-24T22:19:00.345Z,1761344340.345 [DAT](INFO): direction in FSK: [-0.001745,-0.999779,-0.020942]
2025-10-24T22:19:00.427Z,1761344340.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633496,-0.752435,-0.180343],[0.765632,-0.643254,-0.005644],[-0.111760,-0.141652,0.983588]]
2025-10-24T22:19:00.476Z,1761344340.476 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344384.00. Resetting abort timer.
2025-10-24T22:19:00.808Z,1761344340.808 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:19:00.842Z,1761344340.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634378,-0.748794,-0.192023],[0.765617,-0.642909,-0.022311],[-0.106747,-0.161170,0.981137]]
2025-10-24T22:19:01.074Z,1761344341.074 [DAT](INFO): DAT read: Rx Time:22:18:59.6938

2025-10-24T22:19:01.075Z,1761344341.075 [DAT](INFO): Rx dataTimestamp_ set to:1761344341.074320
2025-10-24T22:19:01.236Z,1761344341.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635827,-0.745249,-0.200820],[0.765043,-0.642961,-0.036196],[-0.102144,-0.176650,0.978959]]
2025-10-24T22:19:01.654Z,1761344341.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637611,-0.742706,-0.204550],[0.764161,-0.643390,-0.045894],[-0.097520,-0.185571,0.977780]]
2025-10-24T22:19:01.812Z,1761344341.812 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:19:01.833Z,1761344341.833 [DAT](INFO): DAT read: 22:18:59.6938 LVL= 32752, 28065, 29090, 26963, AGC= 59, IDX= 134,-0.07, 1.255, 2.771,-3.078, 2.222, PHS=-0.865, 0.594, 0.939, RAW= 259.6,  -8.1, CAL= 258.3, -13.4, ROT= 251.7,  13.4

2025-10-24T22:19:01.834Z,1761344341.834 [DAT](INFO): got valid direction response:
 22:18:59.6938 LVL= 32752, 28065, 29090, 26963, AGC= 59, IDX= 134,-0.07, 1.255, 2.771,-3.078, 2.222, PHS=-0.865, 0.594, 0.939, RAW= 259.6,  -8.1, CAL= 258.3, -13.4, ROT= 251.7,  13.4

2025-10-24T22:19:01.835Z,1761344341.835 [DAT](INFO): DAT read: 

2025-10-24T22:19:01.835Z,1761344341.835 [DAT](INFO): DAT read: $Packet for address 50

2025-10-24T22:19:01.836Z,1761344341.836 [DAT](INFO): received a packet notification
2025-10-24T22:19:01.848Z,1761344341.848 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-10-24T22:19:01.849Z,1761344341.849 [DAT](INFO): direction in FSK: [-0.305445,-0.923578,-0.231748]
2025-10-24T22:19:02.042Z,1761344342.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639474,-0.740473,-0.206815],[0.763127,-0.644002,-0.053832],[-0.093328,-0.192250,0.976898]]
2025-10-24T22:19:02.131Z,1761344342.131 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344384.00. Resetting abort timer.
2025-10-24T22:19:02.447Z,1761344342.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641798,-0.738666,-0.206079],[0.761684,-0.645218,-0.059426],[-0.089070,-0.195106,0.976729]]
2025-10-24T22:19:02.870Z,1761344342.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643736,-0.737715,-0.203422],[0.760497,-0.646296,-0.062812],[-0.085134,-0.195136,0.977074]]
2025-10-24T22:19:03.258Z,1761344343.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645445,-0.737363,-0.199243],[0.759485,-0.647283,-0.064862],[-0.081140,-0.193187,0.977801]]
2025-10-24T22:19:03.342Z,1761344343.342 [DAT](INFO): DAT read: Rx Time:22:19:01.8777

2025-10-24T22:19:03.343Z,1761344343.343 [DAT](INFO): Rx dataTimestamp_ set to:1761344343.342186
2025-10-24T22:19:03.666Z,1761344343.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646449,-0.737633,-0.194937],[0.759039,-0.647643,-0.066466],[-0.077222,-0.190932,0.978561]]
2025-10-24T22:19:03.850Z,1761344343.850 [DAT](INFO): DAT read: 22:19:01.8777 LVL= 29008, 23361, 14706, 31347, AGC= 79, IDX= 296, 0.06,-1.241,-0.115, 0.623,-0.224, PHS=-0.915, 0.153, 0.802, RAW= 248.0,  -0.5, CAL= 244.1,  -2.0, ROT= 265.9,   2.0

2025-10-24T22:19:03.851Z,1761344343.851 [DAT](INFO): got valid direction response:
 22:19:01.8777 LVL= 29008, 23361, 14706, 31347, AGC= 79, IDX= 296, 0.06,-1.241,-0.115, 0.623,-0.224, PHS=-0.915, 0.153, 0.802, RAW= 248.0,  -0.5, CAL= 244.1,  -2.0, ROT= 265.9,   2.0

2025-10-24T22:19:03.851Z,1761344343.851 [DAT](INFO): DAT read: 

2025-10-24T22:19:03.852Z,1761344343.852 [DAT](INFO): DAT read: $Packet for address 10

2025-10-24T22:19:03.852Z,1761344343.852 [DAT](INFO): received a packet notification
2025-10-24T22:19:03.864Z,1761344343.864 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-10-24T22:19:03.866Z,1761344343.866 [DAT](INFO): direction in FSK: [-0.071454,-0.996833,-0.034899]
2025-10-24T22:19:04.069Z,1761344344.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647173,-0.737977,-0.191198],[0.758815,-0.647690,-0.068538],[-0.073258,-0.189440,0.979156]]
2025-10-24T22:19:04.097Z,1761344344.097 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:19:04.140Z,1761344344.140 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344384.00. Resetting abort timer.
2025-10-24T22:19:04.349Z,1761344344.349 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:19:04.349Z,1761344344.349 [DAT](INFO): #Outgoing data=4
2025-10-24T22:19:04.349Z,1761344344.349 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:19:04.466Z,1761344344.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647061,-0.739003,-0.187579],[0.759285,-0.646930,-0.070477],[-0.069268,-0.188029,0.979718]]
2025-10-24T22:19:04.601Z,1761344344.601 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:19:04.870Z,1761344344.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646377,-0.740424,-0.184308],[0.760245,-0.645531,-0.072914],[-0.064989,-0.187249,0.980160]]
2025-10-24T22:19:05.274Z,1761344345.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645080,-0.742325,-0.181175],[0.761731,-0.643444,-0.075796],[-0.060311,-0.186901,0.980526]]
2025-10-24T22:19:05.684Z,1761344345.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643624,-0.744201,-0.178643],[0.763335,-0.641095,-0.079474],[-0.055382,-0.187516,0.980699]]
2025-10-24T22:19:06.092Z,1761344346.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642084,-0.745944,-0.176903],[0.764954,-0.638655,-0.083457],[-0.050726,-0.188910,0.980683]]
2025-10-24T22:19:06.487Z,1761344346.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640467,-0.748013,-0.174010],[0.766599,-0.636296,-0.086339],[-0.046139,-0.188693,0.980952]]
2025-10-24T22:19:06.895Z,1761344346.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639393,-0.749256,-0.172603],[0.767757,-0.634290,-0.090690],[-0.041530,-0.190504,0.980808]]
2025-10-24T22:19:07.296Z,1761344347.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638702,-0.749972,-0.172049],[0.768545,-0.632662,-0.095278],[-0.037393,-0.193081,0.980470]]
2025-10-24T22:19:07.320Z,1761344347.320 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:19:07.320Z,1761344347.320 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:19:07.320Z,1761344347.320 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:19:07.320Z,1761344347.320 [marl:UpdateRudder:A] Stopped
2025-10-24T22:19:07.320Z,1761344347.320 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:19:07.320Z,1761344347.320 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:19:07.321Z,1761344347.321 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:19:07.321Z,1761344347.321 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:19:07.321Z,1761344347.321 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:19:07.321Z,1761344347.321 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:19:07.321Z,1761344347.321 [marl:UpdateCommandMode] Stopped
2025-10-24T22:19:07.321Z,1761344347.321 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:19:07.321Z,1761344347.321 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:19:07.321Z,1761344347.321 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:19:07.322Z,1761344347.322 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:19:07.322Z,1761344347.322 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:19:07.322Z,1761344347.322 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:19:07.322Z,1761344347.322 [marl:UpdateSpeed] Stopped
2025-10-24T22:19:07.322Z,1761344347.322 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:19:07.704Z,1761344347.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638443,-0.750674,-0.169941],[0.768949,-0.631652,-0.098657],[-0.033284,-0.193663,0.980503]]
2025-10-24T22:19:07.741Z,1761344347.741 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:19:07.741Z,1761344347.741 [marl:UpdateRudder:B] Stopped
2025-10-24T22:19:07.742Z,1761344347.742 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:19:07.742Z,1761344347.742 [marl:UpdateRudder] Stopped
2025-10-24T22:19:07.742Z,1761344347.742 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:19:07.881Z,1761344347.881 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:19:06.9070

2025-10-24T22:19:07.881Z,1761344347.881 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:19:08.102Z,1761344348.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638720,-0.751187,-0.166600],[0.768881,-0.631362,-0.101014],[-0.029305,-0.192615,0.980837]]
2025-10-24T22:19:08.506Z,1761344348.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639341,-0.751373,-0.163344],[0.768514,-0.631347,-0.103866],[-0.025085,-0.191938,0.981086]]
2025-10-24T22:19:08.902Z,1761344348.902 [DAT](INFO): DAT read: 22:19:06.6462 LVL= 32752, 27489, 32754, 28963, AGC= 60, IDX= 133, 0.30, 2.747,-1.926,-1.700,-2.420, PHS=-1.014, 0.538, 0.676, RAW= 265.8,  -2.5, CAL= 263.9,  -7.7, ROT= 246.1,   7.7

2025-10-24T22:19:08.903Z,1761344348.903 [DAT](INFO): got valid direction response:
 22:19:06.6462 LVL= 32752, 27489, 32754, 28963, AGC= 60, IDX= 133, 0.30, 2.747,-1.926,-1.700,-2.420, PHS=-1.014, 0.538, 0.676, RAW= 265.8,  -2.5, CAL= 263.9,  -7.7, ROT= 246.1,   7.7

2025-10-24T22:19:08.912Z,1761344348.912 [DAT](INFO): DAT read: Rx Time:22:19:06.6462

2025-10-24T22:19:08.913Z,1761344348.913 [DAT](INFO): Rx dataTimestamp_ set to:1761344348.912509
2025-10-24T22:19:08.913Z,1761344348.913 [DAT](INFO): DAT read: 

2025-10-24T22:19:08.914Z,1761344348.914 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:19:08.914Z,1761344348.914 [DAT](INFO): Got DATA 2
2025-10-24T22:19:08.915Z,1761344348.915 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:19:08.915Z,1761344348.915 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:19:08.915Z,1761344348.915 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:19:08.929Z,1761344348.929 [DAT](INFO): DAT read: CRC:Pass MPD:03.3 PSNR:10.2 AGC:69 SPD:-0.6 CCERR:008

2025-10-24T22:19:08.929Z,1761344348.929 [DAT](INFO): Got CRC:Pass
2025-10-24T22:19:08.929Z,1761344348.929 [DAT](INFO): Got CRC:Pass
2025-10-24T22:19:08.929Z,1761344348.929 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:19:08.929Z,1761344348.929 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:19:08.929Z,1761344348.929 [DAT](INFO): Got ack
2025-10-24T22:19:08.929Z,1761344348.929 [DAT](INFO): DAT read: 

2025-10-24T22:19:08.930Z,1761344348.930 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:19:08.930Z,1761344348.930 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:19:08.931Z,1761344348.931 [DAT](INFO): #Rx 6: Read direction message, but no range.
2025-10-24T22:19:08.931Z,1761344348.931 [DAT](INFO): direction in FSK: [-0.401489,-0.906010,-0.133986]
2025-10-24T22:19:08.947Z,1761344348.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640643,-0.751292,-0.158547],[0.767556,-0.632208,-0.105693],[-0.020828,-0.189405,0.981678]]
2025-10-24T22:19:09.025Z,1761344349.025 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344384.00. Resetting abort timer.
2025-10-24T22:19:09.141Z,1761344349.141 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:19:09.141Z,1761344349.141 [DAT](INFO): #Outgoing data=5
2025-10-24T22:19:09.141Z,1761344349.141 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:19:09.314Z,1761344349.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642336,-0.750739,-0.154259],[0.766241,-0.633426,-0.107916],[-0.016695,-0.187518,0.982119]]
2025-10-24T22:19:09.393Z,1761344349.393 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:19:09.720Z,1761344349.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643668,-0.750707,-0.148765],[0.765196,-0.634583,-0.108533],[-0.012928,-0.183693,0.982899]]
2025-10-24T22:19:10.123Z,1761344350.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644377,-0.751142,-0.143402],[0.764653,-0.635151,-0.109037],[-0.009180,-0.179913,0.983640]]
2025-10-24T22:19:10.526Z,1761344350.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642508,-0.752884,-0.142651],[0.766263,-0.632490,-0.113129],[-0.005052,-0.181994,0.983287]]
2025-10-24T22:19:10.936Z,1761344350.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637011,-0.755883,-0.151189],[0.770855,-0.624796,-0.124152],[-0.000617,-0.195631,0.980677]]
2025-10-24T22:19:11.337Z,1761344351.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628577,-0.759093,-0.169321],[0.777736,-0.612299,-0.142185],[0.004256,-0.221061,0.975251]]
2025-10-24T22:19:11.738Z,1761344351.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618671,-0.761512,-0.193253],[0.785591,-0.596594,-0.164082],[0.009657,-0.253330,0.967332]]
2025-10-24T22:19:12.559Z,1761344352.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597199,-0.765484,-0.239558],[0.801788,-0.561490,-0.204607],[0.022114,-0.314266,0.949077]]
2025-10-24T22:19:12.674Z,1761344352.674 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:19:11.7072

2025-10-24T22:19:12.674Z,1761344352.674 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:19:12.959Z,1761344352.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585413,-0.767122,-0.262327],[0.810230,-0.542149,-0.222714],[0.028628,-0.342924,0.938927]]
2025-10-24T22:19:13.355Z,1761344353.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573611,-0.769284,-0.281377],[0.818362,-0.523349,-0.237465],[0.035419,-0.366481,0.929751]]
2025-10-24T22:19:13.758Z,1761344353.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561918,-0.772098,-0.296840],[0.826109,-0.505434,-0.249159],[0.042342,-0.385229,0.921849]]
2025-10-24T22:19:14.162Z,1761344354.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550623,-0.776237,-0.307036],[0.833265,-0.489146,-0.257693],[0.049845,-0.397734,0.916146]]
2025-10-24T22:19:14.970Z,1761344354.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526686,-0.788380,-0.317898],[0.847561,-0.458380,-0.267449],[0.065133,-0.410299,0.909622]]
2025-10-24T22:19:15.374Z,1761344355.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513687,-0.795372,-0.321728],[0.854936,-0.442968,-0.269933],[0.072182,-0.413718,0.907539]]
2025-10-24T22:19:15.779Z,1761344355.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499892,-0.803740,-0.322662],[0.862477,-0.427988,-0.270111],[0.079004,-0.413315,0.907154]]
2025-10-24T22:19:16.182Z,1761344356.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485518,-0.811933,-0.324095],[0.870044,-0.412544,-0.269872],[0.085414,-0.413004,0.906715]]
2025-10-24T22:19:16.205Z,1761344356.205 [DAT](INFO): DAT read: Rx Time:22:19:14.6983

2025-10-24T22:19:16.205Z,1761344356.205 [DAT](INFO): Rx dataTimestamp_ set to:1761344356.205150
2025-10-24T22:19:16.679Z,1761344356.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470813,-0.820196,-0.324983],[0.877470,-0.397115,-0.268973],[0.091555,-0.411798,0.906664]]
2025-10-24T22:19:16.966Z,1761344356.966 [DAT](INFO): DAT read: 22:19:14.6983 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 156,-0.06,-1.984,-0.552,-0.068,-1.371, PHS=-0.511, 0.863, 1.259, RAW= 257.7, -19.5, CAL= 257.1, -24.6, ROT= 252.9,  24.6

2025-10-24T22:19:16.967Z,1761344356.967 [DAT](INFO): got valid direction response:
 22:19:14.6983 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 156,-0.06,-1.984,-0.552,-0.068,-1.371, PHS=-0.511, 0.863, 1.259, RAW= 257.7, -19.5, CAL= 257.1, -24.6, ROT= 252.9,  24.6

2025-10-24T22:19:16.968Z,1761344356.968 [DAT](INFO): DAT read: 

2025-10-24T22:19:16.968Z,1761344356.968 [DAT](INFO): DAT read: DATA(0002):1‰

2025-10-24T22:19:16.969Z,1761344356.969 [DAT](INFO): Got DATA 2
2025-10-24T22:19:16.969Z,1761344356.969 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:19:16.970Z,1761344356.970 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:19:16.970Z,1761344356.970 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:19:16.971Z,1761344356.971 [DAT](INFO): DAT read: CRC:Fail {0001} MPD:16.4 PSNR:07.6 AGC:62 SPD:-0.1 CCERR:005

2025-10-24T22:19:16.972Z,1761344356.972 [DAT](INFO): unknown deviceResponse_: CRC:Fail {0001} MPD:16.4 PSNR:07.6 AGC:62 SPD:-0.1 CCERR:005

2025-10-24T22:19:16.972Z,1761344356.972 [DAT](INFO): DAT read: 

2025-10-24T22:19:16.972Z,1761344356.972 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:19:16.973Z,1761344356.973 [DAT](INFO): #Rx 7: Read direction message, but no range.
2025-10-24T22:19:16.974Z,1761344356.974 [DAT](INFO): direction in FSK: [-0.267352,-0.869041,-0.416281]
2025-10-24T22:19:17.145Z,1761344357.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455211,-0.828799,-0.325384],[0.885082,-0.381384,-0.266789],[0.097019,-0.409437,0.907165]]
2025-10-24T22:19:17.200Z,1761344357.200 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344384.00. Resetting abort timer.
2025-10-24T22:19:17.596Z,1761344357.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423333,-0.845336,-0.325879],[0.899573,-0.349526,-0.261916],[0.107504,-0.404029,0.908407]]
2025-10-24T22:19:18.028Z,1761344358.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406500,-0.853603,-0.325760],[0.906758,-0.333206,-0.258386],[0.112014,-0.400419,0.909460]]
2025-10-24T22:19:18.465Z,1761344358.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388791,-0.861696,-0.326071],[0.914001,-0.316196,-0.254209],[0.115949,-0.396864,0.910525]]
2025-10-24T22:19:18.864Z,1761344358.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370498,-0.869212,-0.327416],[0.921107,-0.298460,-0.249968],[0.119555,-0.394197,0.911216]]
2025-10-24T22:19:19.266Z,1761344359.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351797,-0.876181,-0.329463],[0.927979,-0.280244,-0.245599],[0.122859,-0.392135,0.911666]]
2025-10-24T22:19:19.481Z,1761344359.481 [DAT](INFO): DAT read: Rx Time:22:19:17.9989

2025-10-24T22:19:19.481Z,1761344359.481 [DAT](INFO): Rx dataTimestamp_ set to:1761344359.480952
2025-10-24T22:19:19.675Z,1761344359.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332768,-0.882539,-0.332252],[0.934570,-0.261613,-0.241115],[0.125872,-0.390748,0.911851]]
2025-10-24T22:19:20.091Z,1761344360.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313687,-0.888171,-0.335786],[0.940722,-0.242650,-0.236989],[0.129008,-0.390221,0.911638]]
2025-10-24T22:19:20.242Z,1761344360.242 [DAT](INFO): DAT read: 22:19:17.9989 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 482,-0.24,-2.697,-1.440,-0.924,-1.942, PHS=-0.653, 0.547, 0.974, RAW= 255.3, -11.9, CAL= 254.8, -17.6, ROT= 255.2,  17.6

2025-10-24T22:19:20.243Z,1761344360.243 [DAT](INFO): got valid direction response:
 22:19:17.9989 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 482,-0.24,-2.697,-1.440,-0.924,-1.942, PHS=-0.653, 0.547, 0.974, RAW= 255.3, -11.9, CAL= 254.8, -17.6, ROT= 255.2,  17.6

2025-10-24T22:19:20.244Z,1761344360.244 [DAT](INFO): DAT read: 

2025-10-24T22:19:20.244Z,1761344360.244 [DAT](INFO): DAT read: DATA(0002):aÀ

2025-10-24T22:19:20.245Z,1761344360.245 [DAT](INFO): Got DATA 2
2025-10-24T22:19:20.245Z,1761344360.245 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:19:20.246Z,1761344360.246 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:19:20.246Z,1761344360.246 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:19:20.247Z,1761344360.247 [DAT](INFO): DAT read: CRC:Fail {0001} MPD:01.3 PSNR:08.1 AGC:63 SPD:-0.4 CCERR:005

2025-10-24T22:19:20.248Z,1761344360.248 [DAT](INFO): unknown deviceResponse_: CRC:Fail {0001} MPD:01.3 PSNR:08.1 AGC:63 SPD:-0.4 CCERR:005

2025-10-24T22:19:20.248Z,1761344360.248 [DAT](INFO): DAT read: 

2025-10-24T22:19:20.248Z,1761344360.248 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:19:20.249Z,1761344360.249 [DAT](INFO): #Rx 8: Read direction message, but no range.
2025-10-24T22:19:20.250Z,1761344360.250 [DAT](INFO): direction in FSK: [-0.243489,-0.921567,-0.302370]
2025-10-24T22:19:20.498Z,1761344360.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293981,-0.893238,-0.340148],[0.946635,-0.222902,-0.232803],[0.132128,-0.390436,0.911099]]
2025-10-24T22:19:20.561Z,1761344360.561 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:19:20.561Z,1761344360.561 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:19:20.561Z,1761344360.561 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:19:20.562Z,1761344360.562 [marl:UpdateRudder:A] Stopped
2025-10-24T22:19:20.562Z,1761344360.562 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:19:20.562Z,1761344360.562 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:19:20.562Z,1761344360.562 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:19:20.562Z,1761344360.562 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:19:20.562Z,1761344360.562 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:19:20.563Z,1761344360.563 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:19:20.563Z,1761344360.563 [marl:UpdateCommandMode] Stopped
2025-10-24T22:19:20.563Z,1761344360.563 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:19:20.563Z,1761344360.563 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:19:20.563Z,1761344360.563 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:19:20.563Z,1761344360.563 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:19:20.563Z,1761344360.563 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:19:20.563Z,1761344360.563 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:19:20.563Z,1761344360.563 [marl:UpdateSpeed] Stopped
2025-10-24T22:19:20.564Z,1761344360.564 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:19:20.566Z,1761344360.566 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344384.00. Resetting abort timer.
2025-10-24T22:19:20.882Z,1761344360.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273967,-0.898076,-0.344095],[0.952176,-0.202958,-0.228405],[0.135289,-0.390215,0.910730]]
2025-10-24T22:19:20.934Z,1761344360.934 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:19:20.934Z,1761344360.934 [marl:UpdateRudder:B] Stopped
2025-10-24T22:19:20.934Z,1761344360.934 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:19:20.934Z,1761344360.934 [marl:UpdateRudder] Stopped
2025-10-24T22:19:20.934Z,1761344360.934 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:19:21.286Z,1761344361.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253596,-0.902598,-0.347858],[0.957330,-0.182665,-0.223947],[0.138592,-0.389807,0.910408]]
2025-10-24T22:19:21.692Z,1761344361.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232745,-0.906624,-0.351941],[0.962148,-0.161898,-0.219225],[0.141776,-0.389643,0.909988]]
2025-10-24T22:19:22.096Z,1761344362.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212298,-0.910015,-0.356093],[0.966467,-0.141655,-0.214187],[0.144471,-0.389623,0.909572]]
2025-10-24T22:19:22.501Z,1761344362.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194793,-0.914034,-0.355805],[0.969943,-0.125575,-0.208425],[0.145827,-0.385711,0.911022]]
2025-10-24T22:19:22.757Z,1761344362.757 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:19:23.011Z,1761344363.011 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:19:23.011Z,1761344363.011 [DAT](INFO): #Outgoing data=5
2025-10-24T22:19:23.012Z,1761344363.012 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:19:23.261Z,1761344363.261 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:19:23.306Z,1761344363.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175719,-0.931127,-0.319572],[0.974415,-0.118299,-0.191105],[0.140138,-0.344976,0.928091]]
2025-10-24T22:19:23.711Z,1761344363.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177010,-0.943764,-0.279243],[0.975146,-0.129759,-0.179590],[0.133256,-0.304092,0.943277]]
2025-10-24T22:19:24.530Z,1761344364.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200361,-0.964447,-0.172331],[0.972810,-0.174989,-0.151720],[0.116170,-0.198044,0.973285]]
2025-10-24T22:19:24.923Z,1761344364.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218072,-0.968294,-0.121869],[0.969985,-0.201280,-0.136438],[0.107582,-0.147965,0.983124]]
2025-10-24T22:19:25.328Z,1761344365.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238214,-0.967878,-0.080414],[0.966121,-0.227684,-0.121535],[0.099322,-0.106641,0.989324]]
2025-10-24T22:19:25.731Z,1761344365.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259206,-0.964817,-0.044036],[0.961486,-0.253459,-0.106313],[0.091411,-0.069897,0.993357]]
2025-10-24T22:19:26.537Z,1761344366.537 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:19:25.5571

2025-10-24T22:19:26.537Z,1761344366.537 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:19:26.545Z,1761344366.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303311,-0.952864,0.007243],[0.949732,-0.302915,-0.079068],[0.077535,-0.017103,0.996843]]
2025-10-24T22:19:26.944Z,1761344366.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325085,-0.945403,0.023083],[0.942953,-0.325904,-0.068013],[0.071822,-0.000344,0.997417]]
2025-10-24T22:19:27.347Z,1761344367.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346597,-0.937300,0.036583],[0.935629,-0.348233,-0.057734],[0.066854,0.014218,0.997662]]
2025-10-24T22:19:27.750Z,1761344367.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367733,-0.928838,0.045080],[0.927792,-0.369742,-0.049923],[0.063039,0.023466,0.997735]]
2025-10-24T22:19:28.569Z,1761344368.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408987,-0.911015,0.052741],[0.910612,-0.411196,-0.041274],[0.059288,0.031146,0.997755]]
2025-10-24T22:19:28.962Z,1761344368.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428439,-0.901897,0.054970],[0.901629,-0.430713,-0.039390],[0.059202,0.032686,0.997711]]
2025-10-24T22:19:29.367Z,1761344369.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446907,-0.892846,0.055678],[0.892569,-0.449209,-0.039134],[0.059951,0.032207,0.997682]]
2025-10-24T22:19:29.772Z,1761344369.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462952,-0.884671,0.055066],[0.884327,-0.465215,-0.039261],[0.060350,0.030520,0.997711]]
2025-10-24T22:19:30.174Z,1761344370.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476220,-0.877695,0.053538],[0.877286,-0.478379,-0.039019],[0.059858,0.028386,0.997803]]
2025-10-24T22:19:30.583Z,1761344370.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488107,-0.871207,0.052439],[0.870789,-0.490172,-0.038198],[0.058983,0.027019,0.997893]]
2025-10-24T22:19:30.992Z,1761344370.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498886,-0.865270,0.049203],[0.864771,-0.500746,-0.037756],[0.057307,0.023713,0.998075]]
2025-10-24T22:19:31.386Z,1761344371.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509023,-0.859492,0.046573],[0.858989,-0.510698,-0.036416],[0.055084,0.021469,0.998251]]
2025-10-24T22:19:31.790Z,1761344371.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519053,-0.853573,0.044687],[0.853122,-0.520578,-0.034375],[0.052605,0.020281,0.998409]]
2025-10-24T22:19:31.934Z,1761344371.934 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:19:32.606Z,1761344372.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539346,-0.841268,0.037061],[0.840814,-0.540427,-0.031154],[0.046238,0.014358,0.998827]]
2025-10-24T22:19:32.936Z,1761344372.936 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:19:33.019Z,1761344373.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550431,-0.834201,0.033683],[0.833764,-0.551333,-0.029493],[0.043174,0.011850,0.998997]]
2025-10-24T22:19:33.349Z,1761344373.349 [DAT](INFO): DAT read: Rx Time:22:19:31.8500

2025-10-24T22:19:33.349Z,1761344373.349 [DAT](INFO): Rx dataTimestamp_ set to:1761344373.349015
2025-10-24T22:19:33.406Z,1761344373.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562176,-0.826443,0.030827],[0.826023,-0.562937,-0.028075],[0.040556,0.009681,0.999130]]
2025-10-24T22:19:33.462Z,1761344373.462 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:19:33.462Z,1761344373.462 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:19:33.463Z,1761344373.463 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:19:33.463Z,1761344373.463 [marl:UpdateRudder:A] Stopped
2025-10-24T22:19:33.463Z,1761344373.463 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:19:33.463Z,1761344373.463 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:19:33.463Z,1761344373.463 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:19:33.464Z,1761344373.464 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:19:33.464Z,1761344373.464 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:19:33.464Z,1761344373.464 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:19:33.464Z,1761344373.464 [marl:UpdateCommandMode] Stopped
2025-10-24T22:19:33.464Z,1761344373.464 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:19:33.464Z,1761344373.464 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:19:33.465Z,1761344373.465 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:19:33.465Z,1761344373.465 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:19:33.465Z,1761344373.465 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:19:33.465Z,1761344373.465 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:19:33.465Z,1761344373.465 [marl:UpdateSpeed] Stopped
2025-10-24T22:19:33.465Z,1761344373.465 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:19:33.810Z,1761344373.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574418,-0.818049,0.028980],[0.817674,-0.575084,-0.026228],[0.038122,0.008630,0.999236]]
2025-10-24T22:19:33.851Z,1761344373.851 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:19:33.851Z,1761344373.851 [marl:UpdateRudder:B] Stopped
2025-10-24T22:19:33.851Z,1761344373.851 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:19:33.851Z,1761344373.851 [marl:UpdateRudder] Stopped
2025-10-24T22:19:33.851Z,1761344373.851 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:19:34.110Z,1761344374.110 [DAT](INFO): DAT read: 22:19:31.8500 LVL= 32752, 22001, 26002, 32755, AGC= 54, IDX= 430, 0.25,-0.235, 1.646, 1.624, 1.381, PHS=-1.514, 0.310, 0.200, RAW= 273.1,  11.3, CAL= 272.4,  14.5, ROT= 237.6, -14.5

2025-10-24T22:19:34.111Z,1761344374.111 [DAT](INFO): got valid direction response:
 22:19:31.8500 LVL= 32752, 22001, 26002, 32755, AGC= 54, IDX= 430, 0.25,-0.235, 1.646, 1.624, 1.381, PHS=-1.514, 0.310, 0.200, RAW= 273.1,  11.3, CAL= 272.4,  14.5, ROT= 237.6, -14.5

2025-10-24T22:19:34.111Z,1761344374.111 [DAT](INFO): DAT read: 

2025-10-24T22:19:34.112Z,1761344374.112 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:19:34.112Z,1761344374.112 [DAT](INFO): Got DATA 2
2025-10-24T22:19:34.113Z,1761344374.113 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:19:34.113Z,1761344374.113 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:19:34.114Z,1761344374.114 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:19:34.115Z,1761344374.115 [DAT](INFO): DAT read: CRC:Pass MPD:03.9 PSNR:13.1 AGC:58 SPD:-0.9 CCERR:009

2025-10-24T22:19:34.115Z,1761344374.115 [DAT](INFO): Got CRC:Pass
2025-10-24T22:19:34.115Z,1761344374.115 [DAT](INFO): Got CRC:Pass
2025-10-24T22:19:34.115Z,1761344374.115 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:19:34.115Z,1761344374.115 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:19:34.115Z,1761344374.115 [DAT](INFO): Got ack
2025-10-24T22:19:34.116Z,1761344374.116 [DAT](INFO): DAT read: 

2025-10-24T22:19:34.116Z,1761344374.116 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:19:34.116Z,1761344374.116 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:19:34.117Z,1761344374.117 [DAT](INFO): #Rx 9: Read direction message, but no range.
2025-10-24T22:19:34.118Z,1761344374.118 [DAT](INFO): direction in FSK: [-0.518759,-0.817434,0.250380]
2025-10-24T22:19:34.215Z,1761344374.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587069,-0.809011,0.029189],[0.808730,-0.587712,-0.023470],[0.036142,0.009827,0.999298]]
2025-10-24T22:19:34.314Z,1761344374.314 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344384.00. Resetting abort timer.
2025-10-24T22:19:34.357Z,1761344374.357 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:19:34.616Z,1761344374.616 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:19:34.631Z,1761344374.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599828,-0.799602,0.029041],[0.799398,-0.600436,-0.020956],[0.034194,0.010645,0.999359]]
2025-10-24T22:19:35.023Z,1761344375.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612753,-0.789755,0.028642],[0.789618,-0.613318,-0.018533],[0.032204,0.011260,0.999418]]
2025-10-24T22:19:35.428Z,1761344375.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625739,-0.779535,0.027842],[0.779437,-0.626257,-0.016735],[0.030482,0.011230,0.999472]]
2025-10-24T22:19:35.831Z,1761344375.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637997,-0.769574,0.026748],[0.769508,-0.638462,-0.014968],[0.028597,0.011033,0.999530]]
2025-10-24T22:19:36.642Z,1761344376.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656707,-0.753916,0.018589],[0.753745,-0.656962,-0.016375],[0.024558,0.003258,0.999693]]
2025-10-24T22:19:37.047Z,1761344377.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662312,-0.749200,0.006512],[0.748886,-0.662247,-0.024470],[0.022645,-0.011330,0.999679]]
2025-10-24T22:19:37.491Z,1761344377.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665037,-0.746706,-0.012506],[0.746530,-0.664234,-0.038552],[0.020480,-0.034975,0.999178]]
2025-10-24T22:19:37.883Z,1761344377.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666318,-0.744788,-0.036224],[0.745442,-0.664132,-0.056961],[0.018367,-0.064957,0.997719]]
2025-10-24T22:19:37.885Z,1761344377.885 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:19:36.9070

2025-10-24T22:19:37.886Z,1761344377.886 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:19:38.694Z,1761344378.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666584,-0.740369,-0.086713],[0.745270,-0.659510,-0.098075],[0.015424,-0.130000,0.991394]]
2025-10-24T22:19:39.096Z,1761344379.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666481,-0.737646,-0.108082],[0.745381,-0.656490,-0.115879],[0.014523,-0.157794,0.987365]]
2025-10-24T22:19:39.207Z,1761344379.207 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:19:39.207Z,1761344379.207 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:19:39.498Z,1761344379.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666791,-0.734724,-0.124781],[0.745114,-0.654125,-0.130100],[0.013965,-0.179725,0.983618]]
2025-10-24T22:19:39.906Z,1761344379.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666790,-0.732779,-0.135743],[0.745128,-0.652287,-0.138946],[0.013274,-0.193794,0.980953]]
2025-10-24T22:19:40.376Z,1761344380.376 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:19:40.421Z,1761344380.421 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:19:40.473Z,1761344380.473 [DAT](INFO): entering command mode
2025-10-24T22:19:40.673Z,1761344380.673 [DAT](INFO): DAT read: 

2025-10-24T22:19:40.673Z,1761344380.673 [DAT](INFO): DAT read: user:28>

2025-10-24T22:19:40.674Z,1761344380.674 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:19:40.674Z,1761344380.674 [DAT](INFO): setting remote address to 0
2025-10-24T22:19:40.710Z,1761344380.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666349,-0.730814,-0.147954],[0.745548,-0.649904,-0.147591],[0.011705,-0.208654,0.977919]]
2025-10-24T22:19:40.925Z,1761344380.925 [DAT](INFO): DAT read: user:28>

2025-10-24T22:19:40.926Z,1761344380.926 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:19:40.927Z,1761344380.927 [DAT](INFO): set remote address to 0
2025-10-24T22:19:40.927Z,1761344380.927 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:19:40.927Z,1761344380.927 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:19:41.114Z,1761344381.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665517,-0.731120,-0.150167],[0.746310,-0.649037,-0.147558],[0.010419,-0.210274,0.977587]]
2025-10-24T22:19:41.177Z,1761344381.177 [DAT](INFO): DAT read: user:29>

2025-10-24T22:19:41.178Z,1761344381.178 [DAT](INFO): DAT read: Tx time:22:19:40.1582

2025-10-24T22:19:41.179Z,1761344381.179 [DAT](INFO): Ping request sent.
2025-10-24T22:19:41.179Z,1761344381.179 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:19:41.179Z,1761344381.179 [DAT](INFO): publishing transmit ping time
2025-10-24T22:19:41.196Z,1761344381.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.017437
2025-10-24T22:19:41.429Z,1761344381.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249995
2025-10-24T22:19:41.518Z,1761344381.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664338,-0.732220,-0.150031],[0.747378,-0.648354,-0.145132],[0.008995,-0.208546,0.977971]]
2025-10-24T22:19:41.681Z,1761344381.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502070
2025-10-24T22:19:41.936Z,1761344381.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756574
2025-10-24T22:19:41.967Z,1761344381.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663804,-0.732664,-0.150229],[0.747873,-0.648330,-0.142670],[0.007131,-0.207057,0.978303]]
2025-10-24T22:19:42.185Z,1761344382.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005883
2025-10-24T22:19:42.327Z,1761344382.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663862,-0.732717,-0.149713],[0.747840,-0.649133,-0.139147],[0.004771,-0.204336,0.978889]]
2025-10-24T22:19:42.437Z,1761344382.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258100
2025-10-24T22:19:42.689Z,1761344382.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510082
2025-10-24T22:19:42.731Z,1761344382.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664872,-0.731759,-0.149916],[0.746955,-0.650847,-0.135855],[0.001840,-0.202307,0.979321]]
2025-10-24T22:19:42.942Z,1761344382.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762795
2025-10-24T22:19:43.135Z,1761344383.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666010,-0.731057,-0.148279],[0.745942,-0.652977,-0.131116],[-0.000969,-0.197932,0.980215]]
2025-10-24T22:19:43.193Z,1761344383.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014114
2025-10-24T22:19:43.446Z,1761344383.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266760
2025-10-24T22:19:43.540Z,1761344383.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667959,-0.729551,-0.146921],[0.744189,-0.655776,-0.127045],[-0.003661,-0.194198,0.980956]]
2025-10-24T22:19:43.697Z,1761344383.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518138
2025-10-24T22:19:43.953Z,1761344383.953 [DAT](INFO): DAT read: Rx Time:22:19:42.3087

2025-10-24T22:19:43.955Z,1761344383.955 [DAT](INFO): Rx dataTimestamp_ set to:1761344383.953436
2025-10-24T22:19:43.961Z,1761344383.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781549
2025-10-24T22:19:44.001Z,1761344384.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674126,-0.723554,-0.148400],[0.738571,-0.662546,-0.124677],[-0.008111,-0.193652,0.981037]]
2025-10-24T22:19:44.201Z,1761344384.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021952
2025-10-24T22:19:44.464Z,1761344384.464 [DAT](INFO): DAT read: 22:19:42.3087 LVL= 32752, 31665, 32754, 32755, AGC= 59, IDX= 471, 0.36, 1.299, 2.774, 1.000, 1.832, PHS=-0.431, 0.987,-0.875, RAW= 343.2,   3.8, CAL= 342.8,   1.5, ROT= 167.2,  -1.5

2025-10-24T22:19:44.466Z,1761344384.466 [DAT](INFO): got valid direction response:
 22:19:42.3087 LVL= 32752, 31665, 32754, 32755, AGC= 59, IDX= 471, 0.36, 1.299, 2.774, 1.000, 1.832, PHS=-0.431, 0.987,-0.875, RAW= 343.2,   3.8, CAL= 342.8,   1.5, ROT= 167.2,  -1.5

2025-10-24T22:19:44.468Z,1761344384.468 [DAT](INFO): DAT read: Bearing 272,   1 (Remote)

2025-10-24T22:19:44.468Z,1761344384.468 [DAT](INFO): Remote Bearing received:Bearing 272,   1 (Remote)

2025-10-24T22:19:44.469Z,1761344384.469 [DAT](INFO): DAT read: Bearing 102.6,  12.2 (Local)

2025-10-24T22:19:44.470Z,1761344384.470 [DAT](INFO): Local bearing/azimuth received:
 Bearing 102.6,  12.2 (Local)

2025-10-24T22:19:44.471Z,1761344384.471 [DAT](INFO): DAT read: Range 11 to 20 : 91.0 m  (Round-trip  121.4 ms) speed -0.9 m/s

2025-10-24T22:19:44.471Z,1761344384.471 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-24T22:19:44.477Z,1761344384.477 [DAT](INFO): direction in FSK: [-0.974815,0.221473,0.026177]
2025-10-24T22:19:44.477Z,1761344384.477 [DAT](INFO): publishing direction and range info
2025-10-24T22:19:44.751Z,1761344384.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677611,-0.720165,-0.149015],[0.735356,-0.666176,-0.124343],[-0.009723,-0.193835,0.980986]]
2025-10-24T22:19:44.877Z,1761344384.877 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344384.00. Resetting abort timer.
2025-10-24T22:19:45.156Z,1761344385.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681100,-0.716935,-0.148684],[0.732113,-0.669805,-0.123986],[-0.010700,-0.193300,0.981081]]
2025-10-24T22:19:45.462Z,1761344385.462 [DAT](INFO): DAT read: user:30>Rx Time:22:19:43.9291

2025-10-24T22:19:45.463Z,1761344385.463 [DAT](INFO): Rx dataTimestamp_ set to:1761344385.462246
2025-10-24T22:19:46.222Z,1761344386.222 [DAT](INFO): DAT read: 22:19:43.9291 LVL= 32752, 31281, 32754, 31971, AGC= 63, IDX= 151, 0.31,-3.072,-1.158,-1.583,-1.741, PHS=-1.229, 0.628, 0.114, RAW= 285.6,   5.9, CAL= 283.7,   1.9, ROT= 226.3,  -1.9

2025-10-24T22:19:46.223Z,1761344386.223 [DAT](INFO): got valid direction response:
 22:19:43.9291 LVL= 32752, 31281, 32754, 31971, AGC= 63, IDX= 151, 0.31,-3.072,-1.158,-1.583,-1.741, PHS=-1.229, 0.628, 0.114, RAW= 285.6,   5.9, CAL= 283.7,   1.9, ROT= 226.3,  -1.9

2025-10-24T22:19:46.224Z,1761344386.224 [DAT](INFO): DAT read: 

2025-10-24T22:19:46.224Z,1761344386.224 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:19:46.225Z,1761344386.225 [DAT](INFO): Got DATA 2
2025-10-24T22:19:46.225Z,1761344386.225 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:19:46.225Z,1761344386.225 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:19:46.226Z,1761344386.226 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:19:46.227Z,1761344386.227 [DAT](INFO): DAT read: CRC:Pass MPD:04.8 PSNR:12.3 AGC:62 SPD:-1.1 CCERR:010

2025-10-24T22:19:46.227Z,1761344386.227 [DAT](INFO): Got CRC:Pass
2025-10-24T22:19:46.227Z,1761344386.227 [DAT](INFO): Got CRC:Pass
2025-10-24T22:19:46.227Z,1761344386.227 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:19:46.227Z,1761344386.227 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:19:46.227Z,1761344386.227 [DAT](INFO): Got ack
2025-10-24T22:19:46.228Z,1761344386.228 [DAT](INFO): DAT read: 

2025-10-24T22:19:46.228Z,1761344386.228 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:19:46.229Z,1761344386.229 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:19:46.229Z,1761344386.229 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-24T22:19:46.230Z,1761344386.230 [DAT](INFO): direction in FSK: [-0.690503,-0.722570,0.033155]
2025-10-24T22:19:46.401Z,1761344386.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692861,-0.705497,-0.149056],[0.721020,-0.680323,-0.131494],[-0.008638,-0.198580,0.980047]]
2025-10-24T22:19:46.447Z,1761344386.447 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:19:46.447Z,1761344386.447 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:19:46.447Z,1761344386.447 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:19:46.452Z,1761344386.452 [marl:UpdateRudder:A] Stopped
2025-10-24T22:19:46.452Z,1761344386.452 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:19:46.452Z,1761344386.452 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:19:46.452Z,1761344386.452 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:19:46.453Z,1761344386.453 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:19:46.453Z,1761344386.453 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:19:46.453Z,1761344386.453 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:19:46.454Z,1761344386.454 [marl:UpdateCommandMode] Stopped
2025-10-24T22:19:46.454Z,1761344386.454 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:19:46.454Z,1761344386.454 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:19:46.454Z,1761344386.454 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:19:46.454Z,1761344386.454 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:19:46.455Z,1761344386.455 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:19:46.455Z,1761344386.455 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:19:46.455Z,1761344386.455 [marl:UpdateSpeed] Stopped
2025-10-24T22:19:46.455Z,1761344386.455 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:19:46.463Z,1761344386.463 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344384.00. Resetting abort timer.
2025-10-24T22:19:46.469Z,1761344386.469 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:19:46.721Z,1761344386.721 [DAT](INFO): setting remote address to 10
2025-10-24T22:19:46.786Z,1761344386.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693742,-0.704496,-0.149691],[0.720183,-0.680756,-0.133818],[-0.007629,-0.200640,0.979635]]
2025-10-24T22:19:46.825Z,1761344386.825 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:19:46.825Z,1761344386.825 [marl:UpdateRudder:B] Stopped
2025-10-24T22:19:46.825Z,1761344386.825 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:19:46.825Z,1761344386.825 [marl:UpdateRudder] Stopped
2025-10-24T22:19:46.825Z,1761344386.825 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:19:46.973Z,1761344386.973 [DAT](INFO): DAT read: 

2025-10-24T22:19:46.974Z,1761344386.974 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:19:46.974Z,1761344386.974 [DAT](INFO): set remote address to 10
2025-10-24T22:19:46.975Z,1761344386.975 [DAT](INFO): entering online mode
2025-10-24T22:19:47.187Z,1761344387.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693721,-0.704540,-0.149585],[0.720213,-0.680515,-0.134881],[-0.006766,-0.201303,0.979506]]
2025-10-24T22:19:47.225Z,1761344387.225 [DAT](INFO): DAT read: user:31>

2025-10-24T22:19:47.225Z,1761344387.225 [DAT](INFO): DAT read: 

2025-10-24T22:19:47.227Z,1761344387.227 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:19:47.227Z,1761344387.227 [DAT](INFO): commRate: 600
2025-10-24T22:19:47.227Z,1761344387.227 [DAT](INFO): online mode acknowledged
2025-10-24T22:19:47.227Z,1761344387.227 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:19:47.591Z,1761344387.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692576,-0.705866,-0.148631],[0.721321,-0.679365,-0.134758],[-0.005854,-0.200540,0.979668]]
2025-10-24T22:19:47.995Z,1761344387.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691105,-0.707373,-0.148316],[0.722737,-0.677842,-0.134843],[-0.005150,-0.200384,0.979704]]
2025-10-24T22:19:48.394Z,1761344388.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689383,-0.708895,-0.149059],[0.724379,-0.676058,-0.134981],[-0.005085,-0.201029,0.979572]]
2025-10-24T22:19:48.799Z,1761344388.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687675,-0.710377,-0.149891],[0.725996,-0.674456,-0.134307],[-0.005686,-0.201180,0.979538]]
2025-10-24T22:19:49.202Z,1761344389.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686119,-0.711661,-0.150929],[0.727455,-0.673162,-0.132896],[-0.007023,-0.200976,0.979571]]
2025-10-24T22:19:49.608Z,1761344389.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685180,-0.712360,-0.151892],[0.728321,-0.672574,-0.131119],[-0.008755,-0.200466,0.979661]]
2025-10-24T22:19:50.013Z,1761344390.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685503,-0.711906,-0.152563],[0.727996,-0.673200,-0.129706],[-0.010367,-0.199979,0.979745]]
2025-10-24T22:19:50.425Z,1761344390.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686818,-0.710683,-0.152350],[0.726737,-0.674816,-0.128361],[-0.011585,-0.198879,0.979956]]
2025-10-24T22:19:50.505Z,1761344390.505 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:19:49.5570

2025-10-24T22:19:50.506Z,1761344390.506 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:19:50.818Z,1761344390.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689499,-0.708300,-0.151333],[0.724183,-0.677713,-0.127532],[-0.012229,-0.197526,0.980221]]
2025-10-24T22:19:51.223Z,1761344391.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692661,-0.705655,-0.149238],[0.721161,-0.681051,-0.126869],[-0.012113,-0.195502,0.980628]]
2025-10-24T22:19:51.626Z,1761344391.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695376,-0.703373,-0.147368],[0.718549,-0.683874,-0.126507],[-0.011799,-0.193861,0.980958]]
2025-10-24T22:19:52.032Z,1761344392.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698004,-0.701276,-0.144924],[0.716015,-0.686483,-0.126740],[-0.010608,-0.192232,0.981292]]
2025-10-24T22:19:52.442Z,1761344392.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699973,-0.699704,-0.143008],[0.714110,-0.688314,-0.127554],[-0.009184,-0.191408,0.981468]]
2025-10-24T22:19:52.839Z,1761344392.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701214,-0.698888,-0.140906],[0.712908,-0.689505,-0.127847],[-0.007805,-0.190102,0.981733]]
2025-10-24T22:19:53.242Z,1761344393.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701925,-0.698457,-0.139498],[0.712224,-0.689999,-0.128986],[-0.006162,-0.189892,0.981786]]
2025-10-24T22:19:53.649Z,1761344393.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702073,-0.698413,-0.138969],[0.712090,-0.689810,-0.130726],[-0.004562,-0.190738,0.981630]]
2025-10-24T22:19:54.052Z,1761344394.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702139,-0.698274,-0.139332],[0.712033,-0.689412,-0.133118],[-0.003104,-0.192676,0.981258]]
2025-10-24T22:19:54.455Z,1761344394.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701921,-0.698473,-0.139435],[0.712251,-0.688970,-0.134235],[-0.002307,-0.193535,0.981091]]
2025-10-24T22:19:54.858Z,1761344394.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701769,-0.698469,-0.140218],[0.712402,-0.688566,-0.135501],[-0.001906,-0.194982,0.980805]]
2025-10-24T22:19:55.266Z,1761344395.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702249,-0.697787,-0.141206],[0.711929,-0.688775,-0.136917],[-0.001720,-0.196678,0.980467]]
2025-10-24T22:19:55.672Z,1761344395.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702534,-0.697323,-0.142079],[0.711648,-0.688957,-0.137463],[-0.002030,-0.197682,0.980264]]
2025-10-24T22:19:56.073Z,1761344396.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703172,-0.696610,-0.142420],[0.711016,-0.689584,-0.137591],[-0.002364,-0.198013,0.980197]]
2025-10-24T22:19:56.474Z,1761344396.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704658,-0.695055,-0.142673],[0.709544,-0.690872,-0.138721],[-0.002150,-0.198984,0.980000]]
2025-10-24T22:19:56.879Z,1761344396.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706164,-0.693722,-0.141712],[0.708046,-0.692396,-0.138777],[-0.001848,-0.198337,0.980132]]
2025-10-24T22:19:57.287Z,1761344397.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708505,-0.691515,-0.140811],[0.705704,-0.694590,-0.139735],[-0.001177,-0.198374,0.980126]]
2025-10-24T22:19:57.321Z,1761344397.321 [DAT](INFO): DAT read: Rx Time:22:19:55.8088

2025-10-24T22:19:57.321Z,1761344397.321 [DAT](INFO): Rx dataTimestamp_ set to:1761344397.321083
2025-10-24T22:19:57.689Z,1761344397.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710947,-0.689157,-0.140060],[0.703246,-0.696798,-0.141130],[-0.000333,-0.198833,0.980033]]
2025-10-24T22:19:58.082Z,1761344398.082 [DAT](INFO): DAT read: 22:19:55.8088 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 233, 0.01,-2.475,-0.544,-1.163,-1.180, PHS=-1.193, 0.681,-0.028, RAW= 292.0,   6.6, CAL= 289.8,   4.6, ROT= 220.2,  -4.6

2025-10-24T22:19:58.083Z,1761344398.083 [DAT](INFO): got valid direction response:
 22:19:55.8088 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 233, 0.01,-2.475,-0.544,-1.163,-1.180, PHS=-1.193, 0.681,-0.028, RAW= 292.0,   6.6, CAL= 289.8,   4.6, ROT= 220.2,  -4.6

2025-10-24T22:19:58.083Z,1761344398.083 [DAT](INFO): DAT read: 

2025-10-24T22:19:58.084Z,1761344398.084 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:19:58.084Z,1761344398.084 [DAT](INFO): Got DATA 2
2025-10-24T22:19:58.085Z,1761344398.085 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:19:58.085Z,1761344398.085 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:19:58.086Z,1761344398.086 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:19:58.087Z,1761344398.087 [DAT](INFO): DAT read: CRC:Pass MPD:02.1 PSNR:12.9 AGC:61 SPD:-1.1 CCERR:009

2025-10-24T22:19:58.087Z,1761344398.087 [DAT](INFO): Got CRC:Pass
2025-10-24T22:19:58.087Z,1761344398.087 [DAT](INFO): Got CRC:Pass
2025-10-24T22:19:58.087Z,1761344398.087 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:19:58.087Z,1761344398.087 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:19:58.087Z,1761344398.087 [DAT](INFO): Got ack
2025-10-24T22:19:58.088Z,1761344398.088 [DAT](INFO): DAT read: 

2025-10-24T22:19:58.088Z,1761344398.088 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:19:58.089Z,1761344398.089 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:19:58.089Z,1761344398.089 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-24T22:19:58.090Z,1761344398.090 [DAT](INFO): direction in FSK: [-0.761336,-0.643379,0.080199]
2025-10-24T22:19:58.114Z,1761344398.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713285,-0.686932,-0.139098],[0.700874,-0.698955,-0.142261],[0.000501,-0.198963,0.980007]]
2025-10-24T22:19:58.259Z,1761344398.259 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344384.00. Resetting abort timer.
2025-10-24T22:19:58.329Z,1761344398.329 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:19:58.518Z,1761344398.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715656,-0.684694,-0.137949],[0.698452,-0.701220,-0.143024],[0.001195,-0.198707,0.980058]]
2025-10-24T22:19:58.581Z,1761344398.581 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:19:58.927Z,1761344398.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717790,-0.682667,-0.136909],[0.696257,-0.703228,-0.143860],[0.001930,-0.198585,0.980082]]
2025-10-24T22:19:59.330Z,1761344399.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719855,-0.680761,-0.135549],[0.694119,-0.705229,-0.144399],[0.002708,-0.198034,0.980191]]
2025-10-24T22:19:59.385Z,1761344399.385 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:19:59.385Z,1761344399.385 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:19:59.385Z,1761344399.385 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:19:59.385Z,1761344399.385 [marl:UpdateRudder:A] Stopped
2025-10-24T22:19:59.385Z,1761344399.385 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:19:59.385Z,1761344399.385 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:19:59.386Z,1761344399.386 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:19:59.386Z,1761344399.386 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:19:59.386Z,1761344399.386 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:19:59.386Z,1761344399.386 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:19:59.386Z,1761344399.386 [marl:UpdateCommandMode] Stopped
2025-10-24T22:19:59.386Z,1761344399.386 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:19:59.386Z,1761344399.386 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:19:59.386Z,1761344399.386 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:19:59.386Z,1761344399.386 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:19:59.387Z,1761344399.387 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:19:59.387Z,1761344399.387 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:19:59.387Z,1761344399.387 [marl:UpdateSpeed] Stopped
2025-10-24T22:19:59.387Z,1761344399.387 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:19:59.732Z,1761344399.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721675,-0.679149,-0.133946],[0.692224,-0.707092,-0.144385],[0.003347,-0.196920,0.980414]]
2025-10-24T22:19:59.820Z,1761344399.820 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:19:59.820Z,1761344399.820 [marl:UpdateRudder:B] Stopped
2025-10-24T22:19:59.820Z,1761344399.820 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:19:59.820Z,1761344399.820 [marl:UpdateRudder] Stopped
2025-10-24T22:19:59.821Z,1761344399.821 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:20:00.135Z,1761344400.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723694,-0.677166,-0.133087],[0.690109,-0.709004,-0.145127],[0.003916,-0.196872,0.980421]]
2025-10-24T22:20:00.538Z,1761344400.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725400,-0.675455,-0.132499],[0.688315,-0.710651,-0.145593],[0.004181,-0.196815,0.980432]]
2025-10-24T22:20:00.943Z,1761344400.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727458,-0.673452,-0.131406],[0.686135,-0.712638,-0.146170],[0.004794,-0.196495,0.980493]]
2025-10-24T22:20:01.356Z,1761344401.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729072,-0.672050,-0.129627],[0.684418,-0.714436,-0.145444],[0.005135,-0.194759,0.980838]]
2025-10-24T22:20:01.754Z,1761344401.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730512,-0.670675,-0.128632],[0.682878,-0.715910,-0.145431],[0.005447,-0.194079,0.980971]]
2025-10-24T22:20:01.857Z,1761344401.857 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:20:00.9069

2025-10-24T22:20:01.857Z,1761344401.857 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:20:02.154Z,1761344402.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730562,-0.670503,-0.129247],[0.682819,-0.715645,-0.147004],[0.006071,-0.195648,0.980655]]
2025-10-24T22:20:02.558Z,1761344402.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727571,-0.672755,-0.134316],[0.685989,-0.711229,-0.153534],[0.007761,-0.203846,0.978972]]
2025-10-24T22:20:02.964Z,1761344402.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721210,-0.676531,-0.148872],[0.692638,-0.701034,-0.169716],[0.010454,-0.225515,0.974184]]
2025-10-24T22:20:03.060Z,1761344403.060 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:20:03.367Z,1761344403.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712111,-0.681218,-0.169824],[0.701931,-0.686071,-0.191310],[0.013813,-0.255439,0.966727]]
2025-10-24T22:20:03.770Z,1761344403.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701778,-0.685578,-0.193624],[0.712170,-0.668294,-0.214936],[0.017957,-0.288731,0.957242]]
2025-10-24T22:20:04.064Z,1761344404.064 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:20:04.175Z,1761344404.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689626,-0.691131,-0.216229],[0.723827,-0.648714,-0.235044],[0.022175,-0.318604,0.947628]]
2025-10-24T22:20:04.579Z,1761344404.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676542,-0.697502,-0.236182],[0.735915,-0.628700,-0.251327],[0.026813,-0.343843,0.938644]]
2025-10-24T22:20:04.983Z,1761344404.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663025,-0.703863,-0.254903],[0.747931,-0.608479,-0.265242],[0.031591,-0.366512,0.929877]]
2025-10-24T22:20:05.399Z,1761344405.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649240,-0.711135,-0.269767],[0.759720,-0.589437,-0.274574],[0.036248,-0.383211,0.922949]]
2025-10-24T22:20:05.790Z,1761344405.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635517,-0.718747,-0.281995],[0.771007,-0.571473,-0.281009],[0.040822,-0.396006,0.917340]]
2025-10-24T22:20:06.195Z,1761344406.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621580,-0.726789,-0.292260],[0.782033,-0.554099,-0.285303],[0.045414,-0.405896,0.912790]]
2025-10-24T22:20:06.600Z,1761344406.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607547,-0.735824,-0.299082],[0.792719,-0.538098,-0.286439],[0.049833,-0.411113,0.910221]]
2025-10-24T22:20:07.002Z,1761344407.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593287,-0.745761,-0.303070],[0.803158,-0.522990,-0.285340],[0.054293,-0.412702,0.909247]]
2025-10-24T22:20:07.412Z,1761344407.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578817,-0.755963,-0.305764],[0.813318,-0.508036,-0.283573],[0.059032,-0.412820,0.908898]]
2025-10-24T22:20:07.811Z,1761344407.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563695,-0.766578,-0.307582],[0.823533,-0.492943,-0.280713],[0.063568,-0.411540,0.909172]]
2025-10-24T22:20:08.217Z,1761344408.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548254,-0.776932,-0.309508],[0.833546,-0.477568,-0.277722],[0.067961,-0.410251,0.909437]]
2025-10-24T22:20:08.618Z,1761344408.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532243,-0.787876,-0.309789],[0.843500,-0.462274,-0.273515],[0.072289,-0.406884,0.910615]]
2025-10-24T22:20:08.661Z,1761344408.661 [DAT](INFO): DAT read: Rx Time:22:20:07.1633

2025-10-24T22:20:08.662Z,1761344408.662 [DAT](INFO): Rx dataTimestamp_ set to:1761344408.661667
2025-10-24T22:20:09.022Z,1761344409.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515569,-0.798624,-0.310465],[0.853467,-0.446484,-0.268787],[0.076042,-0.403550,0.911792]]
2025-10-24T22:20:09.422Z,1761344409.422 [DAT](INFO): DAT read: 22:20:07.1633 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 472,-0.13, 0.417, 2.034, 2.045, 1.459, PHS=-0.940, 0.620, 0.542, RAW= 272.5,  -3.0, CAL= 271.3,  -8.5, ROT= 238.7,   8.5

2025-10-24T22:20:09.424Z,1761344409.424 [DAT](INFO): got valid direction response:
 22:20:07.1633 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 472,-0.13, 0.417, 2.034, 2.045, 1.459, PHS=-0.940, 0.620, 0.542, RAW= 272.5,  -3.0, CAL= 271.3,  -8.5, ROT= 238.7,   8.5

2025-10-24T22:20:09.424Z,1761344409.424 [DAT](INFO): DAT read: 

2025-10-24T22:20:09.425Z,1761344409.425 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:20:09.425Z,1761344409.425 [DAT](INFO): Got DATA 2
2025-10-24T22:20:09.426Z,1761344409.426 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:20:09.426Z,1761344409.426 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:20:09.426Z,1761344409.426 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:20:09.427Z,1761344409.427 [DAT](INFO): DAT read: CRC:Pass MPD:04.4 PSNR:12.3 AGC:61 SPD:-0.9 CCERR:008

2025-10-24T22:20:09.434Z,1761344409.434 [DAT](INFO): Got CRC:Pass
2025-10-24T22:20:09.434Z,1761344409.434 [DAT](INFO): Got CRC:Pass
2025-10-24T22:20:09.434Z,1761344409.434 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:20:09.434Z,1761344409.434 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:20:09.434Z,1761344409.434 [DAT](INFO): Got ack
2025-10-24T22:20:09.434Z,1761344409.434 [DAT](INFO): DAT read: 

2025-10-24T22:20:09.435Z,1761344409.435 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:20:09.435Z,1761344409.435 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:20:09.440Z,1761344409.440 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-10-24T22:20:09.441Z,1761344409.441 [DAT](INFO): direction in FSK: [-0.513813,-0.845073,-0.147809]
2025-10-24T22:20:09.491Z,1761344409.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498801,-0.808779,-0.311566],[0.863046,-0.430437,-0.264342],[0.079685,-0.400750,0.912716]]
2025-10-24T22:20:09.581Z,1761344409.581 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344384.00. Resetting abort timer.
2025-10-24T22:20:09.669Z,1761344409.669 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:20:09.830Z,1761344409.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481451,-0.818153,-0.314375],[0.872550,-0.413505,-0.260135],[0.082834,-0.399550,0.912961]]
2025-10-24T22:20:09.923Z,1761344409.923 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:20:10.236Z,1761344410.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464094,-0.827191,-0.316814],[0.881644,-0.396818,-0.255420],[0.085563,-0.397856,0.913449]]
2025-10-24T22:20:10.670Z,1761344410.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446891,-0.835244,-0.320399],[0.890265,-0.380061,-0.250960],[0.087842,-0.397392,0.913435]]
2025-10-24T22:20:11.091Z,1761344411.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430437,-0.842948,-0.322744],[0.898141,-0.364405,-0.246073],[0.089817,-0.395789,0.913939]]
2025-10-24T22:20:11.496Z,1761344411.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415098,-0.850008,-0.324314],[0.905161,-0.350000,-0.241211],[0.091521,-0.393683,0.914679]]
2025-10-24T22:20:11.922Z,1761344411.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400854,-0.856278,-0.325737],[0.911385,-0.336529,-0.236908],[0.093240,-0.391837,0.915298]]
2025-10-24T22:20:12.302Z,1761344412.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387151,-0.862538,-0.325794],[0.917117,-0.323874,-0.232383],[0.094923,-0.388759,0.916437]]
2025-10-24T22:20:12.365Z,1761344412.365 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:20:12.365Z,1761344412.365 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:20:12.366Z,1761344412.366 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:20:12.366Z,1761344412.366 [marl:UpdateRudder:A] Stopped
2025-10-24T22:20:12.367Z,1761344412.367 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:20:12.367Z,1761344412.367 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:20:12.367Z,1761344412.367 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:20:12.367Z,1761344412.367 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:20:12.368Z,1761344412.368 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:20:12.368Z,1761344412.368 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:20:12.368Z,1761344412.368 [marl:UpdateCommandMode] Stopped
2025-10-24T22:20:12.368Z,1761344412.368 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:20:12.368Z,1761344412.368 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:20:12.369Z,1761344412.369 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:20:12.369Z,1761344412.369 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:20:12.369Z,1761344412.369 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:20:12.370Z,1761344412.370 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:20:12.370Z,1761344412.370 [marl:UpdateSpeed] Stopped
2025-10-24T22:20:12.370Z,1761344412.370 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:20:12.710Z,1761344412.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374409,-0.867511,-0.327479],[0.922230,-0.311629,-0.228866],[0.096491,-0.387700,0.916721]]
2025-10-24T22:20:12.735Z,1761344412.735 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:20:12.735Z,1761344412.735 [marl:UpdateRudder:B] Stopped
2025-10-24T22:20:12.735Z,1761344412.735 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:20:12.735Z,1761344412.735 [marl:UpdateRudder] Stopped
2025-10-24T22:20:12.756Z,1761344412.756 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:20:13.117Z,1761344413.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361886,-0.872362,-0.328670],[0.927044,-0.299659,-0.225374],[0.098119,-0.386251,0.917160]]
2025-10-24T22:20:13.197Z,1761344413.197 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:20:12.2569

2025-10-24T22:20:13.198Z,1761344413.198 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:20:13.515Z,1761344413.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349366,-0.876797,-0.330410],[0.931630,-0.287402,-0.222410],[0.100048,-0.385523,0.917258]]
2025-10-24T22:20:13.978Z,1761344413.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336827,-0.880898,-0.332516],[0.936039,-0.275062,-0.219483],[0.101879,-0.385176,0.917203]]
2025-10-24T22:20:14.388Z,1761344414.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323472,-0.885314,-0.334045],[0.940539,-0.262136,-0.216033],[0.103692,-0.384063,0.917466]]
2025-10-24T22:20:14.791Z,1761344414.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310803,-0.889110,-0.335983],[0.944602,-0.249707,-0.213012],[0.105494,-0.383575,0.917465]]
2025-10-24T22:20:15.201Z,1761344415.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296964,-0.892848,-0.338578],[0.948856,-0.236122,-0.209568],[0.107167,-0.383496,0.917304]]
2025-10-24T22:20:15.599Z,1761344415.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282855,-0.896056,-0.342165],[0.952919,-0.221888,-0.206668],[0.109264,-0.384513,0.916630]]
2025-10-24T22:20:16.003Z,1761344416.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268016,-0.899357,-0.345433],[0.956939,-0.207012,-0.203503],[0.111513,-0.385100,0.916113]]
2025-10-24T22:20:16.908Z,1761344416.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220881,-0.909038,-0.353357],[0.967920,-0.159829,-0.193867],[0.119756,-0.384843,0.915180]]
2025-10-24T22:20:17.306Z,1761344417.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203475,-0.911767,-0.356762],[0.971417,-0.142502,-0.189850],[0.122260,-0.385195,0.914701]]
2025-10-24T22:20:17.758Z,1761344417.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185128,-0.914222,-0.360453],[0.974860,-0.124568,-0.184744],[0.123997,-0.385593,0.914299]]
2025-10-24T22:20:18.163Z,1761344418.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165359,-0.916601,-0.364004],[0.978347,-0.105872,-0.177843],[0.124473,-0.385530,0.914261]]
2025-10-24T22:20:18.628Z,1761344418.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144821,-0.918875,-0.367010],[0.981672,-0.086993,-0.169563],[0.123880,-0.384840,0.914632]]
2025-10-24T22:20:19.063Z,1761344419.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123908,-0.920490,-0.370601],[0.984709,-0.067973,-0.160401],[0.122456,-0.384809,0.914837]]
2025-10-24T22:20:19.474Z,1761344419.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102598,-0.922114,-0.373067],[0.987379,-0.048918,-0.150630],[0.120649,-0.383813,0.915495]]
2025-10-24T22:20:19.869Z,1761344419.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081562,-0.922974,-0.376121],[0.989633,-0.030236,-0.140404],[0.118217,-0.383674,0.915871]]
2025-10-24T22:20:20.271Z,1761344420.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060147,-0.923502,-0.378849],[0.991495,-0.011389,-0.129649],[0.115416,-0.383425,0.916332]]
2025-10-24T22:20:20.684Z,1761344420.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038976,-0.923411,-0.381829],[0.992932,0.007080,-0.118477],[0.112106,-0.383748,0.916608]]
2025-10-24T22:20:21.078Z,1761344421.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018370,-0.923299,-0.383643],[0.993935,0.024747,-0.107150],[0.108425,-0.383285,0.917244]]
2025-10-24T22:20:21.482Z,1761344421.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000985,-0.923186,-0.384351],[0.994491,0.041190,-0.096388],[0.104816,-0.382139,0.918141]]
2025-10-24T22:20:21.887Z,1761344421.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019271,-0.922088,-0.386501],[0.994673,0.056834,-0.085995],[0.101261,-0.382785,0.918271]]
2025-10-24T22:20:22.293Z,1761344422.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036566,-0.921032,-0.387767],[0.994517,0.071581,-0.076239],[0.097976,-0.382853,0.918599]]
2025-10-24T22:20:22.694Z,1761344422.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052938,-0.919743,-0.388934],[0.994069,0.085590,-0.067097],[0.095001,-0.383075,0.918819]]
2025-10-24T22:20:23.098Z,1761344423.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069254,-0.917685,-0.391227],[0.993317,0.099731,-0.058099],[0.092334,-0.384589,0.918459]]
2025-10-24T22:20:23.285Z,1761344423.285 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:20:23.502Z,1761344423.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085171,-0.915869,-0.392339],[0.992276,0.113614,-0.049811],[0.090195,-0.385066,0.918471]]
2025-10-24T22:20:23.537Z,1761344423.537 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:20:23.789Z,1761344423.789 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:20:23.926Z,1761344423.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100737,-0.914052,-0.392888],[0.990962,0.127339,-0.042169],[0.088574,-0.385089,0.918619]]
2025-10-24T22:20:24.387Z,1761344424.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116203,-0.912173,-0.392984],[0.989414,0.140940,-0.034578],[0.086929,-0.384806,0.918895]]
2025-10-24T22:20:25.253Z,1761344425.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162811,-0.905348,-0.392221],[0.983336,0.181482,-0.010725],[0.080891,-0.383939,0.919809]]
2025-10-24T22:20:25.696Z,1761344425.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178142,-0.903271,-0.390343],[0.980983,0.194090,-0.001440],[0.077063,-0.382663,0.920668]]
2025-10-24T22:20:25.728Z,1761344425.728 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:20:25.728Z,1761344425.728 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:20:25.728Z,1761344425.728 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:20:25.729Z,1761344425.729 [marl:UpdateRudder:A] Stopped
2025-10-24T22:20:25.729Z,1761344425.729 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:20:25.729Z,1761344425.729 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:20:25.729Z,1761344425.729 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:20:25.729Z,1761344425.729 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:20:25.729Z,1761344425.729 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:20:25.730Z,1761344425.730 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:20:25.730Z,1761344425.730 [marl:UpdateCommandMode] Stopped
2025-10-24T22:20:25.730Z,1761344425.730 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:20:25.730Z,1761344425.730 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:20:25.730Z,1761344425.730 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:20:25.730Z,1761344425.730 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:20:25.730Z,1761344425.730 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:20:25.730Z,1761344425.730 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:20:25.730Z,1761344425.730 [marl:UpdateSpeed] Stopped
2025-10-24T22:20:25.731Z,1761344425.731 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:20:26.090Z,1761344426.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193355,-0.900829,-0.388742],[0.978418,0.206475,0.008187],[0.072891,-0.381935,0.921310]]
2025-10-24T22:20:26.140Z,1761344426.140 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:20:26.140Z,1761344426.140 [marl:UpdateRudder:B] Stopped
2025-10-24T22:20:26.140Z,1761344426.140 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:20:26.140Z,1761344426.140 [marl:UpdateRudder] Stopped
2025-10-24T22:20:26.140Z,1761344426.140 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:20:26.495Z,1761344426.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208216,-0.898880,-0.385566],[0.975696,0.218411,0.017715],[0.068288,-0.379884,0.922510]]
2025-10-24T22:20:26.902Z,1761344426.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221795,-0.897059,-0.382219],[0.973030,0.229098,0.026946],[0.063394,-0.377887,0.923679]]
2025-10-24T22:20:27.069Z,1761344427.069 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:20:26.1069

2025-10-24T22:20:27.069Z,1761344427.069 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:20:27.306Z,1761344427.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234992,-0.895178,-0.378728],[0.970213,0.239618,0.035625],[0.058859,-0.375819,0.924822]]
2025-10-24T22:20:27.706Z,1761344427.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248282,-0.893126,-0.375075],[0.967173,0.250201,0.044448],[0.054146,-0.373798,0.925928]]
2025-10-24T22:20:28.110Z,1761344428.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261032,-0.891554,-0.370125],[0.964053,0.260481,0.052457],[0.049643,-0.370513,0.927500]]
2025-10-24T22:20:28.515Z,1761344428.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274045,-0.889363,-0.365968],[0.960640,0.271150,0.060409],[0.045507,-0.368118,0.928665]]
2025-10-24T22:20:28.920Z,1761344428.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287092,-0.886852,-0.362038],[0.956991,0.282036,0.068004],[0.041798,-0.365991,0.929679]]
2025-10-24T22:20:29.331Z,1761344429.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301204,-0.883715,-0.358224],[0.952798,0.293934,0.076021],[0.038114,-0.364213,0.930536]]
2025-10-24T22:20:29.727Z,1761344429.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315599,-0.879445,-0.356334],[0.948242,0.306203,0.084121],[0.035131,-0.364439,0.930564]]
2025-10-24T22:20:30.131Z,1761344430.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331232,-0.874528,-0.354240],[0.943001,0.319626,0.092678],[0.032174,-0.364747,0.930551]]
2025-10-24T22:20:30.535Z,1761344430.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347545,-0.869131,-0.351886],[0.937204,0.333734,0.101345],[0.029355,-0.365011,0.930541]]
2025-10-24T22:20:30.939Z,1761344430.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364366,-0.862859,-0.350302],[0.930875,0.348226,0.110502],[0.026636,-0.366351,0.930095]]
2025-10-24T22:20:31.343Z,1761344431.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381936,-0.856466,-0.347261],[0.923888,0.363415,0.119833],[0.023567,-0.366599,0.930080]]
2025-10-24T22:20:32.153Z,1761344432.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418684,-0.841600,-0.341193],[0.907964,0.395168,0.139443],[0.017473,-0.368174,0.929593]]
2025-10-24T22:20:32.554Z,1761344432.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437123,-0.833699,-0.337446],[0.899289,0.411092,0.149276],[0.014270,-0.368713,0.929434]]
2025-10-24T22:20:32.958Z,1761344432.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455664,-0.825496,-0.333055],[0.890083,0.427188,0.158944],[0.011070,-0.368871,0.929415]]
2025-10-24T22:20:33.363Z,1761344433.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473564,-0.817091,-0.328783],[0.880725,0.442603,0.168601],[0.007758,-0.369411,0.929234]]
2025-10-24T22:20:33.768Z,1761344433.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491304,-0.808520,-0.323906],[0.870978,0.457826,0.178304],[0.004130,-0.369717,0.929135]]
2025-10-24T22:20:33.873Z,1761344433.873 [DAT](INFO): DAT read: Rx Time:22:20:32.4153

2025-10-24T22:20:33.873Z,1761344433.873 [DAT](INFO): Rx dataTimestamp_ set to:1761344433.872948
2025-10-24T22:20:34.170Z,1761344434.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507888,-0.799691,-0.320225],[0.861423,0.471745,0.188169],[0.000587,-0.371418,0.928466]]
2025-10-24T22:20:34.216Z,1761344434.216 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:20:34.581Z,1761344434.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523792,-0.791585,-0.314699],[0.851841,0.485472,0.196681],[-0.002912,-0.371094,0.928591]]
2025-10-24T22:20:34.635Z,1761344434.635 [DAT](INFO): DAT read: 22:20:32.4153 LVL= 27728, 28497, 18418, 26163, AGC= 54, IDX= 413,-0.35, 1.867, 2.144,-2.722, 2.307, PHS=-0.338,-0.118, 1.211, RAW= 217.6, -10.4, CAL= 216.5, -14.8, ROT= 293.5,  14.8

2025-10-24T22:20:34.636Z,1761344434.636 [DAT](INFO): got valid direction response:
 22:20:32.4153 LVL= 27728, 28497, 18418, 26163, AGC= 54, IDX= 413,-0.35, 1.867, 2.144,-2.722, 2.307, PHS=-0.338,-0.118, 1.211, RAW= 217.6, -10.4, CAL= 216.5, -14.8, ROT= 293.5,  14.8

2025-10-24T22:20:34.637Z,1761344434.637 [DAT](INFO): DAT read: 

2025-10-24T22:20:34.637Z,1761344434.637 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:20:34.638Z,1761344434.638 [DAT](INFO): Got DATA 2
2025-10-24T22:20:34.638Z,1761344434.638 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:20:34.639Z,1761344434.639 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:20:34.639Z,1761344434.639 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:20:34.640Z,1761344434.640 [DAT](INFO): DAT read: CRC:Pass MPD:04.2 PSNR:13.7 AGC:55 SPD:+0.4 CCERR:009

2025-10-24T22:20:34.640Z,1761344434.640 [DAT](INFO): Got CRC:Pass
2025-10-24T22:20:34.640Z,1761344434.640 [DAT](INFO): Got CRC:Pass
2025-10-24T22:20:34.641Z,1761344434.641 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:20:34.641Z,1761344434.641 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:20:34.641Z,1761344434.641 [DAT](INFO): Got ack
2025-10-24T22:20:34.641Z,1761344434.641 [DAT](INFO): DAT read: 

2025-10-24T22:20:34.642Z,1761344434.642 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:20:34.642Z,1761344434.642 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:20:34.643Z,1761344434.643 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-10-24T22:20:34.648Z,1761344434.648 [DAT](INFO): direction in FSK: [0.385520,-0.886635,-0.255446]
2025-10-24T22:20:34.671Z,1761344434.671 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344384.00. Resetting abort timer.
2025-10-24T22:20:34.881Z,1761344434.881 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:20:34.980Z,1761344434.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538516,-0.783822,-0.309231],[0.842592,0.498218,0.204493],[-0.006222,-0.370678,0.928740]]
2025-10-24T22:20:35.006Z,1761344435.006 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344384.00. Resetting abort timer.
2025-10-24T22:20:35.133Z,1761344435.133 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:20:35.220Z,1761344435.220 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:20:35.382Z,1761344435.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552820,-0.775845,-0.304064],[0.833247,0.510530,0.212271],[-0.009455,-0.370708,0.928701]]
2025-10-24T22:20:35.796Z,1761344435.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565945,-0.767662,-0.300670],[0.824348,0.521371,0.220505],[-0.012513,-0.372650,0.927888]]
2025-10-24T22:20:36.191Z,1761344436.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578490,-0.760144,-0.295855],[0.815543,0.532127,0.227444],[-0.015458,-0.372857,0.927760]]
2025-10-24T22:20:36.654Z,1761344436.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591229,-0.752264,-0.290769],[0.806288,0.542968,0.234703],[-0.018680,-0.373207,0.927560]]
2025-10-24T22:20:37.042Z,1761344437.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603605,-0.744759,-0.284597],[0.796986,0.553871,0.240916],[-0.021794,-0.372238,0.927881]]
2025-10-24T22:20:37.469Z,1761344437.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616182,-0.737469,-0.276511],[0.787199,0.565409,0.246234],[-0.025248,-0.369394,0.928930]]
2025-10-24T22:20:37.870Z,1761344437.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629028,-0.728828,-0.270432],[0.776827,0.576159,0.254128],[-0.029404,-0.369932,0.928593]]
2025-10-24T22:20:37.995Z,1761344437.995 [marl:SendObservationData] Running Loop=1
2025-10-24T22:20:37.995Z,1761344437.995 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T22:20:37.995Z,1761344437.995 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T22:20:37.996Z,1761344437.996 [marl:SendObservationData:A] Running Loop=1
2025-10-24T22:20:37.997Z,1761344437.997 [marl:SendObservationData:A](INFO): Got test_good :  41da3efee000000040514000000000004042631a8bb83545c05e77554587e588402edf3f4000000040845999a0000000 n/a str  and temp var is  nan n/a str 
2025-10-24T22:20:37.997Z,1761344437.997 [marl:SendObservationData:A] Stopped
2025-10-24T22:20:37.997Z,1761344437.997 [marl:SendObservationData:B] Running Loop=1
2025-10-24T22:20:38.283Z,1761344438.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642359,-0.719578,-0.263783],[0.765642,0.587168,0.262729],[-0.034169,-0.370730,0.928112]]
2025-10-24T22:20:38.349Z,1761344438.349 [marl:SendObservationData:B] Stopped
2025-10-24T22:20:38.349Z,1761344438.349 [marl:SendObservationData:C] Running Loop=1
2025-10-24T22:20:38.410Z,1761344438.410 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:20:37.4568

2025-10-24T22:20:38.410Z,1761344438.410 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:20:38.754Z,1761344438.754 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:20:38.754Z,1761344438.754 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:20:38.754Z,1761344438.754 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:20:38.754Z,1761344438.754 [marl:UpdateRudder:A] Stopped
2025-10-24T22:20:38.754Z,1761344438.754 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:20:38.754Z,1761344438.754 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:20:38.754Z,1761344438.754 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:20:38.754Z,1761344438.754 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:20:38.755Z,1761344438.755 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:20:38.755Z,1761344438.755 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:20:38.755Z,1761344438.755 [marl:UpdateCommandMode] Stopped
2025-10-24T22:20:38.755Z,1761344438.755 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:20:38.755Z,1761344438.755 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:20:38.755Z,1761344438.755 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:20:38.755Z,1761344438.755 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:20:38.756Z,1761344438.756 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:20:38.756Z,1761344438.756 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:20:38.756Z,1761344438.756 [marl:UpdateSpeed] Stopped
2025-10-24T22:20:38.756Z,1761344438.756 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:20:38.758Z,1761344438.758 [marl:SendObservationData:C] Stopped
2025-10-24T22:20:38.758Z,1761344438.758 [marl:SendObservationData:E] Running Loop=1
2025-10-24T22:20:39.082Z,1761344439.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667491,-0.701248,-0.250412],[0.743317,0.607646,0.279726],[-0.043995,-0.372850,0.926848]]
2025-10-24T22:20:39.138Z,1761344439.138 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:20:39.138Z,1761344439.138 [marl:UpdateRudder:B] Stopped
2025-10-24T22:20:39.138Z,1761344439.138 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:20:39.138Z,1761344439.138 [marl:UpdateRudder] Stopped
2025-10-24T22:20:39.138Z,1761344439.138 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:20:39.140Z,1761344439.140 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.008675 min 
2025-10-24T22:20:39.140Z,1761344439.140 [marl:SendObservationData:E] Stopped
2025-10-24T22:20:39.141Z,1761344439.141 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T22:20:39.141Z,1761344439.141 [marl:SendObservationData] Stopped
2025-10-24T22:20:39.141Z,1761344439.141 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T22:20:39.141Z,1761344439.141 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T22:20:39.329Z,1761344439.329 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:20:39.329Z,1761344439.329 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:20:39.487Z,1761344439.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679121,-0.692214,-0.244202],[0.732434,0.617146,0.287527],[-0.048322,-0.374127,0.926118]]
2025-10-24T22:20:39.892Z,1761344439.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689771,-0.683811,-0.237944],[0.722116,0.625874,0.294671],[-0.052577,-0.375079,0.925501]]
2025-10-24T22:20:40.709Z,1761344440.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709525,-0.668038,-0.224276],[0.702103,0.642976,0.305996],[-0.060213,-0.374576,0.925239]]
2025-10-24T22:20:40.773Z,1761344440.773 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:20:40.929Z,1761344440.929 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:20:40.984Z,1761344440.984 [DAT](INFO): entering command mode
2025-10-24T22:20:41.105Z,1761344441.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719144,-0.660021,-0.217264],[0.691929,0.651515,0.311066],[-0.063759,-0.374032,0.925221]]
2025-10-24T22:20:41.181Z,1761344441.181 [DAT](INFO): DAT read: 

2025-10-24T22:20:41.181Z,1761344441.181 [DAT](INFO): DAT read: user:32>

2025-10-24T22:20:41.182Z,1761344441.182 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:20:41.182Z,1761344441.182 [DAT](INFO): setting remote address to 0
2025-10-24T22:20:41.433Z,1761344441.433 [DAT](INFO): DAT read: user:32>

2025-10-24T22:20:41.434Z,1761344441.434 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:20:41.434Z,1761344441.434 [DAT](INFO): set remote address to 0
2025-10-24T22:20:41.434Z,1761344441.434 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:20:41.435Z,1761344441.435 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:20:41.510Z,1761344441.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729025,-0.651467,-0.210032],[0.681175,0.660350,0.316131],[-0.067254,-0.373535,0.925175]]
2025-10-24T22:20:41.685Z,1761344441.685 [DAT](INFO): DAT read: user:33>

2025-10-24T22:20:41.686Z,1761344441.686 [DAT](INFO): DAT read: Tx time:22:20:40.6580

2025-10-24T22:20:41.686Z,1761344441.686 [DAT](INFO): Ping request sent.
2025-10-24T22:20:41.686Z,1761344441.686 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:20:41.687Z,1761344441.687 [DAT](INFO): publishing transmit ping time
2025-10-24T22:20:41.688Z,1761344441.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001706
2025-10-24T22:20:41.926Z,1761344441.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738657,-0.643147,-0.201860],[0.670394,0.669624,0.319649],[-0.070411,-0.371437,0.925785]]
2025-10-24T22:20:41.940Z,1761344441.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253318
2025-10-24T22:20:42.189Z,1761344442.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502431
2025-10-24T22:20:42.365Z,1761344442.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748376,-0.634034,-0.194769],[0.659183,0.678400,0.324424],[-0.073564,-0.371179,0.925643]]
2025-10-24T22:20:42.441Z,1761344442.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754640
2025-10-24T22:20:42.693Z,1761344442.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006613
2025-10-24T22:20:42.775Z,1761344442.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758176,-0.624833,-0.186422],[0.647490,0.687693,0.328382],[-0.076982,-0.369678,0.925966]]
2025-10-24T22:20:42.843Z,1761344442.843 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-10-24T22:20:42.945Z,1761344442.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258470
2025-10-24T22:20:43.170Z,1761344443.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768027,-0.614980,-0.178699],[0.635367,0.696733,0.332975],[-0.080267,-0.369273,0.925848]]
2025-10-24T22:20:43.197Z,1761344443.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510557
2025-10-24T22:20:43.449Z,1761344443.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763007
2025-10-24T22:20:43.686Z,1761344443.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788622,-0.593408,-0.161063],[0.608663,0.716244,0.341357],[-0.087204,-0.367235,0.926031]]
2025-10-24T22:20:43.701Z,1761344443.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015046
2025-10-24T22:20:43.956Z,1761344443.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269100
2025-10-24T22:20:44.187Z,1761344444.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798778,-0.581849,-0.152989],[0.594850,0.725759,0.345582],[-0.090043,-0.367049,0.925833]]
2025-10-24T22:20:44.205Z,1761344444.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518485
2025-10-24T22:20:44.457Z,1761344444.457 [DAT](INFO): DAT read: Rx Time:22:20:42.8842

2025-10-24T22:20:44.457Z,1761344444.457 [DAT](INFO): Rx dataTimestamp_ set to:1761344444.457203
2025-10-24T22:20:44.458Z,1761344444.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771732
2025-10-24T22:20:44.647Z,1761344444.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809343,-0.568971,-0.145722],[0.579954,0.734969,0.351388],[-0.092829,-0.368906,0.924820]]
2025-10-24T22:20:44.709Z,1761344444.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023034
2025-10-24T22:20:44.966Z,1761344444.966 [DAT](INFO): DAT read: 22:20:42.8842 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX=  80,-0.09,-0.908, 0.334, 0.736,-0.245, PHS=-0.561, 0.624, 0.937, RAW= 258.6, -14.5, CAL= 258.5, -20.4, ROT= 251.5,  20.4

2025-10-24T22:20:44.968Z,1761344444.968 [DAT](INFO): got valid direction response:
 22:20:42.8842 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX=  80,-0.09,-0.908, 0.334, 0.736,-0.245, PHS=-0.561, 0.624, 0.937, RAW= 258.6, -14.5, CAL= 258.5, -20.4, ROT= 251.5,  20.4

2025-10-24T22:20:44.969Z,1761344444.969 [DAT](INFO): DAT read: Bearing 266, -10 (Remote)

2025-10-24T22:20:44.969Z,1761344444.969 [DAT](INFO): Remote Bearing received:Bearing 266, -10 (Remote)

2025-10-24T22:20:44.970Z,1761344444.970 [DAT](INFO): DAT read: Bearing  71.3, -41.4 (Local)

2025-10-24T22:20:44.970Z,1761344444.970 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.3, -41.4 (Local)

2025-10-24T22:20:44.971Z,1761344444.971 [DAT](INFO): DAT read: Range 11 to 20 : 147.9 m  (Round-trip  197.2 ms) speed -0.1 m/s

2025-10-24T22:20:44.972Z,1761344444.972 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-24T22:20:44.973Z,1761344444.973 [DAT](INFO): direction in FSK: [-0.297404,-0.888847,-0.348572]
2025-10-24T22:20:44.974Z,1761344444.974 [DAT](INFO): publishing direction and range info
2025-10-24T22:20:45.141Z,1761344445.141 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344384.00. Resetting abort timer.
2025-10-24T22:20:45.214Z,1761344445.214 [DAT](INFO): DAT read: user:34>Rx Time:22:20:43.7195

2025-10-24T22:20:45.214Z,1761344445.214 [DAT](INFO): Rx dataTimestamp_ set to:1761344445.213748
2025-10-24T22:20:45.446Z,1761344445.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831031,-0.540718,-0.130429],[0.547517,0.753878,0.363172],[-0.098046,-0.373219,0.922548]]
2025-10-24T22:20:45.851Z,1761344445.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842044,-0.525453,-0.121905],[0.529881,0.763480,0.369222],[-0.100937,-0.375496,0.921311]]
2025-10-24T22:20:45.983Z,1761344445.983 [DAT](INFO): DAT read: 22:20:43.7195 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX=   2, 0.10, 0.840, 2.367, 2.523, 1.614, PHS=-0.672, 0.797, 0.865, RAW= 267.8, -13.1, CAL= 267.7, -18.7, ROT= 242.3,  18.7

2025-10-24T22:20:45.985Z,1761344445.985 [DAT](INFO): got valid direction response:
 22:20:43.7195 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX=   2, 0.10, 0.840, 2.367, 2.523, 1.614, PHS=-0.672, 0.797, 0.865, RAW= 267.8, -13.1, CAL= 267.7, -18.7, ROT= 242.3,  18.7

2025-10-24T22:20:45.985Z,1761344445.985 [DAT](INFO): DAT read: 

2025-10-24T22:20:45.986Z,1761344445.986 [DAT](INFO): DAT read: DATA(0002):	T

2025-10-24T22:20:45.987Z,1761344445.987 [DAT](INFO): Got DATA 2
2025-10-24T22:20:45.992Z,1761344445.992 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:20:45.992Z,1761344445.992 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:20:45.992Z,1761344445.992 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:20:45.994Z,1761344445.994 [DAT](INFO): DAT read: CRC:Fail {0001} MPD:30.7 PSNR:07.8 AGC:55 SPD:+1.1 CCERR:005

2025-10-24T22:20:45.994Z,1761344445.994 [DAT](INFO): unknown deviceResponse_: CRC:Fail {0001} MPD:30.7 PSNR:07.8 AGC:55 SPD:+1.1 CCERR:005

2025-10-24T22:20:45.994Z,1761344445.994 [DAT](INFO): DAT read: 

2025-10-24T22:20:45.995Z,1761344445.995 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:20:45.995Z,1761344445.995 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-24T22:20:46.001Z,1761344446.001 [DAT](INFO): direction in FSK: [-0.440303,-0.838654,-0.320613]
2025-10-24T22:20:46.263Z,1761344446.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852831,-0.509820,-0.112978],[0.511769,0.773014,0.374890],[-0.103792,-0.377536,0.920159]]
2025-10-24T22:20:46.348Z,1761344446.348 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344384.00. Resetting abort timer.
2025-10-24T22:20:46.665Z,1761344446.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863258,-0.494188,-0.102781],[0.493358,0.783038,0.378747],[-0.106691,-0.377664,0.919775]]
2025-10-24T22:20:47.064Z,1761344447.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873141,-0.478614,-0.092490],[0.474908,0.792398,0.382842],[-0.109945,-0.378199,0.919172]]
2025-10-24T22:20:47.469Z,1761344447.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882373,-0.463392,-0.081764],[0.456682,0.801464,0.386132],[-0.113400,-0.378052,0.918813]]
2025-10-24T22:20:47.871Z,1761344447.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890821,-0.448777,-0.070972],[0.439091,0.810181,0.388336],[-0.116776,-0.377101,0.918781]]
2025-10-24T22:20:48.278Z,1761344448.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898749,-0.434333,-0.060043],[0.421674,0.818661,0.389853],[-0.120172,-0.375699,0.918917]]
2025-10-24T22:20:48.501Z,1761344448.501 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:20:48.683Z,1761344448.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906047,-0.420209,-0.050036],[0.404850,0.826306,0.391555],[-0.123190,-0.375024,0.918793]]
2025-10-24T22:20:48.754Z,1761344448.754 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:20:48.755Z,1761344448.755 [DAT](INFO): #Outgoing data=1
2025-10-24T22:20:48.755Z,1761344448.755 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:20:49.005Z,1761344449.005 [DAT](INFO): setting remote address to 10
2025-10-24T22:20:49.084Z,1761344449.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912968,-0.405919,-0.041474],[0.388182,0.832738,0.394794],[-0.125717,-0.376533,0.917833]]
2025-10-24T22:20:49.260Z,1761344449.260 [DAT](INFO): DAT read: 

2025-10-24T22:20:49.261Z,1761344449.261 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:20:49.262Z,1761344449.262 [DAT](INFO): set remote address to 10
2025-10-24T22:20:49.262Z,1761344449.262 [DAT](INFO): entering online mode
2025-10-24T22:20:49.486Z,1761344449.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919721,-0.391193,-0.032885],[0.371159,0.839208,0.397455],[-0.127884,-0.377753,0.917032]]
2025-10-24T22:20:49.509Z,1761344449.509 [DAT](INFO): DAT read: user:35>

2025-10-24T22:20:49.509Z,1761344449.509 [DAT](INFO): DAT read: 

2025-10-24T22:20:49.510Z,1761344449.510 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:20:49.511Z,1761344449.511 [DAT](INFO): commRate: 600
2025-10-24T22:20:49.511Z,1761344449.511 [DAT](INFO): online mode acknowledged
2025-10-24T22:20:49.511Z,1761344449.511 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:20:50.295Z,1761344450.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931910,-0.362327,-0.016230],[0.338041,0.851492,0.400861],[-0.131422,-0.379052,0.915995]]
2025-10-24T22:20:50.707Z,1761344450.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937623,-0.347575,-0.007399],[0.321184,0.857892,0.401077],[-0.133057,-0.378436,0.916014]]
2025-10-24T22:20:51.165Z,1761344451.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943005,-0.332775,0.001345],[0.304277,0.863870,0.401427],[-0.134746,-0.378139,0.915890]]
2025-10-24T22:20:51.562Z,1761344451.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948275,-0.317270,0.010691],[0.286627,0.870190,0.400767],[-0.136454,-0.376973,0.916117]]
2025-10-24T22:20:52.073Z,1761344452.073 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:20:52.074Z,1761344452.074 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:20:52.074Z,1761344452.074 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:20:52.074Z,1761344452.074 [marl:UpdateRudder:A] Stopped
2025-10-24T22:20:52.074Z,1761344452.074 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:20:52.074Z,1761344452.074 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:20:52.074Z,1761344452.074 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:20:52.075Z,1761344452.075 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:20:52.075Z,1761344452.075 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:20:52.075Z,1761344452.075 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:20:52.075Z,1761344452.075 [marl:UpdateCommandMode] Stopped
2025-10-24T22:20:52.075Z,1761344452.075 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:20:52.075Z,1761344452.075 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:20:52.075Z,1761344452.075 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:20:52.075Z,1761344452.075 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:20:52.080Z,1761344452.080 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:20:52.080Z,1761344452.080 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:20:52.080Z,1761344452.080 [marl:UpdateSpeed] Stopped
2025-10-24T22:20:52.080Z,1761344452.080 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:20:52.395Z,1761344452.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957088,-0.288471,0.027685],[0.253695,0.880203,0.401100],[-0.140074,-0.376865,0.915616]]
2025-10-24T22:20:52.419Z,1761344452.419 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:20:52.420Z,1761344452.420 [marl:UpdateRudder:B] Stopped
2025-10-24T22:20:52.433Z,1761344452.433 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:20:52.433Z,1761344452.433 [marl:UpdateRudder] Stopped
2025-10-24T22:20:52.433Z,1761344452.433 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:20:52.785Z,1761344452.785 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:20:51.8067

2025-10-24T22:20:52.785Z,1761344452.785 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:20:53.202Z,1761344453.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964084,-0.262091,0.043025],[0.223629,0.888414,0.400889],[-0.143293,-0.376869,0.915116]]
2025-10-24T22:20:53.606Z,1761344453.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966843,-0.250322,0.050537],[0.210341,0.892827,0.398268],[-0.144816,-0.374432,0.915876]]
2025-10-24T22:20:54.010Z,1761344454.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969211,-0.239451,0.057384],[0.198184,0.896914,0.395309],[-0.146125,-0.371765,0.916754]]
2025-10-24T22:20:54.415Z,1761344454.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971289,-0.229182,0.063819],[0.186755,0.900704,0.392244],[-0.147377,-0.369064,0.917645]]
2025-10-24T22:20:54.820Z,1761344454.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973175,-0.219247,0.069716],[0.175817,0.904184,0.389281],[-0.148385,-0.366582,0.918477]]
2025-10-24T22:20:55.241Z,1761344455.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974998,-0.209208,0.074902],[0.165076,0.907561,0.386113],[-0.148756,-0.364095,0.919405]]
2025-10-24T22:20:56.030Z,1761344456.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978696,-0.186897,0.084990],[0.141552,0.914070,0.380051],[-0.148718,-0.359924,0.921053]]
2025-10-24T22:20:56.484Z,1761344456.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982700,-0.158542,0.095740],[0.112048,0.920526,0.374268],[-0.147468,-0.357066,0.922365]]
2025-10-24T22:20:56.882Z,1761344456.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984622,-0.142361,0.101259],[0.095202,0.923235,0.372256],[-0.146480,-0.356891,0.922590]]
2025-10-24T22:20:57.289Z,1761344457.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986322,-0.125165,0.107247],[0.077287,0.925892,0.369798],[-0.145585,-0.356452,0.922902]]
2025-10-24T22:20:57.694Z,1761344457.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987712,-0.107396,0.113542],[0.058703,0.928236,0.367330],[-0.144843,-0.356151,0.923134]]
2025-10-24T22:20:58.094Z,1761344458.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988766,-0.088876,0.120181],[0.039263,0.930222,0.364890],[-0.144226,-0.356072,0.923261]]
2025-10-24T22:20:58.498Z,1761344458.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989414,-0.069933,0.127162],[0.019519,0.932399,0.360902],[-0.143804,-0.354600,0.923894]]
2025-10-24T22:20:58.902Z,1761344458.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989639,-0.050660,0.134344],[-0.000605,0.934206,0.356733],[-0.143577,-0.353118,0.924496]]
2025-10-24T22:20:59.316Z,1761344459.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989446,-0.031606,0.141411],[-0.020536,0.935484,0.352773],[-0.143438,-0.351954,0.924962]]
2025-10-24T22:20:59.723Z,1761344459.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988808,-0.012737,0.148649],[-0.040389,0.936291,0.348895],[-0.143623,-0.350994,0.925298]]
2025-10-24T22:21:00.114Z,1761344460.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987850,0.005720,0.155305],[-0.059808,0.936350,0.345936],[-0.143441,-0.351022,0.925315]]
2025-10-24T22:21:00.606Z,1761344460.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986480,0.023119,0.162240],[-0.078414,0.935902,0.343423],[-0.143901,-0.351502,0.925062]]
2025-10-24T22:21:01.002Z,1761344461.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984814,0.040544,0.168812],[-0.097112,0.934648,0.342056],[-0.143911,-0.353255,0.924392]]
2025-10-24T22:21:01.421Z,1761344461.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982916,0.057771,0.174751],[-0.115487,0.932879,0.341175],[-0.143312,-0.355528,0.923613]]
2025-10-24T22:21:01.826Z,1761344461.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980822,0.074569,0.180075],[-0.133334,0.930607,0.340871],[-0.142160,-0.358344,0.922702]]
2025-10-24T22:21:02.231Z,1761344462.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978614,0.090072,0.184938],[-0.149916,0.927895,0.341374],[-0.140855,-0.361798,0.921554]]
2025-10-24T22:21:02.632Z,1761344462.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976366,0.104510,0.189176],[-0.165341,0.924896,0.342389],[-0.139185,-0.365575,0.920316]]
2025-10-24T22:21:02.865Z,1761344462.865 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:21:03.047Z,1761344463.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974007,0.118313,0.193166],[-0.180132,0.921600,0.343810],[-0.137345,-0.369669,0.918957]]
2025-10-24T22:21:03.117Z,1761344463.117 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:21:03.117Z,1761344463.117 [DAT](INFO): #Outgoing data=2
2025-10-24T22:21:03.117Z,1761344463.117 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:21:03.369Z,1761344463.369 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:21:03.455Z,1761344463.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971668,0.130913,0.196780],[-0.193591,0.918463,0.344889],[-0.135585,-0.373212,0.917785]]
2025-10-24T22:21:03.842Z,1761344463.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969438,0.142518,0.199698],[-0.205715,0.915738,0.345116],[-0.133685,-0.375650,0.917069]]
2025-10-24T22:21:04.246Z,1761344464.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967237,0.153794,0.201988],[-0.217247,0.913084,0.345081],[-0.131360,-0.377656,0.916581]]
2025-10-24T22:21:04.653Z,1761344464.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965022,0.164463,0.204167],[-0.228229,0.910229,0.345536],[-0.129011,-0.380047,0.915926]]
2025-10-24T22:21:05.056Z,1761344465.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962831,0.174681,0.206016],[-0.238679,0.907299,0.346182],[-0.126447,-0.382486,0.915268]]
2025-10-24T22:21:05.081Z,1761344465.081 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:21:05.081Z,1761344465.081 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:21:05.081Z,1761344465.081 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:21:05.082Z,1761344465.082 [marl:UpdateRudder:A] Stopped
2025-10-24T22:21:05.082Z,1761344465.082 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:21:05.082Z,1761344465.082 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:21:05.082Z,1761344465.082 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:21:05.082Z,1761344465.082 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:21:05.082Z,1761344465.082 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:21:05.083Z,1761344465.083 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:21:05.083Z,1761344465.083 [marl:UpdateCommandMode] Stopped
2025-10-24T22:21:05.083Z,1761344465.083 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:21:05.083Z,1761344465.083 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:21:05.083Z,1761344465.083 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:21:05.083Z,1761344465.083 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:21:05.083Z,1761344465.083 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:21:05.083Z,1761344465.083 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:21:05.083Z,1761344465.083 [marl:UpdateSpeed] Stopped
2025-10-24T22:21:05.084Z,1761344465.084 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:21:05.352Z,1761344465.352 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:21:05.459Z,1761344465.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960469,0.184754,0.208242],[-0.249132,0.904242,0.346814],[-0.124226,-0.384984,0.914525]]
2025-10-24T22:21:05.509Z,1761344465.509 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:21:05.509Z,1761344465.509 [marl:UpdateRudder:B] Stopped
2025-10-24T22:21:05.509Z,1761344465.509 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:21:05.509Z,1761344465.509 [marl:UpdateRudder] Stopped
2025-10-24T22:21:05.510Z,1761344465.510 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:21:05.866Z,1761344465.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957895,0.194818,0.210910],[-0.259958,0.900340,0.349012],[-0.121897,-0.389145,0.913076]]
2025-10-24T22:21:06.266Z,1761344466.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954856,0.205509,0.214513],[-0.271865,0.895589,0.352150],[-0.119745,-0.394571,0.911030]]
2025-10-24T22:21:06.356Z,1761344466.356 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:21:06.646Z,1761344466.646 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:21:05.7066

2025-10-24T22:21:06.646Z,1761344466.646 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:21:06.709Z,1761344466.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950996,0.218665,0.218614],[-0.286212,0.890064,0.354780],[-0.117002,-0.399965,0.909032]]
2025-10-24T22:21:07.074Z,1761344467.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946254,0.234355,0.222890],[-0.302846,0.883932,0.356298],[-0.113520,-0.404650,0.907398]]
2025-10-24T22:21:07.478Z,1761344467.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940823,0.251970,0.226636],[-0.320677,0.878219,0.354821],[-0.109632,-0.406501,0.907049]]
2025-10-24T22:21:07.887Z,1761344467.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934862,0.270212,0.230258],[-0.338995,0.872075,0.352942],[-0.105433,-0.408008,0.906870]]
2025-10-24T22:21:08.301Z,1761344468.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928537,0.288893,0.233152],[-0.357249,0.866132,0.349555],[-0.100956,-0.407868,0.907442]]
2025-10-24T22:21:08.701Z,1761344468.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922286,0.306727,0.235174],[-0.374257,0.860693,0.345167],[-0.096541,-0.406358,0.908600]]
2025-10-24T22:21:09.095Z,1761344469.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916260,0.323379,0.236419],[-0.389791,0.855819,0.340055],[-0.092365,-0.403733,0.910202]]
2025-10-24T22:21:09.500Z,1761344469.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910519,0.338877,0.236892],[-0.403919,0.851445,0.334501],[-0.088346,-0.400255,0.912135]]
2025-10-24T22:21:09.937Z,1761344469.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904924,0.353031,0.237656],[-0.417071,0.846741,0.330274],[-0.084636,-0.397992,0.913476]]
2025-10-24T22:21:10.306Z,1761344470.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899306,0.366619,0.238408],[-0.429713,0.842041,0.326058],[-0.081210,-0.395673,0.914794]]
2025-10-24T22:21:10.725Z,1761344470.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894032,0.378826,0.239162],[-0.441186,0.837252,0.323055],[-0.077857,-0.394336,0.915662]]
2025-10-24T22:21:11.115Z,1761344471.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888748,0.390466,0.240132],[-0.452319,0.832024,0.321159],[-0.074394,-0.394046,0.916075]]
2025-10-24T22:21:11.518Z,1761344471.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883355,0.401641,0.241598],[-0.463327,0.826137,0.320666],[-0.070800,-0.395200,0.915863]]
2025-10-24T22:21:11.981Z,1761344471.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877694,0.413040,0.243004],[-0.474517,0.819934,0.320222],[-0.066983,-0.396366,0.915646]]
2025-10-24T22:21:12.332Z,1761344472.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871534,0.424463,0.245479],[-0.486257,0.812614,0.321268],[-0.063113,-0.399362,0.914618]]
2025-10-24T22:21:12.738Z,1761344472.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864688,0.436806,0.248021],[-0.498792,0.804987,0.321250],[-0.059330,-0.401492,0.913939]]
2025-10-24T22:21:13.138Z,1761344473.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856919,0.450012,0.251354],[-0.512456,0.796277,0.321454],[-0.055489,-0.404268,0.912956]]
2025-10-24T22:21:13.542Z,1761344473.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848368,0.463684,0.255476],[-0.526884,0.786558,0.322056],[-0.051615,-0.407828,0.911599]]
2025-10-24T22:21:13.988Z,1761344473.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838970,0.477649,0.260732],[-0.542046,0.775888,0.322776],[-0.048125,-0.412128,0.909854]]
2025-10-24T22:21:14.351Z,1761344474.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828592,0.492683,0.265894],[-0.558066,0.764775,0.321997],[-0.044706,-0.415190,0.908636]]
2025-10-24T22:21:14.754Z,1761344474.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817713,0.507957,0.270785],[-0.574138,0.753527,0.320254],[-0.041368,-0.417344,0.907806]]
2025-10-24T22:21:15.166Z,1761344475.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806721,0.523144,0.274813],[-0.589706,0.742648,0.317365],[-0.038062,-0.418083,0.907611]]
2025-10-24T22:21:15.563Z,1761344475.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795747,0.537793,0.278505],[-0.604621,0.731956,0.314123],[-0.034920,-0.418353,0.907613]]
2025-10-24T22:21:15.992Z,1761344475.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784777,0.551593,0.282614],[-0.618944,0.721162,0.311183],[-0.032164,-0.419131,0.907356]]
2025-10-24T22:21:16.370Z,1761344476.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774182,0.565484,0.284376],[-0.632291,0.711605,0.306311],[-0.029149,-0.416949,0.908462]]
2025-10-24T22:21:16.749Z,1761344476.749 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:21:16.774Z,1761344476.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764494,0.578226,0.284964],[-0.644085,0.703355,0.300743],[-0.026533,-0.413457,0.910137]]
2025-10-24T22:21:17.001Z,1761344477.001 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:21:17.001Z,1761344477.001 [DAT](INFO): #Outgoing data=3
2025-10-24T22:21:17.001Z,1761344477.001 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:21:17.191Z,1761344477.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755217,0.590304,0.284937],[-0.655030,0.695678,0.294902],[-0.024143,-0.409357,0.912055]]
2025-10-24T22:21:17.253Z,1761344477.253 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:21:17.588Z,1761344477.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746282,0.601449,0.285170],[-0.665266,0.688119,0.289677],[-0.022005,-0.405894,0.913655]]
2025-10-24T22:21:18.079Z,1761344478.079 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:21:18.079Z,1761344478.079 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:21:18.079Z,1761344478.079 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:21:18.079Z,1761344478.079 [marl:UpdateRudder:A] Stopped
2025-10-24T22:21:18.079Z,1761344478.079 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:21:18.079Z,1761344478.079 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:21:18.079Z,1761344478.079 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:21:18.080Z,1761344478.080 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:21:18.080Z,1761344478.080 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:21:18.080Z,1761344478.080 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:21:18.080Z,1761344478.080 [marl:UpdateCommandMode] Stopped
2025-10-24T22:21:18.080Z,1761344478.080 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:21:18.081Z,1761344478.081 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:21:18.081Z,1761344478.081 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:21:18.081Z,1761344478.081 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:21:18.081Z,1761344478.081 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:21:18.081Z,1761344478.081 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:21:18.081Z,1761344478.081 [marl:UpdateSpeed] Stopped
2025-10-24T22:21:18.081Z,1761344478.081 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:21:18.390Z,1761344478.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727686,0.622789,0.287413],[-0.685678,0.671393,0.281207],[-0.017834,-0.401703,0.915596]]
2025-10-24T22:21:18.447Z,1761344478.447 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:21:18.447Z,1761344478.447 [marl:UpdateRudder:B] Stopped
2025-10-24T22:21:18.448Z,1761344478.448 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:21:18.448Z,1761344478.448 [marl:UpdateRudder] Stopped
2025-10-24T22:21:18.448Z,1761344478.448 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:21:18.794Z,1761344478.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717251,0.633504,0.290213],[-0.696630,0.661518,0.277670],[-0.016076,-0.401330,0.915792]]
2025-10-24T22:21:19.199Z,1761344479.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706957,0.643473,0.293521],[-0.707110,0.651529,0.274784],[-0.014421,-0.401812,0.915608]]
2025-10-24T22:21:19.602Z,1761344479.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696340,0.653425,0.296894],[-0.717600,0.641187,0.271902],[-0.012697,-0.402387,0.915382]]
2025-10-24T22:21:20.006Z,1761344480.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685294,0.663456,0.300331],[-0.728186,0.630398,0.268969],[-0.010879,-0.403020,0.915127]]
2025-10-24T22:21:20.415Z,1761344480.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674170,0.674038,0.301939],[-0.738523,0.620106,0.264673],[-0.008834,-0.401424,0.915850]]
2025-10-24T22:21:20.538Z,1761344480.538 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:21:19.5566

2025-10-24T22:21:20.538Z,1761344480.538 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:21:20.820Z,1761344480.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662637,0.684168,0.304674],[-0.748913,0.608817,0.261670],[-0.006464,-0.401567,0.915807]]
2025-10-24T22:21:21.219Z,1761344481.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651417,0.693818,0.307037],[-0.758708,0.597891,0.258626],[-0.004135,-0.401425,0.915882]]
2025-10-24T22:21:21.622Z,1761344481.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640112,0.703084,0.309725],[-0.768279,0.586688,0.256016],[-0.001711,-0.401834,0.915711]]
2025-10-24T22:21:22.032Z,1761344482.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629142,0.711465,0.313044],[-0.777290,0.575611,0.253953],[0.000487,-0.403099,0.915156]]
2025-10-24T22:21:22.441Z,1761344482.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618271,0.719469,0.316394],[-0.785960,0.564539,0.252115],[0.002772,-0.404548,0.914512]]
2025-10-24T22:21:22.835Z,1761344482.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607157,0.727171,0.320284],[-0.794568,0.553238,0.250180],[0.004730,-0.406386,0.913689]]
2025-10-24T22:21:23.239Z,1761344483.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596545,0.734083,0.324433],[-0.802553,0.542281,0.248678],[0.006617,-0.408722,0.912635]]
2025-10-24T22:21:23.651Z,1761344483.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585645,0.741409,0.327617],[-0.810524,0.531423,0.246254],[0.008471,-0.409759,0.912155]]
2025-10-24T22:21:24.053Z,1761344484.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574407,0.748141,0.332178],[-0.818508,0.519936,0.244360],[0.010105,-0.412252,0.911014]]
2025-10-24T22:21:24.450Z,1761344484.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562822,0.754931,0.336616],[-0.826492,0.508088,0.242401],[0.011966,-0.414638,0.909908]]
2025-10-24T22:21:24.855Z,1761344484.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551459,0.762413,0.338554],[-0.834089,0.497254,0.238819],[0.013731,-0.414083,0.910135]]
2025-10-24T22:21:25.259Z,1761344485.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540122,0.768549,0.342930],[-0.841450,0.485803,0.236554],[0.015207,-0.416326,0.909088]]
2025-10-24T22:21:25.670Z,1761344485.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528737,0.775248,0.345583],[-0.848621,0.474817,0.233219],[0.016714,-0.416580,0.908945]]
2025-10-24T22:21:26.066Z,1761344486.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517326,0.782467,0.346581],[-0.855595,0.464294,0.228885],[0.018180,-0.414941,0.909667]]
2025-10-24T22:21:26.475Z,1761344486.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505773,0.789617,0.347417],[-0.862448,0.453768,0.224227],[0.019407,-0.413037,0.910507]]
2025-10-24T22:21:26.874Z,1761344486.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493834,0.797282,0.347086],[-0.869314,0.443236,0.218712],[0.020534,-0.409734,0.911974]]
2025-10-24T22:21:27.280Z,1761344487.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481429,0.804661,0.347487],[-0.876221,0.432101,0.213369],[0.021540,-0.407197,0.913086]]
2025-10-24T22:21:27.692Z,1761344487.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467720,0.812467,0.348046],[-0.883587,0.419710,0.207648],[0.022628,-0.404650,0.914192]]
2025-10-24T22:21:28.094Z,1761344488.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438444,0.828297,0.348842],[-0.898440,0.393584,0.194673],[0.023948,-0.398767,0.916740]]
2025-10-24T22:21:28.501Z,1761344488.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422711,0.836581,0.348493],[-0.905930,0.379619,0.187562],[0.024616,-0.394995,0.918353]]
2025-10-24T22:21:28.901Z,1761344488.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406134,0.844919,0.348092],[-0.913459,0.364758,0.180400],[0.025454,-0.391234,0.919939]]
2025-10-24T22:21:29.307Z,1761344489.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389153,0.853458,0.346656],[-0.920784,0.349459,0.173306],[0.026767,-0.386638,0.921843]]
2025-10-24T22:21:29.706Z,1761344489.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372285,0.861104,0.346272],[-0.927678,0.333748,0.167409],[0.028589,-0.383553,0.923076]]
2025-10-24T22:21:30.119Z,1761344490.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355866,0.867636,0.347227],[-0.934028,0.317951,0.162785],[0.030837,-0.382249,0.923545]]
2025-10-24T22:21:30.515Z,1761344490.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340768,0.872815,0.349387],[-0.939561,0.303040,0.159349],[0.033204,-0.382571,0.923329]]
2025-10-24T22:21:30.622Z,1761344490.622 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-24T22:21:30.622Z,1761344490.622 [DAT](ERROR): Ack receipt timeout failure.
2025-10-24T22:21:30.872Z,1761344490.872 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:21:30.914Z,1761344490.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327394,0.876318,0.353385],[-0.944226,0.289422,0.157075],[0.035370,-0.385101,0.922197]]
2025-10-24T22:21:30.949Z,1761344490.949 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:21:30.949Z,1761344490.949 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:21:30.949Z,1761344490.949 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:21:30.950Z,1761344490.950 [marl:UpdateRudder:A] Stopped
2025-10-24T22:21:30.950Z,1761344490.950 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:21:30.950Z,1761344490.950 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:21:30.950Z,1761344490.950 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:21:30.950Z,1761344490.950 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:21:30.950Z,1761344490.950 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:21:30.950Z,1761344490.950 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:21:30.951Z,1761344490.951 [marl:UpdateCommandMode] Stopped
2025-10-24T22:21:30.951Z,1761344490.951 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:21:30.951Z,1761344490.951 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:21:30.951Z,1761344490.951 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:21:30.951Z,1761344490.951 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:21:30.951Z,1761344490.951 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:21:30.951Z,1761344490.951 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:21:30.951Z,1761344490.951 [marl:UpdateSpeed] Stopped
2025-10-24T22:21:30.951Z,1761344490.951 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:21:31.126Z,1761344491.126 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:21:31.126Z,1761344491.126 [DAT](INFO): #Outgoing data=4
2025-10-24T22:21:31.127Z,1761344491.127 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:21:31.318Z,1761344491.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315747,0.878752,0.357909],[-0.948125,0.277531,0.155032],[0.036904,-0.388293,0.920797]]
2025-10-24T22:21:31.377Z,1761344491.377 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:21:31.393Z,1761344491.393 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:21:31.393Z,1761344491.393 [marl:UpdateRudder:B] Stopped
2025-10-24T22:21:31.393Z,1761344491.393 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:21:31.393Z,1761344491.393 [marl:UpdateRudder] Stopped
2025-10-24T22:21:31.393Z,1761344491.393 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:21:31.723Z,1761344491.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304745,0.880249,0.363719],[-0.951669,0.266118,0.153324],[0.038172,-0.392865,0.918804]]
2025-10-24T22:21:32.142Z,1761344492.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293885,0.881751,0.368980],[-0.955043,0.255113,0.151030],[0.039039,-0.396777,0.917084]]
2025-10-24T22:21:32.530Z,1761344492.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282717,0.883297,0.373975],[-0.958388,0.244054,0.148088],[0.039536,-0.400280,0.915540]]
2025-10-24T22:21:32.935Z,1761344492.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270702,0.885243,0.378239],[-0.961834,0.232412,0.144431],[0.039949,-0.402901,0.914371]]
2025-10-24T22:21:33.338Z,1761344493.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257493,0.888371,0.380124],[-0.965441,0.220139,0.139506],[0.040253,-0.402910,0.914354]]
2025-10-24T22:21:33.745Z,1761344493.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242915,0.892347,0.380407],[-0.969189,0.206761,0.133877],[0.040812,-0.401207,0.915078]]
2025-10-24T22:21:34.151Z,1761344494.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228554,0.895856,0.381057],[-0.972644,0.193425,0.128645],[0.041541,-0.400035,0.915558]]
2025-10-24T22:21:34.550Z,1761344494.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213063,0.899678,0.381029],[-0.976119,0.179097,0.122945],[0.042370,-0.398125,0.916352]]
2025-10-24T22:21:34.655Z,1761344494.655 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:21:33.7065

2025-10-24T22:21:34.655Z,1761344494.655 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:21:34.955Z,1761344494.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197706,0.903111,0.381186],[-0.979312,0.164862,0.117336],[0.043125,-0.396498,0.917022]]
2025-10-24T22:21:35.369Z,1761344495.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182555,0.906459,0.380797],[-0.982192,0.150643,0.112272],[0.044405,-0.394512,0.917817]]
2025-10-24T22:21:35.762Z,1761344495.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168736,0.909322,0.380344],[-0.984605,0.137645,0.107730],[0.045609,-0.392667,0.918549]]
2025-10-24T22:21:36.166Z,1761344496.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155874,0.911292,0.381117],[-0.986668,0.125363,0.103785],[0.046801,-0.392213,0.918683]]
2025-10-24T22:21:36.476Z,1761344496.476 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:21:36.572Z,1761344496.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143097,0.912445,0.383362],[-0.988540,0.112949,0.100161],[0.048091,-0.393301,0.918151]]
2025-10-24T22:21:36.982Z,1761344496.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131068,0.912879,0.386618],[-0.990166,0.101303,0.096484],[0.048912,-0.395461,0.917179]]
2025-10-24T22:21:37.379Z,1761344497.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118423,0.913339,0.389600],[-0.991690,0.088927,0.092963],[0.050260,-0.397372,0.916280]]
2025-10-24T22:21:37.480Z,1761344497.480 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:21:37.782Z,1761344497.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105677,0.914172,0.391307],[-0.993083,0.076776,0.088829],[0.051162,-0.397988,0.915963]]
2025-10-24T22:21:38.195Z,1761344498.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091972,0.915777,0.391015],[-0.994408,0.064001,0.084005],[0.051905,-0.396555,0.916543]]
2025-10-24T22:21:38.604Z,1761344498.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076962,0.917236,0.390839],[-0.995632,0.049919,0.078903],[0.052862,-0.395204,0.917071]]
2025-10-24T22:21:38.994Z,1761344498.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061342,0.919359,0.388608],[-0.996672,0.035481,0.073385],[0.053679,-0.391816,0.918476]]
2025-10-24T22:21:39.398Z,1761344499.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045124,0.921594,0.385523],[-0.997496,0.020527,0.067682],[0.054462,-0.387611,0.920213]]
2025-10-24T22:21:39.682Z,1761344499.682 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:21:39.682Z,1761344499.682 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:21:39.803Z,1761344499.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028286,0.923396,0.382805],[-0.998068,0.004896,0.061940],[0.055321,-0.383817,0.921750]]
2025-10-24T22:21:40.614Z,1761344500.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005731,0.926741,0.375658],[-0.998343,-0.026809,0.050908],[0.057250,-0.374744,0.925359]]
2025-10-24T22:21:41.014Z,1761344501.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021799,0.927234,0.373848],[-0.998082,-0.041854,0.045610],[0.057938,-0.372137,0.926368]]
2025-10-24T22:21:41.127Z,1761344501.127 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:21:41.209Z,1761344501.209 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:21:41.260Z,1761344501.260 [DAT](INFO): entering command mode
2025-10-24T22:21:41.422Z,1761344501.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036824,0.927301,0.372500],[-0.997639,-0.055737,0.040127],[0.057971,-0.370143,0.927164]]
2025-10-24T22:21:41.461Z,1761344501.461 [DAT](INFO): DAT read: 

2025-10-24T22:21:41.462Z,1761344501.462 [DAT](INFO): DAT read: user:36>

2025-10-24T22:21:41.463Z,1761344501.463 [DAT](INFO): DAT read: Rx Time:22:21:39.9394

2025-10-24T22:21:41.463Z,1761344501.463 [DAT](INFO): Rx dataTimestamp_ set to:1761344501.462893
2025-10-24T22:21:41.464Z,1761344501.464 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:21:41.464Z,1761344501.464 [DAT](INFO): setting remote address to 0
2025-10-24T22:21:41.713Z,1761344501.713 [DAT](INFO): DAT read: user:36>

2025-10-24T22:21:41.714Z,1761344501.714 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:21:41.714Z,1761344501.714 [DAT](INFO): set remote address to 0
2025-10-24T22:21:41.714Z,1761344501.714 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:21:41.715Z,1761344501.715 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:21:41.822Z,1761344501.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052560,0.926862,0.371705],[-0.996916,-0.070424,0.034638],[0.058282,-0.368738,0.927705]]
2025-10-24T22:21:41.967Z,1761344501.967 [DAT](INFO): DAT read: user:37>

2025-10-24T22:21:41.969Z,1761344501.969 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:21:42.223Z,1761344502.223 [DAT](INFO): DAT read: 22:21:39.9394 LVL= 15328, 22337, 31250, 29683, AGC= 56, IDX=  55,-0.19, 1.710, 0.681,-0.475, 1.354, PHS= 0.458,-0.628,-1.874, RAW=  57.7,  19.7, CAL=  53.4,  24.7, ROT=  96.6, -24.7

2025-10-24T22:21:42.224Z,1761344502.224 [DAT](INFO): got valid direction response:
 22:21:39.9394 LVL= 15328, 22337, 31250, 29683, AGC= 56, IDX=  55,-0.19, 1.710, 0.681,-0.475, 1.354, PHS= 0.458,-0.628,-1.874, RAW=  57.7,  19.7, CAL=  53.4,  24.7, ROT=  96.6, -24.7

2025-10-24T22:21:42.225Z,1761344502.225 [DAT](INFO): DAT read: Tx time:22:21:41.1577

2025-10-24T22:21:42.225Z,1761344502.225 [DAT](INFO): Ping request sent.
2025-10-24T22:21:42.225Z,1761344502.225 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:21:42.225Z,1761344502.225 [DAT](INFO): DAT read: 

2025-10-24T22:21:42.226Z,1761344502.226 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:21:42.226Z,1761344502.226 [DAT](INFO): Got DATA 2
2025-10-24T22:21:42.227Z,1761344502.227 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:21:42.227Z,1761344502.227 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:21:42.228Z,1761344502.228 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:21:42.230Z,1761344502.230 [DAT](INFO): DAT read: CRC:Pass MPD:04.9 PSNR:14.2 AGC:51 SPD:-0.1 CCERR:011

2025-10-24T22:21:42.230Z,1761344502.230 [DAT](INFO): Got CRC:Pass
2025-10-24T22:21:42.230Z,1761344502.230 [DAT](INFO): Got CRC:Pass
2025-10-24T22:21:42.230Z,1761344502.230 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:21:42.230Z,1761344502.230 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:21:42.230Z,1761344502.230 [DAT](INFO): Got ack
2025-10-24T22:21:42.230Z,1761344502.230 [DAT](INFO): DAT read: 

2025-10-24T22:21:42.231Z,1761344502.231 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:21:42.231Z,1761344502.231 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:21:42.231Z,1761344502.231 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-24T22:21:42.233Z,1761344502.233 [DAT](INFO): direction in FSK: [-0.104421,0.902487,0.417867]
2025-10-24T22:21:42.233Z,1761344502.233 [DAT](INFO): publishing transmit ping time
2025-10-24T22:21:42.259Z,1761344502.259 [DAT](INFO): publishing transmit ping time
2025-10-24T22:21:42.275Z,1761344502.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068560,0.925101,0.373481],[-0.995925,-0.085449,0.028832],[0.058586,-0.369982,0.927190]]
2025-10-24T22:21:42.419Z,1761344502.419 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344512.00. Resetting abort timer.
2025-10-24T22:21:42.469Z,1761344502.469 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:21:42.631Z,1761344502.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084688,0.923245,0.374761],[-0.994685,-0.100443,0.022668],[0.058570,-0.370850,0.926844]]
2025-10-24T22:21:42.721Z,1761344502.721 [DAT](INFO): setting remote address to 10
2025-10-24T22:21:42.973Z,1761344502.973 [DAT](INFO): DAT read: user:38>

2025-10-24T22:21:42.974Z,1761344502.974 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:21:42.974Z,1761344502.974 [DAT](INFO): set remote address to 10
2025-10-24T22:21:42.974Z,1761344502.974 [DAT](INFO): entering online mode
2025-10-24T22:21:43.037Z,1761344503.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101334,0.920757,0.376746],[-0.993101,-0.116085,0.016594],[0.059013,-0.372465,0.926168]]
2025-10-24T22:21:43.225Z,1761344503.225 [DAT](INFO): DAT read: user:39>

2025-10-24T22:21:43.225Z,1761344503.225 [DAT](INFO): DAT read: 

2025-10-24T22:21:43.226Z,1761344503.226 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:21:43.227Z,1761344503.227 [DAT](INFO): commRate: 600
2025-10-24T22:21:43.227Z,1761344503.227 [DAT](INFO): online mode acknowledged
2025-10-24T22:21:43.227Z,1761344503.227 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:21:43.438Z,1761344503.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117726,0.917246,0.380527],[-0.991254,-0.131552,0.010430],[0.059626,-0.375971,0.924711]]
2025-10-24T22:21:43.842Z,1761344503.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133664,0.913967,0.383141],[-0.989200,-0.146508,0.004391],[0.060147,-0.378416,0.923679]]
2025-10-24T22:21:43.891Z,1761344503.891 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:21:43.891Z,1761344503.891 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:21:43.891Z,1761344503.891 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:21:43.891Z,1761344503.891 [marl:UpdateRudder:A] Stopped
2025-10-24T22:21:43.891Z,1761344503.891 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:21:43.891Z,1761344503.891 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:21:43.892Z,1761344503.892 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:21:43.892Z,1761344503.892 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:21:43.892Z,1761344503.892 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:21:43.892Z,1761344503.892 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:21:43.892Z,1761344503.892 [marl:UpdateCommandMode] Stopped
2025-10-24T22:21:43.893Z,1761344503.893 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:21:43.893Z,1761344503.893 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:21:43.893Z,1761344503.893 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:21:43.893Z,1761344503.893 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:21:43.893Z,1761344503.893 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:21:43.893Z,1761344503.893 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:21:43.894Z,1761344503.894 [marl:UpdateSpeed] Stopped
2025-10-24T22:21:43.894Z,1761344503.894 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:21:44.247Z,1761344504.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148698,0.910186,0.386588],[-0.987034,-0.160500,-0.001771],[0.060435,-0.381839,0.922251]]
2025-10-24T22:21:44.299Z,1761344504.299 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:21:44.300Z,1761344504.300 [marl:UpdateRudder:B] Stopped
2025-10-24T22:21:44.316Z,1761344504.316 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:21:44.316Z,1761344504.316 [marl:UpdateRudder] Stopped
2025-10-24T22:21:44.316Z,1761344504.316 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:21:44.655Z,1761344504.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162628,0.905757,0.391352],[-0.984809,-0.173465,-0.007768],[0.060850,-0.386671,0.920208]]
2025-10-24T22:21:44.989Z,1761344504.989 [DAT](INFO): DAT read: Rx Time:22:21:43.3618

2025-10-24T22:21:44.989Z,1761344504.989 [DAT](INFO): Rx dataTimestamp_ set to:1761344504.989002
2025-10-24T22:21:45.054Z,1761344505.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175203,0.901051,0.396751],[-0.982629,-0.185086,-0.013579],[0.061197,-0.392238,0.917826]]
2025-10-24T22:21:45.459Z,1761344505.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186348,0.896238,0.402533],[-0.980567,-0.195241,-0.019239],[0.061348,-0.398295,0.915203]]
2025-10-24T22:21:45.510Z,1761344505.510 [DAT](INFO): DAT read: 22:21:43.3618 LVL= 25840, 32753, 32754, 32755, AGC= 61, IDX= 140, 0.32, 1.979,-0.006, 1.228, 1.404, PHS= 0.676,-1.366,-0.221, RAW= 124.0,  10.3, CAL= 124.5,  11.5, ROT=  25.5, -11.5

2025-10-24T22:21:45.511Z,1761344505.511 [DAT](INFO): got valid direction response:
 22:21:43.3618 LVL= 25840, 32753, 32754, 32755, AGC= 61, IDX= 140, 0.32, 1.979,-0.006, 1.228, 1.404, PHS= 0.676,-1.366,-0.221, RAW= 124.0,  10.3, CAL= 124.5,  11.5, ROT=  25.5, -11.5

2025-10-24T22:21:45.514Z,1761344505.514 [DAT](INFO): DAT read: Bearing 258, -11 (Remote)

2025-10-24T22:21:45.515Z,1761344505.515 [DAT](INFO): Remote Bearing received:Bearing 258, -11 (Remote)

2025-10-24T22:21:45.524Z,1761344505.524 [DAT](INFO): DAT read: Bearing  73.7,  21.3 (Local)

2025-10-24T22:21:45.524Z,1761344505.524 [DAT](INFO): Local bearing/azimuth received:
 Bearing  73.7,  21.3 (Local)

2025-10-24T22:21:45.526Z,1761344505.526 [DAT](INFO): DAT read: Range 11 to 20 : 131.2 m  (Round-trip  175.0 ms) speed  0.0 m/s

2025-10-24T22:21:45.526Z,1761344505.526 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-24T22:21:45.527Z,1761344505.527 [DAT](INFO): direction in FSK: [0.884466,0.421868,0.199368]
2025-10-24T22:21:45.536Z,1761344505.536 [DAT](INFO): publishing direction and range info
2025-10-24T22:21:45.608Z,1761344505.608 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344512.00. Resetting abort timer.
2025-10-24T22:21:46.275Z,1761344506.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206643,0.887762,0.411312],[-0.976504,-0.213404,-0.029992],[0.061150,-0.407845,0.911001]]
2025-10-24T22:21:46.501Z,1761344506.501 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:21:45.5564

2025-10-24T22:21:46.501Z,1761344506.501 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:21:46.684Z,1761344506.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216812,0.885302,0.411379],[-0.974310,-0.222540,-0.034583],[0.060931,-0.408309,0.910808]]
2025-10-24T22:21:47.091Z,1761344507.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225500,0.885758,0.405689],[-0.972378,-0.230382,-0.037488],[0.060258,-0.402936,0.913242]]
2025-10-24T22:21:47.487Z,1761344507.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230991,0.890244,0.392566],[-0.971198,-0.235214,-0.038059],[0.058455,-0.390051,0.918936]]
2025-10-24T22:21:47.891Z,1761344507.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233341,0.898085,0.372819],[-0.970800,-0.237106,-0.036443],[0.055669,-0.370437,0.927188]]
2025-10-24T22:21:48.296Z,1761344508.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233806,0.908139,0.347302],[-0.970855,-0.237411,-0.032795],[0.052671,-0.344848,0.937180]]
2025-10-24T22:21:48.700Z,1761344508.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232981,0.917899,0.321219],[-0.971239,-0.236314,-0.029164],[0.049139,-0.318775,0.946556]]
2025-10-24T22:21:49.103Z,1761344509.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230295,0.926469,0.297689],[-0.972066,-0.233258,-0.026052],[0.045302,-0.295373,0.954307]]
2025-10-24T22:21:49.507Z,1761344509.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226500,0.933529,0.277889],[-0.973125,-0.229055,-0.023690],[0.041536,-0.275787,0.960321]]
2025-10-24T22:21:49.924Z,1761344509.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222094,0.939263,0.261645],[-0.974292,-0.224190,-0.022210],[0.037797,-0.259852,0.964908]]
2025-10-24T22:21:50.317Z,1761344510.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217802,0.944012,0.247798],[-0.975392,-0.219441,-0.021337],[0.034235,-0.246348,0.968577]]
2025-10-24T22:21:50.748Z,1761344510.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214125,0.947764,0.236420],[-0.976322,-0.215279,-0.021240],[0.030765,-0.235370,0.971419]]
2025-10-24T22:21:51.128Z,1761344511.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211430,0.950358,0.228291],[-0.977009,-0.212051,-0.022099],[0.027407,-0.227715,0.973342]]
2025-10-24T22:21:51.527Z,1761344511.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210147,0.952199,0.221709],[-0.977377,-0.210157,-0.023824],[0.023908,-0.221700,0.974822]]
2025-10-24T22:21:51.970Z,1761344511.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210990,0.953137,0.216827],[-0.977272,-0.210357,-0.026269],[0.020573,-0.217441,0.975857]]
2025-10-24T22:21:52.336Z,1761344512.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212582,0.953676,0.212865],[-0.976994,-0.211255,-0.029230],[0.017093,-0.214181,0.976644]]
2025-10-24T22:21:52.739Z,1761344512.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215611,0.953679,0.209781],[-0.976381,-0.213611,-0.032427],[0.013886,-0.211818,0.977211]]
2025-10-24T22:21:53.143Z,1761344513.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220064,0.952757,0.209347],[-0.975418,-0.217443,-0.035753],[0.011457,-0.212069,0.977188]]
2025-10-24T22:21:53.305Z,1761344513.305 [DAT](INFO): DAT read: Rx Time:22:21:51.7902

2025-10-24T22:21:53.305Z,1761344513.305 [DAT](INFO): Rx dataTimestamp_ set to:1761344513.305086
2025-10-24T22:21:53.561Z,1761344513.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226186,0.951152,0.210120],[-0.974034,-0.223031,-0.038915],[0.009849,-0.213466,0.976901]]
2025-10-24T22:21:53.981Z,1761344513.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232047,0.949143,0.212796],[-0.972669,-0.228283,-0.042441],[0.008295,-0.216829,0.976174]]
2025-10-24T22:21:54.067Z,1761344514.067 [DAT](INFO): DAT read: 22:21:51.7902 LVL= 19024, 24177, 29362, 31059, AGC= 49, IDX= 240, 0.11,-0.903,-1.489,-2.755,-1.182, PHS= 0.381,-0.262,-1.618, RAW=  48.4,  16.7, CAL=  43.9,  19.8, ROT= 106.1, -19.8

2025-10-24T22:21:54.068Z,1761344514.068 [DAT](INFO): got valid direction response:
 22:21:51.7902 LVL= 19024, 24177, 29362, 31059, AGC= 49, IDX= 240, 0.11,-0.903,-1.489,-2.755,-1.182, PHS= 0.381,-0.262,-1.618, RAW=  48.4,  16.7, CAL=  43.9,  19.8, ROT= 106.1, -19.8

2025-10-24T22:21:54.068Z,1761344514.068 [DAT](INFO): DAT read: 

2025-10-24T22:21:54.069Z,1761344514.069 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:21:54.069Z,1761344514.069 [DAT](INFO): Got DATA 2
2025-10-24T22:21:54.070Z,1761344514.070 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:21:54.070Z,1761344514.070 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:21:54.071Z,1761344514.071 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:21:54.072Z,1761344514.072 [DAT](INFO): DAT read: CRC:Pass MPD:05.1 PSNR:12.7 AGC:47 SPD:-0.4 CCERR:010

2025-10-24T22:21:54.072Z,1761344514.072 [DAT](INFO): Got CRC:Pass
2025-10-24T22:21:54.072Z,1761344514.072 [DAT](INFO): Got CRC:Pass
2025-10-24T22:21:54.072Z,1761344514.072 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:21:54.072Z,1761344514.072 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:21:54.072Z,1761344514.072 [DAT](INFO): Got ack
2025-10-24T22:21:54.073Z,1761344514.073 [DAT](INFO): DAT read: 

2025-10-24T22:21:54.073Z,1761344514.073 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:21:54.073Z,1761344514.073 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:21:54.074Z,1761344514.074 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-24T22:21:54.075Z,1761344514.075 [DAT](INFO): direction in FSK: [-0.260920,0.903979,0.338738]
2025-10-24T22:21:54.313Z,1761344514.313 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:21:54.327Z,1761344514.327 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344512.00. Resetting abort timer.
2025-10-24T22:21:54.425Z,1761344514.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236110,0.946747,0.218909],[-0.971701,-0.231652,-0.046197],[0.006974,-0.223622,0.974651]]
2025-10-24T22:21:54.568Z,1761344514.568 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:21:54.827Z,1761344514.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237244,0.944670,0.226523],[-0.971435,-0.232016,-0.049832],[0.005482,-0.231875,0.972730]]
2025-10-24T22:21:55.232Z,1761344515.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235912,0.943145,0.234142],[-0.971767,-0.229883,-0.053122],[0.003723,-0.240063,0.970750]]
2025-10-24T22:21:55.634Z,1761344515.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233246,0.941982,0.241384],[-0.972416,-0.226444,-0.055950],[0.001956,-0.247776,0.968815]]
2025-10-24T22:21:56.443Z,1761344516.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223110,0.941529,0.252477],[-0.974792,-0.215009,-0.059601],[-0.001831,-0.259410,0.965766]]
2025-10-24T22:21:56.506Z,1761344516.506 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:21:56.506Z,1761344516.506 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:21:56.506Z,1761344516.506 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:21:56.507Z,1761344516.507 [marl:UpdateRudder:A] Stopped
2025-10-24T22:21:56.507Z,1761344516.507 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:21:56.507Z,1761344516.507 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:21:56.507Z,1761344516.507 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:21:56.507Z,1761344516.507 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:21:56.507Z,1761344516.507 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:21:56.507Z,1761344516.507 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:21:56.507Z,1761344516.507 [marl:UpdateCommandMode] Stopped
2025-10-24T22:21:56.507Z,1761344516.507 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:21:56.508Z,1761344516.508 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:21:56.508Z,1761344516.508 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:21:56.508Z,1761344516.508 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:21:56.508Z,1761344516.508 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:21:56.509Z,1761344516.509 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:21:56.509Z,1761344516.509 [marl:UpdateSpeed] Stopped
2025-10-24T22:21:56.509Z,1761344516.509 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:21:56.919Z,1761344516.919 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:21:56.919Z,1761344516.919 [marl:UpdateRudder:B] Stopped
2025-10-24T22:21:56.920Z,1761344516.920 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:21:56.921Z,1761344516.921 [marl:UpdateRudder] Stopped
2025-10-24T22:21:56.921Z,1761344516.921 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:21:57.250Z,1761344517.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209927,0.943565,0.256156],[-0.977697,-0.200889,-0.061263],[-0.006347,-0.263304,0.964692]]
2025-10-24T22:21:57.661Z,1761344517.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204243,0.945050,0.255275],[-0.978883,-0.194900,-0.061657],[-0.008516,-0.262478,0.964900]]
2025-10-24T22:21:57.845Z,1761344517.845 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:21:56.8564

2025-10-24T22:21:57.845Z,1761344517.845 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:21:58.060Z,1761344518.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199716,0.946577,0.253190],[-0.979794,-0.190064,-0.062287],[-0.010837,-0.260514,0.965409]]
2025-10-24T22:21:58.464Z,1761344518.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196933,0.948164,0.249403],[-0.980334,-0.187120,-0.062708],[-0.012789,-0.256848,0.966367]]
2025-10-24T22:21:58.867Z,1761344518.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195225,0.949737,0.244720],[-0.980651,-0.185338,-0.063031],[-0.014507,-0.252290,0.967543]]
2025-10-24T22:21:59.270Z,1761344519.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195059,0.950863,0.240442],[-0.980659,-0.185052,-0.063744],[-0.016117,-0.248226,0.968568]]
2025-10-24T22:21:59.680Z,1761344519.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196307,0.952032,0.234733],[-0.980384,-0.186268,-0.064427],[-0.017613,-0.242776,0.969923]]
2025-10-24T22:22:00.079Z,1761344520.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198493,0.952413,0.231324],[-0.979920,-0.188303,-0.065560],[-0.018882,-0.239692,0.970665]]
2025-10-24T22:22:00.482Z,1761344520.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201711,0.952487,0.228213],[-0.979232,-0.191256,-0.067275],[-0.020431,-0.237044,0.971284]]
2025-10-24T22:22:01.290Z,1761344521.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210117,0.951929,0.222896],[-0.977390,-0.199011,-0.071435],[-0.023642,-0.232866,0.972221]]
2025-10-24T22:22:01.695Z,1761344521.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214349,0.950900,0.223259],[-0.976435,-0.202733,-0.073990],[-0.025095,-0.233857,0.971947]]
2025-10-24T22:22:02.100Z,1761344522.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218466,0.949691,0.224410],[-0.975483,-0.206272,-0.076716],[-0.026567,-0.235668,0.971470]]
2025-10-24T22:22:02.505Z,1761344522.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221243,0.948369,0.227263],[-0.974814,-0.208348,-0.079553],[-0.028095,-0.239139,0.970579]]
2025-10-24T22:22:02.907Z,1761344522.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222623,0.947144,0.230992],[-0.974453,-0.208976,-0.082280],[-0.029660,-0.243409,0.969470]]
2025-10-24T22:22:03.311Z,1761344523.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222256,0.945852,0.236573],[-0.974485,-0.207705,-0.085077],[-0.031332,-0.249446,0.967882]]
2025-10-24T22:22:03.714Z,1761344523.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220112,0.945037,0.241776],[-0.974910,-0.204689,-0.087482],[-0.033185,-0.254965,0.966381]]
2025-10-24T22:22:04.118Z,1761344524.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217054,0.944661,0.245972],[-0.975538,-0.200930,-0.089175],[-0.034817,-0.259310,0.965166]]
2025-10-24T22:22:04.536Z,1761344524.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208413,0.944038,0.255648],[-0.977325,-0.191026,-0.091346],[-0.037399,-0.268889,0.962445]]
2025-10-24T22:22:04.649Z,1761344524.649 [DAT](INFO): DAT read: Rx Time:22:22:03.1416

2025-10-24T22:22:04.650Z,1761344524.650 [DAT](INFO): Rx dataTimestamp_ set to:1761344524.649612
2025-10-24T22:22:05.337Z,1761344525.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197345,0.945344,0.259575],[-0.979575,-0.179733,-0.090164],[-0.038582,-0.272066,0.961505]]
2025-10-24T22:22:05.415Z,1761344525.415 [DAT](INFO): DAT read: 22:22:03.1416 LVL= 17776, 13905, 25874, 27491, AGC= 48, IDX= 447, 0.33, 1.720, 1.414,-0.008, 1.601, PHS= 0.221,-0.142,-1.653, RAW=  40.5,  17.9, CAL=  36.6,  20.7, ROT= 113.4, -20.7

2025-10-24T22:22:05.416Z,1761344525.416 [DAT](INFO): got valid direction response:
 22:22:03.1416 LVL= 17776, 13905, 25874, 27491, AGC= 48, IDX= 447, 0.33, 1.720, 1.414,-0.008, 1.601, PHS= 0.221,-0.142,-1.653, RAW=  40.5,  17.9, CAL=  36.6,  20.7, ROT= 113.4, -20.7

2025-10-24T22:22:05.417Z,1761344525.417 [DAT](INFO): DAT read: 

2025-10-24T22:22:05.418Z,1761344525.418 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:22:05.418Z,1761344525.418 [DAT](INFO): Got DATA 2
2025-10-24T22:22:05.419Z,1761344525.419 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:22:05.419Z,1761344525.419 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:22:05.421Z,1761344525.421 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:22:05.422Z,1761344525.422 [DAT](INFO): DAT read: CRC:Pass MPD:05.1 PSNR:12.6 AGC:52 SPD:-0.6 CCERR:011

2025-10-24T22:22:05.422Z,1761344525.422 [DAT](INFO): Got CRC:Pass
2025-10-24T22:22:05.422Z,1761344525.422 [DAT](INFO): Got CRC:Pass
2025-10-24T22:22:05.422Z,1761344525.422 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:22:05.422Z,1761344525.422 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:22:05.422Z,1761344525.422 [DAT](INFO): Got ack
2025-10-24T22:22:05.423Z,1761344525.423 [DAT](INFO): DAT read: 

2025-10-24T22:22:05.423Z,1761344525.423 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:22:05.423Z,1761344525.423 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:22:05.424Z,1761344525.424 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-10-24T22:22:05.425Z,1761344525.425 [DAT](INFO): direction in FSK: [-0.371510,0.858508,0.353475]
2025-10-24T22:22:05.658Z,1761344525.658 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:22:05.739Z,1761344525.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190985,0.946139,0.261431],[-0.980833,-0.173463,-0.088757],[-0.038628,-0.273371,0.961133]]
2025-10-24T22:22:05.822Z,1761344525.822 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344512.00. Resetting abort timer.
2025-10-24T22:22:05.912Z,1761344525.912 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:22:06.143Z,1761344526.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184543,0.947297,0.261863],[-0.982068,-0.167286,-0.086934],[-0.038547,-0.273210,0.961182]]
2025-10-24T22:22:06.546Z,1761344526.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178042,0.948373,0.262468],[-0.983276,-0.161070,-0.085000],[-0.038336,-0.273212,0.961190]]
2025-10-24T22:22:06.949Z,1761344526.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171982,0.950385,0.259211],[-0.984364,-0.155627,-0.082510],[-0.038077,-0.269348,0.962290]]
2025-10-24T22:22:07.351Z,1761344527.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166988,0.952084,0.256225],[-0.985248,-0.151266,-0.080033],[-0.037440,-0.265810,0.963298]]
2025-10-24T22:22:07.600Z,1761344527.600 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:22:07.754Z,1761344527.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162929,0.953849,0.252243],[-0.985965,-0.147969,-0.077316],[-0.036423,-0.261300,0.964570]]
2025-10-24T22:22:08.159Z,1761344528.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160397,0.955499,0.247579],[-0.986423,-0.146213,-0.074778],[-0.035251,-0.256212,0.965978]]
2025-10-24T22:22:08.564Z,1761344528.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159530,0.957081,0.241964],[-0.986605,-0.146116,-0.072527],[-0.034059,-0.250293,0.967571]]
2025-10-24T22:22:08.604Z,1761344528.604 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:22:08.967Z,1761344528.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160240,0.958356,0.236383],[-0.986525,-0.147472,-0.070859],[-0.033049,-0.244552,0.969073]]
2025-10-24T22:22:09.185Z,1761344529.185 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:22:08.2563

2025-10-24T22:22:09.185Z,1761344529.185 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:22:09.370Z,1761344529.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162372,0.959138,0.231711],[-0.986190,-0.149980,-0.070252],[-0.032630,-0.239918,0.970245]]
2025-10-24T22:22:09.439Z,1761344529.439 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:22:09.440Z,1761344529.440 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:22:09.440Z,1761344529.440 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:22:09.440Z,1761344529.440 [marl:UpdateRudder:A] Stopped
2025-10-24T22:22:09.440Z,1761344529.440 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:22:09.441Z,1761344529.441 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:22:09.441Z,1761344529.441 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:22:09.441Z,1761344529.441 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:22:09.441Z,1761344529.441 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:22:09.441Z,1761344529.441 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:22:09.441Z,1761344529.441 [marl:UpdateCommandMode] Stopped
2025-10-24T22:22:09.441Z,1761344529.441 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:22:09.441Z,1761344529.441 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:22:09.442Z,1761344529.442 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:22:09.442Z,1761344529.442 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:22:09.442Z,1761344529.442 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:22:09.442Z,1761344529.442 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:22:09.442Z,1761344529.442 [marl:UpdateSpeed] Stopped
2025-10-24T22:22:09.442Z,1761344529.442 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:22:09.775Z,1761344529.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165652,0.959612,0.227386],[-0.985639,-0.153432,-0.070531],[-0.032794,-0.235804,0.971247]]
2025-10-24T22:22:09.801Z,1761344529.801 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:22:09.801Z,1761344529.801 [marl:UpdateRudder:B] Stopped
2025-10-24T22:22:09.801Z,1761344529.801 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:22:09.801Z,1761344529.801 [marl:UpdateRudder] Stopped
2025-10-24T22:22:09.801Z,1761344529.801 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:22:10.178Z,1761344530.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169959,0.959748,0.223603],[-0.984882,-0.157719,-0.071640],[-0.033490,-0.232398,0.972044]]
2025-10-24T22:22:10.582Z,1761344530.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175425,0.959050,0.222371],[-0.983905,-0.162984,-0.073266],[-0.034023,-0.231645,0.972205]]
2025-10-24T22:22:10.994Z,1761344530.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181725,0.958079,0.221498],[-0.982780,-0.169289,-0.074055],[-0.033454,-0.231142,0.972345]]
2025-10-24T22:22:11.391Z,1761344531.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188798,0.956550,0.222190],[-0.981506,-0.176516,-0.074081],[-0.031642,-0.232067,0.972185]]
2025-10-24T22:22:11.796Z,1761344531.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195714,0.953961,0.227275],[-0.980239,-0.183503,-0.073880],[-0.028773,-0.237243,0.971024]]
2025-10-24T22:22:12.198Z,1761344532.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201968,0.951396,0.232497],[-0.979070,-0.190042,-0.072843],[-0.025118,-0.242343,0.969866]]
2025-10-24T22:22:12.603Z,1761344532.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206305,0.948734,0.239460],[-0.978254,-0.194640,-0.071652],[-0.021370,-0.249035,0.968259]]
2025-10-24T22:22:13.010Z,1761344533.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208022,0.946500,0.246709],[-0.977954,-0.196551,-0.070528],[-0.018264,-0.255942,0.966520]]
2025-10-24T22:22:13.419Z,1761344533.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206804,0.944711,0.254465],[-0.978255,-0.195464,-0.069363],[-0.015789,-0.263276,0.964591]]
2025-10-24T22:22:13.814Z,1761344533.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203494,0.943320,0.262179],[-0.978983,-0.192348,-0.067785],[-0.013513,-0.270462,0.962636]]
2025-10-24T22:22:14.218Z,1761344534.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198917,0.942044,0.270158],[-0.979955,-0.188119,-0.065565],[-0.010944,-0.277785,0.960581]]
2025-10-24T22:22:14.624Z,1761344534.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193455,0.941377,0.276377],[-0.981077,-0.183344,-0.062228],[-0.007908,-0.283185,0.959033]]
2025-10-24T22:22:15.027Z,1761344535.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186299,0.940901,0.282839],[-0.982483,-0.177098,-0.057998],[-0.004480,-0.288689,0.957412]]
2025-10-24T22:22:15.430Z,1761344535.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178673,0.940409,0.289322],[-0.983908,-0.170527,-0.053342],[-0.000826,-0.294197,0.955744]]
2025-10-24T22:22:15.835Z,1761344535.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170837,0.940948,0.292288],[-0.985296,-0.163943,-0.048115],[0.002645,-0.296210,0.955119]]
2025-10-24T22:22:15.997Z,1761344535.997 [DAT](INFO): DAT read: Rx Time:22:22:14.5432

2025-10-24T22:22:15.998Z,1761344535.998 [DAT](INFO): Rx dataTimestamp_ set to:1761344535.997497
2025-10-24T22:22:16.241Z,1761344536.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161643,0.942240,0.293353],[-0.986835,-0.155922,-0.042949],[0.005272,-0.296434,0.955039]]
2025-10-24T22:22:16.644Z,1761344536.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151963,0.943793,0.293533],[-0.988364,-0.147094,-0.038731],[0.006623,-0.296003,0.955164]]
2025-10-24T22:22:16.760Z,1761344536.760 [DAT](INFO): DAT read: 22:22:14.5432 LVL= 15568, 16769, 24706, 26307, AGC= 51, IDX= 447, 0.49, 2.614, 2.370, 0.885, 2.552, PHS= 0.164,-0.136,-1.711, RAW=  38.6,  18.8, CAL=  35.0,  21.8, ROT= 115.0, -21.8

2025-10-24T22:22:16.761Z,1761344536.761 [DAT](INFO): got valid direction response:
 22:22:14.5432 LVL= 15568, 16769, 24706, 26307, AGC= 51, IDX= 447, 0.49, 2.614, 2.370, 0.885, 2.552, PHS= 0.164,-0.136,-1.711, RAW=  38.6,  18.8, CAL=  35.0,  21.8, ROT= 115.0, -21.8

2025-10-24T22:22:16.762Z,1761344536.762 [DAT](INFO): DAT read: 

2025-10-24T22:22:16.762Z,1761344536.762 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:22:16.762Z,1761344536.762 [DAT](INFO): Got DATA 2
2025-10-24T22:22:16.763Z,1761344536.763 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:22:16.763Z,1761344536.763 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:22:16.764Z,1761344536.764 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:22:16.765Z,1761344536.765 [DAT](INFO): DAT read: CRC:Pass MPD:05.2 PSNR:13.8 AGC:52 SPD:-0.4 CCERR:010

2025-10-24T22:22:16.765Z,1761344536.765 [DAT](INFO): Got CRC:Pass
2025-10-24T22:22:16.766Z,1761344536.766 [DAT](INFO): Got CRC:Pass
2025-10-24T22:22:16.766Z,1761344536.766 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:22:16.766Z,1761344536.766 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:22:16.766Z,1761344536.766 [DAT](INFO): Got ack
2025-10-24T22:22:16.766Z,1761344536.766 [DAT](INFO): DAT read: 

2025-10-24T22:22:16.767Z,1761344536.767 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:22:16.767Z,1761344536.767 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:22:16.767Z,1761344536.767 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-10-24T22:22:16.769Z,1761344536.769 [DAT](INFO): direction in FSK: [-0.392395,0.841494,0.371368]
2025-10-24T22:22:17.046Z,1761344537.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142267,0.946583,0.289379],[-0.989806,-0.138026,-0.035122],[0.006696,-0.291426,0.956570]]
2025-10-24T22:22:17.084Z,1761344537.084 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344512.00. Resetting abort timer.
2025-10-24T22:22:17.450Z,1761344537.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133240,0.949961,0.282527],[-0.991067,-0.129361,-0.032430],[0.005741,-0.284324,0.958711]]
2025-10-24T22:22:17.854Z,1761344537.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125831,0.953584,0.273577],[-0.992043,-0.122123,-0.030613],[0.004218,-0.275252,0.961363]]
2025-10-24T22:22:18.260Z,1761344538.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121261,0.956710,0.264577],[-0.992616,-0.117684,-0.029391],[0.003018,-0.266188,0.963917]]
2025-10-24T22:22:18.667Z,1761344538.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119848,0.959788,0.253857],[-0.992789,-0.116533,-0.028111],[0.002602,-0.255395,0.966833]]
2025-10-24T22:22:19.066Z,1761344539.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120861,0.962174,0.244160],[-0.992665,-0.117861,-0.026913],[0.002882,-0.245621,0.969362]]
2025-10-24T22:22:19.485Z,1761344539.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123530,0.964032,0.235336],[-0.992334,-0.120869,-0.025757],[0.003614,-0.236714,0.971573]]
2025-10-24T22:22:19.874Z,1761344539.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127549,0.965225,0.228193],[-0.991821,-0.125211,-0.024756],[0.004677,-0.229484,0.973301]]
2025-10-24T22:22:20.279Z,1761344540.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132844,0.965406,0.224374],[-0.991118,-0.130808,-0.023985],[0.006195,-0.225567,0.974208]]
2025-10-24T22:22:20.686Z,1761344540.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139045,0.965042,0.222171],[-0.990250,-0.137400,-0.022921],[0.008407,-0.223192,0.974738]]
2025-10-24T22:22:21.088Z,1761344541.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145185,0.963818,0.223553],[-0.989344,-0.143930,-0.021987],[0.010985,-0.224363,0.974444]]
2025-10-24T22:22:21.494Z,1761344541.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149913,0.962451,0.226304],[-0.988609,-0.149008,-0.021179],[0.013337,-0.226901,0.973826]]
2025-10-24T22:22:21.899Z,1761344541.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152580,0.961017,0.230577],[-0.988178,-0.151877,-0.020907],[0.014928,-0.231041,0.972830]]
2025-10-24T22:22:22.300Z,1761344542.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153724,0.959642,0.235493],[-0.987982,-0.153173,-0.020744],[0.016164,-0.235852,0.971655]]
2025-10-24T22:22:22.372Z,1761344542.372 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:22:22.373Z,1761344542.373 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:22:22.373Z,1761344542.373 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:22:22.373Z,1761344542.373 [marl:UpdateRudder:A] Stopped
2025-10-24T22:22:22.373Z,1761344542.373 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:22:22.373Z,1761344542.373 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:22:22.374Z,1761344542.374 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:22:22.374Z,1761344542.374 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:22:22.374Z,1761344542.374 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:22:22.374Z,1761344542.374 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:22:22.374Z,1761344542.374 [marl:UpdateCommandMode] Stopped
2025-10-24T22:22:22.374Z,1761344542.374 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:22:22.374Z,1761344542.374 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:22:22.374Z,1761344542.374 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:22:22.375Z,1761344542.375 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:22:22.375Z,1761344542.375 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:22:22.375Z,1761344542.375 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:22:22.375Z,1761344542.375 [marl:UpdateSpeed] Stopped
2025-10-24T22:22:22.375Z,1761344542.375 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:22:22.708Z,1761344542.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153958,0.958347,0.240557],[-0.987920,-0.153648,-0.020163],[0.017638,-0.240756,0.970425]]
2025-10-24T22:22:22.740Z,1761344542.740 [marl:UpdateRudder:B](INFO): Updating rudder angle  -13.750987 arcdeg 
2025-10-24T22:22:22.740Z,1761344542.740 [marl:UpdateRudder:B] Stopped
2025-10-24T22:22:22.740Z,1761344542.740 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:22:22.741Z,1761344542.741 [marl:UpdateRudder] Stopped
2025-10-24T22:22:22.741Z,1761344542.741 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:22:23.107Z,1761344543.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153346,0.956939,0.246479],[-0.987987,-0.153302,-0.019489],[0.019136,-0.246507,0.968952]]
2025-10-24T22:22:23.513Z,1761344543.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153044,0.955878,0.250747],[-0.988000,-0.153350,-0.018438],[0.020827,-0.250560,0.967877]]
2025-10-24T22:22:23.930Z,1761344543.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152685,0.955051,0.254098],[-0.988016,-0.153396,-0.017133],[0.022614,-0.253669,0.967027]]
2025-10-24T22:22:24.322Z,1761344544.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152788,0.954313,0.256793],[-0.987945,-0.154037,-0.015367],[0.024890,-0.256045,0.966344]]
2025-10-24T22:22:24.730Z,1761344544.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152821,0.953566,0.259533],[-0.987871,-0.154712,-0.013252],[0.027517,-0.258410,0.965643]]
2025-10-24T22:22:25.126Z,1761344545.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150702,0.953417,0.261314],[-0.988126,-0.153278,-0.010616],[0.029932,-0.259811,0.965196]]
2025-10-24T22:22:25.533Z,1761344545.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143806,0.955521,0.257487],[-0.989080,-0.147264,-0.005908],[0.032274,-0.255524,0.966264]]
2025-10-24T22:22:25.977Z,1761344545.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130222,0.962022,0.239907],[-0.990902,-0.134571,0.001764],[0.033981,-0.237495,0.970794]]
2025-10-24T22:22:26.341Z,1761344546.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109027,0.972346,0.206534],[-0.993420,-0.113909,0.011859],[0.035057,-0.203882,0.978368]]
2025-10-24T22:22:26.742Z,1761344546.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079631,0.984149,0.158458],[-0.996184,-0.084263,0.022721],[0.035713,-0.156044,0.987104]]
2025-10-24T22:22:27.146Z,1761344547.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042822,0.994680,0.093687],[-0.998430,-0.045993,0.031957],[0.036096,-0.092171,0.995089]]
2025-10-24T22:22:27.556Z,1761344547.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001300,0.999749,0.022358],[-0.999326,-0.002120,0.036651],[0.036689,-0.022296,0.999078]]
2025-10-24T22:22:27.982Z,1761344547.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041293,0.998236,-0.042652],[-0.998423,0.042851,0.036274],[0.038037,0.041087,0.998431]]
2025-10-24T22:22:28.359Z,1761344548.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083646,0.992007,-0.094474],[-0.995693,0.087007,0.032032],[0.039996,0.091388,0.995012]]
2025-10-24T22:22:28.762Z,1761344548.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124592,0.983404,-0.131881],[-0.991297,0.129069,0.025928],[0.042519,0.127503,0.990926]]
2025-10-24T22:22:29.168Z,1761344549.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163655,0.973965,-0.156872],[-0.985476,0.168707,0.019354],[0.045315,0.151427,0.987429]]
2025-10-24T22:22:29.571Z,1761344549.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200493,0.964773,-0.170341],[-0.978506,0.205765,0.013694],[0.048262,0.163934,0.985290]]
2025-10-24T22:22:29.986Z,1761344549.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233397,0.956202,-0.176648],[-0.970995,0.238882,0.010148],[0.051902,0.169156,0.984222]]
2025-10-24T22:22:30.378Z,1761344550.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263058,0.948607,-0.175913],[-0.963176,0.268728,0.008786],[0.055607,0.167124,0.984366]]
2025-10-24T22:22:30.803Z,1761344550.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290395,0.941346,-0.171867],[-0.955080,0.296221,0.008702],[0.059102,0.161620,0.985082]]
2025-10-24T22:22:31.186Z,1761344551.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316523,0.933856,-0.166509],[-0.946537,0.322463,0.009207],[0.062291,0.154693,0.985997]]
2025-10-24T22:22:31.590Z,1761344551.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341780,0.925970,-0.160520],[-0.937500,0.347832,0.010359],[0.065426,0.146947,0.986978]]
2025-10-24T22:22:31.994Z,1761344551.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366434,0.917014,-0.157519],[-0.927914,0.372639,0.010765],[0.068569,0.142219,0.987457]]
2025-10-24T22:22:32.400Z,1761344552.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390073,0.907463,-0.156058],[-0.917945,0.396544,0.011427],[0.072254,0.138795,0.987682]]
2025-10-24T22:22:32.802Z,1761344552.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412880,0.896989,-0.157924],[-0.907541,0.419799,0.011711],[0.076801,0.138488,0.987382]]
2025-10-24T22:22:33.207Z,1761344553.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435495,0.885827,-0.160167],[-0.896413,0.443032,0.012898],[0.082385,0.137959,0.987006]]
2025-10-24T22:22:33.618Z,1761344553.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457726,0.873912,-0.163596],[-0.884616,0.466088,0.014716],[0.089111,0.137983,0.986418]]
2025-10-24T22:22:34.016Z,1761344554.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480946,0.860073,-0.170192],[-0.871476,0.490219,0.014635],[0.096018,0.141280,0.985302]]
2025-10-24T22:22:34.433Z,1761344554.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506919,0.843343,-0.178345],[-0.855904,0.516996,0.011949],[0.102281,0.146590,0.983895]]
2025-10-24T22:22:34.822Z,1761344554.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535535,0.823648,-0.186566],[-0.837631,0.546192,0.006912],[0.107594,0.152572,0.982418]]
2025-10-24T22:22:35.226Z,1761344555.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564403,0.802553,-0.193285],[-0.817845,0.575437,0.001162],[0.112156,0.157421,0.981142]]
2025-10-24T22:22:35.258Z,1761344555.258 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:22:35.258Z,1761344555.258 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:22:35.258Z,1761344555.258 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:22:35.258Z,1761344555.258 [marl:UpdateRudder:A] Stopped
2025-10-24T22:22:35.258Z,1761344555.258 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:22:35.258Z,1761344555.258 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:22:35.258Z,1761344555.258 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:22:35.258Z,1761344555.258 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:22:35.259Z,1761344555.259 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:22:35.259Z,1761344555.259 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:22:35.259Z,1761344555.259 [marl:UpdateCommandMode] Stopped
2025-10-24T22:22:35.259Z,1761344555.259 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:22:35.259Z,1761344555.259 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:22:35.259Z,1761344555.259 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:22:35.259Z,1761344555.259 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:22:35.276Z,1761344555.276 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:22:35.277Z,1761344555.277 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:22:35.277Z,1761344555.277 [marl:UpdateSpeed] Stopped
2025-10-24T22:22:35.277Z,1761344555.277 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:22:35.637Z,1761344555.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593028,0.780348,-0.198430],[-0.796794,0.604229,-0.005098],[0.115919,0.161131,0.980102]]
2025-10-24T22:22:35.706Z,1761344555.706 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:22:35.706Z,1761344555.706 [marl:UpdateRudder:B] Stopped
2025-10-24T22:22:35.707Z,1761344555.707 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:22:35.707Z,1761344555.707 [marl:UpdateRudder] Stopped
2025-10-24T22:22:35.707Z,1761344555.707 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:22:36.035Z,1761344556.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621285,0.757605,-0.200098],[-0.774664,0.632271,-0.011370],[0.117903,0.162073,0.979710]]
2025-10-24T22:22:36.440Z,1761344556.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649004,0.734216,-0.199301],[-0.751519,0.659471,-0.017784],[0.118376,0.161321,0.979777]]
2025-10-24T22:22:36.843Z,1761344556.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675434,0.710835,-0.196220],[-0.727981,0.685189,-0.023683],[0.117613,0.158841,0.980274]]
2025-10-24T22:22:37.248Z,1761344557.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699713,0.688097,-0.192158],[-0.704858,0.708771,-0.028598],[0.116518,0.155455,0.980947]]
2025-10-24T22:22:37.654Z,1761344557.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721360,0.667099,-0.186062],[-0.682800,0.729992,-0.029924],[0.115862,0.148629,0.982082]]
2025-10-24T22:22:38.458Z,1761344558.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758713,0.628392,-0.171692],[-0.641271,0.766832,-0.027195],[0.114570,0.130734,0.984775]]
2025-10-24T22:22:38.724Z,1761344558.724 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:22:38.871Z,1761344558.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773026,0.614227,-0.158604],[-0.624093,0.781175,-0.016528],[0.113746,0.111761,0.987204]]
2025-10-24T22:22:38.948Z,1761344558.948 [marl:SendObservationData] Running Loop=1
2025-10-24T22:22:38.948Z,1761344558.948 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T22:22:38.948Z,1761344558.948 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T22:22:38.949Z,1761344558.949 [marl:SendObservationData:A] Running Loop=1
2025-10-24T22:22:38.950Z,1761344558.950 [marl:SendObservationData:A](INFO): Got test_good :  41da3eff0000000040514000000000004042631f5c3c4cfbc05e774a11790172402cdccea000000040627cccc0000000 n/a str  and temp var is  nan n/a str 
2025-10-24T22:22:38.950Z,1761344558.950 [marl:SendObservationData:A] Stopped
2025-10-24T22:22:38.950Z,1761344558.950 [marl:SendObservationData:B] Running Loop=1
2025-10-24T22:22:39.193Z,1761344559.193 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:22:39.193Z,1761344559.193 [DAT](INFO): #Outgoing data=1
2025-10-24T22:22:39.194Z,1761344559.194 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:22:39.266Z,1761344559.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784315,0.603380,-0.144159],[-0.609940,0.792446,-0.001661],[0.113236,0.089231,0.989553]]
2025-10-24T22:22:39.319Z,1761344559.319 [marl:SendObservationData:B] Stopped
2025-10-24T22:22:39.320Z,1761344559.320 [marl:SendObservationData:C] Running Loop=1
2025-10-24T22:22:39.445Z,1761344559.445 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:22:39.675Z,1761344559.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794263,0.593220,-0.131290],[-0.597009,0.802135,0.012640],[0.112810,0.068342,0.991263]]
2025-10-24T22:22:39.724Z,1761344559.724 [marl:SendObservationData:C] Stopped
2025-10-24T22:22:39.724Z,1761344559.724 [marl:SendObservationData:E] Running Loop=1
2025-10-24T22:22:39.728Z,1761344559.728 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:22:39.785Z,1761344559.785 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:22:39.785Z,1761344559.785 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:22:40.075Z,1761344560.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804200,0.581854,-0.121277],[-0.583640,0.811659,0.023942],[0.112367,0.051528,0.992330]]
2025-10-24T22:22:40.147Z,1761344560.147 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.009356 min 
2025-10-24T22:22:40.147Z,1761344560.147 [marl:SendObservationData:E] Stopped
2025-10-24T22:22:40.148Z,1761344560.148 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T22:22:40.152Z,1761344560.152 [marl:SendObservationData] Stopped
2025-10-24T22:22:40.152Z,1761344560.152 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T22:22:40.152Z,1761344560.152 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T22:22:40.890Z,1761344560.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824848,0.554752,-0.108978],[-0.554351,0.831471,0.036755],[0.111002,0.030095,0.993364]]
2025-10-24T22:22:41.286Z,1761344561.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835092,0.540144,-0.104235],[-0.539073,0.841278,0.040635],[0.109640,0.022257,0.993722]]
2025-10-24T22:22:41.335Z,1761344561.335 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:22:41.462Z,1761344561.462 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:22:41.516Z,1761344561.516 [DAT](INFO): entering command mode
2025-10-24T22:22:41.691Z,1761344561.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845147,0.525070,-0.100141],[-0.523667,0.850890,0.041949],[0.107235,0.016988,0.994089]]
2025-10-24T22:22:41.712Z,1761344561.712 [DAT](INFO): DAT read: 

2025-10-24T22:22:41.713Z,1761344561.713 [DAT](INFO): DAT read: user:40>

2025-10-24T22:22:41.714Z,1761344561.714 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:22:41.714Z,1761344561.714 [DAT](INFO): setting remote address to 0
2025-10-24T22:22:41.967Z,1761344561.967 [DAT](INFO): DAT read: user:40>

2025-10-24T22:22:41.971Z,1761344561.971 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:22:41.972Z,1761344561.972 [DAT](INFO): set remote address to 0
2025-10-24T22:22:41.974Z,1761344561.974 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:22:41.975Z,1761344561.975 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:22:42.096Z,1761344562.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854568,0.510463,-0.095607],[-0.508845,0.859811,0.042459],[0.103878,0.012365,0.994513]]
2025-10-24T22:22:42.217Z,1761344562.217 [DAT](INFO): DAT read: user:41>

2025-10-24T22:22:42.218Z,1761344562.218 [DAT](INFO): DAT read: Tx time:22:22:41.2073

2025-10-24T22:22:42.218Z,1761344562.218 [DAT](INFO): Ping request sent.
2025-10-24T22:22:42.218Z,1761344562.218 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:22:42.218Z,1761344562.218 [DAT](INFO): publishing transmit ping time
2025-10-24T22:22:42.219Z,1761344562.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000990
2025-10-24T22:22:42.469Z,1761344562.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250817
2025-10-24T22:22:42.499Z,1761344562.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862909,0.497160,-0.090663],[-0.495337,0.867626,0.043210],[0.100144,0.007623,0.994944]]
2025-10-24T22:22:42.721Z,1761344562.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502845
2025-10-24T22:22:42.909Z,1761344562.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870449,0.484601,-0.086493],[-0.482815,0.874720,0.041897],[0.095960,0.005291,0.995371]]
2025-10-24T22:22:42.974Z,1761344562.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755690
2025-10-24T22:22:43.225Z,1761344563.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006830
2025-10-24T22:22:43.477Z,1761344563.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258818
2025-10-24T22:22:43.715Z,1761344563.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884329,0.460067,-0.079374],[-0.458639,0.887874,0.036459],[0.087248,0.004162,0.996178]]
2025-10-24T22:22:43.729Z,1761344563.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510984
2025-10-24T22:22:43.981Z,1761344563.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762875
2025-10-24T22:22:44.233Z,1761344564.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015026
2025-10-24T22:22:44.485Z,1761344564.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266829
2025-10-24T22:22:44.522Z,1761344564.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897747,0.434337,-0.073497],[-0.433293,0.900739,0.030432],[0.079419,0.004526,0.996831]]
2025-10-24T22:22:44.737Z,1761344564.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518987
2025-10-24T22:22:44.926Z,1761344564.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904270,0.420875,-0.071831],[-0.420124,0.907094,0.026008],[0.076104,0.006659,0.997078]]
2025-10-24T22:22:44.990Z,1761344564.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771599
2025-10-24T22:22:45.241Z,1761344565.241 [DAT](INFO): DAT read: Rx Time:22:22:43.7464

2025-10-24T22:22:45.241Z,1761344565.241 [DAT](INFO): Rx dataTimestamp_ set to:1761344565.241141
2025-10-24T22:22:45.242Z,1761344565.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024039
2025-10-24T22:22:45.331Z,1761344565.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910771,0.406799,-0.070781],[-0.406380,0.913466,0.020876],[0.073148,0.009750,0.997273]]
2025-10-24T22:22:45.493Z,1761344565.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274825
2025-10-24T22:22:45.750Z,1761344565.750 [DAT](INFO): DAT read: 22:22:43.7464 LVL= 32752, 32753, 21090, 32755, AGC= 48, IDX= 451, 0.34, 0.411,-0.584, 1.548, 0.601, PHS=-0.087,-1.140, 0.903, RAW= 179.0,   3.7, CAL= 178.6,   1.4, ROT= 331.4,  -1.4

2025-10-24T22:22:45.751Z,1761344565.751 [DAT](INFO): got valid direction response:
 22:22:43.7464 LVL= 32752, 32753, 21090, 32755, AGC= 48, IDX= 451, 0.34, 0.411,-0.584, 1.548, 0.601, PHS=-0.087,-1.140, 0.903, RAW= 179.0,   3.7, CAL= 178.6,   1.4, ROT= 331.4,  -1.4

2025-10-24T22:22:45.756Z,1761344565.756 [DAT](INFO): DAT read: Bearing 130.8, -25.1 (Local)

2025-10-24T22:22:45.757Z,1761344565.757 [DAT](INFO): Local bearing/azimuth received:
 Bearing 130.8, -25.1 (Local)

2025-10-24T22:22:45.758Z,1761344565.758 [DAT](INFO): DAT read: Range 11 to 20 : 101.2 m  (Round-trip  135.0 ms) speed  0.4 m/s

2025-10-24T22:22:45.759Z,1761344565.759 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-24T22:22:45.759Z,1761344565.759 [DAT](INFO): direction in FSK: [0.877721,-0.478549,0.024432]
2025-10-24T22:22:45.768Z,1761344565.768 [DAT](INFO): publishing direction and range info
2025-10-24T22:22:46.053Z,1761344566.053 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344512.00. Resetting abort timer.
2025-10-24T22:22:46.149Z,1761344566.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924647,0.374696,-0.068056],[-0.374907,0.927007,0.010118],[0.066880,0.016159,0.997630]]
2025-10-24T22:22:46.551Z,1761344566.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932157,0.355934,-0.066287],[-0.356426,0.934312,0.004656],[0.063590,0.019287,0.997790]]
2025-10-24T22:22:46.956Z,1761344566.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939790,0.335628,-0.064416],[-0.336427,0.941708,-0.001666],[0.060102,0.023237,0.997922]]
2025-10-24T22:22:47.359Z,1761344567.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947194,0.314668,-0.061708],[-0.315619,0.948867,-0.006058],[0.056646,0.025214,0.998076]]
2025-10-24T22:22:48.167Z,1761344568.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960803,0.271858,-0.054330],[-0.272771,0.962027,-0.010017],[0.049544,0.024444,0.998473]]
2025-10-24T22:22:48.234Z,1761344568.234 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:22:48.234Z,1761344568.234 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:22:48.234Z,1761344568.234 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:22:48.235Z,1761344568.235 [marl:UpdateRudder:A] Stopped
2025-10-24T22:22:48.235Z,1761344568.235 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:22:48.235Z,1761344568.235 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:22:48.235Z,1761344568.235 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:22:48.235Z,1761344568.235 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:22:48.235Z,1761344568.235 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:22:48.235Z,1761344568.235 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:22:48.235Z,1761344568.235 [marl:UpdateCommandMode] Stopped
2025-10-24T22:22:48.236Z,1761344568.236 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:22:48.236Z,1761344568.236 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:22:48.236Z,1761344568.236 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:22:48.236Z,1761344568.236 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:22:48.236Z,1761344568.236 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:22:48.237Z,1761344568.237 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:22:48.237Z,1761344568.237 [marl:UpdateSpeed] Stopped
2025-10-24T22:22:48.237Z,1761344568.237 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:22:48.571Z,1761344568.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966814,0.250536,-0.050035],[-0.251329,0.967848,-0.010152],[0.045883,0.022391,0.998696]]
2025-10-24T22:22:48.606Z,1761344568.606 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:22:48.606Z,1761344568.606 [marl:UpdateRudder:B] Stopped
2025-10-24T22:22:48.606Z,1761344568.606 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:22:48.607Z,1761344568.607 [marl:UpdateRudder] Stopped
2025-10-24T22:22:48.607Z,1761344568.607 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:22:48.979Z,1761344568.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972191,0.229518,-0.046536],[-0.230238,0.973076,-0.010693],[0.042829,0.021110,0.998859]]
2025-10-24T22:22:49.390Z,1761344569.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981160,0.189092,-0.039615],[-0.189665,0.981785,-0.011230],[0.036770,0.018532,0.999152]]
2025-10-24T22:22:49.524Z,1761344569.524 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-24T22:22:49.525Z,1761344569.525 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:22:49.780Z,1761344569.780 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:22:49.781Z,1761344569.781 [DAT](INFO): #Outgoing data=1
2025-10-24T22:22:49.781Z,1761344569.781 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:22:49.805Z,1761344569.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984753,0.170121,-0.036330],[-0.170639,0.985265,-0.011656],[0.033812,0.017678,0.999272]]
2025-10-24T22:22:50.029Z,1761344570.029 [DAT](INFO): setting remote address to 10
2025-10-24T22:22:50.193Z,1761344570.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987742,0.152569,-0.032995],[-0.152988,0.988172,-0.010568],[0.030992,0.015487,0.999400]]
2025-10-24T22:22:50.282Z,1761344570.282 [DAT](INFO): DAT read: user:42>

2025-10-24T22:22:50.283Z,1761344570.283 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:22:50.284Z,1761344570.284 [DAT](INFO): set remote address to 10
2025-10-24T22:22:50.285Z,1761344570.285 [DAT](INFO): entering online mode
2025-10-24T22:22:50.533Z,1761344570.533 [DAT](INFO): DAT read: user:43>

2025-10-24T22:22:50.533Z,1761344570.533 [DAT](INFO): DAT read: 

2025-10-24T22:22:50.534Z,1761344570.534 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:22:50.535Z,1761344570.535 [DAT](INFO): commRate: 600
2025-10-24T22:22:50.535Z,1761344570.535 [DAT](INFO): online mode acknowledged
2025-10-24T22:22:50.535Z,1761344570.535 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:22:50.996Z,1761344570.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992385,0.120291,-0.026514],[-0.120523,0.992684,-0.007332],[0.025438,0.010471,0.999622]]
2025-10-24T22:22:51.400Z,1761344571.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994148,0.105450,-0.023454],[-0.105621,0.994387,-0.006151],[0.022673,0.008593,0.999706]]
2025-10-24T22:22:51.806Z,1761344571.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995680,0.090503,-0.020750],[-0.090660,0.995859,-0.006753],[0.020052,0.008605,0.999762]]
2025-10-24T22:22:52.206Z,1761344572.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996994,0.075409,-0.017812],[-0.075546,0.997117,-0.007162],[0.017221,0.008486,0.999816]]
2025-10-24T22:22:52.610Z,1761344572.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998089,0.059900,-0.015147],[-0.060039,0.998157,-0.008872],[0.014587,0.009765,0.999846]]
2025-10-24T22:22:53.016Z,1761344573.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998992,0.043203,-0.012180],[-0.043350,0.998987,-0.012060],[0.011647,0.012576,0.999853]]
2025-10-24T22:22:53.418Z,1761344573.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999616,0.026173,-0.009104],[-0.026296,0.999560,-0.013729],[0.008741,0.013963,0.999864]]
2025-10-24T22:22:53.810Z,1761344573.810 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:22:52.8560

2025-10-24T22:22:53.810Z,1761344573.810 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:22:53.825Z,1761344573.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999953,0.007568,-0.006077],[-0.007666,0.999838,-0.016263],[0.005953,0.016308,0.999849]]
2025-10-24T22:22:54.227Z,1761344574.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999915,-0.012702,-0.002919],[0.012641,0.999714,-0.020290],[0.003176,0.020252,0.999790]]
2025-10-24T22:22:54.631Z,1761344574.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999451,-0.033128,0.000148],[0.033123,0.999193,-0.022699],[0.000604,0.022691,0.999742]]
2025-10-24T22:22:55.035Z,1761344575.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998533,-0.054068,0.002887],[0.054122,0.998246,-0.024001],[-0.001584,0.024122,0.999708]]
2025-10-24T22:22:55.439Z,1761344575.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997156,-0.075164,0.005588],[0.075282,0.996841,-0.025328],[-0.003666,0.025677,0.999664]]
2025-10-24T22:22:56.247Z,1761344576.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993063,-0.117045,0.011247],[0.117299,0.992769,-0.025496],[-0.008182,0.026638,0.999612]]
2025-10-24T22:22:56.658Z,1761344576.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990431,-0.137350,0.013484],[0.137647,0.990182,-0.024332],[-0.010009,0.025955,0.999613]]
2025-10-24T22:22:57.054Z,1761344577.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987443,-0.157240,0.015217],[0.157558,0.987251,-0.022623],[-0.011466,0.024736,0.999628]]
2025-10-24T22:22:57.459Z,1761344577.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984155,-0.176512,0.016793],[0.176835,0.984032,-0.020244],[-0.012952,0.022893,0.999654]]
2025-10-24T22:22:57.873Z,1761344577.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980677,-0.194809,0.017959],[0.195127,0.980611,-0.018097],[-0.014085,0.021251,0.999675]]
2025-10-24T22:22:58.266Z,1761344578.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977271,-0.211159,0.018810],[0.211460,0.977259,-0.015773],[-0.015052,0.019392,0.999699]]
2025-10-24T22:22:58.675Z,1761344578.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973409,-0.228194,0.020078],[0.228512,0.973421,-0.015273],[-0.016059,0.019455,0.999682]]
2025-10-24T22:22:59.074Z,1761344579.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969527,-0.244053,0.021365],[0.244380,0.969574,-0.014312],[-0.017222,0.019097,0.999669]]
2025-10-24T22:22:59.481Z,1761344579.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965427,-0.259676,0.022765],[0.260003,0.965523,-0.012778],[-0.018662,0.018256,0.999659]]
2025-10-24T22:22:59.886Z,1761344579.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961351,-0.274274,0.024066],[0.274602,0.961488,-0.011563],[-0.019968,0.017724,0.999644]]
2025-10-24T22:23:00.286Z,1761344580.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957256,-0.288139,0.025241],[0.288429,0.957462,-0.008642],[-0.021678,0.015553,0.999644]]
2025-10-24T22:23:00.692Z,1761344580.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953430,-0.300416,0.026852],[0.300688,0.953700,-0.006647],[-0.023611,0.014412,0.999617]]
2025-10-24T22:23:01.094Z,1761344581.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949275,-0.313154,0.028479],[0.313411,0.949605,-0.004926],[-0.025501,0.013602,0.999582]]
2025-10-24T22:23:01.129Z,1761344581.129 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:23:01.129Z,1761344581.129 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:23:01.129Z,1761344581.129 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:23:01.129Z,1761344581.129 [marl:UpdateRudder:A] Stopped
2025-10-24T22:23:01.130Z,1761344581.130 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:23:01.130Z,1761344581.130 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:23:01.130Z,1761344581.130 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:23:01.130Z,1761344581.130 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:23:01.130Z,1761344581.130 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:23:01.130Z,1761344581.130 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:23:01.130Z,1761344581.130 [marl:UpdateCommandMode] Stopped
2025-10-24T22:23:01.130Z,1761344581.130 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:23:01.130Z,1761344581.130 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:23:01.131Z,1761344581.131 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:23:01.131Z,1761344581.131 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:23:01.131Z,1761344581.131 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:23:01.131Z,1761344581.131 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:23:01.131Z,1761344581.131 [marl:UpdateSpeed] Stopped
2025-10-24T22:23:01.131Z,1761344581.131 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:23:01.498Z,1761344581.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944899,-0.325984,0.030021],[0.326208,0.945294,-0.002773],[-0.027475,0.012413,0.999545]]
2025-10-24T22:23:01.540Z,1761344581.540 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:23:01.544Z,1761344581.544 [marl:UpdateRudder:B] Stopped
2025-10-24T22:23:01.544Z,1761344581.544 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:23:01.544Z,1761344581.544 [marl:UpdateRudder] Stopped
2025-10-24T22:23:01.544Z,1761344581.544 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:23:01.906Z,1761344581.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940428,-0.338501,0.031805],[0.338690,0.940898,-0.000585],[-0.029727,0.011322,0.999494]]
2025-10-24T22:23:02.308Z,1761344582.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935275,-0.352318,0.033667],[0.352483,0.935818,0.001084],[-0.031888,0.010853,0.999433]]
2025-10-24T22:23:02.710Z,1761344582.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929375,-0.367334,0.036454],[0.367542,0.930007,0.001073],[-0.034297,0.012401,0.999335]]
2025-10-24T22:23:03.114Z,1761344583.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922552,-0.383854,0.039411],[0.384161,0.923266,-0.000233],[-0.036298,0.015355,0.999223]]
2025-10-24T22:23:03.518Z,1761344583.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914569,-0.402247,0.041956],[0.402591,0.915380,0.000279],[-0.038518,0.016636,0.999119]]
2025-10-24T22:23:03.899Z,1761344583.899 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:23:03.981Z,1761344583.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905970,-0.420992,0.044537],[0.421404,0.906873,0.000138],[-0.040447,0.018643,0.999008]]
2025-10-24T22:23:04.149Z,1761344584.149 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:23:04.149Z,1761344584.149 [DAT](INFO): #Outgoing data=2
2025-10-24T22:23:04.149Z,1761344584.149 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:23:04.340Z,1761344584.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896319,-0.440856,0.047515],[0.441451,0.897283,-0.002290],[-0.041625,0.023028,0.998868]]
2025-10-24T22:23:04.401Z,1761344584.401 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:23:04.730Z,1761344584.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885851,-0.461315,0.049557],[0.462031,0.886857,-0.003438],[-0.042364,0.025942,0.998765]]
2025-10-24T22:23:05.134Z,1761344585.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874920,-0.481625,0.050533],[0.482372,0.875961,-0.003017],[-0.042812,0.027015,0.998718]]
2025-10-24T22:23:05.539Z,1761344585.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863887,-0.501093,0.051050],[0.501839,0.864959,-0.002095],[-0.043107,0.027429,0.998694]]
2025-10-24T22:23:06.347Z,1761344586.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842372,-0.536486,0.050908],[0.537156,0.843483,0.000626],[-0.043276,0.026818,0.998703]]
2025-10-24T22:23:06.750Z,1761344586.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832212,-0.552120,0.050860],[0.552722,0.833362,0.002640],[-0.043842,0.025914,0.998702]]
2025-10-24T22:23:07.154Z,1761344587.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822254,-0.566857,0.050710],[0.567400,0.823431,0.004344],[-0.044218,0.025201,0.998704]]
2025-10-24T22:23:07.564Z,1761344587.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812262,-0.581081,0.050737],[0.581581,0.813468,0.005809],[-0.044648,0.024790,0.998695]]
2025-10-24T22:23:07.678Z,1761344587.678 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:23:06.7059

2025-10-24T22:23:07.678Z,1761344587.678 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:23:07.985Z,1761344587.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801945,-0.595321,0.049769],[0.595677,0.803174,0.008963],[-0.045309,0.022459,0.998721]]
2025-10-24T22:23:08.370Z,1761344588.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791368,-0.609370,0.049046],[0.609607,0.792618,0.011703],[-0.046006,0.020637,0.998728]]
2025-10-24T22:23:08.770Z,1761344588.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780128,-0.623743,0.048425],[0.623849,0.781406,0.014735],[-0.047030,0.018715,0.998718]]
2025-10-24T22:23:09.175Z,1761344589.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768554,-0.637976,0.048063],[0.638020,0.769845,0.016428],[-0.047482,0.018039,0.998709]]
2025-10-24T22:23:09.578Z,1761344589.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756744,-0.651962,0.047790],[0.651942,0.758052,0.018145],[-0.048058,0.017425,0.998693]]
2025-10-24T22:23:09.852Z,1761344589.852 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:23:09.988Z,1761344589.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745009,-0.665289,0.048488],[0.665264,0.746366,0.019010],[-0.048837,0.018095,0.998643]]
2025-10-24T22:23:10.390Z,1761344590.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733352,-0.678062,0.049261],[0.678044,0.734759,0.019623],[-0.049500,0.019011,0.998593]]
2025-10-24T22:23:10.825Z,1761344590.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721107,-0.691130,0.048410],[0.691053,0.722499,0.021018],[-0.049503,0.018298,0.998606]]
2025-10-24T22:23:10.856Z,1761344590.856 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:23:11.195Z,1761344591.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709786,-0.702912,0.046026],[0.702682,0.711108,0.023723],[-0.049405,0.015503,0.998658]]
2025-10-24T22:23:11.598Z,1761344591.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698993,-0.713681,0.045483],[0.713418,0.700306,0.024638],[-0.049436,0.015227,0.998661]]
2025-10-24T22:23:12.002Z,1761344592.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688250,-0.724070,0.045109],[0.723792,0.689557,0.025228],[-0.049372,0.015286,0.998663]]
2025-10-24T22:23:12.411Z,1761344592.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677862,-0.733886,0.043762],[0.733519,0.679133,0.026994],[-0.049531,0.013802,0.998677]]
2025-10-24T22:23:12.816Z,1761344592.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667523,-0.743344,0.043044],[0.742914,0.668783,0.028412],[-0.049907,0.013013,0.998669]]
2025-10-24T22:23:13.214Z,1761344593.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657028,-0.752667,0.042505],[0.752167,0.658287,0.030035],[-0.050587,0.012237,0.998645]]
2025-10-24T22:23:13.620Z,1761344593.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646366,-0.761940,0.040730],[0.761283,0.647576,0.033059],[-0.051565,0.009638,0.998623]]
2025-10-24T22:23:14.022Z,1761344594.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635500,-0.771027,0.040695],[0.770305,0.636734,0.034650],[-0.052628,0.009328,0.998571]]
2025-10-24T22:23:14.098Z,1761344594.098 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:23:14.098Z,1761344594.098 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:23:14.098Z,1761344594.098 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:23:14.099Z,1761344594.099 [marl:UpdateRudder:A] Stopped
2025-10-24T22:23:14.099Z,1761344594.099 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:23:14.099Z,1761344594.099 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:23:14.099Z,1761344594.099 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:23:14.099Z,1761344594.099 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:23:14.099Z,1761344594.099 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:23:14.099Z,1761344594.099 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:23:14.099Z,1761344594.099 [marl:UpdateCommandMode] Stopped
2025-10-24T22:23:14.100Z,1761344594.100 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:23:14.100Z,1761344594.100 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:23:14.101Z,1761344594.101 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:23:14.101Z,1761344594.101 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:23:14.101Z,1761344594.101 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:23:14.101Z,1761344594.101 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:23:14.101Z,1761344594.101 [marl:UpdateSpeed] Stopped
2025-10-24T22:23:14.101Z,1761344594.101 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:23:14.431Z,1761344594.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623722,-0.780521,0.041916],[0.779773,0.625042,0.035721],[-0.054080,0.010405,0.998482]]
2025-10-24T22:23:14.482Z,1761344594.482 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:23:14.482Z,1761344594.482 [marl:UpdateRudder:B] Stopped
2025-10-24T22:23:14.482Z,1761344594.482 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:23:14.482Z,1761344594.482 [marl:UpdateRudder] Stopped
2025-10-24T22:23:14.483Z,1761344594.483 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:23:14.830Z,1761344594.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610866,-0.790535,0.043553],[0.789786,0.612297,0.036479],[-0.055505,0.012113,0.998385]]
2025-10-24T22:23:15.236Z,1761344595.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597254,-0.800738,0.045907],[0.800026,0.598834,0.036824],[-0.056977,0.014733,0.998267]]
2025-10-24T22:23:15.639Z,1761344595.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582559,-0.811434,0.046914],[0.810688,0.584231,0.038194],[-0.058400,0.015782,0.998168]]
2025-10-24T22:23:16.446Z,1761344596.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548683,-0.834540,0.049898],[0.833865,0.550580,0.039136],[-0.060133,0.020135,0.997987]]
2025-10-24T22:23:16.852Z,1761344596.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529877,-0.846580,0.050323],[0.845939,0.531820,0.039431],[-0.060144,0.021676,0.997954]]
2025-10-24T22:23:17.255Z,1761344597.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510425,-0.858487,0.049657],[0.857834,0.512358,0.040123],[-0.059887,0.022117,0.997960]]
2025-10-24T22:23:17.665Z,1761344597.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490615,-0.870038,0.048281],[0.869361,0.492494,0.040751],[-0.059233,0.021981,0.998002]]
2025-10-24T22:23:17.766Z,1761344597.766 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:23:18.017Z,1761344598.017 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:23:18.017Z,1761344598.017 [DAT](INFO): #Outgoing data=3
2025-10-24T22:23:18.017Z,1761344598.017 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:23:18.063Z,1761344598.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470828,-0.880947,0.047472],[0.880314,0.472668,0.040412],[-0.058040,0.022763,0.998055]]
2025-10-24T22:23:18.271Z,1761344598.271 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:23:18.473Z,1761344598.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451643,-0.890973,0.046762],[0.890397,0.453440,0.039817],[-0.056679,0.023654,0.998112]]
2025-10-24T22:23:18.872Z,1761344598.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433433,-0.900106,0.044114],[0.899511,0.435092,0.039687],[-0.054916,0.022479,0.998238]]
2025-10-24T22:23:19.289Z,1761344599.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416577,-0.908138,0.041829],[0.907544,0.418115,0.039290],[-0.053170,0.021595,0.998352]]
2025-10-24T22:23:19.682Z,1761344599.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401822,-0.914865,0.039517],[0.914274,0.403237,0.038772],[-0.051406,0.020550,0.998466]]
2025-10-24T22:23:20.084Z,1761344600.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387017,-0.921317,0.037307],[0.920713,0.388327,0.038611],[-0.050061,0.019406,0.998558]]
2025-10-24T22:23:20.487Z,1761344600.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372147,-0.927548,0.034065],[0.926886,0.373313,0.038971],[-0.048865,0.017071,0.998659]]
2025-10-24T22:23:20.891Z,1761344600.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356903,-0.933598,0.031853],[0.932913,0.357974,0.039091],[-0.047898,0.015765,0.998728]]
2025-10-24T22:23:21.298Z,1761344601.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341394,-0.939432,0.030298],[0.938738,0.342403,0.039139],[-0.047142,0.015080,0.998774]]
2025-10-24T22:23:21.545Z,1761344601.545 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:23:20.6058

2025-10-24T22:23:21.545Z,1761344601.545 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:23:21.699Z,1761344601.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324605,-0.945393,0.029378],[0.944736,0.325573,0.038412],[-0.045879,0.015286,0.998830]]
2025-10-24T22:23:22.102Z,1761344602.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307029,-0.951298,0.027676],[0.950664,0.307922,0.037717],[-0.044403,0.014730,0.998905]]
2025-10-24T22:23:22.507Z,1761344602.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288927,-0.956959,0.027390],[0.956408,0.289794,0.036107],[-0.042491,0.015764,0.998973]]
2025-10-24T22:23:22.911Z,1761344602.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271409,-0.962052,0.028178],[0.961608,0.272286,0.034204],[-0.040578,0.017813,0.999018]]
2025-10-24T22:23:23.316Z,1761344603.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254132,-0.966722,0.029429],[0.966404,0.255023,0.032023],[-0.038462,0.020303,0.999054]]
2025-10-24T22:23:23.718Z,1761344603.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237899,-0.970844,0.029425],[0.970602,0.238761,0.030406],[-0.036545,0.021326,0.999104]]
2025-10-24T22:23:24.123Z,1761344604.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222506,-0.974512,0.028575],[0.974323,0.223307,0.028792],[-0.034439,0.021435,0.999177]]
2025-10-24T22:23:24.533Z,1761344604.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208288,-0.977685,0.027366],[0.977526,0.209022,0.027421],[-0.032529,0.021040,0.999249]]
2025-10-24T22:23:24.930Z,1761344604.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194176,-0.980615,0.026263],[0.980482,0.194852,0.026212],[-0.030821,0.020661,0.999311]]
2025-10-24T22:23:25.336Z,1761344605.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181150,-0.983100,0.026426],[0.983010,0.181811,0.025224],[-0.029602,0.021407,0.999333]]
2025-10-24T22:23:25.740Z,1761344605.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168147,-0.985396,0.026873],[0.985349,0.168803,0.024347],[-0.028528,0.022386,0.999342]]
2025-10-24T22:23:26.546Z,1761344606.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141036,-0.989573,0.029236],[0.989630,0.141733,0.023311],[-0.027212,0.025645,0.999301]]
2025-10-24T22:23:26.950Z,1761344606.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125307,-0.991600,0.032047],[0.991770,0.126053,0.022431],[-0.026283,0.028973,0.999235]]
2025-10-24T22:23:27.010Z,1761344607.010 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:23:27.010Z,1761344607.010 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:23:27.011Z,1761344607.011 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:23:27.011Z,1761344607.011 [marl:UpdateRudder:A] Stopped
2025-10-24T22:23:27.011Z,1761344607.011 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:23:27.011Z,1761344607.011 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:23:27.011Z,1761344607.011 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:23:27.011Z,1761344607.011 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:23:27.012Z,1761344607.012 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:23:27.012Z,1761344607.012 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:23:27.012Z,1761344607.012 [marl:UpdateCommandMode] Stopped
2025-10-24T22:23:27.012Z,1761344607.012 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:23:27.012Z,1761344607.012 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:23:27.012Z,1761344607.012 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:23:27.012Z,1761344607.012 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:23:27.013Z,1761344607.013 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:23:27.013Z,1761344607.013 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:23:27.013Z,1761344607.013 [marl:UpdateSpeed] Stopped
2025-10-24T22:23:27.013Z,1761344607.013 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:23:27.356Z,1761344607.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108300,-0.993503,0.034970],[0.993794,0.109096,0.021710],[-0.025384,0.032402,0.999153]]
2025-10-24T22:23:27.413Z,1761344607.413 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:23:27.413Z,1761344607.413 [marl:UpdateRudder:B] Stopped
2025-10-24T22:23:27.413Z,1761344607.413 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:23:27.413Z,1761344607.413 [marl:UpdateRudder] Stopped
2025-10-24T22:23:27.413Z,1761344607.413 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:23:27.766Z,1761344607.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090916,-0.995133,0.038014],[0.995551,0.091770,0.021364],[-0.024749,0.035903,0.999049]]
2025-10-24T22:23:28.162Z,1761344608.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072799,-0.996442,0.042458],[0.997054,0.073743,0.021093],[-0.024149,0.040798,0.998876]]
2025-10-24T22:23:28.357Z,1761344608.357 [DAT](INFO): DAT read: Rx Time:22:23:26.8196

2025-10-24T22:23:28.357Z,1761344608.357 [DAT](INFO): Rx dataTimestamp_ set to:1761344608.357043
2025-10-24T22:23:28.566Z,1761344608.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053471,-0.997529,0.045566],[0.998301,0.054458,0.020703],[-0.023133,0.044381,0.998747]]
2025-10-24T22:23:28.983Z,1761344608.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034042,-0.998274,0.047859],[0.999180,0.035045,0.020283],[-0.021925,0.047130,0.998648]]
2025-10-24T22:23:29.118Z,1761344609.118 [DAT](INFO): DAT read: 22:23:26.8196 LVL= 18480, 21169, 10994, 16259, AGC= 51, IDX= 115, 0.18, 2.591,-2.915,-1.079,-2.334, PHS=-1.256,-0.536, 1.211, RAW= 226.5,   5.3, CAL= 225.7,   6.4, ROT= 284.3,  -6.4

2025-10-24T22:23:29.119Z,1761344609.119 [DAT](INFO): got valid direction response:
 22:23:26.8196 LVL= 18480, 21169, 10994, 16259, AGC= 51, IDX= 115, 0.18, 2.591,-2.915,-1.079,-2.334, PHS=-1.256,-0.536, 1.211, RAW= 226.5,   5.3, CAL= 225.7,   6.4, ROT= 284.3,  -6.4

2025-10-24T22:23:29.120Z,1761344609.120 [DAT](INFO): DAT read: 

2025-10-24T22:23:29.121Z,1761344609.121 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:23:29.121Z,1761344609.121 [DAT](INFO): Got DATA 2
2025-10-24T22:23:29.122Z,1761344609.122 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:23:29.122Z,1761344609.122 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:23:29.122Z,1761344609.122 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:23:29.124Z,1761344609.124 [DAT](INFO): DAT read: CRC:Pass MPD:05.3 PSNR:14.4 AGC:49 SPD:+0.3 CCERR:011

2025-10-24T22:23:29.124Z,1761344609.124 [DAT](INFO): Got CRC:Pass
2025-10-24T22:23:29.124Z,1761344609.124 [DAT](INFO): Got CRC:Pass
2025-10-24T22:23:29.124Z,1761344609.124 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:23:29.124Z,1761344609.124 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:23:29.124Z,1761344609.124 [DAT](INFO): Got ack
2025-10-24T22:23:29.124Z,1761344609.124 [DAT](INFO): DAT read: 

2025-10-24T22:23:29.125Z,1761344609.125 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:23:29.125Z,1761344609.125 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:23:29.125Z,1761344609.125 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-24T22:23:29.126Z,1761344609.126 [DAT](INFO): direction in FSK: [0.245459,-0.962977,0.111469]
2025-10-24T22:23:29.364Z,1761344609.364 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:23:29.384Z,1761344609.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013729,-0.998626,0.050565],[0.999704,0.014723,0.019343],[-0.020060,0.050284,0.998533]]
2025-10-24T22:23:29.443Z,1761344609.443 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344640.00. Resetting abort timer.
2025-10-24T22:23:29.617Z,1761344609.617 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:23:29.780Z,1761344609.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006695,-0.998632,0.051865],[0.999817,-0.005755,0.018266],[-0.017942,0.051978,0.998487]]
2025-10-24T22:23:30.182Z,1761344610.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026829,-0.998248,0.052740],[0.999521,-0.025973,0.016851],[-0.015452,0.053166,0.998466]]
2025-10-24T22:23:30.990Z,1761344610.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066669,-0.996355,0.053220],[0.997735,-0.066096,0.012465],[-0.008902,0.053930,0.998505]]
2025-10-24T22:23:31.397Z,1761344611.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085952,-0.994894,0.052895],[0.996284,-0.085534,0.010110],[-0.005534,0.053567,0.998549]]
2025-10-24T22:23:31.798Z,1761344611.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103488,-0.993233,0.052717],[0.994628,-0.103215,0.007877],[-0.002383,0.053249,0.998578]]
2025-10-24T22:23:32.202Z,1761344612.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119987,-0.991448,0.051325],[0.992775,-0.119843,0.005878],[0.000323,0.051660,0.998665]]
2025-10-24T22:23:32.607Z,1761344612.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135736,-0.989501,0.049642],[0.990742,-0.135686,0.004384],[0.002398,0.049777,0.998757]]
2025-10-24T22:23:32.893Z,1761344612.893 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:23:31.9558

2025-10-24T22:23:32.893Z,1761344612.893 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:23:33.019Z,1761344613.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149755,-0.987536,0.048436],[0.988715,-0.149772,0.003298],[0.003997,0.048383,0.998821]]
2025-10-24T22:23:33.418Z,1761344613.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163427,-0.985446,0.046777],[0.986543,-0.163482,0.002674],[0.005012,0.046584,0.998902]]
2025-10-24T22:23:33.819Z,1761344613.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177317,-0.983138,0.044698],[0.984138,-0.177390,0.002352],[0.005616,0.044406,0.998998]]
2025-10-24T22:23:34.236Z,1761344614.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206177,-0.977652,0.041095],[0.978499,-0.206233,0.002898],[0.005642,0.040809,0.999151]]
2025-10-24T22:23:34.639Z,1761344614.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222091,-0.974225,0.039498],[0.975009,-0.222144,0.003111],[0.005744,0.039202,0.999215]]
2025-10-24T22:23:35.035Z,1761344615.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238641,-0.970325,0.038983],[0.971091,-0.238681,0.003704],[0.005711,0.038740,0.999233]]
2025-10-24T22:23:35.439Z,1761344615.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255805,-0.965955,0.038670],[0.966710,-0.255843,0.004053],[0.005979,0.038419,0.999244]]
2025-10-24T22:23:35.865Z,1761344615.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273176,-0.961161,0.039312],[0.961942,-0.273219,0.004360],[0.006550,0.039007,0.999217]]
2025-10-24T22:23:36.249Z,1761344616.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290818,-0.955897,0.041072],[0.956750,-0.290873,0.004747],[0.007409,0.040677,0.999145]]
2025-10-24T22:23:36.649Z,1761344616.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308444,-0.950347,0.041265],[0.951205,-0.308529,0.004461],[0.008492,0.040627,0.999138]]
2025-10-24T22:23:37.050Z,1761344617.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325778,-0.944521,0.041825],[0.945396,-0.325899,0.004075],[0.009782,0.040868,0.999117]]
2025-10-24T22:23:37.455Z,1761344617.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342498,-0.938572,0.042153],[0.939455,-0.342653,0.003704],[0.010967,0.040869,0.999104]]
2025-10-24T22:23:37.860Z,1761344617.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359036,-0.932313,0.043426],[0.933236,-0.359251,0.003020],[0.012785,0.041611,0.999052]]
2025-10-24T22:23:38.262Z,1761344618.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374658,-0.926198,0.042299],[0.927052,-0.374930,0.001614],[0.014365,0.039818,0.999104]]
2025-10-24T22:23:38.671Z,1761344618.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390588,-0.919606,0.042018],[0.920426,-0.390917,0.000424],[0.016035,0.038840,0.999117]]
2025-10-24T22:23:39.070Z,1761344619.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405752,-0.912946,0.043526],[0.913817,-0.406125,0.000284],[0.017418,0.039890,0.999052]]
2025-10-24T22:23:39.476Z,1761344619.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420289,-0.906371,0.042989],[0.907204,-0.420690,-0.000308],[0.018364,0.038870,0.999076]]
2025-10-24T22:23:39.698Z,1761344619.698 [DAT](INFO): DAT read: Rx Time:22:23:38.1714

2025-10-24T22:23:39.699Z,1761344619.699 [DAT](INFO): Rx dataTimestamp_ set to:1761344619.698259
2025-10-24T22:23:39.878Z,1761344619.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434742,-0.899556,0.042400],[0.900349,-0.435168,-0.000899],[0.019260,0.037784,0.999100]]
2025-10-24T22:23:39.987Z,1761344619.987 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:23:39.987Z,1761344619.987 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:23:39.987Z,1761344619.987 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:23:39.987Z,1761344619.987 [marl:UpdateRudder:A] Stopped
2025-10-24T22:23:39.987Z,1761344619.987 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:23:39.987Z,1761344619.987 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:23:39.987Z,1761344619.987 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:23:39.987Z,1761344619.987 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:23:39.992Z,1761344619.992 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:23:39.992Z,1761344619.992 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:23:39.992Z,1761344619.992 [marl:UpdateCommandMode] Stopped
2025-10-24T22:23:39.992Z,1761344619.992 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:23:39.992Z,1761344619.992 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:23:39.992Z,1761344619.992 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:23:39.993Z,1761344619.993 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:23:39.993Z,1761344619.993 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:23:39.993Z,1761344619.993 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:23:39.993Z,1761344619.993 [marl:UpdateSpeed] Stopped
2025-10-24T22:23:39.993Z,1761344619.993 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:23:40.029Z,1761344620.029 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:23:40.030Z,1761344620.030 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:23:40.282Z,1761344620.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448791,-0.892652,0.041934],[0.893419,-0.449223,-0.000970],[0.019703,0.037029,0.999120]]
2025-10-24T22:23:40.374Z,1761344620.374 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:23:40.374Z,1761344620.374 [marl:UpdateRudder:B] Stopped
2025-10-24T22:23:40.374Z,1761344620.374 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:23:40.374Z,1761344620.374 [marl:UpdateRudder] Stopped
2025-10-24T22:23:40.374Z,1761344620.374 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:23:40.458Z,1761344620.458 [DAT](INFO): DAT read: 22:23:38.1714 LVL= 30704, 20753, 16546, 25555, AGC= 47, IDX= 455,-0.12, 0.534, 1.963, 2.770, 1.838, PHS=-1.202, 0.169, 0.888, RAW= 250.2,   1.6, CAL= 245.9,   0.4, ROT= 264.1,  -0.4

2025-10-24T22:23:40.459Z,1761344620.459 [DAT](INFO): got valid direction response:
 22:23:38.1714 LVL= 30704, 20753, 16546, 25555, AGC= 47, IDX= 455,-0.12, 0.534, 1.963, 2.770, 1.838, PHS=-1.202, 0.169, 0.888, RAW= 250.2,   1.6, CAL= 245.9,   0.4, ROT= 264.1,  -0.4

2025-10-24T22:23:40.460Z,1761344620.460 [DAT](INFO): DAT read: 

2025-10-24T22:23:40.461Z,1761344620.461 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:23:40.461Z,1761344620.461 [DAT](INFO): Got DATA 2
2025-10-24T22:23:40.462Z,1761344620.462 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:23:40.462Z,1761344620.462 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:23:40.462Z,1761344620.462 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:23:40.463Z,1761344620.463 [DAT](INFO): DAT read: CRC:Pass MPD:03.3 PSNR:11.0 AGC:52 SPD:-0.4 CCERR:010

2025-10-24T22:23:40.463Z,1761344620.463 [DAT](INFO): Got CRC:Pass
2025-10-24T22:23:40.463Z,1761344620.463 [DAT](INFO): Got CRC:Pass
2025-10-24T22:23:40.463Z,1761344620.463 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:23:40.467Z,1761344620.467 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:23:40.467Z,1761344620.467 [DAT](INFO): Got ack
2025-10-24T22:23:40.467Z,1761344620.467 [DAT](INFO): DAT read: 

2025-10-24T22:23:40.467Z,1761344620.467 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:23:40.481Z,1761344620.481 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:23:40.481Z,1761344620.481 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-24T22:23:40.482Z,1761344620.482 [DAT](INFO): direction in FSK: [-0.102790,-0.994679,0.006981]
2025-10-24T22:23:40.693Z,1761344620.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462872,-0.885461,0.041333],[0.886195,-0.463311,-0.001180],[0.020195,0.036083,0.999145]]
2025-10-24T22:23:40.705Z,1761344620.705 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:23:40.760Z,1761344620.760 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344640.00. Resetting abort timer.
2025-10-24T22:23:40.957Z,1761344620.957 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:23:40.976Z,1761344620.976 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:23:41.090Z,1761344621.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477094,-0.877843,0.042108],[0.878603,-0.477552,-0.000947],[0.020940,0.036544,0.999113]]
2025-10-24T22:23:41.495Z,1761344621.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490981,-0.870082,0.043529],[0.870899,-0.491462,-0.000388],[0.021730,0.037718,0.999052]]
2025-10-24T22:23:41.559Z,1761344621.559 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:23:41.713Z,1761344621.713 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:41.764Z,1761344621.764 [DAT](INFO): entering command mode
2025-10-24T22:23:41.904Z,1761344621.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504757,-0.862099,0.044779],[0.862969,-0.505257,0.000176],[0.022474,0.038732,0.998997]]
2025-10-24T22:23:41.967Z,1761344621.967 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:41.967Z,1761344621.967 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:41.980Z,1761344621.980 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:23:42.217Z,1761344622.217 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:42.217Z,1761344622.217 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:42.303Z,1761344622.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518587,-0.853916,0.043522],[0.854711,-0.519104,-0.000664],[0.023160,0.036855,0.999052]]
2025-10-24T22:23:42.469Z,1761344622.469 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:42.469Z,1761344622.469 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:42.714Z,1761344622.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531887,-0.845765,0.042168],[0.846495,-0.532396,-0.000998],[0.023294,0.035164,0.999110]]
2025-10-24T22:23:42.721Z,1761344622.721 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:42.721Z,1761344622.721 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:42.973Z,1761344622.973 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:42.973Z,1761344622.973 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:43.114Z,1761344623.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545802,-0.836881,0.041607],[0.837582,-0.546311,-0.001038],[0.023599,0.034283,0.999133]]
2025-10-24T22:23:43.225Z,1761344623.225 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:43.225Z,1761344623.225 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:43.477Z,1761344623.477 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:43.477Z,1761344623.477 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:43.519Z,1761344623.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560232,-0.827375,0.039883],[0.828004,-0.560721,-0.001300],[0.023438,0.032295,0.999204]]
2025-10-24T22:23:43.729Z,1761344623.729 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:43.729Z,1761344623.729 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:43.951Z,1761344623.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575113,-0.817170,0.038442],[0.817752,-0.575570,-0.000988],[0.022934,0.030868,0.999260]]
2025-10-24T22:23:43.990Z,1761344623.990 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:43.990Z,1761344623.990 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:44.233Z,1761344624.233 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:44.233Z,1761344624.233 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:44.322Z,1761344624.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590107,-0.806417,0.038279],[0.807022,-0.590521,0.000599],[0.022122,0.031245,0.999267]]
2025-10-24T22:23:44.485Z,1761344624.485 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:44.485Z,1761344624.485 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:44.727Z,1761344624.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606058,-0.794570,0.036782],[0.795130,-0.606439,0.001007],[0.021506,0.029856,0.999323]]
2025-10-24T22:23:44.736Z,1761344624.736 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:44.737Z,1761344624.737 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:44.989Z,1761344624.989 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:23:44.0557

2025-10-24T22:23:44.990Z,1761344624.990 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:23:44.990Z,1761344624.990 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:44.990Z,1761344624.990 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:45.132Z,1761344625.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622719,-0.781623,0.035863],[0.782163,-0.623072,0.001680],[0.021032,0.029097,0.999355]]
2025-10-24T22:23:45.241Z,1761344625.241 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:45.241Z,1761344625.241 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:45.493Z,1761344625.493 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:45.494Z,1761344625.494 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:45.534Z,1761344625.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639648,-0.767826,0.035969],[0.768373,-0.639999,0.002238],[0.021302,0.029069,0.999350]]
2025-10-24T22:23:45.745Z,1761344625.745 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:45.745Z,1761344625.745 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:45.997Z,1761344625.997 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:45.997Z,1761344625.997 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:46.249Z,1761344626.249 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:46.249Z,1761344626.249 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:46.342Z,1761344626.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671572,-0.740052,0.036260],[0.740583,-0.671963,0.001841],[0.023003,0.028090,0.999341]]
2025-10-24T22:23:46.501Z,1761344626.501 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:46.501Z,1761344626.501 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:46.753Z,1761344626.753 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:46.753Z,1761344626.753 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:46.754Z,1761344626.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686687,-0.725988,0.037453],[0.726550,-0.687110,0.002083],[0.024222,0.028642,0.999296]]
2025-10-24T22:23:47.005Z,1761344627.005 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:47.005Z,1761344627.005 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:47.151Z,1761344627.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701271,-0.711924,0.037196],[0.712456,-0.701715,0.001556],[0.024993,0.027592,0.999307]]
2025-10-24T22:23:47.257Z,1761344627.257 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:47.257Z,1761344627.257 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:47.509Z,1761344627.509 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:47.509Z,1761344627.509 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:47.554Z,1761344627.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715134,-0.698005,0.037035],[0.698523,-0.715586,0.001462],[0.025482,0.026915,0.999313]]
2025-10-24T22:23:47.761Z,1761344627.761 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:47.761Z,1761344627.761 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:47.981Z,1761344627.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728207,-0.684353,0.037082],[0.684868,-0.728665,0.001661],[0.025884,0.026606,0.999311]]
2025-10-24T22:23:48.013Z,1761344628.013 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:48.013Z,1761344628.013 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:48.265Z,1761344628.265 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:48.265Z,1761344628.265 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:48.364Z,1761344628.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740744,-0.670854,0.035398],[0.671292,-0.741193,0.000656],[0.025796,0.024248,0.999373]]
2025-10-24T22:23:48.517Z,1761344628.517 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:48.517Z,1761344628.517 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:48.766Z,1761344628.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752984,-0.657147,0.034247],[0.657544,-0.753416,0.000459],[0.025500,0.022865,0.999413]]
2025-10-24T22:23:48.769Z,1761344628.769 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:48.769Z,1761344628.769 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:49.021Z,1761344629.021 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:49.021Z,1761344629.021 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:49.175Z,1761344629.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764717,-0.643504,0.033333],[0.643880,-0.765126,0.000734],[0.025031,0.022024,0.999444]]
2025-10-24T22:23:49.273Z,1761344629.273 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:49.273Z,1761344629.273 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:49.525Z,1761344629.525 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:49.525Z,1761344629.525 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:49.574Z,1761344629.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775964,-0.629954,0.032213],[0.630286,-0.776363,0.000170],[0.024902,0.020436,0.999481]]
2025-10-24T22:23:49.777Z,1761344629.777 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:49.777Z,1761344629.777 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:49.988Z,1761344629.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787100,-0.616061,0.030707],[0.616332,-0.787486,-0.000815],[0.024683,0.018284,0.999528]]
2025-10-24T22:23:50.033Z,1761344630.033 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:50.033Z,1761344630.033 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:50.285Z,1761344630.285 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:50.285Z,1761344630.285 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:50.383Z,1761344630.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797453,-0.602615,0.030412],[0.602874,-0.797836,-0.000787],[0.024739,0.017707,0.999537]]
2025-10-24T22:23:50.537Z,1761344630.537 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:50.537Z,1761344630.537 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:50.786Z,1761344630.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807446,-0.589223,0.029118],[0.589427,-0.807819,-0.001912],[0.024649,0.015619,0.999574]]
2025-10-24T22:23:50.789Z,1761344630.789 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:50.789Z,1761344630.789 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:51.041Z,1761344631.041 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:51.041Z,1761344631.041 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:51.196Z,1761344631.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816925,-0.576051,0.028269],[0.576222,-0.817289,-0.002487],[0.024536,0.014257,0.999597]]
2025-10-24T22:23:51.294Z,1761344631.294 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:51.294Z,1761344631.294 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:51.545Z,1761344631.545 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:51.545Z,1761344631.545 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:51.603Z,1761344631.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825803,-0.563283,0.027597],[0.563447,-0.826149,-0.002155],[0.024013,0.013769,0.999617]]
2025-10-24T22:23:51.797Z,1761344631.797 [DAT](INFO): DAT read: Rx Time:22:23:50.2731

2025-10-24T22:23:51.797Z,1761344631.797 [DAT](INFO): Rx dataTimestamp_ set to:1761344631.797057
2025-10-24T22:23:51.798Z,1761344631.798 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:51.798Z,1761344631.798 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:51.998Z,1761344631.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834332,-0.550635,0.026303],[0.550784,-0.834646,-0.001852],[0.022974,0.012942,0.999652]]
2025-10-24T22:23:52.049Z,1761344632.049 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:52.049Z,1761344632.049 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:52.301Z,1761344632.301 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:52.301Z,1761344632.301 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:52.402Z,1761344632.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842903,-0.537483,0.025015],[0.537621,-0.843185,-0.001413],[0.021852,0.012258,0.999686]]
2025-10-24T22:23:52.454Z,1761344632.454 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:23:52.454Z,1761344632.454 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:23:52.454Z,1761344632.454 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:23:52.455Z,1761344632.455 [marl:UpdateRudder:A] Stopped
2025-10-24T22:23:52.455Z,1761344632.455 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:23:52.455Z,1761344632.455 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:23:52.455Z,1761344632.455 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:23:52.455Z,1761344632.455 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:23:52.455Z,1761344632.455 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:23:52.455Z,1761344632.455 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:23:52.455Z,1761344632.455 [marl:UpdateCommandMode] Stopped
2025-10-24T22:23:52.456Z,1761344632.456 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:23:52.456Z,1761344632.456 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:23:52.456Z,1761344632.456 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:23:52.456Z,1761344632.456 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:23:52.456Z,1761344632.456 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:23:52.457Z,1761344632.457 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:23:52.457Z,1761344632.457 [marl:UpdateSpeed] Stopped
2025-10-24T22:23:52.457Z,1761344632.457 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:23:52.558Z,1761344632.558 [DAT](INFO): DAT read: 22:23:50.2731 LVL= 32752, 26897, 28578, 32755, AGC= 53, IDX= 441, 0.18, 3.015,-1.173,-2.085,-1.871, PHS=-1.295, 0.743,-0.258, RAW= 299.4,   9.2, CAL= 296.9,  11.0, ROT= 213.1, -11.0

2025-10-24T22:23:52.559Z,1761344632.559 [DAT](INFO): got valid direction response:
 22:23:50.2731 LVL= 32752, 26897, 28578, 32755, AGC= 53, IDX= 441, 0.18, 3.015,-1.173,-2.085,-1.871, PHS=-1.295, 0.743,-0.258, RAW= 299.4,   9.2, CAL= 296.9,  11.0, ROT= 213.1, -11.0

2025-10-24T22:23:52.560Z,1761344632.560 [DAT](INFO): DAT read: 

2025-10-24T22:23:52.561Z,1761344632.561 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:23:52.561Z,1761344632.561 [DAT](INFO): Got DATA 2
2025-10-24T22:23:52.562Z,1761344632.562 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:23:52.562Z,1761344632.562 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:23:52.562Z,1761344632.562 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:23:52.563Z,1761344632.563 [DAT](INFO): DAT read: CRC:Pass MPD:03.7 PSNR:12.6 AGC:54 SPD:-1.1 CCERR:011

2025-10-24T22:23:52.563Z,1761344632.563 [DAT](INFO): Got CRC:Pass
2025-10-24T22:23:52.563Z,1761344632.563 [DAT](INFO): Got CRC:Pass
2025-10-24T22:23:52.563Z,1761344632.563 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:23:52.564Z,1761344632.564 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:23:52.564Z,1761344632.564 [DAT](INFO): Got ack
2025-10-24T22:23:52.564Z,1761344632.564 [DAT](INFO): DAT read: 

2025-10-24T22:23:52.564Z,1761344632.564 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:23:52.565Z,1761344632.565 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:23:52.565Z,1761344632.565 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-10-24T22:23:52.566Z,1761344632.566 [DAT](INFO): direction in FSK: [-0.822327,-0.536069,0.190809]
2025-10-24T22:23:52.578Z,1761344632.578 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:52.578Z,1761344632.578 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:52.804Z,1761344632.804 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:23:52.805Z,1761344632.805 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:23:52.805Z,1761344632.805 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:23:52.818Z,1761344632.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851251,-0.524197,0.024299],[0.524358,-0.851498,0.000331],[0.020517,0.013023,0.999705]]
2025-10-24T22:23:52.885Z,1761344632.885 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:23:52.885Z,1761344632.885 [marl:UpdateRudder:B] Stopped
2025-10-24T22:23:52.885Z,1761344632.885 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:23:52.885Z,1761344632.885 [marl:UpdateRudder] Stopped
2025-10-24T22:23:52.885Z,1761344632.885 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:23:52.887Z,1761344632.887 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761344640.00. Resetting abort timer.
2025-10-24T22:23:53.057Z,1761344633.057 [DAT](INFO): entering online mode
2025-10-24T22:23:53.212Z,1761344633.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859471,-0.510712,0.021970],[0.510851,-0.859669,0.000873],[0.018441,0.011974,0.999758]]
2025-10-24T22:23:53.309Z,1761344633.309 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:23:53.560Z,1761344633.560 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:23:53.614Z,1761344633.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867783,-0.496516,0.020628],[0.496672,-0.867933,0.002935],[0.016447,0.012792,0.999783]]
2025-10-24T22:23:53.812Z,1761344633.812 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:23:54.019Z,1761344634.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876018,-0.481900,0.019084],[0.482063,-0.876123,0.004819],[0.014398,0.013421,0.999806]]
2025-10-24T22:23:54.065Z,1761344634.065 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:23:54.316Z,1761344634.316 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:23:54.425Z,1761344634.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884639,-0.465967,0.016999],[0.466111,-0.884708,0.005583],[0.012437,0.012862,0.999840]]
2025-10-24T22:23:54.570Z,1761344634.570 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:23:54.821Z,1761344634.821 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:23:54.828Z,1761344634.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893252,-0.449269,0.016093],[0.449424,-0.893286,0.007679],[0.010926,0.014092,0.999841]]
2025-10-24T22:23:55.072Z,1761344635.072 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:23:55.230Z,1761344635.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902023,-0.431427,0.015012],[0.431583,-0.902026,0.009275],[0.009540,0.014846,0.999844]]
2025-10-24T22:23:55.325Z,1761344635.325 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:23:55.576Z,1761344635.576 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:23:55.635Z,1761344635.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910507,-0.413274,0.013475],[0.413419,-0.910478,0.010732],[0.007834,0.015342,0.999852]]
2025-10-24T22:23:55.828Z,1761344635.828 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:23:56.081Z,1761344636.081 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:23:56.333Z,1761344636.333 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:23:55.3556

2025-10-24T22:23:56.334Z,1761344636.334 [DAT](DEBUG): Re-entering command mode due to unexpected online mode.
2025-10-24T22:23:56.334Z,1761344636.334 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:23:56.442Z,1761344636.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926676,-0.375719,0.010365],[0.375822,-0.926625,0.011083],[0.005440,0.014166,0.999885]]
2025-10-24T22:23:56.584Z,1761344636.584 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:23:56.837Z,1761344636.837 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:23:56.847Z,1761344636.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934446,-0.355972,0.009751],[0.356072,-0.934383,0.011919],[0.004868,0.014610,0.999881]]
2025-10-24T22:23:57.088Z,1761344637.088 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:23:57.250Z,1761344637.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941792,-0.336080,0.008825],[0.336167,-0.941731,0.011619],[0.004406,0.013910,0.999894]]
2025-10-24T22:23:57.340Z,1761344637.340 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:23:57.592Z,1761344637.592 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:23:57.666Z,1761344637.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948447,-0.316816,0.008704],[0.316905,-0.948378,0.012254],[0.004372,0.014380,0.999887]]
2025-10-24T22:23:57.844Z,1761344637.844 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:23:58.059Z,1761344638.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954601,-0.297759,0.008780],[0.297848,-0.954540,0.011839],[0.004855,0.013916,0.999891]]
2025-10-24T22:23:58.097Z,1761344638.097 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:23:58.348Z,1761344638.348 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:23:58.463Z,1761344638.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960401,-0.278488,0.008603],[0.278569,-0.960359,0.010465],[0.005347,0.012447,0.999908]]
2025-10-24T22:23:58.600Z,1761344638.600 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:23:58.852Z,1761344638.852 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:23:58.868Z,1761344638.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965717,-0.259461,0.008397],[0.259529,-0.965700,0.008284],[0.005960,0.010179,0.999930]]
2025-10-24T22:23:59.106Z,1761344639.106 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:23:59.275Z,1761344639.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970444,-0.241175,0.008553],[0.241238,-0.970439,0.007250],[0.006551,0.009099,0.999937]]
2025-10-24T22:23:59.357Z,1761344639.357 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:23:59.608Z,1761344639.608 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:23:59.680Z,1761344639.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974677,-0.223472,0.008099],[0.223521,-0.974682,0.005722],[0.006615,0.007387,0.999951]]
2025-10-24T22:23:59.860Z,1761344639.860 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:00.078Z,1761344640.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978422,-0.206483,0.007486],[0.206525,-0.978427,0.005289],[0.006232,0.006721,0.999958]]
2025-10-24T22:24:00.116Z,1761344640.116 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:00.369Z,1761344640.369 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:00.484Z,1761344640.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981777,-0.189914,0.006865],[0.189959,-0.981769,0.006672],[0.005473,0.007854,0.999954]]
2025-10-24T22:24:00.621Z,1761344640.621 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:00.872Z,1761344640.872 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:00.892Z,1761344640.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984826,-0.173457,0.005537],[0.173491,-0.984814,0.006501],[0.004326,0.007363,0.999964]]
2025-10-24T22:24:01.124Z,1761344641.124 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:01.294Z,1761344641.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987644,-0.156670,0.003837],[0.156690,-0.987630,0.005854],[0.002872,0.006383,0.999976]]
2025-10-24T22:24:01.377Z,1761344641.377 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:01.629Z,1761344641.629 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:01.695Z,1761344641.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990321,-0.138773,0.002324],[0.138786,-0.990301,0.006558],[0.001392,0.006817,0.999976]]
2025-10-24T22:24:01.880Z,1761344641.880 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:02.099Z,1761344642.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992693,-0.120669,0.000349],[0.120668,-0.992663,0.007710],[-0.000584,0.007695,0.999970]]
2025-10-24T22:24:02.133Z,1761344642.133 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:02.385Z,1761344642.385 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:02.504Z,1761344642.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994906,-0.100787,-0.001751],[0.100774,-0.994887,0.006658],[-0.002414,0.006448,0.999976]]
2025-10-24T22:24:02.638Z,1761344642.638 [DAT](INFO): DAT read: Rx Time:22:24:01.0786

2025-10-24T22:24:02.639Z,1761344642.639 [DAT](INFO): Rx dataTimestamp_ set to:1761344642.638092
2025-10-24T22:24:02.639Z,1761344642.639 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:02.889Z,1761344642.889 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:02.906Z,1761344642.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996781,-0.080113,-0.003191],[0.080097,-0.996774,0.005093],[-0.003589,0.004821,0.999982]]
2025-10-24T22:24:03.142Z,1761344643.142 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:03.314Z,1761344643.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998212,-0.059610,-0.004395],[0.059593,-0.998215,0.003825],[-0.004615,0.003556,0.999983]]
2025-10-24T22:24:03.414Z,1761344643.414 [DAT](INFO): DAT read: 22:24:01.0786 LVL= 32752, 27217, 32754, 32755, AGC= 57, IDX= 481, 0.14,-0.960, 1.082,-0.349,-0.161, PHS=-0.697, 1.288,-0.232, RAW= 317.1,  -4.0, CAL= 316.1,  -7.3, ROT= 193.9,   7.3

2025-10-24T22:24:03.415Z,1761344643.415 [DAT](INFO): got valid direction response:
 22:24:01.0786 LVL= 32752, 27217, 32754, 32755, AGC= 57, IDX= 481, 0.14,-0.960, 1.082,-0.349,-0.161, PHS=-0.697, 1.288,-0.232, RAW= 317.1,  -4.0, CAL= 316.1,  -7.3, ROT= 193.9,   7.3

2025-10-24T22:24:03.415Z,1761344643.415 [DAT](INFO): DAT read: 

2025-10-24T22:24:03.420Z,1761344643.420 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:24:03.420Z,1761344643.420 [DAT](INFO): Got DATA 2
2025-10-24T22:24:03.421Z,1761344643.421 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:24:03.421Z,1761344643.421 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:24:03.422Z,1761344643.422 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:24:03.423Z,1761344643.423 [DAT](INFO): DAT read: CRC:Pass MPD:02.5 PSNR:11.3 AGC:64 SPD:-1.4 CCERR:009

2025-10-24T22:24:03.423Z,1761344643.423 [DAT](INFO): Got CRC:Pass
2025-10-24T22:24:03.423Z,1761344643.423 [DAT](INFO): Got CRC:Pass
2025-10-24T22:24:03.423Z,1761344643.423 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:24:03.423Z,1761344643.423 [DAT](INFO): Got ack
2025-10-24T22:24:03.423Z,1761344643.423 [DAT](INFO): DAT read: 

2025-10-24T22:24:03.429Z,1761344643.429 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:24:03.429Z,1761344643.429 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:03.645Z,1761344643.645 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:03.714Z,1761344643.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999246,-0.038490,-0.005046],[0.038469,-0.999251,0.004227],[-0.005205,0.004030,0.999978]]
2025-10-24T22:24:03.898Z,1761344643.898 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:04.121Z,1761344644.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999823,-0.018159,-0.004878],[0.018137,-0.999826,0.004416],[-0.004957,0.004326,0.999978]]
2025-10-24T22:24:04.149Z,1761344644.149 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:04.400Z,1761344644.400 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:04.522Z,1761344644.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999988,0.001945,-0.004565],[-0.001959,-0.999993,0.003167],[-0.004558,0.003176,0.999985]]
2025-10-24T22:24:04.653Z,1761344644.653 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:04.904Z,1761344644.904 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:04.929Z,1761344644.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999772,0.020941,-0.004103],[-0.020954,-0.999776,0.003086],[-0.004037,0.003171,0.999987]]
2025-10-24T22:24:05.156Z,1761344645.156 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:05.335Z,1761344645.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999240,0.038825,-0.003554],[-0.038834,-0.999243,0.002336],[-0.003461,0.002472,0.999991]]
2025-10-24T22:24:05.375Z,1761344645.375 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:24:05.375Z,1761344645.375 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:24:05.375Z,1761344645.375 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:24:05.375Z,1761344645.375 [marl:UpdateRudder:A] Stopped
2025-10-24T22:24:05.376Z,1761344645.376 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:24:05.376Z,1761344645.376 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:24:05.376Z,1761344645.376 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:24:05.376Z,1761344645.376 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:24:05.376Z,1761344645.376 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:24:05.377Z,1761344645.377 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:24:05.377Z,1761344645.377 [marl:UpdateCommandMode] Stopped
2025-10-24T22:24:05.377Z,1761344645.377 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:24:05.377Z,1761344645.377 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:24:05.377Z,1761344645.377 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:24:05.377Z,1761344645.377 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:24:05.377Z,1761344645.377 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:24:05.377Z,1761344645.377 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:24:05.377Z,1761344645.377 [marl:UpdateSpeed] Stopped
2025-10-24T22:24:05.378Z,1761344645.378 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:24:05.409Z,1761344645.409 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:05.661Z,1761344645.661 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:05.734Z,1761344645.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998451,0.055541,-0.003308],[-0.055549,-0.998453,0.002332],[-0.003173,0.002512,0.999992]]
2025-10-24T22:24:05.786Z,1761344645.786 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:24:05.787Z,1761344645.787 [marl:UpdateRudder:B] Stopped
2025-10-24T22:24:05.787Z,1761344645.787 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:24:05.787Z,1761344645.787 [marl:UpdateRudder] Stopped
2025-10-24T22:24:05.787Z,1761344645.787 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:24:05.915Z,1761344645.915 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:06.153Z,1761344646.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997464,0.071099,-0.003329],[-0.071109,-0.997464,0.003122],[-0.003099,0.003351,0.999990]]
2025-10-24T22:24:06.165Z,1761344646.165 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:06.416Z,1761344646.416 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:06.542Z,1761344646.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996239,0.086566,-0.003840],[-0.086578,-0.996240,0.003196],[-0.003549,0.003517,0.999987]]
2025-10-24T22:24:06.670Z,1761344646.670 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:06.920Z,1761344646.920 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:06.946Z,1761344646.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994806,0.101666,-0.005096],[-0.101686,-0.994809,0.003954],[-0.004667,0.004452,0.999979]]
2025-10-24T22:24:07.176Z,1761344647.176 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:07.356Z,1761344647.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993136,0.116800,-0.006145],[-0.116827,-0.993143,0.004275],[-0.005603,0.004964,0.999972]]
2025-10-24T22:24:07.425Z,1761344647.425 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:07.677Z,1761344647.677 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:07.754Z,1761344647.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991212,0.132092,-0.007120],[-0.132122,-0.991226,0.003902],[-0.006542,0.004809,0.999967]]
2025-10-24T22:24:07.930Z,1761344647.930 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:08.162Z,1761344648.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989103,0.147012,-0.007892],[-0.147025,-0.989132,0.001132],[-0.007640,0.002280,0.999968]]
2025-10-24T22:24:08.181Z,1761344648.181 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:24:08.181Z,1761344648.181 [DAT](FAULT): failed to enter online mode
2025-10-24T22:24:08.181Z,1761344648.181 [DAT](FAULT): Failure returning to online mode
2025-10-24T22:24:08.181Z,1761344648.181 [DAT] Communications Fault, FailCount= 1
2025-10-24T22:24:08.181Z,1761344648.181 [DAT](ERROR): Communications Fault
2025-10-24T22:24:08.182Z,1761344648.182 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:24:08.236Z,1761344648.236 [DAT](INFO): entering command mode
2025-10-24T22:24:08.315Z,1761344648.315 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T22:24:08.563Z,1761344648.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987175,0.159459,-0.007701],[-0.159410,-0.987191,-0.006530],[-0.008644,-0.005218,0.999949]]
2025-10-24T22:24:08.642Z,1761344648.642 [DAT](INFO): Powering down
2025-10-24T22:24:08.967Z,1761344648.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985613,0.168913,-0.005986],[-0.168742,-0.985407,-0.022336],[-0.009671,-0.021005,0.999733]]
2025-10-24T22:24:09.374Z,1761344649.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984417,0.175836,-0.002014],[-0.175544,-0.983323,-0.047547],[-0.010341,-0.046452,0.998867]]
2025-10-24T22:24:09.648Z,1761344649.648 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T22:24:09.648Z,1761344649.648 [DAT] No Fault, FailCount= 1
2025-10-24T22:24:09.774Z,1761344649.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983431,0.181257,0.003169],[-0.180940,-0.980335,-0.078762],[-0.011170,-0.078030,0.996888]]
2025-10-24T22:24:10.178Z,1761344650.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982558,0.185709,0.009534],[-0.185583,-0.976076,-0.113288],[-0.011733,-0.113081,0.993516]]
2025-10-24T22:24:10.582Z,1761344650.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981696,0.189780,0.016027],[-0.190057,-0.970727,-0.146858],[-0.012313,-0.147215,0.989028]]
2025-10-24T22:24:10.986Z,1761344650.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980749,0.194016,0.022112],[-0.194854,-0.964947,-0.175809],[-0.012773,-0.176733,0.984176]]
2025-10-24T22:24:11.391Z,1761344651.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979703,0.198585,0.027325],[-0.200022,-0.959490,-0.198421],[-0.013185,-0.199859,0.979736]]
2025-10-24T22:24:11.700Z,1761344651.700 [DAT](INFO): Powering up
2025-10-24T22:24:11.700Z,1761344651.700 [DAT](DEBUG): Initializing DAT.
2025-10-24T22:24:11.795Z,1761344651.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978567,0.203529,0.031333],[-0.205481,-0.955072,-0.213577],[-0.013544,-0.215438,0.976424]]
2025-10-24T22:24:12.109Z,1761344652.109 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:24:12.203Z,1761344652.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977330,0.208940,0.034218],[-0.211264,-0.951750,-0.222574],[-0.013938,-0.224757,0.974315]]
2025-10-24T22:24:12.610Z,1761344652.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976106,0.214220,0.036415],[-0.216839,-0.949455,-0.226971],[-0.014047,-0.229445,0.973220]]
2025-10-24T22:24:13.007Z,1761344653.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975001,0.218879,0.038272],[-0.221764,-0.947766,-0.229259],[-0.013907,-0.232015,0.972613]]
2025-10-24T22:24:13.113Z,1761344653.113 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:24:13.415Z,1761344653.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974037,0.223076,0.038586],[-0.225936,-0.947088,-0.227983],[-0.014313,-0.230782,0.972900]]
2025-10-24T22:24:13.816Z,1761344653.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973469,0.225731,0.037467],[-0.228332,-0.947597,-0.223437],[-0.014933,-0.226064,0.973998]]
2025-10-24T22:24:14.218Z,1761344654.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973239,0.227006,0.035692],[-0.229261,-0.948627,-0.218049],[-0.015640,-0.220397,0.975285]]
2025-10-24T22:24:14.625Z,1761344654.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973185,0.227570,0.033501],[-0.229412,-0.949645,-0.213411],[-0.016752,-0.215374,0.976388]]
2025-10-24T22:24:15.028Z,1761344655.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973304,0.227469,0.030608],[-0.228781,-0.950824,-0.208788],[-0.018390,-0.210217,0.977482]]
2025-10-24T22:24:15.439Z,1761344655.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973597,0.226651,0.027177],[-0.227361,-0.952165,-0.204179],[-0.020400,-0.204967,0.978556]]
2025-10-24T22:24:15.834Z,1761344655.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974131,0.224734,0.023726],[-0.224854,-0.953428,-0.201036],[-0.022559,-0.201170,0.979296]]
2025-10-24T22:24:16.238Z,1761344656.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974877,0.221805,0.020418],[-0.221372,-0.954644,-0.199122],[-0.024674,-0.198640,0.979762]]
2025-10-24T22:24:16.644Z,1761344656.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975680,0.218516,0.017300],[-0.217596,-0.955989,-0.196819],[-0.026469,-0.195796,0.980287]]
2025-10-24T22:24:17.048Z,1761344657.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976306,0.215859,0.015187],[-0.214575,-0.956643,-0.196956],[-0.027986,-0.195548,0.980295]]
2025-10-24T22:24:17.450Z,1761344657.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976479,0.215170,0.013816],[-0.213577,-0.956481,-0.198817],[-0.029565,-0.197091,0.979939]]
2025-10-24T22:24:17.854Z,1761344657.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976181,0.216551,0.013249],[-0.214721,-0.955577,-0.201910],[-0.031064,-0.199945,0.979315]]
2025-10-24T22:24:18.259Z,1761344658.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975582,0.219164,0.014388],[-0.217326,-0.953773,-0.207574],[-0.031770,-0.205632,0.978113]]
2025-10-24T22:24:18.325Z,1761344658.325 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:24:18.325Z,1761344658.325 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:24:18.325Z,1761344658.325 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:24:18.325Z,1761344658.325 [marl:UpdateRudder:A] Stopped
2025-10-24T22:24:18.325Z,1761344658.325 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:24:18.325Z,1761344658.325 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:24:18.326Z,1761344658.326 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:24:18.326Z,1761344658.326 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:24:18.326Z,1761344658.326 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:24:18.326Z,1761344658.326 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:24:18.326Z,1761344658.326 [marl:UpdateCommandMode] Stopped
2025-10-24T22:24:18.326Z,1761344658.326 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:24:18.326Z,1761344658.326 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:24:18.326Z,1761344658.326 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:24:18.327Z,1761344658.327 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:24:18.327Z,1761344658.327 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:24:18.327Z,1761344658.327 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:24:18.327Z,1761344658.327 [marl:UpdateSpeed] Stopped
2025-10-24T22:24:18.327Z,1761344658.327 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:24:18.667Z,1761344658.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974638,0.223189,0.016359],[-0.221506,-0.951711,-0.212561],[-0.031872,-0.210793,0.977011]]
2025-10-24T22:24:18.705Z,1761344658.705 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-24T22:24:18.705Z,1761344658.705 [marl:UpdateRudder:B] Stopped
2025-10-24T22:24:18.705Z,1761344658.705 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:24:18.705Z,1761344658.705 [marl:UpdateRudder] Stopped
2025-10-24T22:24:18.705Z,1761344658.705 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:24:19.066Z,1761344659.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973501,0.227992,0.017735],[-0.226459,-0.950354,-0.213409],[-0.031801,-0.211771,0.976802]]
2025-10-24T22:24:19.470Z,1761344659.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972166,0.233483,0.019485],[-0.232149,-0.948698,-0.214660],[-0.031634,-0.213209,0.976494]]
2025-10-24T22:24:19.881Z,1761344659.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970740,0.239177,0.021415],[-0.238088,-0.947017,-0.215575],[-0.031280,-0.214365,0.976252]]
2025-10-24T22:24:20.286Z,1761344660.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967705,0.250831,0.025125],[-0.250247,-0.943846,-0.215709],[-0.030392,-0.215030,0.976134]]
2025-10-24T22:24:20.689Z,1761344660.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966206,0.256428,0.026290],[-0.255984,-0.942504,-0.214844],[-0.030314,-0.214314,0.976294]]
2025-10-24T22:24:21.099Z,1761344661.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965486,0.259017,0.027330],[-0.258711,-0.941607,-0.215510],[-0.030086,-0.215142,0.976119]]
2025-10-24T22:24:21.503Z,1761344661.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966011,0.256738,0.030136],[-0.256862,-0.940236,-0.223558],[-0.029061,-0.223700,0.974225]]
2025-10-24T22:24:21.901Z,1761344661.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967773,0.249171,0.036451],[-0.250393,-0.936738,-0.244591],[-0.026800,-0.245836,0.968941]]
2025-10-24T22:24:22.298Z,1761344662.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970865,0.235452,0.044543],[-0.238531,-0.931799,-0.273594],[-0.022913,-0.276248,0.960813]]
2025-10-24T22:24:22.704Z,1761344662.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975066,0.215455,0.053163],[-0.221250,-0.925270,-0.308098],[-0.017191,-0.312178,0.949868]]
2025-10-24T22:24:23.107Z,1761344663.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979592,0.191430,0.061277],[-0.200747,-0.916566,-0.345842],[-0.010040,-0.351085,0.936290]]
2025-10-24T22:24:23.510Z,1761344663.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984214,0.163782,0.067075],[-0.176977,-0.907340,-0.381331],[-0.001595,-0.387182,0.922002]]
2025-10-24T22:24:23.812Z,1761344663.812 [DAT](INFO): DAT read: 

2025-10-24T22:24:23.813Z,1761344663.813 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T22:24:23.932Z,1761344663.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988542,0.133596,0.070262],[-0.150744,-0.897809,-0.413781],[0.007802,-0.419631,0.907661]]
2025-10-24T22:24:24.321Z,1761344664.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992348,0.101311,0.070578],[-0.122162,-0.888634,-0.442048],[0.017933,-0.447287,0.894211]]
2025-10-24T22:24:24.723Z,1761344664.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995315,0.068068,0.068666],[-0.092316,-0.880130,-0.465671],[0.028738,-0.469828,0.882290]]
2025-10-24T22:24:25.126Z,1761344665.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997302,0.034781,0.064646],[-0.061748,-0.873709,-0.482515],[0.039699,-0.485204,0.873499]]
2025-10-24T22:24:25.531Z,1761344665.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998287,0.001477,0.058495],[-0.030232,-0.868933,-0.494005],[0.050099,-0.494927,0.867489]]
2025-10-24T22:24:25.578Z,1761344665.578 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T22:24:25.580Z,1761344665.580 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T22:24:25.581Z,1761344665.581 [DAT](INFO): DAT read: Oct 24 2025 22:24:19 

2025-10-24T22:24:25.977Z,1761344665.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998154,-0.032116,0.051553],[0.002011,-0.865781,-0.500419],[0.060705,-0.499392,0.864247]]
2025-10-24T22:24:26.341Z,1761344666.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996869,-0.065322,0.044548],[0.034139,-0.863802,-0.502673],[0.071316,-0.499578,0.863328]]
2025-10-24T22:24:26.585Z,1761344666.585 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T22:24:26.586Z,1761344666.586 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:24:26.587Z,1761344666.587 [DAT](INFO): commRate: 600
2025-10-24T22:24:26.749Z,1761344666.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994421,-0.098689,0.037238],[0.067008,-0.863689,-0.499550],[0.081462,-0.494268,0.865484]]
2025-10-24T22:24:27.151Z,1761344667.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990804,-0.131858,0.030361],[0.099937,-0.864407,-0.492761],[0.091219,-0.485196,0.869635]]
2025-10-24T22:24:27.580Z,1761344667.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986082,-0.164669,0.022947],[0.132871,-0.863473,-0.486580],[0.099939,-0.476759,0.873334]]
2025-10-24T22:24:27.982Z,1761344667.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980318,-0.196798,0.015737],[0.165553,-0.862862,-0.477558],[0.107562,-0.465554,0.878459]]
2025-10-24T22:24:28.403Z,1761344668.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973642,-0.227894,0.009276],[0.197598,-0.863124,-0.464728],[0.113915,-0.450645,0.885405]]
2025-10-24T22:24:28.652Z,1761344668.652 [DAT](INFO): entering command mode
2025-10-24T22:24:28.813Z,1761344668.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965945,-0.258735,0.002502],[0.229980,-0.862945,-0.449928],[0.118571,-0.434030,0.893061]]
2025-10-24T22:24:28.852Z,1761344668.852 [DAT](INFO): DAT read: 

2025-10-24T22:24:28.853Z,1761344668.853 [DAT](INFO): DAT read: user:1>

2025-10-24T22:24:28.853Z,1761344668.853 [DAT](INFO): setting verbose to 3
2025-10-24T22:24:29.105Z,1761344669.105 [DAT](INFO): DAT read: user:1>

2025-10-24T22:24:29.106Z,1761344669.106 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T22:24:29.106Z,1761344669.106 [DAT](INFO): set verbose to 3
2025-10-24T22:24:29.106Z,1761344669.106 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T22:24:29.210Z,1761344669.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957609,-0.287991,-0.006754],[0.261185,-0.858107,-0.442080],[0.121519,-0.425104,0.896950]]
2025-10-24T22:24:29.357Z,1761344669.357 [DAT](INFO): DAT read: user:2>

2025-10-24T22:24:29.357Z,1761344669.357 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T22:24:29.358Z,1761344669.358 [DAT](INFO): set DatVerbose to 27440
2025-10-24T22:24:29.358Z,1761344669.358 [DAT](INFO): setting transmit power to 8
2025-10-24T22:24:29.609Z,1761344669.609 [DAT](INFO): DAT read: user:3>

2025-10-24T22:24:29.610Z,1761344669.610 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T22:24:29.610Z,1761344669.610 [DAT](INFO): set transmit power to 8
2025-10-24T22:24:29.610Z,1761344669.610 [DAT](INFO): setting local address to 11
2025-10-24T22:24:29.622Z,1761344669.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948565,-0.316205,-0.015462],[0.291502,-0.853321,-0.432284],[0.123496,-0.414557,0.901605]]
2025-10-24T22:24:29.861Z,1761344669.861 [DAT](INFO): DAT read: user:4>

2025-10-24T22:24:29.862Z,1761344669.862 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T22:24:29.862Z,1761344669.862 [DAT](INFO): set local address to 11
2025-10-24T22:24:29.863Z,1761344669.863 [DAT](INFO): Setting time to: 22:24:29 And date to:10/24/2025
2025-10-24T22:24:30.022Z,1761344670.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938727,-0.343601,-0.027011],[0.321144,-0.843534,-0.430484],[0.125130,-0.412782,0.902194]]
2025-10-24T22:24:30.113Z,1761344670.113 [DAT](INFO): DAT read: user:5>

2025-10-24T22:24:30.114Z,1761344670.114 [DAT](INFO): DAT read: Fri Oct 24, 2025  22:24:29  

2025-10-24T22:24:30.114Z,1761344670.114 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  22:24:29  

2025-10-24T22:24:30.115Z,1761344670.115 [DAT](INFO): setting remote address to 10
2025-10-24T22:24:30.115Z,1761344670.115 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:24:30.115Z,1761344670.115 [DAT](INFO): setting remote address to 0
2025-10-24T22:24:30.365Z,1761344670.365 [DAT](INFO): DAT read: user:6>

2025-10-24T22:24:30.366Z,1761344670.366 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:24:30.366Z,1761344670.366 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T22:24:30.366Z,1761344670.366 [DAT] Communications Fault, FailCount= 2
2025-10-24T22:24:30.366Z,1761344670.366 [DAT](ERROR): Communications Fault
2025-10-24T22:24:30.367Z,1761344670.367 [DAT](INFO): DAT read: user:7>

2025-10-24T22:24:30.368Z,1761344670.368 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:24:30.369Z,1761344670.369 [DAT](INFO): set remote address to 0
2025-10-24T22:24:30.369Z,1761344670.369 [DAT](INFO): setting remote address to 10
2025-10-24T22:24:30.369Z,1761344670.369 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:24:30.369Z,1761344670.369 [DAT](INFO): setting remote address to 0
2025-10-24T22:24:30.528Z,1761344670.528 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T22:24:30.772Z,1761344670.772 [DAT](INFO): Powering down
2025-10-24T22:24:30.959Z,1761344670.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917505,-0.394257,-0.052399],[0.376815,-0.819540,-0.431700],[0.127257,-0.415832,0.900494]]
2025-10-24T22:24:31.374Z,1761344671.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905373,-0.419436,-0.066127],[0.404920,-0.805959,-0.431821],[0.127826,-0.417735,0.899532]]
2025-10-24T22:24:31.410Z,1761344671.410 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:24:31.410Z,1761344671.410 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:24:31.410Z,1761344671.410 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:24:31.410Z,1761344671.410 [marl:UpdateRudder:A] Stopped
2025-10-24T22:24:31.411Z,1761344671.411 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:24:31.411Z,1761344671.411 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:24:31.411Z,1761344671.411 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:24:31.411Z,1761344671.411 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:24:31.411Z,1761344671.411 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:24:31.411Z,1761344671.411 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:24:31.411Z,1761344671.411 [marl:UpdateCommandMode] Stopped
2025-10-24T22:24:31.411Z,1761344671.411 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:24:31.411Z,1761344671.411 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:24:31.412Z,1761344671.412 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:24:31.412Z,1761344671.412 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:24:31.412Z,1761344671.412 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:24:31.412Z,1761344671.412 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:24:31.412Z,1761344671.412 [marl:UpdateSpeed] Stopped
2025-10-24T22:24:31.413Z,1761344671.413 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:24:31.774Z,1761344671.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892455,-0.443963,-0.080125],[0.432569,-0.791692,-0.431403],[0.128093,-0.419667,0.898594]]
2025-10-24T22:24:31.820Z,1761344671.820 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-24T22:24:31.820Z,1761344671.820 [marl:UpdateRudder:B] Stopped
2025-10-24T22:24:31.820Z,1761344671.820 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:24:31.820Z,1761344671.820 [marl:UpdateRudder] Stopped
2025-10-24T22:24:31.820Z,1761344671.820 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:24:31.983Z,1761344671.983 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T22:24:31.983Z,1761344671.983 [DAT] No Fault, FailCount= 2
2025-10-24T22:24:32.178Z,1761344672.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878784,-0.467674,-0.094970],[0.459707,-0.776186,-0.431515],[0.128093,-0.422867,0.897093]]
2025-10-24T22:24:32.590Z,1761344672.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864210,-0.490970,-0.109952],[0.486602,-0.760060,-0.430729],[0.127905,-0.425743,0.895758]]
2025-10-24T22:24:33.060Z,1761344673.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848667,-0.513802,-0.125585],[0.513333,-0.742862,-0.429704],[0.127490,-0.429142,0.894194]]
2025-10-24T22:24:33.446Z,1761344673.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832655,-0.535518,-0.141091],[0.539012,-0.725220,-0.428395],[0.127091,-0.432754,0.892509]]
2025-10-24T22:24:33.822Z,1761344673.822 [DAT](INFO): Powering up
2025-10-24T22:24:33.823Z,1761344673.823 [DAT](DEBUG): Initializing DAT.
2025-10-24T22:24:33.885Z,1761344673.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815537,-0.557698,-0.154505],[0.564690,-0.708500,-0.423265],[0.126587,-0.432436,0.892734]]
2025-10-24T22:24:34.338Z,1761344674.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779713,-0.599358,-0.181156],[0.613810,-0.674544,-0.410156],[0.123633,-0.431000,0.893842]]
2025-10-24T22:24:34.743Z,1761344674.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760881,-0.619255,-0.193864],[0.637385,-0.657240,-0.402215],[0.121659,-0.429603,0.894785]]
2025-10-24T22:24:35.151Z,1761344675.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741104,-0.638852,-0.206479],[0.660704,-0.639310,-0.393386],[0.119312,-0.427961,0.895887]]
2025-10-24T22:24:35.569Z,1761344675.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720750,-0.657499,-0.219579],[0.683264,-0.620412,-0.385019],[0.116920,-0.427533,0.896407]]
2025-10-24T22:24:36.067Z,1761344676.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699311,-0.676876,-0.229787],[0.705590,-0.602160,-0.373560],[0.114486,-0.423370,0.898694]]
2025-10-24T22:24:36.466Z,1761344676.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676822,-0.696504,-0.238315],[0.727628,-0.583860,-0.360090],[0.111662,-0.417122,0.901965]]
2025-10-24T22:24:36.905Z,1761344676.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653612,-0.715920,-0.245457],[0.749042,-0.565515,-0.345150],[0.108290,-0.409452,0.905882]]
2025-10-24T22:24:37.302Z,1761344677.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629309,-0.734999,-0.252483],[0.770126,-0.546192,-0.329516],[0.104289,-0.401811,0.909765]]
2025-10-24T22:24:37.707Z,1761344677.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604249,-0.752123,-0.263048],[0.790588,-0.524798,-0.315528],[0.099269,-0.398620,0.911728]]
2025-10-24T22:24:38.119Z,1761344678.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577608,-0.769679,-0.271962],[0.810895,-0.502666,-0.299628],[0.093911,-0.393600,0.914472]]
2025-10-24T22:24:38.529Z,1761344678.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550022,-0.784639,-0.286036],[0.830431,-0.477479,-0.287051],[0.088655,-0.395418,0.914213]]
2025-10-24T22:24:38.922Z,1761344678.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521377,-0.798455,-0.301056],[0.849204,-0.450860,-0.274913],[0.083772,-0.398991,0.913120]]
2025-10-24T22:24:39.327Z,1761344679.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491366,-0.811636,-0.315922],[0.867362,-0.423104,-0.262043],[0.079016,-0.402778,0.911881]]
2025-10-24T22:24:39.731Z,1761344679.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460217,-0.824026,-0.330427],[0.884675,-0.394414,-0.248571],[0.074504,-0.406717,0.910511]]
2025-10-24T22:24:39.756Z,1761344679.756 [marl:SendObservationData] Running Loop=1
2025-10-24T22:24:39.756Z,1761344679.756 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T22:24:39.757Z,1761344679.757 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T22:24:39.757Z,1761344679.757 [marl:SendObservationData:A] Running Loop=1
2025-10-24T22:24:39.759Z,1761344679.759 [marl:SendObservationData:A](INFO): Got test_good :  41da3eff2000000040514000000000004042632b4f21c849c05e774ffebe0d33402da4634000000040594cccc0000000 n/a str  and temp var is  nan n/a str 
2025-10-24T22:24:39.759Z,1761344679.759 [marl:SendObservationData:A] Stopped
2025-10-24T22:24:39.759Z,1761344679.759 [marl:SendObservationData:B] Running Loop=1
2025-10-24T22:24:40.141Z,1761344680.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428634,-0.835905,-0.342833],[0.900769,-0.366024,-0.233755],[0.069912,-0.409009,0.909848]]
2025-10-24T22:24:40.206Z,1761344680.206 [marl:SendObservationData:B] Stopped
2025-10-24T22:24:40.206Z,1761344680.206 [marl:SendObservationData:C] Running Loop=1
2025-10-24T22:24:40.432Z,1761344680.432 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:24:40.432Z,1761344680.432 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:24:40.542Z,1761344680.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395729,-0.849984,-0.347743],[0.916008,-0.338198,-0.215756],[0.065784,-0.403917,0.912427]]
2025-10-24T22:24:40.579Z,1761344680.579 [marl:SendObservationData:C] Stopped
2025-10-24T22:24:40.579Z,1761344680.579 [marl:SendObservationData:E] Running Loop=1
2025-10-24T22:24:40.994Z,1761344680.994 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.008024 min 
2025-10-24T22:24:40.994Z,1761344680.994 [marl:SendObservationData:E] Stopped
2025-10-24T22:24:40.994Z,1761344680.994 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T22:24:40.995Z,1761344680.995 [marl:SendObservationData] Stopped
2025-10-24T22:24:40.995Z,1761344680.995 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T22:24:40.995Z,1761344680.995 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T22:24:41.347Z,1761344681.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328883,-0.873901,-0.357956],[0.942673,-0.281074,-0.179905],[0.056607,-0.396603,0.916243]]
2025-10-24T22:24:41.751Z,1761344681.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294965,-0.884911,-0.360456],[0.954126,-0.252489,-0.160915],[0.051385,-0.391384,0.918792]]
2025-10-24T22:24:41.795Z,1761344681.795 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:24:42.154Z,1761344682.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260956,-0.895125,-0.361460],[0.964259,-0.223897,-0.141683],[0.045894,-0.385514,0.921560]]
2025-10-24T22:24:42.558Z,1761344682.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228421,-0.902842,-0.364281],[0.972724,-0.196122,-0.123870],[0.040392,-0.382639,0.923015]]
2025-10-24T22:24:42.964Z,1761344682.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196578,-0.909662,-0.365885],[0.979887,-0.169203,-0.105790],[0.034324,-0.379322,0.924628]]
2025-10-24T22:24:43.245Z,1761344683.245 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:24:43.370Z,1761344683.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166303,-0.915365,-0.366673],[0.985667,-0.143627,-0.088494],[0.028340,-0.376135,0.926131]]
2025-10-24T22:24:43.770Z,1761344683.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137288,-0.919442,-0.368481],[0.990272,-0.118900,-0.072274],[0.022639,-0.374819,0.926822]]
2025-10-24T22:24:44.175Z,1761344684.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108724,-0.923062,-0.368966],[0.993922,-0.094505,-0.056453],[0.017241,-0.372862,0.927727]]
2025-10-24T22:24:44.239Z,1761344684.239 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:24:44.239Z,1761344684.239 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:24:44.240Z,1761344684.240 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:24:44.240Z,1761344684.240 [marl:UpdateRudder:A] Stopped
2025-10-24T22:24:44.240Z,1761344684.240 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:24:44.240Z,1761344684.240 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:24:44.240Z,1761344684.240 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:24:44.240Z,1761344684.240 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:24:44.241Z,1761344684.241 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:24:44.241Z,1761344684.241 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:24:44.241Z,1761344684.241 [marl:UpdateCommandMode] Stopped
2025-10-24T22:24:44.241Z,1761344684.241 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:24:44.241Z,1761344684.241 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:24:44.241Z,1761344684.241 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:24:44.241Z,1761344684.241 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:24:44.242Z,1761344684.242 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:24:44.242Z,1761344684.242 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:24:44.242Z,1761344684.242 [marl:UpdateSpeed] Stopped
2025-10-24T22:24:44.242Z,1761344684.242 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:24:44.249Z,1761344684.249 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:24:44.578Z,1761344684.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081620,-0.924200,-0.373086],[0.996584,-0.070963,-0.042236],[0.012559,-0.375259,0.926835]]
2025-10-24T22:24:44.638Z,1761344684.638 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:24:44.639Z,1761344684.639 [marl:UpdateRudder:B] Stopped
2025-10-24T22:24:44.639Z,1761344684.639 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:24:44.639Z,1761344684.639 [marl:UpdateRudder] Stopped
2025-10-24T22:24:44.639Z,1761344684.639 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:24:44.983Z,1761344684.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054941,-0.923461,-0.379738],[0.998454,-0.047589,-0.028729],[0.008459,-0.380729,0.924648]]
2025-10-24T22:24:45.386Z,1761344685.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028633,-0.922787,-0.384244],[0.999576,-0.024411,-0.015862],[0.005257,-0.384535,0.923095]]
2025-10-24T22:24:45.918Z,1761344685.918 [DAT](INFO): DAT read: 

2025-10-24T22:24:45.922Z,1761344685.922 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T22:24:46.195Z,1761344686.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025437,-0.915593,-0.401300],[0.999676,0.023489,0.009773],[0.000478,-0.401419,0.915894]]
2025-10-24T22:24:46.600Z,1761344686.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051822,-0.913171,-0.404269],[0.998653,0.046319,0.023388],[-0.002632,-0.404936,0.914341]]
2025-10-24T22:24:47.011Z,1761344687.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076798,-0.912192,-0.402501],[0.997028,0.067766,0.036656],[-0.006161,-0.404120,0.914685]]
2025-10-24T22:24:47.406Z,1761344687.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100567,-0.911777,-0.398182],[0.994879,0.088108,0.049518],[-0.010066,-0.401123,0.915969]]
2025-10-24T22:24:47.681Z,1761344687.681 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T22:24:47.682Z,1761344687.682 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T22:24:47.683Z,1761344687.683 [DAT](INFO): DAT read: Oct 24 2025 22:24:41 

2025-10-24T22:24:47.810Z,1761344687.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124395,-0.912611,-0.389444],[0.992128,0.108702,0.062173],[-0.014407,-0.394112,0.918949]]
2025-10-24T22:24:48.221Z,1761344688.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147113,-0.913036,-0.380426],[0.988945,0.128555,0.073897],[-0.018565,-0.387091,0.921854]]
2025-10-24T22:24:48.618Z,1761344688.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169533,-0.912010,-0.373491],[0.985256,0.148003,0.085819],[-0.022990,-0.382534,0.923656]]
2025-10-24T22:24:48.689Z,1761344688.689 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T22:24:48.690Z,1761344688.690 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:24:48.690Z,1761344688.690 [DAT](INFO): commRate: 600
2025-10-24T22:24:49.022Z,1761344689.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191678,-0.910222,-0.367091],[0.981073,0.167218,0.097644],[-0.027493,-0.378859,0.925046]]
2025-10-24T22:24:49.427Z,1761344689.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213687,-0.907571,-0.361459],[0.976377,0.186285,0.109481],[-0.032027,-0.376315,0.925938]]
2025-10-24T22:24:49.830Z,1761344689.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235002,-0.903952,-0.357273],[0.971321,0.204711,0.120952],[-0.036197,-0.375451,0.926135]]
2025-10-24T22:24:50.638Z,1761344690.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277719,-0.894668,-0.349917],[0.959654,0.241684,0.143711],[-0.044004,-0.375711,0.925692]]
2025-10-24T22:24:50.784Z,1761344690.784 [DAT](INFO): entering command mode
2025-10-24T22:24:50.984Z,1761344690.984 [DAT](INFO): DAT read: 

2025-10-24T22:24:50.985Z,1761344690.985 [DAT](INFO): DAT read: user:1>

2025-10-24T22:24:50.986Z,1761344690.986 [DAT](INFO): setting verbose to 3
2025-10-24T22:24:51.047Z,1761344691.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299082,-0.888844,-0.347141],[0.953029,0.260012,0.155337],[-0.047810,-0.377294,0.924859]]
2025-10-24T22:24:51.237Z,1761344691.237 [DAT](INFO): DAT read: user:1>

2025-10-24T22:24:51.237Z,1761344691.237 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T22:24:51.238Z,1761344691.238 [DAT](INFO): set verbose to 3
2025-10-24T22:24:51.238Z,1761344691.238 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T22:24:51.446Z,1761344691.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319877,-0.882507,-0.344761],[0.946062,0.277752,0.166797],[-0.051441,-0.379519,0.923753]]
2025-10-24T22:24:51.489Z,1761344691.489 [DAT](INFO): DAT read: user:2>

2025-10-24T22:24:51.490Z,1761344691.490 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T22:24:51.491Z,1761344691.491 [DAT](INFO): set DatVerbose to 27440
2025-10-24T22:24:51.491Z,1761344691.491 [DAT](INFO): setting transmit power to 8
2025-10-24T22:24:51.741Z,1761344691.741 [DAT](INFO): DAT read: user:3>

2025-10-24T22:24:51.742Z,1761344691.742 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T22:24:51.742Z,1761344691.742 [DAT](INFO): set transmit power to 8
2025-10-24T22:24:51.742Z,1761344691.742 [DAT](INFO): setting local address to 11
2025-10-24T22:24:51.850Z,1761344691.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340954,-0.876304,-0.340355],[0.938447,0.295941,0.178146],[-0.055385,-0.380145,0.923267]]
2025-10-24T22:24:51.993Z,1761344691.993 [DAT](INFO): DAT read: user:4>

2025-10-24T22:24:51.994Z,1761344691.994 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T22:24:51.995Z,1761344691.995 [DAT](INFO): set local address to 11
2025-10-24T22:24:51.997Z,1761344691.997 [DAT](INFO): Setting time to: 22:24:51 And date to:10/24/2025
2025-10-24T22:24:52.245Z,1761344692.245 [DAT](INFO): DAT read: user:5>

2025-10-24T22:24:52.246Z,1761344692.246 [DAT](INFO): DAT read: Fri Oct 24, 2025  22:24:51  

2025-10-24T22:24:52.246Z,1761344692.246 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  22:24:51  

2025-10-24T22:24:52.247Z,1761344692.247 [DAT](INFO): setting remote address to 10
2025-10-24T22:24:52.247Z,1761344692.247 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:24:52.247Z,1761344692.247 [DAT](INFO): setting remote address to 0
2025-10-24T22:24:52.265Z,1761344692.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361559,-0.869800,-0.335742],[0.930478,0.313823,0.189014],[-0.059040,-0.380741,0.922795]]
2025-10-24T22:24:52.497Z,1761344692.497 [DAT](INFO): DAT read: user:6>

2025-10-24T22:24:52.498Z,1761344692.498 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:24:52.499Z,1761344692.499 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T22:24:52.499Z,1761344692.499 [DAT] Communications Fault, FailCount= 3
2025-10-24T22:24:52.499Z,1761344692.499 [DAT](ERROR): Communications Fault
2025-10-24T22:24:52.500Z,1761344692.500 [DAT](INFO): DAT read: user:7>

2025-10-24T22:24:52.501Z,1761344692.501 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:24:52.501Z,1761344692.501 [DAT](INFO): set remote address to 0
2025-10-24T22:24:52.501Z,1761344692.501 [DAT](INFO): setting remote address to 10
2025-10-24T22:24:52.501Z,1761344692.501 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:24:52.502Z,1761344692.502 [DAT](INFO): setting remote address to 0
2025-10-24T22:24:52.664Z,1761344692.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381479,-0.863144,-0.330842],[0.922242,0.331072,0.199651],[-0.062795,-0.381279,0.922325]]
2025-10-24T22:24:52.819Z,1761344692.819 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T22:24:52.904Z,1761344692.904 [DAT](INFO): Powering down
2025-10-24T22:24:53.062Z,1761344693.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401253,-0.855653,-0.326886],[0.913527,0.347797,0.210965],[-0.066823,-0.383269,0.921216]]
2025-10-24T22:24:53.471Z,1761344693.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419378,-0.848774,-0.322032],[0.905065,0.363344,0.220995],[-0.070567,-0.384140,0.920574]]
2025-10-24T22:24:53.870Z,1761344693.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437018,-0.841698,-0.317111],[0.896356,0.378321,0.231125],[-0.074568,-0.385250,0.919795]]
2025-10-24T22:24:54.079Z,1761344694.079 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T22:24:54.079Z,1761344694.079 [DAT] No Fault, FailCount= 3
2025-10-24T22:24:54.280Z,1761344694.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453661,-0.834773,-0.312004],[0.887721,0.392510,0.240599],[-0.078381,-0.386122,0.919112]]
2025-10-24T22:24:54.682Z,1761344694.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469076,-0.828543,-0.305751],[0.879341,0.406019,0.248812],[-0.082011,-0.385571,0.919026]]
2025-10-24T22:24:55.083Z,1761344695.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484196,-0.822090,-0.299537],[0.870796,0.419413,0.256531],[-0.085261,-0.385047,0.918950]]
2025-10-24T22:24:55.491Z,1761344695.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500124,-0.814416,-0.294285],[0.861448,0.433288,0.264894],[-0.088224,-0.385990,0.918274]]
2025-10-24T22:24:55.953Z,1761344695.953 [DAT](INFO): Powering up
2025-10-24T22:24:55.954Z,1761344695.954 [DAT](DEBUG): Initializing DAT.
2025-10-24T22:24:56.699Z,1761344696.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550518,-0.786287,-0.280504],[0.829370,0.476782,0.291247],[-0.095264,-0.392978,0.914600]]
2025-10-24T22:24:57.102Z,1761344697.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568190,-0.775914,-0.274078],[0.817088,0.492457,0.299756],[-0.097613,-0.394264,0.913799]]
2025-10-24T22:24:57.166Z,1761344697.166 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:24:57.166Z,1761344697.166 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:24:57.167Z,1761344697.167 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:24:57.167Z,1761344697.167 [marl:UpdateRudder:A] Stopped
2025-10-24T22:24:57.167Z,1761344697.167 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:24:57.167Z,1761344697.167 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:24:57.167Z,1761344697.167 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:24:57.167Z,1761344697.167 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:24:57.167Z,1761344697.167 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:24:57.168Z,1761344697.168 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:24:57.168Z,1761344697.168 [marl:UpdateCommandMode] Stopped
2025-10-24T22:24:57.168Z,1761344697.168 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:24:57.168Z,1761344697.168 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:24:57.168Z,1761344697.168 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:24:57.168Z,1761344697.168 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:24:57.169Z,1761344697.169 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:24:57.169Z,1761344697.169 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:24:57.169Z,1761344697.169 [marl:UpdateSpeed] Stopped
2025-10-24T22:24:57.169Z,1761344697.169 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:24:57.506Z,1761344697.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586244,-0.764787,-0.267243],[0.803900,0.508322,0.308794],[-0.100316,-0.395865,0.912813]]
2025-10-24T22:24:57.569Z,1761344697.569 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:24:57.569Z,1761344697.569 [marl:UpdateRudder:B] Stopped
2025-10-24T22:24:57.570Z,1761344697.570 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:24:57.570Z,1761344697.570 [marl:UpdateRudder] Stopped
2025-10-24T22:24:57.570Z,1761344697.570 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:24:57.934Z,1761344697.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620679,-0.742433,-0.252093],[0.776892,0.538957,0.325521],[-0.105810,-0.397893,0.911310]]
2025-10-24T22:24:58.723Z,1761344698.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637257,-0.731189,-0.243446],[0.762943,0.554009,0.333154],[-0.108727,-0.398040,0.910902]]
2025-10-24T22:24:59.129Z,1761344699.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667075,-0.709369,-0.227608],[0.736169,0.580782,0.347487],[-0.114306,-0.399358,0.909641]]
2025-10-24T22:24:59.533Z,1761344699.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681120,-0.698369,-0.219903],[0.722809,0.593487,0.354006],[-0.116717,-0.400068,0.909023]]
2025-10-24T22:24:59.976Z,1761344699.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694453,-0.688345,-0.209562],[0.709504,0.606614,0.358641],[-0.119745,-0.397744,0.909649]]
2025-10-24T22:25:00.341Z,1761344700.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704645,-0.682264,-0.194914],[0.698720,0.619355,0.358035],[-0.123553,-0.388478,0.913137]]
2025-10-24T22:25:00.743Z,1761344700.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711099,-0.681651,-0.172307],[0.691244,0.632996,0.348567],[-0.128531,-0.366972,0.921310]]
2025-10-24T22:25:01.143Z,1761344701.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713166,-0.686388,-0.142356],[0.687806,0.645961,0.331145],[-0.135338,-0.334074,0.932780]]
2025-10-24T22:25:01.547Z,1761344701.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710483,-0.695563,-0.106799],[0.688831,0.656352,0.307756],[-0.143966,-0.292222,0.945452]]
2025-10-24T22:25:01.979Z,1761344701.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703868,-0.707132,-0.067334],[0.693457,0.663516,0.280827],[-0.153905,-0.244358,0.957394]]
2025-10-24T22:25:02.364Z,1761344702.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694533,-0.718931,-0.027609],[0.700464,0.666936,0.254059],[-0.164237,-0.195791,0.966795]]
2025-10-24T22:25:02.759Z,1761344702.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683722,-0.729662,0.010840],[0.708505,0.667308,0.229610],[-0.174771,-0.149309,0.973222]]
2025-10-24T22:25:03.162Z,1761344703.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672950,-0.738449,0.042808],[0.716166,0.664936,0.212052],[-0.185054,-0.112042,0.976320]]
2025-10-24T22:25:03.567Z,1761344703.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662092,-0.746237,0.069019],[0.723647,0.660549,0.200022],[-0.194854,-0.082488,0.977357]]
2025-10-24T22:25:04.379Z,1761344704.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642051,-0.759313,0.105899],[0.737094,0.649362,0.187139],[-0.210864,-0.042095,0.976609]]
2025-10-24T22:25:04.779Z,1761344704.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632181,-0.765849,0.117573],[0.743717,0.642339,0.185163],[-0.217328,-0.029616,0.975649]]
2025-10-24T22:25:05.183Z,1761344705.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621792,-0.772793,0.127146],[0.750709,0.634367,0.184430],[-0.223183,-0.019227,0.974587]]
2025-10-24T22:25:05.586Z,1761344705.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610367,-0.780662,0.134234],[0.758553,0.624857,0.184797],[-0.228141,-0.010970,0.973566]]
2025-10-24T22:25:06.001Z,1761344706.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597413,-0.789899,0.138412],[0.767583,0.613216,0.186501],[-0.232193,-0.005175,0.972656]]
2025-10-24T22:25:06.403Z,1761344706.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583630,-0.800037,0.138985],[0.777126,0.599943,0.190113],[-0.235481,-0.002947,0.971874]]
2025-10-24T22:25:06.799Z,1761344706.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569153,-0.810234,0.139947],[0.787192,0.586106,0.191857],[-0.237473,0.000969,0.971394]]
2025-10-24T22:25:07.203Z,1761344707.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553664,-0.820970,0.139515],[0.797994,0.570953,0.192919],[-0.238038,0.004520,0.971245]]
2025-10-24T22:25:07.606Z,1761344707.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537735,-0.831886,0.137137],[0.809119,0.554903,0.193414],[-0.236996,0.006954,0.971486]]
2025-10-24T22:25:08.011Z,1761344708.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521307,-0.842907,0.133217],[0.820528,0.537991,0.193132],[-0.234461,0.008627,0.972087]]
2025-10-24T22:25:08.049Z,1761344708.049 [DAT](INFO): DAT read: 

2025-10-24T22:25:08.049Z,1761344708.049 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T22:25:08.417Z,1761344708.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504581,-0.853823,0.128004],[0.831974,0.520477,0.192154],[-0.230688,0.009538,0.972981]]
2025-10-24T22:25:08.819Z,1761344708.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487921,-0.864565,0.120253],[0.843074,0.502460,0.191730],[-0.226186,0.007833,0.974053]]
2025-10-24T22:25:09.222Z,1761344709.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471804,-0.874525,0.112277],[0.853503,0.484944,0.190689],[-0.221211,0.005860,0.975209]]
2025-10-24T22:25:09.628Z,1761344709.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455756,-0.884065,0.103517],[0.863552,0.467354,0.189361],[-0.215787,0.003090,0.976436]]
2025-10-24T22:25:09.813Z,1761344709.813 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T22:25:09.814Z,1761344709.814 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T22:25:09.815Z,1761344709.815 [DAT](INFO): DAT read: Oct 24 2025 22:25:03 

2025-10-24T22:25:10.031Z,1761344710.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439796,-0.893111,0.094511],[0.873104,0.449837,0.187980],[-0.210401,-0.000155,0.977615]]
2025-10-24T22:25:10.113Z,1761344710.113 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:25:10.113Z,1761344710.113 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:25:10.114Z,1761344710.114 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:25:10.114Z,1761344710.114 [marl:UpdateRudder:A] Stopped
2025-10-24T22:25:10.114Z,1761344710.114 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:25:10.114Z,1761344710.114 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:25:10.114Z,1761344710.114 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:25:10.114Z,1761344710.114 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:25:10.114Z,1761344710.114 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:25:10.115Z,1761344710.115 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:25:10.115Z,1761344710.115 [marl:UpdateCommandMode] Stopped
2025-10-24T22:25:10.115Z,1761344710.115 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:25:10.115Z,1761344710.115 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:25:10.115Z,1761344710.115 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:25:10.115Z,1761344710.115 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:25:10.115Z,1761344710.115 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:25:10.115Z,1761344710.115 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:25:10.115Z,1761344710.115 [marl:UpdateSpeed] Stopped
2025-10-24T22:25:10.120Z,1761344710.120 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:25:10.442Z,1761344710.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424042,-0.901315,0.088430],[0.882238,0.433164,0.184458],[-0.204560,-0.000202,0.978854]]
2025-10-24T22:25:10.477Z,1761344710.477 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:25:10.477Z,1761344710.477 [marl:UpdateRudder:B] Stopped
2025-10-24T22:25:10.477Z,1761344710.477 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:25:10.477Z,1761344710.477 [marl:UpdateRudder] Stopped
2025-10-24T22:25:10.478Z,1761344710.478 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:25:10.821Z,1761344710.821 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T22:25:10.822Z,1761344710.822 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:25:10.823Z,1761344710.823 [DAT](INFO): commRate: 600
2025-10-24T22:25:10.839Z,1761344710.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408698,-0.908799,0.083970],[0.890824,0.417233,0.179860],[-0.198491,0.001294,0.980102]]
2025-10-24T22:25:11.244Z,1761344711.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393236,-0.915830,0.081361],[0.899118,0.401538,0.174224],[-0.192229,0.004642,0.981339]]
2025-10-24T22:25:11.647Z,1761344711.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377985,-0.922433,0.079027],[0.906988,0.386073,0.168284],[-0.185742,0.008068,0.982566]]
2025-10-24T22:25:12.050Z,1761344712.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363121,-0.928440,0.078371],[0.914414,0.371251,0.161308],[-0.178860,0.013089,0.983787]]
2025-10-24T22:25:12.061Z,1761344712.061 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-10-24T22:25:12.061Z,1761344712.061 [NAL9602] Data Fault, FailCount= 1
2025-10-24T22:25:12.061Z,1761344712.061 [NAL9602](ERROR): Data Fault
2025-10-24T22:25:12.123Z,1761344712.123 [marl:NeedComms] Running Loop=1
2025-10-24T22:25:12.123Z,1761344712.123 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms
2025-10-24T22:25:12.123Z,1761344712.123 [marl:NeedComms:B.GoToSurface] Running Loop=1
2025-10-24T22:25:12.123Z,1761344712.123 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-24T22:25:12.123Z,1761344712.123 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-24T22:25:12.124Z,1761344712.124 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-24T22:25:12.124Z,1761344712.124 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-24T22:25:12.125Z,1761344712.125 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-24T22:25:12.125Z,1761344712.125 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-24T22:25:12.125Z,1761344712.125 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-24T22:25:12.126Z,1761344712.126 [marl:NeedComms:A] Running Loop=1
2025-10-24T22:25:12.128Z,1761344712.128 [marl:NeedComms:A](ERROR): caught uninitialized data element exception.
2025-10-24T22:25:12.136Z,1761344712.136 [marl:NeedComms:A](INFO): last time_fix was:  nan second since 1970/01/01T00:00:00Z 
2025-10-24T22:25:12.136Z,1761344712.136 [marl:NeedComms:A] Stopped
2025-10-24T22:25:12.223Z,1761344712.223 [CBIT](ERROR): Data Fault in component: NAL9602
2025-10-24T22:25:12.461Z,1761344712.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348505,-0.934022,0.078407],[0.921374,0.356739,0.154295],[-0.172086,0.018469,0.984909]]
2025-10-24T22:25:12.469Z,1761344712.469 [NAL9602](INFO): Powering down
2025-10-24T22:25:12.860Z,1761344712.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334913,-0.938966,0.078593],[0.927668,0.343198,0.147129],[-0.165122,0.023633,0.985990]]
2025-10-24T22:25:12.888Z,1761344712.888 [DAT](INFO): entering command mode
2025-10-24T22:25:13.088Z,1761344713.088 [DAT](INFO): DAT read: 

2025-10-24T22:25:13.089Z,1761344713.089 [DAT](INFO): DAT read: user:1>

2025-10-24T22:25:13.089Z,1761344713.089 [DAT](INFO): setting verbose to 3
2025-10-24T22:25:13.262Z,1761344713.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322021,-0.943349,0.079971],[0.933376,0.330482,0.139966],[-0.158466,0.029570,0.986921]]
2025-10-24T22:25:13.341Z,1761344713.341 [DAT](INFO): DAT read: user:1>

2025-10-24T22:25:13.342Z,1761344713.342 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T22:25:13.342Z,1761344713.342 [DAT](INFO): set verbose to 3
2025-10-24T22:25:13.342Z,1761344713.342 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T22:25:13.593Z,1761344713.593 [DAT](INFO): DAT read: user:2>

2025-10-24T22:25:13.594Z,1761344713.594 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T22:25:13.594Z,1761344713.594 [DAT](INFO): set DatVerbose to 27440
2025-10-24T22:25:13.594Z,1761344713.594 [DAT](INFO): setting transmit power to 8
2025-10-24T22:25:13.649Z,1761344713.649 [CBIT](INFO): Clearing failed state for component NAL9602
2025-10-24T22:25:13.650Z,1761344713.650 [NAL9602] No Fault, FailCount= 1
2025-10-24T22:25:13.700Z,1761344713.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309716,-0.947458,0.079994],[0.938606,0.318097,0.133544],[-0.151973,0.033722,0.987809]]
2025-10-24T22:25:13.845Z,1761344713.845 [DAT](INFO): DAT read: user:3>

2025-10-24T22:25:13.845Z,1761344713.845 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T22:25:13.846Z,1761344713.846 [DAT](INFO): set transmit power to 8
2025-10-24T22:25:13.846Z,1761344713.846 [DAT](INFO): setting local address to 11
2025-10-24T22:25:14.079Z,1761344714.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298003,-0.951224,0.079797],[0.943372,0.306242,0.127533],[-0.145750,0.037273,0.988619]]
2025-10-24T22:25:14.097Z,1761344714.097 [DAT](INFO): DAT read: user:4>

2025-10-24T22:25:14.098Z,1761344714.098 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T22:25:14.098Z,1761344714.098 [DAT](INFO): set local address to 11
2025-10-24T22:25:14.099Z,1761344714.099 [DAT](INFO): Setting time to: 22:25:14 And date to:10/24/2025
2025-10-24T22:25:14.349Z,1761344714.349 [DAT](INFO): DAT read: user:5>

2025-10-24T22:25:14.350Z,1761344714.350 [DAT](INFO): DAT read: Fri Oct 24, 2025  22:25:14  

2025-10-24T22:25:14.350Z,1761344714.350 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  22:25:14  

2025-10-24T22:25:14.350Z,1761344714.350 [DAT](INFO): setting remote address to 10
2025-10-24T22:25:14.351Z,1761344714.351 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:25:14.351Z,1761344714.351 [DAT](INFO): setting remote address to 0
2025-10-24T22:25:14.372Z,1761344714.372 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:25:14.601Z,1761344714.601 [DAT](INFO): DAT read: user:6>

2025-10-24T22:25:14.602Z,1761344714.602 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:25:14.603Z,1761344714.603 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T22:25:14.603Z,1761344714.603 [DAT] Communications Fault, FailCount= 4
2025-10-24T22:25:14.603Z,1761344714.603 [DAT](ERROR): Communications Fault
2025-10-24T22:25:14.604Z,1761344714.604 [DAT](INFO): DAT read: user:7>

2025-10-24T22:25:14.605Z,1761344714.605 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:25:14.605Z,1761344714.605 [DAT](INFO): set remote address to 0
2025-10-24T22:25:14.605Z,1761344714.605 [DAT](INFO): setting remote address to 10
2025-10-24T22:25:14.605Z,1761344714.605 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:25:14.606Z,1761344714.606 [DAT](INFO): setting remote address to 0
2025-10-24T22:25:14.616Z,1761344714.616 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T22:25:14.886Z,1761344714.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274991,-0.958099,0.080163],[0.951103,0.283283,0.123103],[-0.140654,0.042391,0.989151]]
2025-10-24T22:25:15.012Z,1761344715.012 [DAT](INFO): Powering down
2025-10-24T22:25:15.290Z,1761344715.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263569,-0.961283,0.080407],[0.953812,0.272158,0.127170],[-0.144130,0.043175,0.988616]]
2025-10-24T22:25:15.376Z,1761344715.376 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:25:15.697Z,1761344715.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251688,-0.964591,0.078844],[0.956007,0.260476,0.134916],[-0.150676,0.041419,0.987715]]
2025-10-24T22:25:15.979Z,1761344715.979 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T22:25:15.979Z,1761344715.979 [DAT] No Fault, FailCount= 4
2025-10-24T22:25:16.510Z,1761344716.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225119,-0.971504,0.074177],[0.959291,0.234326,0.157644],[-0.170533,0.035669,0.984706]]
2025-10-24T22:25:16.915Z,1761344716.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210250,-0.974880,0.073517],[0.960438,0.220011,0.170743],[-0.182629,0.034710,0.982569]]
2025-10-24T22:25:17.311Z,1761344717.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195207,-0.978093,0.072312],[0.961116,0.205460,0.184506],[-0.195321,0.033483,0.980168]]
2025-10-24T22:25:17.714Z,1761344717.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180222,-0.981114,0.070257],[0.961170,0.190833,0.199337],[-0.208980,0.031603,0.977409]]
2025-10-24T22:25:18.060Z,1761344718.060 [DAT](INFO): Powering up
2025-10-24T22:25:18.060Z,1761344718.060 [DAT](DEBUG): Initializing DAT.
2025-10-24T22:25:18.119Z,1761344718.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163821,-0.983903,0.071403],[0.960954,0.175524,0.213913],[-0.223003,0.033572,0.974240]]
2025-10-24T22:25:18.522Z,1761344718.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147327,-0.986340,0.073676],[0.960129,0.160509,0.228887],[-0.237586,0.037017,0.970661]]
2025-10-24T22:25:19.332Z,1761344719.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112980,-0.990838,0.074001],[0.956983,0.128547,0.260114],[-0.267244,0.041430,0.962738]]
2025-10-24T22:25:19.736Z,1761344719.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094840,-0.992968,0.070854],[0.954665,0.110894,0.276256],[-0.282171,0.041441,0.958469]]
2025-10-24T22:25:20.543Z,1761344720.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055556,-0.996527,0.062026],[0.949014,0.072009,0.306898],[-0.310298,0.041813,0.949719]]
2025-10-24T22:25:20.946Z,1761344720.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034698,-0.997762,0.057160],[0.945959,0.051241,0.320213],[-0.322426,0.042961,0.945619]]
2025-10-24T22:25:21.353Z,1761344721.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012665,-0.998529,0.052725],[0.942885,0.029480,0.331810],[-0.332877,0.045512,0.941872]]
2025-10-24T22:25:21.754Z,1761344721.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010834,-0.998662,0.050562],[0.939752,0.007110,0.341783],[-0.341686,0.051219,0.938418]]
2025-10-24T22:25:22.158Z,1761344722.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034458,-0.998235,0.048365],[0.936577,-0.015366,0.350126],[-0.348765,0.057362,0.935453]]
2025-10-24T22:25:22.562Z,1761344722.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058401,-0.997226,0.046145],[0.933149,-0.038107,0.357465],[-0.354715,0.063937,0.932786]]
2025-10-24T22:25:22.968Z,1761344722.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081230,-0.995711,0.044279],[0.929483,-0.059640,0.364010],[-0.359809,0.070725,0.930342]]
2025-10-24T22:25:23.029Z,1761344723.029 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:25:23.029Z,1761344723.029 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:25:23.029Z,1761344723.029 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:25:23.030Z,1761344723.030 [marl:UpdateRudder:A] Stopped
2025-10-24T22:25:23.030Z,1761344723.030 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:25:23.030Z,1761344723.030 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:25:23.030Z,1761344723.030 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:25:23.030Z,1761344723.030 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:25:23.031Z,1761344723.031 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:25:23.031Z,1761344723.031 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:25:23.031Z,1761344723.031 [marl:UpdateCommandMode] Stopped
2025-10-24T22:25:23.031Z,1761344723.031 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:25:23.031Z,1761344723.031 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:25:23.031Z,1761344723.031 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:25:23.031Z,1761344723.031 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:25:23.031Z,1761344723.031 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:25:23.036Z,1761344723.036 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:25:23.036Z,1761344723.036 [marl:UpdateSpeed] Stopped
2025-10-24T22:25:23.037Z,1761344723.037 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:25:23.380Z,1761344723.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101328,-0.994029,0.040483],[0.925436,-0.079246,0.370525],[-0.365104,0.075009,0.927940]]
2025-10-24T22:25:23.411Z,1761344723.411 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:25:23.411Z,1761344723.411 [marl:UpdateRudder:B] Stopped
2025-10-24T22:25:23.412Z,1761344723.412 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:25:23.413Z,1761344723.413 [marl:UpdateRudder] Stopped
2025-10-24T22:25:23.413Z,1761344723.413 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:25:23.775Z,1761344723.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119503,-0.992235,0.034480],[0.921201,-0.097861,0.376579],[-0.370280,0.076765,0.925743]]
2025-10-24T22:25:24.178Z,1761344724.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135886,-0.990342,0.027519],[0.916740,-0.115157,0.382527],[-0.375663,0.077208,0.923535]]
2025-10-24T22:25:24.589Z,1761344724.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151510,-0.988245,0.020395],[0.911896,-0.131783,0.388689],[-0.381433,0.077488,0.921143]]
2025-10-24T22:25:24.988Z,1761344724.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166275,-0.986005,0.012112],[0.906555,-0.148021,0.395283],[-0.387958,0.076706,0.918480]]
2025-10-24T22:25:25.397Z,1761344725.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180548,-0.983558,0.003999],[0.900847,-0.163730,0.402079],[-0.394814,0.076197,0.915596]]
2025-10-24T22:25:25.794Z,1761344725.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194399,-0.980905,-0.005843],[0.894915,-0.179790,0.408415],[-0.401667,0.074166,0.912777]]
2025-10-24T22:25:26.221Z,1761344726.221 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050102134230,35.0,  0.0,1504.4,  0
2025-10-24T22:25:26.610Z,1761344726.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213913,-0.975926,-0.042545],[0.884450,-0.211985,0.415704],[-0.414715,0.051296,0.908504]]
2025-10-24T22:25:27.007Z,1761344727.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216880,-0.973301,-0.075153],[0.881038,-0.228311,0.414302],[-0.420399,0.023641,0.907031]]
2025-10-24T22:25:28.238Z,1761344728.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195963,-0.954412,-0.225157],[0.881930,-0.271918,0.385045],[-0.428716,-0.123118,0.895011]]
2025-10-24T22:25:28.709Z,1761344728.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182932,-0.942573,-0.279449],[0.885501,-0.281459,0.369688],[-0.427112,-0.179825,0.886137]]
2025-10-24T22:25:29.117Z,1761344729.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168253,-0.930547,-0.325230],[0.890151,-0.285164,0.355405],[-0.423464,-0.229706,0.876307]]
2025-10-24T22:25:29.514Z,1761344729.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153261,-0.920311,-0.359914],[0.895243,-0.283517,0.343742],[-0.418391,-0.269528,0.867354]]
2025-10-24T22:25:29.961Z,1761344729.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137138,-0.913091,-0.384003],[0.900380,-0.276511,0.335942],[-0.412927,-0.299678,0.860049]]
2025-10-24T22:25:30.157Z,1761344730.157 [DAT](INFO): DAT read: 

2025-10-24T22:25:30.157Z,1761344730.157 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T22:25:30.431Z,1761344730.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101856,-0.904943,-0.413163],[0.909495,-0.252979,0.329880],[-0.403044,-0.342169,0.848808]]
2025-10-24T22:25:30.832Z,1761344730.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083636,-0.903812,-0.419677],[0.913383,-0.237915,0.330346],[-0.398419,-0.355697,0.845424]]
2025-10-24T22:25:31.302Z,1761344731.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065495,-0.904904,-0.420547],[0.917006,-0.220763,0.332210],[-0.393459,-0.363886,0.844261]]
2025-10-24T22:25:31.743Z,1761344731.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048285,-0.906917,-0.418532],[0.920437,-0.203128,0.333970],[-0.387898,-0.369107,0.844568]]
2025-10-24T22:25:31.924Z,1761344731.924 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T22:25:31.927Z,1761344731.927 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T22:25:31.930Z,1761344731.930 [DAT](INFO): DAT read: Oct 24 2025 22:25:26 

2025-10-24T22:25:32.146Z,1761344732.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032098,-0.909942,-0.413491],[0.923560,-0.185164,0.335784],[-0.382107,-0.371106,0.846330]]
2025-10-24T22:25:32.554Z,1761344732.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017459,-0.913015,-0.407551],[0.926459,-0.168054,0.336796],[-0.375990,-0.371700,0.848805]]
2025-10-24T22:25:32.929Z,1761344732.929 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T22:25:32.930Z,1761344732.930 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:25:32.931Z,1761344732.931 [DAT](INFO): commRate: 600
2025-10-24T22:25:32.979Z,1761344732.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003614,-0.915706,-0.401832],[0.929202,-0.151576,0.337058],[-0.369554,-0.372165,0.851424]]
2025-10-24T22:25:33.438Z,1761344733.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010343,-0.918802,-0.394584],[0.931655,-0.134472,0.337544],[-0.363196,-0.371107,0.854616]]
2025-10-24T22:25:33.835Z,1761344733.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024302,-0.921993,-0.386444],[0.933542,-0.117361,0.338711],[-0.357643,-0.368993,0.857867]]
2025-10-24T22:25:34.702Z,1761344734.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050943,-0.929563,-0.365126],[0.936038,-0.083024,0.341965],[-0.348192,-0.359193,0.865877]]
2025-10-24T22:25:34.996Z,1761344734.996 [DAT](INFO): entering command mode
2025-10-24T22:25:35.124Z,1761344735.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063374,-0.931710,-0.357632],[0.936683,-0.068132,0.343485],[-0.344395,-0.356756,0.868399]]
2025-10-24T22:25:35.197Z,1761344735.197 [DAT](INFO): DAT read: 

2025-10-24T22:25:35.198Z,1761344735.198 [DAT](INFO): DAT read: user:1>

2025-10-24T22:25:35.199Z,1761344735.199 [DAT](INFO): setting verbose to 3
2025-10-24T22:25:35.449Z,1761344735.449 [DAT](INFO): DAT read: user:1>

2025-10-24T22:25:35.450Z,1761344735.450 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T22:25:35.450Z,1761344735.450 [DAT](INFO): set verbose to 3
2025-10-24T22:25:35.450Z,1761344735.450 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T22:25:35.533Z,1761344735.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074934,-0.933254,-0.351315],[0.937100,-0.054544,0.344774],[-0.340924,-0.355052,0.870465]]
2025-10-24T22:25:35.701Z,1761344735.701 [DAT](INFO): DAT read: user:2>

2025-10-24T22:25:35.702Z,1761344735.702 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T22:25:35.702Z,1761344735.702 [DAT](INFO): set DatVerbose to 27440
2025-10-24T22:25:35.702Z,1761344735.702 [DAT](INFO): setting transmit power to 8
2025-10-24T22:25:35.957Z,1761344735.957 [DAT](INFO): DAT read: user:3>

2025-10-24T22:25:35.962Z,1761344735.962 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T22:25:35.965Z,1761344735.965 [DAT](INFO): set transmit power to 8
2025-10-24T22:25:35.966Z,1761344735.966 [DAT](INFO): setting local address to 11
2025-10-24T22:25:36.045Z,1761344736.045 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050102135230,35.0, +14.2,   04,  0
2025-10-24T22:25:36.205Z,1761344736.205 [DAT](INFO): DAT read: user:4>

2025-10-24T22:25:36.206Z,1761344736.206 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T22:25:36.206Z,1761344736.206 [DAT](INFO): set local address to 11
2025-10-24T22:25:36.207Z,1761344736.207 [DAT](INFO): Setting time to: 22:25:36 And date to:10/24/2025
2025-10-24T22:25:36.385Z,1761344736.385 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:25:36.385Z,1761344736.385 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:25:36.386Z,1761344736.386 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:25:36.386Z,1761344736.386 [marl:UpdateRudder:A] Stopped
2025-10-24T22:25:36.386Z,1761344736.386 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:25:36.386Z,1761344736.386 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:25:36.386Z,1761344736.386 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:25:36.386Z,1761344736.386 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:25:36.386Z,1761344736.386 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:25:36.387Z,1761344736.387 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:25:36.387Z,1761344736.387 [marl:UpdateCommandMode] Stopped
2025-10-24T22:25:36.387Z,1761344736.387 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:25:36.387Z,1761344736.387 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:25:36.387Z,1761344736.387 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:25:36.387Z,1761344736.387 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:25:36.387Z,1761344736.387 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:25:36.387Z,1761344736.387 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:25:36.388Z,1761344736.388 [marl:UpdateSpeed] Stopped
2025-10-24T22:25:36.388Z,1761344736.388 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:25:36.457Z,1761344736.457 [DAT](INFO): DAT read: user:5>

2025-10-24T22:25:36.458Z,1761344736.458 [DAT](INFO): DAT read: Fri Oct 24, 2025  22:25:36  

2025-10-24T22:25:36.458Z,1761344736.458 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  22:25:36  

2025-10-24T22:25:36.459Z,1761344736.459 [DAT](INFO): setting remote address to 10
2025-10-24T22:25:36.459Z,1761344736.459 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:25:36.459Z,1761344736.459 [DAT](INFO): setting remote address to 0
2025-10-24T22:25:36.709Z,1761344736.709 [DAT](INFO): DAT read: user:6>

2025-10-24T22:25:36.710Z,1761344736.710 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:25:36.710Z,1761344736.710 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T22:25:36.710Z,1761344736.710 [DAT] Communications Fault, FailCount= 5
2025-10-24T22:25:36.710Z,1761344736.710 [DAT](ERROR): Communications Fault
2025-10-24T22:25:36.711Z,1761344736.711 [DAT](INFO): DAT read: user:7>

2025-10-24T22:25:36.712Z,1761344736.712 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:25:36.713Z,1761344736.713 [DAT](INFO): set remote address to 0
2025-10-24T22:25:36.713Z,1761344736.713 [DAT](INFO): setting remote address to 10
2025-10-24T22:25:36.713Z,1761344736.713 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:25:36.713Z,1761344736.713 [DAT](INFO): setting remote address to 0
2025-10-24T22:25:36.727Z,1761344736.727 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T22:25:36.919Z,1761344736.919 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:25:36.919Z,1761344736.919 [marl:UpdateRudder:B] Stopped
2025-10-24T22:25:36.919Z,1761344736.919 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:25:36.919Z,1761344736.919 [marl:UpdateRudder] Stopped
2025-10-24T22:25:36.919Z,1761344736.919 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:25:37.116Z,1761344737.116 [DAT](INFO): Powering down
2025-10-24T22:25:37.302Z,1761344737.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103087,-0.933588,-0.343201],[0.947807,-0.012465,0.318601],[-0.301720,-0.358132,0.883576]]
2025-10-24T22:25:37.759Z,1761344737.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109930,-0.932644,-0.343644],[0.951293,-0.001464,0.308286],[-0.288024,-0.360796,0.887056]]
2025-10-24T22:25:38.167Z,1761344738.167 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T22:25:38.167Z,1761344738.167 [DAT] No Fault, FailCount= 5
2025-10-24T22:25:38.591Z,1761344738.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133998,-0.930728,-0.340280],[0.956003,0.030985,0.291714],[-0.260963,-0.364398,0.893931]]
2025-10-24T22:25:38.997Z,1761344738.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150796,-0.930001,-0.335198],[0.956527,0.051642,0.287036],[-0.249633,-0.363910,0.897359]]
2025-10-24T22:25:39.401Z,1761344739.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169615,-0.928997,-0.328931],[0.955672,0.073539,0.285101],[-0.240669,-0.362708,0.900290]]
2025-10-24T22:25:39.803Z,1761344739.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191011,-0.927825,-0.320400],[0.952897,0.096932,0.287387],[-0.235587,-0.360202,0.902637]]
2025-10-24T22:25:40.165Z,1761344740.165 [DAT](INFO): Powering up
2025-10-24T22:25:40.165Z,1761344740.165 [DAT](DEBUG): Initializing DAT.
2025-10-24T22:25:40.251Z,1761344740.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213414,-0.925613,-0.312562],[0.948443,0.119557,0.293535],[-0.234331,-0.359091,0.903406]]
2025-10-24T22:25:40.593Z,1761344740.593 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:25:40.593Z,1761344740.593 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:25:40.662Z,1761344740.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233592,-0.922927,-0.306006],[0.943592,0.139214,0.300422],[-0.234667,-0.358921,0.903386]]
2025-10-24T22:25:41.058Z,1761344741.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252098,-0.920016,-0.300028],[0.938465,0.156799,0.307731],[-0.236073,-0.359144,0.902931]]
2025-10-24T22:25:41.462Z,1761344741.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269886,-0.916803,-0.294335],[0.933003,0.173420,0.315327],[-0.238049,-0.359718,0.902184]]
2025-10-24T22:25:41.868Z,1761344741.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286827,-0.912750,-0.290892],[0.927412,0.188466,0.323091],[-0.240078,-0.362448,0.900552]]
2025-10-24T22:25:41.921Z,1761344741.921 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:25:42.682Z,1761344742.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315616,-0.906012,-0.282007],[0.916657,0.214320,0.337352],[-0.245206,-0.364978,0.898146]]
2025-10-24T22:25:42.686Z,1761344742.686 [NAL9602](INFO): Powering up NAL9602
2025-10-24T22:25:43.078Z,1761344743.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325978,-0.903615,-0.277884],[0.912187,0.223436,0.343498],[-0.248300,-0.365454,0.897101]]
2025-10-24T22:25:43.888Z,1761344743.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342714,-0.899929,-0.269583],[0.904950,0.239205,0.351919],[-0.252217,-0.364566,0.896369]]
2025-10-24T22:25:44.695Z,1761344744.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356896,-0.896696,-0.261843],[0.900751,0.256066,0.350824],[-0.247533,-0.361063,0.899089]]
2025-10-24T22:25:45.099Z,1761344745.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366480,-0.893394,-0.259883],[0.898073,0.266642,0.349810],[-0.243222,-0.361592,0.900052]]
2025-10-24T22:25:45.500Z,1761344745.500 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:25:45.505Z,1761344745.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378995,-0.889032,-0.256873],[0.893970,0.280009,0.349875],[-0.239123,-0.362238,0.900891]]
2025-10-24T22:25:45.980Z,1761344745.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392957,-0.884526,-0.251394],[0.888685,0.295053,0.350975],[-0.236272,-0.361328,0.902008]]
2025-10-24T22:25:46.310Z,1761344746.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407993,-0.880693,-0.240668],[0.882080,0.312235,0.352765],[-0.235533,-0.356214,0.904232]]
2025-10-24T22:25:46.504Z,1761344746.504 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:25:46.734Z,1761344746.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423636,-0.876663,-0.228022],[0.874131,0.329632,0.356704],[-0.237546,-0.350434,0.905962]]
2025-10-24T22:25:47.118Z,1761344747.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440588,-0.871990,-0.213344],[0.864208,0.347675,0.363686],[-0.242956,-0.344609,0.906762]]
2025-10-24T22:25:47.570Z,1761344747.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458175,-0.866360,-0.198738],[0.852529,0.365050,0.374076],[-0.251535,-0.340822,0.905853]]
2025-10-24T22:25:47.988Z,1761344747.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489979,-0.853591,-0.176927],[0.829955,0.394707,0.394185],[-0.266638,-0.339984,0.901840]]
2025-10-24T22:25:48.451Z,1761344748.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507534,-0.845022,-0.168363],[0.817005,0.409901,0.405567],[-0.273701,-0.343392,0.898426]]
2025-10-24T22:25:48.870Z,1761344748.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526838,-0.834674,-0.160503],[0.802196,0.425869,0.418470],[-0.280933,-0.349220,0.893936]]
2025-10-24T22:25:49.277Z,1761344749.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545449,-0.824547,-0.150359],[0.786851,0.441966,0.430734],[-0.288706,-0.353253,0.889866]]
2025-10-24T22:25:49.682Z,1761344749.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560856,-0.816062,-0.139579],[0.772822,0.455570,0.441817],[-0.296962,-0.355665,0.886181]]
2025-10-24T22:25:49.710Z,1761344749.710 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:25:49.710Z,1761344749.710 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:25:49.710Z,1761344749.710 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:25:49.710Z,1761344749.710 [marl:UpdateRudder:A] Stopped
2025-10-24T22:25:49.710Z,1761344749.710 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:25:49.710Z,1761344749.710 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:25:49.711Z,1761344749.711 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:25:49.711Z,1761344749.711 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:25:49.711Z,1761344749.711 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:25:49.711Z,1761344749.711 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:25:49.711Z,1761344749.711 [marl:UpdateCommandMode] Stopped
2025-10-24T22:25:49.711Z,1761344749.711 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:25:49.711Z,1761344749.711 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:25:49.711Z,1761344749.711 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:25:49.712Z,1761344749.712 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:25:49.712Z,1761344749.712 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:25:49.712Z,1761344749.712 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:25:49.712Z,1761344749.712 [marl:UpdateSpeed] Stopped
2025-10-24T22:25:49.712Z,1761344749.712 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:25:50.078Z,1761344750.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571016,-0.810824,-0.128472],[0.762417,0.465748,0.449221],[-0.304403,-0.354462,0.884136]]
2025-10-24T22:25:50.181Z,1761344750.181 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:25:50.181Z,1761344750.181 [marl:UpdateRudder:B] Stopped
2025-10-24T22:25:50.181Z,1761344750.181 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:25:50.181Z,1761344750.181 [marl:UpdateRudder] Stopped
2025-10-24T22:25:50.182Z,1761344750.182 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:25:50.525Z,1761344750.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578294,-0.807188,-0.118422],[0.754323,0.473742,0.454494],[-0.310760,-0.352160,0.882843]]
2025-10-24T22:25:50.948Z,1761344750.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585417,-0.803342,-0.109223],[0.746571,0.481645,0.458967],[-0.316101,-0.350230,0.881714]]
2025-10-24T22:25:51.838Z,1761344751.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607386,-0.790298,-0.080695],[0.721964,0.506763,0.471126],[-0.331437,-0.344414,0.878367]]
2025-10-24T22:25:52.267Z,1761344752.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618192,-0.783647,-0.061126],[0.707272,0.520640,0.478226],[-0.342935,-0.338868,0.876107]]
2025-10-24T22:25:52.285Z,1761344752.285 [DAT](INFO): DAT read: 

2025-10-24T22:25:52.285Z,1761344752.285 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T22:25:52.771Z,1761344752.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625271,-0.779091,-0.045321],[0.695162,0.529640,0.486036],[-0.354663,-0.335410,0.872763]]
2025-10-24T22:25:53.206Z,1761344753.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632224,-0.774220,-0.029611],[0.681925,0.537902,0.495621],[-0.367792,-0.333536,0.868034]]
2025-10-24T22:25:53.652Z,1761344753.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636769,-0.770494,-0.029409],[0.678029,0.541375,0.497182],[-0.367155,-0.336530,0.867148]]
2025-10-24T22:25:53.657Z,1761344753.657 [NAL9602](INFO): NAL9602 initialized
2025-10-24T22:25:54.049Z,1761344754.049 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T22:25:54.050Z,1761344754.050 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T22:25:54.051Z,1761344754.051 [DAT](INFO): DAT read: Oct 24 2025 22:25:48 

2025-10-24T22:25:54.104Z,1761344754.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645652,-0.763166,-0.026677],[0.670407,0.549757,0.498318],[-0.365634,-0.339625,0.866584]]
2025-10-24T22:25:54.571Z,1761344754.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656978,-0.753723,-0.016795],[0.658517,0.562862,0.499541],[-0.367062,-0.339247,0.866127]]
2025-10-24T22:25:54.974Z,1761344754.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669202,-0.743080,-0.000735],[0.642642,0.578252,0.502629],[-0.373068,-0.336833,0.864502]]
2025-10-24T22:25:55.057Z,1761344755.057 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T22:25:55.058Z,1761344755.058 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:25:55.058Z,1761344755.058 [DAT](INFO): commRate: 600
2025-10-24T22:25:55.442Z,1761344755.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680836,-0.732238,0.017002],[0.624982,0.592900,0.507806],[-0.381915,-0.335107,0.861304]]
2025-10-24T22:25:55.873Z,1761344755.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688405,-0.724676,0.030721],[0.611443,0.602581,0.512868],[-0.390175,-0.334277,0.857917]]
2025-10-24T22:25:56.277Z,1761344756.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692446,-0.720461,0.038134],[0.604544,0.608261,0.514340],[-0.393757,-0.333099,0.856738]]
2025-10-24T22:25:56.290Z,1761344756.290 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,  +195,  -44,A
2025-10-24T22:25:56.688Z,1761344756.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696967,-0.715972,0.040257],[0.600071,0.613037,0.513907],[-0.392622,-0.334019,0.856901]]
2025-10-24T22:25:57.085Z,1761344757.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703181,-0.709524,0.045965],[0.595461,0.622998,0.507247],[-0.388540,-0.329316,0.860574]]
2025-10-24T22:25:57.128Z,1761344757.128 [DAT](INFO): entering command mode
2025-10-24T22:25:57.329Z,1761344757.329 [DAT](INFO): DAT read: 
user:1>

2025-10-24T22:25:57.329Z,1761344757.329 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:25:57.552Z,1761344757.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711369,-0.700606,0.055716],[0.588380,0.637024,0.498006],[-0.384398,-0.321484,0.865382]]
2025-10-24T22:25:57.580Z,1761344757.580 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:25:57.833Z,1761344757.833 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:25:57.999Z,1761344757.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729297,-0.677819,0.093208],[0.561446,0.670733,0.484661],[-0.391030,-0.301131,0.869722]]
2025-10-24T22:25:58.084Z,1761344758.084 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:25:58.336Z,1761344758.336 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:25:58.588Z,1761344758.588 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:25:58.845Z,1761344758.845 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:25:58.856Z,1761344758.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742461,-0.657319,0.129165],[0.526154,0.691554,0.494889],[-0.414624,-0.299475,0.859303]]
2025-10-24T22:25:59.096Z,1761344759.096 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:25:59.259Z,1761344759.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748895,-0.649685,0.130634],[0.511949,0.692365,0.508467],[-0.420790,-0.313911,0.851115]]
2025-10-24T22:25:59.349Z,1761344759.349 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:25:59.600Z,1761344759.600 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:25:59.680Z,1761344759.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756910,-0.641933,0.122516],[0.502076,0.691203,0.519767],[-0.418339,-0.331905,0.845478]]
2025-10-24T22:25:59.852Z,1761344759.852 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:00.104Z,1761344760.104 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:00.356Z,1761344760.356 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:00.470Z,1761344760.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771847,-0.627858,0.100233],[0.496387,0.693571,0.522072],[-0.397306,-0.353206,0.846991]]
2025-10-24T22:26:00.608Z,1761344760.608 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:00.867Z,1761344760.867 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:00.882Z,1761344760.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775733,-0.623574,0.096924],[0.494969,0.696496,0.519518],[-0.391465,-0.355033,0.848944]]
2025-10-24T22:26:01.122Z,1761344761.122 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:01.286Z,1761344761.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778481,-0.619414,0.101457],[0.490084,0.700836,0.518312],[-0.392154,-0.353773,0.849152]]
2025-10-24T22:26:01.373Z,1761344761.373 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:01.624Z,1761344761.624 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:01.689Z,1761344761.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783268,-0.610839,0.115616],[0.477338,0.710061,0.517650],[-0.398295,-0.350271,0.847745]]
2025-10-24T22:26:01.876Z,1761344761.876 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:02.091Z,1761344762.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790705,-0.599007,0.126392],[0.463642,0.720753,0.515316],[-0.399776,-0.348862,0.847629]]
2025-10-24T22:26:02.128Z,1761344762.128 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:02.380Z,1761344762.380 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:02.495Z,1761344762.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795245,-0.593106,0.125740],[0.459777,0.725149,0.512605],[-0.395210,-0.349834,0.849368]]
2025-10-24T22:26:02.637Z,1761344762.637 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:02.888Z,1761344762.888 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:02.908Z,1761344762.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796312,-0.593529,0.116668],[0.464173,0.723266,0.511301],[-0.387854,-0.353001,0.851445]]
2025-10-24T22:26:03.140Z,1761344763.140 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:03.314Z,1761344763.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799433,-0.591516,0.104961],[0.466227,0.721056,0.512553],[-0.378866,-0.360816,0.852216]]
2025-10-24T22:26:03.392Z,1761344763.392 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:03.438Z,1761344763.438 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:26:03.438Z,1761344763.438 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:26:03.438Z,1761344763.438 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:26:03.438Z,1761344763.438 [marl:UpdateRudder:A] Stopped
2025-10-24T22:26:03.438Z,1761344763.438 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:26:03.438Z,1761344763.438 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:26:03.438Z,1761344763.438 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:26:03.439Z,1761344763.439 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:26:03.439Z,1761344763.439 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:26:03.439Z,1761344763.439 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:26:03.439Z,1761344763.439 [marl:UpdateCommandMode] Stopped
2025-10-24T22:26:03.439Z,1761344763.439 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:26:03.439Z,1761344763.439 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:26:03.439Z,1761344763.439 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:26:03.439Z,1761344763.439 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:26:03.444Z,1761344763.444 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:26:03.444Z,1761344763.444 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:26:03.444Z,1761344763.444 [marl:UpdateSpeed] Stopped
2025-10-24T22:26:03.444Z,1761344763.444 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:26:03.645Z,1761344763.645 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:03.707Z,1761344763.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810412,-0.577912,0.096182],[0.456846,0.726152,0.513804],[-0.366776,-0.372452,0.852499]]
2025-10-24T22:26:03.766Z,1761344763.766 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:26:03.766Z,1761344763.766 [marl:UpdateRudder:B] Stopped
2025-10-24T22:26:03.766Z,1761344763.766 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:26:03.766Z,1761344763.766 [marl:UpdateRudder] Stopped
2025-10-24T22:26:03.766Z,1761344763.766 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:26:03.897Z,1761344763.897 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:04.110Z,1761344764.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828025,-0.551367,0.101829],[0.431352,0.742450,0.512546],[-0.358204,-0.380477,0.852600]]
2025-10-24T22:26:04.148Z,1761344764.148 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:04.400Z,1761344764.400 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:04.517Z,1761344764.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835238,-0.535344,0.125634],[0.412062,0.760624,0.501654],[-0.364118,-0.367231,0.855897]]
2025-10-24T22:26:04.653Z,1761344764.653 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:04.904Z,1761344764.904 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:04.919Z,1761344764.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832578,-0.534929,0.143755],[0.414011,0.773389,0.480068],[-0.367981,-0.340178,0.865372]]
2025-10-24T22:26:05.156Z,1761344765.156 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:05.323Z,1761344765.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833306,-0.536910,0.131642],[0.429418,0.778647,0.457503],[-0.348141,-0.324711,0.879409]]
2025-10-24T22:26:05.411Z,1761344765.411 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:05.661Z,1761344765.661 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:05.727Z,1761344765.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848362,-0.519668,0.101129],[0.428429,0.786111,0.445509],[-0.311016,-0.334627,0.889547]]
2025-10-24T22:26:05.915Z,1761344765.915 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:06.130Z,1761344766.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866635,-0.489220,0.098018],[0.401852,0.800835,0.444047],[-0.295733,-0.345438,0.890626]]
2025-10-24T22:26:06.164Z,1761344766.164 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:06.169Z,1761344766.169 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,     -137.29,65.86+14.39,  20.00,  0.00
2025-10-24T22:26:06.202Z,1761344766.202 [marl:NeedComms:C] Running Loop=1
2025-10-24T22:26:06.416Z,1761344766.416 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:06.534Z,1761344766.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872871,-0.471769,0.124625],[0.377266,0.814468,0.440808],[-0.309463,-0.337751,0.888908]]
2025-10-24T22:26:06.669Z,1761344766.669 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:06.868Z,1761344766.868 [Radio_Surface](INFO): Powering up
2025-10-24T22:26:06.925Z,1761344766.925 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:06.991Z,1761344766.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874933,-0.468228,0.123514],[0.369787,0.810713,0.453874],[-0.312651,-0.351435,0.882464]]
2025-10-24T22:26:07.176Z,1761344767.176 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:07.396Z,1761344767.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876267,-0.473421,0.089598],[0.375858,0.787979,0.487669],[-0.301474,-0.393652,0.868419]]
2025-10-24T22:26:07.428Z,1761344767.428 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:07.681Z,1761344767.681 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:07.809Z,1761344767.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889682,-0.451559,0.067529],[0.372206,0.802956,0.465537],[-0.264441,-0.389046,0.882448]]
2025-10-24T22:26:07.934Z,1761344767.934 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:08.184Z,1761344768.184 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:08.202Z,1761344768.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915437,-0.402071,0.017719],[0.357379,0.832353,0.423637],[-0.185081,-0.381481,0.905659]]
2025-10-24T22:26:08.436Z,1761344768.436 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:08.607Z,1761344768.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940817,-0.337990,-0.025023],[0.321986,0.868338,0.377245],[-0.105776,-0.362976,0.925775]]
2025-10-24T22:26:08.688Z,1761344768.688 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:08.940Z,1761344768.940 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:09.011Z,1761344769.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954580,-0.296792,0.026294],[0.277570,0.917885,0.283623],[-0.108312,-0.263443,0.958575]]
2025-10-24T22:26:09.192Z,1761344769.192 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:09.415Z,1761344769.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955162,-0.285736,0.077587],[0.277137,0.955033,0.105391],[-0.104212,-0.079163,0.991399]]
2025-10-24T22:26:09.444Z,1761344769.444 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:09.696Z,1761344769.696 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:09.818Z,1761344769.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957388,-0.277407,0.080330],[0.278477,0.960440,-0.002212],[-0.076538,0.024488,0.996766]]
2025-10-24T22:26:09.950Z,1761344769.950 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:10.200Z,1761344770.200 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:10.223Z,1761344770.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958071,-0.282480,0.048015],[0.282107,0.959273,0.014515],[-0.050160,-0.000361,0.998741]]
2025-10-24T22:26:10.452Z,1761344770.452 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:10.628Z,1761344770.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975192,-0.221350,-0.002322],[0.221162,0.973809,0.052753],[-0.009415,-0.051958,0.998605]]
2025-10-24T22:26:10.705Z,1761344770.705 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:10.957Z,1761344770.957 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:11.030Z,1761344771.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983282,-0.181728,-0.011434],[0.182054,0.979947,0.080998],[-0.003515,-0.081726,0.996649]]
2025-10-24T22:26:11.208Z,1761344771.208 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:11.434Z,1761344771.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986039,-0.165419,-0.019094],[0.166278,0.984271,0.059685],[0.008921,-0.062027,0.998035]]
2025-10-24T22:26:11.460Z,1761344771.460 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:11.712Z,1761344771.712 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:11.839Z,1761344771.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989653,-0.143301,-0.007177],[0.143426,0.989419,0.021881],[0.003965,-0.022684,0.999735]]
2025-10-24T22:26:11.966Z,1761344771.966 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:12.120Z,1761344772.120 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-10-24T22:26:12.121Z,1761344772.121 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-10-24T22:26:12.216Z,1761344772.216 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:26:12.216Z,1761344772.216 [DAT](FAULT): failed to enter command mode
2025-10-24T22:26:12.242Z,1761344772.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990872,-0.134799,0.000980],[0.134802,0.990828,-0.009371],[0.000292,0.009418,0.999956]]
2025-10-24T22:26:12.520Z,1761344772.520 [DAT](INFO): entering command mode
2025-10-24T22:26:12.647Z,1761344772.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993182,-0.115494,-0.015835],[0.115388,0.993293,-0.007435],[0.016587,0.005557,0.999847]]
2025-10-24T22:26:12.722Z,1761344772.722 [DAT](INFO): DAT read: user:1>

2025-10-24T22:26:12.723Z,1761344772.723 [DAT](INFO): DAT read: Command '+++' not found

2025-10-24T22:26:12.725Z,1761344772.725 [DAT](INFO): DAT read: Error

2025-10-24T22:26:12.725Z,1761344772.725 [DAT](INFO): setting verbose to 3
2025-10-24T22:26:12.973Z,1761344772.973 [DAT](INFO): DAT read: user:2>

2025-10-24T22:26:12.974Z,1761344772.974 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T22:26:12.974Z,1761344772.974 [DAT](INFO): set verbose to 3
2025-10-24T22:26:12.974Z,1761344772.974 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T22:26:13.053Z,1761344773.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995930,-0.081927,-0.037560],[0.081981,0.996634,-0.000101],[0.037442,-0.002979,0.999294]]
2025-10-24T22:26:13.225Z,1761344773.225 [DAT](INFO): DAT read: user:3>

2025-10-24T22:26:13.226Z,1761344773.226 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T22:26:13.226Z,1761344773.226 [DAT](INFO): set DatVerbose to 27440
2025-10-24T22:26:13.226Z,1761344773.226 [DAT](INFO): setting transmit power to 8
2025-10-24T22:26:13.454Z,1761344773.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996817,-0.043476,-0.066830],[0.043389,0.999054,-0.002761],[0.066887,-0.000148,0.997761]]
2025-10-24T22:26:13.477Z,1761344773.477 [DAT](INFO): DAT read: user:4>

2025-10-24T22:26:13.478Z,1761344773.478 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T22:26:13.478Z,1761344773.478 [DAT](INFO): set transmit power to 8
2025-10-24T22:26:13.478Z,1761344773.478 [DAT](INFO): setting local address to 11
2025-10-24T22:26:13.729Z,1761344773.729 [DAT](INFO): DAT read: user:5>

2025-10-24T22:26:13.730Z,1761344773.730 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T22:26:13.730Z,1761344773.730 [DAT](INFO): set local address to 11
2025-10-24T22:26:13.731Z,1761344773.731 [DAT](INFO): Setting time to: 22:26:13 And date to:10/24/2025
2025-10-24T22:26:13.858Z,1761344773.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998644,-0.014133,-0.050112],[0.016777,0.998466,0.052755],[0.049290,-0.053525,0.997349]]
2025-10-24T22:26:13.981Z,1761344773.981 [DAT](INFO): DAT read: user:6>

2025-10-24T22:26:13.982Z,1761344773.982 [DAT](INFO): DAT read: Fri Oct 24, 2025  22:26:13  

2025-10-24T22:26:13.982Z,1761344773.982 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  22:26:13  

2025-10-24T22:26:13.983Z,1761344773.983 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:26:13.983Z,1761344773.983 [DAT](INFO): setting remote address to 0
2025-10-24T22:26:14.233Z,1761344774.233 [DAT](INFO): DAT read: user:7>

2025-10-24T22:26:14.234Z,1761344774.234 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:26:14.234Z,1761344774.234 [DAT](INFO): set remote address to 0
2025-10-24T22:26:14.234Z,1761344774.234 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:26:14.235Z,1761344774.235 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:26:14.292Z,1761344774.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999052,0.003339,-0.043405],[-0.000508,0.997881,0.065069],[0.043530,-0.064985,0.996936]]
2025-10-24T22:26:14.485Z,1761344774.485 [DAT](INFO): DAT read: user:8>

2025-10-24T22:26:14.485Z,1761344774.485 [DAT](INFO): DAT read: Tx time:22:26:13.6539

2025-10-24T22:26:14.486Z,1761344774.486 [DAT](INFO): Ping request sent.
2025-10-24T22:26:14.486Z,1761344774.486 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:26:14.486Z,1761344774.486 [DAT](INFO): publishing transmit ping time
2025-10-24T22:26:14.487Z,1761344774.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000948
2025-10-24T22:26:14.671Z,1761344774.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998821,0.043912,-0.020713],[-0.044103,0.998988,-0.008869],[0.020302,0.009772,0.999746]]
2025-10-24T22:26:14.737Z,1761344774.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250942
2025-10-24T22:26:14.989Z,1761344774.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502999
2025-10-24T22:26:15.071Z,1761344775.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996870,0.064878,-0.045180],[-0.066556,0.997108,-0.036675],[0.042670,0.039567,0.998305]]
2025-10-24T22:26:15.241Z,1761344775.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754898
2025-10-24T22:26:15.478Z,1761344775.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990724,0.125830,-0.051319],[-0.126969,0.991714,-0.019561],[0.048433,0.025896,0.998491]]
2025-10-24T22:26:15.493Z,1761344775.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007592
2025-10-24T22:26:15.745Z,1761344775.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258956
2025-10-24T22:26:15.880Z,1761344775.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992140,0.121998,-0.027831],[-0.122847,0.991936,-0.031168],[0.023804,0.034342,0.999127]]
2025-10-24T22:26:15.997Z,1761344775.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511035
2025-10-24T22:26:16.249Z,1761344776.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762915
2025-10-24T22:26:16.290Z,1761344776.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988870,0.141987,-0.044459],[-0.142695,0.989679,-0.013180],[0.042128,0.019377,0.998924]]
2025-10-24T22:26:16.342Z,1761344776.342 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:26:16.342Z,1761344776.342 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:26:16.342Z,1761344776.342 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:26:16.342Z,1761344776.342 [marl:UpdateRudder:A] Stopped
2025-10-24T22:26:16.342Z,1761344776.342 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:26:16.343Z,1761344776.343 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:26:16.343Z,1761344776.343 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:26:16.343Z,1761344776.343 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:26:16.343Z,1761344776.343 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:26:16.343Z,1761344776.343 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:26:16.343Z,1761344776.343 [marl:UpdateCommandMode] Stopped
2025-10-24T22:26:16.343Z,1761344776.343 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:26:16.343Z,1761344776.343 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:26:16.344Z,1761344776.344 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:26:16.344Z,1761344776.344 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:26:16.344Z,1761344776.344 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:26:16.344Z,1761344776.344 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:26:16.344Z,1761344776.344 [marl:UpdateSpeed] Stopped
2025-10-24T22:26:16.345Z,1761344776.345 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:26:16.501Z,1761344776.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014991
2025-10-24T22:26:16.632Z,1761344776.632 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:26:16.696Z,1761344776.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980031,0.196945,-0.027409],[-0.195625,0.979665,0.044576],[0.035630,-0.038324,0.998630]]
2025-10-24T22:26:16.753Z,1761344776.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266915
2025-10-24T22:26:16.813Z,1761344776.813 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:26:16.813Z,1761344776.813 [marl:UpdateRudder:B] Stopped
2025-10-24T22:26:16.813Z,1761344776.813 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:26:16.813Z,1761344776.813 [marl:UpdateRudder] Stopped
2025-10-24T22:26:16.813Z,1761344776.813 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:26:17.005Z,1761344777.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519554
2025-10-24T22:26:17.092Z,1761344777.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967872,0.246859,-0.047787],[-0.243076,0.967232,0.073327],[0.064323,-0.059355,0.996162]]
2025-10-24T22:26:17.258Z,1761344777.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771625
2025-10-24T22:26:17.497Z,1761344777.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954338,0.298213,-0.017529],[-0.298429,0.954364,-0.011340],[0.013347,0.016053,0.999782]]
2025-10-24T22:26:17.513Z,1761344777.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026927
2025-10-24T22:26:17.637Z,1761344777.637 [DataOverHttps](INFO): Radio surface powered ON.
2025-10-24T22:26:17.637Z,1761344777.637 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:26:17.766Z,1761344777.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279658
2025-10-24T22:26:17.902Z,1761344777.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956056,0.292562,0.019095],[-0.289358,0.952062,-0.099245],[-0.047215,0.089359,0.994880]]
2025-10-24T22:26:18.019Z,1761344778.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532648
2025-10-24T22:26:18.269Z,1761344778.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783277
2025-10-24T22:26:18.308Z,1761344778.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951011,0.306370,-0.041413],[-0.309045,0.938510,-0.153913],[-0.008288,0.159172,0.987216]]
2025-10-24T22:26:18.521Z,1761344778.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034926
2025-10-24T22:26:18.707Z,1761344778.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944580,0.320170,-0.072528],[-0.327728,0.932515,-0.151691],[0.019067,0.167054,0.985763]]
2025-10-24T22:26:18.774Z,1761344778.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287864
2025-10-24T22:26:19.025Z,1761344779.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538919
2025-10-24T22:26:19.110Z,1761344779.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931312,0.358819,-0.062508],[-0.363238,0.927626,-0.086994],[0.026768,0.103724,0.994246]]
2025-10-24T22:26:19.277Z,1761344779.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791384
2025-10-24T22:26:19.523Z,1761344779.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911305,0.411664,0.007502],[-0.411701,0.910860,0.028920],[0.005072,-0.029443,0.999554]]
2025-10-24T22:26:19.529Z,1761344779.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043097
2025-10-24T22:26:19.782Z,1761344779.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295962
2025-10-24T22:26:19.953Z,1761344779.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906922,0.418950,0.044419],[-0.421195,0.899312,0.117615],[0.009329,-0.125377,0.992065]]
2025-10-24T22:26:20.033Z,1761344780.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546922
2025-10-24T22:26:20.286Z,1761344780.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799665
2025-10-24T22:26:20.322Z,1761344780.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893797,0.447627,0.027513],[-0.446705,0.883157,0.143135],[0.039772,-0.140224,0.989321]]
2025-10-24T22:26:20.537Z,1761344780.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050929
2025-10-24T22:26:20.726Z,1761344780.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869986,0.492598,0.021729],[-0.491537,0.862947,0.117108],[0.038936,-0.112563,0.992881]]
2025-10-24T22:26:20.789Z,1761344780.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303098
2025-10-24T22:26:21.041Z,1761344781.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554961
2025-10-24T22:26:21.133Z,1761344781.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856925,0.514939,0.022742],[-0.515144,0.854102,0.071662],[0.017477,-0.073125,0.997170]]
2025-10-24T22:26:21.293Z,1761344781.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806938
2025-10-24T22:26:21.537Z,1761344781.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853637,0.520491,0.019809],[-0.520085,0.853822,-0.022361],[-0.028552,0.008786,0.999554]]
2025-10-24T22:26:21.549Z,1761344781.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063056
2025-10-24T22:26:21.801Z,1761344781.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314936
2025-10-24T22:26:21.975Z,1761344781.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849508,0.525276,-0.049212],[-0.526937,0.840187,-0.128153],[-0.025969,0.134799,0.990533]]
2025-10-24T22:26:22.053Z,1761344782.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566990
2025-10-24T22:26:22.305Z,1761344782.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818932
2025-10-24T22:26:22.343Z,1761344782.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834606,0.536186,-0.126239],[-0.548909,0.828743,-0.109015],[0.046168,0.160278,0.985992]]
2025-10-24T22:26:22.557Z,1761344782.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.071009
2025-10-24T22:26:22.755Z,1761344782.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816615,0.571684,-0.079485],[-0.574913,0.817855,-0.024249],[0.051145,0.065499,0.996541]]
2025-10-24T22:26:22.809Z,1761344782.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322904
2025-10-24T22:26:23.061Z,1761344783.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574941
2025-10-24T22:26:23.150Z,1761344783.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792871,0.607885,0.042808],[-0.608034,0.793836,-0.010932],[-0.040628,-0.017361,0.999023]]
2025-10-24T22:26:23.314Z,1761344783.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827796
2025-10-24T22:26:23.554Z,1761344783.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787697,0.611375,0.075861],[-0.612027,0.790653,-0.017047],[-0.070402,-0.033001,0.996973]]
2025-10-24T22:26:23.565Z,1761344783.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078833
2025-10-24T22:26:23.817Z,1761344783.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330977
2025-10-24T22:26:24.069Z,1761344784.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583107
2025-10-24T22:26:24.321Z,1761344784.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834910
2025-10-24T22:26:24.368Z,1761344784.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786040,0.616837,-0.040653],[-0.617829,0.786100,-0.018273],[0.020686,0.039480,0.999006]]
2025-10-24T22:26:24.572Z,1761344784.572 [DAT](INFO): Reached modem response timeout
2025-10-24T22:26:24.778Z,1761344784.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744977,0.660319,-0.094808],[-0.661426,0.749635,0.023744],[0.086750,0.045020,0.995212]]
2025-10-24T22:26:25.171Z,1761344785.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704661,0.707399,-0.055138],[-0.705189,0.706815,0.055877],[0.078500,-0.000492,0.996914]]
2025-10-24T22:26:25.577Z,1761344785.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702838,0.711140,0.017298],[-0.711304,0.702308,0.028456],[0.008087,-0.032304,0.999445]]
2025-10-24T22:26:26.007Z,1761344786.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706049,0.707950,0.017357],[-0.707804,0.706260,-0.014521],[-0.022539,-0.002033,0.999744]]
2025-10-24T22:26:26.383Z,1761344786.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681272,0.731589,-0.025427],[-0.732029,0.680779,-0.025963],[-0.001684,0.036302,0.999339]]
2025-10-24T22:26:26.788Z,1761344786.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677487,0.735201,-0.022149],[-0.735535,0.677182,-0.020305],[0.000071,0.030047,0.999548]]
2025-10-24T22:26:26.861Z,1761344786.861 [DAT](INFO): DAT read: Response Not Received

2025-10-24T22:26:26.861Z,1761344786.861 [DAT](INFO): response not received
2025-10-24T22:26:26.861Z,1761344786.861 [DAT](ERROR): No response from remote modem.
2025-10-24T22:26:27.192Z,1761344787.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644983,0.763368,-0.035579],[-0.762663,0.645939,0.033292],[0.048396,0.005662,0.998812]]
2025-10-24T22:26:27.595Z,1761344787.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603812,0.797073,-0.009317],[-0.794875,0.602943,0.068070],[0.059874,-0.033696,0.997637]]
2025-10-24T22:26:27.998Z,1761344787.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599344,0.800281,0.018330],[-0.799548,0.597370,0.062227],[0.038849,-0.051952,0.997894]]
2025-10-24T22:26:28.403Z,1761344788.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592936,0.802714,0.063855],[-0.804520,0.593907,0.004557],[-0.034266,-0.054075,0.997949]]
2025-10-24T22:26:28.808Z,1761344788.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588112,0.808208,0.030387],[-0.808570,0.588399,-0.000626],[-0.018386,-0.024202,0.999538]]
2025-10-24T22:26:29.210Z,1761344789.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557905,0.828790,-0.043003],[-0.828910,0.559024,0.020022],[0.040634,0.024475,0.998874]]
2025-10-24T22:26:29.288Z,1761344789.288 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:26:29.288Z,1761344789.288 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:26:29.289Z,1761344789.289 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:26:29.289Z,1761344789.289 [marl:UpdateRudder:A] Stopped
2025-10-24T22:26:29.289Z,1761344789.289 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:26:29.289Z,1761344789.289 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:26:29.289Z,1761344789.289 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:26:29.289Z,1761344789.289 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:26:29.290Z,1761344789.290 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:26:29.290Z,1761344789.290 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:26:29.290Z,1761344789.290 [marl:UpdateCommandMode] Stopped
2025-10-24T22:26:29.290Z,1761344789.290 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:26:29.290Z,1761344789.290 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:26:29.290Z,1761344789.290 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:26:29.290Z,1761344789.290 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:26:29.291Z,1761344789.291 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:26:29.291Z,1761344789.291 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:26:29.291Z,1761344789.291 [marl:UpdateSpeed] Stopped
2025-10-24T22:26:29.291Z,1761344789.291 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:26:29.614Z,1761344789.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548568,0.834977,-0.043442],[-0.833662,0.550195,0.047877],[0.063878,0.009952,0.997908]]
2025-10-24T22:26:29.681Z,1761344789.681 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:26:29.681Z,1761344789.681 [marl:UpdateRudder:B] Stopped
2025-10-24T22:26:29.681Z,1761344789.681 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:26:29.681Z,1761344789.681 [marl:UpdateRudder] Stopped
2025-10-24T22:26:29.681Z,1761344789.681 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:26:30.019Z,1761344790.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527152,0.849184,-0.031583],[-0.845363,0.527836,0.082161],[0.086441,-0.016613,0.996118]]
2025-10-24T22:26:30.428Z,1761344790.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466239,0.883098,0.052527],[-0.884574,0.466193,0.013872],[-0.012238,-0.052932,0.998523]]
2025-10-24T22:26:30.831Z,1761344790.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466019,0.883326,0.050603],[-0.883814,0.467415,-0.019876],[-0.041210,-0.035462,0.998521]]
2025-10-24T22:26:31.239Z,1761344791.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458005,0.888808,-0.015889],[-0.887840,0.456467,-0.058115],[-0.044400,0.040724,0.998183]]
2025-10-24T22:26:31.639Z,1761344791.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437515,0.897795,-0.050445],[-0.898577,0.434411,-0.062027],[-0.033774,0.072466,0.996799]]
2025-10-24T22:26:32.041Z,1761344792.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443856,0.895880,-0.019744],[-0.895108,0.442223,-0.056753],[-0.042113,0.042863,0.998193]]
2025-10-24T22:26:32.442Z,1761344792.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422155,0.904898,0.054264],[-0.904424,0.424494,-0.042691],[-0.061666,-0.031056,0.997614]]
2025-10-24T22:26:32.848Z,1761344792.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400763,0.909540,0.110115],[-0.913161,0.406297,-0.032535],[-0.074331,-0.087514,0.993386]]
2025-10-24T22:26:33.262Z,1761344793.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378372,0.914757,0.141617],[-0.923128,0.384190,-0.015219],[-0.068330,-0.124972,0.989805]]
2025-10-24T22:26:33.659Z,1761344793.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361033,0.926614,0.105078],[-0.932302,0.356022,0.063727],[0.021641,-0.120973,0.992420]]
2025-10-24T22:26:34.058Z,1761344794.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345779,0.936062,0.065002],[-0.935512,0.338566,0.100950],[0.072488,-0.095717,0.992766]]
2025-10-24T22:26:34.464Z,1761344794.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371463,0.928430,0.005678],[-0.923657,0.368919,0.103713],[0.094196,-0.043770,0.994591]]
2025-10-24T22:26:34.866Z,1761344794.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353005,0.932822,-0.072325],[-0.927876,0.358961,0.100963],[0.120142,0.031468,0.992258]]
2025-10-24T22:26:35.272Z,1761344795.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302119,0.951652,-0.055526],[-0.947410,0.306201,0.093033],[0.105537,0.024498,0.994114]]
2025-10-24T22:26:35.682Z,1761344795.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320559,0.946978,0.021794],[-0.943657,0.317270,0.094083],[0.082180,-0.050725,0.995326]]
2025-10-24T22:26:36.079Z,1761344796.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335515,0.940635,0.051337],[-0.934184,0.325203,0.146778],[0.121369,-0.097204,0.987836]]
2025-10-24T22:26:36.482Z,1761344796.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297517,0.952789,0.060630],[-0.946564,0.286099,0.148878],[0.124503,-0.101684,0.986995]]
2025-10-24T22:26:36.886Z,1761344796.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264518,0.961499,0.074500],[-0.959639,0.254779,0.119082],[0.095516,-0.102992,0.990085]]
2025-10-24T22:26:37.291Z,1761344797.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265873,0.962645,0.051248],[-0.957339,0.257418,0.131294],[0.113197,-0.083969,0.990018]]
2025-10-24T22:26:37.703Z,1761344797.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278581,0.960369,0.009237],[-0.953998,0.275597,0.118039],[0.110815,-0.041695,0.992966]]
2025-10-24T22:26:38.099Z,1761344798.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250635,0.967979,-0.014094],[-0.962705,0.250748,0.101613],[0.101893,-0.011899,0.994724]]
2025-10-24T22:26:38.503Z,1761344798.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230952,0.972761,-0.019942],[-0.963257,0.231487,0.136194],[0.137101,-0.012245,0.990481]]
2025-10-24T22:26:38.907Z,1761344798.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196702,0.980231,0.021334],[-0.974533,0.193076,0.114043],[0.107670,-0.043224,0.993247]]
2025-10-24T22:26:39.312Z,1761344799.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162127,0.984624,0.065036],[-0.985916,0.158893,0.052181],[0.041045,-0.072580,0.996518]]
2025-10-24T22:26:39.717Z,1761344799.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177975,0.979678,0.092499],[-0.983249,0.173289,0.056504],[0.039327,-0.101006,0.994108]]
2025-10-24T22:26:40.118Z,1761344800.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216129,0.972818,0.083145],[-0.973254,0.207865,0.097823],[0.077882,-0.102063,0.991724]]
2025-10-24T22:26:40.522Z,1761344800.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184728,0.981551,0.049318],[-0.981170,0.181311,0.066572],[0.056402,-0.060687,0.996562]]
2025-10-24T22:26:40.618Z,1761344800.618 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:26:40.618Z,1761344800.618 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:26:40.928Z,1761344800.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165706,0.985701,0.030591],[-0.984555,0.167131,-0.052138],[-0.056505,-0.021479,0.998171]]
2025-10-24T22:26:40.958Z,1761344800.958 [marl:SendObservationData] Running Loop=1
2025-10-24T22:26:40.959Z,1761344800.959 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T22:26:40.959Z,1761344800.959 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T22:26:40.960Z,1761344800.960 [marl:SendObservationData:A] Running Loop=1
2025-10-24T22:26:40.961Z,1761344800.961 [marl:SendObservationData:A](INFO): Got test_good :  41da3eff2000000040514000000000004042632b4f21c849c05e774ffebe0d33402da4634000000040594cccc0000000 n/a str  and temp var is  nan n/a str 
2025-10-24T22:26:40.961Z,1761344800.961 [marl:SendObservationData:A] Stopped
2025-10-24T22:26:40.961Z,1761344800.961 [marl:SendObservationData:B] Running Loop=1
2025-10-24T22:26:41.331Z,1761344801.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155051,0.987405,0.031484],[-0.981207,0.157626,-0.111296],[-0.114857,-0.013636,0.993288]]
2025-10-24T22:26:41.368Z,1761344801.368 [marl:SendObservationData:B] Stopped
2025-10-24T22:26:41.369Z,1761344801.369 [marl:SendObservationData:C] Running Loop=1
2025-10-24T22:26:41.745Z,1761344801.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129589,0.990977,0.034213],[-0.988718,0.131754,-0.071256],[-0.075121,-0.024593,0.996871]]
2025-10-24T22:26:41.793Z,1761344801.793 [marl:SendObservationData:C] Stopped
2025-10-24T22:26:41.793Z,1761344801.793 [marl:SendObservationData:E] Running Loop=1
2025-10-24T22:26:42.139Z,1761344802.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142425,0.988208,0.056210],[-0.989753,0.142773,-0.002206],[-0.010205,-0.055320,0.998416]]
2025-10-24T22:26:42.201Z,1761344802.201 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:26:42.201Z,1761344802.201 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:26:42.202Z,1761344802.202 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:26:42.202Z,1761344802.202 [marl:UpdateRudder:A] Stopped
2025-10-24T22:26:42.202Z,1761344802.202 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:26:42.202Z,1761344802.202 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:26:42.202Z,1761344802.202 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:26:42.202Z,1761344802.202 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:26:42.203Z,1761344802.203 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:26:42.203Z,1761344802.203 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:26:42.203Z,1761344802.203 [marl:UpdateCommandMode] Stopped
2025-10-24T22:26:42.203Z,1761344802.203 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:26:42.203Z,1761344802.203 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:26:42.203Z,1761344802.203 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:26:42.203Z,1761344802.203 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:26:42.203Z,1761344802.203 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:26:42.204Z,1761344802.204 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:26:42.204Z,1761344802.204 [marl:UpdateSpeed] Stopped
2025-10-24T22:26:42.204Z,1761344802.204 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:26:42.206Z,1761344802.206 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.013147 min 
2025-10-24T22:26:42.207Z,1761344802.207 [marl:SendObservationData:E] Stopped
2025-10-24T22:26:42.207Z,1761344802.207 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T22:26:42.207Z,1761344802.207 [marl:SendObservationData] Stopped
2025-10-24T22:26:42.207Z,1761344802.207 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T22:26:42.207Z,1761344802.207 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T22:26:42.208Z,1761344802.208 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:26:42.253Z,1761344802.253 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:26:42.253Z,1761344802.253 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:26:42.505Z,1761344802.505 [DAT](INFO): DAT read: user:9>

2025-10-24T22:26:42.505Z,1761344802.505 [DAT](INFO): DAT read: Tx time:22:26:41.7039

2025-10-24T22:26:42.506Z,1761344802.506 [DAT](INFO): Ping request sent.
2025-10-24T22:26:42.506Z,1761344802.506 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:26:42.506Z,1761344802.506 [DAT](INFO): publishing transmit ping time
2025-10-24T22:26:42.507Z,1761344802.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000934
2025-10-24T22:26:42.543Z,1761344802.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144337,0.987174,0.068228],[-0.989529,0.143989,0.010012],[0.000059,-0.068958,0.997620]]
2025-10-24T22:26:42.613Z,1761344802.613 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:26:42.613Z,1761344802.613 [marl:UpdateRudder:B] Stopped
2025-10-24T22:26:42.613Z,1761344802.613 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:26:42.614Z,1761344802.614 [marl:UpdateRudder] Stopped
2025-10-24T22:26:42.614Z,1761344802.614 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:26:42.757Z,1761344802.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250951
2025-10-24T22:26:42.946Z,1761344802.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145870,0.986687,0.071903],[-0.989256,0.144761,0.020425],[0.009745,-0.074110,0.997202]]
2025-10-24T22:26:43.009Z,1761344803.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503080
2025-10-24T22:26:43.261Z,1761344803.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754934
2025-10-24T22:26:43.350Z,1761344803.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148311,0.985558,0.081723],[-0.988824,0.146518,0.027543],[0.015171,-0.084894,0.996274]]
2025-10-24T22:26:43.513Z,1761344803.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007576
2025-10-24T22:26:43.765Z,1761344803.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258974
2025-10-24T22:26:43.773Z,1761344803.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120695,0.990987,0.058117],[-0.992147,0.118486,0.040073],[0.032826,-0.062497,0.997505]]
2025-10-24T22:26:44.017Z,1761344804.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511008
2025-10-24T22:26:44.158Z,1761344804.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160052,0.985954,0.047724],[-0.984926,0.156299,0.074101],[0.065601,-0.058865,0.996108]]
2025-10-24T22:26:44.269Z,1761344804.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762972
2025-10-24T22:26:44.521Z,1761344804.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014941
2025-10-24T22:26:44.563Z,1761344804.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202098,0.978573,0.039384],[-0.976904,0.198578,0.078902],[0.069390,-0.054421,0.996104]]
2025-10-24T22:26:44.773Z,1761344804.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266883
2025-10-24T22:26:44.968Z,1761344804.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142591,0.987071,0.073209],[-0.989240,0.139675,0.043544],[0.032755,-0.078630,0.996366]]
2025-10-24T22:26:45.025Z,1761344805.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519031
2025-10-24T22:26:45.277Z,1761344805.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770984
2025-10-24T22:26:45.371Z,1761344805.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106299,0.984129,0.142095],[-0.994144,0.107985,-0.004185],[-0.019463,-0.140818,0.989844]]
2025-10-24T22:26:45.529Z,1761344805.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022885
2025-10-24T22:26:45.777Z,1761344805.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126636,0.979346,0.157623],[-0.991184,0.131171,-0.018670],[-0.038960,-0.153869,0.987323]]
2025-10-24T22:26:45.781Z,1761344805.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275024
2025-10-24T22:26:46.033Z,1761344806.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526898
2025-10-24T22:26:46.178Z,1761344806.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140455,0.985153,0.098718],[-0.990086,0.139646,0.015095],[0.001085,-0.099860,0.995001]]
2025-10-24T22:26:46.285Z,1761344806.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778990
2025-10-24T22:26:46.537Z,1761344806.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030904
2025-10-24T22:26:46.588Z,1761344806.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115295,0.993301,0.007703],[-0.993100,0.115097,0.022466],[0.021429,-0.010240,0.999718]]
2025-10-24T22:26:46.793Z,1761344806.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286916
2025-10-24T22:26:46.986Z,1761344806.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097630,0.995214,0.004114],[-0.994949,0.097505,0.023866],[0.023350,-0.006423,0.999707]]
2025-10-24T22:26:47.041Z,1761344807.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534935
2025-10-24T22:26:47.293Z,1761344807.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786883
2025-10-24T22:26:47.390Z,1761344807.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108672,0.992912,0.048130],[-0.993269,0.106504,0.045535],[0.040086,-0.052754,0.997803]]
2025-10-24T22:26:47.545Z,1761344807.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039528
2025-10-24T22:26:47.756Z,1761344807.756 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:26:47.797Z,1761344807.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290958
2025-10-24T22:26:47.800Z,1761344807.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126319,0.987781,0.091280],[-0.991006,0.121561,0.055947],[0.044168,-0.097526,0.994252]]
2025-10-24T22:26:48.049Z,1761344808.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542948
2025-10-24T22:26:48.200Z,1761344808.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115963,0.986524,0.115429],[-0.992952,0.112280,0.037939],[0.024468,-0.119015,0.992591]]
2025-10-24T22:26:48.301Z,1761344808.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794976
2025-10-24T22:26:48.553Z,1761344808.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046928
2025-10-24T22:26:48.602Z,1761344808.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092476,0.986462,0.135426],[-0.995364,0.095195,-0.013725],[-0.026431,-0.133529,0.990692]]
2025-10-24T22:26:48.760Z,1761344808.760 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:26:48.805Z,1761344808.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298886
2025-10-24T22:26:49.006Z,1761344809.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072265,0.987359,0.141068],[-0.997148,0.074607,-0.011377],[-0.021758,-0.139843,0.989935]]
2025-10-24T22:26:49.057Z,1761344809.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550975
2025-10-24T22:26:49.309Z,1761344809.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802958
2025-10-24T22:26:49.410Z,1761344809.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079909,0.987103,0.138714],[-0.996551,0.075986,0.033357],[0.022387,-0.140901,0.989770]]
2025-10-24T22:26:49.561Z,1761344809.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054911
2025-10-24T22:26:49.819Z,1761344809.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.313199
2025-10-24T22:26:49.830Z,1761344809.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108441,0.985503,0.130480],[-0.993364,0.112481,-0.023981],[-0.038310,-0.127013,0.991161]]
2025-10-24T22:26:50.065Z,1761344810.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558961
2025-10-24T22:26:50.226Z,1761344810.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100794,0.990574,0.092756],[-0.992453,0.106652,-0.060522],[-0.069844,-0.085956,0.993848]]
2025-10-24T22:26:50.317Z,1761344810.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811046
2025-10-24T22:26:50.569Z,1761344810.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062891
2025-10-24T22:26:50.622Z,1761344810.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076507,0.994345,0.073649],[-0.997059,0.075968,0.010104],[0.004452,-0.074206,0.997233]]
2025-10-24T22:26:50.821Z,1761344810.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314973
2025-10-24T22:26:51.029Z,1761344811.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079300,0.994500,0.068423],[-0.995899,0.076039,0.049028],[0.043556,-0.072030,0.996451]]
2025-10-24T22:26:51.073Z,1761344811.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566796
2025-10-24T22:26:51.325Z,1761344811.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818878
2025-10-24T22:26:51.430Z,1761344811.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121291,0.989976,0.072365],[-0.992226,0.118875,0.036825],[0.027853,-0.076269,0.996698]]
2025-10-24T22:26:51.577Z,1761344811.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070948
2025-10-24T22:26:51.833Z,1761344811.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326728
2025-10-24T22:26:51.840Z,1761344811.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154767,0.985941,0.062982],[-0.987795,0.153297,0.027573],[0.017530,-0.066481,0.997634]]
2025-10-24T22:26:52.085Z,1761344812.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579533
2025-10-24T22:26:52.242Z,1761344812.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140837,0.988624,0.052790],[-0.990033,0.140633,0.007573],[0.000063,-0.053331,0.998577]]
2025-10-24T22:26:52.339Z,1761344812.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.833014
2025-10-24T22:26:52.588Z,1761344812.588 [DAT](INFO): Reached modem response timeout
2025-10-24T22:26:52.645Z,1761344812.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113340,0.992095,0.053869],[-0.993497,0.113761,-0.004791],[-0.010882,-0.052975,0.998537]]
2025-10-24T22:26:53.047Z,1761344813.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099502,0.994282,0.038763],[-0.994883,0.098724,0.021502],[0.017552,-0.040704,0.999017]]
2025-10-24T22:26:53.450Z,1761344813.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120122,0.992580,0.018856],[-0.985755,0.117001,0.120823],[0.117720,-0.033101,0.992495]]
2025-10-24T22:26:53.868Z,1761344813.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152663,0.987969,0.024721],[-0.983579,0.149454,0.101173],[0.096261,-0.039761,0.994562]]
2025-10-24T22:26:54.258Z,1761344814.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135499,0.988058,0.073359],[-0.990777,0.135101,0.010377],[0.000342,-0.074088,0.997252]]
2025-10-24T22:26:54.667Z,1761344814.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137048,0.978087,0.156727],[-0.990535,0.136537,0.014075],[-0.007632,-0.157173,0.987542]]
2025-10-24T22:26:54.861Z,1761344814.861 [DAT](INFO): DAT read: Response Not Received

2025-10-24T22:26:54.861Z,1761344814.861 [DAT](INFO): response not received
2025-10-24T22:26:54.861Z,1761344814.861 [DAT](ERROR): No response from remote modem.
2025-10-24T22:26:55.066Z,1761344815.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170838,0.961527,0.215130],[-0.984987,0.161167,0.061858],[0.024806,-0.222468,0.974624]]
2025-10-24T22:26:55.118Z,1761344815.118 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:26:55.118Z,1761344815.118 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:26:55.118Z,1761344815.118 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:26:55.118Z,1761344815.118 [marl:UpdateRudder:A] Stopped
2025-10-24T22:26:55.118Z,1761344815.118 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:26:55.118Z,1761344815.118 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:26:55.118Z,1761344815.118 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:26:55.118Z,1761344815.118 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:26:55.119Z,1761344815.119 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:26:55.119Z,1761344815.119 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:26:55.119Z,1761344815.119 [marl:UpdateCommandMode] Stopped
2025-10-24T22:26:55.119Z,1761344815.119 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:26:55.119Z,1761344815.119 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:26:55.119Z,1761344815.119 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:26:55.119Z,1761344815.119 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:26:55.124Z,1761344815.124 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:26:55.124Z,1761344815.124 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:26:55.124Z,1761344815.124 [marl:UpdateSpeed] Stopped
2025-10-24T22:26:55.124Z,1761344815.124 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:26:55.471Z,1761344815.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143859,0.969639,0.197751],[-0.988585,0.131774,0.073042],[0.044766,-0.206001,0.977527]]
2025-10-24T22:26:55.500Z,1761344815.500 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:26:55.500Z,1761344815.500 [marl:UpdateRudder:B] Stopped
2025-10-24T22:26:55.500Z,1761344815.500 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:26:55.500Z,1761344815.500 [marl:UpdateRudder] Stopped
2025-10-24T22:26:55.501Z,1761344815.501 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:26:55.886Z,1761344815.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131277,0.979385,0.153527],[-0.990078,0.121697,0.070256],[0.050123,-0.161227,0.985644]]
2025-10-24T22:26:56.278Z,1761344816.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180274,0.980084,0.083291],[-0.983473,0.178153,0.032289],[0.016808,-0.087735,0.996002]]
2025-10-24T22:26:56.685Z,1761344816.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188696,0.982024,0.004820],[-0.980753,0.188698,-0.050155],[-0.050163,0.004736,0.998730]]
2025-10-24T22:26:57.087Z,1761344817.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184781,0.982601,-0.018759],[-0.982444,0.184184,-0.029672],[-0.025701,0.023913,0.999384]]
2025-10-24T22:26:57.491Z,1761344817.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186082,0.982280,-0.022348],[-0.978276,0.187343,0.088761],[0.091375,0.005346,0.995802]]
2025-10-24T22:26:57.899Z,1761344817.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192398,0.981227,0.013289],[-0.979274,0.191107,0.067088],[0.063289,-0.025921,0.997658]]
2025-10-24T22:26:58.299Z,1761344818.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189317,0.979450,0.069541],[-0.981902,0.189220,0.008027],[-0.005296,-0.069803,0.997547]]
2025-10-24T22:26:58.711Z,1761344818.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200959,0.968366,0.147930],[-0.978086,0.206739,-0.024634],[-0.054438,-0.139738,0.988691]]
2025-10-24T22:26:59.106Z,1761344819.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209898,0.960250,0.184017],[-0.976703,0.214528,-0.005395],[-0.044657,-0.178598,0.982908]]
2025-10-24T22:26:59.510Z,1761344819.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181431,0.966694,0.180516],[-0.983236,0.174927,0.051453],[0.018162,-0.186825,0.982225]]
2025-10-24T22:26:59.962Z,1761344819.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178901,0.969744,0.166102],[-0.983431,0.171227,0.059543],[0.029300,-0.174002,0.984309]]
2025-10-24T22:27:00.318Z,1761344820.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213042,0.967347,0.137309],[-0.976921,0.213122,0.014287],[-0.015443,-0.137184,0.990425]]
2025-10-24T22:27:00.725Z,1761344820.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215744,0.971951,0.093623],[-0.976371,0.215953,0.008019],[-0.012424,-0.093140,0.995575]]
2025-10-24T22:27:01.126Z,1761344821.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216177,0.974418,0.061454],[-0.975969,0.213896,0.041620],[0.027410,-0.068974,0.997242]]
2025-10-24T22:27:01.532Z,1761344821.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233310,0.970608,0.059047],[-0.971393,0.229871,0.059621],[0.044296,-0.071268,0.996473]]
2025-10-24T22:27:01.975Z,1761344821.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215597,0.973936,0.070468],[-0.976362,0.213872,0.031254],[0.015368,-0.075540,0.997024]]
2025-10-24T22:27:02.339Z,1761344822.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183322,0.979256,0.086323],[-0.983052,0.182737,0.014696],[-0.001383,-0.087554,0.996159]]
2025-10-24T22:27:02.742Z,1761344822.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219670,0.972374,0.078950],[-0.973958,0.213931,0.075096],[0.056132,-0.093390,0.994046]]
2025-10-24T22:27:03.149Z,1761344823.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252207,0.967511,0.017742],[-0.962631,0.248982,0.106535],[0.098657,-0.043948,0.994151]]
2025-10-24T22:27:03.551Z,1761344823.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220565,0.975106,-0.022797],[-0.970990,0.221727,0.089535],[0.092360,0.002388,0.995723]]
2025-10-24T22:27:03.987Z,1761344823.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218187,0.975811,0.013656],[-0.972738,0.216330,0.083562],[0.078586,-0.031516,0.996409]]
2025-10-24T22:27:04.359Z,1761344824.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257137,0.964686,0.057103],[-0.966191,0.255485,0.034677],[0.018864,-0.064089,0.997766]]
2025-10-24T22:27:04.763Z,1761344824.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257555,0.963071,0.078482],[-0.966188,0.257697,0.008479],[-0.012059,-0.078012,0.996880]]
2025-10-24T22:27:05.166Z,1761344825.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243144,0.966644,0.080504],[-0.969797,0.243912,0.000295],[-0.019350,-0.078144,0.996754]]
2025-10-24T22:27:05.570Z,1761344825.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267202,0.961845,0.058795],[-0.963330,0.265070,0.041622],[0.024449,-0.067760,0.997402]]
2025-10-24T22:27:06.017Z,1761344826.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283094,0.959050,0.008939],[-0.957237,0.281955,0.064804],[0.059630,-0.026902,0.997858]]
2025-10-24T22:27:06.379Z,1761344826.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259580,0.965676,0.009412],[-0.965653,0.259666,-0.009428],[-0.011549,-0.006641,0.999911]]
2025-10-24T22:27:06.783Z,1761344826.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270310,0.962170,0.034081],[-0.959192,0.272186,-0.076591],[-0.082970,-0.011987,0.996480]]
2025-10-24T22:27:07.195Z,1761344827.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260194,0.965353,0.019822],[-0.963318,0.260933,-0.062708],[-0.065707,-0.002779,0.997835]]
2025-10-24T22:27:07.590Z,1761344827.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252913,0.967254,0.021318],[-0.967450,0.253040,-0.003456],[-0.008737,-0.019750,0.999767]]
2025-10-24T22:27:07.998Z,1761344827.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271365,0.961361,0.046323],[-0.962476,0.271000,0.014114],[0.001015,-0.048415,0.998827]]
2025-10-24T22:27:08.084Z,1761344828.084 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:27:08.084Z,1761344828.084 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:27:08.085Z,1761344828.085 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:27:08.085Z,1761344828.085 [marl:UpdateRudder:A] Stopped
2025-10-24T22:27:08.085Z,1761344828.085 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:27:08.085Z,1761344828.085 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:27:08.085Z,1761344828.085 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:27:08.085Z,1761344828.085 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:27:08.086Z,1761344828.086 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:27:08.086Z,1761344828.086 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:27:08.086Z,1761344828.086 [marl:UpdateCommandMode] Stopped
2025-10-24T22:27:08.086Z,1761344828.086 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:27:08.086Z,1761344828.086 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:27:08.086Z,1761344828.086 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:27:08.086Z,1761344828.086 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:27:08.087Z,1761344828.087 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:27:08.087Z,1761344828.087 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:27:08.087Z,1761344828.087 [marl:UpdateSpeed] Stopped
2025-10-24T22:27:08.087Z,1761344828.087 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:27:08.400Z,1761344828.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271106,0.957570,0.097786],[-0.962539,0.270181,0.022833],[-0.004555,-0.100313,0.994945]]
2025-10-24T22:27:08.443Z,1761344828.443 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:27:08.443Z,1761344828.443 [marl:UpdateRudder:B] Stopped
2025-10-24T22:27:08.443Z,1761344828.443 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:27:08.443Z,1761344828.443 [marl:UpdateRudder] Stopped
2025-10-24T22:27:08.443Z,1761344828.443 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:27:08.803Z,1761344828.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277742,0.952488,0.125002],[-0.959835,0.269767,0.077090],[0.039706,-0.141393,0.989157]]
2025-10-24T22:27:09.210Z,1761344829.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276568,0.957394,0.083103],[-0.956248,0.265587,0.122692],[0.095394,-0.113400,0.988959]]
2025-10-24T22:27:09.610Z,1761344829.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244520,0.969409,0.021383],[-0.960092,0.238964,0.145325],[0.135769,-0.056064,0.989153]]
2025-10-24T22:27:10.023Z,1761344830.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256277,0.966604,-0.000069],[-0.955872,0.253442,0.148578],[0.143634,-0.038011,0.988901]]
2025-10-24T22:27:10.418Z,1761344830.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290483,0.956199,0.036107],[-0.956553,0.289190,0.037102],[0.025035,-0.045315,0.998659]]
2025-10-24T22:27:10.822Z,1761344830.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281216,0.957703,0.061007],[-0.957314,0.284394,-0.051679],[-0.066843,-0.043870,0.996799]]
2025-10-24T22:27:11.227Z,1761344831.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263991,0.960694,0.085887],[-0.963975,0.265800,-0.010149],[-0.032579,-0.080113,0.996253]]
2025-10-24T22:27:11.630Z,1761344831.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283625,0.952468,0.111183],[-0.958933,0.281455,0.035088],[0.002127,-0.116569,0.993180]]
2025-10-24T22:27:12.042Z,1761344832.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280922,0.951678,0.124060],[-0.959343,0.274782,0.064464],[0.027259,-0.137125,0.990179]]
2025-10-24T22:27:12.439Z,1761344832.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266912,0.957361,0.110537],[-0.962419,0.258831,0.082198],[0.050083,-0.128322,0.990467]]
2025-10-24T22:27:12.843Z,1761344832.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271828,0.959326,0.076181],[-0.961728,0.267965,0.057215],[0.034474,-0.088818,0.995451]]
2025-10-24T22:27:13.248Z,1761344833.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300651,0.953578,0.017250],[-0.953674,0.300381,0.016632],[0.010678,-0.021451,0.999713]]
2025-10-24T22:27:13.652Z,1761344833.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302804,0.952292,-0.038086],[-0.952860,0.303305,0.008016],[0.019186,0.033863,0.999242]]
2025-10-24T22:27:14.054Z,1761344834.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286373,0.956487,-0.055887],[-0.953771,0.290139,0.078359],[0.091164,0.030863,0.995358]]
2025-10-24T22:27:14.459Z,1761344834.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292436,0.956217,-0.011431],[-0.948434,0.291543,0.124403],[0.122289,-0.025538,0.992166]]
2025-10-24T22:27:14.862Z,1761344834.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309665,0.949725,0.046153],[-0.947738,0.304368,0.095665],[0.076808,-0.073365,0.994343]]
2025-10-24T22:27:15.266Z,1761344835.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316360,0.946818,0.058755],[-0.944752,0.308857,0.109776],[0.085791,-0.090238,0.992218]]
2025-10-24T22:27:15.683Z,1761344835.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319999,0.947060,-0.026026],[-0.905457,0.313796,0.285797],[0.278833,-0.067890,0.957937]]
2025-10-24T22:27:16.081Z,1761344836.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309951,0.950459,-0.023632],[-0.907962,0.303283,0.289180],[0.282021,-0.068174,0.956983]]
2025-10-24T22:27:16.484Z,1761344836.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321834,0.946752,-0.009106],[-0.910980,0.312266,0.269456],[0.257952,-0.078425,0.962970]]
2025-10-24T22:27:16.888Z,1761344836.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353166,0.935405,-0.017054],[-0.910575,0.347862,0.223262],[0.214772,-0.063320,0.974609]]
2025-10-24T22:27:17.291Z,1761344837.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351273,0.935608,-0.035274],[-0.916812,0.351369,0.189726],[0.189903,-0.034306,0.981203]]
2025-10-24T22:27:17.697Z,1761344837.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325665,0.945436,-0.009680],[-0.927342,0.321395,0.191684],[0.184336,-0.053449,0.981409]]
2025-10-24T22:27:18.094Z,1761344838.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345669,0.937336,0.043752],[-0.926723,0.333694,0.172720],[0.147297,-0.100250,0.983999]]
2025-10-24T22:27:18.499Z,1761344838.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375639,0.924809,0.060192],[-0.918434,0.362787,0.157683],[0.123990,-0.114515,0.985654]]
2025-10-24T22:27:18.880Z,1761344838.880 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:27:18.908Z,1761344838.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379456,0.924673,0.031509],[-0.916817,0.371219,0.147116],[0.124337,-0.084712,0.988617]]
2025-10-24T22:27:19.306Z,1761344839.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388803,0.921096,-0.020340],[-0.906622,0.386435,0.169424],[0.163916,-0.047432,0.985333]]
2025-10-24T22:27:19.711Z,1761344839.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390905,0.917959,-0.067410],[-0.902638,0.396650,0.167071],[0.180103,-0.004462,0.983638]]
2025-10-24T22:27:19.884Z,1761344839.884 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:27:20.114Z,1761344840.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372614,0.926469,-0.053044],[-0.922252,0.376050,0.089654],[0.103009,0.015514,0.994559]]
2025-10-24T22:27:20.520Z,1761344840.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355529,0.934625,-0.008719],[-0.933161,0.355470,0.053400],[0.053009,-0.010849,0.998535]]
2025-10-24T22:27:20.923Z,1761344840.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365076,0.928823,0.063304],[-0.930369,0.361535,0.060879],[0.033659,-0.081121,0.996136]]
2025-10-24T22:27:20.957Z,1761344840.957 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:27:20.957Z,1761344840.957 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:27:20.957Z,1761344840.957 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:27:20.958Z,1761344840.958 [marl:UpdateRudder:A] Stopped
2025-10-24T22:27:20.958Z,1761344840.958 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:27:20.958Z,1761344840.958 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:27:20.958Z,1761344840.958 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:27:20.958Z,1761344840.958 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:27:20.958Z,1761344840.958 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:27:20.958Z,1761344840.958 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:27:20.958Z,1761344840.958 [marl:UpdateCommandMode] Stopped
2025-10-24T22:27:20.958Z,1761344840.958 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:27:20.959Z,1761344840.959 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:27:20.959Z,1761344840.959 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:27:20.959Z,1761344840.959 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:27:20.959Z,1761344840.959 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:27:20.959Z,1761344840.959 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:27:20.959Z,1761344840.959 [marl:UpdateSpeed] Stopped
2025-10-24T22:27:20.959Z,1761344840.959 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:27:21.327Z,1761344841.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397098,0.913684,0.086577],[-0.917387,0.392412,0.066440],[0.026731,-0.105808,0.994027]]
2025-10-24T22:27:21.375Z,1761344841.375 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:27:21.380Z,1761344841.380 [marl:UpdateRudder:B] Stopped
2025-10-24T22:27:21.380Z,1761344841.380 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:27:21.380Z,1761344841.380 [marl:UpdateRudder] Stopped
2025-10-24T22:27:21.380Z,1761344841.380 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:27:21.731Z,1761344841.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374043,0.926507,0.040943],[-0.926972,0.372142,0.047256],[0.028547,-0.055629,0.998043]]
2025-10-24T22:27:22.136Z,1761344842.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342374,0.939332,0.020852],[-0.939257,0.341612,0.033129],[0.023996,-0.030928,0.999233]]
2025-10-24T22:27:22.538Z,1761344842.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385575,0.921528,0.046016],[-0.922583,0.385767,0.004977],[-0.013165,-0.044373,0.998928]]
2025-10-24T22:27:22.943Z,1761344842.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447998,0.892552,0.051467],[-0.893878,0.448253,0.007113],[-0.016722,-0.049192,0.998649]]
2025-10-24T22:27:23.346Z,1761344843.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407261,0.913296,0.005439],[-0.912816,0.406836,0.035384],[0.030104,-0.019375,0.999359]]
2025-10-24T22:27:23.751Z,1761344843.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346328,0.938092,-0.006282],[-0.936278,0.346062,0.060204],[0.058651,-0.014969,0.998166]]
2025-10-24T22:27:24.159Z,1761344844.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359529,0.933036,-0.013517],[-0.929022,0.359265,0.088583],[0.087507,-0.019291,0.995977]]
2025-10-24T22:27:24.558Z,1761344844.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348141,0.937183,-0.022054],[-0.934727,0.348826,0.067863],[0.071293,-0.003012,0.997451]]
2025-10-24T22:27:24.963Z,1761344844.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338008,0.940471,0.035558],[-0.939031,0.334478,0.079660],[0.063024,-0.060316,0.996188]]
2025-10-24T22:27:25.366Z,1761344845.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354046,0.934017,0.047582],[-0.926771,0.343563,0.151858],[0.125491,-0.097862,0.987256]]
2025-10-24T22:27:25.770Z,1761344845.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340038,0.940156,0.021944],[-0.927986,0.331673,0.169809],[0.152368,-0.078105,0.985233]]
2025-10-24T22:27:25.776Z,1761344845.776 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,222722.00,A,3646.47855,N,12151.79808,W,0.778,114.72,241025,,,A*74
2025-10-24T22:27:25.778Z,1761344845.778 [NAL9602](INFO): GPS fix at 20251024T222722: (36.774642, -121.863301)
2025-10-24T22:27:25.791Z,1761344845.791 [UniversalFixResidualReporter](INFO): Fix residual: 1.1 %DT, over the last 572.2 m. Residual distance 6.4 m at bearing 11.6 degrees. Fix at (36.7746, -121.8633) with 97.7 m made good.
2025-10-24T22:27:25.826Z,1761344845.826 [marl:NeedComms:C] Stopped
2025-10-24T22:27:25.826Z,1761344845.826 [marl:NeedComms:D] Running Loop=1
2025-10-24T22:27:25.827Z,1761344845.827 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344896.00. Resetting abort timer.
2025-10-24T22:27:26.181Z,1761344846.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325727,0.945010,0.029281],[-0.940029,0.320384,0.117047],[0.101229,-0.065650,0.992695]]
2025-10-24T22:27:26.579Z,1761344846.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341071,0.939443,0.033427],[-0.936805,0.336737,0.094897],[0.077894,-0.063681,0.994926]]
2025-10-24T22:27:26.982Z,1761344846.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330090,0.943606,-0.025453],[-0.940156,0.331059,0.080662],[0.084539,-0.002696,0.996417]]
2025-10-24T22:27:27.386Z,1761344847.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292215,0.955401,-0.042645],[-0.952093,0.294828,0.081210],[0.090161,0.016871,0.995784]]
2025-10-24T22:27:27.791Z,1761344847.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289942,0.956948,-0.013556],[-0.954081,0.290129,0.074530],[0.075254,-0.008676,0.997127]]
2025-10-24T22:27:28.195Z,1761344848.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267035,0.962736,0.042803],[-0.963590,0.266116,0.026008],[0.013648,-0.048190,0.998745]]
2025-10-24T22:27:28.598Z,1761344848.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260743,0.958944,0.111532],[-0.965408,0.259107,0.029183],[-0.000914,-0.115283,0.993332]]
2025-10-24T22:27:29.006Z,1761344849.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263765,0.948284,0.176596],[-0.964328,0.263477,0.025511],[-0.022337,-0.177025,0.983953]]
2025-10-24T22:27:29.407Z,1761344849.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244456,0.947605,0.205633],[-0.968287,0.249840,-0.000225],[-0.051588,-0.199057,0.978629]]
2025-10-24T22:27:29.811Z,1761344849.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228908,0.960052,0.160942],[-0.973275,0.228831,0.019269],[-0.018330,-0.161051,0.986776]]
2025-10-24T22:27:30.215Z,1761344850.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247239,0.965536,0.081323],[-0.966611,0.239938,0.089959],[0.067346,-0.100849,0.992620]]
2025-10-24T22:27:30.618Z,1761344850.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251882,0.967723,-0.008249],[-0.960129,0.250955,0.123184],[0.121278,-0.023108,0.992350]]
2025-10-24T22:27:31.052Z,1761344851.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227951,0.972929,-0.038056],[-0.972628,0.229342,0.037365],[0.045082,0.028497,0.998577]]
2025-10-24T22:27:31.427Z,1761344851.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221874,0.974807,-0.022871],[-0.975075,0.221842,-0.003944],[0.001229,0.023176,0.999731]]
2025-10-24T22:27:31.830Z,1761344851.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211405,0.977383,0.005490],[-0.976540,0.210980,0.043091],[0.040958,-0.014471,0.999056]]
2025-10-24T22:27:32.238Z,1761344852.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193444,0.979814,0.050443],[-0.980019,0.190548,0.057049],[0.046285,-0.060471,0.997096]]
2025-10-24T22:27:32.646Z,1761344852.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192808,0.978051,0.078999],[-0.979151,0.186526,0.080447],[0.063946,-0.092862,0.993623]]
2025-10-24T22:27:33.042Z,1761344853.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174196,0.981658,0.077480],[-0.980225,0.165363,0.108688],[0.093882,-0.094881,0.991052]]
2025-10-24T22:27:33.446Z,1761344853.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170892,0.981828,0.082518],[-0.984093,0.165957,0.063403],[0.048556,-0.092040,0.994571]]
2025-10-24T22:27:33.851Z,1761344853.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155024,0.980803,0.118291],[-0.987831,0.155419,0.005935],[-0.012563,-0.117772,0.992961]]
2025-10-24T22:27:33.875Z,1761344853.875 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:27:33.875Z,1761344853.875 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:27:33.875Z,1761344853.875 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:27:33.875Z,1761344853.875 [marl:UpdateRudder:A] Stopped
2025-10-24T22:27:33.875Z,1761344853.875 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:27:33.876Z,1761344853.876 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:27:33.876Z,1761344853.876 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:27:33.876Z,1761344853.876 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:27:33.876Z,1761344853.876 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:27:33.876Z,1761344853.876 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:27:33.876Z,1761344853.876 [marl:UpdateCommandMode] Stopped
2025-10-24T22:27:33.877Z,1761344853.877 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:27:33.877Z,1761344853.877 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:27:33.877Z,1761344853.877 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:27:33.877Z,1761344853.877 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:27:33.877Z,1761344853.877 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:27:33.877Z,1761344853.877 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:27:33.877Z,1761344853.877 [marl:UpdateSpeed] Stopped
2025-10-24T22:27:33.877Z,1761344853.877 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:27:34.256Z,1761344854.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147688,0.975449,0.163362],[-0.988963,0.147627,0.012585],[-0.011840,-0.163417,0.986486]]
2025-10-24T22:27:34.300Z,1761344854.300 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:27:34.300Z,1761344854.300 [marl:UpdateRudder:B] Stopped
2025-10-24T22:27:34.300Z,1761344854.300 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:27:34.300Z,1761344854.300 [marl:UpdateRudder] Stopped
2025-10-24T22:27:34.300Z,1761344854.300 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:27:34.665Z,1761344854.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166144,0.976784,0.135235],[-0.985556,0.159921,0.055726],[0.032805,-0.142541,0.989245]]
2025-10-24T22:27:35.022Z,1761344855.022 [CTD_Seabird](ERROR): Failed to parse device response: 0.13,15.6143,4.169.15
2025-10-24T22:27:35.062Z,1761344855.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138332,0.988687,0.057992],[-0.990021,0.136455,0.035181],[0.026870,-0.062280,0.997697]]
2025-10-24T22:27:35.469Z,1761344855.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114122,0.992953,0.031962],[-0.993443,0.113840,0.010510],[0.006798,-0.032952,0.999434]]
2025-10-24T22:27:35.873Z,1761344855.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150471,0.987863,0.038530],[-0.988611,0.150452,0.003399],[-0.002439,-0.038603,0.999252]]
2025-10-24T22:27:38.070Z,1761344858.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098921,0.990811,0.092241],[-0.993577,0.093226,0.064136],[0.054947,-0.097993,0.993669]]
2025-10-24T22:27:38.442Z,1761344858.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066676,0.995727,0.063897],[-0.986928,0.056399,0.150971],[0.146722,-0.073127,0.986471]]
2025-10-24T22:27:38.846Z,1761344858.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091795,0.993422,0.068454],[-0.981280,0.078557,0.175837],[0.169303,-0.083314,0.982036]]
2025-10-24T22:27:39.258Z,1761344859.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115843,0.988197,0.100232],[-0.984683,0.101018,0.142107],[0.130304,-0.115159,0.984764]]
2025-10-24T22:27:39.660Z,1761344859.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111753,0.985616,0.126778],[-0.991900,0.102883,0.074494],[0.060379,-0.134076,0.989130]]
2025-10-24T22:27:40.058Z,1761344860.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085541,0.987510,0.132314],[-0.995958,0.088401,-0.015883],[-0.027381,-0.130421,0.991081]]
2025-10-24T22:27:40.463Z,1761344860.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073045,0.991762,0.105224],[-0.997324,0.072966,0.004601],[-0.003115,-0.105278,0.994438]]
2025-10-24T22:27:40.867Z,1761344860.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056664,0.997076,0.051276],[-0.997469,0.054328,0.045860],[0.042941,-0.053745,0.997631]]
2025-10-24T22:27:40.911Z,1761344860.911 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:27:40.911Z,1761344860.911 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:27:41.274Z,1761344861.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065365,0.997483,0.027480],[-0.997725,0.064876,0.018312],[0.016484,-0.028614,0.999455]]
2025-10-24T22:27:41.678Z,1761344861.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093697,0.994944,0.036145],[-0.995592,0.093480,0.007633],[0.004216,-0.036701,0.999317]]
2025-10-24T22:27:42.078Z,1761344862.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082631,0.995370,0.049099],[-0.996337,0.081422,0.026139],[0.022020,-0.051080,0.998452]]
2025-10-24T22:27:42.484Z,1761344862.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036451,0.996815,0.070931],[-0.999086,0.037937,-0.019711],[-0.022340,-0.070148,0.997286]]
2025-10-24T22:27:42.489Z,1761344862.489 [NAL9602](INFO): SBD MO Status=1, MOMSN=2550, MT Status=0, MTMSN=0
2025-10-24T22:27:42.548Z,1761344862.548 [NAL9602](INFO): Sent 206 bytes from file Logs/20251024T220733/Courier0003.lzma
2025-10-24T22:27:42.548Z,1761344862.548 [NAL9602](INFO): Packets left to send: 0
2025-10-24T22:27:42.579Z,1761344862.579 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:27:42.773Z,1761344862.773 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:27:42.773Z,1761344862.773 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:27:42.886Z,1761344862.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036083,0.993807,0.105100],[-0.999325,0.035158,0.010641],[0.006880,-0.105413,0.994405]]
2025-10-24T22:27:43.025Z,1761344863.025 [DAT](INFO): DAT read: user:10>

2025-10-24T22:27:43.026Z,1761344863.026 [DAT](INFO): DAT read: Tx time:22:27:42.2036

2025-10-24T22:27:43.026Z,1761344863.026 [DAT](INFO): Ping request sent.
2025-10-24T22:27:43.026Z,1761344863.026 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:27:43.026Z,1761344863.026 [DAT](INFO): publishing transmit ping time
2025-10-24T22:27:43.027Z,1761344863.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000969
2025-10-24T22:27:43.277Z,1761344863.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250569
2025-10-24T22:27:43.366Z,1761344863.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046114,0.994898,0.089730],[-0.998730,0.044092,0.024386],[0.020306,-0.090740,0.995668]]
2025-10-24T22:27:43.529Z,1761344863.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503346
2025-10-24T22:27:43.766Z,1761344863.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057376,0.995950,0.069219],[-0.998088,0.055628,0.026931],[0.022972,-0.070632,0.997238]]
2025-10-24T22:27:43.781Z,1761344863.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754829
2025-10-24T22:27:44.033Z,1761344864.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006675
2025-10-24T22:27:44.285Z,1761344864.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258837
2025-10-24T22:27:44.537Z,1761344864.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510745
2025-10-24T22:27:44.789Z,1761344864.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762717
2025-10-24T22:27:45.041Z,1761344865.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015274
2025-10-24T22:27:45.293Z,1761344865.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267147
2025-10-24T22:27:45.545Z,1761344865.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518619
2025-10-24T22:27:45.798Z,1761344865.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771658
2025-10-24T22:27:45.980Z,1761344865.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055518,0.997128,0.051510],[-0.996319,0.058701,-0.062474],[-0.065318,-0.047852,0.996716]]
2025-10-24T22:27:46.050Z,1761344866.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023720
2025-10-24T22:27:46.301Z,1761344866.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274708
2025-10-24T22:27:46.327Z,1761344866.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020171,0.997572,0.066650],[-0.992523,0.028006,-0.118799],[-0.120377,-0.063756,0.990679]]
2025-10-24T22:27:46.553Z,1761344866.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527360
2025-10-24T22:27:46.730Z,1761344866.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000950,0.994712,0.102698],[-0.997889,0.007611,-0.064487],[-0.064928,-0.102420,0.992620]]
2025-10-24T22:27:46.805Z,1761344866.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778841
2025-10-24T22:27:47.057Z,1761344867.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030749
2025-10-24T22:27:47.142Z,1761344867.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022023,0.993072,0.115428],[-0.999119,-0.017735,-0.038045],[-0.035734,-0.116164,0.992587]]
2025-10-24T22:27:47.311Z,1761344867.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284519
2025-10-24T22:27:47.541Z,1761344867.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008192,0.993235,0.115833],[-0.999391,0.012059,-0.032728],[-0.033903,-0.115495,0.992729]]
2025-10-24T22:27:47.561Z,1761344867.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534832
2025-10-24T22:27:47.813Z,1761344867.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786688
2025-10-24T22:27:47.975Z,1761344867.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038640,0.997535,0.058582],[-0.999253,0.038602,0.001781],[-0.000485,-0.058607,0.998281]]
2025-10-24T22:27:48.065Z,1761344868.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038690
2025-10-24T22:27:48.317Z,1761344868.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290712
2025-10-24T22:27:48.347Z,1761344868.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013942,0.999902,0.000821],[-0.997828,-0.013966,0.064383],[0.064388,0.000078,0.997925]]
2025-10-24T22:27:48.569Z,1761344868.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542693
2025-10-24T22:27:48.751Z,1761344868.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016187,0.998722,0.047871],[-0.994789,-0.020906,0.099791],[0.100665,-0.046006,0.993856]]
2025-10-24T22:27:48.821Z,1761344868.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794785
2025-10-24T22:27:49.073Z,1761344869.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046809
2025-10-24T22:27:49.156Z,1761344869.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041494,0.990770,0.129047],[-0.998011,0.034966,0.052453],[0.047456,-0.130967,0.990250]]
2025-10-24T22:27:49.325Z,1761344869.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298678
2025-10-24T22:27:49.558Z,1761344869.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047911,0.986412,0.157147],[-0.998716,0.044716,0.023805],[0.016455,-0.158086,0.987288]]
2025-10-24T22:27:49.577Z,1761344869.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550837
2025-10-24T22:27:49.829Z,1761344869.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802714
2025-10-24T22:27:49.979Z,1761344869.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024037,0.988461,0.149553],[-0.998058,0.015128,0.060426],[0.057467,-0.150715,0.986905]]
2025-10-24T22:27:50.004Z,1761344870.004 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:27:50.081Z,1761344870.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054655
2025-10-24T22:27:50.334Z,1761344870.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307529
2025-10-24T22:27:50.366Z,1761344870.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017724,0.990346,0.137478],[-0.995425,0.004567,0.095437],[0.093888,-0.138540,0.985896]]
2025-10-24T22:27:50.415Z,1761344870.415 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:27:50.415Z,1761344870.415 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:27:50.415Z,1761344870.415 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:27:50.415Z,1761344870.415 [marl:UpdateRudder:A] Stopped
2025-10-24T22:27:50.415Z,1761344870.415 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:27:50.416Z,1761344870.416 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:27:50.416Z,1761344870.416 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:27:50.416Z,1761344870.416 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:27:50.416Z,1761344870.416 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:27:50.416Z,1761344870.416 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:27:50.416Z,1761344870.416 [marl:UpdateCommandMode] Stopped
2025-10-24T22:27:50.417Z,1761344870.417 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:27:50.417Z,1761344870.417 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:27:50.417Z,1761344870.417 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:27:50.417Z,1761344870.417 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:27:50.417Z,1761344870.417 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:27:50.417Z,1761344870.417 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:27:50.417Z,1761344870.417 [marl:UpdateSpeed] Stopped
2025-10-24T22:27:50.417Z,1761344870.417 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:27:50.585Z,1761344870.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558764
2025-10-24T22:27:50.773Z,1761344870.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046409,0.995354,0.084359],[-0.993795,0.037460,0.104731],[0.101084,-0.088696,0.990916]]
2025-10-24T22:27:50.801Z,1761344870.801 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:27:50.801Z,1761344870.801 [marl:UpdateRudder:B] Stopped
2025-10-24T22:27:50.801Z,1761344870.801 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:27:50.801Z,1761344870.801 [marl:UpdateRudder] Stopped
2025-10-24T22:27:50.801Z,1761344870.801 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:27:50.837Z,1761344870.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810805
2025-10-24T22:27:51.008Z,1761344871.008 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:27:51.089Z,1761344871.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063211
2025-10-24T22:27:51.174Z,1761344871.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073218,0.997239,0.012358],[-0.993059,0.071756,0.093195],[0.092051,-0.019096,0.995571]]
2025-10-24T22:27:51.341Z,1761344871.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314764
2025-10-24T22:27:51.578Z,1761344871.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060517,0.998064,-0.014351],[-0.996747,0.061191,0.052441],[0.053218,0.011131,0.998521]]
2025-10-24T22:27:51.593Z,1761344871.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566803
2025-10-24T22:27:51.845Z,1761344871.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818699
2025-10-24T22:27:51.987Z,1761344871.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049932,0.997676,0.046358],[-0.998363,0.048563,0.030212],[0.027891,-0.047791,0.998468]]
2025-10-24T22:27:52.098Z,1761344872.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071441
2025-10-24T22:27:52.349Z,1761344872.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322691
2025-10-24T22:27:52.392Z,1761344872.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070263,0.986632,0.147036],[-0.995961,0.061126,0.065768],[0.055901,-0.151063,0.986942]]
2025-10-24T22:27:52.603Z,1761344872.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.576603
2025-10-24T22:27:52.790Z,1761344872.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063069,0.981471,0.180933],[-0.992186,0.042107,0.117443],[0.107649,-0.186926,0.976458]]
2025-10-24T22:27:52.853Z,1761344872.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826880
2025-10-24T22:27:53.105Z,1761344873.105 [DAT](INFO): Reached modem response timeout
2025-10-24T22:27:53.194Z,1761344873.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057244,0.988801,0.137824],[-0.989473,0.037812,0.139689],[0.132913,-0.144370,0.980557]]
2025-10-24T22:27:53.599Z,1761344873.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070460,0.995517,0.063105],[-0.986563,0.060198,0.151885],[0.147405,-0.072959,0.986382]]
2025-10-24T22:27:54.005Z,1761344874.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084734,0.996046,0.026676],[-0.987397,0.080346,0.136349],[0.133666,-0.037893,0.990302]]
2025-10-24T22:27:54.810Z,1761344874.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096803,0.992796,0.070606],[-0.983130,0.084316,0.162316],[0.155194,-0.085128,0.984209]]
2025-10-24T22:27:54.815Z,1761344874.815 [NAL9602](INFO): SBD MO Status=1, MOMSN=2551, MT Status=0, MTMSN=0
2025-10-24T22:27:54.868Z,1761344874.868 [NAL9602](INFO): Sent 332 bytes from file Logs/20251024T220733/Express0005.lzma
2025-10-24T22:27:54.868Z,1761344874.868 [NAL9602](INFO): Packets left to send: 4
2025-10-24T22:27:55.215Z,1761344875.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095101,0.991487,0.088937],[-0.989809,0.084670,0.114495],[0.105990,-0.098920,0.989435]]
2025-10-24T22:27:55.373Z,1761344875.373 [DAT](INFO): DAT read: Response Not Received

2025-10-24T22:27:55.373Z,1761344875.373 [DAT](INFO): response not received
2025-10-24T22:27:55.373Z,1761344875.373 [DAT](ERROR): No response from remote modem.
2025-10-24T22:27:55.774Z,1761344875.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137773,0.983825,0.114484],[-0.989387,0.142090,-0.030404],[-0.046180,-0.109080,0.992960]]
2025-10-24T22:27:56.170Z,1761344876.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093589,0.993196,0.069307],[-0.995611,0.093410,0.005823],[-0.000690,-0.069548,0.997578]]
2025-10-24T22:27:58.319Z,1761344878.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124311,0.985096,0.118883],[-0.991531,0.118789,0.052487],[0.037582,-0.124401,0.991520]]
2025-10-24T22:27:58.695Z,1761344878.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171585,0.979459,0.105915],[-0.977897,0.156293,0.138884],[0.119478,-0.127405,0.984628]]
2025-10-24T22:27:59.103Z,1761344879.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196551,0.979467,0.044849],[-0.963964,0.184671,0.191496],[0.179282,-0.080872,0.980468]]
2025-10-24T22:27:59.503Z,1761344879.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214767,0.976665,-0.000194],[-0.964454,0.212113,0.157596],[0.153960,-0.033660,0.987504]]
2025-10-24T22:27:59.938Z,1761344879.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232361,0.972277,-0.026202],[-0.965626,0.233831,0.113536],[0.116515,-0.001080,0.993188]]
2025-10-24T22:28:00.311Z,1761344880.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221130,0.975012,-0.021272],[-0.969348,0.222136,0.104975],[0.107077,-0.002593,0.994247]]
2025-10-24T22:28:00.715Z,1761344880.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201495,0.978367,0.046877],[-0.974812,0.195632,0.107093],[0.095606,-0.067275,0.993143]]
2025-10-24T22:28:01.129Z,1761344881.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213029,0.966880,0.140574],[-0.974179,0.199180,0.106317],[0.074796,-0.159593,0.984345]]
2025-10-24T22:28:01.522Z,1761344881.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250493,0.955830,0.153764],[-0.966028,0.236349,0.104539],[0.063580,-0.174726,0.982562]]
2025-10-24T22:28:01.966Z,1761344881.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268185,0.957793,0.103490],[-0.962453,0.261701,0.072086],[0.041960,-0.118937,0.992015]]
2025-10-24T22:28:02.332Z,1761344882.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260423,0.964388,0.046206],[-0.965196,0.261235,-0.012394],[-0.024023,-0.041370,0.998855]]
2025-10-24T22:28:02.736Z,1761344882.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258888,0.965691,0.020465],[-0.964431,0.259605,-0.049780],[-0.053385,-0.006850,0.998551]]
2025-10-24T22:28:03.142Z,1761344883.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275435,0.961320,0.000398],[-0.961303,0.275428,0.005997],[0.005656,-0.002034,0.999982]]
2025-10-24T22:28:03.543Z,1761344883.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278761,0.960329,-0.007834],[-0.957108,0.278478,0.079966],[0.078975,-0.014794,0.996767]]
2025-10-24T22:28:03.982Z,1761344883.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276826,0.960765,0.017271],[-0.954804,0.272995,0.117571],[0.108243,-0.049037,0.992914]]
2025-10-24T22:28:04.352Z,1761344884.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294609,0.953130,0.068916],[-0.952630,0.287225,0.099988],[0.075508,-0.095109,0.992599]]
2025-10-24T22:28:04.754Z,1761344884.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315578,0.940532,0.125737],[-0.948764,0.310504,0.058607],[0.016080,-0.137790,0.990331]]
2025-10-24T22:28:05.158Z,1761344885.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313042,0.938533,0.145467],[-0.949662,0.307370,0.060543],[0.012110,-0.157097,0.987509]]
2025-10-24T22:28:05.220Z,1761344885.220 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:28:05.221Z,1761344885.221 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:28:05.221Z,1761344885.221 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:28:05.221Z,1761344885.221 [marl:UpdateRudder:A] Stopped
2025-10-24T22:28:05.221Z,1761344885.221 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:28:05.221Z,1761344885.221 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:28:05.221Z,1761344885.221 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:28:05.221Z,1761344885.221 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:28:05.222Z,1761344885.222 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:28:05.222Z,1761344885.222 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:28:05.222Z,1761344885.222 [marl:UpdateCommandMode] Stopped
2025-10-24T22:28:05.222Z,1761344885.222 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:28:05.222Z,1761344885.222 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:28:05.222Z,1761344885.222 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:28:05.222Z,1761344885.222 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:28:05.223Z,1761344885.223 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:28:05.223Z,1761344885.223 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:28:05.223Z,1761344885.223 [marl:UpdateSpeed] Stopped
2025-10-24T22:28:05.223Z,1761344885.223 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:28:05.563Z,1761344885.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306602,0.947794,0.087642],[-0.949339,0.297832,0.100257],[0.068920,-0.113941,0.991094]]
2025-10-24T22:28:05.637Z,1761344885.637 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:28:05.637Z,1761344885.637 [marl:UpdateRudder:B] Stopped
2025-10-24T22:28:05.637Z,1761344885.637 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:28:05.637Z,1761344885.637 [marl:UpdateRudder] Stopped
2025-10-24T22:28:05.637Z,1761344885.637 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:28:05.990Z,1761344885.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310718,0.949447,0.044779],[-0.945904,0.304243,0.112699],[0.093378,-0.077375,0.992620]]
2025-10-24T22:28:06.370Z,1761344886.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302526,0.952556,0.033400],[-0.950481,0.298880,0.085188],[0.071164,-0.057518,0.995805]]
2025-10-24T22:28:06.774Z,1761344886.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311224,0.950147,0.018982],[-0.948243,0.309151,0.072537],[0.063053,-0.040575,0.997185]]
2025-10-24T22:28:06.787Z,1761344886.787 [NAL9602](INFO): SBD MO Status=1, MOMSN=2552, MT Status=0, MTMSN=0
2025-10-24T22:28:06.840Z,1761344886.840 [NAL9602](INFO): Sent 332 bytes from file Logs/20251024T220733/Express0005.lzma
2025-10-24T22:28:06.840Z,1761344886.840 [NAL9602](INFO): Packets left to send: 3
2025-10-24T22:28:07.178Z,1761344887.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306676,0.951811,-0.002220],[-0.944364,0.304566,0.124159],[0.118852,-0.035980,0.992260]]
2025-10-24T22:28:07.617Z,1761344887.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288010,0.957625,-0.002261],[-0.944081,0.284331,0.166935],[0.160504,-0.045944,0.985965]]
2025-10-24T22:28:08.018Z,1761344888.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303922,0.952672,0.006865],[-0.941485,0.299235,0.155125],[0.145729,-0.053609,0.987871]]
2025-10-24T22:28:10.306Z,1761344890.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304319,0.949533,0.076013],[-0.949705,0.296251,0.101467],[0.073827,-0.103068,0.991931]]
2025-10-24T22:28:10.699Z,1761344890.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301986,0.952043,0.049185],[-0.948781,0.295125,0.112770],[0.092846,-0.080720,0.992403]]
2025-10-24T22:28:11.108Z,1761344891.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300045,0.952097,0.059021],[-0.952991,0.296440,0.062698],[0.042199,-0.075059,0.996286]]
2025-10-24T22:28:11.510Z,1761344891.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323622,0.944769,0.051767],[-0.946109,0.323812,0.004905],[-0.012128,-0.050565,0.998647]]
2025-10-24T22:28:11.923Z,1761344891.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304156,0.951587,0.044392],[-0.952592,0.303444,0.022156],[0.007613,-0.049026,0.998769]]
2025-10-24T22:28:12.315Z,1761344892.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300293,0.951087,0.072506],[-0.953847,0.299503,0.021783],[-0.000998,-0.075701,0.997130]]
2025-10-24T22:28:12.718Z,1761344892.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307193,0.946818,0.095748],[-0.951313,0.308194,0.004523],[-0.025227,-0.092475,0.995395]]
2025-10-24T22:28:13.123Z,1761344893.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301222,0.945977,0.119968],[-0.953435,0.300780,0.022211],[-0.015073,-0.121072,0.992529]]
2025-10-24T22:28:13.534Z,1761344893.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304208,0.942940,0.135358],[-0.952592,0.300352,0.048551],[0.005125,-0.143710,0.989606]]
2025-10-24T22:28:13.962Z,1761344893.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316959,0.941466,0.114798],[-0.948377,0.313223,0.049725],[0.010857,-0.124633,0.992144]]
2025-10-24T22:28:14.335Z,1761344894.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357132,0.931709,0.066153],[-0.934028,0.355698,0.032709],[0.006945,-0.073470,0.997273]]
2025-10-24T22:28:14.738Z,1761344894.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329138,0.944225,0.010303],[-0.942459,0.327806,0.065682],[0.058642,-0.031329,0.997787]]
2025-10-24T22:28:15.144Z,1761344895.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327291,0.943963,0.042587],[-0.940733,0.321269,0.108663],[0.088892,-0.075627,0.993166]]
2025-10-24T22:28:15.546Z,1761344895.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362631,0.924923,0.114091],[-0.930390,0.352266,0.101400],[0.053597,-0.142920,0.988282]]
2025-10-24T22:28:15.975Z,1761344895.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364740,0.916333,0.165224],[-0.930914,0.362516,0.044519],[-0.019103,-0.170047,0.985251]]
2025-10-24T22:28:16.356Z,1761344896.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362768,0.923823,0.122269],[-0.931800,0.361315,0.034650],[-0.012167,-0.126500,0.991892]]
2025-10-24T22:28:16.758Z,1761344896.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376728,0.926004,0.024340],[-0.925645,0.375316,0.048164],[0.035465,-0.040675,0.998543]]
2025-10-24T22:28:17.162Z,1761344897.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391418,0.919814,-0.027101],[-0.919790,0.391961,0.018770],[0.027887,0.017580,0.999456]]
2025-10-24T22:28:17.583Z,1761344897.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375442,0.926158,-0.035717],[-0.925728,0.376602,0.034612],[0.045507,0.020069,0.998762]]
2025-10-24T22:28:17.984Z,1761344897.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388550,0.921424,0.002647],[-0.920776,0.388166,0.038709],[0.034640,-0.017478,0.999247]]
2025-10-24T22:28:18.374Z,1761344898.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439379,0.896582,0.055567],[-0.898163,0.439556,0.009649],[-0.015773,-0.054148,0.998408]]
2025-10-24T22:28:18.778Z,1761344898.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457579,0.887167,0.059641],[-0.889159,0.456861,0.025960],[-0.004217,-0.064909,0.997882]]
2025-10-24T22:28:19.184Z,1761344899.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407122,0.910268,0.075251],[-0.913267,0.406952,0.018277],[-0.013986,-0.076165,0.996997]]
2025-10-24T22:28:19.591Z,1761344899.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422679,0.897973,0.122416],[-0.903522,0.428060,-0.020313],[-0.070642,-0.102020,0.992271]]
2025-10-24T22:28:19.622Z,1761344899.622 [NAL9602](INFO): SBD MO Status=1, MOMSN=2553, MT Status=0, MTMSN=0
2025-10-24T22:28:19.676Z,1761344899.676 [NAL9602](INFO): Sent 332 bytes from file Logs/20251024T220733/Express0005.lzma
2025-10-24T22:28:19.677Z,1761344899.677 [NAL9602](INFO): Packets left to send: 2
2025-10-24T22:28:19.991Z,1761344899.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475489,0.875664,0.084398],[-0.877387,0.479025,-0.026967],[-0.064043,-0.061228,0.996067]]
2025-10-24T22:28:20.400Z,1761344900.400 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:28:20.400Z,1761344900.400 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:28:20.401Z,1761344900.401 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:28:20.401Z,1761344900.401 [marl:UpdateRudder:A] Stopped
2025-10-24T22:28:20.401Z,1761344900.401 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:28:20.401Z,1761344900.401 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:28:20.401Z,1761344900.401 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:28:20.401Z,1761344900.401 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:28:20.401Z,1761344900.401 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:28:20.402Z,1761344900.402 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:28:20.402Z,1761344900.402 [marl:UpdateCommandMode] Stopped
2025-10-24T22:28:20.402Z,1761344900.402 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:28:20.402Z,1761344900.402 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:28:20.402Z,1761344900.402 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:28:20.402Z,1761344900.402 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:28:20.402Z,1761344900.402 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:28:20.402Z,1761344900.402 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:28:20.402Z,1761344900.402 [marl:UpdateSpeed] Stopped
2025-10-24T22:28:20.403Z,1761344900.403 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:28:20.474Z,1761344900.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485175,0.874409,-0.003858],[-0.874379,0.485190,0.007168],[0.008140,-0.000104,0.999967]]
2025-10-24T22:28:20.522Z,1761344900.522 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:28:20.522Z,1761344900.522 [marl:UpdateRudder:B] Stopped
2025-10-24T22:28:20.523Z,1761344900.523 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:28:20.523Z,1761344900.523 [marl:UpdateRudder] Stopped
2025-10-24T22:28:20.523Z,1761344900.523 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:28:20.851Z,1761344900.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464038,0.885787,-0.007093],[-0.885253,0.464014,0.031890],[0.031539,-0.008519,0.999466]]
2025-10-24T22:28:21.144Z,1761344901.144 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:28:22.150Z,1761344902.150 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:28:22.993Z,1761344902.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423625,0.904272,0.053233],[-0.905209,0.420410,0.062066],[0.033745,-0.074480,0.996651]]
2025-10-24T22:28:23.385Z,1761344903.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421556,0.905879,-0.040925],[-0.905236,0.423050,0.039708],[0.053284,0.020308,0.998373]]
2025-10-24T22:28:23.786Z,1761344903.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377238,0.923152,-0.074042],[-0.921381,0.382182,0.070668],[0.093535,0.041562,0.994748]]
2025-10-24T22:28:24.191Z,1761344904.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381904,0.922554,-0.055167],[-0.922827,0.383911,0.031658],[0.050386,0.038820,0.997975]]
2025-10-24T22:28:24.604Z,1761344904.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417560,0.907447,-0.046730],[-0.908442,0.418011,-0.000133],[0.019413,0.042507,0.998908]]
2025-10-24T22:28:24.998Z,1761344904.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380690,0.923882,-0.038946],[-0.924572,0.381007,0.000796],[0.015574,0.035705,0.999241]]
2025-10-24T22:28:25.403Z,1761344905.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347910,0.936732,0.038622],[-0.937385,0.346843,0.031769],[0.016363,-0.047256,0.998749]]
2025-10-24T22:28:25.806Z,1761344905.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387868,0.914435,0.115615],[-0.921554,0.382392,0.067194],[0.017234,-0.132608,0.991019]]
2025-10-24T22:28:26.210Z,1761344906.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409308,0.902364,0.134929],[-0.912389,0.405395,0.056579],[-0.003645,-0.146266,0.989239]]
2025-10-24T22:28:26.615Z,1761344906.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387704,0.915715,0.105606],[-0.920979,0.380027,0.085896],[0.038523,-0.130563,0.990691]]
2025-10-24T22:28:27.018Z,1761344907.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352879,0.930488,0.098332],[-0.934567,0.345415,0.085279],[0.045386,-0.121991,0.991493]]
2025-10-24T22:28:27.424Z,1761344907.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358248,0.929252,0.090276],[-0.933509,0.354990,0.050435],[0.014820,-0.102341,0.994639]]
2025-10-24T22:28:27.826Z,1761344907.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374892,0.927004,0.010957],[-0.925632,0.373628,0.060064],[0.051586,-0.032659,0.998134]]
2025-10-24T22:28:28.230Z,1761344908.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367887,0.928903,-0.042407],[-0.928457,0.369459,0.038315],[0.051258,0.025278,0.998365]]
2025-10-24T22:28:28.642Z,1761344908.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344515,0.938701,-0.012204],[-0.938635,0.344203,-0.022117],[-0.016560,0.019075,0.999681]]
2025-10-24T22:28:28.649Z,1761344908.649 [NAL9602](INFO): SBD MO Status=1, MOMSN=2554, MT Status=0, MTMSN=0
2025-10-24T22:28:28.696Z,1761344908.696 [NAL9602](INFO): Sent 332 bytes from file Logs/20251024T220733/Express0005.lzma
2025-10-24T22:28:28.697Z,1761344908.697 [NAL9602](INFO): Packets left to send: 1
2025-10-24T22:28:29.038Z,1761344909.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356851,0.933748,0.027773],[-0.934115,0.356971,0.000697],[-0.009263,-0.026191,0.999614]]
2025-10-24T22:28:29.473Z,1761344909.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335913,0.941761,0.015767],[-0.941199,0.334976,0.043998],[0.036154,-0.029619,0.998907]]
2025-10-24T22:28:29.866Z,1761344909.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301411,0.953483,0.004650],[-0.953268,0.301442,-0.020318],[-0.020775,0.001691,0.999783]]
2025-10-24T22:28:32.081Z,1761344912.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275577,0.951874,0.134139],[-0.959293,0.263352,0.101993],[0.061759,-0.156786,0.985700]]
2025-10-24T22:28:32.475Z,1761344912.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263383,0.946036,0.188800],[-0.964691,0.258262,0.051686],[0.000137,-0.195747,0.980654]]
2025-10-24T22:28:32.878Z,1761344912.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262494,0.954351,0.142519],[-0.959149,0.274208,-0.069600],[-0.105503,-0.118427,0.987342]]
2025-10-24T22:28:33.282Z,1761344913.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252871,0.967378,0.015353],[-0.965391,0.253336,-0.061977],[-0.063844,0.000851,0.997959]]
2025-10-24T22:28:33.697Z,1761344913.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227770,0.971702,-0.062579],[-0.971293,0.231264,0.055742],[0.068636,0.048086,0.996482]]
2025-10-24T22:28:34.495Z,1761344914.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240276,0.970353,0.026133],[-0.962818,0.234812,0.133582],[0.123485,-0.057257,0.990693]]
2025-10-24T22:28:34.898Z,1761344914.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219820,0.971541,0.088246],[-0.969358,0.207364,0.131701],[0.109654,-0.114492,0.987354]]
2025-10-24T22:28:35.306Z,1761344915.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204226,0.971033,0.124040],[-0.968800,0.182309,0.167900],[0.140422,-0.154459,0.977969]]
2025-10-24T22:28:35.707Z,1761344915.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219372,0.967734,0.123963],[-0.964137,0.195573,0.179420],[0.149387,-0.158877,0.975931]]
2025-10-24T22:28:36.116Z,1761344916.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225141,0.969600,0.095846],[-0.969588,0.213269,0.120066],[0.095975,-0.119963,0.988128]]
2025-10-24T22:28:36.516Z,1761344916.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193455,0.979439,0.057216],[-0.978298,0.188161,0.086763],[0.074214,-0.072759,0.994585]]
2025-10-24T22:28:36.569Z,1761344916.569 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:28:36.570Z,1761344916.570 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:28:36.570Z,1761344916.570 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:28:36.570Z,1761344916.570 [marl:UpdateRudder:A] Stopped
2025-10-24T22:28:36.570Z,1761344916.570 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:28:36.570Z,1761344916.570 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:28:36.570Z,1761344916.570 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:28:36.571Z,1761344916.571 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:28:36.571Z,1761344916.571 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:28:36.571Z,1761344916.571 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:28:36.571Z,1761344916.571 [marl:UpdateCommandMode] Stopped
2025-10-24T22:28:36.571Z,1761344916.571 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:28:36.571Z,1761344916.571 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:28:36.571Z,1761344916.571 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:28:36.571Z,1761344916.571 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:28:36.576Z,1761344916.576 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:28:36.576Z,1761344916.576 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:28:36.576Z,1761344916.576 [marl:UpdateSpeed] Stopped
2025-10-24T22:28:36.576Z,1761344916.576 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:28:36.919Z,1761344916.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181543,0.982524,0.041108],[-0.979851,0.177192,0.092170],[0.083275,-0.057012,0.994894]]
2025-10-24T22:28:36.942Z,1761344916.942 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:28:36.942Z,1761344916.942 [marl:UpdateRudder:B] Stopped
2025-10-24T22:28:36.943Z,1761344916.943 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:28:36.943Z,1761344916.943 [marl:UpdateRudder] Stopped
2025-10-24T22:28:36.943Z,1761344916.943 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:28:37.327Z,1761344917.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196716,0.979764,0.036954],[-0.973768,0.190838,0.123925],[0.114365,-0.060363,0.991603]]
2025-10-24T22:28:37.726Z,1761344917.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201926,0.978848,0.032902],[-0.970982,0.195682,0.137488],[0.128142,-0.059710,0.989957]]
2025-10-24T22:28:38.130Z,1761344918.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209284,0.977423,0.029073],[-0.974662,0.206108,0.086907],[0.078953,-0.046524,0.995792]]
2025-10-24T22:28:38.543Z,1761344918.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211811,0.976182,0.046965],[-0.977177,0.212332,-0.006340],[-0.016161,-0.044550,0.998876]]
2025-10-24T22:28:38.938Z,1761344918.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204737,0.975478,0.080778],[-0.975440,0.210184,-0.065878],[-0.081241,-0.065306,0.994553]]
2025-10-24T22:28:39.343Z,1761344919.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211278,0.972876,0.094199],[-0.976441,0.214408,-0.024340],[-0.043876,-0.086837,0.995256]]
2025-10-24T22:28:39.746Z,1761344919.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201421,0.976755,0.073337],[-0.978408,0.197088,0.062247],[0.046346,-0.084291,0.995363]]
2025-10-24T22:28:40.151Z,1761344920.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160079,0.984503,0.071618],[-0.985281,0.154954,0.072190],[0.059973,-0.082120,0.994816]]
2025-10-24T22:28:40.562Z,1761344920.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132345,0.986917,0.092089],[-0.990936,0.129576,0.035443],[0.023046,-0.095945,0.995120]]
2025-10-24T22:28:40.958Z,1761344920.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113308,0.987060,0.113464],[-0.993414,0.114507,-0.004083],[-0.017023,-0.112254,0.993534]]
2025-10-24T22:28:41.013Z,1761344921.013 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:28:41.013Z,1761344921.013 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:28:41.362Z,1761344921.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147138,0.982085,0.117729],[-0.988628,0.149760,-0.013697],[-0.031082,-0.114375,0.992951]]
2025-10-24T22:28:41.780Z,1761344921.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108621,0.993504,0.033931],[-0.992557,0.106500,0.059066],[0.055068,-0.040094,0.997677]]
2025-10-24T22:28:41.785Z,1761344921.785 [NAL9602](INFO): SBD MO Status=1, MOMSN=2555, MT Status=0, MTMSN=0
2025-10-24T22:28:41.832Z,1761344921.832 [NAL9602](INFO): Sent 120 bytes from file Logs/20251024T220733/Express0005.lzma
2025-10-24T22:28:41.832Z,1761344921.832 [NAL9602](INFO): Packets left to send: 0
2025-10-24T22:28:41.863Z,1761344921.863 [marl:SendObservationData] Running Loop=1
2025-10-24T22:28:41.863Z,1761344921.863 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T22:28:41.863Z,1761344921.863 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T22:28:41.880Z,1761344921.880 [marl:SendObservationData:A] Running Loop=1
2025-10-24T22:28:41.881Z,1761344921.881 [marl:SendObservationData:A](INFO): Got test_good :  41da3eff2000000040514000000000004042632b4f21c849c05e774ffebe0d33402da4634000000040594cccc0000000 n/a str  and temp var is  nan n/a str 
2025-10-24T22:28:41.881Z,1761344921.881 [marl:SendObservationData:A] Stopped
2025-10-24T22:28:41.882Z,1761344921.882 [marl:SendObservationData:B] Running Loop=1
2025-10-24T22:28:42.175Z,1761344922.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080809,0.995590,0.047654],[-0.996503,0.079680,0.025142],[0.021234,-0.049519,0.998547]]
2025-10-24T22:28:42.500Z,1761344922.500 [marl:SendObservationData:B] Stopped
2025-10-24T22:28:42.500Z,1761344922.500 [marl:SendObservationData:C] Running Loop=1
2025-10-24T22:28:42.587Z,1761344922.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054880,0.994186,0.092639],[-0.997927,0.057736,-0.028429],[-0.033612,-0.090887,0.995294]]
2025-10-24T22:28:42.614Z,1761344922.614 [marl:SendObservationData:C] Stopped
2025-10-24T22:28:42.614Z,1761344922.614 [marl:SendObservationData:E] Running Loop=1
2025-10-24T22:28:42.614Z,1761344922.614 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:28:42.809Z,1761344922.809 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:28:42.809Z,1761344922.809 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:28:42.983Z,1761344922.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055205,0.986772,0.152423],[-0.998434,0.055941,-0.000541],[-0.009060,-0.152154,0.988315]]
2025-10-24T22:28:43.025Z,1761344923.025 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.011778 min 
2025-10-24T22:28:43.025Z,1761344923.025 [marl:SendObservationData:E] Stopped
2025-10-24T22:28:43.026Z,1761344923.026 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T22:28:43.026Z,1761344923.026 [marl:SendObservationData] Stopped
2025-10-24T22:28:43.026Z,1761344923.026 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T22:28:43.026Z,1761344923.026 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T22:28:43.061Z,1761344923.061 [DAT](INFO): DAT read: user:11>

2025-10-24T22:28:43.061Z,1761344923.061 [DAT](INFO): DAT read: Tx time:22:28:42.2533

2025-10-24T22:28:43.062Z,1761344923.062 [DAT](INFO): Ping request sent.
2025-10-24T22:28:43.062Z,1761344923.062 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:28:43.062Z,1761344923.062 [DAT](INFO): publishing transmit ping time
2025-10-24T22:28:43.063Z,1761344923.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000945
2025-10-24T22:28:43.313Z,1761344923.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250935
2025-10-24T22:28:43.386Z,1761344923.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071454,0.982603,0.171425],[-0.996300,0.062081,0.059433],[0.047757,-0.175037,0.983403]]
2025-10-24T22:28:43.565Z,1761344923.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502996
2025-10-24T22:28:43.791Z,1761344923.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010221,0.990850,0.134580],[-0.998013,0.001740,0.062981],[0.062170,-0.134957,0.988899]]
2025-10-24T22:28:43.817Z,1761344923.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754987
2025-10-24T22:28:44.069Z,1761344924.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006889
2025-10-24T22:28:44.190Z,1761344924.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031001,0.995980,0.084038],[-0.997664,-0.035954,0.058081],[0.060869,-0.082042,0.994768]]
2025-10-24T22:28:44.321Z,1761344924.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258984
2025-10-24T22:28:44.574Z,1761344924.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511895
2025-10-24T22:28:44.594Z,1761344924.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019348,0.999603,0.020484],[-0.999631,0.018950,0.019448],[0.019052,-0.020853,0.999601]]
2025-10-24T22:28:44.825Z,1761344924.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763505
2025-10-24T22:28:44.999Z,1761344924.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044176,0.998539,-0.031114],[-0.998328,0.042962,-0.038673],[-0.037280,0.032771,0.998767]]
2025-10-24T22:28:45.077Z,1761344925.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015045
2025-10-24T22:28:45.329Z,1761344925.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267043
2025-10-24T22:28:45.403Z,1761344925.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010872,0.999927,0.005325],[-0.999890,0.010925,-0.010067],[-0.010124,-0.005215,0.999935]]
2025-10-24T22:28:45.581Z,1761344925.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518825
2025-10-24T22:28:45.806Z,1761344925.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004229,0.995504,0.094623],[-0.999914,-0.005387,0.011979],[0.012435,-0.094565,0.995441]]
2025-10-24T22:28:45.841Z,1761344925.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779013
2025-10-24T22:28:46.093Z,1761344926.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030967
2025-10-24T22:28:46.212Z,1761344926.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001699,0.987990,0.154511],[-0.999507,0.006524,-0.030726],[-0.031365,-0.154383,0.987513]]
2025-10-24T22:28:46.345Z,1761344926.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282943
2025-10-24T22:28:46.597Z,1761344926.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534983
2025-10-24T22:28:46.615Z,1761344926.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005763,0.979642,0.200671],[-0.999863,-0.002530,-0.016362],[-0.015521,-0.200737,0.979522]]
2025-10-24T22:28:46.849Z,1761344926.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786914
2025-10-24T22:28:47.023Z,1761344927.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001158,0.975841,0.218479],[-0.999587,-0.005144,0.028277],[0.028718,-0.218422,0.975432]]
2025-10-24T22:28:47.101Z,1761344927.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038788
2025-10-24T22:28:47.357Z,1761344927.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.294891
2025-10-24T22:28:47.422Z,1761344927.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021414,0.984699,0.172941],[-0.999653,-0.023737,0.011378],[0.015309,-0.172638,0.984866]]
2025-10-24T22:28:47.609Z,1761344927.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.546906
2025-10-24T22:28:47.834Z,1761344927.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036784,0.994030,0.102717],[-0.999220,-0.038061,0.010501],[0.014347,-0.102250,0.994655]]
2025-10-24T22:28:47.861Z,1761344927.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.799009
2025-10-24T22:28:48.113Z,1761344928.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.050975
2025-10-24T22:28:48.230Z,1761344928.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005706,0.999878,0.014556],[-0.997569,-0.006702,0.069366],[0.069455,-0.014125,0.997485]]
2025-10-24T22:28:48.365Z,1761344928.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.302974
2025-10-24T22:28:48.617Z,1761344928.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.554950
2025-10-24T22:28:48.635Z,1761344928.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003756,0.998152,-0.060656],[-0.996175,0.001560,0.087361],[0.087294,0.060752,0.994328]]
2025-10-24T22:28:48.869Z,1761344928.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.807014
2025-10-24T22:28:49.043Z,1761344929.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039364,0.998626,-0.034591],[-0.999160,-0.038944,0.012743],[0.011378,0.035064,0.999320]]
2025-10-24T22:28:49.121Z,1761344929.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.058967
2025-10-24T22:28:49.378Z,1761344929.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.315001
2025-10-24T22:28:49.444Z,1761344929.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062010,0.995736,0.068291],[-0.997245,-0.059023,-0.044920],[-0.040698,-0.070888,0.996654]]
2025-10-24T22:28:49.486Z,1761344929.486 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:28:49.486Z,1761344929.486 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:28:49.486Z,1761344929.486 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:28:49.487Z,1761344929.487 [marl:UpdateRudder:A] Stopped
2025-10-24T22:28:49.487Z,1761344929.487 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:28:49.487Z,1761344929.487 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:28:49.487Z,1761344929.487 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:28:49.487Z,1761344929.487 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:28:49.487Z,1761344929.487 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:28:49.487Z,1761344929.487 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:28:49.487Z,1761344929.487 [marl:UpdateCommandMode] Stopped
2025-10-24T22:28:49.488Z,1761344929.488 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:28:49.508Z,1761344929.508 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:28:49.508Z,1761344929.508 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:28:49.508Z,1761344929.508 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:28:49.509Z,1761344929.509 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:28:49.509Z,1761344929.509 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:28:49.509Z,1761344929.509 [marl:UpdateSpeed] Stopped
2025-10-24T22:28:49.509Z,1761344929.509 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:28:49.625Z,1761344929.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.562960
2025-10-24T22:28:49.846Z,1761344929.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044555,0.991172,0.124875],[-0.999007,-0.044242,-0.005285],[0.000287,-0.124987,0.992158]]
2025-10-24T22:28:49.877Z,1761344929.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.814760
2025-10-24T22:28:49.899Z,1761344929.899 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:28:49.900Z,1761344929.900 [marl:UpdateRudder:B] Stopped
2025-10-24T22:28:49.900Z,1761344929.900 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:28:49.900Z,1761344929.900 [marl:UpdateRudder] Stopped
2025-10-24T22:28:49.900Z,1761344929.900 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:28:50.129Z,1761344930.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.066889
2025-10-24T22:28:50.256Z,1761344930.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036362,0.993955,0.103595],[-0.996859,-0.043374,0.066266],[0.070359,-0.100860,0.992410]]
2025-10-24T22:28:50.330Z,1761344930.330 [NAL9602](INFO): SBD MO Status=0, MOMSN=2556, MT Status=0, MTMSN=0
2025-10-24T22:28:50.381Z,1761344930.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.318938
2025-10-24T22:28:50.624Z,1761344930.624 [marl:NeedComms:D] Stopped
2025-10-24T22:28:50.624Z,1761344930.624 [marl:NeedComms:E] Running Loop=1
2025-10-24T22:28:50.633Z,1761344930.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.570828
2025-10-24T22:28:50.706Z,1761344930.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043153,0.997558,0.054926],[-0.996239,-0.047100,0.072722],[0.075131,-0.051581,0.995839]]
2025-10-24T22:28:50.885Z,1761344930.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.823491
2025-10-24T22:28:51.107Z,1761344931.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048965,0.998780,0.006348],[-0.997517,-0.049223,0.050369],[0.050620,-0.003866,0.998710]]
2025-10-24T22:28:51.137Z,1761344931.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.074868
2025-10-24T22:28:51.389Z,1761344931.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.326838
2025-10-24T22:28:51.515Z,1761344931.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042488,0.999013,-0.012943],[-0.996548,-0.041452,0.071933],[0.071326,0.015954,0.997325]]
2025-10-24T22:28:51.522Z,1761344931.522 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,222847.00,A,3646.47349,N,12151.78767,W,0.933,137.28,241025,,,A*76
2025-10-24T22:28:51.526Z,1761344931.526 [NAL9602](INFO): GPS fix at 20251024T222847: (36.774558, -121.863128)
2025-10-24T22:28:51.594Z,1761344931.594 [marl:NeedComms:E] Stopped
2025-10-24T22:28:51.595Z,1761344931.595 [marl:NeedComms](INFO): Completed marl:NeedComms
2025-10-24T22:28:51.595Z,1761344931.595 [marl:NeedComms] Stopped
2025-10-24T22:28:51.595Z,1761344931.595 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms
2025-10-24T22:28:51.595Z,1761344931.595 [marl:NeedComms:B.GoToSurface] Stopped
2025-10-24T22:28:51.595Z,1761344931.595 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-24T22:28:51.609Z,1761344931.609 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344896.00. Resetting abort timer.
2025-10-24T22:28:51.641Z,1761344931.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.579547
2025-10-24T22:28:51.788Z,1761344931.788 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002749
2025-10-24T22:28:51.895Z,1761344931.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.832971
2025-10-24T22:28:51.950Z,1761344931.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027999,0.999578,0.007684],[-0.991561,-0.028747,0.126410],[0.126578,-0.004080,0.991948]]
2025-10-24T22:28:52.145Z,1761344932.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.083027
2025-10-24T22:28:52.321Z,1761344932.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023280,0.998692,0.045521],[-0.991319,-0.028954,0.128252],[0.129403,-0.042140,0.990696]]
2025-10-24T22:28:52.397Z,1761344932.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.335105
2025-10-24T22:28:52.650Z,1761344932.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.587687
2025-10-24T22:28:52.722Z,1761344932.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046653,0.994097,0.097950],[-0.996663,-0.052898,0.062159],[0.066973,-0.094723,0.993248]]
2025-10-24T22:28:52.788Z,1761344932.788 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:28:52.901Z,1761344932.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.838847
2025-10-24T22:28:53.126Z,1761344933.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074420,0.985781,0.150656],[-0.996222,-0.080272,0.033130],[0.044752,-0.147622,0.988031]]
2025-10-24T22:28:53.153Z,1761344933.153 [DAT](INFO): Reached modem response timeout
2025-10-24T22:28:53.537Z,1761344933.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088543,0.978590,0.185798],[-0.991027,-0.105300,0.082329],[0.100131,-0.176841,0.979133]]
2025-10-24T22:28:53.975Z,1761344933.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092950,0.977289,0.190439],[-0.980797,-0.122808,0.151513],[0.171460,-0.172699,0.969936]]
2025-10-24T22:28:53.980Z,1761344933.980 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,222850.00,A,3646.47339,N,12151.78743,W,0.097,137.28,241025,,,A*76
2025-10-24T22:28:53.982Z,1761344933.982 [NAL9602](INFO): GPS fix at 20251024T222850: (36.774557, -121.863124)
2025-10-24T22:28:54.063Z,1761344934.063 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344896.00. Resetting abort timer.
2025-10-24T22:28:54.394Z,1761344934.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074143,0.985161,0.154795],[-0.980153,-0.100606,0.170819],[0.183858,-0.139058,0.973067]]
2025-10-24T22:28:54.787Z,1761344934.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054890,0.994312,0.091274],[-0.979875,-0.071211,0.186477],[0.191916,-0.079202,0.978210]]
2025-10-24T22:28:55.190Z,1761344935.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026632,0.999551,0.013704],[-0.987032,-0.028464,0.157978],[0.158297,-0.009319,0.987348]]
2025-10-24T22:28:55.423Z,1761344935.423 [DAT](INFO): DAT read: Response Not Received

2025-10-24T22:28:55.423Z,1761344935.423 [DAT](INFO): response not received
2025-10-24T22:28:55.423Z,1761344935.423 [DAT](ERROR): No response from remote modem.
2025-10-24T22:28:55.595Z,1761344935.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040658,0.999125,-0.009831],[-0.997477,-0.040014,0.058639],[0.058194,0.012190,0.998231]]
2025-10-24T22:28:56.006Z,1761344936.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069673,0.995914,0.057458],[-0.997185,-0.067932,-0.031729],[-0.027696,-0.059507,0.997844]]
2025-10-24T22:28:56.402Z,1761344936.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067946,0.984807,0.159805],[-0.997220,-0.062126,-0.041145],[-0.030591,-0.162157,0.986291]]
2025-10-24T22:28:56.807Z,1761344936.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087770,0.966109,0.242754],[-0.995717,-0.077978,-0.049674],[-0.029061,-0.246074,0.968815]]
2025-10-24T22:28:56.813Z,1761344936.813 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,222853.00,A,3646.47327,N,12151.78764,W,0.680,201.38,241025,,,A*78
2025-10-24T22:28:56.815Z,1761344936.815 [NAL9602](INFO): GPS fix at 20251024T222853: (36.774555, -121.863127)
2025-10-24T22:28:56.865Z,1761344936.865 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344896.00. Resetting abort timer.
2025-10-24T22:28:57.211Z,1761344937.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142479,0.946058,0.290987],[-0.986683,-0.112448,-0.117525],[-0.078465,-0.303857,0.949481]]
2025-10-24T22:28:57.616Z,1761344937.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160163,0.939640,0.302364],[-0.987020,-0.148786,-0.060453],[-0.011817,-0.308122,0.951274]]
2025-10-24T22:28:58.027Z,1761344938.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125375,0.959110,0.253749],[-0.989259,-0.140232,0.041258],[0.075154,-0.245850,0.966390]]
2025-10-24T22:28:58.424Z,1761344938.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114642,0.984803,0.130459],[-0.992991,-0.117399,0.013615],[0.028724,-0.127983,0.991360]]
2025-10-24T22:28:58.862Z,1761344938.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128429,0.991330,0.027763],[-0.991358,-0.129087,0.023349],[0.026730,-0.024524,0.999342]]
2025-10-24T22:28:59.272Z,1761344939.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141788,0.989796,-0.014151],[-0.984479,-0.139504,0.106487],[0.103426,0.029030,0.994213]]
2025-10-24T22:28:59.684Z,1761344939.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111094,0.993735,0.012156],[-0.986878,-0.111753,0.116543],[0.117171,0.000950,0.993111]]
2025-10-24T22:29:00.077Z,1761344940.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086046,0.993115,0.079486],[-0.994012,-0.090969,0.060535],[0.067349,-0.073801,0.994996]]
2025-10-24T22:29:00.103Z,1761344940.103 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,222856.00,A,3646.47288,N,12151.78696,W,1.263,150.44,241025,,,A*71
2025-10-24T22:29:00.109Z,1761344940.109 [NAL9602](INFO): GPS fix at 20251024T222856: (36.774548, -121.863116)
2025-10-24T22:29:00.236Z,1761344940.236 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344896.00. Resetting abort timer.
2025-10-24T22:29:00.534Z,1761344940.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142957,0.971704,0.188028],[-0.986962,-0.154156,0.046278],[0.073955,-0.178961,0.981073]]
2025-10-24T22:29:00.925Z,1761344940.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163697,0.934054,0.317405],[-0.976005,-0.200173,0.085705],[0.143589,-0.295759,0.944409]]
2025-10-24T22:29:01.314Z,1761344941.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088507,0.929296,0.358575],[-0.982694,-0.140272,0.120978],[0.162723,-0.341662,0.925628]]
2025-10-24T22:29:01.718Z,1761344941.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037964,0.965741,0.256717],[-0.994615,-0.061311,0.083558],[0.096435,-0.252162,0.962868]]
2025-10-24T22:29:02.125Z,1761344942.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042383,0.995551,0.084149],[-0.998283,-0.045607,0.036761],[0.040435,-0.082446,0.995775]]
2025-10-24T22:29:02.529Z,1761344942.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062530,0.997985,-0.010752],[-0.997985,-0.062407,0.011500],[0.010805,0.011449,0.999876]]
2025-10-24T22:29:02.609Z,1761344942.609 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:29:02.609Z,1761344942.609 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:29:02.610Z,1761344942.610 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:29:02.610Z,1761344942.610 [marl:UpdateRudder:A] Stopped
2025-10-24T22:29:02.610Z,1761344942.610 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:29:02.610Z,1761344942.610 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:29:02.610Z,1761344942.610 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:29:02.610Z,1761344942.610 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:29:02.610Z,1761344942.610 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:29:02.611Z,1761344942.611 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:29:02.611Z,1761344942.611 [marl:UpdateCommandMode] Stopped
2025-10-24T22:29:02.611Z,1761344942.611 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:29:02.611Z,1761344942.611 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:29:02.611Z,1761344942.611 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:29:02.611Z,1761344942.611 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:29:02.611Z,1761344942.611 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:29:02.611Z,1761344942.611 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:29:02.620Z,1761344942.620 [marl:UpdateSpeed] Stopped
2025-10-24T22:29:02.620Z,1761344942.620 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:29:02.930Z,1761344942.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058672,0.998255,0.006604],[-0.998256,-0.058712,0.006106],[0.006483,-0.006234,0.999960]]
2025-10-24T22:29:02.939Z,1761344942.939 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,222859.00,A,3646.47238,N,12151.78683,W,0.778,181.21,241025,,,A*70
2025-10-24T22:29:02.941Z,1761344942.941 [NAL9602](INFO): GPS fix at 20251024T222859: (36.774540, -121.863114)
2025-10-24T22:29:03.051Z,1761344943.051 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:29:03.051Z,1761344943.051 [marl:UpdateRudder:B] Stopped
2025-10-24T22:29:03.060Z,1761344943.060 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:29:03.060Z,1761344943.060 [marl:UpdateRudder] Stopped
2025-10-24T22:29:03.060Z,1761344943.060 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:29:03.062Z,1761344943.062 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344896.00. Resetting abort timer.
2025-10-24T22:29:03.742Z,1761344943.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044646,0.974415,0.220276],[-0.998993,-0.044502,-0.005619],[0.004327,-0.220305,0.975421]]
2025-10-24T22:29:04.143Z,1761344944.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011614,0.972553,0.232390],[-0.999367,-0.019103,0.030001],[0.033617,-0.231894,0.972160]]
2025-10-24T22:29:04.546Z,1761344944.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007028,0.983985,0.178114],[-0.999622,-0.011645,0.024890],[0.026566,-0.177872,0.983695]]
2025-10-24T22:29:04.950Z,1761344944.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011277,0.988531,0.150594],[-0.999424,-0.015964,0.029950],[0.032011,-0.150169,0.988142]]
2025-10-24T22:29:05.356Z,1761344945.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022204,0.991648,0.127046],[-0.998295,-0.028854,0.050746],[0.053988,-0.125702,0.990598]]
2025-10-24T22:29:05.759Z,1761344945.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022429,0.994081,0.106298],[-0.999010,-0.026370,0.035816],[0.038407,-0.105390,0.993689]]
2025-10-24T22:29:06.162Z,1761344946.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052210,0.992711,0.108625],[-0.998636,-0.051973,-0.005014],[0.000668,-0.108738,0.994070]]
2025-10-24T22:29:06.168Z,1761344946.168 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,222902.00,A,3646.47214,N,12151.78686,W,0.058,183.28,241025,,,A*7A
2025-10-24T22:29:06.170Z,1761344946.170 [NAL9602](INFO): GPS fix at 20251024T222902: (36.774536, -121.863114)
2025-10-24T22:29:06.252Z,1761344946.252 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344896.00. Resetting abort timer.
2025-10-24T22:29:06.566Z,1761344946.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054751,0.987545,0.147501],[-0.995121,-0.066109,0.073234],[0.082073,-0.142772,0.986347]]
2025-10-24T22:29:06.976Z,1761344946.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024893,0.985726,0.166506],[-0.988239,-0.049401,0.144715],[0.150875,-0.160946,0.975363]]
2025-10-24T22:29:07.344Z,1761344947.344 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:29:07.375Z,1761344947.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009264,0.984798,0.173455],[-0.994899,-0.008348,0.100533],[0.100453,-0.173502,0.979697]]
2025-10-24T22:29:07.779Z,1761344947.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004251,0.983893,0.178705],[-0.999854,-0.007138,0.015516],[0.016541,-0.178613,0.983780]]
2025-10-24T22:29:08.586Z,1761344948.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018077,0.984724,0.173184],[-0.999678,-0.020890,0.014431],[0.017828,-0.172868,0.984784]]
2025-10-24T22:29:09.006Z,1761344949.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033254,0.989644,0.139640],[-0.998623,-0.038571,0.035546],[0.040564,-0.138266,0.989564]]
2025-10-24T22:29:09.019Z,1761344949.019 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,222905.00,A,3646.47182,N,12151.78762,W,1.419,250.05,241025,,,A*78
2025-10-24T22:29:09.021Z,1761344949.021 [NAL9602](INFO): GPS fix at 20251024T222905: (36.774530, -121.863127)
2025-10-24T22:29:09.044Z,1761344949.044 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344896.00. Resetting abort timer.
2025-10-24T22:29:09.808Z,1761344949.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061381,0.983905,0.167822],[-0.996497,-0.069976,0.045786],[0.056793,-0.164424,0.984753]]
2025-10-24T22:29:10.221Z,1761344950.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050152,0.979985,0.192648],[-0.995930,-0.063535,0.063927],[0.074888,-0.188657,0.979183]]
2025-10-24T22:29:10.613Z,1761344950.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053099,0.972564,0.226497],[-0.996018,-0.067848,0.057830],[0.071610,-0.222524,0.972294]]
2025-10-24T22:29:11.017Z,1761344951.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077770,0.965949,0.246768],[-0.993628,-0.095351,0.060094],[0.081577,-0.240522,0.967210]]
2025-10-24T22:29:11.422Z,1761344951.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086943,0.963601,0.252810],[-0.985411,-0.120455,0.120233],[0.146309,-0.238669,0.960016]]
2025-10-24T22:29:11.835Z,1761344951.835 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,222908.00,A,3646.47229,N,12151.78862,W,0.700,258.95,241025,,,A*73
2025-10-24T22:29:11.837Z,1761344951.837 [NAL9602](INFO): GPS fix at 20251024T222908: (36.774538, -121.863144)
2025-10-24T22:29:11.907Z,1761344951.907 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344896.00. Resetting abort timer.
2025-10-24T22:29:12.223Z,1761344952.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037859,0.957267,0.286719],[-0.973254,-0.100383,0.206638],[0.226589,-0.271227,0.935464]]
2025-10-24T22:29:13.046Z,1761344953.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031684,0.970759,0.237957],[-0.962360,-0.093925,0.255033],[0.269926,-0.220920,0.937195]]
2025-10-24T22:29:13.449Z,1761344953.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009661,0.977448,0.210956],[-0.959893,-0.068181,0.271952],[0.280202,-0.199868,0.938904]]
2025-10-24T22:29:13.839Z,1761344953.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005613,0.985729,0.168249],[-0.973303,-0.043992,0.225270],[0.229456,-0.162493,0.959659]]
2025-10-24T22:29:14.294Z,1761344954.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003689,0.989670,0.143315],[-0.976789,-0.034261,0.211446],[0.214172,-0.139208,0.966825]]
2025-10-24T22:29:14.683Z,1761344954.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019136,0.991656,0.127486],[-0.959742,-0.053958,0.275652],[0.280230,-0.117079,0.952766]]
2025-10-24T22:29:15.084Z,1761344955.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029773,0.987365,0.155639],[-0.933752,-0.083036,0.348155],[0.356680,-0.134963,0.924427]]
2025-10-24T22:29:15.154Z,1761344955.154 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,222911.00,A,3646.47153,N,12151.78923,W,1.089,221.13,241025,,,A*76
2025-10-24T22:29:15.158Z,1761344955.158 [NAL9602](INFO): GPS fix at 20251024T222911: (36.774526, -121.863154)
2025-10-24T22:29:15.195Z,1761344955.195 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344896.00. Resetting abort timer.
2025-10-24T22:29:15.329Z,1761344955.329 [DAT](INFO): setting remote address to 10
2025-10-24T22:29:15.507Z,1761344955.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017877,0.965370,0.260272],[-0.932166,-0.110234,0.344841],[0.361590,-0.236453,0.901855]]
2025-10-24T22:29:15.581Z,1761344955.581 [DAT](INFO): DAT read: user:12>

2025-10-24T22:29:15.582Z,1761344955.582 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:29:15.582Z,1761344955.582 [DAT](INFO): set remote address to 10
2025-10-24T22:29:15.582Z,1761344955.582 [DAT](INFO): entering online mode
2025-10-24T22:29:15.606Z,1761344955.606 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:29:15.607Z,1761344955.607 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:29:15.607Z,1761344955.607 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:29:15.607Z,1761344955.607 [marl:UpdateRudder:A] Stopped
2025-10-24T22:29:15.607Z,1761344955.607 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:29:15.607Z,1761344955.607 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:29:15.607Z,1761344955.607 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:29:15.607Z,1761344955.607 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:29:15.612Z,1761344955.612 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:29:15.612Z,1761344955.612 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:29:15.612Z,1761344955.612 [marl:UpdateCommandMode] Stopped
2025-10-24T22:29:15.612Z,1761344955.612 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:29:15.612Z,1761344955.612 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:29:15.613Z,1761344955.613 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:29:15.613Z,1761344955.613 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:29:15.613Z,1761344955.613 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:29:15.613Z,1761344955.613 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:29:15.613Z,1761344955.613 [marl:UpdateSpeed] Stopped
2025-10-24T22:29:15.613Z,1761344955.613 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:29:15.833Z,1761344955.833 [DAT](INFO): DAT read: user:13>

2025-10-24T22:29:15.834Z,1761344955.834 [DAT](INFO): DAT read: 

2025-10-24T22:29:15.835Z,1761344955.835 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:29:15.835Z,1761344955.835 [DAT](INFO): commRate: 600
2025-10-24T22:29:15.835Z,1761344955.835 [DAT](INFO): online mode acknowledged
2025-10-24T22:29:15.836Z,1761344955.836 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:29:15.905Z,1761344955.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011559,0.963131,0.268783],[-0.938542,-0.103185,0.329381],[0.344972,-0.248456,0.905132]]
2025-10-24T22:29:16.025Z,1761344956.025 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:29:16.026Z,1761344956.026 [marl:UpdateRudder:B] Stopped
2025-10-24T22:29:16.026Z,1761344956.026 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:29:16.026Z,1761344956.026 [marl:UpdateRudder] Stopped
2025-10-24T22:29:16.026Z,1761344956.026 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:29:16.294Z,1761344956.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010389,0.968350,0.249380],[-0.935196,-0.097694,0.340390],[0.353979,-0.229683,0.906612]]
2025-10-24T22:29:16.698Z,1761344956.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007323,0.971421,0.237249],[-0.922855,-0.097929,0.372490],[0.385078,-0.216218,0.897198]]
2025-10-24T22:29:17.105Z,1761344957.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012078,0.964798,0.262713],[-0.919874,-0.092285,0.381202],[0.392028,-0.246267,0.886378]]
2025-10-24T22:29:17.507Z,1761344957.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038327,0.958640,0.282029],[-0.929982,-0.069043,0.361062],[0.365601,-0.276121,0.888872]]
2025-10-24T22:29:17.925Z,1761344957.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048786,0.965074,0.257394],[-0.942524,-0.040805,0.331637],[0.330558,-0.258779,0.907615]]
2025-10-24T22:29:17.972Z,1761344957.972 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,222914.00,A,3646.47059,N,12151.78808,W,2.119,221.13,241025,,,A*7B
2025-10-24T22:29:17.977Z,1761344957.977 [NAL9602](INFO): GPS fix at 20251024T222914: (36.774510, -121.863135)
2025-10-24T22:29:18.060Z,1761344958.060 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344896.00. Resetting abort timer.
2025-10-24T22:29:18.314Z,1761344958.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034859,0.981672,0.187365],[-0.944477,-0.028931,0.327300],[0.326722,-0.188372,0.926158]]
2025-10-24T22:29:18.721Z,1761344958.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020125,0.987081,0.158953],[-0.939401,-0.035752,0.340951],[0.342229,-0.156182,0.926545]]
2025-10-24T22:29:19.114Z,1761344959.114 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:29:18.3519

2025-10-24T22:29:19.114Z,1761344959.114 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:29:19.126Z,1761344959.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017907,0.984255,0.175844],[-0.936874,-0.044908,0.346771],[0.349208,-0.170954,0.921319]]
2025-10-24T22:29:19.526Z,1761344959.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027526,0.982450,0.184483],[-0.932655,-0.041171,0.358413],[0.359719,-0.181925,0.915154]]
2025-10-24T22:29:19.975Z,1761344959.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039541,0.984672,0.169877],[-0.930317,-0.025759,0.365852],[0.364620,-0.172505,0.915038]]
2025-10-24T22:29:20.337Z,1761344960.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040158,0.985568,0.164445],[-0.934564,-0.021181,0.355163],[0.353520,-0.167947,0.920227]]
2025-10-24T22:29:20.738Z,1761344960.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033280,0.985373,0.167127],[-0.940290,-0.025807,0.339393],[0.338742,-0.168443,0.925678]]
2025-10-24T22:29:20.750Z,1761344960.750 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,222917.00,A,3646.47398,N,12151.78668,W,3.829,221.13,241025,,,A*75
2025-10-24T22:29:20.752Z,1761344960.752 [NAL9602](INFO): GPS fix at 20251024T222917: (36.774566, -121.863111)
2025-10-24T22:29:20.775Z,1761344960.775 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761344896.00. Resetting abort timer.
2025-10-24T22:29:21.142Z,1761344961.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026214,0.984795,0.171732],[-0.940833,-0.033756,0.337185],[0.337855,-0.170410,0.925643]]
2025-10-24T22:29:21.546Z,1761344961.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020446,0.983014,0.182387],[-0.936398,-0.045097,0.348029],[0.350343,-0.177902,0.919571]]
2025-10-24T22:29:21.983Z,1761344961.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011113,0.980751,0.194944],[-0.932545,-0.060196,0.356001],[0.360884,-0.185750,0.913925]]
2025-10-24T22:29:22.355Z,1761344962.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000408,0.977453,0.211152],[-0.931298,-0.076543,0.356126],[0.364258,-0.196791,0.910269]]
2025-10-24T22:29:22.758Z,1761344962.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006631,0.974143,0.225833],[-0.930650,-0.088637,0.355014],[0.365852,-0.207818,0.907174]]
2025-10-24T22:29:23.162Z,1761344963.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008457,0.971956,0.235010],[-0.930786,-0.093546,0.353392],[0.365466,-0.215755,0.905475]]
2025-10-24T22:29:23.571Z,1761344963.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007273,0.969199,0.246171],[-0.931395,-0.096161,0.351079],[0.363938,-0.226729,0.903407]]
2025-10-24T22:29:23.988Z,1761344963.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004988,0.966257,0.257532],[-0.933084,-0.097114,0.346299],[0.359624,-0.238572,0.902083]]
2025-10-24T22:29:23.994Z,1761344963.994 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,222920.00,A,3646.47770,N,12151.78215,W,4.937,221.13,241025,,,A*74
2025-10-24T22:29:23.996Z,1761344963.996 [NAL9602](INFO): GPS fix at 20251024T222920: (36.774628, -121.863036)
2025-10-24T22:29:24.057Z,1761344964.057 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761345024.00. Resetting abort timer.
2025-10-24T22:29:24.374Z,1761344964.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003918,0.963284,0.268456],[-0.935735,-0.098213,0.338755],[0.352683,-0.249876,0.901763]]
2025-10-24T22:29:24.779Z,1761344964.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002728,0.962297,0.271989],[-0.936976,-0.097488,0.335516],[0.349382,-0.253932,0.901915]]
2025-10-24T22:29:25.182Z,1761344965.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001374,0.963396,0.268079],[-0.936737,-0.095077,0.336874],[0.350031,-0.250657,0.902579]]
2025-10-24T22:29:25.591Z,1761344965.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001068,0.965097,0.261890],[-0.937609,-0.090090,0.335818],[0.347691,-0.245909,0.904787]]
2025-10-24T22:29:25.993Z,1761344965.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004370,0.967581,0.252525],[-0.940726,-0.081665,0.329189],[0.339139,-0.238995,0.909871]]
2025-10-24T22:29:26.395Z,1761344966.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007269,0.970648,0.240396],[-0.943968,-0.072664,0.321940],[0.329958,-0.229266,0.915732]]
2025-10-24T22:29:26.798Z,1761344966.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009209,0.973485,0.228565],[-0.945340,-0.066033,0.319331],[0.325957,-0.219012,0.919666]]
2025-10-24T22:29:27.202Z,1761344967.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011884,0.974358,0.224690],[-0.945084,-0.062451,0.320804],[0.326610,-0.216164,0.920108]]
2025-10-24T22:29:27.610Z,1761344967.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015186,0.974027,0.225920],[-0.945196,-0.059717,0.320997],[0.326151,-0.218414,0.919740]]
2025-10-24T22:29:28.012Z,1761344968.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020084,0.973179,0.229170],[-0.947415,-0.054696,0.315297],[0.319375,-0.223452,0.920907]]
2025-10-24T22:29:28.414Z,1761344968.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026892,0.972648,0.230722],[-0.951763,-0.045659,0.303417],[0.305653,-0.227752,0.924503]]
2025-10-24T22:29:28.480Z,1761344968.480 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:29:28.481Z,1761344968.481 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:29:28.481Z,1761344968.481 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:29:28.481Z,1761344968.481 [marl:UpdateRudder:A] Stopped
2025-10-24T22:29:28.481Z,1761344968.481 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:29:28.481Z,1761344968.481 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:29:28.481Z,1761344968.481 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:29:28.481Z,1761344968.481 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:29:28.482Z,1761344968.482 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:29:28.482Z,1761344968.482 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:29:28.482Z,1761344968.482 [marl:UpdateCommandMode] Stopped
2025-10-24T22:29:28.482Z,1761344968.482 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:29:28.482Z,1761344968.482 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:29:28.482Z,1761344968.482 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:29:28.482Z,1761344968.482 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:29:28.482Z,1761344968.482 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:29:28.483Z,1761344968.483 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:29:28.483Z,1761344968.483 [marl:UpdateSpeed] Stopped
2025-10-24T22:29:28.483Z,1761344968.483 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:29:28.818Z,1761344968.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034102,0.974188,0.223148],[-0.956877,-0.032624,0.288657],[0.288486,-0.223369,0.931065]]
2025-10-24T22:29:28.867Z,1761344968.867 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:29:28.867Z,1761344968.867 [marl:UpdateRudder:B] Stopped
2025-10-24T22:29:28.867Z,1761344968.867 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:29:28.867Z,1761344968.867 [marl:UpdateRudder] Stopped
2025-10-24T22:29:28.867Z,1761344968.867 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:29:29.193Z,1761344969.193 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:29:29.226Z,1761344969.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038725,0.976085,0.213913],[-0.961017,-0.022270,0.275590],[0.273763,-0.216247,0.937172]]
2025-10-24T22:29:29.446Z,1761344969.446 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:29:29.447Z,1761344969.447 [DAT](INFO): #Outgoing data=1
2025-10-24T22:29:29.447Z,1761344969.447 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:29:29.630Z,1761344969.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039514,0.977063,0.209254],[-0.963567,-0.018182,0.266849],[0.264533,-0.212174,0.940747]]
2025-10-24T22:29:29.697Z,1761344969.697 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:29:30.031Z,1761344970.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040529,0.978427,0.202579],[-0.965219,-0.014070,0.261063],[0.258282,-0.206114,0.943826]]
2025-10-24T22:29:30.435Z,1761344970.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043499,0.979446,0.196958],[-0.966607,-0.008575,0.256120],[0.252545,-0.201522,0.946367]]
2025-10-24T22:29:30.839Z,1761344970.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046784,0.980591,0.190402],[-0.968129,-0.002439,0.250441],[0.246045,-0.196050,0.949224]]
2025-10-24T22:29:31.242Z,1761344971.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051125,0.980230,0.191144],[-0.970284,0.003427,0.241946],[0.236507,-0.197834,0.951276]]
2025-10-24T22:29:31.653Z,1761344971.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054873,0.978849,0.197085],[-0.973068,0.008165,0.230374],[0.223892,-0.204419,0.952935]]
2025-10-24T22:29:32.050Z,1761344972.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054720,0.978698,0.197878],[-0.976089,0.010678,0.217110],[0.210373,-0.205027,0.955880]]
2025-10-24T22:29:32.466Z,1761344972.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049871,0.980243,0.191407],[-0.979058,0.010107,0.203332],[0.197381,-0.197539,0.960218]]
2025-10-24T22:29:32.859Z,1761344972.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044427,0.981609,0.185661],[-0.981835,0.008587,0.189541],[0.184461,-0.190709,0.964160]]
2025-10-24T22:29:32.974Z,1761344972.974 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:29:32.2518

2025-10-24T22:29:32.974Z,1761344972.974 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:29:33.262Z,1761344973.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039096,0.982648,0.181312],[-0.983999,0.006295,0.178061],[0.173830,-0.185372,0.967171]]
2025-10-24T22:29:33.677Z,1761344973.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032408,0.982560,0.183100],[-0.985424,0.000802,0.170115],[0.167001,-0.185944,0.968264]]
2025-10-24T22:29:34.071Z,1761344974.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024798,0.981167,0.191562],[-0.986031,-0.007565,0.166392],[0.164708,-0.193012,0.967273]]
2025-10-24T22:29:34.475Z,1761344974.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014837,0.978201,0.207130],[-0.986191,-0.019857,0.164416],[0.164945,-0.206709,0.964399]]
2025-10-24T22:29:34.878Z,1761344974.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004209,0.976208,0.216797],[-0.986494,-0.031446,0.160750],[0.163743,-0.214545,0.962891]]
2025-10-24T22:29:35.282Z,1761344975.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002970,0.976777,0.214236],[-0.987537,-0.036577,0.153077],[0.157359,-0.211112,0.964712]]
2025-10-24T22:29:35.694Z,1761344975.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009032,0.976954,0.213257],[-0.988763,-0.040550,0.143884],[0.149216,-0.209562,0.966343]]
2025-10-24T22:29:36.091Z,1761344976.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013789,0.974303,0.224817],[-0.989720,-0.045308,0.135651],[0.142351,-0.220635,0.964913]]
2025-10-24T22:29:36.494Z,1761344976.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015868,0.971313,0.237275],[-0.990415,-0.047833,0.129576],[0.137208,-0.232945,0.962762]]
2025-10-24T22:29:37.304Z,1761344977.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013136,0.970951,0.238919],[-0.991782,-0.043062,0.120475],[0.127264,-0.235373,0.963537]]
2025-10-24T22:29:37.721Z,1761344977.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011125,0.971585,0.236427],[-0.992499,-0.039517,0.115692],[0.121747,-0.233367,0.964737]]
2025-10-24T22:29:38.514Z,1761344978.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004669,0.971413,0.237351],[-0.994600,-0.029119,0.099611],[0.103675,-0.235604,0.966303]]
2025-10-24T22:29:38.712Z,1761344978.712 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:29:38.921Z,1761344978.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001603,0.970833,0.239753],[-0.995747,-0.023634,0.089043],[0.092112,-0.238591,0.966742]]
2025-10-24T22:29:39.322Z,1761344979.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001085,0.970044,0.242926],[-0.996590,-0.021091,0.079768],[0.082502,-0.242011,0.966760]]
2025-10-24T22:29:39.785Z,1761344979.785 [DAT](INFO): DAT read: Rx Time:22:29:38.4674

2025-10-24T22:29:39.785Z,1761344979.785 [DAT](INFO): Rx dataTimestamp_ set to:1761344979.785144
2025-10-24T22:29:40.130Z,1761344980.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001879,0.971672,0.236327],[-0.997430,-0.015105,0.070035],[0.071620,-0.235852,0.969146]]
2025-10-24T22:29:40.538Z,1761344980.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006934,0.972404,0.233200],[-0.997588,-0.009381,0.068777],[0.069066,-0.233114,0.969994]]
2025-10-24T22:29:40.546Z,1761344980.546 [DAT](INFO): DAT read: 22:29:38.4674 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 134, 0.31, 0.268,-1.525,-1.806,-0.524, PHS= 0.894,-0.955,-1.326, RAW=  81.0,  13.4, CAL=  80.9,  17.3, ROT=  69.1, -17.3

2025-10-24T22:29:40.547Z,1761344980.547 [DAT](INFO): got valid direction response:
 22:29:38.4674 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 134, 0.31, 0.268,-1.525,-1.806,-0.524, PHS= 0.894,-0.955,-1.326, RAW=  81.0,  13.4, CAL=  80.9,  17.3, ROT=  69.1, -17.3

2025-10-24T22:29:40.548Z,1761344980.548 [DAT](INFO): DAT read: 

2025-10-24T22:29:40.549Z,1761344980.549 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:29:40.549Z,1761344980.549 [DAT](INFO): Got DATA 2
2025-10-24T22:29:40.550Z,1761344980.550 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:29:40.550Z,1761344980.550 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:29:40.550Z,1761344980.550 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:29:40.551Z,1761344980.551 [DAT](INFO): DAT read: CRC:Pass MPD:39.7 PSNR:11.2 AGC:68 SPD:+1.6 CCERR:007

2025-10-24T22:29:40.551Z,1761344980.551 [DAT](INFO): Got CRC:Pass
2025-10-24T22:29:40.551Z,1761344980.551 [DAT](INFO): Got CRC:Pass
2025-10-24T22:29:40.552Z,1761344980.552 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:29:40.552Z,1761344980.552 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:29:40.552Z,1761344980.552 [DAT](INFO): Got ack
2025-10-24T22:29:40.552Z,1761344980.552 [DAT](INFO): DAT read: 

2025-10-24T22:29:40.553Z,1761344980.553 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:29:40.553Z,1761344980.553 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:29:40.553Z,1761344980.553 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-24T22:29:40.554Z,1761344980.554 [DAT](INFO): direction in FSK: [0.340599,0.891942,0.297375]
2025-10-24T22:29:40.704Z,1761344980.704 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345024.00. Resetting abort timer.
2025-10-24T22:29:40.793Z,1761344980.793 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:29:40.794Z,1761344980.794 [DAT](INFO): #Outgoing data=2
2025-10-24T22:29:40.794Z,1761344980.794 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:29:40.967Z,1761344980.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012622,0.973172,0.229732],[-0.997599,-0.003390,0.069169],[0.068092,-0.230054,0.970793]]
2025-10-24T22:29:41.045Z,1761344981.045 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:29:41.259Z,1761344981.259 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:29:41.259Z,1761344981.259 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:29:41.455Z,1761344981.455 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:29:41.455Z,1761344981.455 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:29:41.455Z,1761344981.455 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:29:41.456Z,1761344981.456 [marl:UpdateRudder:A] Stopped
2025-10-24T22:29:41.456Z,1761344981.456 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:29:41.456Z,1761344981.456 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:29:41.457Z,1761344981.457 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:29:41.457Z,1761344981.457 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:29:41.457Z,1761344981.457 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:29:41.457Z,1761344981.457 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:29:41.457Z,1761344981.457 [marl:UpdateCommandMode] Stopped
2025-10-24T22:29:41.457Z,1761344981.457 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:29:41.457Z,1761344981.457 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:29:41.457Z,1761344981.457 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:29:41.457Z,1761344981.457 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:29:41.458Z,1761344981.458 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:29:41.458Z,1761344981.458 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:29:41.458Z,1761344981.458 [marl:UpdateSpeed] Stopped
2025-10-24T22:29:41.458Z,1761344981.458 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:29:41.770Z,1761344981.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024201,0.974048,0.225044],[-0.997611,0.008962,0.068494],[0.064700,-0.226164,0.971938]]
2025-10-24T22:29:41.813Z,1761344981.813 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:29:41.813Z,1761344981.813 [marl:UpdateRudder:B] Stopped
2025-10-24T22:29:41.813Z,1761344981.813 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:29:41.813Z,1761344981.813 [marl:UpdateRudder] Stopped
2025-10-24T22:29:41.813Z,1761344981.813 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:29:42.174Z,1761344982.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029176,0.974078,0.224323],[-0.997967,0.015665,0.061777],[0.056662,-0.225669,0.972555]]
2025-10-24T22:29:42.578Z,1761344982.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032051,0.974696,0.221224],[-0.998568,0.021743,0.048878],[0.042831,-0.222474,0.973997]]
2025-10-24T22:29:42.984Z,1761344982.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031311,0.976248,0.214380],[-0.999171,0.024991,0.032127],[0.026006,-0.215208,0.976222]]
2025-10-24T22:29:43.009Z,1761344983.009 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:29:43.061Z,1761344983.061 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:29:43.112Z,1761344983.112 [DAT](INFO): entering command mode
2025-10-24T22:29:43.313Z,1761344983.313 [DAT](INFO): DAT read: 

2025-10-24T22:29:43.313Z,1761344983.313 [DAT](INFO): DAT read: user:14>

2025-10-24T22:29:43.314Z,1761344983.314 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:29:43.314Z,1761344983.314 [DAT](INFO): setting remote address to 0
2025-10-24T22:29:43.387Z,1761344983.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026891,0.977788,0.207864],[-0.999587,0.024186,0.015544],[0.010172,-0.208196,0.978034]]
2025-10-24T22:29:43.565Z,1761344983.565 [DAT](INFO): DAT read: user:14>

2025-10-24T22:29:43.566Z,1761344983.566 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:29:43.567Z,1761344983.567 [DAT](INFO): set remote address to 0
2025-10-24T22:29:43.567Z,1761344983.567 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:29:43.567Z,1761344983.567 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:29:43.817Z,1761344983.817 [DAT](INFO): DAT read: user:15>

2025-10-24T22:29:43.817Z,1761344983.817 [DAT](INFO): DAT read: Tx time:22:29:43.0030

2025-10-24T22:29:43.818Z,1761344983.818 [DAT](INFO): Ping request sent.
2025-10-24T22:29:43.818Z,1761344983.818 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:29:43.818Z,1761344983.818 [DAT](INFO): publishing transmit ping time
2025-10-24T22:29:43.819Z,1761344983.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000970
2025-10-24T22:29:44.069Z,1761344984.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251024
2025-10-24T22:29:44.195Z,1761344984.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011490,0.979197,0.202589],[-0.999882,0.013324,-0.007691],[-0.010230,-0.202476,0.979234]]
2025-10-24T22:29:44.321Z,1761344984.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503150
2025-10-24T22:29:44.573Z,1761344984.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755004
2025-10-24T22:29:44.598Z,1761344984.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004752,0.979274,0.202485],[-0.999870,0.007769,-0.014112],[-0.015393,-0.202392,0.979184]]
2025-10-24T22:29:44.825Z,1761344984.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007039
2025-10-24T22:29:45.077Z,1761344985.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259162
2025-10-24T22:29:45.119Z,1761344985.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003293,0.986498,0.163739],[-0.999787,0.006586,-0.019571],[-0.020385,-0.163640,0.986310]]
2025-10-24T22:29:45.330Z,1761344985.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512143
2025-10-24T22:29:45.514Z,1761344985.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009013,0.991302,0.131295],[-0.999696,0.011946,-0.021572],[-0.022953,-0.131061,0.991109]]
2025-10-24T22:29:45.581Z,1761344985.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763166
2025-10-24T22:29:45.833Z,1761344985.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015079
2025-10-24T22:29:45.964Z,1761344985.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020966,0.995128,0.096339],[-0.999370,0.023622,-0.026508],[-0.028655,-0.095723,0.994996]]
2025-10-24T22:29:46.085Z,1761344986.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267030
2025-10-24T22:29:46.317Z,1761344986.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034777,0.996904,0.070513],[-0.998803,0.037097,-0.031873],[-0.034390,-0.069320,0.997002]]
2025-10-24T22:29:46.338Z,1761344986.338 [DAT](INFO): DAT read: Rx Time:22:29:45.1949

2025-10-24T22:29:46.338Z,1761344986.338 [DAT](INFO): Rx dataTimestamp_ set to:1761344986.337802
2025-10-24T22:29:46.339Z,1761344986.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520896
2025-10-24T22:29:46.589Z,1761344986.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771079
2025-10-24T22:29:46.720Z,1761344986.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051099,0.997338,0.052012],[-0.997949,0.053002,-0.035900],[-0.038562,-0.050070,0.998001]]
2025-10-24T22:29:46.841Z,1761344986.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023028
2025-10-24T22:29:47.098Z,1761344987.098 [DAT](INFO): DAT read: 22:29:45.1949 LVL= 32752, 32753, 30018, 32755, AGC= 66, IDX= 192, 0.11, 0.743,-0.906, 0.989, 0.588, PHS= 0.257,-1.449, 0.357, RAW= 152.8,   9.5, CAL= 152.5,  10.3, ROT= 357.5, -10.3

2025-10-24T22:29:47.100Z,1761344987.100 [DAT](INFO): got valid direction response:
 22:29:45.1949 LVL= 32752, 32753, 30018, 32755, AGC= 66, IDX= 192, 0.11, 0.743,-0.906, 0.989, 0.588, PHS= 0.257,-1.449, 0.357, RAW= 152.8,   9.5, CAL= 152.5,  10.3, ROT= 357.5, -10.3

2025-10-24T22:29:47.101Z,1761344987.101 [DAT](INFO): DAT read: Bearing 236, -14 (Remote)

2025-10-24T22:29:47.101Z,1761344987.101 [DAT](INFO): Remote Bearing received:Bearing 236, -14 (Remote)

2025-10-24T22:29:47.102Z,1761344987.102 [DAT](INFO): DAT read: Bearing  89.2,  -6.2 (Local)

2025-10-24T22:29:47.102Z,1761344987.102 [DAT](INFO): Local bearing/azimuth received:
 Bearing  89.2,  -6.2 (Local)

2025-10-24T22:29:47.103Z,1761344987.103 [DAT](INFO): DAT read: Range 11 to 20 : 122.1 m  (Round-trip  162.8 ms) speed  0.0 m/s

2025-10-24T22:29:47.112Z,1761344987.112 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-24T22:29:47.113Z,1761344987.113 [DAT](INFO): direction in FSK: [0.982949,-0.042917,0.178802]
2025-10-24T22:29:47.113Z,1761344987.113 [DAT](INFO): publishing direction and range info
2025-10-24T22:29:47.146Z,1761344987.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069361,0.996856,0.038306],[-0.996831,0.070757,-0.036352],[-0.038948,-0.035663,0.998605]]
2025-10-24T22:29:47.240Z,1761344987.240 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345024.00. Resetting abort timer.
2025-10-24T22:29:47.527Z,1761344987.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089365,0.995627,0.027221],[-0.995352,0.090258,-0.033593],[-0.035903,-0.024093,0.999065]]
2025-10-24T22:29:47.963Z,1761344987.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111037,0.993672,0.016920],[-0.993273,0.111523,-0.031175],[-0.032865,-0.013344,0.999371]]
2025-10-24T22:29:48.339Z,1761344988.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133764,0.990964,0.009875],[-0.990433,0.134020,-0.032890],[-0.033916,-0.005381,0.999410]]
2025-10-24T22:29:48.737Z,1761344988.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157399,0.987518,0.005860],[-0.986682,0.157507,-0.040625],[-0.041041,0.000612,0.999157]]
2025-10-24T22:29:49.141Z,1761344989.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181025,0.983469,0.004316],[-0.982055,0.180997,-0.052983],[-0.052888,0.005353,0.998586]]
2025-10-24T22:29:49.545Z,1761344989.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195853,0.980617,0.005609],[-0.978675,0.195820,-0.062052],[-0.061947,0.006664,0.998057]]
2025-10-24T22:29:49.979Z,1761344989.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204477,0.978838,0.008032],[-0.976558,0.204551,-0.067034],[-0.067258,0.005864,0.997718]]
2025-10-24T22:29:50.354Z,1761344990.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213062,0.976971,0.011491],[-0.974498,0.213341,-0.069562],[-0.070411,0.003623,0.997511]]
2025-10-24T22:29:50.757Z,1761344990.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225201,0.974200,0.014770],[-0.971660,0.225680,-0.070329],[-0.071848,0.001487,0.997414]]
2025-10-24T22:29:51.124Z,1761344991.124 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-24T22:29:51.125Z,1761344991.125 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:29:51.175Z,1761344991.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242876,0.969914,0.016655],[-0.967354,0.243444,-0.070436],[-0.072371,0.000996,0.997377]]
2025-10-24T22:29:51.378Z,1761344991.378 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:29:51.378Z,1761344991.378 [DAT](INFO): #Outgoing data=2
2025-10-24T22:29:51.378Z,1761344991.378 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:29:51.565Z,1761344991.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263825,0.964407,0.017759],[-0.961918,0.264419,-0.069258],[-0.071488,0.001189,0.997441]]
2025-10-24T22:29:51.629Z,1761344991.629 [DAT](INFO): setting remote address to 10
2025-10-24T22:29:51.881Z,1761344991.881 [DAT](INFO): DAT read: user:16>

2025-10-24T22:29:51.882Z,1761344991.882 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:29:51.882Z,1761344991.882 [DAT](INFO): set remote address to 10
2025-10-24T22:29:51.882Z,1761344991.882 [DAT](INFO): entering online mode
2025-10-24T22:29:51.984Z,1761344991.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284872,0.958437,0.015693],[-0.955875,0.285260,-0.070217],[-0.071775,0.005002,0.997408]]
2025-10-24T22:29:52.133Z,1761344992.133 [DAT](INFO): DAT read: user:17>

2025-10-24T22:29:52.133Z,1761344992.133 [DAT](INFO): DAT read: 

2025-10-24T22:29:52.134Z,1761344992.134 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:29:52.135Z,1761344992.135 [DAT](INFO): commRate: 600
2025-10-24T22:29:52.135Z,1761344992.135 [DAT](INFO): online mode acknowledged
2025-10-24T22:29:52.135Z,1761344992.135 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:29:52.379Z,1761344992.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302450,0.953087,0.012221],[-0.950320,0.302512,-0.073336],[-0.073593,0.010566,0.997232]]
2025-10-24T22:29:52.779Z,1761344992.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314780,0.949092,0.011723],[-0.946217,0.314751,-0.074863],[-0.074741,0.012472,0.997125]]
2025-10-24T22:29:53.185Z,1761344993.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324504,0.945756,0.015589],[-0.943025,0.324759,-0.072357],[-0.073495,0.008779,0.997257]]
2025-10-24T22:29:53.622Z,1761344993.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333178,0.942708,0.017144],[-0.940249,0.333553,-0.068366],[-0.070167,0.006658,0.997513]]
2025-10-24T22:29:54.011Z,1761344994.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341231,0.939685,0.023529],[-0.937626,0.342040,-0.062176],[-0.066474,-0.000845,0.997788]]
2025-10-24T22:29:54.399Z,1761344994.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348177,0.936791,0.034557],[-0.935285,0.349637,-0.054741],[-0.063364,-0.013261,0.997902]]
2025-10-24T22:29:54.451Z,1761344994.451 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:29:54.451Z,1761344994.451 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:29:54.452Z,1761344994.452 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:29:54.452Z,1761344994.452 [marl:UpdateRudder:A] Stopped
2025-10-24T22:29:54.452Z,1761344994.452 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:29:54.452Z,1761344994.452 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:29:54.453Z,1761344994.453 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:29:54.453Z,1761344994.453 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:29:54.453Z,1761344994.453 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:29:54.453Z,1761344994.453 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:29:54.453Z,1761344994.453 [marl:UpdateCommandMode] Stopped
2025-10-24T22:29:54.453Z,1761344994.453 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:29:54.453Z,1761344994.453 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:29:54.453Z,1761344994.453 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:29:54.454Z,1761344994.454 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:29:54.454Z,1761344994.454 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:29:54.454Z,1761344994.454 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:29:54.454Z,1761344994.454 [marl:UpdateSpeed] Stopped
2025-10-24T22:29:54.454Z,1761344994.454 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:29:54.799Z,1761344994.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357623,0.932795,0.044706],[-0.931910,0.359562,-0.047534],[-0.060414,-0.024663,0.997869]]
2025-10-24T22:29:54.830Z,1761344994.830 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:29:54.830Z,1761344994.830 [marl:UpdateRudder:B] Stopped
2025-10-24T22:29:54.830Z,1761344994.830 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:29:54.830Z,1761344994.830 [marl:UpdateRudder] Stopped
2025-10-24T22:29:54.830Z,1761344994.830 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:29:55.217Z,1761344995.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372284,0.926933,0.046911],[-0.926449,0.374170,-0.041106],[-0.055656,-0.028157,0.998053]]
2025-10-24T22:29:55.410Z,1761344995.410 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:29:54.6517

2025-10-24T22:29:55.411Z,1761344995.411 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:29:55.605Z,1761344995.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389702,0.919913,0.043508],[-0.919751,0.391165,-0.032377],[-0.046802,-0.027399,0.998528]]
2025-10-24T22:29:56.010Z,1761344996.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408253,0.912222,0.034362],[-0.912179,0.409118,-0.023479],[-0.035477,-0.021759,0.999134]]
2025-10-24T22:29:56.436Z,1761344996.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427309,0.903680,0.027727],[-0.903758,0.427794,-0.014601],[-0.025056,-0.018819,0.999509]]
2025-10-24T22:29:56.826Z,1761344996.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446143,0.894612,0.025010],[-0.894751,0.446469,-0.009211],[-0.019406,-0.018268,0.999645]]
2025-10-24T22:29:57.242Z,1761344997.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463952,0.885552,0.023391],[-0.885625,0.464275,-0.010780],[-0.020406,-0.015714,0.999668]]
2025-10-24T22:29:57.628Z,1761344997.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481433,0.876055,0.027384],[-0.876071,0.481929,-0.015610],[-0.026873,-0.016475,0.999503]]
2025-10-24T22:29:58.041Z,1761344998.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499277,0.865753,0.034540],[-0.865748,0.500076,-0.020094],[-0.034669,-0.019871,0.999201]]
2025-10-24T22:29:58.449Z,1761344998.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511280,0.858387,0.041997],[-0.858649,0.512276,-0.017176],[-0.036258,-0.027279,0.998970]]
2025-10-24T22:29:58.862Z,1761344998.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523462,0.850860,0.045000],[-0.851415,0.524379,-0.010900],[-0.032871,-0.032608,0.998927]]
2025-10-24T22:29:59.253Z,1761344999.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539841,0.840777,0.040807],[-0.841337,0.540480,-0.005764],[-0.026901,-0.031220,0.999150]]
2025-10-24T22:29:59.661Z,1761344999.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560448,0.827740,0.027271],[-0.827956,0.560768,-0.005278],[-0.019661,-0.019622,0.999614]]
2025-10-24T22:30:00.057Z,1761345000.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580920,0.813947,0.004751],[-0.813879,0.580934,-0.010754],[-0.011513,0.002380,0.999931]]
2025-10-24T22:30:00.463Z,1761345000.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598976,0.800599,-0.016400],[-0.800750,0.598706,-0.018702],[-0.005154,0.024334,0.999691]]
2025-10-24T22:30:00.865Z,1761345000.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614993,0.788179,-0.023623],[-0.788526,0.614586,-0.022604],[-0.003298,0.032529,0.999465]]
2025-10-24T22:30:01.267Z,1761345001.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630172,0.776293,-0.015902],[-0.776441,0.629899,-0.019150],[-0.004849,0.024415,0.999690]]
2025-10-24T22:30:01.677Z,1761345001.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641597,0.767040,-0.001839],[-0.767023,0.641563,-0.008447],[-0.005299,0.006830,0.999963]]
2025-10-24T22:30:02.075Z,1761345002.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647838,0.761733,0.008350],[-0.761764,0.647854,0.000946],[-0.004689,-0.006973,0.999965]]
2025-10-24T22:30:02.213Z,1761345002.213 [DAT](INFO): DAT read: Rx Time:22:30:00.8512

2025-10-24T22:30:02.213Z,1761345002.213 [DAT](INFO): Rx dataTimestamp_ set to:1761345002.213091
2025-10-24T22:30:02.487Z,1761345002.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655381,0.755154,0.014783],[-0.755267,0.655407,0.003675],[-0.006914,-0.013573,0.999884]]
2025-10-24T22:30:02.893Z,1761345002.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664542,0.747039,0.017790],[-0.747178,0.664622,0.001831],[-0.010456,-0.014509,0.999840]]
2025-10-24T22:30:02.975Z,1761345002.975 [DAT](INFO): DAT read: 22:30:00.8512 LVL= 27568, 32753, 32754, 32755, AGC= 74, IDX=  15, 0.31,-1.825, 2.459,-2.790,-2.522, PHS= 0.799,-1.256,-0.312, RAW= 117.3,   8.7, CAL= 118.5,   9.8, ROT=  31.5,  -9.8

2025-10-24T22:30:02.976Z,1761345002.976 [DAT](INFO): got valid direction response:
 22:30:00.8512 LVL= 27568, 32753, 32754, 32755, AGC= 74, IDX=  15, 0.31,-1.825, 2.459,-2.790,-2.522, PHS= 0.799,-1.256,-0.312, RAW= 117.3,   8.7, CAL= 118.5,   9.8, ROT=  31.5,  -9.8

2025-10-24T22:30:02.977Z,1761345002.977 [DAT](INFO): DAT read: 

2025-10-24T22:30:02.977Z,1761345002.977 [DAT](INFO): DAT read: DATA(0002):k

2025-10-24T22:30:02.978Z,1761345002.978 [DAT](INFO): Got DATA 2
2025-10-24T22:30:02.978Z,1761345002.978 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:30:02.979Z,1761345002.978 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:30:02.979Z,1761345002.979 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:30:02.980Z,1761345002.980 [DAT](INFO): DAT read: CRC:Fail {0001} MPD:04.1 PSNR:07.5 AGC:74 SPD:+3.0 CCERR:005

2025-10-24T22:30:02.981Z,1761345002.981 [DAT](INFO): unknown deviceResponse_: CRC:Fail {0001} MPD:04.1 PSNR:07.5 AGC:74 SPD:+3.0 CCERR:005

2025-10-24T22:30:02.981Z,1761345002.981 [DAT](INFO): DAT read: 

2025-10-24T22:30:02.981Z,1761345002.981 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:30:02.982Z,1761345002.982 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-24T22:30:02.983Z,1761345002.983 [DAT](INFO): direction in FSK: [0.840198,0.514874,0.170209]
2025-10-24T22:30:03.287Z,1761345003.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675013,0.737697,0.012655],[-0.737716,0.675099,-0.004084],[-0.011556,-0.006579,0.999912]]
2025-10-24T22:30:03.345Z,1761345003.345 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345024.00. Resetting abort timer.
2025-10-24T22:30:03.692Z,1761345003.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685894,0.727700,0.001291],[-0.727664,0.685876,-0.008880],[-0.007347,0.005151,0.999960]]
2025-10-24T22:30:04.095Z,1761345004.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695435,0.718493,-0.011712],[-0.718588,0.695373,-0.009395],[0.001394,0.014950,0.999887]]
2025-10-24T22:30:04.499Z,1761345004.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703242,0.710406,-0.027818],[-0.710848,0.703267,-0.010520],[0.012090,0.027173,0.999558]]
2025-10-24T22:30:04.908Z,1761345004.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710933,0.702265,-0.037403],[-0.702910,0.711252,-0.006268],[0.022202,0.030747,0.999281]]
2025-10-24T22:30:05.308Z,1761345005.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720185,0.692445,-0.043061],[-0.693114,0.720827,-0.000869],[0.030438,0.030472,0.999072]]
2025-10-24T22:30:05.489Z,1761345005.489 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:30:05.713Z,1761345005.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731136,0.680749,-0.044964],[-0.681189,0.732073,0.007034],[0.037706,0.025486,0.998964]]
2025-10-24T22:30:05.741Z,1761345005.741 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:30:05.741Z,1761345005.741 [DAT](INFO): #Outgoing data=3
2025-10-24T22:30:05.741Z,1761345005.741 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:30:05.993Z,1761345005.993 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:30:06.115Z,1761345006.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743559,0.666925,-0.048286],[-0.667166,0.744790,0.013280],[0.044820,0.022340,0.998745]]
2025-10-24T22:30:06.519Z,1761345006.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757041,0.651004,-0.055524],[-0.651185,0.758723,0.017252],[0.053358,0.023096,0.998308]]
2025-10-24T22:30:06.825Z,1761345006.825 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.482147
2025-10-24T22:30:06.924Z,1761345006.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770231,0.634149,-0.067815],[-0.634581,0.772653,0.017754],[0.063656,0.029360,0.997540]]
2025-10-24T22:30:07.331Z,1761345007.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782053,0.618181,-0.079035],[-0.618889,0.785269,0.018146],[0.073281,0.034723,0.996707]]
2025-10-24T22:30:07.404Z,1761345007.404 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:30:07.405Z,1761345007.405 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:30:07.405Z,1761345007.405 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:30:07.405Z,1761345007.405 [marl:UpdateRudder:A] Stopped
2025-10-24T22:30:07.405Z,1761345007.405 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:30:07.405Z,1761345007.405 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:30:07.405Z,1761345007.405 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:30:07.405Z,1761345007.405 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:30:07.406Z,1761345007.406 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:30:07.406Z,1761345007.406 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:30:07.406Z,1761345007.406 [marl:UpdateCommandMode] Stopped
2025-10-24T22:30:07.406Z,1761345007.406 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:30:07.406Z,1761345007.406 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:30:07.406Z,1761345007.406 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:30:07.406Z,1761345007.406 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:30:07.407Z,1761345007.407 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:30:07.407Z,1761345007.407 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:30:07.407Z,1761345007.407 [marl:UpdateSpeed] Stopped
2025-10-24T22:30:07.407Z,1761345007.407 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:30:07.746Z,1761345007.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792930,0.603266,-0.085630],[-0.604045,0.796713,0.019437],[0.079948,0.036313,0.996137]]
2025-10-24T22:30:07.820Z,1761345007.820 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:30:07.821Z,1761345007.821 [marl:UpdateRudder:B] Stopped
2025-10-24T22:30:07.821Z,1761345007.821 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:30:07.821Z,1761345007.821 [marl:UpdateRudder] Stopped
2025-10-24T22:30:07.821Z,1761345007.821 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:30:07.828Z,1761345007.828 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:30:08.143Z,1761345008.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803967,0.588608,-0.084719],[-0.588824,0.807872,0.025078],[0.083203,0.029723,0.996089]]
2025-10-24T22:30:08.539Z,1761345008.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816306,0.571894,-0.081131],[-0.571409,0.820065,0.031377],[0.084477,0.020746,0.996209]]
2025-10-24T22:30:08.945Z,1761345008.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830044,0.551825,-0.080717],[-0.551011,0.833802,0.034065],[0.086100,0.016200,0.996155]]
2025-10-24T22:30:09.275Z,1761345009.275 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:30:08.5016

2025-10-24T22:30:09.276Z,1761345009.276 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:30:09.394Z,1761345009.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842624,0.531746,-0.085032],[-0.530941,0.846738,0.033706],[0.089923,0.016745,0.995808]]
2025-10-24T22:30:09.789Z,1761345009.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852365,0.515049,-0.090546],[-0.514334,0.856960,0.032868],[0.094523,0.018556,0.995350]]
2025-10-24T22:30:10.594Z,1761345010.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864470,0.495410,-0.085206],[-0.493388,0.868653,0.044835],[0.096226,0.003281,0.995354]]
2025-10-24T22:30:11.002Z,1761345011.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867382,0.492170,-0.073597],[-0.488364,0.870275,0.064197],[0.095646,-0.019741,0.995220]]
2025-10-24T22:30:11.414Z,1761345011.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867715,0.493153,-0.062213],[-0.487665,0.868839,0.085451],[0.096193,-0.043808,0.994398]]
2025-10-24T22:30:11.807Z,1761345011.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866547,0.497194,-0.043526],[-0.489661,0.863804,0.118637],[0.096584,-0.081492,0.991983]]
2025-10-24T22:30:12.210Z,1761345012.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864900,0.501473,-0.021760],[-0.492703,0.856458,0.154024],[0.095876,-0.122494,0.987827]]
2025-10-24T22:30:12.614Z,1761345012.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863591,0.504178,-0.003990],[-0.495165,0.849591,0.181680],[0.094989,-0.154922,0.983350]]
2025-10-24T22:30:13.031Z,1761345013.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861970,0.506955,0.001913],[-0.497840,0.845749,0.192000],[0.095718,-0.166450,0.981393]]
2025-10-24T22:30:13.423Z,1761345013.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858548,0.512726,0.002571],[-0.503232,0.841669,0.195832],[0.098245,-0.169425,0.980634]]
2025-10-24T22:30:13.826Z,1761345013.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853993,0.520263,0.004747],[-0.510441,0.836035,0.201234],[0.100726,-0.174276,0.979532]]
2025-10-24T22:30:14.230Z,1761345014.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849890,0.526886,0.008809],[-0.517093,0.830641,0.206521],[0.101496,-0.180075,0.978402]]
2025-10-24T22:30:14.635Z,1761345014.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847119,0.531315,0.009699],[-0.521643,0.827938,0.205929],[0.101383,-0.179506,0.978519]]
2025-10-24T22:30:15.042Z,1761345015.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845802,0.533465,0.005746],[-0.523415,0.827688,0.202410],[0.103223,-0.174206,0.979284]]
2025-10-24T22:30:15.442Z,1761345015.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846705,0.532055,-0.002885],[-0.521107,0.830353,0.197387],[0.107417,-0.165625,0.980321]]
2025-10-24T22:30:15.846Z,1761345015.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848813,0.528455,-0.015888],[-0.516313,0.835027,0.190134],[0.113744,-0.153185,0.981630]]
2025-10-24T22:30:16.252Z,1761345016.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850418,0.525248,-0.030068],[-0.512039,0.839453,0.182027],[0.120850,-0.139403,0.982834]]
2025-10-24T22:30:16.659Z,1761345016.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850791,0.524319,-0.035274],[-0.510357,0.840404,0.182363],[0.125261,-0.137151,0.982598]]
2025-10-24T22:30:17.058Z,1761345017.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851560,0.523619,-0.025868],[-0.509329,0.837994,0.195834],[0.124220,-0.153589,0.980296]]
2025-10-24T22:30:17.462Z,1761345017.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855017,0.518509,-0.009739],[-0.504804,0.836427,0.213453],[0.118823,-0.177590,0.976905]]
2025-10-24T22:30:17.881Z,1761345017.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852862,0.522079,0.007752],[-0.508264,0.826711,0.241281],[0.119559,-0.209719,0.970424]]
2025-10-24T22:30:18.685Z,1761345018.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856179,0.516602,-0.008986],[-0.499544,0.832101,0.240963],[0.131959,-0.201819,0.970493]]
2025-10-24T22:30:19.032Z,1761345019.032 [Radio_Surface](INFO): Powering down
2025-10-24T22:30:19.097Z,1761345019.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859031,0.511720,-0.014448],[-0.493115,0.834718,0.245120],[0.137492,-0.203441,0.969385]]
2025-10-24T22:30:19.357Z,1761345019.357 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:30:19.489Z,1761345019.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861788,0.506974,-0.017261],[-0.487611,0.837294,0.247334],[0.139844,-0.204733,0.968777]]
2025-10-24T22:30:19.609Z,1761345019.609 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:30:19.609Z,1761345019.609 [DAT](INFO): #Outgoing data=4
2025-10-24T22:30:19.609Z,1761345019.609 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:30:19.861Z,1761345019.861 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:30:20.294Z,1761345020.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865900,0.500059,-0.012566],[-0.481284,0.839710,0.251502],[0.136317,-0.211728,0.967775]]
2025-10-24T22:30:20.395Z,1761345020.395 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:30:20.396Z,1761345020.396 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:30:20.397Z,1761345020.397 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:30:20.397Z,1761345020.397 [marl:UpdateRudder:A] Stopped
2025-10-24T22:30:20.397Z,1761345020.397 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:30:20.397Z,1761345020.397 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:30:20.397Z,1761345020.397 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:30:20.397Z,1761345020.397 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:30:20.398Z,1761345020.398 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:30:20.398Z,1761345020.398 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:30:20.398Z,1761345020.398 [marl:UpdateCommandMode] Stopped
2025-10-24T22:30:20.398Z,1761345020.398 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:30:20.398Z,1761345020.398 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:30:20.398Z,1761345020.398 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:30:20.398Z,1761345020.398 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:30:20.398Z,1761345020.398 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:30:20.399Z,1761345020.399 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:30:20.399Z,1761345020.399 [marl:UpdateSpeed] Stopped
2025-10-24T22:30:20.399Z,1761345020.399 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:30:20.699Z,1761345020.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865291,0.501145,-0.011196],[-0.482235,0.838322,0.254296],[0.136825,-0.214640,0.967062]]
2025-10-24T22:30:20.766Z,1761345020.766 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:30:20.766Z,1761345020.766 [marl:UpdateRudder:B] Stopped
2025-10-24T22:30:20.766Z,1761345020.766 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:30:20.766Z,1761345020.766 [marl:UpdateRudder] Stopped
2025-10-24T22:30:20.767Z,1761345020.767 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:30:21.105Z,1761345021.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864824,0.501901,-0.013189],[-0.482533,0.838136,0.254343],[0.138709,-0.213598,0.967024]]
2025-10-24T22:30:21.502Z,1761345021.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865300,0.500992,-0.016235],[-0.481055,0.839095,0.253979],[0.140864,-0.211958,0.967074]]
2025-10-24T22:30:21.949Z,1761345021.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866650,0.498481,-0.020855],[-0.478366,0.842098,0.249071],[0.141719,-0.205881,0.968261]]
2025-10-24T22:30:22.313Z,1761345022.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868041,0.495963,-0.022945],[-0.476107,0.844615,0.244841],[0.140812,-0.201608,0.969292]]
2025-10-24T22:30:22.720Z,1761345022.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868422,0.495341,-0.021901],[-0.476053,0.845328,0.242476],[0.138622,-0.200146,0.969910]]
2025-10-24T22:30:23.118Z,1761345023.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867298,0.497489,-0.017300],[-0.478743,0.843130,0.244820],[0.136381,-0.204050,0.969414]]
2025-10-24T22:30:23.141Z,1761345023.141 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:30:22.4015

2025-10-24T22:30:23.142Z,1761345023.142 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:30:23.522Z,1761345023.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863590,0.504142,-0.007254],[-0.485919,0.836039,0.254796],[0.134518,-0.216515,0.966968]]
2025-10-24T22:30:23.972Z,1761345023.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856810,0.515518,0.010839],[-0.498166,0.822180,0.275409],[0.133067,-0.241373,0.961266]]
2025-10-24T22:30:24.336Z,1761345024.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848225,0.528607,0.032993],[-0.513083,0.804668,0.298757],[0.131377,-0.270341,0.953759]]
2025-10-24T22:30:24.734Z,1761345024.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839196,0.541166,0.053755],[-0.528112,0.787360,0.318059],[0.129799,-0.295302,0.946546]]
2025-10-24T22:30:25.138Z,1761345025.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830524,0.552560,0.070048],[-0.541693,0.772047,0.332434],[0.129610,-0.314039,0.940522]]
2025-10-24T22:30:25.542Z,1761345025.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821860,0.563982,0.080441],[-0.554124,0.758613,0.342714],[0.132261,-0.326237,0.935990]]
2025-10-24T22:30:25.977Z,1761345025.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812467,0.576764,0.085093],[-0.566305,0.746054,0.350289],[0.138550,-0.332787,0.932768]]
2025-10-24T22:30:26.362Z,1761345026.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801741,0.591130,0.088185],[-0.579104,0.731839,0.359236],[0.147818,-0.339082,0.929071]]
2025-10-24T22:30:26.754Z,1761345026.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790775,0.604823,0.094148],[-0.591585,0.715675,0.371262],[0.157169,-0.349281,0.923743]]
2025-10-24T22:30:27.166Z,1761345027.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780872,0.616000,0.103841],[-0.602814,0.699437,0.383931],[0.163871,-0.362397,0.917504]]
2025-10-24T22:30:27.564Z,1761345027.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772803,0.624213,0.114607],[-0.612317,0.685873,0.393251],[0.166866,-0.374081,0.912261]]
2025-10-24T22:30:27.985Z,1761345027.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764853,0.631186,0.128852],[-0.622044,0.671607,0.402498],[0.167513,-0.388004,0.906307]]
2025-10-24T22:30:28.371Z,1761345028.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752594,0.642128,0.145857],[-0.636312,0.652189,0.412016],[0.169441,-0.402891,0.899427]]
2025-10-24T22:30:28.776Z,1761345028.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739891,0.654055,0.157397],[-0.650323,0.635519,0.416168],[0.172168,-0.410277,0.895562]]
2025-10-24T22:30:29.178Z,1761345029.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727065,0.667266,0.161655],[-0.663435,0.622211,0.415580],[0.176719,-0.409401,0.895076]]
2025-10-24T22:30:29.589Z,1761345029.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713965,0.681083,0.162422],[-0.675791,0.609604,0.414355],[0.183196,-0.405598,0.895505]]
2025-10-24T22:30:29.990Z,1761345029.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701788,0.693786,0.161721],[-0.686589,0.598178,0.413253],[0.189971,-0.401052,0.896141]]
2025-10-24T22:30:30.422Z,1761345030.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691827,0.704312,0.159125],[-0.695133,0.590025,0.410684],[0.195362,-0.394735,0.897785]]
2025-10-24T22:30:30.846Z,1761345030.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681342,0.714555,0.158694],[-0.704131,0.580625,0.408746],[0.199930,-0.390237,0.898745]]
2025-10-24T22:30:31.238Z,1761345031.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670630,0.723512,0.163664],[-0.713475,0.568755,0.409232],[0.202999,-0.391214,0.897632]]
2025-10-24T22:30:31.645Z,1761345031.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659640,0.731075,0.174368],[-0.723384,0.554618,0.411234],[0.203936,-0.397402,0.894697]]
2025-10-24T22:30:32.046Z,1761345032.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647246,0.738616,0.188466],[-0.734627,0.538410,0.412840],[0.203459,-0.405661,0.891091]]
2025-10-24T22:30:32.451Z,1761345032.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633647,0.747057,0.200991],[-0.746687,0.522626,0.411486],[0.202360,-0.410814,0.888978]]
2025-10-24T22:30:32.858Z,1761345032.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619971,0.755856,0.210516],[-0.758374,0.508438,0.407872],[0.201258,-0.412519,0.888439]]
2025-10-24T22:30:33.228Z,1761345033.228 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:30:33.261Z,1761345033.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606482,0.765814,0.213795],[-0.769810,0.498292,0.398871],[0.198929,-0.406489,0.891736]]
2025-10-24T22:30:33.347Z,1761345033.347 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:30:33.347Z,1761345033.347 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:30:33.347Z,1761345033.347 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:30:33.348Z,1761345033.348 [marl:UpdateRudder:A] Stopped
2025-10-24T22:30:33.348Z,1761345033.348 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:30:33.348Z,1761345033.348 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:30:33.348Z,1761345033.348 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:30:33.348Z,1761345033.348 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:30:33.349Z,1761345033.349 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:30:33.349Z,1761345033.349 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:30:33.349Z,1761345033.349 [marl:UpdateCommandMode] Stopped
2025-10-24T22:30:33.349Z,1761345033.349 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:30:33.349Z,1761345033.349 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:30:33.349Z,1761345033.349 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:30:33.349Z,1761345033.349 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:30:33.350Z,1761345033.350 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:30:33.350Z,1761345033.350 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:30:33.350Z,1761345033.350 [marl:UpdateSpeed] Stopped
2025-10-24T22:30:33.350Z,1761345033.350 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:30:33.481Z,1761345033.481 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:30:33.481Z,1761345033.481 [DAT](INFO): #Outgoing data=5
2025-10-24T22:30:33.481Z,1761345033.481 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:30:33.733Z,1761345033.733 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:30:33.766Z,1761345033.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593235,0.776874,0.211045],[-0.781201,0.492229,0.383974],[0.194417,-0.392655,0.898902]]
2025-10-24T22:30:33.803Z,1761345033.803 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:30:33.803Z,1761345033.803 [marl:UpdateRudder:B] Stopped
2025-10-24T22:30:33.804Z,1761345033.804 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:30:33.804Z,1761345033.804 [marl:UpdateRudder] Stopped
2025-10-24T22:30:33.804Z,1761345033.804 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:30:34.164Z,1761345034.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579708,0.788663,0.204815],[-0.792943,0.488167,0.364602],[0.187565,-0.373769,0.908359]]
2025-10-24T22:30:34.566Z,1761345034.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565101,0.800916,0.197977],[-0.805237,0.483197,0.343677],[0.179595,-0.353631,0.917982]]
2025-10-24T22:30:34.973Z,1761345034.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549317,0.811981,0.197327],[-0.817756,0.473813,0.326765],[0.171831,-0.340863,0.924276]]
2025-10-24T22:30:35.374Z,1761345035.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533066,0.821850,0.201006],[-0.829905,0.461684,0.313219],[0.164618,-0.333782,0.928165]]
2025-10-24T22:30:35.779Z,1761345035.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516731,0.830615,0.207527],[-0.841452,0.447998,0.302086],[0.157945,-0.330721,0.930418]]
2025-10-24T22:30:36.227Z,1761345036.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500429,0.838263,0.216532],[-0.852442,0.433333,0.292516],[0.151375,-0.330964,0.931423]]
2025-10-24T22:30:36.588Z,1761345036.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485059,0.844731,0.226157],[-0.862479,0.419426,0.283215],[0.144385,-0.332432,0.932010]]
2025-10-24T22:30:36.990Z,1761345036.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471002,0.849272,0.238524],[-0.871390,0.405866,0.275595],[0.137246,-0.337653,0.931211]]
2025-10-24T22:30:37.009Z,1761345037.009 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:30:36.2515

2025-10-24T22:30:37.010Z,1761345037.010 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:30:37.394Z,1761345037.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457334,0.852927,0.251717],[-0.879701,0.392435,0.268553],[0.130274,-0.344255,0.929794]]
2025-10-24T22:30:37.798Z,1761345037.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443784,0.856317,0.264154],[-0.887545,0.379287,0.261545],[0.123775,-0.350518,0.928341]]
2025-10-24T22:30:37.969Z,1761345037.969 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:30:38.203Z,1761345038.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430555,0.858929,0.277245],[-0.894906,0.366329,0.254847],[0.117332,-0.357833,0.926385]]
2025-10-24T22:30:38.609Z,1761345038.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417629,0.861300,0.289394],[-0.901835,0.354079,0.247633],[0.110818,-0.364404,0.924624]]
2025-10-24T22:30:38.972Z,1761345038.972 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-24T22:30:38.972Z,1761345038.972 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:30:39.010Z,1761345039.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404844,0.862994,0.302230],[-0.908439,0.341971,0.240402],[0.104112,-0.371883,0.922423]]
2025-10-24T22:30:39.416Z,1761345039.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392282,0.865141,0.312483],[-0.914677,0.330917,0.232078],[0.097375,-0.376861,0.921137]]
2025-10-24T22:30:39.834Z,1761345039.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379988,0.867445,0.321168],[-0.920542,0.320618,0.223175],[0.090620,-0.380452,0.920350]]
2025-10-24T22:30:40.253Z,1761345040.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368607,0.869392,0.329069],[-0.925845,0.311630,0.213770],[0.083302,-0.383464,0.919791]]
2025-10-24T22:30:40.745Z,1761345040.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344641,0.875225,0.339417],[-0.936307,0.294507,0.191298],[0.067468,-0.383728,0.920978]]
2025-10-24T22:30:41.142Z,1761345041.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329426,0.880301,0.341392],[-0.942318,0.283824,0.177430],[0.059297,-0.380150,0.923022]]
2025-10-24T22:30:41.510Z,1761345041.510 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:30:41.510Z,1761345041.510 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:30:41.545Z,1761345041.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311529,0.886311,0.342639],[-0.948875,0.270857,0.162091],[0.050857,-0.375618,0.925378]]
2025-10-24T22:30:41.976Z,1761345041.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291883,0.893325,0.341723],[-0.955521,0.256574,0.145429],[0.042238,-0.368972,0.928480]]
2025-10-24T22:30:42.358Z,1761345042.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271133,0.900543,0.339866],[-0.961937,0.240996,0.128833],[0.034113,-0.361860,0.931608]]
2025-10-24T22:30:42.835Z,1761345042.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249886,0.907620,0.337316],[-0.967893,0.224359,0.113338],[0.027188,-0.354807,0.934544]]
2025-10-24T22:30:42.862Z,1761345042.862 [marl:SendObservationData] Running Loop=1
2025-10-24T22:30:42.862Z,1761345042.862 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T22:30:42.862Z,1761345042.862 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T22:30:42.863Z,1761345042.863 [marl:SendObservationData:A] Running Loop=1
2025-10-24T22:30:42.864Z,1761345042.864 [marl:SendObservationData:A](INFO): Got test_good :  41da3eff800000004051400000000000404263269ca688f5c05e773de9638e954015a0ee4000000040594cccc0000000 n/a str  and temp var is  nan n/a str 
2025-10-24T22:30:42.864Z,1761345042.864 [marl:SendObservationData:A] Stopped
2025-10-24T22:30:42.864Z,1761345042.864 [marl:SendObservationData:B] Running Loop=1
2025-10-24T22:30:43.224Z,1761345043.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228046,0.913947,0.335701],[-0.973397,0.206146,0.100006],[0.022196,-0.349577,0.936645]]
2025-10-24T22:30:43.253Z,1761345043.253 [marl:SendObservationData:B] Stopped
2025-10-24T22:30:43.253Z,1761345043.253 [marl:SendObservationData:C] Running Loop=1
2025-10-24T22:30:43.254Z,1761345043.254 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:30:43.341Z,1761345043.341 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:30:43.392Z,1761345043.392 [DAT](INFO): entering command mode
2025-10-24T22:30:43.592Z,1761345043.592 [DAT](INFO): DAT read: 

2025-10-24T22:30:43.593Z,1761345043.593 [DAT](INFO): DAT read: user:18>

2025-10-24T22:30:43.593Z,1761345043.593 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:30:43.594Z,1761345043.594 [DAT](INFO): setting remote address to 0
2025-10-24T22:30:43.672Z,1761345043.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205643,0.918627,0.337394],[-0.978433,0.186130,0.089580],[0.019492,-0.348539,0.937091]]
2025-10-24T22:30:43.722Z,1761345043.722 [marl:SendObservationData:C] Stopped
2025-10-24T22:30:43.722Z,1761345043.722 [marl:SendObservationData:E] Running Loop=1
2025-10-24T22:30:43.845Z,1761345043.845 [DAT](INFO): DAT read: user:18>

2025-10-24T22:30:43.846Z,1761345043.846 [DAT](INFO): DAT read: Rx Time:22:30:42.4752

2025-10-24T22:30:43.847Z,1761345043.847 [DAT](INFO): Rx dataTimestamp_ set to:1761345043.846305
2025-10-24T22:30:43.847Z,1761345043.847 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:30:43.848Z,1761345043.848 [DAT](INFO): set remote address to 0
2025-10-24T22:30:43.848Z,1761345043.848 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:30:43.848Z,1761345043.848 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:30:44.034Z,1761345044.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182981,0.921351,0.342972],[-0.982928,0.164629,0.082153],[0.019229,-0.352149,0.935746]]
2025-10-24T22:30:44.097Z,1761345044.097 [DAT](INFO): DAT read: user:19>

2025-10-24T22:30:44.097Z,1761345044.097 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:30:44.099Z,1761345044.099 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.010661 min 
2025-10-24T22:30:44.099Z,1761345044.099 [marl:SendObservationData:E] Stopped
2025-10-24T22:30:44.099Z,1761345044.099 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T22:30:44.100Z,1761345044.100 [marl:SendObservationData] Stopped
2025-10-24T22:30:44.100Z,1761345044.100 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T22:30:44.100Z,1761345044.100 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T22:30:44.357Z,1761345044.357 [DAT](INFO): DAT read: 22:30:42.4752 LVL= 23152, 32753, 32338, 32755, AGC= 63, IDX= 106, 0.21, 0.492,-1.420,-1.241,-0.079, PHS= 0.674,-1.296,-1.206, RAW=  92.3,  18.6, CAL=  92.3,  23.1, ROT=  57.7, -23.1

2025-10-24T22:30:44.358Z,1761345044.358 [DAT](INFO): got valid direction response:
 22:30:42.4752 LVL= 23152, 32753, 32338, 32755, AGC= 63, IDX= 106, 0.21, 0.492,-1.420,-1.241,-0.079, PHS= 0.674,-1.296,-1.206, RAW=  92.3,  18.6, CAL=  92.3,  23.1, ROT=  57.7, -23.1

2025-10-24T22:30:44.358Z,1761345044.358 [DAT](INFO): DAT read: Tx time:22:30:43.7026

2025-10-24T22:30:44.359Z,1761345044.359 [DAT](INFO): Ping request sent.
2025-10-24T22:30:44.359Z,1761345044.359 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:30:44.359Z,1761345044.359 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-24T22:30:44.360Z,1761345044.360 [DAT](INFO): direction in FSK: [0.491509,0.777490,0.392337]
2025-10-24T22:30:44.360Z,1761345044.360 [DAT](INFO): publishing transmit ping time
2025-10-24T22:30:44.422Z,1761345044.422 [DAT](INFO): publishing transmit ping time
2025-10-24T22:30:44.465Z,1761345044.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162550,0.923117,0.348471],[-0.986506,0.145042,0.075950],[0.019568,-0.356114,0.934238]]
2025-10-24T22:30:44.537Z,1761345044.537 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345024.00. Resetting abort timer.
2025-10-24T22:30:44.601Z,1761345044.601 [DAT](INFO): DAT read: 

2025-10-24T22:30:44.601Z,1761345044.601 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:30:44.602Z,1761345044.602 [DAT](INFO): Got DATA 2
2025-10-24T22:30:44.602Z,1761345044.602 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:30:44.602Z,1761345044.602 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:30:44.603Z,1761345044.603 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:30:44.604Z,1761345044.604 [DAT](INFO): DAT read: CRC:Pass MPD:03.4 PSNR:14.2 AGC:59 SPD:+0.4 CCERR:012

2025-10-24T22:30:44.604Z,1761345044.604 [DAT](INFO): Got CRC:Pass
2025-10-24T22:30:44.604Z,1761345044.604 [DAT](INFO): Got CRC:Pass
2025-10-24T22:30:44.604Z,1761345044.604 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:30:44.605Z,1761345044.605 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:30:44.605Z,1761345044.605 [DAT](INFO): Got ack
2025-10-24T22:30:44.605Z,1761345044.605 [DAT](INFO): DAT read: 

2025-10-24T22:30:44.605Z,1761345044.605 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:30:44.606Z,1761345044.606 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:30:44.853Z,1761345044.853 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:30:44.853Z,1761345044.853 [DAT](INFO): #Outgoing data=6
2025-10-24T22:30:44.854Z,1761345044.854 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:30:44.877Z,1761345044.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146234,0.923889,0.353616],[-0.989073,0.129783,0.069937],[0.018721,-0.359979,0.932773]]
2025-10-24T22:30:45.106Z,1761345045.106 [DAT](INFO): setting remote address to 10
2025-10-24T22:30:45.270Z,1761345045.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131791,0.922596,0.362558],[-0.991137,0.116474,0.063891],[0.016717,-0.367764,0.929769]]
2025-10-24T22:30:45.358Z,1761345045.358 [DAT](INFO): DAT read: user:20>

2025-10-24T22:30:45.359Z,1761345045.359 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:30:45.360Z,1761345045.360 [DAT](INFO): set remote address to 10
2025-10-24T22:30:45.361Z,1761345045.361 [DAT](INFO): entering online mode
2025-10-24T22:30:45.609Z,1761345045.609 [DAT](INFO): DAT read: user:21>

2025-10-24T22:30:45.609Z,1761345045.609 [DAT](INFO): DAT read: 

2025-10-24T22:30:45.610Z,1761345045.610 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:30:45.611Z,1761345045.611 [DAT](INFO): commRate: 600
2025-10-24T22:30:45.611Z,1761345045.611 [DAT](INFO): online mode acknowledged
2025-10-24T22:30:45.611Z,1761345045.611 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:30:45.699Z,1761345045.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117656,0.921058,0.371227],[-0.992963,0.104030,0.056597],[0.013510,-0.375273,0.926816]]
2025-10-24T22:30:46.075Z,1761345046.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103087,0.919646,0.378979],[-0.994628,0.091716,0.047989],[0.009374,-0.381890,0.924160]]
2025-10-24T22:30:46.480Z,1761345046.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087314,0.918004,0.386839],[-0.996170,0.078613,0.038291],[0.004741,-0.388701,0.921352]]
2025-10-24T22:30:46.548Z,1761345046.548 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:30:46.549Z,1761345046.549 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:30:46.549Z,1761345046.549 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:30:46.549Z,1761345046.549 [marl:UpdateRudder:A] Stopped
2025-10-24T22:30:46.549Z,1761345046.549 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:30:46.549Z,1761345046.549 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:30:46.549Z,1761345046.549 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:30:46.549Z,1761345046.549 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:30:46.550Z,1761345046.550 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:30:46.550Z,1761345046.550 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:30:46.550Z,1761345046.550 [marl:UpdateCommandMode] Stopped
2025-10-24T22:30:46.550Z,1761345046.550 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:30:46.550Z,1761345046.550 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:30:46.550Z,1761345046.550 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:30:46.550Z,1761345046.550 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:30:46.550Z,1761345046.550 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:30:46.551Z,1761345046.551 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:30:46.551Z,1761345046.551 [marl:UpdateSpeed] Stopped
2025-10-24T22:30:46.551Z,1761345046.551 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:30:46.883Z,1761345046.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069963,0.916276,0.394390],[-0.997549,0.064014,0.028238],[0.000628,-0.395400,0.918509]]
2025-10-24T22:30:46.934Z,1761345046.934 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:30:46.934Z,1761345046.934 [marl:UpdateRudder:B] Stopped
2025-10-24T22:30:46.934Z,1761345046.934 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:30:46.934Z,1761345046.934 [marl:UpdateRudder] Stopped
2025-10-24T22:30:46.934Z,1761345046.934 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:30:47.294Z,1761345047.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051796,0.915508,0.398952],[-0.998654,0.048507,0.018343],[-0.002558,-0.399365,0.916788]]
2025-10-24T22:30:47.637Z,1761345047.637 [DAT](INFO): DAT read: Rx Time:22:30:46.2582

2025-10-24T22:30:47.638Z,1761345047.638 [DAT](INFO): Rx dataTimestamp_ set to:1761345047.637653
2025-10-24T22:30:47.704Z,1761345047.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033759,0.916001,0.399754],[-0.999421,0.032669,0.009543],[-0.004318,-0.399844,0.916573]]
2025-10-24T22:30:48.094Z,1761345048.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018243,0.917975,0.396219],[-0.999820,0.018788,0.002504],[-0.005145,-0.396194,0.918153]]
2025-10-24T22:30:48.146Z,1761345048.146 [DAT](INFO): DAT read: 22:30:46.2582 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 251,-0.01, 1.727, 0.368, 2.253, 1.665, PHS= 0.164,-1.252, 0.544, RAW= 161.6,   6.7, CAL= 160.9,   6.4, ROT= 349.1,  -6.4

2025-10-24T22:30:48.147Z,1761345048.147 [DAT](INFO): got valid direction response:
 22:30:46.2582 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 251,-0.01, 1.727, 0.368, 2.253, 1.665, PHS= 0.164,-1.252, 0.544, RAW= 161.6,   6.7, CAL= 160.9,   6.4, ROT= 349.1,  -6.4

2025-10-24T22:30:48.148Z,1761345048.148 [DAT](INFO): DAT read: Bearing  79.4, -12.7 (Local)

2025-10-24T22:30:48.149Z,1761345048.149 [DAT](INFO): Local bearing/azimuth received:
 Bearing  79.4, -12.7 (Local)

2025-10-24T22:30:48.150Z,1761345048.150 [DAT](INFO): DAT read: Range 11 to 20 : 113.5 m  (Round-trip  151.4 ms) speed  0.2 m/s

2025-10-24T22:30:48.150Z,1761345048.150 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-24T22:30:48.151Z,1761345048.151 [DAT](INFO): direction in FSK: [0.975839,-0.187917,0.111469]
2025-10-24T22:30:48.159Z,1761345048.159 [DAT](INFO): publishing direction and range info
2025-10-24T22:30:48.242Z,1761345048.242 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345024.00. Resetting abort timer.
2025-10-24T22:30:48.514Z,1761345048.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005026,0.920278,0.391234],[-0.999974,0.006668,-0.002839],[-0.005222,-0.391209,0.920287]]
2025-10-24T22:30:48.897Z,1761345048.897 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:30:48.1514

2025-10-24T22:30:48.897Z,1761345048.897 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:30:48.915Z,1761345048.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006049,0.921717,0.387815],[-0.999971,-0.003776,-0.006623],[-0.004640,-0.387844,0.921713]]
2025-10-24T22:30:49.325Z,1761345049.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015474,0.921152,0.388895],[-0.999873,-0.012733,-0.009623],[-0.003912,-0.388994,0.921232]]
2025-10-24T22:30:49.724Z,1761345049.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022991,0.922212,0.386001],[-0.999728,-0.019714,-0.012445],[-0.003867,-0.386183,0.922414]]
2025-10-24T22:30:50.127Z,1761345050.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027375,0.926222,0.375984],[-0.999609,-0.023225,-0.015567],[-0.005687,-0.376263,0.926495]]
2025-10-24T22:30:50.530Z,1761345050.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029780,0.933101,0.358380],[-0.999507,-0.024235,-0.019955],[-0.009935,-0.358798,0.933363]]
2025-10-24T22:30:50.934Z,1761345050.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033939,0.941821,0.334396],[-0.999307,-0.026867,-0.025754],[-0.015271,-0.335039,0.942081]]
2025-10-24T22:30:51.347Z,1761345051.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040763,0.949878,0.309952],[-0.998956,-0.032339,-0.032273],[-0.020632,-0.310944,0.950204]]
2025-10-24T22:30:51.742Z,1761345051.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047847,0.955756,0.290242],[-0.998540,-0.038469,-0.037934],[-0.025091,-0.291633,0.956201]]
2025-10-24T22:30:52.147Z,1761345052.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053898,0.961335,0.270054],[-0.998180,-0.044543,-0.040657],[-0.027056,-0.271754,0.961986]]
2025-10-24T22:30:52.551Z,1761345052.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057059,0.964686,0.257149],[-0.998011,-0.048196,-0.040642],[-0.026813,-0.258957,0.965517]]
2025-10-24T22:30:52.955Z,1761345052.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055150,0.966289,0.251485],[-0.998147,-0.046867,-0.038811],[-0.025716,-0.253160,0.967083]]
2025-10-24T22:30:53.365Z,1761345053.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049848,0.967215,0.249018],[-0.998464,-0.042221,-0.035879],[-0.024189,-0.250424,0.967834]]
2025-10-24T22:30:53.762Z,1761345053.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042923,0.967624,0.248721],[-0.998819,-0.035885,-0.032763],[-0.022777,-0.249833,0.968021]]
2025-10-24T22:30:54.166Z,1761345054.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036526,0.968023,0.248186],[-0.999085,-0.029847,-0.030624],[-0.022237,-0.249078,0.968228]]
2025-10-24T22:30:54.571Z,1761345054.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031878,0.968104,0.248510],[-0.999224,-0.025116,-0.030337],[-0.023128,-0.249285,0.968154]]
2025-10-24T22:30:54.976Z,1761345054.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030244,0.968527,0.247063],[-0.999230,-0.023115,-0.031706],[-0.024997,-0.247832,0.968481]]
2025-10-24T22:30:55.378Z,1761345055.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031975,0.969693,0.242226],[-0.999104,-0.024285,-0.034665],[-0.027732,-0.243117,0.969601]]
2025-10-24T22:30:55.705Z,1761345055.705 [DAT](INFO): DAT read: Rx Time:22:30:54.3240

2025-10-24T22:30:55.705Z,1761345055.705 [DAT](INFO): Rx dataTimestamp_ set to:1761345055.705027
2025-10-24T22:30:55.795Z,1761345055.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036470,0.971622,0.233710],[-0.998866,-0.028284,-0.038284],[-0.030587,-0.234841,0.971552]]
2025-10-24T22:30:56.194Z,1761345056.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042031,0.972283,0.229998],[-0.998569,-0.033262,-0.041871],[-0.033061,-0.231428,0.972290]]
2025-10-24T22:30:56.461Z,1761345056.461 [DAT](INFO): DAT read: 

2025-10-24T22:30:56.461Z,1761345056.461 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:30:56.461Z,1761345056.461 [DAT](INFO): Got DATA 2
2025-10-24T22:30:56.462Z,1761345056.462 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:30:56.462Z,1761345056.462 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:30:56.463Z,1761345056.463 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:30:56.464Z,1761345056.464 [DAT](INFO): DAT read: CRC:Pass MPD:02.3 PSNR:13.8 AGC:51 SPD:+0.3 CCERR:011

2025-10-24T22:30:56.464Z,1761345056.464 [DAT](INFO): Got CRC:Pass
2025-10-24T22:30:56.464Z,1761345056.464 [DAT](INFO): Got CRC:Pass
2025-10-24T22:30:56.464Z,1761345056.464 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:30:56.465Z,1761345056.465 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:30:56.465Z,1761345056.465 [DAT](INFO): Got ack
2025-10-24T22:30:56.465Z,1761345056.465 [DAT](INFO): DAT read: 

2025-10-24T22:30:56.465Z,1761345056.465 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:30:56.466Z,1761345056.466 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:30:56.625Z,1761345056.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048186,0.972327,0.228599],[-0.998273,-0.039179,-0.043779],[-0.033611,-0.230313,0.972536]]
2025-10-24T22:30:56.714Z,1761345056.714 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:30:56.715Z,1761345056.715 [DAT](INFO): #Outgoing data=6
2025-10-24T22:30:56.716Z,1761345056.716 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:30:56.965Z,1761345056.965 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:30:56.998Z,1761345056.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054570,0.972664,0.225716],[-0.998022,-0.046062,-0.042794],[-0.031227,-0.227604,0.973253]]
2025-10-24T22:30:57.404Z,1761345057.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060841,0.972613,0.224327],[-0.997805,-0.053380,-0.039185],[-0.026137,-0.226218,0.973726]]
2025-10-24T22:30:57.808Z,1761345057.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066133,0.971548,0.227424],[-0.997630,-0.060039,-0.033615],[-0.019004,-0.229108,0.973215]]
2025-10-24T22:30:58.210Z,1761345058.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069242,0.970142,0.232445],[-0.997533,-0.064625,-0.027431],[-0.011590,-0.233771,0.972223]]
2025-10-24T22:30:58.614Z,1761345058.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069699,0.968806,0.237818],[-0.997556,-0.066518,-0.021387],[-0.004900,-0.238727,0.971074]]
2025-10-24T22:30:59.019Z,1761345059.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067504,0.968719,0.238804],[-0.997718,-0.065895,-0.014723],[0.001474,-0.239253,0.970956]]
2025-10-24T22:30:59.537Z,1761345059.537 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:30:59.537Z,1761345059.537 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:30:59.538Z,1761345059.538 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:30:59.538Z,1761345059.538 [marl:UpdateRudder:A] Stopped
2025-10-24T22:30:59.538Z,1761345059.538 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:30:59.538Z,1761345059.538 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:30:59.538Z,1761345059.538 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:30:59.538Z,1761345059.538 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:30:59.539Z,1761345059.539 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:30:59.539Z,1761345059.539 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:30:59.539Z,1761345059.539 [marl:UpdateCommandMode] Stopped
2025-10-24T22:30:59.539Z,1761345059.539 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:30:59.539Z,1761345059.539 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:30:59.539Z,1761345059.539 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:30:59.539Z,1761345059.539 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:30:59.539Z,1761345059.539 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:30:59.540Z,1761345059.540 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:30:59.544Z,1761345059.544 [marl:UpdateSpeed] Stopped
2025-10-24T22:30:59.544Z,1761345059.544 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:30:59.826Z,1761345059.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060563,0.970011,0.235393],[-0.998039,-0.062582,0.001110],[0.015808,-0.234865,0.971900]]
2025-10-24T22:30:59.976Z,1761345059.976 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:30:59.976Z,1761345059.976 [marl:UpdateRudder:B] Stopped
2025-10-24T22:30:59.976Z,1761345059.976 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:30:59.976Z,1761345059.976 [marl:UpdateRudder] Stopped
2025-10-24T22:30:59.976Z,1761345059.976 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:31:00.230Z,1761345060.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055855,0.970208,0.235749],[-0.998171,-0.059729,0.009320],[0.023123,-0.234797,0.971769]]
2025-10-24T22:31:00.249Z,1761345060.249 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:30:59.5013

2025-10-24T22:31:00.249Z,1761345060.249 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:31:00.635Z,1761345060.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051455,0.970138,0.237032],[-0.998203,-0.057264,0.017681],[0.030726,-0.235696,0.971341]]
2025-10-24T22:31:01.040Z,1761345061.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045939,0.969362,0.241301],[-0.998210,-0.053802,0.026098],[0.038281,-0.239670,0.970099]]
2025-10-24T22:31:01.443Z,1761345061.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040059,0.968705,0.244959],[-0.998123,-0.050158,0.035128],[0.046316,-0.243092,0.968897]]
2025-10-24T22:31:01.846Z,1761345061.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032999,0.967043,0.252464],[-0.997960,-0.045693,0.044579],[0.054645,-0.250478,0.966579]]
2025-10-24T22:31:02.659Z,1761345062.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018602,0.963292,0.267809],[-0.997399,-0.036536,0.062137],[0.069641,-0.265957,0.961466]]
2025-10-24T22:31:03.462Z,1761345063.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017258,0.952902,0.302785],[-0.996414,-0.041478,0.073744],[0.082829,-0.300427,0.950201]]
2025-10-24T22:31:03.868Z,1761345063.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021637,0.943826,0.329735],[-0.995809,-0.049660,0.076800],[0.088860,-0.326691,0.940945]]
2025-10-24T22:31:04.279Z,1761345064.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028844,0.934538,0.354691],[-0.995036,-0.060656,0.078899],[0.095248,-0.350655,0.931649]]
2025-10-24T22:31:04.680Z,1761345064.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039396,0.924906,0.378148],[-0.993891,-0.075318,0.080675],[0.103098,-0.372660,0.922223]]
2025-10-24T22:31:05.078Z,1761345065.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052652,0.916241,0.397152],[-0.992282,-0.092713,0.082340],[0.112264,-0.389751,0.914052]]
2025-10-24T22:31:05.488Z,1761345065.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066196,0.909122,0.411237],[-0.990362,-0.110114,0.084014],[0.121662,-0.401712,0.907649]]
2025-10-24T22:31:05.887Z,1761345065.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079718,0.903359,0.421410],[-0.988196,-0.127100,0.085522],[0.130819,-0.409618,0.902829]]
2025-10-24T22:31:06.695Z,1761345066.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105806,0.897632,0.427858],[-0.983792,-0.157134,0.086378],[0.144767,-0.411784,0.899709]]
2025-10-24T22:31:07.053Z,1761345067.053 [DAT](INFO): DAT read: Rx Time:22:31:05.6737

2025-10-24T22:31:07.053Z,1761345067.053 [DAT](INFO): Rx dataTimestamp_ set to:1761345067.053006
2025-10-24T22:31:07.099Z,1761345067.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119229,0.897931,0.423680],[-0.981698,-0.170442,0.084966],[0.148506,-0.405795,0.901818]]
2025-10-24T22:31:07.561Z,1761345067.561 [DAT](INFO): DAT read: 22:31:05.6737 LVL= 29296, 32753, 31426, 32755, AGC= 75, IDX= 443, 0.12,-0.363,-1.131,-2.449,-0.705, PHS= 0.444,-0.381,-1.788, RAW=  51.4,  17.3, CAL=  46.8,  20.9, ROT= 103.2, -20.9

2025-10-24T22:31:07.562Z,1761345067.562 [DAT](INFO): got valid direction response:
 22:31:05.6737 LVL= 29296, 32753, 31426, 32755, AGC= 75, IDX= 443, 0.12,-0.363,-1.131,-2.449,-0.705, PHS= 0.444,-0.381,-1.788, RAW=  51.4,  17.3, CAL=  46.8,  20.9, ROT= 103.2, -20.9

2025-10-24T22:31:07.562Z,1761345067.562 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-24T22:31:07.563Z,1761345067.563 [DAT](INFO): direction in FSK: [-0.213326,0.909522,0.356738]
2025-10-24T22:31:07.577Z,1761345067.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149671,0.901636,0.405772],[-0.976961,-0.198008,0.079621],[0.152135,-0.384506,0.910500]]
2025-10-24T22:31:07.680Z,1761345067.680 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345024.00. Resetting abort timer.
2025-10-24T22:31:07.809Z,1761345067.809 [DAT](INFO): DAT read: 

2025-10-24T22:31:07.809Z,1761345067.809 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:31:07.809Z,1761345067.809 [DAT](INFO): Got DATA 2
2025-10-24T22:31:07.810Z,1761345067.810 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:31:07.810Z,1761345067.810 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:31:07.811Z,1761345067.811 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:31:07.812Z,1761345067.812 [DAT](INFO): DAT read: CRC:Pass MPD:03.8 PSNR:13.5 AGC:69 SPD:+0.3 CCERR:011

2025-10-24T22:31:07.812Z,1761345067.812 [DAT](INFO): Got CRC:Pass
2025-10-24T22:31:07.812Z,1761345067.812 [DAT](INFO): Got CRC:Pass
2025-10-24T22:31:07.812Z,1761345067.812 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:31:07.812Z,1761345067.812 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:31:07.813Z,1761345067.813 [DAT](INFO): Got ack
2025-10-24T22:31:07.813Z,1761345067.813 [DAT](INFO): DAT read: 

2025-10-24T22:31:07.813Z,1761345067.813 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:31:07.814Z,1761345067.814 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:31:08.030Z,1761345068.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166920,0.901872,0.398452],[-0.973710,-0.214315,0.077182],[0.155003,-0.375094,0.913936]]
2025-10-24T22:31:08.062Z,1761345068.062 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:31:08.062Z,1761345068.062 [DAT](INFO): #Outgoing data=6
2025-10-24T22:31:08.062Z,1761345068.062 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:31:08.313Z,1761345068.313 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:31:08.494Z,1761345068.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184889,0.899952,0.394844],[-0.969628,-0.232508,0.075908],[0.160118,-0.368817,0.915607]]
2025-10-24T22:31:08.894Z,1761345068.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203531,0.895194,0.396487],[-0.964535,-0.252850,0.075758],[0.168070,-0.367006,0.914909]]
2025-10-24T22:31:09.096Z,1761345069.096 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:31:09.298Z,1761345069.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222648,0.887250,0.403999],[-0.958423,-0.275071,0.075905],[0.178475,-0.370302,0.911605]]
2025-10-24T22:31:09.703Z,1761345069.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242352,0.876089,0.416814],[-0.951308,-0.298932,0.075187],[0.190470,-0.378297,0.905877]]
2025-10-24T22:31:10.100Z,1761345070.100 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:31:10.107Z,1761345070.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262887,0.863411,0.430595],[-0.943256,-0.323838,0.073470],[0.202878,-0.386847,0.899550]]
2025-10-24T22:31:10.512Z,1761345070.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283981,0.850557,0.442614],[-0.934434,-0.348971,0.071074],[0.214912,-0.393410,0.893891]]
2025-10-24T22:31:10.916Z,1761345070.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303644,0.837206,0.454848],[-0.925581,-0.372454,0.067658],[0.226054,-0.400455,0.887995]]
2025-10-24T22:31:11.318Z,1761345071.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321892,0.823520,0.467119],[-0.916741,-0.394390,0.063573],[0.236581,-0.407764,0.881906]]
2025-10-24T22:31:11.593Z,1761345071.593 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:31:10.8513

2025-10-24T22:31:11.593Z,1761345071.593 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:31:11.723Z,1761345071.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337731,0.810425,0.478695],[-0.908308,-0.413974,0.060019],[0.246808,-0.414532,0.875927]]
2025-10-24T22:31:12.129Z,1761345072.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350446,0.798972,0.488703],[-0.900838,-0.430325,0.057544],[0.256277,-0.420077,0.870550]]
2025-10-24T22:31:12.530Z,1761345072.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360815,0.788657,0.497827],[-0.894406,-0.443870,0.054930],[0.264291,-0.425440,0.865535]]
2025-10-24T22:31:12.621Z,1761345072.621 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:31:12.621Z,1761345072.621 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:31:12.621Z,1761345072.621 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:31:12.621Z,1761345072.621 [marl:UpdateRudder:A] Stopped
2025-10-24T22:31:12.621Z,1761345072.621 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:31:12.622Z,1761345072.622 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:31:12.622Z,1761345072.622 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:31:12.622Z,1761345072.622 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:31:12.622Z,1761345072.622 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:31:12.622Z,1761345072.622 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:31:12.622Z,1761345072.622 [marl:UpdateCommandMode] Stopped
2025-10-24T22:31:12.622Z,1761345072.622 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:31:12.622Z,1761345072.622 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:31:12.623Z,1761345072.623 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:31:12.623Z,1761345072.623 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:31:12.623Z,1761345072.623 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:31:12.623Z,1761345072.623 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:31:12.623Z,1761345072.623 [marl:UpdateSpeed] Stopped
2025-10-24T22:31:12.623Z,1761345072.623 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:31:12.993Z,1761345072.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369039,0.780051,0.505303],[-0.889405,-0.454198,0.051598],[0.269756,-0.430377,0.861398]]
2025-10-24T22:31:13.070Z,1761345073.070 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:31:13.070Z,1761345073.070 [marl:UpdateRudder:B] Stopped
2025-10-24T22:31:13.070Z,1761345073.070 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:31:13.070Z,1761345073.070 [marl:UpdateRudder] Stopped
2025-10-24T22:31:13.070Z,1761345073.070 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:31:13.395Z,1761345073.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375360,0.773455,0.510756],[-0.886024,-0.461220,0.047292],[0.272149,-0.434791,0.858424]]
2025-10-24T22:31:13.803Z,1761345073.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380428,0.770033,0.512175],[-0.884089,-0.465341,0.042945],[0.271405,-0.436471,0.857807]]
2025-10-24T22:31:14.611Z,1761345074.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388920,0.774926,0.498227],[-0.882008,-0.469396,0.041579],[0.266086,-0.423269,0.866049]]
2025-10-24T22:31:15.014Z,1761345075.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393780,0.779572,0.487037],[-0.880601,-0.471875,0.043319],[0.263591,-0.411827,0.872306]]
2025-10-24T22:31:15.419Z,1761345075.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399715,0.784078,0.474815],[-0.878550,-0.475472,0.045570],[0.261492,-0.398934,0.878905]]
2025-10-24T22:31:15.824Z,1761345075.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406643,0.785999,0.465668],[-0.875808,-0.480448,0.046149],[0.260003,-0.389070,0.883755]]
2025-10-24T22:31:16.259Z,1761345076.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415294,0.785864,0.458202],[-0.872044,-0.487316,0.045416],[0.258980,-0.380711,0.887687]]
2025-10-24T22:31:16.630Z,1761345076.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424986,0.785223,0.450345],[-0.867652,-0.495169,0.044584],[0.258005,-0.371795,0.891741]]
2025-10-24T22:31:17.439Z,1761345077.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448949,0.776509,0.442131],[-0.856061,-0.515599,0.036278],[0.256133,-0.362204,0.896217]]
2025-10-24T22:31:17.842Z,1761345077.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462224,0.769072,0.441449],[-0.849335,-0.527061,0.028915],[0.254908,-0.361573,0.896820]]
2025-10-24T22:31:18.657Z,1761345078.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491479,0.753121,0.437328],[-0.833715,-0.552025,0.013693],[0.251729,-0.357878,0.899198]]
2025-10-24T22:31:19.058Z,1761345079.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507410,0.744819,0.433336],[-0.824635,-0.565626,0.006602],[0.250023,-0.353994,0.901208]]
2025-10-24T22:31:19.458Z,1761345079.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524991,0.735056,0.429042],[-0.814131,-0.580680,-0.001351],[0.248143,-0.350005,0.903284]]
2025-10-24T22:31:19.862Z,1761345079.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543065,0.723450,0.426264],[-0.802759,-0.596204,-0.010854],[0.246288,-0.348082,0.904534]]
2025-10-24T22:31:20.682Z,1761345080.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580325,0.693121,0.427560],[-0.777022,-0.628452,-0.035859],[0.243846,-0.353033,0.903276]]
2025-10-24T22:31:21.533Z,1761345081.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617428,0.658929,0.429646],[-0.748208,-0.660545,-0.062173],[0.242833,-0.359852,0.900855]]
2025-10-24T22:31:21.674Z,1761345081.674 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:31:21.928Z,1761345081.928 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:31:21.929Z,1761345081.929 [DAT](INFO): #Outgoing data=6
2025-10-24T22:31:21.929Z,1761345081.929 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:31:21.998Z,1761345081.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650770,0.622948,0.434090],[-0.719650,-0.688341,-0.091052],[0.242081,-0.371647,0.896256]]
2025-10-24T22:31:22.179Z,1761345082.179 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:31:22.377Z,1761345082.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665120,0.609049,0.432059],[-0.706767,-0.700203,-0.100976],[0.241030,-0.372526,0.896175]]
2025-10-24T22:31:22.780Z,1761345082.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678541,0.595601,0.429933],[-0.694186,-0.711311,-0.110195],[0.240183,-0.373225,0.896111]]
2025-10-24T22:31:23.182Z,1761345083.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690550,0.583144,0.427883],[-0.682621,-0.721014,-0.119025],[0.239101,-0.374275,0.895963]]
2025-10-24T22:31:23.590Z,1761345083.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701336,0.570172,0.427822],[-0.672073,-0.728936,-0.130266],[0.237582,-0.378888,0.894427]]
2025-10-24T22:31:23.994Z,1761345083.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710183,0.558348,0.428821],[-0.663361,-0.734707,-0.141983],[0.235782,-0.385296,0.892162]]
2025-10-24T22:31:24.398Z,1761345084.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717836,0.548724,0.428501],[-0.655845,-0.739492,-0.151722],[0.233620,-0.389942,0.890712]]
2025-10-24T22:31:24.799Z,1761345084.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724778,0.540955,0.426690],[-0.649057,-0.743840,-0.159456],[0.231131,-0.392516,0.890230]]
2025-10-24T22:31:25.238Z,1761345085.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731452,0.534089,0.423941],[-0.642594,-0.747900,-0.166489],[0.228146,-0.394200,0.890256]]
2025-10-24T22:31:25.454Z,1761345085.454 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:31:24.7012

2025-10-24T22:31:25.454Z,1761345085.454 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:31:25.634Z,1761345085.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738105,0.528524,0.419361],[-0.636255,-0.752053,-0.172036],[0.224457,-0.393801,0.891370]]
2025-10-24T22:31:25.764Z,1761345085.764 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:31:25.764Z,1761345085.764 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:31:25.764Z,1761345085.764 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:31:25.765Z,1761345085.765 [marl:UpdateRudder:A] Stopped
2025-10-24T22:31:25.765Z,1761345085.765 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:31:25.765Z,1761345085.765 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:31:25.765Z,1761345085.765 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:31:25.765Z,1761345085.765 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:31:25.765Z,1761345085.765 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:31:25.765Z,1761345085.765 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:31:25.765Z,1761345085.765 [marl:UpdateCommandMode] Stopped
2025-10-24T22:31:25.766Z,1761345085.766 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:31:25.766Z,1761345085.766 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:31:25.766Z,1761345085.766 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:31:25.766Z,1761345085.766 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:31:25.766Z,1761345085.766 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:31:25.766Z,1761345085.766 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:31:25.766Z,1761345085.766 [marl:UpdateSpeed] Stopped
2025-10-24T22:31:25.766Z,1761345085.766 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:31:26.154Z,1761345086.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745647,0.523045,0.412837],[-0.629089,-0.756828,-0.177366],[0.219676,-0.391963,0.893368]]
2025-10-24T22:31:26.277Z,1761345086.277 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:31:26.277Z,1761345086.277 [marl:UpdateRudder:B] Stopped
2025-10-24T22:31:26.277Z,1761345086.277 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:31:26.277Z,1761345086.277 [marl:UpdateRudder] Stopped
2025-10-24T22:31:26.278Z,1761345086.278 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:31:27.056Z,1761345087.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763463,0.509902,0.396390],[-0.611176,-0.768793,-0.188202],[0.208777,-0.385950,0.898585]]
2025-10-24T22:31:27.458Z,1761345087.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773123,0.502613,0.386861],[-0.601005,-0.775436,-0.193627],[0.202667,-0.382203,0.901581]]
2025-10-24T22:31:27.863Z,1761345087.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782067,0.496487,0.376659],[-0.591627,-0.781420,-0.198394],[0.195829,-0.377999,0.904858]]
2025-10-24T22:31:28.266Z,1761345088.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789280,0.495343,0.362868],[-0.584689,-0.786790,-0.197736],[0.187554,-0.368234,0.910619]]
2025-10-24T22:31:28.686Z,1761345088.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794916,0.498979,0.345151],[-0.579948,-0.792030,-0.190651],[0.178239,-0.351721,0.918979]]
2025-10-24T22:31:29.074Z,1761345089.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799509,0.505157,0.324964],[-0.576547,-0.797145,-0.179314],[0.168461,-0.330720,0.928571]]
2025-10-24T22:31:29.478Z,1761345089.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803357,0.512104,0.303918],[-0.574098,-0.801616,-0.166805],[0.158204,-0.308482,0.937982]]
2025-10-24T22:31:29.882Z,1761345089.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806944,0.518491,0.282858],[-0.571872,-0.805622,-0.154711],[0.147660,-0.286601,0.946603]]
2025-10-24T22:31:30.288Z,1761345090.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810223,0.523768,0.263070],[-0.569802,-0.809045,-0.144123],[0.137349,-0.266670,0.953951]]
2025-10-24T22:31:30.707Z,1761345090.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813612,0.527772,0.243910],[-0.567428,-0.812240,-0.135249],[0.126733,-0.248441,0.960321]]
2025-10-24T22:31:31.094Z,1761345091.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816567,0.530608,0.227319],[-0.565474,-0.814413,-0.130270],[0.116009,-0.234917,0.965068]]
2025-10-24T22:31:31.499Z,1761345091.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819090,0.532513,0.213360],[-0.563931,-0.815654,-0.129192],[0.105231,-0.226141,0.968394]]
2025-10-24T22:31:31.919Z,1761345091.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821652,0.533534,0.200573],[-0.562102,-0.816795,-0.129950],[0.094494,-0.219516,0.971022]]
2025-10-24T22:31:32.307Z,1761345092.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823880,0.534148,0.189492],[-0.560627,-0.817129,-0.134157],[0.083180,-0.216764,0.972674]]
2025-10-24T22:31:32.713Z,1761345092.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826489,0.533700,0.179107],[-0.558285,-0.817931,-0.138951],[0.072339,-0.214834,0.973968]]
2025-10-24T22:31:33.114Z,1761345093.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829725,0.531885,0.169277],[-0.554749,-0.819338,-0.144703],[0.061730,-0.213970,0.974888]]
2025-10-24T22:31:33.518Z,1761345093.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832940,0.529671,0.160188],[-0.550983,-0.820672,-0.151381],[0.051280,-0.214352,0.975410]]
2025-10-24T22:31:33.964Z,1761345093.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836307,0.527187,0.150547],[-0.546733,-0.822411,-0.157239],[0.040917,-0.213809,0.976018]]
2025-10-24T22:31:34.327Z,1761345094.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839544,0.524162,0.142901],[-0.542389,-0.823795,-0.164851],[0.031313,-0.215907,0.975912]]
2025-10-24T22:31:34.736Z,1761345094.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842159,0.521830,0.135872],[-0.538785,-0.824537,-0.172769],[0.021875,-0.218704,0.975546]]
2025-10-24T22:31:35.136Z,1761345095.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844125,0.520356,0.129161],[-0.536002,-0.824635,-0.180774],[0.012443,-0.221827,0.975007]]
2025-10-24T22:31:35.538Z,1761345095.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844891,0.520403,0.123857],[-0.534928,-0.823405,-0.189357],[0.003442,-0.226241,0.974065]]
2025-10-24T22:31:35.541Z,1761345095.541 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:31:35.793Z,1761345095.793 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:31:35.793Z,1761345095.793 [DAT](INFO): #Outgoing data=7
2025-10-24T22:31:35.793Z,1761345095.793 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:31:35.976Z,1761345095.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843968,0.523625,0.116338],[-0.536245,-0.818557,-0.205926],[-0.012599,-0.236181,0.971627]]
2025-10-24T22:31:36.045Z,1761345096.045 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:31:36.370Z,1761345096.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842240,0.526996,0.113607],[-0.538772,-0.815450,-0.211579],[-0.018860,-0.239409,0.970736]]
2025-10-24T22:31:36.771Z,1761345096.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839758,0.531261,0.112109],[-0.542435,-0.811784,-0.216265],[-0.023885,-0.242422,0.969877]]
2025-10-24T22:31:37.184Z,1761345097.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836744,0.536304,0.110619],[-0.546871,-0.808038,-0.219106],[-0.028123,-0.243830,0.969410]]
2025-10-24T22:31:37.578Z,1761345097.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833463,0.541649,0.109345],[-0.551649,-0.804157,-0.221394],[-0.031987,-0.244844,0.969035]]
2025-10-24T22:31:37.985Z,1761345097.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830452,0.546405,0.108589],[-0.555971,-0.800530,-0.223714],[-0.035310,-0.246156,0.968587]]
2025-10-24T22:31:38.383Z,1761345098.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828112,0.550427,0.106120],[-0.559240,-0.798217,-0.223832],[-0.038497,-0.244704,0.968833]]
2025-10-24T22:31:38.786Z,1761345098.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826863,0.552624,0.104424],[-0.560912,-0.796817,-0.224633],[-0.040931,-0.244314,0.968832]]
2025-10-24T22:31:38.859Z,1761345098.859 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:31:38.859Z,1761345098.859 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:31:38.859Z,1761345098.859 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:31:38.859Z,1761345098.859 [marl:UpdateRudder:A] Stopped
2025-10-24T22:31:38.859Z,1761345098.859 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:31:38.859Z,1761345098.859 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:31:38.859Z,1761345098.859 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:31:38.864Z,1761345098.864 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:31:38.864Z,1761345098.864 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:31:38.864Z,1761345098.864 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:31:38.864Z,1761345098.864 [marl:UpdateCommandMode] Stopped
2025-10-24T22:31:38.864Z,1761345098.864 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:31:38.864Z,1761345098.864 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:31:38.865Z,1761345098.865 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:31:38.865Z,1761345098.865 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:31:38.865Z,1761345098.865 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:31:38.865Z,1761345098.865 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:31:38.865Z,1761345098.865 [marl:UpdateSpeed] Stopped
2025-10-24T22:31:38.865Z,1761345098.865 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:31:39.195Z,1761345099.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826247,0.554097,0.101447],[-0.561714,-0.796904,-0.222307],[-0.042336,-0.240665,0.969684]]
2025-10-24T22:31:39.321Z,1761345099.321 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:31:38.6011

2025-10-24T22:31:39.322Z,1761345099.322 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:31:39.336Z,1761345099.336 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:31:39.336Z,1761345099.336 [marl:UpdateRudder:B] Stopped
2025-10-24T22:31:39.336Z,1761345099.336 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:31:39.336Z,1761345099.336 [marl:UpdateRudder] Stopped
2025-10-24T22:31:39.336Z,1761345099.336 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:31:39.594Z,1761345099.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826344,0.554338,0.099321],[-0.561544,-0.797671,-0.219975],[-0.042715,-0.237549,0.970436]]
2025-10-24T22:31:40.000Z,1761345100.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827408,0.552962,0.098129],[-0.560028,-0.799327,-0.217818],[-0.042007,-0.235179,0.971044]]
2025-10-24T22:31:40.220Z,1761345100.220 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:31:40.402Z,1761345100.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828952,0.550982,0.096216],[-0.557803,-0.801720,-0.214712],[-0.041164,-0.231655,0.971927]]
2025-10-24T22:31:40.806Z,1761345100.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831221,0.547759,0.095036],[-0.554500,-0.804555,-0.212652],[-0.040020,-0.229458,0.972495]]
2025-10-24T22:31:41.211Z,1761345101.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833852,0.544026,0.093414],[-0.550613,-0.807842,-0.210277],[-0.038932,-0.226775,0.973169]]
2025-10-24T22:31:41.224Z,1761345101.224 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:31:41.615Z,1761345101.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836323,0.540667,0.090794],[-0.546911,-0.811262,-0.206743],[-0.038121,-0.222560,0.974173]]
2025-10-24T22:31:41.819Z,1761345101.819 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:31:41.820Z,1761345101.820 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:31:42.018Z,1761345102.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836930,0.540969,0.083073],[-0.545997,-0.814737,-0.195169],[-0.037898,-0.208700,0.977245]]
2025-10-24T22:31:42.422Z,1761345102.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834513,0.546687,0.068714],[-0.549619,-0.817157,-0.173704],[-0.038812,-0.182725,0.982398]]
2025-10-24T22:31:42.831Z,1761345102.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829476,0.556168,0.051450],[-0.557099,-0.817195,-0.147760],[-0.040135,-0.151226,0.987684]]
2025-10-24T22:31:43.231Z,1761345103.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822534,0.567640,0.034957],[-0.567210,-0.814335,-0.123009],[-0.041358,-0.121007,0.991790]]
2025-10-24T22:31:43.257Z,1761345103.257 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:31:43.353Z,1761345103.353 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:31:43.404Z,1761345103.404 [DAT](INFO): entering command mode
2025-10-24T22:31:43.605Z,1761345103.605 [DAT](INFO): DAT read: 

2025-10-24T22:31:43.606Z,1761345103.606 [DAT](INFO): DAT read: user:22>

2025-10-24T22:31:43.606Z,1761345103.606 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:31:43.607Z,1761345103.607 [DAT](INFO): setting remote address to 0
2025-10-24T22:31:43.655Z,1761345103.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813863,0.580705,0.020199],[-0.579544,-0.808747,-0.100286],[-0.041901,-0.093325,0.994754]]
2025-10-24T22:31:43.857Z,1761345103.857 [DAT](INFO): DAT read: user:22>

2025-10-24T22:31:43.858Z,1761345103.858 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:31:43.859Z,1761345103.859 [DAT](INFO): set remote address to 0
2025-10-24T22:31:43.859Z,1761345103.859 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:31:43.860Z,1761345103.860 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:31:44.038Z,1761345104.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803724,0.594929,0.009325],[-0.593564,-0.800594,-0.082039],[-0.041342,-0.071472,0.996586]]
2025-10-24T22:31:44.109Z,1761345104.109 [DAT](INFO): DAT read: user:23>

2025-10-24T22:31:44.109Z,1761345104.109 [DAT](INFO): DAT read: Tx time:22:31:43.3023

2025-10-24T22:31:44.110Z,1761345104.110 [DAT](INFO): Ping request sent.
2025-10-24T22:31:44.110Z,1761345104.110 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:31:44.110Z,1761345104.110 [DAT](INFO): publishing transmit ping time
2025-10-24T22:31:44.111Z,1761345104.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000990
2025-10-24T22:31:44.361Z,1761345104.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250884
2025-10-24T22:31:44.444Z,1761345104.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792124,0.610356,0.002257],[-0.609069,-0.790202,-0.067932],[-0.039679,-0.055185,0.997687]]
2025-10-24T22:31:44.613Z,1761345104.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502940
2025-10-24T22:31:44.846Z,1761345104.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779234,0.626731,-0.001813],[-0.625618,-0.778017,-0.057365],[-0.037363,-0.043567,0.998352]]
2025-10-24T22:31:44.865Z,1761345104.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755132
2025-10-24T22:31:45.117Z,1761345105.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006843
2025-10-24T22:31:45.251Z,1761345105.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765040,0.643975,-0.003193],[-0.643060,-0.764199,-0.049739],[-0.034471,-0.035999,0.998757]]
2025-10-24T22:31:45.369Z,1761345105.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258907
2025-10-24T22:31:45.621Z,1761345105.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510852
2025-10-24T22:31:45.666Z,1761345105.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749660,0.661816,-0.002970],[-0.661080,-0.749024,-0.044001],[-0.031345,-0.031023,0.999027]]
2025-10-24T22:31:45.873Z,1761345105.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763523
2025-10-24T22:31:46.125Z,1761345106.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015042
2025-10-24T22:31:46.377Z,1761345106.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266938
2025-10-24T22:31:46.463Z,1761345106.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716386,0.697703,-0.001274],[-0.697255,-0.715990,-0.034536],[-0.025008,-0.023853,0.999403]]
2025-10-24T22:31:46.630Z,1761345106.630 [DAT](INFO): DAT read: Rx Time:22:31:45.3352

2025-10-24T22:31:46.631Z,1761345106.631 [DAT](INFO): Rx dataTimestamp_ set to:1761345106.630207
2025-10-24T22:31:46.632Z,1761345106.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521647
2025-10-24T22:31:46.866Z,1761345106.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699899,0.714242,0.000188],[-0.713912,-0.699568,-0.030569],[-0.021702,-0.021529,0.999533]]
2025-10-24T22:31:46.881Z,1761345106.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771150
2025-10-24T22:31:47.143Z,1761345107.143 [DAT](INFO): DAT read: 22:31:45.3352 LVL= 31216, 29473, 32754, 32755, AGC= 64, IDX= 451, 0.24, 1.116, 2.380, 0.393, 1.514, PHS=-0.295, 0.912,-1.165, RAW= 354.6,   6.1, CAL= 354.5,   5.0, ROT= 155.5,  -5.0

2025-10-24T22:31:47.150Z,1761345107.150 [DAT](INFO): got valid direction response:
 22:31:45.3352 LVL= 31216, 29473, 32754, 32755, AGC= 64, IDX= 451, 0.24, 1.116, 2.380, 0.393, 1.514, PHS=-0.295, 0.912,-1.165, RAW= 354.6,   6.1, CAL= 354.5,   5.0, ROT= 155.5,  -5.0

2025-10-24T22:31:47.151Z,1761345107.151 [DAT](INFO): DAT read: $Error in header

2025-10-24T22:31:47.152Z,1761345107.152 [DAT](INFO): Received a bad header
2025-10-24T22:31:47.164Z,1761345107.164 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-24T22:31:47.165Z,1761345107.165 [DAT](INFO): direction in FSK: [-0.906499,0.413115,0.087156]
2025-10-24T22:31:47.270Z,1761345107.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684187,0.729305,0.001573],[-0.729070,-0.683908,-0.026940],[-0.018571,-0.019579,0.999636]]
2025-10-24T22:31:47.328Z,1761345107.328 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345152.00. Resetting abort timer.
2025-10-24T22:31:47.679Z,1761345107.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669667,0.742654,0.003189],[-0.742501,-0.669428,-0.023640],[-0.015422,-0.018199,0.999715]]
2025-10-24T22:31:48.083Z,1761345108.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656722,0.754121,0.004228],[-0.754038,-0.656540,-0.019552],[-0.011969,-0.016028,0.999800]]
2025-10-24T22:31:48.482Z,1761345108.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644732,0.764378,0.006855],[-0.764365,-0.644574,-0.016440],[-0.008148,-0.015839,0.999841]]
2025-10-24T22:31:48.887Z,1761345108.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633442,0.773730,0.009718],[-0.773780,-0.633316,-0.013256],[-0.004102,-0.015917,0.999865]]
2025-10-24T22:31:49.290Z,1761345109.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621925,0.782995,0.011326],[-0.783077,-0.621854,-0.009392],[-0.000311,-0.014710,0.999892]]
2025-10-24T22:31:49.401Z,1761345109.401 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:31:49.654Z,1761345109.654 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:31:49.655Z,1761345109.655 [DAT](INFO): #Outgoing data=8
2025-10-24T22:31:49.655Z,1761345109.655 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:31:49.695Z,1761345109.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610414,0.791955,0.014237],[-0.792074,-0.610394,-0.006222],[0.003763,-0.015075,0.999879]]
2025-10-24T22:31:49.907Z,1761345109.907 [DAT](INFO): setting remote address to 10
2025-10-24T22:31:50.102Z,1761345110.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597945,0.801346,0.017522],[-0.801498,-0.597990,-0.003109],[0.007986,-0.015903,0.999842]]
2025-10-24T22:31:50.157Z,1761345110.157 [DAT](INFO): DAT read: 

2025-10-24T22:31:50.158Z,1761345110.158 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:31:50.158Z,1761345110.158 [DAT](INFO): set remote address to 10
2025-10-24T22:31:50.158Z,1761345110.158 [DAT](INFO): entering online mode
2025-10-24T22:31:50.410Z,1761345110.410 [DAT](INFO): DAT read: user:25>

2025-10-24T22:31:50.410Z,1761345110.410 [DAT](INFO): DAT read: 

2025-10-24T22:31:50.412Z,1761345110.412 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:31:50.412Z,1761345110.412 [DAT](INFO): commRate: 600
2025-10-24T22:31:50.413Z,1761345110.413 [DAT](INFO): online mode acknowledged
2025-10-24T22:31:50.413Z,1761345110.413 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:31:50.504Z,1761345110.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584565,0.811071,0.021129],[-0.811258,-0.584687,-0.000489],[0.011957,-0.017427,0.999777]]
2025-10-24T22:31:50.907Z,1761345110.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571035,0.820543,0.025072],[-0.820777,-0.571247,0.001624],[0.015655,-0.019652,0.999684]]
2025-10-24T22:31:51.311Z,1761345111.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557806,0.829526,0.027194],[-0.829739,-0.558126,0.005388],[0.019647,-0.019559,0.999616]]
2025-10-24T22:31:51.716Z,1761345111.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545690,0.837518,0.028022],[-0.837645,-0.546118,0.010310],[0.023939,-0.017846,0.999554]]
2025-10-24T22:31:51.741Z,1761345111.741 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:31:51.741Z,1761345111.741 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:31:51.741Z,1761345111.741 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:31:51.741Z,1761345111.741 [marl:UpdateRudder:A] Stopped
2025-10-24T22:31:51.741Z,1761345111.741 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:31:51.742Z,1761345111.742 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:31:51.742Z,1761345111.742 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:31:51.742Z,1761345111.742 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:31:51.742Z,1761345111.742 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:31:51.742Z,1761345111.742 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:31:51.742Z,1761345111.742 [marl:UpdateCommandMode] Stopped
2025-10-24T22:31:51.742Z,1761345111.742 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:31:51.742Z,1761345111.742 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:31:51.743Z,1761345111.743 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:31:51.743Z,1761345111.743 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:31:51.743Z,1761345111.743 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:31:51.743Z,1761345111.743 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:31:51.743Z,1761345111.743 [marl:UpdateSpeed] Stopped
2025-10-24T22:31:51.743Z,1761345111.743 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:31:52.132Z,1761345112.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534321,0.844818,0.028013],[-0.844814,-0.534834,0.015536],[0.028107,-0.015364,0.999487]]
2025-10-24T22:31:52.200Z,1761345112.200 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:31:52.200Z,1761345112.200 [marl:UpdateRudder:B] Stopped
2025-10-24T22:31:52.200Z,1761345112.200 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:31:52.200Z,1761345112.200 [marl:UpdateRudder] Stopped
2025-10-24T22:31:52.200Z,1761345112.200 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:31:52.522Z,1761345112.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524439,0.850954,0.029000],[-0.850843,-0.525046,0.019841],[0.032110,-0.014269,0.999382]]
2025-10-24T22:31:52.926Z,1761345112.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515883,0.856097,0.031036],[-0.855875,-0.516622,0.024082],[0.036650,-0.014140,0.999228]]
2025-10-24T22:31:53.333Z,1761345113.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508298,0.860508,0.034049],[-0.860156,-0.509225,0.028662],[0.042002,-0.014719,0.999009]]
2025-10-24T22:31:53.734Z,1761345113.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500431,0.864931,0.038261],[-0.864440,-0.501625,0.033413],[0.048093,-0.016353,0.998709]]
2025-10-24T22:31:54.142Z,1761345114.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491038,0.869999,0.044531],[-0.869416,-0.492640,0.037707],[0.054743,-0.020200,0.998296]]
2025-10-24T22:31:54.188Z,1761345114.188 [DAT](INFO): Reached modem response timeout
2025-10-24T22:31:54.543Z,1761345114.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478942,0.876438,0.049709],[-0.875702,-0.480961,0.042691],[0.061324,-0.023084,0.997851]]
2025-10-24T22:31:54.949Z,1761345114.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463686,0.884219,0.056138],[-0.883421,-0.466238,0.046787],[0.067544,-0.027899,0.997326]]
2025-10-24T22:31:55.351Z,1761345115.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445296,0.893249,0.061792],[-0.892376,-0.448393,0.051069],[0.073324,-0.032401,0.996782]]
2025-10-24T22:31:55.754Z,1761345115.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425215,0.902604,0.067069],[-0.901678,-0.428877,0.055150],[0.078543,-0.037024,0.996223]]
2025-10-24T22:31:56.158Z,1761345116.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403464,0.912338,0.069688],[-0.911215,-0.407546,0.059944],[0.083090,-0.039315,0.995766]]
2025-10-24T22:31:56.457Z,1761345116.457 [DAT](INFO): DAT read: Response Not Received

2025-10-24T22:31:56.458Z,1761345116.458 [DAT](INFO): response not received
2025-10-24T22:31:56.458Z,1761345116.458 [DAT](ERROR): No response from remote modem.
2025-10-24T22:31:56.562Z,1761345116.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380476,0.922131,0.070091],[-0.920685,-0.384831,0.065147],[0.087047,-0.039745,0.995411]]
2025-10-24T22:31:56.967Z,1761345116.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356954,0.931583,0.068825],[-0.929739,-0.361443,0.070317],[0.090383,-0.038890,0.995148]]
2025-10-24T22:31:57.371Z,1761345117.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334449,0.940150,0.065275],[-0.937795,-0.338860,0.075596],[0.093191,-0.035932,0.995000]]
2025-10-24T22:31:57.775Z,1761345117.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313368,0.947776,0.059334],[-0.944807,-0.317457,0.081003],[0.095609,-0.030676,0.994946]]
2025-10-24T22:31:58.178Z,1761345118.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294939,0.954133,0.051389],[-0.950451,-0.298482,0.086902],[0.098255,-0.023212,0.994891]]
2025-10-24T22:31:58.582Z,1761345118.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278397,0.959358,0.046127],[-0.955145,-0.281583,0.091704],[0.100966,-0.018528,0.994717]]
2025-10-24T22:31:58.987Z,1761345118.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263537,0.963797,0.040544],[-0.959104,-0.266291,0.095963],[0.103285,-0.013596,0.994559]]
2025-10-24T22:31:59.392Z,1761345119.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250696,0.967397,0.035988],[-0.962232,-0.253088,0.100279],[0.106118,-0.009490,0.994308]]
2025-10-24T22:31:59.733Z,1761345119.733 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:31:58.8510

2025-10-24T22:31:59.733Z,1761345119.733 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:31:59.794Z,1761345119.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239314,0.970335,0.034341],[-0.964778,-0.241625,0.104024],[0.109236,-0.008237,0.993982]]
2025-10-24T22:32:00.198Z,1761345120.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228937,0.972817,0.034855],[-0.966813,-0.231403,0.108285],[0.113407,-0.008908,0.993509]]
2025-10-24T22:32:00.610Z,1761345120.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218474,0.975176,0.036082],[-0.968685,-0.221193,0.112795],[0.117976,-0.010309,0.992963]]
2025-10-24T22:32:01.009Z,1761345121.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207023,0.977548,0.039274],[-0.970543,-0.210265,0.117620],[0.123237,-0.013767,0.992282]]
2025-10-24T22:32:01.417Z,1761345121.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192549,0.980357,0.042715],[-0.972840,-0.196409,0.122499],[0.128483,-0.017968,0.991549]]
2025-10-24T22:32:01.814Z,1761345121.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175141,0.983475,0.045853],[-0.975482,-0.179645,0.127131],[0.133268,-0.022463,0.990825]]
2025-10-24T22:32:02.218Z,1761345122.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155774,0.986566,0.049210],[-0.978096,-0.161017,0.131913],[0.138064,-0.027583,0.990039]]
2025-10-24T22:32:02.625Z,1761345122.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134567,0.989658,0.049692],[-0.980609,-0.140211,0.136922],[0.142473,-0.030303,0.989335]]
2025-10-24T22:32:03.027Z,1761345123.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111868,0.992509,0.049100],[-0.982958,-0.117774,0.141149],[0.145874,-0.032473,0.988770]]
2025-10-24T22:32:03.434Z,1761345123.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088077,0.994970,0.047716],[-0.985080,-0.094111,0.144082],[0.147848,-0.034314,0.988415]]
2025-10-24T22:32:03.834Z,1761345123.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062973,0.997028,0.044371],[-0.986950,-0.068815,0.145579],[0.148200,-0.034624,0.988351]]
2025-10-24T22:32:04.241Z,1761345124.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037479,0.998589,0.037628],[-0.988443,-0.042581,0.145490],[0.146887,-0.031740,0.988644]]
2025-10-24T22:32:04.284Z,1761345124.284 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:32:04.285Z,1761345124.285 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:32:04.285Z,1761345124.285 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:32:04.285Z,1761345124.285 [marl:UpdateRudder:A] Stopped
2025-10-24T22:32:04.285Z,1761345124.285 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:32:04.285Z,1761345124.285 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:32:04.286Z,1761345124.286 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:32:04.286Z,1761345124.286 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:32:04.286Z,1761345124.286 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:32:04.286Z,1761345124.286 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:32:04.286Z,1761345124.286 [marl:UpdateCommandMode] Stopped
2025-10-24T22:32:04.286Z,1761345124.286 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:32:04.286Z,1761345124.286 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:32:04.286Z,1761345124.286 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:32:04.286Z,1761345124.286 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:32:04.287Z,1761345124.287 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:32:04.287Z,1761345124.287 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:32:04.287Z,1761345124.287 [marl:UpdateSpeed] Stopped
2025-10-24T22:32:04.287Z,1761345124.287 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:32:04.642Z,1761345124.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012442,0.999448,0.030816],[-0.989392,-0.016766,0.144298],[0.144735,-0.028694,0.989054]]
2025-10-24T22:32:04.710Z,1761345124.710 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-24T22:32:04.710Z,1761345124.710 [marl:UpdateRudder:B] Stopped
2025-10-24T22:32:04.710Z,1761345124.710 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:32:04.710Z,1761345124.710 [marl:UpdateRudder] Stopped
2025-10-24T22:32:04.710Z,1761345124.710 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:32:05.047Z,1761345125.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010998,0.999670,0.023214],[-0.989758,0.007579,0.142553],[0.142330,-0.024544,0.989515]]
2025-10-24T22:32:05.454Z,1761345125.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031346,0.999385,0.015748],[-0.989582,0.028816,0.141061],[0.140520,-0.020005,0.989876]]
2025-10-24T22:32:05.856Z,1761345125.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049414,0.998747,0.007914],[-0.989124,0.047836,0.139090],[0.138538,-0.014701,0.990248]]
2025-10-24T22:32:06.353Z,1761345126.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065608,0.997840,0.003188],[-0.988439,0.064551,0.137194],[0.136692,-0.012153,0.990539]]
2025-10-24T22:32:06.538Z,1761345126.538 [DAT](INFO): DAT read: Rx Time:22:32:05.1889

2025-10-24T22:32:06.539Z,1761345126.539 [DAT](INFO): Rx dataTimestamp_ set to:1761345126.538033
2025-10-24T22:32:06.755Z,1761345126.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080308,0.996769,-0.001382],[-0.987542,0.079753,0.135647],[0.135319,-0.009528,0.990756]]
2025-10-24T22:32:07.158Z,1761345127.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093487,0.995602,-0.006091],[-0.986425,0.093451,0.135031],[0.135006,-0.006615,0.990823]]
2025-10-24T22:32:07.298Z,1761345127.298 [DAT](INFO): DAT read: 22:32:05.1889 LVL= 20688, 20449, 29458, 28307, AGC= 63, IDX= 474,-0.17,-0.498,-1.317,-2.152,-1.081, PHS= 0.685,-0.190,-1.115, RAW=  59.1,   8.0, CAL=  57.3,   9.0, ROT=  92.7,  -9.0

2025-10-24T22:32:07.299Z,1761345127.299 [DAT](INFO): got valid direction response:
 22:32:05.1889 LVL= 20688, 20449, 29458, 28307, AGC= 63, IDX= 474,-0.17,-0.498,-1.317,-2.152,-1.081, PHS= 0.685,-0.190,-1.115, RAW=  59.1,   8.0, CAL=  57.3,   9.0, ROT=  92.7,  -9.0

2025-10-24T22:32:07.300Z,1761345127.300 [DAT](INFO): DAT read: 

2025-10-24T22:32:07.301Z,1761345127.301 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:32:07.301Z,1761345127.301 [DAT](INFO): Got DATA 2
2025-10-24T22:32:07.302Z,1761345127.302 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:32:07.302Z,1761345127.302 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:32:07.302Z,1761345127.302 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:32:07.303Z,1761345127.303 [DAT](INFO): DAT read: CRC:Pass MPD:03.3 PSNR:13.8 AGC:60 SPD:-0.1 CCERR:011

2025-10-24T22:32:07.303Z,1761345127.303 [DAT](INFO): Got CRC:Pass
2025-10-24T22:32:07.303Z,1761345127.303 [DAT](INFO): Got CRC:Pass
2025-10-24T22:32:07.304Z,1761345127.304 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:32:07.304Z,1761345127.304 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:32:07.304Z,1761345127.304 [DAT](INFO): Got ack
2025-10-24T22:32:07.304Z,1761345127.304 [DAT](INFO): DAT read: 

2025-10-24T22:32:07.305Z,1761345127.305 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:32:07.305Z,1761345127.305 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:32:07.305Z,1761345127.305 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-24T22:32:07.306Z,1761345127.306 [DAT](INFO): direction in FSK: [-0.046526,0.986592,0.156434]
2025-10-24T22:32:07.545Z,1761345127.545 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:32:07.545Z,1761345127.545 [DAT](INFO): #Outgoing data=9
2025-10-24T22:32:07.545Z,1761345127.545 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:32:07.573Z,1761345127.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103550,0.994599,-0.007109],[-0.985304,0.103553,0.135843],[0.135846,-0.007062,0.990705]]
2025-10-24T22:32:07.718Z,1761345127.718 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345152.00. Resetting abort timer.
2025-10-24T22:32:07.798Z,1761345127.798 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:32:07.984Z,1761345127.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110382,0.993887,-0.002249],[-0.984386,0.109638,0.137711],[0.137115,-0.012987,0.990470]]
2025-10-24T22:32:08.372Z,1761345128.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114208,0.993413,0.009352],[-0.983844,0.111792,0.139837],[0.137870,-0.025171,0.990130]]
2025-10-24T22:32:08.774Z,1761345128.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112989,0.993037,0.033337],[-0.983953,0.107167,0.142658],[0.138092,-0.048921,0.989210]]
2025-10-24T22:32:09.182Z,1761345129.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104903,0.991818,0.072745],[-0.984800,0.093421,0.146432],[0.138438,-0.087001,0.986542]]
2025-10-24T22:32:09.590Z,1761345129.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090082,0.987728,0.127589],[-0.986171,0.070569,0.149959],[0.139114,-0.139333,0.980425]]
2025-10-24T22:32:10.001Z,1761345130.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068067,0.979170,0.191291],[-0.987664,0.039032,0.151644],[0.141019,-0.199254,0.969748]]
2025-10-24T22:32:10.390Z,1761345130.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040923,0.965683,0.256480],[-0.988718,0.002119,0.149777],[0.144093,-0.259716,0.954874]]
2025-10-24T22:32:11.074Z,1761345131.074 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:32:10.3009

2025-10-24T22:32:11.074Z,1761345131.074 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:32:11.206Z,1761345131.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058069,0.902364,0.427044],[-0.984878,-0.121722,0.123283],[0.163227,-0.413428,0.895787]]
2025-10-24T22:32:11.344Z,1761345131.344 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:32:11.609Z,1761345131.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092764,0.876793,0.471836],[-0.980624,-0.162571,0.109306],[0.172545,-0.452554,0.874884]]
2025-10-24T22:32:12.014Z,1761345132.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126258,0.851397,0.509099],[-0.975106,-0.200822,0.094017],[0.182284,-0.484555,0.855558]]
2025-10-24T22:32:12.348Z,1761345132.348 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:32:12.415Z,1761345132.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158357,0.829111,0.536189],[-0.968541,-0.236013,0.078901],[0.191965,-0.506827,0.840402]]
2025-10-24T22:32:12.818Z,1761345132.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190267,0.810937,0.553334],[-0.961091,-0.268832,0.063510],[0.200257,-0.519721,0.830535]]
2025-10-24T22:32:13.225Z,1761345133.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221212,0.797777,0.560907],[-0.952899,-0.299184,0.049721],[0.207481,-0.523489,0.826384]]
2025-10-24T22:32:13.622Z,1761345133.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252134,0.790721,0.557843],[-0.943861,-0.328097,0.038459],[0.213437,-0.516829,0.829055]]
2025-10-24T22:32:14.029Z,1761345134.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283193,0.787624,0.547220],[-0.933998,-0.356085,0.029165],[0.217827,-0.502843,0.836481]]
2025-10-24T22:32:14.430Z,1761345134.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313546,0.786806,0.531625],[-0.923540,-0.382872,0.021958],[0.220821,-0.484092,0.846695]]
2025-10-24T22:32:14.836Z,1761345134.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343727,0.787367,0.511767],[-0.912330,-0.409116,0.016671],[0.222499,-0.461170,0.858963]]
2025-10-24T22:32:15.238Z,1761345135.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374277,0.785654,0.492611],[-0.900147,-0.435457,0.010584],[0.222826,-0.439461,0.870185]]
2025-10-24T22:32:15.642Z,1761345135.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404138,0.779494,0.478604],[-0.887409,-0.460981,0.001455],[0.221761,-0.424129,0.878030]]
2025-10-24T22:32:16.059Z,1761345136.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433482,0.769464,0.469061],[-0.874122,-0.485575,-0.011264],[0.219098,-0.414900,0.883094]]
2025-10-24T22:32:16.453Z,1761345136.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461954,0.755453,0.464639],[-0.860426,-0.508795,-0.028207],[0.215097,-0.412818,0.885051]]
2025-10-24T22:32:16.854Z,1761345136.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490883,0.741184,0.457908],[-0.845502,-0.532056,-0.045186],[0.210142,-0.409344,0.887850]]
2025-10-24T22:32:17.258Z,1761345137.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520213,0.728177,0.446247],[-0.829371,-0.555409,-0.060534],[0.203771,-0.401595,0.892860]]
2025-10-24T22:32:17.298Z,1761345137.298 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:32:17.298Z,1761345137.298 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:32:17.298Z,1761345137.298 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:32:17.298Z,1761345137.298 [marl:UpdateRudder:A] Stopped
2025-10-24T22:32:17.298Z,1761345137.298 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:32:17.298Z,1761345137.298 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:32:17.298Z,1761345137.298 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:32:17.299Z,1761345137.299 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:32:17.299Z,1761345137.299 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:32:17.299Z,1761345137.299 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:32:17.299Z,1761345137.299 [marl:UpdateCommandMode] Stopped
2025-10-24T22:32:17.299Z,1761345137.299 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:32:17.299Z,1761345137.299 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:32:17.299Z,1761345137.299 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:32:17.299Z,1761345137.299 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:32:17.304Z,1761345137.304 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:32:17.304Z,1761345137.304 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:32:17.304Z,1761345137.304 [marl:UpdateSpeed] Stopped
2025-10-24T22:32:17.304Z,1761345137.304 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:32:17.667Z,1761345137.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549996,0.712967,0.434952],[-0.811795,-0.578727,-0.077874],[0.196196,-0.395922,0.897080]]
2025-10-24T22:32:17.721Z,1761345137.721 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-24T22:32:17.721Z,1761345137.721 [marl:UpdateRudder:B] Stopped
2025-10-24T22:32:17.722Z,1761345137.722 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:32:17.722Z,1761345137.722 [marl:UpdateRudder] Stopped
2025-10-24T22:32:17.722Z,1761345137.722 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:32:17.881Z,1761345137.881 [DAT](INFO): DAT read: Rx Time:22:32:16.5396

2025-10-24T22:32:17.881Z,1761345137.881 [DAT](INFO): Rx dataTimestamp_ set to:1761345137.881106
2025-10-24T22:32:18.073Z,1761345138.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580511,0.695491,0.423438],[-0.792347,-0.602314,-0.096973],[0.187599,-0.391803,0.900720]]
2025-10-24T22:32:18.484Z,1761345138.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610826,0.674013,0.415450],[-0.771342,-0.624979,-0.120137],[0.178674,-0.393837,0.901648]]
2025-10-24T22:32:18.642Z,1761345138.642 [DAT](INFO): DAT read: 22:32:16.5396 LVL= 31472, 26033, 32754, 32755, AGC= 71, IDX= 450,-0.20,-2.634,-1.624, 2.886,-1.986, PHS=-0.547, 0.407,-1.456, RAW= 359.2,  19.3, CAL= 359.4,  23.7, ROT= 150.6, -23.7

2025-10-24T22:32:18.643Z,1761345138.643 [DAT](INFO): got valid direction response:
 22:32:16.5396 LVL= 31472, 26033, 32754, 32755, AGC= 71, IDX= 450,-0.20,-2.634,-1.624, 2.886,-1.986, PHS=-0.547, 0.407,-1.456, RAW= 359.2,  19.3, CAL= 359.4,  23.7, ROT= 150.6, -23.7

2025-10-24T22:32:18.644Z,1761345138.644 [DAT](INFO): DAT read: 

2025-10-24T22:32:18.645Z,1761345138.645 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:32:18.645Z,1761345138.645 [DAT](INFO): Got DATA 2
2025-10-24T22:32:18.646Z,1761345138.646 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:32:18.647Z,1761345138.647 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:32:18.647Z,1761345138.647 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:32:18.650Z,1761345138.650 [DAT](INFO): DAT read: CRC:Pass MPD:03.3 PSNR:09.4 AGC:71 SPD:-1.1 CCERR:008

2025-10-24T22:32:18.650Z,1761345138.650 [DAT](INFO): Got CRC:Pass
2025-10-24T22:32:18.650Z,1761345138.650 [DAT](INFO): Got CRC:Pass
2025-10-24T22:32:18.651Z,1761345138.651 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:32:18.651Z,1761345138.651 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:32:18.651Z,1761345138.651 [DAT](INFO): Got ack
2025-10-24T22:32:18.651Z,1761345138.651 [DAT](INFO): DAT read: 

2025-10-24T22:32:18.652Z,1761345138.652 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:32:18.652Z,1761345138.652 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:32:18.653Z,1761345138.653 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-24T22:32:18.654Z,1761345138.654 [DAT](INFO): direction in FSK: [-0.797738,0.449502,0.401948]
2025-10-24T22:32:18.874Z,1761345138.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642251,0.651129,0.404405],[-0.747434,-0.648946,-0.142167],[0.169868,-0.393573,0.903463]]
2025-10-24T22:32:18.889Z,1761345138.889 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:32:18.889Z,1761345138.889 [DAT](INFO): #Outgoing data=9
2025-10-24T22:32:18.889Z,1761345138.889 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:32:18.924Z,1761345138.924 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345152.00. Resetting abort timer.
2025-10-24T22:32:19.141Z,1761345139.141 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:32:19.279Z,1761345139.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673395,0.625437,0.394167],[-0.721470,-0.672306,-0.165789],[0.161310,-0.396021,0.903961]]
2025-10-24T22:32:19.686Z,1761345139.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704141,0.598354,0.382306],[-0.693389,-0.695421,-0.188684],[0.152964,-0.397947,0.904567]]
2025-10-24T22:32:20.092Z,1761345140.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733936,0.569403,0.370294],[-0.663581,-0.717418,-0.212064],[0.144906,-0.401361,0.904385]]
2025-10-24T22:32:20.490Z,1761345140.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762538,0.538410,0.358678],[-0.632232,-0.737742,-0.236685],[0.137178,-0.407249,0.902957]]
2025-10-24T22:32:20.894Z,1761345140.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789638,0.505696,0.347481],[-0.599634,-0.756049,-0.262354],[0.130041,-0.415526,0.900237]]
2025-10-24T22:32:21.303Z,1761345141.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815176,0.472286,0.335312],[-0.565865,-0.772938,-0.286991],[0.123634,-0.423690,0.897330]]
2025-10-24T22:32:21.702Z,1761345141.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838573,0.439058,0.322526],[-0.532011,-0.787444,-0.311281],[0.117301,-0.432619,0.893913]]
2025-10-24T22:32:22.106Z,1761345142.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860091,0.407675,0.306666],[-0.497815,-0.802071,-0.329942],[0.111459,-0.436443,0.892801]]
2025-10-24T22:32:22.417Z,1761345142.417 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:32:21.6509

2025-10-24T22:32:22.418Z,1761345142.418 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:32:22.511Z,1761345142.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879435,0.377506,0.289971],[-0.464056,-0.815618,-0.345571],[0.106050,-0.438470,0.892467]]
2025-10-24T22:32:22.915Z,1761345142.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896203,0.350270,0.272271],[-0.431990,-0.828736,-0.355781],[0.101022,-0.436471,0.894029]]
2025-10-24T22:32:23.318Z,1761345143.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911250,0.324474,0.253652],[-0.400510,-0.841691,-0.362142],[0.095991,-0.431593,0.896947]]
2025-10-24T22:32:23.722Z,1761345143.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924196,0.300190,0.236109],[-0.370893,-0.852926,-0.367363],[0.091105,-0.427087,0.899609]]
2025-10-24T22:32:24.126Z,1761345144.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935725,0.276805,0.218628],[-0.342010,-0.863642,-0.370339],[0.086304,-0.421308,0.902802]]
2025-10-24T22:32:24.539Z,1761345144.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946286,0.253851,0.200258],[-0.312852,-0.875268,-0.368822],[0.081654,-0.411662,0.907671]]
2025-10-24T22:32:24.937Z,1761345144.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955858,0.230545,0.182169],[-0.283608,-0.886002,-0.366834],[0.076830,-0.402305,0.912276]]
2025-10-24T22:32:25.339Z,1761345145.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964763,0.205162,0.164747],[-0.253066,-0.894940,-0.367477],[0.072047,-0.396220,0.915325]]
2025-10-24T22:32:25.743Z,1761345145.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972830,0.178463,0.147485],[-0.221544,-0.902559,-0.369195],[0.067226,-0.391839,0.917574]]
2025-10-24T22:32:26.148Z,1761345146.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980053,0.149791,0.130609],[-0.188630,-0.908023,-0.374049],[0.062567,-0.391224,0.918166]]
2025-10-24T22:32:26.552Z,1761345146.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986416,0.119059,0.113173],[-0.153747,-0.911750,-0.380886],[0.057837,-0.393112,0.917670]]
2025-10-24T22:32:26.955Z,1761345146.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991555,0.087769,0.095478],[-0.118277,-0.913978,-0.388142],[0.053197,-0.396157,0.916640]]
2025-10-24T22:32:27.358Z,1761345147.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995524,0.055450,0.076531],[-0.081065,-0.917280,-0.389905],[0.048580,-0.394364,0.917669]]
2025-10-24T22:32:27.762Z,1761345147.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998108,0.022206,0.057328],[-0.043013,-0.918482,-0.393117],[0.043926,-0.394839,0.917700]]
2025-10-24T22:32:28.172Z,1761345148.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999206,-0.010040,0.038547],[-0.006111,-0.917617,-0.397418],[0.039362,-0.397338,0.916828]]
2025-10-24T22:32:28.570Z,1761345148.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998876,-0.043244,0.019414],[0.031907,-0.916257,-0.399317],[0.035056,-0.398249,0.916607]]
2025-10-24T22:32:28.975Z,1761345148.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997155,-0.075375,0.000517],[0.068771,-0.912557,-0.403125],[0.030857,-0.401943,0.915145]]
2025-10-24T22:32:29.379Z,1761345149.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994013,-0.107772,-0.017972],[0.105801,-0.908372,-0.404558],[0.027275,-0.404037,0.914336]]
2025-10-24T22:32:29.782Z,1761345149.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989496,-0.139936,-0.036260],[0.142566,-0.903167,-0.404925],[0.023915,-0.405841,0.913631]]
2025-10-24T22:32:30.186Z,1761345150.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983646,-0.171724,-0.054333],[0.178917,-0.896879,-0.404470],[0.020727,-0.407576,0.912936]]
2025-10-24T22:32:30.259Z,1761345150.259 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:32:30.259Z,1761345150.259 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:32:30.260Z,1761345150.260 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:32:30.260Z,1761345150.260 [marl:UpdateRudder:A] Stopped
2025-10-24T22:32:30.260Z,1761345150.260 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:32:30.260Z,1761345150.260 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:32:30.262Z,1761345150.262 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:32:30.262Z,1761345150.262 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:32:30.263Z,1761345150.263 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:32:30.263Z,1761345150.263 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:32:30.263Z,1761345150.263 [marl:UpdateCommandMode] Stopped
2025-10-24T22:32:30.263Z,1761345150.263 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:32:30.263Z,1761345150.263 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:32:30.263Z,1761345150.263 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:32:30.263Z,1761345150.263 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:32:30.288Z,1761345150.288 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:32:30.288Z,1761345150.288 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:32:30.288Z,1761345150.288 [marl:UpdateSpeed] Stopped
2025-10-24T22:32:30.288Z,1761345150.288 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:32:30.592Z,1761345150.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976445,-0.203592,-0.071453],[0.215023,-0.890689,-0.400548],[0.017906,-0.406477,0.913485]]
2025-10-24T22:32:30.616Z,1761345150.616 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:32:30.616Z,1761345150.616 [marl:UpdateRudder:B] Stopped
2025-10-24T22:32:30.616Z,1761345150.616 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:32:30.617Z,1761345150.617 [marl:UpdateRudder] Stopped
2025-10-24T22:32:30.617Z,1761345150.617 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:32:31.005Z,1761345151.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967907,-0.235201,-0.088527],[0.250864,-0.883276,-0.396094],[0.014968,-0.405591,0.913932]]
2025-10-24T22:32:31.398Z,1761345151.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958470,-0.264961,-0.105504],[0.284938,-0.874008,-0.393599],[0.012077,-0.407315,0.913208]]
2025-10-24T22:32:31.803Z,1761345151.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948105,-0.293881,-0.121372],[0.317830,-0.865136,-0.387974],[0.009014,-0.406416,0.913644]]
2025-10-24T22:32:32.213Z,1761345152.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936529,-0.322909,-0.136537],[0.350543,-0.856173,-0.379588],[0.005673,-0.403357,0.915025]]
2025-10-24T22:32:32.509Z,1761345152.509 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:32:32.611Z,1761345152.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924120,-0.351155,-0.150641],[0.382094,-0.846698,-0.370280],[0.002478,-0.399742,0.916624]]
2025-10-24T22:32:32.762Z,1761345152.762 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:32:32.762Z,1761345152.762 [DAT](INFO): #Outgoing data=9
2025-10-24T22:32:32.762Z,1761345152.762 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:32:33.013Z,1761345153.013 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:32:33.034Z,1761345153.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911527,-0.377301,-0.163592],[0.411238,-0.837282,-0.360336],[-0.001018,-0.395731,0.918366]]
2025-10-24T22:32:33.419Z,1761345153.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898792,-0.401928,-0.175005],[0.438345,-0.828670,-0.348078],[-0.005119,-0.389563,0.920986]]
2025-10-24T22:32:33.824Z,1761345153.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886513,-0.424331,-0.184494],[0.462590,-0.821604,-0.333133],[-0.010222,-0.380672,0.924654]]
2025-10-24T22:32:34.226Z,1761345154.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874800,-0.444807,-0.192020],[0.484227,-0.815646,-0.316617],[-0.015787,-0.369958,0.928914]]
2025-10-24T22:32:34.630Z,1761345154.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863218,-0.463805,-0.199348],[0.504377,-0.809099,-0.301598],[-0.021410,-0.360892,0.932362]]
2025-10-24T22:32:35.036Z,1761345155.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851576,-0.480971,-0.208529],[0.523534,-0.800768,-0.291004],[-0.027019,-0.356984,0.933720]]
2025-10-24T22:32:35.441Z,1761345155.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839838,-0.496183,-0.220170],[0.541859,-0.790607,-0.285183],[-0.032565,-0.358808,0.932843]]
2025-10-24T22:32:35.842Z,1761345155.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827887,-0.510692,-0.231941],[0.559618,-0.779958,-0.280166],[-0.037826,-0.361745,0.931509]]
2025-10-24T22:32:36.246Z,1761345156.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815526,-0.524994,-0.243514],[0.577137,-0.768896,-0.275158],[-0.042781,-0.364939,0.930048]]
2025-10-24T22:32:36.291Z,1761345156.291 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:32:35.5508

2025-10-24T22:32:36.291Z,1761345156.291 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:32:36.655Z,1761345156.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802070,-0.540226,-0.254636],[0.595333,-0.757165,-0.268850],[-0.047562,-0.367230,0.928913]]
2025-10-24T22:32:37.059Z,1761345157.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788789,-0.554111,-0.266033],[0.612462,-0.745137,-0.263932],[-0.051983,-0.371122,0.927128]]
2025-10-24T22:32:37.459Z,1761345157.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775115,-0.567960,-0.276799],[0.629305,-0.733045,-0.258107],[-0.056311,-0.374254,0.925615]]
2025-10-24T22:32:37.863Z,1761345157.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761226,-0.581873,-0.286282],[0.645679,-0.721108,-0.251200],[-0.060274,-0.376067,0.924630]]
2025-10-24T22:32:38.273Z,1761345158.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747320,-0.595689,-0.294392],[0.661383,-0.709479,-0.243335],[-0.063913,-0.376555,0.924187]]
2025-10-24T22:32:38.678Z,1761345158.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733240,-0.608929,-0.302596],[0.676609,-0.697577,-0.235769],[-0.067517,-0.377615,0.923498]]
2025-10-24T22:32:39.075Z,1761345159.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719084,-0.621973,-0.309949],[0.691283,-0.685818,-0.227556],[-0.071035,-0.377894,0.923120]]
2025-10-24T22:32:39.486Z,1761345159.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704617,-0.634957,-0.316773],[0.705682,-0.673817,-0.219054],[-0.074357,-0.377890,0.922860]]
2025-10-24T22:32:39.882Z,1761345159.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689800,-0.647881,-0.323151],[0.719860,-0.661408,-0.210573],[-0.077308,-0.377876,0.922623]]
2025-10-24T22:32:40.288Z,1761345160.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674226,-0.661320,-0.328747],[0.734151,-0.648545,-0.201029],[-0.080263,-0.376889,0.922774]]
2025-10-24T22:32:40.692Z,1761345160.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658255,-0.674453,-0.334386],[0.748212,-0.635101,-0.191898],[-0.082943,-0.376509,0.922693]]
2025-10-24T22:32:41.096Z,1761345161.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641423,-0.687472,-0.340526],[0.762389,-0.620747,-0.182857],[-0.085671,-0.376902,0.922283]]
2025-10-24T22:32:41.503Z,1761345161.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623672,-0.700213,-0.347471],[0.776638,-0.605498,-0.173797],[-0.088698,-0.378251,0.921444]]
2025-10-24T22:32:41.929Z,1761345161.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605277,-0.712808,-0.354322],[0.790689,-0.589784,-0.164211],[-0.091923,-0.379552,0.920593]]
2025-10-24T22:32:42.092Z,1761345162.092 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:32:42.092Z,1761345162.092 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:32:42.311Z,1761345162.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586301,-0.725279,-0.360862],[0.804470,-0.573668,-0.154054],[-0.095283,-0.380625,0.919808]]
2025-10-24T22:32:42.471Z,1761345162.471 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:32:42.711Z,1761345162.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567087,-0.737159,-0.367436],[0.817695,-0.557440,-0.143652],[-0.098929,-0.381914,0.918888]]
2025-10-24T22:32:43.105Z,1761345163.105 [DAT](INFO): DAT read: Rx Time:22:32:41.7470

2025-10-24T22:32:43.105Z,1761345163.105 [DAT](INFO): Rx dataTimestamp_ set to:1761345163.105047
2025-10-24T22:32:43.128Z,1761345163.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547622,-0.748766,-0.373442],[0.830373,-0.541226,-0.132495],[-0.102909,-0.382653,0.918143]]
2025-10-24T22:32:43.153Z,1761345163.153 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:32:43.153Z,1761345163.153 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:32:43.153Z,1761345163.153 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:32:43.153Z,1761345163.153 [marl:UpdateRudder:A] Stopped
2025-10-24T22:32:43.153Z,1761345163.153 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:32:43.154Z,1761345163.154 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:32:43.154Z,1761345163.154 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:32:43.154Z,1761345163.154 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:32:43.154Z,1761345163.154 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:32:43.154Z,1761345163.154 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:32:43.154Z,1761345163.154 [marl:UpdateCommandMode] Stopped
2025-10-24T22:32:43.154Z,1761345163.154 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:32:43.154Z,1761345163.154 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:32:43.154Z,1761345163.154 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:32:43.155Z,1761345163.155 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:32:43.155Z,1761345163.155 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:32:43.155Z,1761345163.155 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:32:43.155Z,1761345163.155 [marl:UpdateSpeed] Stopped
2025-10-24T22:32:43.155Z,1761345163.155 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:32:43.472Z,1761345163.472 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:32:43.518Z,1761345163.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528314,-0.759456,-0.379620],[0.842255,-0.525234,-0.121393],[-0.107196,-0.383870,0.917144]]
2025-10-24T22:32:43.580Z,1761345163.580 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:32:43.581Z,1761345163.581 [marl:UpdateRudder:B] Stopped
2025-10-24T22:32:43.581Z,1761345163.581 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:32:43.581Z,1761345163.581 [marl:UpdateRudder] Stopped
2025-10-24T22:32:43.581Z,1761345163.581 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:32:43.585Z,1761345163.585 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:32:43.611Z,1761345163.611 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:32:43.666Z,1761345163.666 [DAT](INFO): entering command mode
2025-10-24T22:32:43.867Z,1761345163.867 [DAT](INFO): DAT read: 22:32:41.7470 LVL= 32752, 32753, 32482, 32755, AGC= 62, IDX= 463, 0.07,-2.256,-0.910,-0.456,-1.680, PHS=-0.474, 0.815, 1.181, RAW= 257.9, -19.7, CAL= 257.3, -2., ROT= 252.7,  24.8

2025-10-24T22:32:43.868Z,1761345163.868 [DAT](INFO): got valid direction response:
 22:32:41.7470 LVL= 32752, 32753, 32482, 32755, AGC= 62, IDX= 463, 0.07,-2.256,-0.910,-0.456,-1.680, PHS=-0.474, 0.815, 1.181, RAW= 257.9, -19.7, CAL= 257.3, -2., ROT= 252.7,  24.8

2025-10-24T22:32:43.868Z,1761345163.868 [DAT](INFO): DAT read: 

2025-10-24T22:32:43.869Z,1761345163.869 [DAT](INFO): DAT read: user:26>

2025-10-24T22:32:43.870Z,1761345163.870 [DAT](INFO): DAT read: DATA(0002):Y®

2025-10-24T22:32:43.870Z,1761345163.870 [DAT](INFO): Got DATA 2
2025-10-24T22:32:43.871Z,1761345163.871 [DAT](INFO): DAT read: Surce:010  Destination:011

2025-10-24T22:32:43.871Z,1761345163.871 [DAT](INFO): unknown deviceResponse_: Surce:010  Destination:011

2025-10-24T22:32:43.872Z,1761345163.872 [DAT](INFO): DAT read: CRC:Fail {0001} MPD:03.4 PSNR:07.8 AGC:56 SPD:-0.1 CCERR:005

2025-10-24T22:32:43.873Z,1761345163.873 [DAT](INFO): unknown deviceResponse_: CRC:Fail {0001} MPD:03.4 PSNR:07.8 AGC:56 SPD:-0.1 CCERR:005

2025-10-24T22:32:43.873Z,1761345163.873 [DAT](INFO): DAT read: 

2025-10-24T22:32:43.874Z,1761345163.874 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:32:43.874Z,1761345163.874 [DAT](INFO): DAT read: 

2025-10-24T22:32:43.874Z,1761345163.874 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-10-24T22:32:43.875Z,1761345163.875 [DAT](INFO): direction in FSK: [-0.269950,-0.866710,-0.419452]
2025-10-24T22:32:43.883Z,1761345163.883 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:32:43.884Z,1761345163.884 [DAT](INFO): setting remote address to 0
2025-10-24T22:32:43.995Z,1761345163.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509141,-0.770025,-0.384495],[0.853414,-0.509604,-0.109496],[-0.111626,-0.383882,0.916610]]
2025-10-24T22:32:44.113Z,1761345164.113 [DAT](INFO): DAT read: user:26>

2025-10-24T22:32:44.114Z,1761345164.114 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:32:44.114Z,1761345164.114 [DAT](INFO): set remote address to 0
2025-10-24T22:32:44.114Z,1761345164.114 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:32:44.115Z,1761345164.115 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:32:44.156Z,1761345164.156 [marl:SendObservationData] Running Loop=1
2025-10-24T22:32:44.157Z,1761345164.157 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T22:32:44.157Z,1761345164.157 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T22:32:44.157Z,1761345164.157 [marl:SendObservationData:A] Running Loop=1
2025-10-24T22:32:44.159Z,1761345164.159 [marl:SendObservationData:A](INFO): Got test_good :  41da3effa00000004051400000000000404263279e165c61c05e774c19318270402b745d80000000405c600000000000 n/a str  and temp var is  nan n/a str 
2025-10-24T22:32:44.159Z,1761345164.159 [marl:SendObservationData:A] Stopped
2025-10-24T22:32:44.159Z,1761345164.159 [marl:SendObservationData:B] Running Loop=1
2025-10-24T22:32:44.164Z,1761345164.164 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345152.00. Resetting abort timer.
2025-10-24T22:32:44.327Z,1761345164.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490284,-0.779544,-0.389786],[0.863817,-0.494114,-0.098343],[-0.115936,-0.384920,0.915639]]
2025-10-24T22:32:44.365Z,1761345164.365 [DAT](INFO): DAT read: user:27>

2025-10-24T22:32:44.366Z,1761345164.366 [DAT](INFO): DAT read: Tx time:22:32:43.5520

2025-10-24T22:32:44.366Z,1761345164.366 [DAT](INFO): Ping request sent.
2025-10-24T22:32:44.366Z,1761345164.366 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:32:44.366Z,1761345164.366 [DAT](INFO): publishing transmit ping time
2025-10-24T22:32:44.367Z,1761345164.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000985
2025-10-24T22:32:44.463Z,1761345164.463 [marl:SendObservationData:B] Stopped
2025-10-24T22:32:44.468Z,1761345164.468 [marl:SendObservationData:C] Running Loop=1
2025-10-24T22:32:44.617Z,1761345164.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250730
2025-10-24T22:32:44.806Z,1761345164.806 [marl:SendObservationData:C] Stopped
2025-10-24T22:32:44.806Z,1761345164.806 [marl:SendObservationData:E] Running Loop=1
2025-10-24T22:32:44.869Z,1761345164.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502876
2025-10-24T22:32:45.121Z,1761345165.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754742
2025-10-24T22:32:45.138Z,1761345165.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453142,-0.797715,-0.397887],[0.882664,-0.463980,-0.075016],[-0.124770,-0.385193,0.914362]]
2025-10-24T22:32:45.201Z,1761345165.201 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.012352 min 
2025-10-24T22:32:45.202Z,1761345165.202 [marl:SendObservationData:E] Stopped
2025-10-24T22:32:45.202Z,1761345165.202 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T22:32:45.202Z,1761345165.202 [marl:SendObservationData] Stopped
2025-10-24T22:32:45.202Z,1761345165.202 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T22:32:45.202Z,1761345165.202 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T22:32:45.373Z,1761345165.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007405
2025-10-24T22:32:45.538Z,1761345165.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435339,-0.806122,-0.400808],[0.891017,-0.449464,-0.063800],[-0.128718,-0.384902,0.913938]]
2025-10-24T22:32:45.625Z,1761345165.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258794
2025-10-24T22:32:45.877Z,1761345165.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510805
2025-10-24T22:32:45.976Z,1761345165.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418032,-0.813706,-0.403896],[0.898709,-0.435312,-0.053165],[-0.132560,-0.385210,0.913258]]
2025-10-24T22:32:46.129Z,1761345166.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762806
2025-10-24T22:32:46.350Z,1761345166.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402245,-0.821361,-0.404433],[0.905267,-0.422789,-0.041728],[-0.136716,-0.382904,0.913615]]
2025-10-24T22:32:46.381Z,1761345166.381 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:32:46.381Z,1761345166.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015032
2025-10-24T22:32:46.633Z,1761345166.633 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:32:46.633Z,1761345166.633 [DAT](INFO): #Outgoing data=10
2025-10-24T22:32:46.633Z,1761345166.633 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:32:46.634Z,1761345166.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267815
2025-10-24T22:32:46.752Z,1761345166.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390596,-0.829372,-0.399470],[0.909593,-0.414500,-0.028809],[-0.141687,-0.374608,0.916293]]
2025-10-24T22:32:46.885Z,1761345166.885 [DAT](INFO): DAT read: Rx Time:22:32:45.7059

2025-10-24T22:32:46.885Z,1761345166.885 [DAT](INFO): Rx dataTimestamp_ set to:1761345166.885127
2025-10-24T22:32:46.886Z,1761345166.886 [DAT](INFO): setting remote address to 10
2025-10-24T22:32:46.886Z,1761345166.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520220
2025-10-24T22:32:47.136Z,1761345167.136 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:32:47.137Z,1761345167.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770855
2025-10-24T22:32:47.154Z,1761345167.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383039,-0.839122,-0.386207],[0.911857,-0.410306,-0.012896],[-0.147642,-0.357105,0.922322]]
2025-10-24T22:32:47.391Z,1761345167.391 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:32:47.392Z,1761345167.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026058
2025-10-24T22:32:47.589Z,1761345167.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378777,-0.848970,-0.368479],[0.912617,-0.408799,0.003745],[-0.153813,-0.334862,0.929628]]
2025-10-24T22:32:47.651Z,1761345167.651 [DAT](INFO): DAT read: 22:32:45.7058 LVL= 32752, 30513, 32754, 32755, AGC= 60, IDX=  10,-0.01, 0.619, 2.138, 0.429, 0.941, PHS=-0.220, 1.243,-0.556, RAW= 340.1,  -5.7, CAL= 339.7,  -8.7, ROT= 170.3,   8.7

2025-10-24T22:32:47.652Z,1761345167.652 [DAT](INFO): got valid direction response:
 22:32:45.7058 LVL= 32752, 30513, 32754, 32755, AGC= 60, IDX=  10,-0.01, 0.619, 2.138, 0.429, 0.941, PHS=-0.220, 1.243,-0.556, RAW= 340.1,  -5.7, CAL= 339.7,  -8.7, ROT= 170.3,   8.7

2025-10-24T22:32:47.653Z,1761345167.653 [DAT](INFO): DAT read: Bearing 265,   3 (Remote)

2025-10-24T22:32:47.654Z,1761345167.654 [DAT](INFO): Remote Bearing received:Bearing 265,   3 (Remote)

2025-10-24T22:32:47.668Z,1761345167.668 [DAT](INFO): DAT read: Range 11 to 20 : 93.6 m  (Round-trip  124.8 ms) speed -1.2 m/s

2025-10-24T22:32:47.669Z,1761345167.669 [DAT](INFO): DAT read: user:28>

2025-10-24T22:32:47.671Z,1761345167.671 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:32:47.671Z,1761345167.671 [DAT](INFO): set remote address to 10
2025-10-24T22:32:47.680Z,1761345167.680 [DAT](INFO): entering online mode
2025-10-24T22:32:47.894Z,1761345167.894 [DAT](INFO): DAT read: user:29>

2025-10-24T22:32:47.895Z,1761345167.895 [DAT](INFO): DAT read: 

2025-10-24T22:32:47.896Z,1761345167.896 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:32:47.897Z,1761345167.897 [DAT](INFO): commRate: 600
2025-10-24T22:32:47.897Z,1761345167.897 [DAT](INFO): online mode acknowledged
2025-10-24T22:32:47.897Z,1761345167.897 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:32:47.897Z,1761345167.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531441
2025-10-24T22:32:47.991Z,1761345167.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376434,-0.857352,-0.351064],[0.912480,-0.408653,0.019571],[-0.160243,-0.312972,0.936147]]
2025-10-24T22:32:48.145Z,1761345168.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778799
2025-10-24T22:32:48.397Z,1761345168.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030968
2025-10-24T22:32:48.398Z,1761345168.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374841,-0.864477,-0.334923],[0.912013,-0.408728,0.034265],[-0.166514,-0.292610,0.941622]]
2025-10-24T22:32:48.649Z,1761345168.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282946
2025-10-24T22:32:48.902Z,1761345168.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535515
2025-10-24T22:32:49.153Z,1761345169.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786722
2025-10-24T22:32:49.202Z,1761345169.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370382,-0.875705,-0.309772],[0.911411,-0.406984,0.060780],[-0.179298,-0.259818,0.948866]]
2025-10-24T22:32:49.405Z,1761345169.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038741
2025-10-24T22:32:49.606Z,1761345169.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367852,-0.880002,-0.300468],[0.911069,-0.405747,0.072952],[-0.186112,-0.246912,0.950998]]
2025-10-24T22:32:49.657Z,1761345169.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291292
2025-10-24T22:32:49.912Z,1761345169.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545125
2025-10-24T22:32:50.010Z,1761345170.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364670,-0.883659,-0.293535],[0.910819,-0.404019,0.084715],[-0.193452,-0.236464,0.952187]]
2025-10-24T22:32:50.161Z,1761345170.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794691
2025-10-24T22:32:50.413Z,1761345170.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046867
2025-10-24T22:32:50.416Z,1761345170.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360852,-0.886690,-0.289081],[0.910647,-0.401887,0.095960],[-0.201264,-0.228623,0.952483]]
2025-10-24T22:32:50.665Z,1761345170.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299045
2025-10-24T22:32:50.818Z,1761345170.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357125,-0.888656,-0.287666],[0.910310,-0.400132,0.105974],[-0.209278,-0.224019,0.951850]]
2025-10-24T22:32:50.918Z,1761345170.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551455
2025-10-24T22:32:51.169Z,1761345171.169 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:32:50.4007

2025-10-24T22:32:51.169Z,1761345171.169 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:32:51.170Z,1761345171.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803990
2025-10-24T22:32:51.236Z,1761345171.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353250,-0.890795,-0.285830],[0.909904,-0.398164,0.116363],[-0.217462,-0.218972,0.951189]]
2025-10-24T22:32:51.421Z,1761345171.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054751
2025-10-24T22:32:51.626Z,1761345171.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350056,-0.891876,-0.286387],[0.909230,-0.397045,0.125122],[-0.225302,-0.216592,0.949909]]
2025-10-24T22:32:51.673Z,1761345171.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307196
2025-10-24T22:32:51.929Z,1761345171.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562325
2025-10-24T22:32:52.030Z,1761345172.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347152,-0.892544,-0.287838],[0.908717,-0.396002,0.131970],[-0.231774,-0.215749,0.948543]]
2025-10-24T22:32:52.177Z,1761345172.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810688
2025-10-24T22:32:52.429Z,1761345172.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062759
2025-10-24T22:32:52.452Z,1761345172.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342995,-0.892398,-0.293223],[0.908142,-0.394813,0.139288],[-0.240069,-0.218513,0.945843]]
2025-10-24T22:32:52.681Z,1761345172.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315307
2025-10-24T22:32:52.934Z,1761345172.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567652
2025-10-24T22:32:53.185Z,1761345173.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819358
2025-10-24T22:32:53.247Z,1761345173.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341467,-0.891812,-0.296768],[0.908046,-0.394518,0.140744],[-0.242597,-0.221419,0.944521]]
2025-10-24T22:32:53.438Z,1761345173.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.072266
2025-10-24T22:32:53.654Z,1761345173.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338985,-0.890833,-0.302497],[0.908007,-0.393941,0.142596],[-0.246196,-0.226332,0.942423]]
2025-10-24T22:32:53.689Z,1761345173.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322664
2025-10-24T22:32:53.947Z,1761345173.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.581038
2025-10-24T22:32:54.055Z,1761345174.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337584,-0.890652,-0.304590],[0.908159,-0.393279,0.143452],[-0.247554,-0.228189,0.941619]]
2025-10-24T22:32:54.193Z,1761345174.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826754
2025-10-24T22:32:54.448Z,1761345174.448 [DAT](INFO): Reached modem response timeout
2025-10-24T22:32:54.467Z,1761345174.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336634,-0.890069,-0.307336],[0.908289,-0.393020,0.143341],[-0.248373,-0.230897,0.940743]]
2025-10-24T22:32:54.862Z,1761345174.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336083,-0.890125,-0.307774],[0.908511,-0.392548,0.143229],[-0.248308,-0.231480,0.940617]]
2025-10-24T22:32:55.264Z,1761345175.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336117,-0.890030,-0.308014],[0.908828,-0.392311,0.141863],[-0.247099,-0.232249,0.940746]]
2025-10-24T22:32:55.672Z,1761345175.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336590,-0.889640,-0.308623],[0.909260,-0.392283,0.139141],[-0.244853,-0.233785,0.940952]]
2025-10-24T22:32:56.071Z,1761345176.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337461,-0.889569,-0.307874],[0.909746,-0.392221,0.136106],[-0.241831,-0.234157,0.941641]]
2025-10-24T22:32:56.137Z,1761345176.137 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:32:56.138Z,1761345176.138 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:32:56.138Z,1761345176.138 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:32:56.138Z,1761345176.138 [marl:UpdateRudder:A] Stopped
2025-10-24T22:32:56.138Z,1761345176.138 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:32:56.138Z,1761345176.138 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:32:56.138Z,1761345176.138 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:32:56.138Z,1761345176.138 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:32:56.139Z,1761345176.139 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:32:56.139Z,1761345176.139 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:32:56.139Z,1761345176.139 [marl:UpdateCommandMode] Stopped
2025-10-24T22:32:56.139Z,1761345176.139 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:32:56.139Z,1761345176.139 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:32:56.139Z,1761345176.139 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:32:56.139Z,1761345176.139 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:32:56.140Z,1761345176.140 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:32:56.144Z,1761345176.144 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:32:56.144Z,1761345176.144 [marl:UpdateSpeed] Stopped
2025-10-24T22:32:56.144Z,1761345176.144 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:32:56.475Z,1761345176.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338471,-0.889469,-0.307053],[0.910383,-0.392072,0.132217],[-0.237990,-0.234784,0.942463]]
2025-10-24T22:32:56.539Z,1761345176.539 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:32:56.539Z,1761345176.539 [marl:UpdateRudder:B] Stopped
2025-10-24T22:32:56.539Z,1761345176.539 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:32:56.539Z,1761345176.539 [marl:UpdateRudder] Stopped
2025-10-24T22:32:56.539Z,1761345176.539 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:32:56.878Z,1761345176.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339241,-0.889353,-0.306540],[0.911294,-0.391537,0.127443],[-0.233364,-0.236115,0.943288]]
2025-10-24T22:32:57.283Z,1761345177.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339403,-0.889443,-0.306099],[0.912468,-0.390365,0.122550],[-0.228491,-0.237711,0.944079]]
2025-10-24T22:32:57.690Z,1761345177.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339078,-0.889641,-0.305885],[0.913853,-0.388689,0.117450],[-0.223383,-0.239709,0.944796]]
2025-10-24T22:32:57.973Z,1761345177.973 [DAT](INFO): DAT read: Rx Time:22:32:56.6468

2025-10-24T22:32:57.973Z,1761345177.973 [DAT](INFO): Rx dataTimestamp_ set to:1761345177.973132
2025-10-24T22:32:58.523Z,1761345178.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336136,-0.890399,-0.306925],[0.917111,-0.383599,0.108437],[-0.214288,-0.245035,0.945536]]
2025-10-24T22:32:58.734Z,1761345178.734 [DAT](INFO): DAT read: 22:32:56.6468 LVL= 32752, 32753, 29474, 32755, AGC= 67, IDX= 350,-0.30,-0.144, 0.960, 1.621, 0.798, PHS=-0.839, 0.208, 0.779, RAW= 249.6,  -2.1, CAL= 246.2,  -4.6, ROT= 263.8,   4.6

2025-10-24T22:32:58.736Z,1761345178.736 [DAT](INFO): got valid direction response:
 22:32:56.6468 LVL= 32752, 32753, 29474, 32755, AGC= 67, IDX= 350,-0.30,-0.144, 0.960, 1.621, 0.798, PHS=-0.839, 0.208, 0.779, RAW= 249.6,  -2.1, CAL= 246.2,  -4.6, ROT= 263.8,   4.6

2025-10-24T22:32:58.736Z,1761345178.736 [DAT](INFO): DAT read: 

2025-10-24T22:32:58.737Z,1761345178.737 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:32:58.737Z,1761345178.737 [DAT](INFO): Got DATA 2
2025-10-24T22:32:58.738Z,1761345178.738 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:32:58.738Z,1761345178.738 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:32:58.738Z,1761345178.738 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:32:58.739Z,1761345178.739 [DAT](INFO): DAT read: CRC:Pass MPD:01.1 PSNR:11.2 AGC:60 SPD:+0.3 CCERR:009

2025-10-24T22:32:58.740Z,1761345178.740 [DAT](INFO): Got CRC:Pass
2025-10-24T22:32:58.740Z,1761345178.740 [DAT](INFO): Got CRC:Pass
2025-10-24T22:32:58.740Z,1761345178.740 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:32:58.740Z,1761345178.740 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:32:58.740Z,1761345178.740 [DAT](INFO): Got ack
2025-10-24T22:32:58.741Z,1761345178.741 [DAT](INFO): DAT read: 

2025-10-24T22:32:58.741Z,1761345178.741 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:32:58.741Z,1761345178.741 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:32:58.742Z,1761345178.742 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-24T22:32:58.743Z,1761345178.743 [DAT](INFO): direction in FSK: [-0.107652,-0.990949,-0.080199]
2025-10-24T22:32:58.901Z,1761345178.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333529,-0.891244,-0.307314],[0.918841,-0.380251,0.105547],[-0.210925,-0.247169,0.945737]]
2025-10-24T22:32:58.977Z,1761345178.977 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345152.00. Resetting abort timer.
2025-10-24T22:32:58.981Z,1761345178.981 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:32:58.981Z,1761345178.981 [DAT](INFO): #Outgoing data=11
2025-10-24T22:32:58.981Z,1761345178.981 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:32:59.233Z,1761345179.233 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:32:59.302Z,1761345179.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330587,-0.892798,-0.305980],[0.920539,-0.376530,0.104083],[-0.208136,-0.247258,0.946331]]
2025-10-24T22:32:59.706Z,1761345179.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327423,-0.893936,-0.306059],[0.922222,-0.372850,0.102422],[-0.205673,-0.248719,0.946487]]
2025-10-24T22:33:00.110Z,1761345180.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324448,-0.894857,-0.306537],[0.923819,-0.369391,0.100546],[-0.203207,-0.250563,0.946533]]
2025-10-24T22:33:00.515Z,1761345180.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322315,-0.895466,-0.307008],[0.925183,-0.366633,0.098067],[-0.200375,-0.252430,0.946641]]
2025-10-24T22:33:00.925Z,1761345180.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320881,-0.895848,-0.307394],[0.926414,-0.364369,0.094829],[-0.196957,-0.254346,0.946845]]
2025-10-24T22:33:01.335Z,1761345181.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319936,-0.896048,-0.307796],[0.927612,-0.362365,0.090711],[-0.192816,-0.256494,0.947118]]
2025-10-24T22:33:01.726Z,1761345181.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319940,-0.896133,-0.307544],[0.928658,-0.360927,0.085591],[-0.187702,-0.258219,0.947677]]
2025-10-24T22:33:02.130Z,1761345182.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320227,-0.896372,-0.306550],[0.929722,-0.359481,0.079944],[-0.181859,-0.259405,0.948492]]
2025-10-24T22:33:02.509Z,1761345182.509 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:33:01.7507

2025-10-24T22:33:02.509Z,1761345182.509 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:33:02.534Z,1761345182.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320677,-0.896726,-0.305037],[0.930758,-0.358051,0.074091],[-0.175658,-0.260157,0.949454]]
2025-10-24T22:33:02.938Z,1761345182.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322903,-0.896752,-0.302605],[0.931279,-0.358039,0.067280],[-0.168678,-0.260085,0.950738]]
2025-10-24T22:33:03.344Z,1761345183.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324834,-0.897261,-0.299007],[0.931935,-0.357545,0.060491],[-0.161185,-0.259006,0.952332]]
2025-10-24T22:33:03.748Z,1761345183.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326912,-0.898278,-0.293640],[0.932514,-0.357057,0.054100],[-0.153444,-0.256138,0.954384]]
2025-10-24T22:33:04.150Z,1761345184.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329006,-0.899469,-0.287596],[0.933011,-0.356629,0.048020],[-0.145757,-0.252531,0.956547]]
2025-10-24T22:33:04.555Z,1761345184.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330418,-0.901193,-0.280491],[0.933589,-0.355734,0.043176],[-0.138690,-0.247598,0.958885]]
2025-10-24T22:33:04.959Z,1761345184.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332630,-0.902617,-0.273202],[0.933832,-0.355674,0.038129],[-0.131587,-0.242443,0.961201]]
2025-10-24T22:33:05.365Z,1761345185.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335259,-0.904016,-0.265248],[0.933833,-0.356140,0.033479],[-0.124731,-0.236473,0.963599]]
2025-10-24T22:33:05.766Z,1761345185.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338309,-0.904966,-0.258040],[0.933604,-0.357165,0.028585],[-0.118032,-0.231236,0.965711]]
2025-10-24T22:33:06.170Z,1761345186.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341335,-0.906411,-0.248815],[0.933314,-0.358217,0.024594],[-0.111422,-0.223828,0.968239]]
2025-10-24T22:33:06.575Z,1761345186.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344715,-0.907265,-0.240917],[0.932870,-0.359674,0.019698],[-0.104523,-0.217954,0.970346]]
2025-10-24T22:33:06.983Z,1761345186.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347764,-0.907950,-0.233854],[0.932494,-0.360895,0.014480],[-0.097544,-0.213032,0.972164]]
2025-10-24T22:33:07.394Z,1761345187.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350428,-0.908160,-0.229012],[0.932215,-0.361808,0.008321],[-0.090415,-0.210573,0.973388]]
2025-10-24T22:33:07.786Z,1761345187.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352570,-0.908093,-0.225967],[0.932084,-0.362239,0.001427],[-0.083150,-0.210117,0.974134]]
2025-10-24T22:33:08.191Z,1761345188.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354778,-0.907722,-0.223995],[0.931892,-0.362683,-0.006248],[-0.075568,-0.210955,0.974570]]
2025-10-24T22:33:08.596Z,1761345188.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355995,-0.907449,-0.223168],[0.931995,-0.362204,-0.013909],[-0.068211,-0.212943,0.974681]]
2025-10-24T22:33:09.010Z,1761345189.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356859,-0.907453,-0.221765],[0.932193,-0.361320,-0.021556],[-0.060567,-0.214420,0.974862]]
2025-10-24T22:33:09.126Z,1761345189.126 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:33:09.126Z,1761345189.126 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:33:09.126Z,1761345189.126 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:33:09.127Z,1761345189.127 [marl:UpdateRudder:A] Stopped
2025-10-24T22:33:09.127Z,1761345189.127 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:33:09.127Z,1761345189.127 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:33:09.127Z,1761345189.127 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:33:09.127Z,1761345189.127 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:33:09.127Z,1761345189.127 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:33:09.128Z,1761345189.128 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:33:09.128Z,1761345189.128 [marl:UpdateCommandMode] Stopped
2025-10-24T22:33:09.128Z,1761345189.128 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:33:09.128Z,1761345189.128 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:33:09.128Z,1761345189.128 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:33:09.128Z,1761345189.128 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:33:09.129Z,1761345189.129 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:33:09.129Z,1761345189.129 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:33:09.129Z,1761345189.129 [marl:UpdateSpeed] Stopped
2025-10-24T22:33:09.129Z,1761345189.129 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:33:09.406Z,1761345189.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357120,-0.907658,-0.220507],[0.932543,-0.359907,-0.028829],[-0.053195,-0.215927,0.974959]]
2025-10-24T22:33:09.480Z,1761345189.480 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:33:09.481Z,1761345189.481 [marl:UpdateRudder:B] Stopped
2025-10-24T22:33:09.481Z,1761345189.481 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:33:09.481Z,1761345189.481 [marl:UpdateRudder] Stopped
2025-10-24T22:33:09.481Z,1761345189.481 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:33:09.806Z,1761345189.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357085,-0.907451,-0.221411],[0.932945,-0.358130,-0.036834],[-0.045869,-0.219717,0.974485]]
2025-10-24T22:33:10.217Z,1761345190.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356679,-0.907362,-0.222430],[0.933420,-0.356015,-0.044496],[-0.038815,-0.223491,0.973933]]
2025-10-24T22:33:10.614Z,1761345190.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355937,-0.907552,-0.222843],[0.933956,-0.353672,-0.051396],[-0.032169,-0.226419,0.973499]]
2025-10-24T22:33:11.023Z,1761345191.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355186,-0.907486,-0.224302],[0.934443,-0.351272,-0.058520],[-0.025685,-0.230383,0.972761]]
2025-10-24T22:33:11.432Z,1761345191.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353801,-0.908085,-0.224067],[0.935120,-0.348391,-0.064613],[-0.019389,-0.232390,0.972429]]
2025-10-24T22:33:11.827Z,1761345191.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351821,-0.909451,-0.221634],[0.935972,-0.345169,-0.069395],[-0.013390,-0.231858,0.972658]]
2025-10-24T22:33:12.230Z,1761345192.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349984,-0.910878,-0.218658],[0.936728,-0.342107,-0.074188],[-0.007229,-0.230788,0.972977]]
2025-10-24T22:33:12.588Z,1761345192.588 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:33:12.634Z,1761345192.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347723,-0.912011,-0.217541],[0.937596,-0.338666,-0.078864],[-0.001749,-0.231389,0.972860]]
2025-10-24T22:33:12.841Z,1761345192.841 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:33:12.841Z,1761345192.841 [DAT](INFO): #Outgoing data=11
2025-10-24T22:33:12.841Z,1761345192.841 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:33:13.048Z,1761345193.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345564,-0.913067,-0.216549],[0.938389,-0.335423,-0.083167],[0.003302,-0.231947,0.972723]]
2025-10-24T22:33:13.093Z,1761345193.093 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:33:13.443Z,1761345193.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343427,-0.914144,-0.215406],[0.939146,-0.332314,-0.087024],[0.007970,-0.232184,0.972639]]
2025-10-24T22:33:13.599Z,1761345193.599 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:33:13.846Z,1761345193.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341458,-0.914973,-0.215013],[0.939815,-0.329345,-0.090994],[0.012443,-0.233142,0.972363]]
2025-10-24T22:33:14.251Z,1761345194.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339626,-0.915742,-0.214643],[0.940409,-0.326515,-0.094967],[0.016881,-0.234105,0.972065]]
2025-10-24T22:33:14.600Z,1761345194.600 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:33:14.661Z,1761345194.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338037,-0.916800,-0.212625],[0.940888,-0.324064,-0.098550],[0.021446,-0.233370,0.972152]]
2025-10-24T22:33:15.062Z,1761345195.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336671,-0.917729,-0.210776],[0.941263,-0.321819,-0.102256],[0.026012,-0.232823,0.972171]]
2025-10-24T22:33:15.467Z,1761345195.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335783,-0.918028,-0.210888],[0.941446,-0.319845,-0.106669],[0.030474,-0.234357,0.971673]]
2025-10-24T22:33:15.882Z,1761345195.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335346,-0.917932,-0.212000],[0.941451,-0.318202,-0.111437],[0.034833,-0.236957,0.970895]]
2025-10-24T22:33:16.272Z,1761345196.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335466,-0.917688,-0.212862],[0.941249,-0.317185,-0.115947],[0.038887,-0.239252,0.970178]]
2025-10-24T22:33:16.370Z,1761345196.370 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:33:15.6006

2025-10-24T22:33:16.371Z,1761345196.371 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:33:16.679Z,1761345196.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335798,-0.917669,-0.212421],[0.940963,-0.316574,-0.119871],[0.042755,-0.240133,0.969798]]
2025-10-24T22:33:17.081Z,1761345197.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336581,-0.917933,-0.210030],[0.940511,-0.316716,-0.123003],[0.046389,-0.238936,0.969927]]
2025-10-24T22:33:17.489Z,1761345197.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337125,-0.917827,-0.209619],[0.940147,-0.316452,-0.126416],[0.049693,-0.239690,0.969577]]
2025-10-24T22:33:17.891Z,1761345197.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338503,-0.917368,-0.209410],[0.939458,-0.316892,-0.130378],[0.053244,-0.240865,0.969097]]
2025-10-24T22:33:18.290Z,1761345198.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339264,-0.917632,-0.207005],[0.938989,-0.317114,-0.133186],[0.056572,-0.239561,0.969232]]
2025-10-24T22:33:18.697Z,1761345198.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339210,-0.918391,-0.203704],[0.938827,-0.316802,-0.135058],[0.059503,-0.237056,0.969672]]
2025-10-24T22:33:19.109Z,1761345199.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338678,-0.918692,-0.203229],[0.938838,-0.315659,-0.137631],[0.062289,-0.237412,0.969410]]
2025-10-24T22:33:19.502Z,1761345199.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338164,-0.918732,-0.203904],[0.938820,-0.314306,-0.140813],[0.065281,-0.239047,0.968811]]
2025-10-24T22:33:19.922Z,1761345199.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337136,-0.918957,-0.204589],[0.938989,-0.312495,-0.143689],[0.068111,-0.240550,0.968244]]
2025-10-24T22:33:20.312Z,1761345200.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335829,-0.919668,-0.203541],[0.939215,-0.310578,-0.146347],[0.071376,-0.240316,0.968067]]
2025-10-24T22:33:20.715Z,1761345200.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333524,-0.920755,-0.202414],[0.939788,-0.307741,-0.148642],[0.074572,-0.239802,0.967954]]
2025-10-24T22:33:21.121Z,1761345201.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330957,-0.921867,-0.201566],[0.940426,-0.304586,-0.151081],[0.077882,-0.239559,0.967753]]
2025-10-24T22:33:21.523Z,1761345201.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328035,-0.922980,-0.201250],[0.941176,-0.301026,-0.153528],[0.081122,-0.239774,0.967434]]
2025-10-24T22:33:21.969Z,1761345201.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324554,-0.924333,-0.200683],[0.942148,-0.297120,-0.155168],[0.083800,-0.239434,0.967290]]
2025-10-24T22:33:22.334Z,1761345202.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321253,-0.925304,-0.201516],[0.943096,-0.293319,-0.156630],[0.085822,-0.240367,0.966881]]
2025-10-24T22:33:22.426Z,1761345202.426 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:33:22.426Z,1761345202.426 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:33:22.426Z,1761345202.426 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:33:22.427Z,1761345202.427 [marl:UpdateRudder:A] Stopped
2025-10-24T22:33:22.427Z,1761345202.427 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:33:22.427Z,1761345202.427 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:33:22.427Z,1761345202.427 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:33:22.427Z,1761345202.427 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:33:22.428Z,1761345202.428 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:33:22.428Z,1761345202.428 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:33:22.428Z,1761345202.428 [marl:UpdateCommandMode] Stopped
2025-10-24T22:33:22.428Z,1761345202.428 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:33:22.428Z,1761345202.428 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:33:22.428Z,1761345202.428 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:33:22.428Z,1761345202.428 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:33:22.429Z,1761345202.429 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:33:22.429Z,1761345202.429 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:33:22.429Z,1761345202.429 [marl:UpdateSpeed] Stopped
2025-10-24T22:33:22.429Z,1761345202.429 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:33:22.734Z,1761345202.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318376,-0.926118,-0.202342],[0.943936,-0.290060,-0.157639],[0.087301,-0.241186,0.966544]]
2025-10-24T22:33:22.807Z,1761345202.807 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:33:22.807Z,1761345202.807 [marl:UpdateRudder:B] Stopped
2025-10-24T22:33:22.807Z,1761345202.807 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:33:22.807Z,1761345202.807 [marl:UpdateRudder] Stopped
2025-10-24T22:33:22.807Z,1761345202.807 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:33:23.142Z,1761345203.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315895,-0.927233,-0.201122],[0.944662,-0.287611,-0.157775],[0.088450,-0.239833,0.966777]]
2025-10-24T22:33:23.181Z,1761345203.181 [DAT](INFO): DAT read: Rx Time:22:33:21.8961

2025-10-24T22:33:23.182Z,1761345203.182 [DAT](INFO): Rx dataTimestamp_ set to:1761345203.181512
2025-10-24T22:33:23.544Z,1761345203.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314392,-0.927591,-0.201824],[0.945067,-0.285796,-0.158649],[0.089481,-0.240615,0.966487]]
2025-10-24T22:33:23.971Z,1761345203.971 [DAT](INFO): DAT read: 22:33:21.8961 LVL= 26096, 24945, 21730, 26723, AGC= 63, IDX= 409, 0.29,-2.514,-1.296,-0.437,-1.583, PHS=-0.829, 0.331, 1.102, RAW= 246.7,  -7.2, CAL= 244.8, -11.6, ROT= 265.2,  11.6

2025-10-24T22:33:23.973Z,1761345203.973 [DAT](INFO): got valid direction response:
 22:33:21.8961 LVL= 26096, 24945, 21730, 26723, AGC= 63, IDX= 409, 0.29,-2.514,-1.296,-0.437,-1.583, PHS=-0.829, 0.331, 1.102, RAW= 246.7,  -7.2, CAL= 244.8, -11.6, ROT= 265.2,  11.6

2025-10-24T22:33:23.973Z,1761345203.973 [DAT](INFO): DAT read: 

2025-10-24T22:33:23.974Z,1761345203.974 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:33:23.974Z,1761345203.974 [DAT](INFO): Got DATA 2
2025-10-24T22:33:23.975Z,1761345203.975 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:33:23.975Z,1761345203.975 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:33:23.975Z,1761345203.975 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:33:23.985Z,1761345203.985 [DAT](INFO): DAT read: CRC:Pass MPD:03.4 PSNR:09.3 AGC:59 SPD:+0.0 CCERR:008

2025-10-24T22:33:23.985Z,1761345203.985 [DAT](INFO): Got CRC:Pass
2025-10-24T22:33:23.985Z,1761345203.985 [DAT](INFO): Got CRC:Pass
2025-10-24T22:33:23.985Z,1761345203.985 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:33:23.985Z,1761345203.985 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:33:23.985Z,1761345203.985 [DAT](INFO): Got ack
2025-10-24T22:33:23.985Z,1761345203.985 [DAT](INFO): DAT read: 

2025-10-24T22:33:23.986Z,1761345203.986 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:33:23.986Z,1761345203.986 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:33:23.986Z,1761345203.986 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-24T22:33:23.987Z,1761345203.987 [DAT](INFO): direction in FSK: [-0.081968,-0.976140,-0.201078]
2025-10-24T22:33:23.989Z,1761345203.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313834,-0.928000,-0.200809],[0.945119,-0.285084,-0.159616],[0.090877,-0.239881,0.966539]]
2025-10-24T22:33:24.133Z,1761345204.133 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345152.00. Resetting abort timer.
2025-10-24T22:33:24.189Z,1761345204.189 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:33:24.189Z,1761345204.189 [DAT](INFO): #Outgoing data=12
2025-10-24T22:33:24.189Z,1761345204.189 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:33:24.441Z,1761345204.441 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:33:24.521Z,1761345204.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313618,-0.928228,-0.200090],[0.944889,-0.284221,-0.162489],[0.093957,-0.240022,0.966210]]
2025-10-24T22:33:24.922Z,1761345204.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312927,-0.928543,-0.199710],[0.944930,-0.283152,-0.164113],[0.095837,-0.240068,0.966014]]
2025-10-24T22:33:25.337Z,1761345205.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311156,-0.929077,-0.199995],[0.945275,-0.280824,-0.166111],[0.098166,-0.240737,0.965613]]
2025-10-24T22:33:25.730Z,1761345205.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305194,-0.929978,-0.204932],[0.946902,-0.273497,-0.169043],[0.101158,-0.245642,0.964068]]
2025-10-24T22:33:26.137Z,1761345206.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293168,-0.930335,-0.220295],[0.950312,-0.258333,-0.173700],[0.104689,-0.260272,0.959843]]
2025-10-24T22:33:26.546Z,1761345206.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277012,-0.929538,-0.243360],[0.954716,-0.237653,-0.178995],[0.108547,-0.281923,0.953277]]
2025-10-24T22:33:26.962Z,1761345206.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257936,-0.927415,-0.270870],[0.959593,-0.213272,-0.183564],[0.112471,-0.307273,0.944952]]
2025-10-24T22:33:27.355Z,1761345207.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237387,-0.924776,-0.297383],[0.964480,-0.187860,-0.185707],[0.115871,-0.330904,0.936524]]
2025-10-24T22:33:27.721Z,1761345207.721 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:33:26.9505

2025-10-24T22:33:27.721Z,1761345207.721 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:33:27.750Z,1761345207.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216354,-0.921658,-0.322084],[0.969059,-0.162579,-0.185723],[0.118809,-0.352300,0.928315]]
2025-10-24T22:33:28.157Z,1761345208.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195943,-0.918131,-0.344446],[0.973114,-0.138692,-0.183883],[0.121057,-0.371216,0.920622]]
2025-10-24T22:33:28.560Z,1761345208.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176386,-0.914871,-0.363178],[0.976629,-0.116623,-0.180542],[0.122818,-0.386536,0.914060]]
2025-10-24T22:33:28.962Z,1761345208.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158817,-0.912343,-0.377370],[0.979405,-0.097319,-0.176903],[0.124671,-0.397693,0.909009]]
2025-10-24T22:33:29.378Z,1761345209.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143352,-0.910314,-0.388303],[0.981526,-0.080534,-0.173556],[0.126719,-0.406009,0.905041]]
2025-10-24T22:33:29.779Z,1761345209.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129434,-0.909459,-0.395134],[0.983196,-0.065973,-0.170218],[0.128738,-0.410526,0.902715]]
2025-10-24T22:33:30.230Z,1761345210.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.116112,-0.909720,-0.398657],[0.984618,-0.052668,-0.166592],[0.130556,-0.411869,0.901842]]
2025-10-24T22:33:30.678Z,1761345210.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103086,-0.910116,-0.401326],[0.985804,-0.039724,-0.163133],[0.132527,-0.412445,0.901291]]
2025-10-24T22:33:31.074Z,1761345211.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090095,-0.911289,-0.401790],[0.986726,-0.026945,-0.160144],[0.135112,-0.410884,0.901620]]
2025-10-24T22:33:31.480Z,1761345211.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077250,-0.912824,-0.400981],[0.987301,-0.014042,-0.158239],[0.138814,-0.408113,0.902316]]
2025-10-24T22:33:31.882Z,1761345211.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064211,-0.913922,-0.400779],[0.987560,-0.000430,-0.157242],[0.143535,-0.405890,0.902580]]
2025-10-24T22:33:32.287Z,1761345212.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049749,-0.914987,-0.400405],[0.987625,0.014633,-0.156148],[0.148732,-0.403218,0.902936]]
2025-10-24T22:33:32.705Z,1761345212.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033711,-0.915195,-0.401598],[0.987540,0.031300,-0.154225],[0.153717,-0.401793,0.902737]]
2025-10-24T22:33:33.107Z,1761345213.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015030,-0.915066,-0.403024],[0.987334,0.050087,-0.150541],[0.157941,-0.400182,0.902723]]
2025-10-24T22:33:33.517Z,1761345213.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005117,-0.914580,-0.404373],[0.986927,0.069759,-0.145286],[0.161084,-0.398344,0.902981]]
2025-10-24T22:33:33.950Z,1761345213.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025881,-0.913904,-0.405104],[0.986274,0.089450,-0.138789],[0.163076,-0.395951,0.903675]]
2025-10-24T22:33:34.400Z,1761345214.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047639,-0.912968,-0.405242],[0.985435,0.109259,-0.130305],[0.163241,-0.393132,0.904876]]
2025-10-24T22:33:34.533Z,1761345214.533 [DAT](INFO): DAT read: Rx Time:22:33:33.1950

2025-10-24T22:33:34.533Z,1761345214.533 [DAT](INFO): Rx dataTimestamp_ set to:1761345214.533037
2025-10-24T22:33:34.816Z,1761345214.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069977,-0.911413,-0.405499],[0.984345,0.129006,-0.120091],[0.161765,-0.390747,0.906173]]
2025-10-24T22:33:35.305Z,1761345215.305 [DAT](INFO): DAT read: 22:33:33.1950 LVL= 32304, 25073, 22258, 28771, AGC= 64, IDX= 429,-0.21, 1.197, 1.639, 2.882, 1.468, PHS=-0.169, 0.216, 1.370, RAW= 223.9, -19.9, CAL= 223.5, -25.2, ROT= 286.5,  25.2

2025-10-24T22:33:35.306Z,1761345215.306 [DAT](INFO): got valid direction response:
 22:33:33.1950 LVL= 32304, 25073, 22258, 28771, AGC= 64, IDX= 429,-0.21, 1.197, 1.639, 2.882, 1.468, PHS=-0.169, 0.216, 1.370, RAW= 223.9, -19.9, CAL= 223.5, -25.2, ROT= 286.5,  25.2

2025-10-24T22:33:35.307Z,1761345215.307 [DAT](INFO): DAT read: 

2025-10-24T22:33:35.308Z,1761345215.308 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:33:35.309Z,1761345215.309 [DAT](INFO): Got DATA 2
2025-10-24T22:33:35.310Z,1761345215.310 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:33:35.310Z,1761345215.310 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:33:35.311Z,1761345215.311 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:33:35.325Z,1761345215.325 [DAT](INFO): DAT read: CRC:Pass MPD:02.7 PSNR:13.4 AGC:66 SPD:+0.8 CCERR:011

2025-10-24T22:33:35.325Z,1761345215.325 [DAT](INFO): Got CRC:Pass
2025-10-24T22:33:35.325Z,1761345215.325 [DAT](INFO): Got CRC:Pass
2025-10-24T22:33:35.325Z,1761345215.325 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:33:35.325Z,1761345215.325 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:33:35.325Z,1761345215.325 [DAT](INFO): Got ack
2025-10-24T22:33:35.326Z,1761345215.326 [DAT](INFO): DAT read: 

2025-10-24T22:33:35.326Z,1761345215.326 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:33:35.326Z,1761345215.326 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:33:35.327Z,1761345215.327 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-24T22:33:35.336Z,1761345215.336 [DAT](INFO): direction in FSK: [0.256985,-0.867566,-0.425779]
2025-10-24T22:33:35.545Z,1761345215.545 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:33:35.545Z,1761345215.545 [DAT](INFO): #Outgoing data=12
2025-10-24T22:33:35.545Z,1761345215.545 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:33:35.729Z,1761345215.729 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:33:35.729Z,1761345215.729 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:33:35.729Z,1761345215.729 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:33:35.729Z,1761345215.729 [marl:UpdateRudder:A] Stopped
2025-10-24T22:33:35.729Z,1761345215.729 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:33:35.729Z,1761345215.729 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:33:35.729Z,1761345215.729 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:33:35.730Z,1761345215.730 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:33:35.730Z,1761345215.730 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:33:35.730Z,1761345215.730 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:33:35.730Z,1761345215.730 [marl:UpdateCommandMode] Stopped
2025-10-24T22:33:35.730Z,1761345215.730 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:33:35.730Z,1761345215.730 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:33:35.730Z,1761345215.730 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:33:35.731Z,1761345215.731 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:33:35.731Z,1761345215.731 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:33:35.731Z,1761345215.731 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:33:35.731Z,1761345215.731 [marl:UpdateSpeed] Stopped
2025-10-24T22:33:35.731Z,1761345215.731 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:33:35.737Z,1761345215.737 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345152.00. Resetting abort timer.
2025-10-24T22:33:35.798Z,1761345215.798 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:33:36.010Z,1761345216.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137682,-0.902792,-0.407444],[0.978885,0.186775,-0.083065],[0.151091,-0.387404,0.909445]]
2025-10-24T22:33:36.109Z,1761345216.109 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:33:36.109Z,1761345216.109 [marl:UpdateRudder:B] Stopped
2025-10-24T22:33:36.110Z,1761345216.110 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:33:36.110Z,1761345216.110 [marl:UpdateRudder] Stopped
2025-10-24T22:33:36.110Z,1761345216.110 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:33:36.414Z,1761345216.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159077,-0.899160,-0.407684],[0.976271,0.204725,-0.070589],[0.146934,-0.386781,0.910390]]
2025-10-24T22:33:36.842Z,1761345216.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179105,-0.895302,-0.407867],[0.973366,0.221560,-0.058912],[0.143111,-0.386453,0.911139]]
2025-10-24T22:33:37.242Z,1761345217.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197709,-0.891264,-0.408116],[0.970225,0.237341,-0.048299],[0.139910,-0.386415,0.911652]]
2025-10-24T22:33:37.650Z,1761345217.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216081,-0.886505,-0.409167],[0.966798,0.252820,-0.037196],[0.136420,-0.387545,0.911701]]
2025-10-24T22:33:38.051Z,1761345218.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233876,-0.881831,-0.409483],[0.963227,0.267447,-0.025806],[0.132271,-0.388390,0.911953]]
2025-10-24T22:33:38.454Z,1761345218.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250933,-0.876837,-0.410109],[0.959575,0.281110,-0.013896],[0.127470,-0.390043,0.911931]]
2025-10-24T22:33:38.858Z,1761345218.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266833,-0.872206,-0.409947],[0.955959,0.293492,-0.002206],[0.122241,-0.391303,0.912107]]
2025-10-24T22:33:39.079Z,1761345219.079 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:33:38.3005

2025-10-24T22:33:39.079Z,1761345219.079 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:33:39.267Z,1761345219.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281410,-0.868210,-0.408680],[0.952494,0.304421,0.009150],[0.116466,-0.391840,0.912632]]
2025-10-24T22:33:39.675Z,1761345219.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294979,-0.864929,-0.406060],[0.949112,0.314305,0.019990],[0.110337,-0.391293,0.913628]]
2025-10-24T22:33:40.070Z,1761345220.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307310,-0.862200,-0.402705],[0.945912,0.323008,0.030271],[0.103977,-0.390226,0.914829]]
2025-10-24T22:33:40.475Z,1761345220.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318723,-0.860275,-0.397923],[0.942831,0.330883,0.039836],[0.097396,-0.387871,0.916553]]
2025-10-24T22:33:40.880Z,1761345220.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329453,-0.858654,-0.392649],[0.939766,0.338342,0.048621],[0.091101,-0.385017,0.918402]]
2025-10-24T22:33:41.303Z,1761345221.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339966,-0.856974,-0.387323],[0.936566,0.345852,0.056838],[0.085248,-0.382077,0.920190]]
2025-10-24T22:33:41.689Z,1761345221.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350298,-0.854555,-0.383441],[0.933153,0.353694,0.064236],[0.080728,-0.380311,0.921329]]
2025-10-24T22:33:42.090Z,1761345222.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360482,-0.852215,-0.379187],[0.929521,0.362086,0.069887],[0.077740,-0.377655,0.922677]]
2025-10-24T22:33:42.387Z,1761345222.387 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:33:42.388Z,1761345222.388 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:33:42.495Z,1761345222.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371259,-0.849225,-0.375477],[0.925391,0.371623,0.074488],[0.076279,-0.375118,0.923833]]
2025-10-24T22:33:42.907Z,1761345222.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397309,-0.840038,-0.369434],[0.914512,0.395882,0.083340],[0.076244,-0.370963,0.925512]]
2025-10-24T22:33:43.322Z,1761345223.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414284,-0.832931,-0.366872],[0.906954,0.411543,0.089811],[0.076178,-0.369943,0.925926]]
2025-10-24T22:33:43.711Z,1761345223.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433682,-0.824592,-0.363273],[0.897894,0.429277,0.097508],[0.075540,-0.368468,0.926566]]
2025-10-24T22:33:43.756Z,1761345223.756 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:33:43.865Z,1761345223.865 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:33:43.916Z,1761345223.916 [DAT](INFO): entering command mode
2025-10-24T22:33:44.115Z,1761345224.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454131,-0.814599,-0.360825],[0.887829,0.447560,0.107001],[0.074328,-0.368943,0.926475]]
2025-10-24T22:33:44.117Z,1761345224.117 [DAT](INFO): DAT read: 

2025-10-24T22:33:44.117Z,1761345224.117 [DAT](INFO): DAT read: user:30>

2025-10-24T22:33:44.118Z,1761345224.118 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:33:44.118Z,1761345224.118 [DAT](INFO): setting remote address to 0
2025-10-24T22:33:44.369Z,1761345224.369 [DAT](INFO): DAT read: user:30>

2025-10-24T22:33:44.370Z,1761345224.370 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:33:44.371Z,1761345224.371 [DAT](INFO): set remote address to 0
2025-10-24T22:33:44.371Z,1761345224.371 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:33:44.372Z,1761345224.372 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:33:44.519Z,1761345224.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475264,-0.804227,-0.356852],[0.876842,0.466405,0.116678],[0.072602,-0.368356,0.926846]]
2025-10-24T22:33:44.621Z,1761345224.621 [DAT](INFO): DAT read: user:31>

2025-10-24T22:33:44.622Z,1761345224.622 [DAT](INFO): DAT read: Tx time:22:33:43.8016

2025-10-24T22:33:44.622Z,1761345224.622 [DAT](INFO): Ping request sent.
2025-10-24T22:33:44.622Z,1761345224.622 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:33:44.622Z,1761345224.622 [DAT](INFO): publishing transmit ping time
2025-10-24T22:33:44.623Z,1761345224.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000988
2025-10-24T22:33:44.737Z,1761345224.737 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:33:44.873Z,1761345224.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250820
2025-10-24T22:33:44.919Z,1761345224.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496532,-0.792742,-0.353576],[0.865184,0.484881,0.127854],[0.070087,-0.369392,0.926627]]
2025-10-24T22:33:45.125Z,1761345225.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503409
2025-10-24T22:33:45.326Z,1761345225.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518045,-0.780704,-0.349472],[0.852768,0.503146,0.140108],[0.066453,-0.370601,0.926412]]
2025-10-24T22:33:45.378Z,1761345225.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755502
2025-10-24T22:33:45.629Z,1761345225.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006810
2025-10-24T22:33:45.727Z,1761345225.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539596,-0.767722,-0.345600],[0.839648,0.520875,0.153887],[0.061872,-0.373219,0.925678]]
2025-10-24T22:33:45.740Z,1761345225.740 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:33:45.881Z,1761345225.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258733
2025-10-24T22:33:46.133Z,1761345226.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510864
2025-10-24T22:33:46.134Z,1761345226.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560286,-0.755298,-0.340006],[0.826364,0.537760,0.167146],[0.056597,-0.374618,0.925450]]
2025-10-24T22:33:46.385Z,1761345226.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762775
2025-10-24T22:33:46.535Z,1761345226.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580048,-0.742213,-0.335654],[0.813000,0.553157,0.181791],[0.050742,-0.378335,0.924277]]
2025-10-24T22:33:46.637Z,1761345226.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014759
2025-10-24T22:33:46.889Z,1761345226.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266748
2025-10-24T22:33:46.938Z,1761345226.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598118,-0.730459,-0.329673],[0.800156,0.567300,0.194734],[0.044779,-0.380264,0.923793]]
2025-10-24T22:33:47.141Z,1761345227.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519212
2025-10-24T22:33:47.346Z,1761345227.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613853,-0.720412,-0.322787],[0.788466,0.579620,0.205823],[0.038816,-0.380851,0.923821]]
2025-10-24T22:33:47.393Z,1761345227.393 [DAT](INFO): DAT read: Rx Time:22:33:46.0360

2025-10-24T22:33:47.393Z,1761345227.393 [DAT](INFO): Rx dataTimestamp_ set to:1761345227.393105
2025-10-24T22:33:47.394Z,1761345227.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771927
2025-10-24T22:33:47.645Z,1761345227.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023116
2025-10-24T22:33:47.789Z,1761345227.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627044,-0.711385,-0.317407],[0.778265,0.589600,0.216045],[0.033452,-0.382497,0.923351]]
2025-10-24T22:33:47.906Z,1761345227.906 [DAT](INFO): DAT read: 22:33:46.0360 LVL= 25888, 27297, 27026, 23587, AGC= 58, IDX= 305, 0.33, 2.940,-1.657,-1.836,-2.447, PHS=-0.794, 0.835, 0.567, RAW= 278.8,  -8.1, CAL= 278.6, -13.6, ROT= 231.4,  13.6

2025-10-24T22:33:47.911Z,1761345227.911 [DAT](INFO): got valid direction response:
 22:33:46.0360 LVL= 25888, 27297, 27026, 23587, AGC= 58, IDX= 305, 0.33, 2.940,-1.657,-1.836,-2.447, PHS=-0.794, 0.835, 0.567, RAW= 278.8,  -8.1, CAL= 278.6, -13.6, ROT= 231.4,  13.6

2025-10-24T22:33:47.913Z,1761345227.913 [DAT](INFO): DAT read: Bearing 270, -17 (Remote)

2025-10-24T22:33:47.915Z,1761345227.915 [DAT](INFO): Remote Bearing received:Bearing 270, -17 (Remote)

2025-10-24T22:33:47.918Z,1761345227.918 [DAT](INFO): DAT read: Bearing  83.8, -40.3 (Local)

2025-10-24T22:33:47.918Z,1761345227.918 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.8, -40.3 (Local)

2025-10-24T22:33:47.924Z,1761345227.924 [DAT](INFO): DAT read: Range 11 to 20 : 153.9 m  (Round-trip  205.2 ms) speed -1.1 m/s

2025-10-24T22:33:47.926Z,1761345227.926 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-24T22:33:47.930Z,1761345227.930 [DAT](INFO): direction in FSK: [-0.606387,-0.759607,-0.235142]
2025-10-24T22:33:47.931Z,1761345227.931 [DAT](INFO): publishing direction and range info
2025-10-24T22:33:48.158Z,1761345228.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638841,-0.703165,-0.312155],[0.768809,0.598548,0.225108],[0.028551,-0.383795,0.922977]]
2025-10-24T22:33:48.280Z,1761345228.280 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345280.00. Resetting abort timer.
2025-10-24T22:33:48.554Z,1761345228.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649839,-0.695363,-0.306887],[0.759700,0.606855,0.233629],[0.023779,-0.384963,0.922626]]
2025-10-24T22:33:48.673Z,1761345228.673 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:33:48.673Z,1761345228.673 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:33:48.673Z,1761345228.673 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:33:48.674Z,1761345228.674 [marl:UpdateRudder:A] Stopped
2025-10-24T22:33:48.674Z,1761345228.674 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:33:48.674Z,1761345228.674 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:33:48.674Z,1761345228.674 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:33:48.674Z,1761345228.674 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:33:48.675Z,1761345228.675 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:33:48.675Z,1761345228.675 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:33:48.675Z,1761345228.675 [marl:UpdateCommandMode] Stopped
2025-10-24T22:33:48.675Z,1761345228.675 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:33:48.675Z,1761345228.675 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:33:48.675Z,1761345228.675 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:33:48.675Z,1761345228.675 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:33:48.676Z,1761345228.676 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:33:48.677Z,1761345228.677 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:33:48.677Z,1761345228.677 [marl:UpdateSpeed] Stopped
2025-10-24T22:33:48.677Z,1761345228.677 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:33:48.961Z,1761345228.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659742,-0.688887,-0.300290],[0.751249,0.614748,0.240229],[0.019112,-0.384082,0.923101]]
2025-10-24T22:33:48.993Z,1761345228.993 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:33:48.993Z,1761345228.993 [marl:UpdateRudder:B] Stopped
2025-10-24T22:33:48.993Z,1761345228.993 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:33:48.993Z,1761345228.993 [marl:UpdateRudder] Stopped
2025-10-24T22:33:48.993Z,1761345228.993 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:33:49.158Z,1761345229.158 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:33:49.365Z,1761345229.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669263,-0.682567,-0.293580],[0.742881,0.622461,0.246312],[0.014618,-0.382943,0.923657]]
2025-10-24T22:33:49.410Z,1761345229.410 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:33:49.661Z,1761345229.661 [DAT](INFO): setting remote address to 10
2025-10-24T22:33:49.775Z,1761345229.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677903,-0.676296,-0.288222],[0.735073,0.629283,0.252328],[0.010725,-0.382918,0.923720]]
2025-10-24T22:33:49.915Z,1761345229.915 [DAT](INFO): DAT read: user:32>

2025-10-24T22:33:49.918Z,1761345229.918 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:33:49.919Z,1761345229.919 [DAT](INFO): set remote address to 10
2025-10-24T22:33:49.921Z,1761345229.921 [DAT](INFO): entering online mode
2025-10-24T22:33:50.165Z,1761345230.165 [DAT](INFO): DAT read: user:33>

2025-10-24T22:33:50.165Z,1761345230.165 [DAT](INFO): DAT read: 

2025-10-24T22:33:50.167Z,1761345230.167 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:33:50.167Z,1761345230.167 [DAT](INFO): commRate: 600
2025-10-24T22:33:50.167Z,1761345230.167 [DAT](INFO): online mode acknowledged
2025-10-24T22:33:50.167Z,1761345230.167 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:33:50.186Z,1761345230.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686019,-0.670075,-0.283508],[0.727547,0.635677,0.258049],[0.007307,-0.383292,0.923598]]
2025-10-24T22:33:50.577Z,1761345230.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693560,-0.663902,-0.279658],[0.720385,0.641633,0.263351],[0.004599,-0.384111,0.923275]]
2025-10-24T22:33:50.978Z,1761345230.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700804,-0.657511,-0.276682],[0.713348,0.647464,0.268187],[0.002806,-0.385317,0.922780]]
2025-10-24T22:33:51.382Z,1761345231.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708066,-0.650899,-0.273812],[0.706144,0.653602,0.272333],[0.001703,-0.386181,0.922422]]
2025-10-24T22:33:51.786Z,1761345231.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715891,-0.643604,-0.270692],[0.698211,0.660533,0.276040],[0.001141,-0.386615,0.922241]]
2025-10-24T22:33:52.193Z,1761345232.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724641,-0.635290,-0.267026],[0.689126,0.668550,0.279544],[0.000929,-0.386584,0.922254]]
2025-10-24T22:33:52.594Z,1761345232.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734579,-0.625902,-0.261995],[0.678523,0.678001,0.282704],[0.000688,-0.385438,0.922734]]
2025-10-24T22:33:52.998Z,1761345232.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745143,-0.615715,-0.256238],[0.666905,0.688283,0.285489],[0.000585,-0.383616,0.923492]]
2025-10-24T22:33:53.403Z,1761345233.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756500,-0.604260,-0.250153],[0.653993,0.699158,0.288913],[0.000318,-0.382161,0.924096]]
2025-10-24T22:33:53.441Z,1761345233.441 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:33:52.7004

2025-10-24T22:33:53.441Z,1761345233.441 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:33:53.808Z,1761345233.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768542,-0.591662,-0.243473],[0.639799,0.710623,0.292698],[-0.000161,-0.380724,0.924689]]
2025-10-24T22:33:54.211Z,1761345234.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781041,-0.578413,-0.235402],[0.624480,0.722989,0.295487],[-0.000720,-0.377791,0.925891]]
2025-10-24T22:33:54.618Z,1761345234.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793887,-0.563832,-0.227676],[0.608063,0.735074,0.299877],[-0.001721,-0.376510,0.926411]]
2025-10-24T22:33:55.018Z,1761345235.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806991,-0.548145,-0.219776],[0.590556,0.747173,0.304919],[-0.002929,-0.375857,0.926673]]
2025-10-24T22:33:55.429Z,1761345235.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820377,-0.531527,-0.210858],[0.571804,0.759513,0.310128],[-0.004692,-0.374991,0.927016]]
2025-10-24T22:33:55.826Z,1761345235.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833581,-0.514069,-0.202177],[0.552356,0.771211,0.316443],[-0.006752,-0.375455,0.926816]]
2025-10-24T22:33:56.240Z,1761345236.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846527,-0.496248,-0.192692],[0.532267,0.782744,0.322496],[-0.009209,-0.375565,0.926750]]
2025-10-24T22:33:56.640Z,1761345236.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859188,-0.477615,-0.183519],[0.511516,0.793301,0.330190],[-0.012117,-0.377568,0.925902]]
2025-10-24T22:33:57.040Z,1761345237.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870969,-0.459333,-0.174432],[0.491109,0.803017,0.337603],[-0.015001,-0.379707,0.924985]]
2025-10-24T22:33:57.442Z,1761345237.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881562,-0.442266,-0.165074],[0.471725,0.811968,0.343779],[-0.018007,-0.380931,0.924428]]
2025-10-24T22:33:57.846Z,1761345237.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891020,-0.426146,-0.156473],[0.453489,0.819773,0.349742],[-0.020769,-0.382586,0.923686]]
2025-10-24T22:33:58.254Z,1761345238.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898948,-0.412141,-0.148433],[0.437428,0.826434,0.354491],[-0.023430,-0.383597,0.923203]]
2025-10-24T22:33:58.666Z,1761345238.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906364,-0.398429,-0.140562],[0.421697,0.832647,0.358985],[-0.025991,-0.384646,0.922698]]
2025-10-24T22:33:59.058Z,1761345239.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913089,-0.385611,-0.132561],[0.406759,0.838608,0.362330],[-0.028552,-0.384760,0.922575]]
2025-10-24T22:33:59.462Z,1761345239.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918638,-0.374499,-0.125913],[0.393895,0.843222,0.365819],[-0.030827,-0.385652,0.922129]]
2025-10-24T22:33:59.869Z,1761345239.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923915,-0.363539,-0.119246],[0.381166,0.847683,0.368979],[-0.033056,-0.386357,0.921757]]
2025-10-24T22:34:00.245Z,1761345240.245 [DAT](INFO): DAT read: Rx Time:22:33:58.9329

2025-10-24T22:34:00.245Z,1761345240.245 [DAT](INFO): Rx dataTimestamp_ set to:1761345240.245025
2025-10-24T22:34:00.270Z,1761345240.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928837,-0.352890,-0.112829],[0.368817,0.851833,0.371961],[-0.035150,-0.387104,0.921366]]
2025-10-24T22:34:00.680Z,1761345240.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933322,-0.342829,-0.106673],[0.357135,0.855869,0.374088],[-0.036950,-0.387241,0.921238]]
2025-10-24T22:34:01.006Z,1761345241.006 [DAT](INFO): DAT read: 22:33:58.9329 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 402, 0.17, 1.295,-0.026, 1.913, 1.229, PHS= 0.168,-1.210, 0.640, RAW= 164.2,   4.9, CAL= 163.3,   3.9, ROT= 346.7,  -3.9

2025-10-24T22:34:01.007Z,1761345241.007 [DAT](INFO): got valid direction response:
 22:33:58.9329 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 402, 0.17, 1.295,-0.026, 1.913, 1.229, PHS= 0.168,-1.210, 0.640, RAW= 164.2,   4.9, CAL= 163.3,   3.9, ROT= 346.7,  -3.9

2025-10-24T22:34:01.008Z,1761345241.008 [DAT](INFO): DAT read: 

2025-10-24T22:34:01.008Z,1761345241.008 [DAT](INFO): DAT read: DATA(0002):S`

2025-10-24T22:34:01.009Z,1761345241.009 [DAT](INFO): Got DATA 2
2025-10-24T22:34:01.009Z,1761345241.009 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:34:01.010Z,1761345241.010 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:34:01.010Z,1761345241.010 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:34:01.011Z,1761345241.011 [DAT](INFO): DAT read: CRC:Fail {0001} MPD:03.5 PSNR:06.6 AGC:69 SPD:+1.7 CCERR:004

2025-10-24T22:34:01.012Z,1761345241.012 [DAT](INFO): unknown deviceResponse_: CRC:Fail {0001} MPD:03.5 PSNR:06.6 AGC:69 SPD:+1.7 CCERR:004

2025-10-24T22:34:01.012Z,1761345241.012 [DAT](INFO): DAT read: 

2025-10-24T22:34:01.012Z,1761345241.012 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:34:01.013Z,1761345241.013 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-24T22:34:01.014Z,1761345241.014 [DAT](INFO): direction in FSK: [0.970925,-0.229517,0.068015]
2025-10-24T22:34:01.087Z,1761345241.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937365,-0.333377,-0.101025],[0.346183,0.859214,0.376707],[-0.038783,-0.388085,0.920807]]
2025-10-24T22:34:01.151Z,1761345241.151 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345280.00. Resetting abort timer.
2025-10-24T22:34:01.482Z,1761345241.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941217,-0.323909,-0.095888],[0.335384,0.862126,0.379810],[-0.040356,-0.389643,0.920081]]
2025-10-24T22:34:01.577Z,1761345241.577 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:34:01.577Z,1761345241.577 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:34:01.578Z,1761345241.578 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:34:01.578Z,1761345241.578 [marl:UpdateRudder:A] Stopped
2025-10-24T22:34:01.578Z,1761345241.578 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:34:01.578Z,1761345241.578 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:34:01.578Z,1761345241.578 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:34:01.578Z,1761345241.578 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:34:01.579Z,1761345241.579 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:34:01.579Z,1761345241.579 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:34:01.579Z,1761345241.579 [marl:UpdateCommandMode] Stopped
2025-10-24T22:34:01.579Z,1761345241.579 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:34:01.579Z,1761345241.579 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:34:01.579Z,1761345241.579 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:34:01.579Z,1761345241.579 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:34:01.580Z,1761345241.580 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:34:01.580Z,1761345241.580 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:34:01.580Z,1761345241.580 [marl:UpdateSpeed] Stopped
2025-10-24T22:34:01.580Z,1761345241.580 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:34:01.886Z,1761345241.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944895,-0.314547,-0.090743],[0.324694,0.865043,0.382459],[-0.041804,-0.390847,0.919506]]
2025-10-24T22:34:01.995Z,1761345241.995 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:34:01.995Z,1761345241.995 [marl:UpdateRudder:B] Stopped
2025-10-24T22:34:01.995Z,1761345241.995 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:34:01.995Z,1761345241.995 [marl:UpdateRudder] Stopped
2025-10-24T22:34:01.995Z,1761345241.995 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:34:02.292Z,1761345242.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948491,-0.305034,-0.085548],[0.313883,0.868259,0.384192],[-0.042913,-0.391255,0.919281]]
2025-10-24T22:34:02.695Z,1761345242.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952020,-0.295283,-0.080417],[0.302861,0.871272,0.386212],[-0.043977,-0.392036,0.918898]]
2025-10-24T22:34:03.098Z,1761345243.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955572,-0.285123,-0.074751],[0.291269,0.874477,0.387882],[-0.045226,-0.392421,0.918673]]
2025-10-24T22:34:03.502Z,1761345243.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958887,-0.275716,-0.067202],[0.279776,0.878770,0.386637],[-0.047547,-0.389543,0.919780]]
2025-10-24T22:34:03.521Z,1761345243.521 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:34:03.772Z,1761345243.772 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:34:03.920Z,1761345243.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961267,-0.269596,-0.057298],[0.270819,0.885273,0.378086],[-0.051206,-0.378960,0.923995]]
2025-10-24T22:34:04.025Z,1761345244.025 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:34:04.312Z,1761345244.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962253,-0.268238,-0.046007],[0.266312,0.893200,0.362313],[-0.056093,-0.360889,0.930920]]
2025-10-24T22:34:04.723Z,1761345244.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962497,-0.269141,-0.034108],[0.264164,0.901131,0.343774],[-0.061788,-0.339892,0.938433]]
2025-10-24T22:34:05.118Z,1761345245.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962375,-0.270798,-0.022417],[0.263178,0.908401,0.324877],[-0.067612,-0.318553,0.945490]]
2025-10-24T22:34:05.524Z,1761345245.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962402,-0.271426,-0.010547],[0.261353,0.914712,0.308215],[-0.074010,-0.299383,0.951258]]
2025-10-24T22:34:05.967Z,1761345245.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962501,-0.271277,0.000938],[0.259072,0.920212,0.293414],[-0.080460,-0.282168,0.955985]]
2025-10-24T22:34:06.331Z,1761345246.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962828,-0.269851,0.011951],[0.255790,0.925089,0.280680],[-0.086798,-0.267190,0.959727]]
2025-10-24T22:34:06.734Z,1761345246.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963316,-0.267446,0.022265],[0.251767,0.929327,0.270119],[-0.092933,-0.254604,0.962569]]
2025-10-24T22:34:07.141Z,1761345247.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963973,-0.264032,0.032289],[0.246782,0.933018,0.261871],[-0.099269,-0.244468,0.964563]]
2025-10-24T22:34:07.302Z,1761345247.302 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:34:06.5503

2025-10-24T22:34:07.302Z,1761345247.302 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:34:07.542Z,1761345247.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964717,-0.259931,0.041927],[0.241158,0.936251,0.255493],[-0.105664,-0.236367,0.965901]]
2025-10-24T22:34:07.974Z,1761345247.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965571,-0.255145,0.050725],[0.234865,0.938868,0.251723],[-0.111850,-0.231144,0.966469]]
2025-10-24T22:34:08.351Z,1761345248.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966394,-0.250196,0.059031],[0.228443,0.941148,0.249108],[-0.117882,-0.227251,0.966675]]
2025-10-24T22:34:08.755Z,1761345248.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967037,-0.245674,0.066964],[0.222355,0.942870,0.248101],[-0.124091,-0.225033,0.966417]]
2025-10-24T22:34:09.160Z,1761345249.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967467,-0.241974,0.073860],[0.217051,0.943849,0.249072],[-0.129982,-0.224938,0.965664]]
2025-10-24T22:34:09.562Z,1761345249.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967822,-0.238658,0.079764],[0.212356,0.944691,0.249925],[-0.134999,-0.224945,0.964974]]
2025-10-24T22:34:09.979Z,1761345249.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968260,-0.235224,0.084518],[0.207610,0.945171,0.252090],[-0.139181,-0.226541,0.964006]]
2025-10-24T22:34:10.372Z,1761345250.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968597,-0.232585,0.087882],[0.203757,0.945091,0.255510],[-0.142485,-0.229580,0.962804]]
2025-10-24T22:34:10.774Z,1761345250.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969007,-0.229994,0.090151],[0.199922,0.944494,0.260694],[-0.145106,-0.234591,0.961203]]
2025-10-24T22:34:11.183Z,1761345251.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969498,-0.227264,0.091784],[0.196310,0.944226,0.264385],[-0.146750,-0.238303,0.960040]]
2025-10-24T22:34:11.582Z,1761345251.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969851,-0.225398,0.092655],[0.193566,0.943478,0.269039],[-0.148059,-0.242993,0.958662]]
2025-10-24T22:34:12.392Z,1761345252.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969950,-0.223966,0.095060],[0.190891,0.942762,0.273422],[-0.150857,-0.247060,0.957185]]
2025-10-24T22:34:12.795Z,1761345252.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969810,-0.224472,0.095289],[0.190969,0.942090,0.275678],[-0.151653,-0.249158,0.956515]]
2025-10-24T22:34:13.203Z,1761345253.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969354,-0.226628,0.094832],[0.193198,0.941670,0.275557],[-0.151749,-0.248791,0.956596]]
2025-10-24T22:34:13.605Z,1761345253.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968564,-0.230377,0.093859],[0.197329,0.941262,0.274022],[-0.151474,-0.246887,0.957132]]
2025-10-24T22:34:14.008Z,1761345254.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967827,-0.234523,0.091157],[0.202380,0.940830,0.271810],[-0.149509,-0.244617,0.958024]]
2025-10-24T22:34:14.410Z,1761345254.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967081,-0.239037,0.087264],[0.208248,0.940517,0.268441],[-0.146241,-0.241432,0.959335]]
2025-10-24T22:34:14.511Z,1761345254.511 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:34:14.511Z,1761345254.511 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:34:14.511Z,1761345254.511 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:34:14.511Z,1761345254.511 [marl:UpdateRudder:A] Stopped
2025-10-24T22:34:14.511Z,1761345254.511 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:34:14.511Z,1761345254.511 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:34:14.511Z,1761345254.511 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:34:14.511Z,1761345254.511 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:34:14.512Z,1761345254.512 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:34:14.512Z,1761345254.512 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:34:14.512Z,1761345254.512 [marl:UpdateCommandMode] Stopped
2025-10-24T22:34:14.512Z,1761345254.512 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:34:14.512Z,1761345254.512 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:34:14.512Z,1761345254.512 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:34:14.513Z,1761345254.513 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:34:14.513Z,1761345254.513 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:34:14.513Z,1761345254.513 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:34:14.513Z,1761345254.513 [marl:UpdateSpeed] Stopped
2025-10-24T22:34:14.513Z,1761345254.513 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:34:14.814Z,1761345254.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966364,-0.243568,0.082556],[0.214268,0.940047,0.265330],[-0.142233,-0.238717,0.960617]]
2025-10-24T22:34:14.883Z,1761345254.883 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:34:14.883Z,1761345254.883 [marl:UpdateRudder:B] Stopped
2025-10-24T22:34:14.883Z,1761345254.883 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:34:14.883Z,1761345254.883 [marl:UpdateRudder] Stopped
2025-10-24T22:34:14.883Z,1761345254.883 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:34:15.228Z,1761345255.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965771,-0.247445,0.077822],[0.219773,0.939924,0.261234],[-0.137788,-0.235189,0.962133]]
2025-10-24T22:34:15.624Z,1761345255.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965510,-0.250067,0.072511],[0.224009,0.939766,0.258184],[-0.132707,-0.233036,0.963371]]
2025-10-24T22:34:15.860Z,1761345255.860 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:34:16.027Z,1761345256.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965797,-0.250452,0.067155],[0.225758,0.939576,0.257352],[-0.127552,-0.233389,0.963981]]
2025-10-24T22:34:16.430Z,1761345256.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966421,-0.249298,0.062305],[0.225896,0.939793,0.256437],[-0.122483,-0.233751,0.964551]]
2025-10-24T22:34:16.834Z,1761345256.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967302,-0.246820,0.058365],[0.224636,0.940580,0.254653],[-0.117750,-0.233216,0.965270]]
2025-10-24T22:34:16.864Z,1761345256.864 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:34:17.240Z,1761345257.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968246,-0.243853,0.055095],[0.222805,0.941663,0.252247],[-0.113392,-0.231962,0.966093]]
2025-10-24T22:34:17.396Z,1761345257.397 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:34:17.642Z,1761345257.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969228,-0.240494,0.052529],[0.220642,0.943350,0.247807],[-0.109149,-0.228591,0.967384]]
2025-10-24T22:34:17.648Z,1761345257.648 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:34:17.901Z,1761345257.901 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:34:18.046Z,1761345258.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970160,-0.237203,0.050240],[0.218642,0.945420,0.241611],[-0.104809,-0.223417,0.969072]]
2025-10-24T22:34:18.451Z,1761345258.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970863,-0.234690,0.048423],[0.217606,0.948060,0.232012],[-0.100359,-0.214714,0.971507]]
2025-10-24T22:34:18.856Z,1761345258.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971073,-0.234243,0.046349],[0.218568,0.950117,0.222501],[-0.096156,-0.205934,0.973830]]
2025-10-24T22:34:19.259Z,1761345259.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971052,-0.234780,0.044005],[0.220346,0.951552,0.214468],[-0.092226,-0.198563,0.975739]]
2025-10-24T22:34:19.674Z,1761345259.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970976,-0.235588,0.041284],[0.222297,0.952596,0.207715],[-0.088262,-0.192509,0.977318]]
2025-10-24T22:34:20.067Z,1761345260.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970813,-0.236736,0.038441],[0.224521,0.953427,0.201411],[-0.084331,-0.186902,0.978752]]
2025-10-24T22:34:20.472Z,1761345260.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970641,-0.237958,0.035115],[0.226637,0.953664,0.197892],[-0.080578,-0.184123,0.979595]]
2025-10-24T22:34:20.874Z,1761345260.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970603,-0.238695,0.030910],[0.228109,0.953232,0.198280],[-0.076793,-0.185401,0.979658]]
2025-10-24T22:34:21.177Z,1761345261.177 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:34:20.4003

2025-10-24T22:34:21.177Z,1761345261.177 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:34:21.278Z,1761345261.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970343,-0.240292,0.026334],[0.230439,0.952418,0.199496],[-0.073018,-0.187511,0.979545]]
2025-10-24T22:34:21.687Z,1761345261.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970201,-0.241349,0.021448],[0.232267,0.951584,0.201346],[-0.069004,-0.190365,0.979285]]
2025-10-24T22:34:22.088Z,1761345262.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970041,-0.242419,0.015900],[0.234213,0.950576,0.203839],[-0.064529,-0.194008,0.978875]]
2025-10-24T22:34:22.490Z,1761345262.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970213,-0.242037,0.010217],[0.234714,0.949626,0.207652],[-0.059962,-0.199068,0.978149]]
2025-10-24T22:34:22.896Z,1761345262.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970700,-0.240258,0.004156],[0.233878,0.948611,0.213164],[-0.055157,-0.205946,0.977008]]
2025-10-24T22:34:23.298Z,1761345263.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971452,-0.237230,-0.001740],[0.231839,0.947766,0.219066],[-0.050320,-0.213215,0.975709]]
2025-10-24T22:34:23.704Z,1761345263.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972276,-0.233724,-0.007245],[0.229346,0.947106,0.224478],[-0.045604,-0.219916,0.974452]]
2025-10-24T22:34:24.106Z,1761345264.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973164,-0.229802,-0.011950],[0.226425,0.947015,0.227802],[-0.041033,-0.224395,0.973634]]
2025-10-24T22:34:24.510Z,1761345264.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974093,-0.225597,-0.015766],[0.223154,0.947559,0.228766],[-0.036670,-0.226358,0.973354]]
2025-10-24T22:34:24.915Z,1761345264.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975083,-0.221044,-0.018765],[0.219407,0.948442,0.228734],[-0.032763,-0.227151,0.973308]]
2025-10-24T22:34:25.319Z,1761345265.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976270,-0.215573,-0.020633],[0.214568,0.950007,0.226821],[-0.029295,-0.225866,0.973718]]
2025-10-24T22:34:25.725Z,1761345265.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977620,-0.209263,-0.021626],[0.208708,0.951802,0.224754],[-0.026449,-0.224237,0.974176]]
2025-10-24T22:34:26.130Z,1761345266.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978960,-0.202876,-0.021885],[0.202609,0.953690,0.222317],[-0.024232,-0.222073,0.974729]]
2025-10-24T22:34:26.530Z,1761345266.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980079,-0.197364,-0.022185],[0.197337,0.955108,0.220970],[-0.022423,-0.220946,0.975028]]
2025-10-24T22:34:26.934Z,1761345266.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980994,-0.192729,-0.022481],[0.192903,0.956203,0.220144],[-0.020932,-0.220297,0.975208]]
2025-10-24T22:34:27.339Z,1761345267.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981684,-0.189121,-0.023017],[0.189523,0.957096,0.219198],[-0.019425,-0.219545,0.975409]]
2025-10-24T22:34:27.411Z,1761345267.411 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:34:27.411Z,1761345267.411 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:34:27.411Z,1761345267.411 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:34:27.411Z,1761345267.411 [marl:UpdateRudder:A] Stopped
2025-10-24T22:34:27.411Z,1761345267.411 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:34:27.412Z,1761345267.412 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:34:27.412Z,1761345267.412 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:34:27.412Z,1761345267.412 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:34:27.413Z,1761345267.413 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:34:27.413Z,1761345267.413 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:34:27.413Z,1761345267.413 [marl:UpdateCommandMode] Stopped
2025-10-24T22:34:27.413Z,1761345267.413 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:34:27.413Z,1761345267.413 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:34:27.413Z,1761345267.413 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:34:27.413Z,1761345267.413 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:34:27.413Z,1761345267.413 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:34:27.414Z,1761345267.414 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:34:27.414Z,1761345267.414 [marl:UpdateSpeed] Stopped
2025-10-24T22:34:27.414Z,1761345267.414 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:34:27.743Z,1761345267.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982017,-0.187161,-0.024762],[0.187995,0.957385,0.219252],[-0.017329,-0.219964,0.975354]]
2025-10-24T22:34:27.844Z,1761345267.844 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:34:27.844Z,1761345267.844 [marl:UpdateRudder:B] Stopped
2025-10-24T22:34:27.844Z,1761345267.844 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:34:27.844Z,1761345267.844 [marl:UpdateRudder] Stopped
2025-10-24T22:34:27.845Z,1761345267.845 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:34:28.161Z,1761345268.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982337,-0.184651,-0.030298],[0.186726,0.956833,0.222718],[-0.012135,-0.224442,0.974412]]
2025-10-24T22:34:28.557Z,1761345268.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982284,-0.184441,-0.033149],[0.187171,0.956948,0.221850],[-0.009196,-0.224125,0.974517]]
2025-10-24T22:34:28.959Z,1761345268.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982103,-0.184731,-0.036721],[0.188254,0.956722,0.221908],[-0.005862,-0.224850,0.974376]]
2025-10-24T22:34:29.363Z,1761345269.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981630,-0.186458,-0.040438],[0.190774,0.956261,0.221742],[-0.002676,-0.225383,0.974266]]
2025-10-24T22:34:29.772Z,1761345269.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981099,-0.188423,-0.044070],[0.193508,0.955607,0.222192],[0.000248,-0.226521,0.974006]]
2025-10-24T22:34:30.171Z,1761345270.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980061,-0.193149,-0.046636],[0.198684,0.955468,0.218186],[0.002417,-0.223101,0.974792]]
2025-10-24T22:34:30.570Z,1761345270.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977836,-0.204116,-0.046611],[0.209343,0.956804,0.201747],[0.003418,-0.207033,0.978328]]
2025-10-24T22:34:30.974Z,1761345270.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974019,-0.222154,-0.043991],[0.226436,0.958584,0.172750],[0.003792,-0.178223,0.983983]]
2025-10-24T22:34:31.256Z,1761345271.256 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-24T22:34:31.257Z,1761345271.257 [DAT](ERROR): Ack receipt timeout failure.
2025-10-24T22:34:31.402Z,1761345271.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968816,-0.244711,-0.038876],[0.247757,0.958874,0.138485],[0.003389,-0.143798,0.989601]]
2025-10-24T22:34:31.509Z,1761345271.509 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:34:31.760Z,1761345271.760 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:34:31.790Z,1761345271.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962377,-0.269848,-0.031833],[0.271702,0.956984,0.101777],[0.003000,-0.106597,0.994298]]
2025-10-24T22:34:32.013Z,1761345272.013 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:34:32.186Z,1761345272.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955048,-0.295489,-0.023873],[0.296436,0.952706,0.066915],[0.002971,-0.070984,0.997473]]
2025-10-24T22:34:32.591Z,1761345272.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946982,-0.320842,-0.016918],[0.321268,0.946198,0.038683],[0.003596,-0.042068,0.999108]]
2025-10-24T22:34:32.994Z,1761345272.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938528,-0.345019,-0.011248],[0.345171,0.938383,0.017162],[0.004634,-0.019989,0.999789]]
2025-10-24T22:34:33.400Z,1761345273.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930011,-0.367442,-0.008123],[0.367470,0.930033,0.002264],[0.006723,-0.005091,0.999964]]
2025-10-24T22:34:33.803Z,1761345273.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921914,-0.387337,-0.006636],[0.387273,0.921919,-0.009218],[0.009688,0.005928,0.999936]]
2025-10-24T22:34:34.210Z,1761345274.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914462,-0.404617,-0.006684],[0.404456,0.914389,-0.017541],[0.013209,0.013337,0.999824]]
2025-10-24T22:34:34.619Z,1761345274.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907675,-0.419599,-0.007907],[0.419324,0.907527,-0.023713],[0.017126,0.018208,0.999688]]
2025-10-24T22:34:35.016Z,1761345275.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901328,-0.433008,-0.010595],[0.432616,0.901174,-0.026998],[0.021238,0.019751,0.999579]]
2025-10-24T22:34:35.297Z,1761345275.297 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:34:34.5516

2025-10-24T22:34:35.297Z,1761345275.297 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:34:35.418Z,1761345275.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895332,-0.445186,-0.013798],[0.444635,0.895180,-0.030863],[0.026091,0.021497,0.999428]]
2025-10-24T22:34:35.822Z,1761345275.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889812,-0.455998,-0.017325],[0.455240,0.889672,-0.035234],[0.031480,0.023465,0.999229]]
2025-10-24T22:34:36.231Z,1761345276.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884676,-0.465708,-0.021557],[0.464728,0.884606,-0.038727],[0.037105,0.024243,0.999017]]
2025-10-24T22:34:36.634Z,1761345276.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879989,-0.474278,-0.026082],[0.473083,0.880047,-0.041343],[0.042561,0.024042,0.998805]]
2025-10-24T22:34:37.034Z,1761345277.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875601,-0.482151,-0.029191],[0.480724,0.875725,-0.044835],[0.047181,0.025225,0.998568]]
2025-10-24T22:34:37.438Z,1761345277.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871543,-0.489257,-0.032268],[0.487660,0.871781,-0.046748],[0.051002,0.025007,0.998385]]
2025-10-24T22:34:37.842Z,1761345277.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867734,-0.495821,-0.034629],[0.494135,0.868093,-0.047386],[0.053557,0.024007,0.998276]]
2025-10-24T22:34:38.257Z,1761345278.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864103,-0.501934,-0.037244],[0.500288,0.864655,-0.045642],[0.055113,0.020806,0.998263]]
2025-10-24T22:34:38.655Z,1761345278.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860830,-0.507356,-0.039508],[0.505815,0.861567,-0.043041],[0.055876,0.017067,0.998292]]
2025-10-24T22:34:39.054Z,1761345279.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857421,-0.512939,-0.041507],[0.511535,0.858324,-0.040152],[0.056223,0.013195,0.998331]]
2025-10-24T22:34:39.459Z,1761345279.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852965,-0.520134,-0.043720],[0.518822,0.854027,-0.038236],[0.057226,0.009931,0.998312]]
2025-10-24T22:34:39.863Z,1761345279.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847354,-0.529028,-0.046050],[0.527762,0.848573,-0.037299],[0.058808,0.007302,0.998243]]
2025-10-24T22:34:40.277Z,1761345280.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840567,-0.539505,-0.048797],[0.538277,0.841970,-0.036675],[0.060872,0.004562,0.998135]]
2025-10-24T22:34:40.348Z,1761345280.348 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:34:40.349Z,1761345280.349 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:34:40.349Z,1761345280.349 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:34:40.349Z,1761345280.349 [marl:UpdateRudder:A] Stopped
2025-10-24T22:34:40.349Z,1761345280.349 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:34:40.349Z,1761345280.349 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:34:40.349Z,1761345280.349 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:34:40.349Z,1761345280.349 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:34:40.350Z,1761345280.350 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:34:40.350Z,1761345280.350 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:34:40.350Z,1761345280.350 [marl:UpdateCommandMode] Stopped
2025-10-24T22:34:40.350Z,1761345280.350 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:34:40.350Z,1761345280.350 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:34:40.350Z,1761345280.350 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:34:40.350Z,1761345280.350 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:34:40.351Z,1761345280.351 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:34:40.351Z,1761345280.351 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:34:40.351Z,1761345280.351 [marl:UpdateSpeed] Stopped
2025-10-24T22:34:40.351Z,1761345280.351 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:34:40.678Z,1761345280.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832587,-0.551589,-0.050491],[0.550292,0.834107,-0.037998],[0.063074,0.003852,0.998001]]
2025-10-24T22:34:40.709Z,1761345280.709 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:34:40.709Z,1761345280.709 [marl:UpdateRudder:B] Stopped
2025-10-24T22:34:40.709Z,1761345280.709 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:34:40.709Z,1761345280.709 [marl:UpdateRudder] Stopped
2025-10-24T22:34:40.710Z,1761345280.710 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:34:41.074Z,1761345281.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823596,-0.564843,-0.051402],[0.563396,0.825186,-0.040664],[0.065385,0.004531,0.997850]]
2025-10-24T22:34:41.478Z,1761345281.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813123,-0.579826,-0.051307],[0.578138,0.814713,-0.044720],[0.067730,0.006700,0.997681]]
2025-10-24T22:34:41.883Z,1761345281.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801830,-0.595398,-0.050694],[0.593477,0.803382,-0.048610],[0.069669,0.008891,0.997531]]
2025-10-24T22:34:42.297Z,1761345282.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789714,-0.611396,-0.050470],[0.609302,0.791263,-0.051515],[0.071431,0.009931,0.997396]]
2025-10-24T22:34:42.586Z,1761345282.586 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:34:42.586Z,1761345282.586 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:34:42.692Z,1761345282.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777053,-0.627509,-0.049216],[0.625224,0.778520,-0.054789],[0.072696,0.011802,0.997284]]
2025-10-24T22:34:43.103Z,1761345283.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763986,-0.643433,-0.048153],[0.641015,0.765395,-0.057190],[0.073654,0.012826,0.997201]]
2025-10-24T22:34:43.499Z,1761345283.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750253,-0.659430,-0.047665],[0.656933,0.751657,-0.058737],[0.074561,0.012754,0.997135]]
2025-10-24T22:34:43.922Z,1761345283.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736059,-0.675220,-0.047908],[0.672636,0.737517,-0.060250],[0.076015,0.012123,0.997033]]
2025-10-24T22:34:43.993Z,1761345283.993 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:34:44.121Z,1761345284.121 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:34:44.172Z,1761345284.172 [DAT](INFO): entering command mode
2025-10-24T22:34:44.310Z,1761345284.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721434,-0.690820,-0.047958],[0.688028,0.722915,-0.063336],[0.078424,0.012696,0.996839]]
2025-10-24T22:34:44.373Z,1761345284.373 [DAT](INFO): DAT read: 

2025-10-24T22:34:44.373Z,1761345284.373 [DAT](INFO): DAT read: user:34>

2025-10-24T22:34:44.374Z,1761345284.374 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:34:44.374Z,1761345284.374 [DAT](INFO): setting remote address to 0
2025-10-24T22:34:44.625Z,1761345284.625 [DAT](INFO): DAT read: user:34>

2025-10-24T22:34:44.626Z,1761345284.626 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:34:44.626Z,1761345284.626 [DAT](INFO): set remote address to 0
2025-10-24T22:34:44.626Z,1761345284.626 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:34:44.627Z,1761345284.627 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:34:44.711Z,1761345284.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706673,-0.705867,-0.048641],[0.702803,0.708222,-0.067002],[0.081743,0.013164,0.996567]]
2025-10-24T22:34:44.877Z,1761345284.877 [DAT](INFO): DAT read: user:35>

2025-10-24T22:34:44.877Z,1761345284.877 [DAT](INFO): DAT read: Tx time:22:34:44.0513

2025-10-24T22:34:44.878Z,1761345284.878 [DAT](INFO): Ping request sent.
2025-10-24T22:34:44.878Z,1761345284.878 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:34:44.878Z,1761345284.878 [DAT](INFO): publishing transmit ping time
2025-10-24T22:34:44.879Z,1761345284.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000987
2025-10-24T22:34:45.116Z,1761345285.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692146,-0.720156,-0.048061],[0.716667,0.693633,-0.072536],[0.085574,0.015761,0.996207]]
2025-10-24T22:34:45.129Z,1761345285.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251085
2025-10-24T22:34:45.157Z,1761345285.157 [marl:SendObservationData] Running Loop=1
2025-10-24T22:34:45.157Z,1761345285.157 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T22:34:45.157Z,1761345285.157 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T22:34:45.158Z,1761345285.158 [marl:SendObservationData:A] Running Loop=1
2025-10-24T22:34:45.159Z,1761345285.159 [marl:SendObservationData:A](INFO): Got test_good :  41da3effc0000000405140000000000040426321d9e0e560c05e7746eddad2ec402f79b08000000040633cccc0000000 n/a str  and temp var is  nan n/a str 
2025-10-24T22:34:45.159Z,1761345285.159 [marl:SendObservationData:A] Stopped
2025-10-24T22:34:45.159Z,1761345285.159 [marl:SendObservationData:B] Running Loop=1
2025-10-24T22:34:45.381Z,1761345285.381 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:34:45.381Z,1761345285.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503181
2025-10-24T22:34:45.518Z,1761345285.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677836,-0.733674,-0.047543],[0.729658,0.679241,-0.078936],[0.090207,0.018816,0.995745]]
2025-10-24T22:34:45.554Z,1761345285.554 [marl:SendObservationData:B] Stopped
2025-10-24T22:34:45.554Z,1761345285.554 [marl:SendObservationData:C] Running Loop=1
2025-10-24T22:34:45.633Z,1761345285.633 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:34:45.633Z,1761345285.633 [DAT](INFO): #Outgoing data=11
2025-10-24T22:34:45.633Z,1761345285.633 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:34:45.634Z,1761345285.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755934
2025-10-24T22:34:45.884Z,1761345285.884 [DAT](INFO): setting remote address to 10
2025-10-24T22:34:45.885Z,1761345285.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007245
2025-10-24T22:34:45.966Z,1761345285.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663974,-0.746282,-0.046930],[0.741610,0.665248,-0.086370],[0.095677,0.022544,0.995157]]
2025-10-24T22:34:46.041Z,1761345286.041 [marl:SendObservationData:C] Stopped
2025-10-24T22:34:46.041Z,1761345286.041 [marl:SendObservationData:E] Running Loop=1
2025-10-24T22:34:46.137Z,1761345286.137 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:34:46.137Z,1761345286.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259211
2025-10-24T22:34:46.331Z,1761345286.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651182,-0.757398,-0.048065],[0.752041,0.652492,-0.093207],[0.101957,0.024548,0.994486]]
2025-10-24T22:34:46.357Z,1761345286.357 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.012466 min 
2025-10-24T22:34:46.357Z,1761345286.357 [marl:SendObservationData:E] Stopped
2025-10-24T22:34:46.358Z,1761345286.358 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T22:34:46.358Z,1761345286.358 [marl:SendObservationData] Stopped
2025-10-24T22:34:46.358Z,1761345286.358 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T22:34:46.358Z,1761345286.358 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T22:34:46.389Z,1761345286.389 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:34:46.390Z,1761345286.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512045
2025-10-24T22:34:46.640Z,1761345286.640 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:34:46.641Z,1761345286.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763095
2025-10-24T22:34:46.732Z,1761345286.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640065,-0.766581,-0.051680],[0.760646,0.641720,-0.098048],[0.108326,0.023447,0.993839]]
2025-10-24T22:34:46.893Z,1761345286.893 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:34:46.894Z,1761345286.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015688
2025-10-24T22:34:46.984Z,1761345286.984 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:34:47.134Z,1761345287.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631149,-0.773632,-0.056078],[0.767194,0.633279,-0.101840],[0.114300,0.021253,0.993219]]
2025-10-24T22:34:47.145Z,1761345287.145 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:34:47.145Z,1761345287.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267170
2025-10-24T22:34:47.396Z,1761345287.396 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:34:47.397Z,1761345287.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519058
2025-10-24T22:34:47.538Z,1761345287.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624523,-0.778779,-0.058944],[0.771882,0.626970,-0.105387],[0.119029,0.020318,0.992683]]
2025-10-24T22:34:47.650Z,1761345287.650 [DAT](INFO): DAT read: Rx Time:22:34:46.3036

2025-10-24T22:34:47.650Z,1761345287.650 [DAT](INFO): Rx dataTimestamp_ set to:1761345287.650006
2025-10-24T22:34:47.651Z,1761345287.651 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:34:47.651Z,1761345287.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773415
2025-10-24T22:34:47.900Z,1761345287.900 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:34:47.901Z,1761345287.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023074
2025-10-24T22:34:47.979Z,1761345287.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618989,-0.782915,-0.062427],[0.775746,0.621870,-0.107214],[0.122761,0.017937,0.992274]]
2025-10-24T22:34:47.988Z,1761345287.988 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:34:48.163Z,1761345288.163 [DAT](INFO): DAT read: 22:34:46.3036 LVL= 17632, 15425, 14450, 16883, AGC= 58, IDX=  24, 0.32, 3.039,-1.251,-1.895,-1.829, PHS=-1.313, 0.624,-0.109, RAW= 292.0,   9.5, CAL= 289.5,  11.5, ROT= 220.5, -11.5

2025-10-24T22:34:48.165Z,1761345288.165 [DAT](INFO): got valid direction response:
 22:34:46.3036 LVL= 17632, 15425, 14450, 16883, AGC= 58, IDX=  24, 0.32, 3.039,-1.251,-1.895,-1.829, PHS=-1.313, 0.624,-0.109, RAW= 292.0,   9.5, CAL= 289.5,  11.5, ROT= 220.5, -11.5

2025-10-24T22:34:48.166Z,1761345288.166 [DAT](INFO): DAT read: Bearing 265,  -3 (Remote)

2025-10-24T22:34:48.167Z,1761345288.167 [DAT](INFO): Remote Bearing received:Bearing 265,  -3 (Remote)

2025-10-24T22:34:48.168Z,1761345288.168 [DAT](INFO): DAT read: Bearing  17.2, -45.3 (Local)

2025-10-24T22:34:48.170Z,1761345288.170 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.2, -45.3 (Local)

2025-10-24T22:34:48.175Z,1761345288.175 [DAT](INFO): DAT read: Range 11 to 20 : 167.3 m  (Round-trip  223.1 ms) speed  0.3 m/s

2025-10-24T22:34:48.176Z,1761345288.176 [DAT](INFO): DAT read: user:36>

2025-10-24T22:34:48.177Z,1761345288.177 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:34:48.177Z,1761345288.177 [DAT](INFO): set remote address to 10
2025-10-24T22:34:48.178Z,1761345288.178 [DAT](INFO): entering online mode
2025-10-24T22:34:48.356Z,1761345288.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613887,-0.786741,-0.064665],[0.779362,0.617067,-0.108736],[0.125450,0.016355,0.991965]]
2025-10-24T22:34:48.405Z,1761345288.405 [DAT](INFO): DAT read: user:37>

2025-10-24T22:34:48.405Z,1761345288.405 [DAT](INFO): DAT read: 

2025-10-24T22:34:48.407Z,1761345288.407 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:34:48.407Z,1761345288.407 [DAT](INFO): commRate: 600
2025-10-24T22:34:48.407Z,1761345288.407 [DAT](INFO): online mode acknowledged
2025-10-24T22:34:48.407Z,1761345288.407 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:34:48.409Z,1761345288.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529837
2025-10-24T22:34:48.657Z,1761345288.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779451
2025-10-24T22:34:48.750Z,1761345288.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609298,-0.790171,-0.066223],[0.782797,0.612718,-0.108655],[0.126432,0.014364,0.991871]]
2025-10-24T22:34:48.909Z,1761345288.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030950
2025-10-24T22:34:49.154Z,1761345289.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604614,-0.793755,-0.066300],[0.786469,0.608094,-0.108111],[0.126130,0.013223,0.991926]]
2025-10-24T22:34:49.161Z,1761345289.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283134
2025-10-24T22:34:49.413Z,1761345289.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534972
2025-10-24T22:34:49.566Z,1761345289.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599937,-0.797390,-0.065145],[0.790317,0.603334,-0.106716],[0.124399,0.012538,0.992153]]
2025-10-24T22:34:49.665Z,1761345289.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787331
2025-10-24T22:34:49.920Z,1761345289.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041718
2025-10-24T22:34:49.984Z,1761345289.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594652,-0.801502,-0.063107],[0.794735,0.597870,-0.104636],[0.121596,0.012068,0.992506]]
2025-10-24T22:34:50.169Z,1761345290.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290968
2025-10-24T22:34:50.369Z,1761345290.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588690,-0.806144,-0.059794],[0.799687,0.591585,-0.102604],[0.118087,0.012585,0.992923]]
2025-10-24T22:34:50.421Z,1761345290.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543090
2025-10-24T22:34:50.673Z,1761345290.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795355
2025-10-24T22:34:50.770Z,1761345290.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581416,-0.811621,-0.056796],[0.805557,0.584055,-0.099791],[0.114165,0.012267,0.993386]]
2025-10-24T22:34:50.925Z,1761345290.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047057
2025-10-24T22:34:51.177Z,1761345291.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299055
2025-10-24T22:34:51.178Z,1761345291.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572075,-0.818405,-0.054254],[0.812717,0.574529,-0.096992],[0.110550,0.011393,0.993805]]
2025-10-24T22:34:51.429Z,1761345291.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551042
2025-10-24T22:34:51.587Z,1761345291.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559641,-0.827184,-0.050674],[0.821734,0.561806,-0.095531],[0.107491,0.011823,0.994136]]
2025-10-24T22:34:51.682Z,1761345291.682 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:34:50.9501

2025-10-24T22:34:51.682Z,1761345291.682 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:34:51.682Z,1761345291.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.804659
2025-10-24T22:34:51.936Z,1761345291.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058152
2025-10-24T22:34:51.984Z,1761345291.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544952,-0.837028,-0.049110],[0.831848,0.547067,-0.093524],[0.105149,0.010114,0.994405]]
2025-10-24T22:34:52.185Z,1761345292.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306985
2025-10-24T22:34:52.389Z,1761345292.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529252,-0.847184,-0.046603],[0.842157,0.531209,-0.092672],[0.103266,0.009800,0.994605]]
2025-10-24T22:34:52.437Z,1761345292.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559107
2025-10-24T22:34:52.689Z,1761345292.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810998
2025-10-24T22:34:52.792Z,1761345292.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512637,-0.857432,-0.044874],[0.852613,0.514527,-0.091175],[0.101266,0.008479,0.994823]]
2025-10-24T22:34:52.941Z,1761345292.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062980
2025-10-24T22:34:53.193Z,1761345293.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315019
2025-10-24T22:34:53.196Z,1761345293.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495270,-0.867667,-0.043139],[0.862991,0.497089,-0.090274],[0.099771,0.007481,0.994982]]
2025-10-24T22:34:53.233Z,1761345293.233 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:34:53.233Z,1761345293.233 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:34:53.233Z,1761345293.233 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:34:53.233Z,1761345293.233 [marl:UpdateRudder:A] Stopped
2025-10-24T22:34:53.234Z,1761345293.234 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:34:53.234Z,1761345293.234 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:34:53.234Z,1761345293.234 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:34:53.234Z,1761345293.234 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:34:53.234Z,1761345293.234 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:34:53.234Z,1761345293.234 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:34:53.234Z,1761345293.234 [marl:UpdateCommandMode] Stopped
2025-10-24T22:34:53.234Z,1761345293.234 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:34:53.234Z,1761345293.234 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:34:53.235Z,1761345293.235 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:34:53.235Z,1761345293.235 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:34:53.235Z,1761345293.235 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:34:53.235Z,1761345293.235 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:34:53.235Z,1761345293.235 [marl:UpdateSpeed] Stopped
2025-10-24T22:34:53.235Z,1761345293.235 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:34:53.445Z,1761345293.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567618
2025-10-24T22:34:53.598Z,1761345293.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477578,-0.877626,-0.041122],[0.873128,0.479300,-0.088991],[0.097811,0.006595,0.995183]]
2025-10-24T22:34:53.647Z,1761345293.647 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:34:53.647Z,1761345293.647 [marl:UpdateRudder:B] Stopped
2025-10-24T22:34:53.647Z,1761345293.647 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:34:53.647Z,1761345293.647 [marl:UpdateRudder] Stopped
2025-10-24T22:34:53.648Z,1761345293.648 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:34:53.697Z,1761345293.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819302
2025-10-24T22:34:53.952Z,1761345293.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.073382
2025-10-24T22:34:54.002Z,1761345294.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459448,-0.887319,-0.039655],[0.882991,0.461126,-0.087687],[0.096092,0.005272,0.995359]]
2025-10-24T22:34:54.201Z,1761345294.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322995
2025-10-24T22:34:54.416Z,1761345294.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441354,-0.896551,-0.037461],[0.892323,0.442913,-0.087108],[0.094688,0.005018,0.995494]]
2025-10-24T22:34:54.456Z,1761345294.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578572
2025-10-24T22:34:54.709Z,1761345294.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830932
2025-10-24T22:34:54.810Z,1761345294.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422860,-0.905516,-0.035072],[0.901368,0.424282,-0.086724],[0.093410,0.005059,0.995615]]
2025-10-24T22:34:54.961Z,1761345294.961 [DAT](INFO): Reached modem response timeout
2025-10-24T22:34:55.218Z,1761345295.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404369,-0.914000,-0.032994],[0.909911,0.405683,-0.086501],[0.092447,0.004956,0.995705]]
2025-10-24T22:34:55.618Z,1761345295.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385592,-0.922201,-0.029397],[0.918118,0.386656,-0.086925],[0.091529,0.006528,0.995781]]
2025-10-24T22:34:56.023Z,1761345296.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366491,-0.930047,-0.026412],[0.925994,0.367366,-0.087045],[0.090659,0.007443,0.995854]]
2025-10-24T22:34:56.432Z,1761345296.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348190,-0.937113,-0.024146],[0.933111,0.348941,-0.086857],[0.089820,0.007711,0.995928]]
2025-10-24T22:34:56.830Z,1761345296.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329896,-0.943776,-0.021340],[0.939787,0.330471,-0.087116],[0.089270,0.008684,0.995970]]
2025-10-24T22:34:57.237Z,1761345297.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312222,-0.949799,-0.019971],[0.945872,0.312753,-0.086673],[0.088568,0.008172,0.996037]]
2025-10-24T22:34:57.638Z,1761345297.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295729,-0.955078,-0.019231],[0.951256,0.296270,-0.085652],[0.087502,0.007036,0.996140]]
2025-10-24T22:34:58.053Z,1761345298.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279206,-0.960065,-0.017861],[0.956340,0.279699,-0.084749],[0.086360,0.006581,0.996242]]
2025-10-24T22:34:58.450Z,1761345298.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263210,-0.964589,-0.016975],[0.960993,0.263696,-0.083403],[0.084926,0.005640,0.996371]]
2025-10-24T22:34:58.501Z,1761345298.501 [DAT](INFO): DAT read: Rx Time:22:34:57.1458

2025-10-24T22:34:58.501Z,1761345298.501 [DAT](INFO): Rx dataTimestamp_ set to:1761345298.501063
2025-10-24T22:34:58.851Z,1761345298.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247464,-0.968740,-0.017416],[0.965304,0.248054,-0.081594],[0.083363,0.003380,0.996513]]
2025-10-24T22:34:59.255Z,1761345299.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232697,-0.972378,-0.018269],[0.969124,0.233412,-0.079485],[0.081554,0.000791,0.996669]]
2025-10-24T22:34:59.262Z,1761345299.262 [DAT](INFO): DAT read: 22:34:57.1458 LVL= 26048, 25649, 13746, 24307, AGC= 51, IDX= 378,-0.09,-0.425, 0.311, 1.780, 0.530, PHS=-0.852,-0.173, 1.207, RAW= 228.9,  -2.0, CAL= 226.1,  -2.7, ROT= 283.9,   2.7

2025-10-24T22:34:59.263Z,1761345299.263 [DAT](INFO): got valid direction response:
 22:34:57.1458 LVL= 26048, 25649, 13746, 24307, AGC= 51, IDX= 378,-0.09,-0.425, 0.311, 1.780, 0.530, PHS=-0.852,-0.173, 1.207, RAW= 228.9,  -2.0, CAL= 226.1,  -2.7, ROT= 283.9,   2.7

2025-10-24T22:34:59.264Z,1761345299.264 [DAT](INFO): DAT read: 

2025-10-24T22:34:59.265Z,1761345299.265 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:34:59.265Z,1761345299.265 [DAT](INFO): Got DATA 2
2025-10-24T22:34:59.266Z,1761345299.266 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:34:59.266Z,1761345299.266 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:34:59.267Z,1761345299.267 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:34:59.268Z,1761345299.268 [DAT](INFO): DAT read: CRC:Pass MPD:03.3 PSNR:13.1 AGC:43 SPD:+0.8 CCERR:011

2025-10-24T22:34:59.268Z,1761345299.268 [DAT](INFO): Got CRC:Pass
2025-10-24T22:34:59.268Z,1761345299.268 [DAT](INFO): Got CRC:Pass
2025-10-24T22:34:59.268Z,1761345299.268 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:34:59.268Z,1761345299.268 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:34:59.268Z,1761345299.268 [DAT](INFO): Got ack
2025-10-24T22:34:59.269Z,1761345299.269 [DAT](INFO): DAT read: 

2025-10-24T22:34:59.269Z,1761345299.269 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:34:59.269Z,1761345299.269 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:34:59.270Z,1761345299.270 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-24T22:34:59.271Z,1761345299.271 [DAT](INFO): direction in FSK: [0.239961,-0.969639,-0.047106]
2025-10-24T22:34:59.363Z,1761345299.363 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345280.00. Resetting abort timer.
2025-10-24T22:34:59.509Z,1761345299.509 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:34:59.509Z,1761345299.509 [DAT](INFO): #Outgoing data=12
2025-10-24T22:34:59.509Z,1761345299.509 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:34:59.667Z,1761345299.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216984,-0.975969,-0.020033],[0.972933,0.217889,-0.076983],[0.079498,-0.002787,0.996831]]
2025-10-24T22:34:59.760Z,1761345299.760 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:35:00.063Z,1761345300.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201122,-0.979353,-0.020429],[0.976532,0.202095,-0.074450],[0.077042,-0.004976,0.997015]]
2025-10-24T22:35:00.466Z,1761345300.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186122,-0.982297,-0.021221],[0.979707,0.187180,-0.071674],[0.074378,-0.007450,0.997202]]
2025-10-24T22:35:00.870Z,1761345300.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171452,-0.984902,-0.023904],[0.982579,0.172713,-0.068617],[0.071709,-0.011723,0.997357]]
2025-10-24T22:35:01.277Z,1761345301.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158750,-0.987002,-0.024998],[0.984898,0.160082,-0.065951],[0.069095,-0.014150,0.997510]]
2025-10-24T22:35:01.682Z,1761345301.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146365,-0.988886,-0.026117],[0.987013,0.147753,-0.063036],[0.066194,-0.016552,0.997670]]
2025-10-24T22:35:02.083Z,1761345302.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135062,-0.990490,-0.026222],[0.988833,0.136424,-0.059981],[0.062988,-0.017828,0.997855]]
2025-10-24T22:35:02.486Z,1761345302.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123822,-0.991987,-0.025099],[0.990536,0.125071,-0.056523],[0.059210,-0.017862,0.998086]]
2025-10-24T22:35:02.899Z,1761345302.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112445,-0.993349,-0.024768],[0.992146,0.113614,-0.052334],[0.054800,-0.018689,0.998322]]
2025-10-24T22:35:03.038Z,1761345303.038 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:35:02.3000

2025-10-24T22:35:03.038Z,1761345303.038 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:35:03.298Z,1761345303.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099848,-0.994689,-0.024996],[0.993730,0.100959,-0.048032],[0.050301,-0.020043,0.998533]]
2025-10-24T22:35:03.698Z,1761345303.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086083,-0.995988,-0.024452],[0.995237,0.087093,-0.043796],[0.045750,-0.020566,0.998741]]
2025-10-24T22:35:04.102Z,1761345304.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071155,-0.997200,-0.023016],[0.996612,0.072030,-0.039706],[0.041252,-0.020113,0.998946]]
2025-10-24T22:35:04.519Z,1761345304.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054995,-0.998291,-0.019770],[0.997795,0.055683,-0.036115],[0.037154,-0.017740,0.999152]]
2025-10-24T22:35:04.910Z,1761345304.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037335,-0.999139,-0.018104],[0.998747,0.037913,-0.032681],[0.033339,-0.016861,0.999302]]
2025-10-24T22:35:05.316Z,1761345305.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018829,-0.999696,-0.015909],[0.999373,0.019295,-0.029681],[0.029979,-0.015340,0.999433]]
2025-10-24T22:35:05.718Z,1761345305.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000077,-0.999919,-0.012749],[0.999641,0.000418,-0.026772],[0.026776,-0.012742,0.999560]]
2025-10-24T22:35:06.123Z,1761345306.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018922,-0.999778,-0.009317],[0.999532,-0.018691,-0.024219],[0.024040,-0.009771,0.999663]]
2025-10-24T22:35:06.205Z,1761345306.205 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:35:06.206Z,1761345306.206 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:35:06.206Z,1761345306.206 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:35:06.206Z,1761345306.206 [marl:UpdateRudder:A] Stopped
2025-10-24T22:35:06.206Z,1761345306.206 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:35:06.206Z,1761345306.206 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:35:06.206Z,1761345306.206 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:35:06.207Z,1761345306.207 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:35:06.207Z,1761345306.207 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:35:06.207Z,1761345306.207 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:35:06.207Z,1761345306.207 [marl:UpdateCommandMode] Stopped
2025-10-24T22:35:06.207Z,1761345306.207 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:35:06.207Z,1761345306.207 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:35:06.207Z,1761345306.207 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:35:06.207Z,1761345306.207 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:35:06.208Z,1761345306.208 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:35:06.208Z,1761345306.208 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:35:06.208Z,1761345306.208 [marl:UpdateSpeed] Stopped
2025-10-24T22:35:06.208Z,1761345306.208 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:35:06.538Z,1761345306.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037785,-0.999266,-0.006249],[0.999057,-0.037642,-0.021629],[0.021377,-0.007060,0.999747]]
2025-10-24T22:35:06.562Z,1761345306.562 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:35:06.562Z,1761345306.562 [marl:UpdateRudder:B] Stopped
2025-10-24T22:35:06.563Z,1761345306.563 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:35:06.563Z,1761345306.563 [marl:UpdateRudder] Stopped
2025-10-24T22:35:06.563Z,1761345306.563 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:35:06.930Z,1761345306.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056520,-0.998395,-0.003688],[0.998223,-0.056439,-0.019130],[0.018891,-0.004762,0.999810]]
2025-10-24T22:35:07.336Z,1761345307.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075194,-0.997169,-0.000326],[0.997030,-0.075178,-0.016738],[0.016666,-0.001584,0.999860]]
2025-10-24T22:35:07.738Z,1761345307.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093607,-0.995606,0.002570],[0.995506,-0.093634,-0.014172],[0.014350,0.001232,0.999896]]
2025-10-24T22:35:08.144Z,1761345308.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112119,-0.993690,0.003207],[0.993620,-0.112150,-0.011916],[0.012200,0.001851,0.999924]]
2025-10-24T22:35:08.546Z,1761345308.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129909,-0.991521,0.003112],[0.991477,-0.129933,-0.009523],[0.009846,0.001848,0.999950]]
2025-10-24T22:35:08.951Z,1761345308.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148152,-0.988956,0.004035],[0.988934,-0.148178,-0.007305],[0.007823,0.002908,0.999965]]
2025-10-24T22:35:09.356Z,1761345309.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165050,-0.986275,0.004547],[0.986267,-0.165073,-0.005307],[0.005985,0.003608,0.999976]]
2025-10-24T22:35:09.761Z,1761345309.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181581,-0.983366,0.004532],[0.983368,-0.181596,-0.003186],[0.003956,0.003878,0.999985]]
2025-10-24T22:35:09.846Z,1761345309.846 [DAT](INFO): DAT read: Rx Time:22:35:08.4940

2025-10-24T22:35:09.846Z,1761345309.846 [DAT](INFO): Rx dataTimestamp_ set to:1761345309.846061
2025-10-24T22:35:10.162Z,1761345310.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198174,-0.980162,0.002952],[0.980165,-0.198178,-0.001467],[0.002023,0.002602,0.999995]]
2025-10-24T22:35:10.567Z,1761345310.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214542,-0.976714,0.001464],[0.976715,-0.214542,0.000268],[0.000052,0.001487,0.999999]]
2025-10-24T22:35:10.606Z,1761345310.606 [DAT](INFO): DAT read: 22:35:08.4940 LVL= 32752, 25713, 19170, 31731, AGC= 53, IDX= 424, 0.20, 2.589,-2.303,-1.422,-2.467, PHS=-1.125, 0.208, 1.001, RAW= 248.4,  -0.9, CAL= 244.5,  -2.6, ROT= 265.5,   2.6

2025-10-24T22:35:10.607Z,1761345310.607 [DAT](INFO): got valid direction response:
 22:35:08.4940 LVL= 32752, 25713, 19170, 31731, AGC= 53, IDX= 424, 0.20, 2.589,-2.303,-1.422,-2.467, PHS=-1.125, 0.208, 1.001, RAW= 248.4,  -0.9, CAL= 244.5,  -2.6, ROT= 265.5,   2.6

2025-10-24T22:35:10.607Z,1761345310.607 [DAT](INFO): DAT read: 

2025-10-24T22:35:10.608Z,1761345310.608 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:35:10.608Z,1761345310.608 [DAT](INFO): Got DATA 2
2025-10-24T22:35:10.609Z,1761345310.609 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:35:10.609Z,1761345310.609 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:35:10.610Z,1761345310.610 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:35:10.611Z,1761345310.611 [DAT](INFO): DAT read: CRC:Pass MPD:03.3 PSNR:14.6 AGC:47 SPD:+0.3 CCERR:012

2025-10-24T22:35:10.611Z,1761345310.611 [DAT](INFO): Got CRC:Pass
2025-10-24T22:35:10.611Z,1761345310.611 [DAT](INFO): Got CRC:Pass
2025-10-24T22:35:10.611Z,1761345310.611 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:35:10.611Z,1761345310.611 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:35:10.611Z,1761345310.611 [DAT](INFO): Got ack
2025-10-24T22:35:10.611Z,1761345310.611 [DAT](INFO): DAT read: 

2025-10-24T22:35:10.612Z,1761345310.612 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:35:10.612Z,1761345310.612 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:35:10.613Z,1761345310.613 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-24T22:35:10.614Z,1761345310.614 [DAT](INFO): direction in FSK: [-0.078378,-0.995891,-0.045363]
2025-10-24T22:35:10.647Z,1761345310.647 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345280.00. Resetting abort timer.
2025-10-24T22:35:10.853Z,1761345310.853 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:35:10.853Z,1761345310.853 [DAT](INFO): #Outgoing data=12
2025-10-24T22:35:10.854Z,1761345310.854 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:35:10.970Z,1761345310.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230449,-0.973084,0.000797],[0.973082,-0.230447,0.002231],[-0.001987,0.001289,0.999997]]
2025-10-24T22:35:11.105Z,1761345311.105 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:35:11.374Z,1761345311.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246421,-0.969163,0.000248],[0.969154,-0.246418,0.004360],[-0.004164,0.001315,0.999990]]
2025-10-24T22:35:11.778Z,1761345311.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262214,-0.965009,-0.000610],[0.964987,-0.262213,0.006634],[-0.006562,0.001151,0.999978]]
2025-10-24T22:35:12.184Z,1761345312.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278148,-0.960536,-0.001735],[0.960495,-0.278153,0.008955],[-0.009084,0.000825,0.999958]]
2025-10-24T22:35:12.587Z,1761345312.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294718,-0.955581,-0.002516],[0.955519,-0.294728,0.010931],[-0.011187,0.000817,0.999937]]
2025-10-24T22:35:13.002Z,1761345313.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311113,-0.950363,-0.004366],[0.950280,-0.311144,0.012520],[-0.013257,-0.000254,0.999912]]
2025-10-24T22:35:13.806Z,1761345313.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359659,-0.933064,-0.006063],[0.932929,-0.359710,0.015859],[-0.016978,0.000048,0.999856]]
2025-10-24T22:35:14.209Z,1761345314.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374729,-0.927104,-0.007425],[0.926966,-0.374802,0.016020],[-0.017635,-0.000880,0.999844]]
2025-10-24T22:35:14.381Z,1761345314.381 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:35:13.6500

2025-10-24T22:35:14.381Z,1761345314.381 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:35:14.611Z,1761345314.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389192,-0.921121,-0.008140],[0.920985,-0.389275,0.015865],[-0.017782,-0.001323,0.999841]]
2025-10-24T22:35:15.016Z,1761345315.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402151,-0.915523,-0.009559],[0.915391,-0.402258,0.015762],[-0.018276,-0.002411,0.999830]]
2025-10-24T22:35:15.419Z,1761345315.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414530,-0.909973,-0.010640],[0.909838,-0.414656,0.016006],[-0.018977,-0.003045,0.999815]]
2025-10-24T22:35:15.821Z,1761345315.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427038,-0.904164,-0.011255],[0.904020,-0.427175,0.016399],[-0.019635,-0.003172,0.999802]]
2025-10-24T22:35:16.222Z,1761345316.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439572,-0.898111,-0.013122],[0.897968,-0.439745,0.016678],[-0.020749,-0.004452,0.999775]]
2025-10-24T22:35:16.626Z,1761345316.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452229,-0.891796,-0.013769],[0.891629,-0.452419,0.017763],[-0.022070,-0.004244,0.999747]]
2025-10-24T22:35:17.031Z,1761345317.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465378,-0.885008,-0.013539],[0.884796,-0.465566,0.019591],[-0.023642,-0.002862,0.999716]]
2025-10-24T22:35:17.437Z,1761345317.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478986,-0.877726,-0.013038],[0.877464,-0.479162,0.021474],[-0.025096,-0.001154,0.999684]]
2025-10-24T22:35:17.838Z,1761345317.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493456,-0.869660,-0.013897],[0.869375,-0.493650,0.022296],[-0.026250,-0.001080,0.999655]]
2025-10-24T22:35:18.108Z,1761345318.108 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:35:18.243Z,1761345318.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508674,-0.860849,-0.013787],[0.860529,-0.508861,0.023473],[-0.027222,0.000076,0.999629]]
2025-10-24T22:35:18.655Z,1761345318.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524190,-0.851494,-0.013518],[0.851142,-0.524362,0.024528],[-0.027974,0.001351,0.999608]]
2025-10-24T22:35:19.050Z,1761345319.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539781,-0.841696,-0.013559],[0.841329,-0.539948,0.024939],[-0.028313,0.002054,0.999597]]
2025-10-24T22:35:19.085Z,1761345319.085 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:35:19.085Z,1761345319.085 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:35:19.085Z,1761345319.085 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:35:19.086Z,1761345319.086 [marl:UpdateRudder:A] Stopped
2025-10-24T22:35:19.086Z,1761345319.086 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:35:19.086Z,1761345319.086 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:35:19.086Z,1761345319.086 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:35:19.086Z,1761345319.086 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:35:19.086Z,1761345319.086 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:35:19.086Z,1761345319.086 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:35:19.086Z,1761345319.086 [marl:UpdateCommandMode] Stopped
2025-10-24T22:35:19.086Z,1761345319.086 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:35:19.087Z,1761345319.087 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:35:19.087Z,1761345319.087 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:35:19.087Z,1761345319.087 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:35:19.087Z,1761345319.087 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:35:19.087Z,1761345319.087 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:35:19.087Z,1761345319.087 [marl:UpdateSpeed] Stopped
2025-10-24T22:35:19.087Z,1761345319.087 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:35:19.120Z,1761345319.120 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:35:19.454Z,1761345319.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555565,-0.831350,-0.014311],[0.830981,-0.555746,0.024830],[-0.028595,0.001903,0.999589]]
2025-10-24T22:35:19.512Z,1761345319.512 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:35:19.512Z,1761345319.512 [marl:UpdateRudder:B] Stopped
2025-10-24T22:35:19.513Z,1761345319.513 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:35:19.513Z,1761345319.513 [marl:UpdateRudder] Stopped
2025-10-24T22:35:19.513Z,1761345319.513 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:35:19.858Z,1761345319.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570854,-0.820905,-0.015524],[0.820549,-0.571064,0.024201],[-0.028732,0.001076,0.999587]]
2025-10-24T22:35:20.264Z,1761345320.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584801,-0.811002,-0.016829],[0.810646,-0.585043,0.024040],[-0.029342,0.000417,0.999569]]
2025-10-24T22:35:20.677Z,1761345320.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598738,-0.800750,-0.017657],[0.800390,-0.598999,0.024000],[-0.029795,0.000237,0.999556]]
2025-10-24T22:35:21.071Z,1761345321.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612335,-0.790398,-0.017771],[0.790026,-0.612593,0.024277],[-0.030075,0.000826,0.999547]]
2025-10-24T22:35:21.194Z,1761345321.194 [DAT](INFO): DAT read: Rx Time:22:35:19.8454

2025-10-24T22:35:21.194Z,1761345321.194 [DAT](INFO): Rx dataTimestamp_ set to:1761345321.193902
2025-10-24T22:35:21.482Z,1761345321.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625956,-0.779632,-0.018766],[0.779264,-0.626237,0.023981],[-0.030448,0.000388,0.999536]]
2025-10-24T22:35:21.880Z,1761345321.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639287,-0.768710,-0.019934],[0.768344,-0.639597,0.023718],[-0.030982,-0.000154,0.999520]]
2025-10-24T22:35:21.985Z,1761345321.985 [DAT](INFO): DAT read: 22:35:19.8454 LVL= 29232, 19505, 22306, 31651, AGC= 57, IDX= 455,-0.35,-0.519, 1.398, 0.737, 0.713, PHS=-1.131, 0.730,-0.021, RAW= 293.6,   5.3, CAL= 291.6,   1.6, ROT= 218.4,  -1.6

2025-10-24T22:35:21.986Z,1761345321.986 [DAT](INFO): got valid direction response:
 22:35:19.8454 LVL= 29232, 19505, 22306, 31651, AGC= 57, IDX= 455,-0.35,-0.519, 1.398, 0.737, 0.713, PHS=-1.131, 0.730,-0.021, RAW= 293.6,   5.3, CAL= 291.6,   1.6, ROT= 218.4,  -1.6

2025-10-24T22:35:21.986Z,1761345321.986 [DAT](INFO): DAT read: 

2025-10-24T22:35:21.987Z,1761345321.987 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:35:21.987Z,1761345321.987 [DAT](INFO): Got DATA 2
2025-10-24T22:35:22.000Z,1761345322.000 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:35:22.001Z,1761345322.001 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:35:22.001Z,1761345322.001 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:35:22.003Z,1761345322.003 [DAT](INFO): DAT read: CRC:Pass MPD:03.3 PSNR:14.0 AGC:55 SPD:-0.6 CCERR:011

2025-10-24T22:35:22.003Z,1761345322.003 [DAT](INFO): Got CRC:Pass
2025-10-24T22:35:22.003Z,1761345322.003 [DAT](INFO): Got CRC:Pass
2025-10-24T22:35:22.003Z,1761345322.003 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:35:22.003Z,1761345322.003 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:35:22.003Z,1761345322.003 [DAT](INFO): Got ack
2025-10-24T22:35:22.003Z,1761345322.003 [DAT](INFO): DAT read: 

2025-10-24T22:35:22.009Z,1761345322.009 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:35:22.009Z,1761345322.009 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:35:22.010Z,1761345322.010 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-24T22:35:22.011Z,1761345322.011 [DAT](INFO): direction in FSK: [-0.783388,-0.620906,0.027922]
2025-10-24T22:35:22.201Z,1761345322.201 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:35:22.201Z,1761345322.201 [DAT](INFO): #Outgoing data=12
2025-10-24T22:35:22.201Z,1761345322.201 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:35:22.282Z,1761345322.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651690,-0.758177,-0.021640],[0.757821,-0.652048,0.023249],[-0.031737,-0.001248,0.999496]]
2025-10-24T22:35:22.388Z,1761345322.388 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345280.00. Resetting abort timer.
2025-10-24T22:35:22.454Z,1761345322.454 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:35:22.689Z,1761345322.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663316,-0.748004,-0.022428],[0.747637,-0.663694,0.023443],[-0.032421,-0.001217,0.999474]]
2025-10-24T22:35:23.091Z,1761345323.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675146,-0.737335,-0.022698],[0.736973,-0.675526,0.023146],[-0.032399,-0.001101,0.999474]]
2025-10-24T22:35:23.494Z,1761345323.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686817,-0.726439,-0.023861],[0.726117,-0.687227,0.021752],[-0.032200,-0.002386,0.999479]]
2025-10-24T22:35:23.906Z,1761345323.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698717,-0.714954,-0.025201],[0.714691,-0.699159,0.019831],[-0.031798,-0.004154,0.999486]]
2025-10-24T22:35:24.303Z,1761345324.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710264,-0.703484,-0.025189],[0.703230,-0.710700,0.019328],[-0.031499,-0.003986,0.999496]]
2025-10-24T22:35:24.706Z,1761345324.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721499,-0.691967,-0.024907],[0.691703,-0.721922,0.019380],[-0.031392,-0.003246,0.999502]]
2025-10-24T22:35:25.110Z,1761345325.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732889,-0.679922,-0.024077],[0.679636,-0.733282,0.019798],[-0.031116,-0.001854,0.999514]]
2025-10-24T22:35:25.514Z,1761345325.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744273,-0.667454,-0.023731],[0.667157,-0.744650,0.019927],[-0.030972,-0.001002,0.999520]]
2025-10-24T22:35:25.733Z,1761345325.733 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:35:25.0000

2025-10-24T22:35:25.733Z,1761345325.733 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:35:25.957Z,1761345325.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755850,-0.654302,-0.024074],[0.654002,-0.756233,0.019847],[-0.031192,-0.000743,0.999513]]
2025-10-24T22:35:26.322Z,1761345326.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767347,-0.640796,-0.023656],[0.640472,-0.767711,0.020372],[-0.031215,0.000481,0.999513]]
2025-10-24T22:35:26.726Z,1761345326.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778229,-0.627518,-0.024105],[0.627187,-0.778601,0.020401],[-0.031570,0.000758,0.999501]]
2025-10-24T22:35:27.131Z,1761345327.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788951,-0.613963,-0.024616],[0.613633,-0.789334,0.020167],[-0.031812,0.000806,0.999494]]
2025-10-24T22:35:27.536Z,1761345327.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799603,-0.600010,-0.024970],[0.599689,-0.799992,0.019648],[-0.031765,0.000737,0.999495]]
2025-10-24T22:35:27.973Z,1761345327.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810047,-0.585802,-0.025676],[0.585511,-0.810454,0.018472],[-0.031630,-0.000070,0.999500]]
2025-10-24T22:35:28.343Z,1761345328.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820375,-0.571168,-0.027407],[0.570936,-0.820830,0.016437],[-0.031885,-0.002163,0.999489]]
2025-10-24T22:35:28.746Z,1761345328.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830355,-0.556465,-0.029282],[0.556287,-0.830861,0.014660],[-0.032487,-0.004116,0.999464]]
2025-10-24T22:35:29.152Z,1761345329.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840206,-0.541434,-0.030054],[0.541265,-0.840732,0.014192],[-0.032951,-0.004343,0.999448]]
2025-10-24T22:35:29.554Z,1761345329.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850035,-0.525850,-0.030363],[0.525661,-0.850570,0.014540],[-0.033472,-0.003601,0.999433]]
2025-10-24T22:35:29.978Z,1761345329.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859616,-0.509992,-0.031113],[0.509810,-0.860171,0.014115],[-0.033961,-0.003728,0.999416]]
2025-10-24T22:35:30.362Z,1761345330.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868710,-0.494302,-0.031757],[0.494128,-0.869282,0.013678],[-0.034367,-0.003810,0.999402]]
2025-10-24T22:35:30.773Z,1761345330.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877338,-0.478859,-0.031176],[0.478632,-0.877890,0.014884],[-0.034496,-0.001864,0.999403]]
2025-10-24T22:35:31.172Z,1761345331.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885148,-0.464309,-0.030484],[0.464062,-0.885673,0.015162],[-0.034039,-0.000726,0.999420]]
2025-10-24T22:35:31.983Z,1761345331.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898963,-0.437072,-0.028887],[0.436805,-0.899426,0.015299],[-0.032668,0.001136,0.999466]]
2025-10-24T22:35:32.042Z,1761345332.042 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:35:32.042Z,1761345332.042 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:35:32.043Z,1761345332.043 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:35:32.043Z,1761345332.043 [marl:UpdateRudder:A] Stopped
2025-10-24T22:35:32.043Z,1761345332.043 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:35:32.043Z,1761345332.043 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:35:32.043Z,1761345332.043 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:35:32.043Z,1761345332.043 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:35:32.043Z,1761345332.043 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:35:32.044Z,1761345332.044 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:35:32.044Z,1761345332.044 [marl:UpdateCommandMode] Stopped
2025-10-24T22:35:32.044Z,1761345332.044 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:35:32.044Z,1761345332.044 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:35:32.044Z,1761345332.044 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:35:32.044Z,1761345332.044 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:35:32.045Z,1761345332.045 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:35:32.045Z,1761345332.045 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:35:32.045Z,1761345332.045 [marl:UpdateSpeed] Stopped
2025-10-24T22:35:32.045Z,1761345332.045 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:35:32.385Z,1761345332.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905021,-0.424496,-0.027183],[0.424189,-0.905423,0.016520],[-0.031624,0.003420,0.999494]]
2025-10-24T22:35:32.467Z,1761345332.467 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:35:32.467Z,1761345332.467 [marl:UpdateRudder:B] Stopped
2025-10-24T22:35:32.467Z,1761345332.467 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:35:32.478Z,1761345332.478 [marl:UpdateRudder] Stopped
2025-10-24T22:35:32.478Z,1761345332.478 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:35:32.541Z,1761345332.541 [DAT](INFO): DAT read: Rx Time:22:35:31.1989

2025-10-24T22:35:32.541Z,1761345332.541 [DAT](INFO): Rx dataTimestamp_ set to:1761345332.541018
2025-10-24T22:35:32.786Z,1761345332.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910610,-0.412470,-0.025647],[0.412150,-0.910958,0.016954],[-0.030356,0.004869,0.999527]]
2025-10-24T22:35:33.191Z,1761345333.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915853,-0.400751,-0.024722],[0.400452,-0.916173,0.016273],[-0.029171,0.005004,0.999562]]
2025-10-24T22:35:33.302Z,1761345333.302 [DAT](INFO): DAT read: 22:35:31.1989 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 460,-0.22,-2.773,-0.696,-1.964,-1.896, PHS=-0.775, 1.245,-0.112, RAW= 311.2,  -4.1, CAL= 310.2,  -7.5, ROT= 199.8,   7.5

2025-10-24T22:35:33.303Z,1761345333.303 [DAT](INFO): got valid direction response:
 22:35:31.1989 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 460,-0.22,-2.773,-0.696,-1.964,-1.896, PHS=-0.775, 1.245,-0.112, RAW= 311.2,  -4.1, CAL= 310.2,  -7.5, ROT= 199.8,   7.5

2025-10-24T22:35:33.304Z,1761345333.304 [DAT](INFO): DAT read: 

2025-10-24T22:35:33.305Z,1761345333.305 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:35:33.305Z,1761345333.305 [DAT](INFO): Got DATA 2
2025-10-24T22:35:33.306Z,1761345333.306 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:35:33.306Z,1761345333.306 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:35:33.306Z,1761345333.306 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:35:33.307Z,1761345333.307 [DAT](INFO): DAT read: CRC:Pass MPD:03.4 PSNR:12.6 AGC:67 SPD:-1.1 CCERR:011

2025-10-24T22:35:33.307Z,1761345333.307 [DAT](INFO): Got CRC:Pass
2025-10-24T22:35:33.308Z,1761345333.308 [DAT](INFO): Got CRC:Pass
2025-10-24T22:35:33.308Z,1761345333.308 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:35:33.308Z,1761345333.308 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:35:33.308Z,1761345333.308 [DAT](INFO): Got ack
2025-10-24T22:35:33.308Z,1761345333.308 [DAT](INFO): DAT read: 

2025-10-24T22:35:33.309Z,1761345333.309 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:35:33.309Z,1761345333.309 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:35:33.309Z,1761345333.309 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-10-24T22:35:33.310Z,1761345333.310 [DAT](INFO): direction in FSK: [-0.932831,-0.335840,-0.130526]
2025-10-24T22:35:33.548Z,1761345333.548 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:35:33.594Z,1761345333.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921147,-0.388453,-0.024326],[0.388213,-0.921461,0.014136],[-0.027906,0.003578,0.999604]]
2025-10-24T22:35:33.639Z,1761345333.639 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345280.00. Resetting abort timer.
2025-10-24T22:35:33.801Z,1761345333.801 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:35:33.998Z,1761345333.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926556,-0.375394,-0.023946],[0.375214,-0.926863,0.011807],[-0.026627,0.001955,0.999644]]
2025-10-24T22:35:34.403Z,1761345334.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932295,-0.360909,-0.023882],[0.360815,-0.932601,0.008281],[-0.025261,-0.000897,0.999680]]
2025-10-24T22:35:34.809Z,1761345334.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937961,-0.346002,-0.022626],[0.345942,-0.938232,0.006671],[-0.023536,-0.001570,0.999722]]
2025-10-24T22:35:35.211Z,1761345335.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943664,-0.330255,-0.020717],[0.330214,-0.943890,0.005489],[-0.021368,-0.001661,0.999770]]
2025-10-24T22:35:35.615Z,1761345335.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949282,-0.313869,-0.018684],[0.313865,-0.949462,0.003249],[-0.018760,-0.002780,0.999820]]
2025-10-24T22:35:36.022Z,1761345336.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954781,-0.296812,-0.017218],[0.296869,-0.954918,-0.000778],[-0.016211,-0.005854,0.999851]]
2025-10-24T22:35:36.466Z,1761345336.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959898,-0.279925,-0.015456],[0.280000,-0.959995,-0.002928],[-0.014018,-0.007138,0.999876]]
2025-10-24T22:35:36.826Z,1761345336.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964586,-0.263403,-0.013856],[0.263480,-0.964657,-0.004000],[-0.012313,-0.007509,0.999896]]
2025-10-24T22:35:37.085Z,1761345337.085 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:35:36.3499

2025-10-24T22:35:37.085Z,1761345337.085 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:35:37.230Z,1761345337.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968966,-0.246861,-0.012795],[0.246946,-0.969013,-0.005539],[-0.011031,-0.008526,0.999903]]
2025-10-24T22:35:37.634Z,1761345337.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973145,-0.229882,-0.011941],[0.229978,-0.973168,-0.007390],[-0.009921,-0.009938,0.999901]]
2025-10-24T22:35:38.051Z,1761345338.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977079,-0.212570,-0.011389],[0.212671,-0.977087,-0.008520],[-0.009317,-0.010746,0.999899]]
2025-10-24T22:35:38.442Z,1761345338.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980713,-0.195158,-0.010765],[0.195246,-0.980723,-0.007860],[-0.009023,-0.009811,0.999911]]
2025-10-24T22:35:38.847Z,1761345338.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984093,-0.177348,-0.010393],[0.177441,-0.984092,-0.008815],[-0.008665,-0.010519,0.999907]]
2025-10-24T22:35:39.250Z,1761345339.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987155,-0.159437,-0.010236],[0.159535,-0.987145,-0.009671],[-0.008563,-0.011180,0.999901]]
2025-10-24T22:35:39.662Z,1761345339.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989950,-0.141067,-0.009973],[0.141178,-0.989918,-0.011490],[-0.008252,-0.012783,0.999884]]
2025-10-24T22:35:40.059Z,1761345340.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992429,-0.122464,-0.009347],[0.122578,-0.992375,-0.012896],[-0.007696,-0.013945,0.999873]]
2025-10-24T22:35:40.463Z,1761345340.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994592,-0.103531,-0.008301],[0.103640,-0.994516,-0.014052],[-0.006800,-0.014836,0.999867]]
2025-10-24T22:35:40.868Z,1761345340.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996368,-0.084870,-0.006878],[0.084961,-0.996283,-0.014237],[-0.005644,-0.014770,0.999875]]
2025-10-24T22:35:41.271Z,1761345341.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997748,-0.066861,-0.005357],[0.066932,-0.997653,-0.014430],[-0.004379,-0.014756,0.999882]]
2025-10-24T22:35:42.078Z,1761345342.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999581,-0.028883,-0.001692],[0.028911,-0.999399,-0.019145],[-0.001138,-0.019186,0.999815]]
2025-10-24T22:35:42.482Z,1761345342.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999954,-0.009639,-0.000048],[0.009638,-0.999736,-0.020843],[0.000153,-0.020842,0.999783]]
2025-10-24T22:35:42.585Z,1761345342.585 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:35:42.585Z,1761345342.585 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:35:42.894Z,1761345342.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999948,0.010059,0.001415],[-0.010089,-0.999684,-0.023008],[0.001183,-0.023021,0.999734]]
2025-10-24T22:35:43.293Z,1761345343.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999566,0.029318,0.002981],[-0.029385,-0.999236,-0.025782],[0.002223,-0.025858,0.999663]]
2025-10-24T22:35:43.695Z,1761345343.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998853,0.047692,0.004198],[-0.047784,-0.998523,-0.025854],[0.002959,-0.026025,0.999657]]
2025-10-24T22:35:44.098Z,1761345344.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997861,0.065131,0.005614],[-0.065256,-0.997524,-0.026213],[0.003893,-0.026524,0.999641]]
2025-10-24T22:35:44.151Z,1761345344.151 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:35:44.393Z,1761345344.393 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:35:44.444Z,1761345344.444 [DAT](INFO): entering command mode
2025-10-24T22:35:44.502Z,1761345344.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996599,0.082138,0.006687],[-0.082284,-0.996278,-0.025676],[0.004553,-0.026139,0.999648]]
2025-10-24T22:35:44.645Z,1761345344.645 [DAT](INFO): DAT read: 

2025-10-24T22:35:44.646Z,1761345344.646 [DAT](INFO): DAT read: user:38>

2025-10-24T22:35:44.647Z,1761345344.647 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:35:44.647Z,1761345344.647 [DAT](INFO): setting remote address to 0
2025-10-24T22:35:44.897Z,1761345344.897 [DAT](INFO): DAT read: user:38>

2025-10-24T22:35:44.899Z,1761345344.899 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:35:44.899Z,1761345344.899 [DAT](INFO): set remote address to 0
2025-10-24T22:35:44.900Z,1761345344.900 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:35:44.900Z,1761345344.900 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:35:44.923Z,1761345344.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995170,0.097891,0.007415],[-0.098042,-0.994895,-0.023919],[0.005036,-0.024530,0.999686]]
2025-10-24T22:35:44.980Z,1761345344.980 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:35:44.980Z,1761345344.980 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:35:44.980Z,1761345344.980 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:35:44.980Z,1761345344.980 [marl:UpdateRudder:A] Stopped
2025-10-24T22:35:44.981Z,1761345344.981 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:35:44.981Z,1761345344.981 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:35:44.981Z,1761345344.981 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:35:44.981Z,1761345344.981 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:35:44.981Z,1761345344.981 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:35:44.981Z,1761345344.981 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:35:44.981Z,1761345344.981 [marl:UpdateCommandMode] Stopped
2025-10-24T22:35:44.981Z,1761345344.981 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:35:44.982Z,1761345344.982 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:35:44.982Z,1761345344.982 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:35:44.982Z,1761345344.982 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:35:44.982Z,1761345344.982 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:35:44.982Z,1761345344.982 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:35:44.982Z,1761345344.982 [marl:UpdateSpeed] Stopped
2025-10-24T22:35:44.982Z,1761345344.982 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:35:45.149Z,1761345345.149 [DAT](INFO): DAT read: user:39>

2025-10-24T22:35:45.149Z,1761345345.149 [DAT](INFO): DAT read: Tx time:22:35:44.3510

2025-10-24T22:35:45.150Z,1761345345.150 [DAT](INFO): Ping request sent.
2025-10-24T22:35:45.150Z,1761345345.150 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:35:45.150Z,1761345345.150 [DAT](INFO): publishing transmit ping time
2025-10-24T22:35:45.151Z,1761345345.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000963
2025-10-24T22:35:45.311Z,1761345345.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993609,0.112569,0.008387],[-0.112747,-0.993304,-0.025193],[0.005495,-0.025977,0.999647]]
2025-10-24T22:35:45.358Z,1761345345.358 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:35:45.358Z,1761345345.358 [marl:UpdateRudder:B] Stopped
2025-10-24T22:35:45.358Z,1761345345.358 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:35:45.359Z,1761345345.359 [marl:UpdateRudder] Stopped
2025-10-24T22:35:45.359Z,1761345345.359 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:35:45.402Z,1761345345.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251678
2025-10-24T22:35:45.653Z,1761345345.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503413
2025-10-24T22:35:45.714Z,1761345345.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991865,0.126977,0.009033],[-0.127164,-0.991581,-0.024439],[0.005854,-0.025389,0.999661]]
2025-10-24T22:35:45.907Z,1761345345.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757057
2025-10-24T22:35:46.118Z,1761345346.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990045,0.140414,0.009779],[-0.140614,-0.989769,-0.024175],[0.006284,-0.025309,0.999660]]
2025-10-24T22:35:46.157Z,1761345346.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007008
2025-10-24T22:35:46.409Z,1761345346.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258922
2025-10-24T22:35:46.525Z,1761345346.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987987,0.154168,0.010660],[-0.154390,-0.987703,-0.024629],[0.006732,-0.025979,0.999640]]
2025-10-24T22:35:46.661Z,1761345346.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511308
2025-10-24T22:35:46.913Z,1761345346.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762823
2025-10-24T22:35:46.929Z,1761345346.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985705,0.168111,0.011131],[-0.168337,-0.985434,-0.024126],[0.006913,-0.025655,0.999647]]
2025-10-24T22:35:47.165Z,1761345347.165 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:35:47.165Z,1761345347.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015058
2025-10-24T22:35:47.331Z,1761345347.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983252,0.181893,0.011427],[-0.182121,-0.982988,-0.023802],[0.006903,-0.025485,0.999651]]
2025-10-24T22:35:47.417Z,1761345347.417 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:35:47.417Z,1761345347.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267100
2025-10-24T22:35:47.669Z,1761345347.669 [DAT](INFO): setting remote address to 10
2025-10-24T22:35:47.670Z,1761345347.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519597
2025-10-24T22:35:47.735Z,1761345347.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980567,0.195838,0.011644],[-0.196071,-0.980291,-0.024201],[0.006675,-0.026014,0.999639]]
2025-10-24T22:35:47.928Z,1761345347.928 [DAT](INFO): DAT read: Rx Time:22:35:46.6320

2025-10-24T22:35:47.930Z,1761345347.930 [DAT](INFO): Rx dataTimestamp_ set to:1761345347.929200
2025-10-24T22:35:47.931Z,1761345347.931 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:35:47.933Z,1761345347.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782228
2025-10-24T22:35:48.140Z,1761345348.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977720,0.209563,0.012104],[-0.209808,-0.977425,-0.024934],[0.006606,-0.026918,0.999616]]
2025-10-24T22:35:48.177Z,1761345348.177 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:35:48.177Z,1761345348.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027118
2025-10-24T22:35:48.435Z,1761345348.435 [DAT](INFO): DAT read: 22:35:46.6320 LVL= 14288, 14993, 20594, 21075, AGC= 55, IDX= 209,-0.49, 1.511, 0.701,-0.191, 0.910, PHS= 0.702,-0.164,-1.145, RAW=  57.9,   7.6, CAL=  56.2,   8.2, ROT=  93.8,  -8.2

2025-10-24T22:35:48.436Z,1761345348.436 [DAT](INFO): got valid direction response:
 22:35:46.6320 LVL= 14288, 14993, 20594, 21075, AGC= 55, IDX= 209,-0.49, 1.511, 0.701,-0.191, 0.910, PHS= 0.702,-0.164,-1.145, RAW=  57.9,   7.6, CAL=  56.2,   8.2, ROT=  93.8,  -8.2

2025-10-24T22:35:48.437Z,1761345348.437 [DAT](INFO): DAT read: Bearing 278,  -5 (Remote)

2025-10-24T22:35:48.438Z,1761345348.438 [DAT](INFO): Remote Bearing received:Bearing 278,  -5 (Remote)

2025-10-24T22:35:48.438Z,1761345348.438 [DAT](INFO): DAT read: Bearing 108.0,  79.1 (Local)

2025-10-24T22:35:48.439Z,1761345348.439 [DAT](INFO): Local bearing/azimuth received:
 Bearing 108.0,  79.1 (Local)

2025-10-24T22:35:48.441Z,1761345348.441 [DAT](INFO): DAT read: Range 11 to 20 : 188.9 m  (Round-trip  251.9 ms) speed -0.1 m/s

2025-10-24T22:35:48.441Z,1761345348.441 [DAT](INFO): DAT read: user:40>

2025-10-24T22:35:48.442Z,1761345348.442 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:35:48.443Z,1761345348.443 [DAT](INFO): set remote address to 10
2025-10-24T22:35:48.443Z,1761345348.443 [DAT](INFO): entering online mode
2025-10-24T22:35:48.543Z,1761345348.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974639,0.223440,0.012413],[-0.223693,-0.974328,-0.025424],[0.006414,-0.027556,0.999600]]
2025-10-24T22:35:48.681Z,1761345348.681 [DAT](INFO): DAT read: user:41>

2025-10-24T22:35:48.682Z,1761345348.682 [DAT](INFO): DAT read: 

2025-10-24T22:35:48.683Z,1761345348.683 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:35:48.683Z,1761345348.683 [DAT](INFO): commRate: 600
2025-10-24T22:35:48.683Z,1761345348.683 [DAT](INFO): online mode acknowledged
2025-10-24T22:35:48.684Z,1761345348.684 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:35:48.684Z,1761345348.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534289
2025-10-24T22:35:48.933Z,1761345348.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782880
2025-10-24T22:35:48.948Z,1761345348.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971141,0.238182,0.012462],[-0.238438,-0.970796,-0.026518],[0.005781,-0.028724,0.999571]]
2025-10-24T22:35:49.185Z,1761345349.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034799
2025-10-24T22:35:49.240Z,1761345349.240 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:35:49.351Z,1761345349.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967592,0.252207,0.012544],[-0.252462,-0.967237,-0.026768],[0.005382,-0.029067,0.999563]]
2025-10-24T22:35:49.441Z,1761345349.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290612
2025-10-24T22:35:49.689Z,1761345349.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538908
2025-10-24T22:35:49.756Z,1761345349.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963727,0.266575,0.012988],[-0.266842,-0.963340,-0.027758],[0.005112,-0.030217,0.999530]]
2025-10-24T22:35:49.944Z,1761345349.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.793609
2025-10-24T22:35:50.159Z,1761345350.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959008,0.283036,0.013917],[-0.283339,-0.958532,-0.030574],[0.004687,-0.033264,0.999436]]
2025-10-24T22:35:50.193Z,1761345350.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042926
2025-10-24T22:35:50.244Z,1761345350.244 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:35:50.445Z,1761345350.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294915
2025-10-24T22:35:50.562Z,1761345350.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954011,0.299404,0.014879],[-0.299743,-0.953446,-0.033105],[0.004275,-0.036042,0.999341]]
2025-10-24T22:35:50.697Z,1761345350.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546812
2025-10-24T22:35:50.949Z,1761345350.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798877
2025-10-24T22:35:50.971Z,1761345350.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948387,0.316698,0.016273],[-0.317093,-0.947683,-0.036716],[0.003793,-0.039981,0.999193]]
2025-10-24T22:35:51.201Z,1761345351.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050929
2025-10-24T22:35:51.383Z,1761345351.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942349,0.334203,0.016928],[-0.334616,-0.941585,-0.038083],[0.003212,-0.041552,0.999131]]
2025-10-24T22:35:51.453Z,1761345351.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302939
2025-10-24T22:35:51.705Z,1761345351.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555492
2025-10-24T22:35:51.961Z,1761345351.961 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:35:51.1998

2025-10-24T22:35:51.962Z,1761345351.962 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:35:51.964Z,1761345351.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.813552
2025-10-24T22:35:52.178Z,1761345352.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928436,0.370979,0.019509],[-0.371486,-0.927446,-0.042929],[0.002168,-0.047104,0.998888]]
2025-10-24T22:35:52.209Z,1761345352.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058878
2025-10-24T22:35:52.461Z,1761345352.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310912
2025-10-24T22:35:52.584Z,1761345352.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921047,0.388922,0.020323],[-0.389448,-0.920018,-0.043540],[0.001763,-0.048017,0.998845]]
2025-10-24T22:35:52.713Z,1761345352.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562945
2025-10-24T22:35:52.965Z,1761345352.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814864
2025-10-24T22:35:52.986Z,1761345352.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912809,0.407846,0.021015],[-0.408386,-0.911713,-0.044730],[0.000917,-0.049412,0.998778]]
2025-10-24T22:35:53.217Z,1761345353.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066892
2025-10-24T22:35:53.396Z,1761345353.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903997,0.426992,0.021593],[-0.427538,-0.902897,-0.044585],[0.000459,-0.049537,0.998772]]
2025-10-24T22:35:53.469Z,1761345353.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319489
2025-10-24T22:35:53.721Z,1761345353.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571238
2025-10-24T22:35:53.795Z,1761345353.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894660,0.446201,0.022085],[-0.446747,-0.893600,-0.043537],[0.000309,-0.048817,0.998808]]
2025-10-24T22:35:53.973Z,1761345353.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822955
2025-10-24T22:35:54.198Z,1761345354.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884907,0.465245,0.022058],[-0.465767,-0.883896,-0.042293],[-0.000180,-0.047699,0.998862]]
2025-10-24T22:35:54.225Z,1761345354.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074985
2025-10-24T22:35:54.477Z,1761345354.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326895
2025-10-24T22:35:54.603Z,1761345354.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874761,0.484082,0.021409],[-0.484554,-0.873810,-0.040789],[-0.001038,-0.046054,0.998938]]
2025-10-24T22:35:54.729Z,1761345354.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579282
2025-10-24T22:35:54.981Z,1761345354.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830923
2025-10-24T22:35:55.007Z,1761345355.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864550,0.502133,0.020375],[-0.502544,-0.863706,-0.038236],[-0.001602,-0.043296,0.999061]]
2025-10-24T22:35:55.232Z,1761345355.232 [DAT](INFO): Reached modem response timeout
2025-10-24T22:35:55.417Z,1761345355.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854637,0.518885,0.018805],[-0.519222,-0.853925,-0.034952],[-0.002078,-0.039635,0.999212]]
2025-10-24T22:35:55.814Z,1761345355.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844514,0.535240,0.017723],[-0.535527,-0.843891,-0.032523],[-0.002451,-0.036957,0.999314]]
2025-10-24T22:35:56.218Z,1761345356.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834938,0.550089,0.016739],[-0.550337,-0.834388,-0.030430],[-0.002772,-0.034619,0.999397]]
2025-10-24T22:35:57.028Z,1761345357.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816403,0.577221,0.017388],[-0.577476,-0.815882,-0.029292],[-0.002721,-0.033955,0.999420]]
2025-10-24T22:35:57.434Z,1761345357.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807695,0.589322,0.018127],[-0.589596,-0.807189,-0.028684],[-0.002273,-0.033856,0.999424]]
2025-10-24T22:35:57.836Z,1761345357.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799551,0.600320,0.018275],[-0.600596,-0.799083,-0.027405],[-0.001848,-0.032887,0.999457]]
2025-10-24T22:35:57.892Z,1761345357.892 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:35:57.892Z,1761345357.892 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:35:57.892Z,1761345357.892 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:35:57.892Z,1761345357.892 [marl:UpdateRudder:A] Stopped
2025-10-24T22:35:57.893Z,1761345357.893 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:35:57.893Z,1761345357.893 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:35:57.893Z,1761345357.893 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:35:57.893Z,1761345357.893 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:35:57.893Z,1761345357.893 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:35:57.893Z,1761345357.893 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:35:57.893Z,1761345357.893 [marl:UpdateCommandMode] Stopped
2025-10-24T22:35:57.893Z,1761345357.893 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:35:57.893Z,1761345357.893 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:35:57.894Z,1761345357.894 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:35:57.894Z,1761345357.894 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:35:57.894Z,1761345357.894 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:35:57.894Z,1761345357.894 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:35:57.894Z,1761345357.894 [marl:UpdateSpeed] Stopped
2025-10-24T22:35:57.894Z,1761345357.894 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:35:58.239Z,1761345358.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791770,0.610504,0.019606],[-0.610817,-0.791279,-0.027917],[-0.001529,-0.034080,0.999418]]
2025-10-24T22:35:58.307Z,1761345358.307 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:35:58.308Z,1761345358.308 [marl:UpdateRudder:B] Stopped
2025-10-24T22:35:58.308Z,1761345358.308 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:35:58.308Z,1761345358.308 [marl:UpdateRudder] Stopped
2025-10-24T22:35:58.308Z,1761345358.308 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:35:58.655Z,1761345358.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776207,0.630064,0.022848],[-0.630478,-0.775671,-0.028836],[-0.000446,-0.036788,0.999323]]
2025-10-24T22:35:58.761Z,1761345358.761 [DAT](INFO): DAT read: Rx Time:22:35:57.4585

2025-10-24T22:35:58.761Z,1761345358.761 [DAT](INFO): Rx dataTimestamp_ set to:1761345358.761060
2025-10-24T22:35:59.522Z,1761345359.522 [DAT](INFO): DAT read: 22:35:57.4585 LVL= 25616, 21057, 32754, 32755, AGC= 63, IDX= 208, 0.22,-1.534,-0.450,-2.287,-1.172, PHS=-0.260, 0.767,-1.159, RAW= 357.8,   7.9, CAL= 357.9,   7.7, ROT= 152.1,  -7.7

2025-10-24T22:35:59.523Z,1761345359.523 [DAT](INFO): got valid direction response:
 22:35:57.4585 LVL= 25616, 21057, 32754, 32755, AGC= 63, IDX= 208, 0.22,-1.534,-0.450,-2.287,-1.172, PHS=-0.260, 0.767,-1.159, RAW= 357.8,   7.9, CAL= 357.9,   7.7, ROT= 152.1,  -7.7

2025-10-24T22:35:59.532Z,1761345359.532 [DAT](INFO): DAT read: 

2025-10-24T22:35:59.533Z,1761345359.533 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:35:59.533Z,1761345359.533 [DAT](INFO): Got DATA 2
2025-10-24T22:35:59.534Z,1761345359.534 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:35:59.534Z,1761345359.534 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:35:59.534Z,1761345359.534 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:35:59.535Z,1761345359.535 [DAT](INFO): DAT read: CRC:Pass MPD:03.4 PSNR:14.1 AGC:59 SPD:-0.9 CCERR:011

2025-10-24T22:35:59.535Z,1761345359.535 [DAT](INFO): Got CRC:Pass
2025-10-24T22:35:59.544Z,1761345359.544 [DAT](INFO): Got CRC:Pass
2025-10-24T22:35:59.545Z,1761345359.545 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:35:59.545Z,1761345359.545 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:35:59.546Z,1761345359.546 [DAT](INFO): Got ack
2025-10-24T22:35:59.546Z,1761345359.546 [DAT](INFO): DAT read: 

2025-10-24T22:35:59.546Z,1761345359.546 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:35:59.547Z,1761345359.547 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:35:59.547Z,1761345359.547 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-24T22:35:59.552Z,1761345359.552 [DAT](INFO): direction in FSK: [-0.875797,0.463710,0.133986]
2025-10-24T22:35:59.602Z,1761345359.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758289,0.651405,0.025867],[-0.651918,-0.757690,-0.030155],[-0.000044,-0.039730,0.999210]]
2025-10-24T22:35:59.732Z,1761345359.732 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345408.00. Resetting abort timer.
2025-10-24T22:35:59.769Z,1761345359.769 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:35:59.865Z,1761345359.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748314,0.662781,0.027341],[-0.663344,-0.747675,-0.030929],[-0.000057,-0.041281,0.999148]]
2025-10-24T22:36:00.022Z,1761345360.022 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:36:00.674Z,1761345360.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726501,0.686550,0.029093],[-0.687165,-0.725790,-0.032130],[-0.000943,-0.043334,0.999060]]
2025-10-24T22:36:01.069Z,1761345361.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715219,0.698241,0.030349],[-0.698899,-0.714447,-0.033250],[-0.001534,-0.044992,0.998986]]
2025-10-24T22:36:01.879Z,1761345361.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693098,0.720218,0.030029],[-0.720837,-0.692315,-0.033079],[-0.003034,-0.044573,0.999002]]
2025-10-24T22:36:02.282Z,1761345362.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682027,0.730729,0.029570],[-0.731315,-0.681224,-0.033355],[-0.004229,-0.044374,0.999006]]
2025-10-24T22:36:02.689Z,1761345362.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670692,0.741168,0.029017],[-0.741719,-0.669902,-0.032930],[-0.004968,-0.043608,0.999036]]
2025-10-24T22:36:03.090Z,1761345363.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659007,0.751604,0.028289],[-0.752115,-0.658242,-0.032254],[-0.005621,-0.042532,0.999079]]
2025-10-24T22:36:03.297Z,1761345363.297 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:36:02.5497

2025-10-24T22:36:03.297Z,1761345363.297 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:36:03.502Z,1761345363.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646644,0.762249,0.028790],[-0.762769,-0.645867,-0.032243],[-0.005983,-0.042810,0.999065]]
2025-10-24T22:36:03.911Z,1761345363.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633257,0.773356,0.030119],[-0.773916,-0.632440,-0.032765],[-0.006290,-0.044058,0.999009]]
2025-10-24T22:36:04.303Z,1761345364.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617965,0.785583,0.031282],[-0.786176,-0.617102,-0.033358],[-0.006901,-0.045208,0.998954]]
2025-10-24T22:36:04.706Z,1761345364.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601416,0.798216,0.033914],[-0.798902,-0.600459,-0.034693],[-0.007329,-0.047958,0.998822]]
2025-10-24T22:36:05.111Z,1761345365.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583403,0.811347,0.036844],[-0.812148,-0.582357,-0.035709],[-0.007516,-0.050755,0.998683]]
2025-10-24T22:36:05.522Z,1761345365.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564410,0.824615,0.038090],[-0.825459,-0.563356,-0.035334],[-0.007679,-0.051385,0.998649]]
2025-10-24T22:36:05.958Z,1761345365.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544777,0.837731,0.037731],[-0.838542,-0.543769,-0.034096],[-0.008046,-0.050213,0.998706]]
2025-10-24T22:36:06.333Z,1761345366.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524918,0.850352,0.036903],[-0.851113,-0.523984,-0.032355],[-0.008176,-0.048392,0.998795]]
2025-10-24T22:36:06.727Z,1761345366.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505154,0.862322,0.034938],[-0.862990,-0.504330,-0.030006],[-0.008254,-0.045309,0.998939]]
2025-10-24T22:36:07.132Z,1761345367.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485582,0.873513,0.034417],[-0.874155,-0.484829,-0.028169],[-0.007920,-0.043764,0.999011]]
2025-10-24T22:36:07.534Z,1761345367.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466992,0.883665,0.032490],[-0.884231,-0.466354,-0.025482],[-0.007366,-0.040629,0.999147]]
2025-10-24T22:36:07.972Z,1761345367.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449099,0.893032,0.028358],[-0.893454,-0.448609,-0.022121],[-0.007033,-0.035271,0.999353]]
2025-10-24T22:36:08.346Z,1761345368.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433077,0.900998,0.025452],[-0.901332,-0.432683,-0.019657],[-0.006699,-0.031454,0.999483]]
2025-10-24T22:36:08.748Z,1761345368.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418965,0.907691,0.023791],[-0.907980,-0.418626,-0.018039],[-0.006415,-0.029160,0.999554]]
2025-10-24T22:36:09.150Z,1761345369.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406101,0.913581,0.021247],[-0.913805,-0.405818,-0.016468],[-0.006422,-0.026103,0.999639]]
2025-10-24T22:36:09.554Z,1761345369.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394637,0.918633,0.019373],[-0.918811,-0.394380,-0.015830],[-0.006902,-0.024048,0.999687]]
2025-10-24T22:36:09.976Z,1761345369.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384341,0.923016,0.017992],[-0.923161,-0.384096,-0.015652],[-0.007536,-0.022626,0.999716]]
2025-10-24T22:36:10.117Z,1761345370.117 [DAT](INFO): DAT read: Rx Time:22:36:08.7604

2025-10-24T22:36:10.118Z,1761345370.118 [DAT](INFO): Rx dataTimestamp_ set to:1761345370.117309
2025-10-24T22:36:10.364Z,1761345370.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374908,0.926901,0.017290],[-0.927027,-0.374665,-0.015744],[-0.008115,-0.021931,0.999727]]
2025-10-24T22:36:10.766Z,1761345370.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365973,0.930434,0.018888],[-0.930591,-0.365710,-0.016001],[-0.007981,-0.023433,0.999694]]
2025-10-24T22:36:10.813Z,1761345370.813 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:36:10.813Z,1761345370.813 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:36:10.813Z,1761345370.813 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:36:10.814Z,1761345370.814 [marl:UpdateRudder:A] Stopped
2025-10-24T22:36:10.814Z,1761345370.814 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:36:10.814Z,1761345370.814 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:36:10.814Z,1761345370.814 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:36:10.814Z,1761345370.814 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:36:10.815Z,1761345370.815 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:36:10.815Z,1761345370.815 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:36:10.815Z,1761345370.815 [marl:UpdateCommandMode] Stopped
2025-10-24T22:36:10.815Z,1761345370.815 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:36:10.816Z,1761345370.816 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:36:10.816Z,1761345370.816 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:36:10.816Z,1761345370.816 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:36:10.816Z,1761345370.816 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:36:10.816Z,1761345370.816 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:36:10.817Z,1761345370.817 [marl:UpdateSpeed] Stopped
2025-10-24T22:36:10.817Z,1761345370.817 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:36:10.879Z,1761345370.879 [DAT](INFO): DAT read: 22:36:08.7604 LVL= 25680, 23009, 31650, 28659, AGC= 56, IDX= 452, 0.21,-1.292,-1.526,-2.901,-1.599, PHS= 0.410, 0.118,-1.346, RAW=  38.9,  10.1, CAL=  37.0,  10.7, ROT= 113.0, -10.7

2025-10-24T22:36:10.880Z,1761345370.880 [DAT](INFO): got valid direction response:
 22:36:08.7604 LVL= 25680, 23009, 31650, 28659, AGC= 56, IDX= 452, 0.21,-1.292,-1.526,-2.901,-1.599, PHS= 0.410, 0.118,-1.346, RAW=  38.9,  10.1, CAL=  37.0,  10.7, ROT= 113.0, -10.7

2025-10-24T22:36:10.880Z,1761345370.880 [DAT](INFO): DAT read: 

2025-10-24T22:36:10.881Z,1761345370.881 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:36:10.881Z,1761345370.881 [DAT](INFO): Got DATA 2
2025-10-24T22:36:10.882Z,1761345370.882 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:36:10.882Z,1761345370.882 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:36:10.882Z,1761345370.882 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:36:10.884Z,1761345370.884 [DAT](INFO): DAT read: CRC:Pass MPD:03.6 PSNR:14.4 AGC:58 SPD:-0.1 CCERR:011

2025-10-24T22:36:10.884Z,1761345370.884 [DAT](INFO): Got CRC:Pass
2025-10-24T22:36:10.884Z,1761345370.884 [DAT](INFO): Got CRC:Pass
2025-10-24T22:36:10.884Z,1761345370.884 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:36:10.884Z,1761345370.884 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:36:10.884Z,1761345370.884 [DAT](INFO): Got ack
2025-10-24T22:36:10.885Z,1761345370.885 [DAT](INFO): DAT read: 

2025-10-24T22:36:10.885Z,1761345370.885 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:36:10.885Z,1761345370.885 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:36:10.886Z,1761345370.886 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-24T22:36:10.886Z,1761345370.886 [DAT](INFO): direction in FSK: [-0.383937,0.904500,0.185667]
2025-10-24T22:36:11.124Z,1761345371.124 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:36:11.170Z,1761345371.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356737,0.933968,0.021045],[-0.934179,-0.356469,-0.015481],[-0.006957,-0.025182,0.999659]]
2025-10-24T22:36:11.214Z,1761345371.214 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:36:11.214Z,1761345371.214 [marl:UpdateRudder:B] Stopped
2025-10-24T22:36:11.214Z,1761345371.214 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:36:11.214Z,1761345371.214 [marl:UpdateRudder] Stopped
2025-10-24T22:36:11.214Z,1761345371.214 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:36:11.216Z,1761345371.216 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345408.00. Resetting abort timer.
2025-10-24T22:36:11.377Z,1761345371.377 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:36:11.575Z,1761345371.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346240,0.937849,0.023578],[-0.938129,-0.345976,-0.014616],[-0.005550,-0.027180,0.999615]]
2025-10-24T22:36:11.983Z,1761345371.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333553,0.942364,0.026308],[-0.942722,-0.333295,-0.013789],[-0.004226,-0.029401,0.999559]]
2025-10-24T22:36:12.383Z,1761345372.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318527,0.947446,0.029762],[-0.947908,-0.318262,-0.013392],[-0.003216,-0.032478,0.999467]]
2025-10-24T22:36:12.787Z,1761345372.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301794,0.952783,0.033529],[-0.953370,-0.301519,-0.013088],[-0.002361,-0.035916,0.999352]]
2025-10-24T22:36:13.195Z,1761345373.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283358,0.958354,0.035564],[-0.959012,-0.283082,-0.012683],[-0.002088,-0.037700,0.999287]]
2025-10-24T22:36:13.594Z,1761345373.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265189,0.963532,0.035797],[-0.964195,-0.264944,-0.011491],[-0.001588,-0.037562,0.999293]]
2025-10-24T22:36:14.000Z,1761345374.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246731,0.968389,0.036692],[-0.969083,-0.246497,-0.010852],[-0.001465,-0.038235,0.999268]]
2025-10-24T22:36:14.408Z,1761345374.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228033,0.972944,0.037163],[-0.973652,-0.227808,-0.010229],[-0.001486,-0.038516,0.999257]]
2025-10-24T22:36:14.654Z,1761345374.654 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:36:13.8997

2025-10-24T22:36:14.654Z,1761345374.654 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:36:14.814Z,1761345374.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209801,0.977074,0.036183],[-0.977743,-0.209606,-0.009141],[-0.001347,-0.037296,0.999303]]
2025-10-24T22:36:15.218Z,1761345375.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191782,0.980739,0.037025],[-0.981437,-0.191598,-0.008507],[-0.001249,-0.037969,0.999278]]
2025-10-24T22:36:15.618Z,1761345375.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173378,0.984104,0.038456],[-0.984855,-0.173199,-0.007945],[-0.001158,-0.039251,0.999229]]
2025-10-24T22:36:16.018Z,1761345376.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155969,0.986978,0.039336],[-0.987761,-0.155802,-0.007294],[-0.001070,-0.039993,0.999199]]
2025-10-24T22:36:16.423Z,1761345376.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137466,0.989658,0.040983],[-0.990506,-0.137295,-0.006990],[-0.001291,-0.041555,0.999135]]
2025-10-24T22:36:16.826Z,1761345376.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119200,0.991974,0.042187],[-0.992870,-0.119055,-0.005938],[-0.000868,-0.042594,0.999092]]
2025-10-24T22:36:17.234Z,1761345377.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099764,0.994084,0.042950],[-0.995011,-0.099638,-0.005078],[-0.000768,-0.043243,0.999064]]
2025-10-24T22:36:17.642Z,1761345377.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080157,0.995830,0.043555],[-0.996782,-0.080051,-0.004156],[-0.000652,-0.043748,0.999042]]
2025-10-24T22:36:18.038Z,1761345378.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060343,0.997278,0.042363],[-0.998178,-0.060266,-0.003109],[-0.000547,-0.042474,0.999097]]
2025-10-24T22:36:18.444Z,1761345378.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041449,0.998355,0.039613],[-0.999141,-0.041407,-0.001862],[-0.000218,-0.039656,0.999213]]
2025-10-24T22:36:18.847Z,1761345378.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022687,0.999102,0.035792],[-0.999743,-0.022675,-0.000737],[0.000075,-0.035799,0.999359]]
2025-10-24T22:36:19.251Z,1761345379.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005432,0.999516,0.030632],[-0.999985,-0.005459,0.000807],[0.000973,-0.030627,0.999530]]
2025-10-24T22:36:19.658Z,1761345379.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011184,0.999546,0.027965],[-0.999936,0.011130,0.002089],[0.001776,-0.027987,0.999607]]
2025-10-24T22:36:20.059Z,1761345380.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027062,0.999304,0.025679],[-0.999631,0.026990,0.003168],[0.002472,-0.025755,0.999665]]
2025-10-24T22:36:20.368Z,1761345380.368 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:36:20.470Z,1761345380.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041609,0.998893,0.021932],[-0.999128,0.041524,0.004326],[0.003411,-0.022092,0.999750]]
2025-10-24T22:36:20.866Z,1761345380.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055839,0.998225,0.020713],[-0.998428,0.055728,0.005909],[0.004744,-0.021010,0.999768]]
2025-10-24T22:36:21.277Z,1761345381.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069746,0.997374,0.019503],[-0.997545,0.069606,0.007745],[0.006367,-0.019995,0.999780]]
2025-10-24T22:36:21.373Z,1761345381.373 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:36:21.457Z,1761345381.457 [DAT](INFO): DAT read: Rx Time:22:36:20.1099

2025-10-24T22:36:21.457Z,1761345381.457 [DAT](INFO): Rx dataTimestamp_ set to:1761345381.457032
2025-10-24T22:36:22.079Z,1761345382.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099341,0.994918,0.016421],[-0.995004,0.099158,0.011630],[0.009943,-0.017494,0.999798]]
2025-10-24T22:36:22.218Z,1761345382.218 [DAT](INFO): DAT read: 22:36:20.1099 LVL= 17904, 25441, 32754, 32243, AGC= 58, IDX= 416, 0.29, 0.051,-0.626,-1.734,-0.685, PHS= 0.838, 0.105,-1.092, RAW=  52.1,   1.8, CAL=  52.4,  -0.6, ROT=  97.6,   0.6

2025-10-24T22:36:22.219Z,1761345382.219 [DAT](INFO): got valid direction response:
 22:36:20.1099 LVL= 17904, 25441, 32754, 32243, AGC= 58, IDX= 416, 0.29, 0.051,-0.626,-1.734,-0.685, PHS= 0.838, 0.105,-1.092, RAW=  52.1,   1.8, CAL=  52.4,  -0.6, ROT=  97.6,   0.6

2025-10-24T22:36:22.251Z,1761345382.251 [DAT](INFO): DAT read: 

2025-10-24T22:36:22.252Z,1761345382.252 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:36:22.252Z,1761345382.252 [DAT](INFO): Got DATA 2
2025-10-24T22:36:22.253Z,1761345382.253 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:36:22.253Z,1761345382.253 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:36:22.253Z,1761345382.253 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:36:22.254Z,1761345382.254 [DAT](INFO): DAT read: CRC:Pass MPD:03.4 PSNR:14.6 AGC:56 SPD:+0.3 CCERR:012

2025-10-24T22:36:22.255Z,1761345382.255 [DAT](INFO): Got CRC:Pass
2025-10-24T22:36:22.255Z,1761345382.255 [DAT](INFO): Got CRC:Pass
2025-10-24T22:36:22.255Z,1761345382.255 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:36:22.255Z,1761345382.255 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:36:22.255Z,1761345382.255 [DAT](INFO): Got ack
2025-10-24T22:36:22.255Z,1761345382.255 [DAT](INFO): DAT read: 

2025-10-24T22:36:22.264Z,1761345382.264 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:36:22.265Z,1761345382.265 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:36:22.265Z,1761345382.265 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-24T22:36:22.267Z,1761345382.267 [DAT](INFO): direction in FSK: [-0.132249,0.991161,-0.010472]
2025-10-24T22:36:22.464Z,1761345382.464 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:36:22.483Z,1761345382.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115859,0.993115,0.017291],[-0.993193,0.115622,0.014141],[0.012044,-0.018812,0.999750]]
2025-10-24T22:36:22.548Z,1761345382.548 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345408.00. Resetting abort timer.
2025-10-24T22:36:22.717Z,1761345382.717 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:36:22.887Z,1761345382.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132808,0.991002,0.016628],[-0.991039,0.132534,0.016610],[0.014256,-0.018685,0.999724]]
2025-10-24T22:36:23.295Z,1761345383.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150542,0.988474,0.016030],[-0.988470,0.150236,0.018854],[0.016228,-0.018683,0.999694]]
2025-10-24T22:36:23.695Z,1761345383.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168562,0.985561,0.016003],[-0.985528,0.168216,0.020924],[0.017930,-0.019298,0.999653]]
2025-10-24T22:36:23.750Z,1761345383.750 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:36:23.751Z,1761345383.751 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:36:23.751Z,1761345383.751 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:36:23.751Z,1761345383.751 [marl:UpdateRudder:A] Stopped
2025-10-24T22:36:23.751Z,1761345383.751 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:36:23.751Z,1761345383.751 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:36:23.751Z,1761345383.751 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:36:23.753Z,1761345383.753 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:36:23.753Z,1761345383.753 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:36:23.754Z,1761345383.754 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:36:23.754Z,1761345383.754 [marl:UpdateCommandMode] Stopped
2025-10-24T22:36:23.754Z,1761345383.754 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:36:23.754Z,1761345383.754 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:36:23.755Z,1761345383.755 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:36:23.755Z,1761345383.755 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:36:23.755Z,1761345383.755 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:36:23.755Z,1761345383.755 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:36:23.772Z,1761345383.772 [marl:UpdateSpeed] Stopped
2025-10-24T22:36:23.772Z,1761345383.772 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:36:24.098Z,1761345384.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186570,0.982292,0.017177],[-0.982252,0.186162,0.022885],[0.019282,-0.021142,0.999591]]
2025-10-24T22:36:24.169Z,1761345384.169 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:36:24.169Z,1761345384.169 [marl:UpdateRudder:B] Stopped
2025-10-24T22:36:24.169Z,1761345384.169 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:36:24.169Z,1761345384.169 [marl:UpdateRudder] Stopped
2025-10-24T22:36:24.169Z,1761345384.169 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:36:24.503Z,1761345384.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204067,0.978823,0.016202],[-0.978739,0.203645,0.024460],[0.020643,-0.020849,0.999570]]
2025-10-24T22:36:24.909Z,1761345384.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220625,0.975227,0.016043],[-0.975116,0.220173,0.025939],[0.021764,-0.021367,0.999535]]
2025-10-24T22:36:25.310Z,1761345385.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236262,0.971546,0.016689],[-0.971421,0.235758,0.027550],[0.022832,-0.022721,0.999481]]
2025-10-24T22:36:25.714Z,1761345385.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250648,0.967973,0.014312],[-0.967774,0.250171,0.028756],[0.024255,-0.021059,0.999484]]
2025-10-24T22:36:25.993Z,1761345385.993 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:36:25.2496

2025-10-24T22:36:25.993Z,1761345385.993 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:36:26.118Z,1761345386.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264623,0.964238,0.014788],[-0.964005,0.264086,0.030859],[0.025850,-0.022422,0.999414]]
2025-10-24T22:36:26.526Z,1761345386.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278939,0.960178,0.015876],[-0.959916,0.278314,0.033207],[0.027466,-0.024502,0.999322]]
2025-10-24T22:36:26.926Z,1761345386.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289967,0.956828,0.020003],[-0.956587,0.289126,0.036712],[0.029344,-0.029780,0.999126]]
2025-10-24T22:36:27.331Z,1761345387.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297224,0.954323,0.030437],[-0.954281,0.295850,0.042673],[0.031719,-0.041729,0.998625]]
2025-10-24T22:36:27.738Z,1761345387.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299654,0.952598,0.052579],[-0.953443,0.297046,0.052056],[0.033970,-0.065730,0.997259]]
2025-10-24T22:36:28.140Z,1761345388.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296034,0.950994,0.089298],[-0.954482,0.290957,0.065629],[0.036431,-0.104662,0.993840]]
2025-10-24T22:36:28.543Z,1761345388.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286233,0.947814,0.140425],[-0.957358,0.276907,0.082395],[0.039210,-0.158021,0.986657]]
2025-10-24T22:36:28.946Z,1761345388.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272238,0.942007,0.196237],[-0.961288,0.257234,0.098771],[0.042565,-0.215529,0.975569]]
2025-10-24T22:36:29.352Z,1761345389.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255812,0.934369,0.248021],[-0.965606,0.234615,0.112073],[0.046528,-0.268161,0.962250]]
2025-10-24T22:36:29.767Z,1761345389.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238640,0.925956,0.292671],[-0.969767,0.211396,0.121917],[0.051020,-0.312916,0.948409]]
2025-10-24T22:36:30.158Z,1761345390.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221936,0.917633,0.329687],[-0.973432,0.188978,0.129297],[0.056344,-0.349624,0.935194]]
2025-10-24T22:36:30.562Z,1761345390.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207218,0.910350,0.358223],[-0.976325,0.169212,0.134748],[0.062052,-0.377664,0.923861]]
2025-10-24T22:36:31.801Z,1761345391.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171571,0.896508,0.408456],[-0.982123,0.123052,0.142453],[0.077449,-0.425595,0.901594]]
2025-10-24T22:36:32.228Z,1761345392.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159339,0.896839,0.412664],[-0.983841,0.109678,0.141521],[0.081662,-0.428545,0.899822]]
2025-10-24T22:36:32.618Z,1761345392.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145618,0.899473,0.412000],[-0.985633,0.095872,0.139058],[0.085579,-0.426330,0.900510]]
2025-10-24T22:36:32.797Z,1761345392.797 [DAT](INFO): DAT read: Rx Time:22:36:31.4579

2025-10-24T22:36:32.797Z,1761345392.797 [DAT](INFO): Rx dataTimestamp_ set to:1761345392.796994
2025-10-24T22:36:33.081Z,1761345393.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130291,0.902182,0.411208],[-0.987447,0.080723,0.135767],[0.089292,-0.423735,0.901374]]
2025-10-24T22:36:33.484Z,1761345393.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114617,0.904658,0.410434],[-0.989051,0.065260,0.132359],[0.092955,-0.421111,0.902233]]
2025-10-24T22:36:33.558Z,1761345393.558 [DAT](INFO): DAT read: 22:36:31.4579 LVL= 16800, 26609, 27186, 26867, AGC= 56, IDX= 427, 0.32,-1.552,-2.471, 2.656,-1.962, PHS= 0.512,-0.464,-1.709, RAW=  56.0,  16.9, CAL=  51.4,  21.2, ROT=  98.6, -21.2

2025-10-24T22:36:33.559Z,1761345393.559 [DAT](INFO): got valid direction response:
 22:36:31.4579 LVL= 16800, 26609, 27186, 26867, AGC= 56, IDX= 427, 0.32,-1.552,-2.471, 2.656,-1.962, PHS= 0.512,-0.464,-1.709, RAW=  56.0,  16.9, CAL=  51.4,  21.2, ROT=  98.6, -21.2

2025-10-24T22:36:33.560Z,1761345393.560 [DAT](INFO): DAT read: 

2025-10-24T22:36:33.561Z,1761345393.561 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:36:33.561Z,1761345393.561 [DAT](INFO): Got DATA 2
2025-10-24T22:36:33.562Z,1761345393.562 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:36:33.562Z,1761345393.562 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:36:33.562Z,1761345393.562 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:36:33.563Z,1761345393.563 [DAT](INFO): DAT read: CRC:Pass MPD:03.4 PSNR:13.5 AGC:52 SPD:+0.1 CCERR:011

2025-10-24T22:36:33.563Z,1761345393.563 [DAT](INFO): Got CRC:Pass
2025-10-24T22:36:33.563Z,1761345393.563 [DAT](INFO): Got CRC:Pass
2025-10-24T22:36:33.564Z,1761345393.564 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:36:33.564Z,1761345393.564 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:36:33.564Z,1761345393.564 [DAT](INFO): Got ack
2025-10-24T22:36:33.564Z,1761345393.564 [DAT](INFO): DAT read: 

2025-10-24T22:36:33.565Z,1761345393.565 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:36:33.565Z,1761345393.565 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:36:33.565Z,1761345393.565 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-10-24T22:36:33.566Z,1761345393.566 [DAT](INFO): direction in FSK: [-0.139415,0.921841,0.361625]
2025-10-24T22:36:33.805Z,1761345393.805 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:36:33.892Z,1761345393.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098544,0.908388,0.406350],[-0.990388,0.049697,0.129082],[0.097062,-0.415164,0.904554]]
2025-10-24T22:36:33.991Z,1761345393.991 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345408.00. Resetting abort timer.
2025-10-24T22:36:34.057Z,1761345394.057 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:36:34.313Z,1761345394.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068050,0.914412,0.399023],[-0.992043,0.019556,0.124369],[0.105921,-0.404312,0.908467]]
2025-10-24T22:36:34.700Z,1761345394.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054757,0.916255,0.396837],[-0.992424,0.006165,0.122704],[0.109981,-0.400549,0.909651]]
2025-10-24T22:36:35.104Z,1761345395.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041963,0.916725,0.397308],[-0.992632,-0.006989,0.120968],[0.113671,-0.399457,0.909678]]
2025-10-24T22:36:35.507Z,1761345395.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029615,0.916497,0.398945],[-0.992754,-0.019533,0.118568],[0.116460,-0.399565,0.909277]]
2025-10-24T22:36:35.985Z,1761345395.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016808,0.915640,0.401647],[-0.992813,-0.032319,0.115226],[0.118486,-0.400697,0.908517]]
2025-10-24T22:36:36.388Z,1761345396.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003036,0.915355,0.402637],[-0.992817,-0.045400,0.110698],[0.119607,-0.400080,0.908642]]
2025-10-24T22:36:36.819Z,1761345396.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012530,0.915374,0.402410],[-0.992692,-0.059694,0.104879],[0.120025,-0.398155,0.909432]]
2025-10-24T22:36:36.847Z,1761345396.847 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:36:36.847Z,1761345396.847 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:36:36.847Z,1761345396.847 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:36:36.847Z,1761345396.847 [marl:UpdateRudder:A] Stopped
2025-10-24T22:36:36.848Z,1761345396.848 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:36:36.848Z,1761345396.848 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:36:36.848Z,1761345396.848 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:36:36.848Z,1761345396.848 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:36:36.848Z,1761345396.848 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:36:36.848Z,1761345396.848 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:36:36.849Z,1761345396.849 [marl:UpdateCommandMode] Stopped
2025-10-24T22:36:36.849Z,1761345396.849 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:36:36.849Z,1761345396.849 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:36:36.849Z,1761345396.849 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:36:36.849Z,1761345396.849 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:36:36.849Z,1761345396.849 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:36:36.849Z,1761345396.849 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:36:36.849Z,1761345396.849 [marl:UpdateSpeed] Stopped
2025-10-24T22:36:36.850Z,1761345396.850 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:36:37.239Z,1761345397.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030502,0.916051,0.399900],[-0.992299,-0.075805,0.097958],[0.120049,-0.393832,0.911309]]
2025-10-24T22:36:37.285Z,1761345397.285 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:36:37.286Z,1761345397.286 [marl:UpdateRudder:B] Stopped
2025-10-24T22:36:37.286Z,1761345397.286 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:36:37.286Z,1761345397.286 [marl:UpdateRudder] Stopped
2025-10-24T22:36:37.286Z,1761345397.286 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:36:37.333Z,1761345397.333 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:36:36.5995

2025-10-24T22:36:37.334Z,1761345397.334 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:36:37.626Z,1761345397.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049869,0.915989,0.398093],[-0.991512,-0.093323,0.090524],[0.120071,-0.390200,0.912868]]
2025-10-24T22:36:38.030Z,1761345398.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070595,0.915993,0.394935],[-0.990194,-0.112200,0.083234],[0.120553,-0.385186,0.914931]]
2025-10-24T22:36:38.435Z,1761345398.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091288,0.915113,0.392726],[-0.988464,-0.131131,0.075789],[0.120854,-0.381277,0.916527]]
2025-10-24T22:36:38.841Z,1761345398.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111510,0.913687,0.390822],[-0.986350,-0.149706,0.068564],[0.121154,-0.377842,0.917909]]
2025-10-24T22:36:39.279Z,1761345399.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131143,0.911683,0.389404],[-0.983925,-0.167724,0.061314],[0.121211,-0.375103,0.919024]]
2025-10-24T22:36:39.685Z,1761345399.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150038,0.908799,0.389324],[-0.981257,-0.185045,0.053791],[0.120928,-0.373956,0.919529]]
2025-10-24T22:36:40.098Z,1761345400.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169652,0.905173,0.389717],[-0.978159,-0.202852,0.045339],[0.120095,-0.373514,0.919818]]
2025-10-24T22:36:40.541Z,1761345400.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190128,0.901426,0.388951],[-0.974568,-0.221157,0.036158],[0.118613,-0.372185,0.920548]]
2025-10-24T22:36:40.942Z,1761345400.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210764,0.897494,0.387405],[-0.970550,-0.239421,0.026643],[0.116665,-0.370381,0.921524]]
2025-10-24T22:36:41.352Z,1761345401.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231479,0.893273,0.385332],[-0.966068,-0.257721,0.017103],[0.114586,-0.368298,0.922620]]
2025-10-24T22:36:41.750Z,1761345401.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252558,0.887968,0.384352],[-0.961011,-0.276417,0.007125],[0.112569,-0.367567,0.923159]]
2025-10-24T22:36:42.154Z,1761345402.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273215,0.881726,0.384595],[-0.955550,-0.294816,-0.002923],[0.110807,-0.368298,0.923081]]
2025-10-24T22:36:42.674Z,1761345402.674 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:36:42.674Z,1761345402.674 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:36:42.732Z,1761345402.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311198,0.868101,0.386725],[-0.944258,-0.328429,-0.022603],[0.107390,-0.372202,0.921918]]
2025-10-24T22:36:43.995Z,1761345403.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359148,0.847346,0.391174],[-0.928042,-0.368597,-0.053621],[0.098750,-0.382284,0.918753]]
2025-10-24T22:36:44.141Z,1761345404.141 [DAT](INFO): DAT read: Rx Time:22:36:42.8085

2025-10-24T22:36:44.141Z,1761345404.141 [DAT](INFO): Rx dataTimestamp_ set to:1761345404.140994
2025-10-24T22:36:44.390Z,1761345404.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372878,0.840655,0.392761],[-0.923061,-0.379159,-0.064790],[0.094453,-0.386701,0.917356]]
2025-10-24T22:36:44.439Z,1761345404.439 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:36:44.647Z,1761345404.647 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:36:44.701Z,1761345404.701 [DAT](INFO): entering command mode
2025-10-24T22:36:44.795Z,1761345404.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385482,0.835350,0.391912],[-0.918335,-0.388665,-0.074837],[0.089808,-0.388754,0.916954]]
2025-10-24T22:36:44.902Z,1761345404.902 [DAT](INFO): DAT read: 22:36:42.8085 LVL= 21920, 20945, 3202 32755, AGC= 60, IDX= 451,-0.12,-2.630,-1.886, 2.504,-2.223, PHS=-0.305, 0.382,-1.600, RAW=  10.0,  17.2, CAL=   9.8,  21.2, ROT= 140.2, -21.2

2025-10-24T22:36:44.903Z,1761345404.903 [DAT](INFO): unknown deviceResponse_: 22:36:42.8085 LVL= 21920, 20945, 3202 32755, AGC= 60, IDX= 451,-0.12,-2.630,-1.886, 2.504,-2.223, PHS=-0.305, 0.382,-1.600, RAW=  10.0,  17.2, CAL=   9.8,  21.2, ROT= 140.2, -21.2

2025-10-24T22:36:44.904Z,1761345404.904 [DAT](INFO): DAT read: 

2025-10-24T22:36:44.904Z,1761345404.904 [DAT](INFO): DAT read: user:42>

2025-10-24T22:36:44.905Z,1761345404.905 [DAT](INFO): DAT read: 

2025-10-24T22:36:44.905Z,1761345404.905 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:36:44.906Z,1761345404.906 [DAT](INFO): Got DATA 2
2025-10-24T22:36:44.906Z,1761345404.906 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:36:44.907Z,1761345404.907 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:36:44.907Z,1761345404.907 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:36:44.909Z,1761345404.909 [DAT](INFO): DAT read: CRC:Pass MPD:03.4 PSNR:12.2 AGC:61 SPD:-0.6 CCERR:011

2025-10-24T22:36:44.909Z,1761345404.909 [DAT](INFO): Got CRC:Pass
2025-10-24T22:36:44.909Z,1761345404.909 [DAT](INFO): Got CRC:Pass
2025-10-24T22:36:44.909Z,1761345404.909 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:36:44.909Z,1761345404.909 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:36:44.909Z,1761345404.909 [DAT](INFO): Got ack
2025-10-24T22:36:44.909Z,1761345404.909 [DAT](INFO): DAT read: 

2025-10-24T22:36:44.910Z,1761345404.910 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:36:44.910Z,1761345404.910 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:36:44.911Z,1761345404.911 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:36:44.911Z,1761345404.911 [DAT](INFO): setting remote address to 0
2025-10-24T22:36:45.153Z,1761345405.153 [DAT](INFO): DAT read: user:42>

2025-10-24T22:36:45.154Z,1761345405.154 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:36:45.154Z,1761345405.154 [DAT](INFO): set remote address to 0
2025-10-24T22:36:45.154Z,1761345405.154 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:36:45.154Z,1761345405.154 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:36:45.155Z,1761345405.155 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:36:45.226Z,1761345405.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398100,0.830493,0.389612],[-0.913423,-0.398086,-0.084769],[0.084699,-0.389627,0.917070]]
2025-10-24T22:36:45.405Z,1761345405.405 [DAT](INFO): DAT read: user:43>

2025-10-24T22:36:45.406Z,1761345405.406 [DAT](INFO): DAT read: Tx time:22:36:44.6006

2025-10-24T22:36:45.406Z,1761345405.406 [DAT](INFO): Ping request sent.
2025-10-24T22:36:45.406Z,1761345405.406 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:36:45.407Z,1761345405.407 [DAT](INFO): setting remote address to 10
2025-10-24T22:36:45.407Z,1761345405.407 [DAT](INFO): publishing transmit ping time
2025-10-24T22:36:45.409Z,1761345405.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001538
2025-10-24T22:36:45.602Z,1761345405.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410707,0.825864,0.386353],[-0.908309,-0.407474,-0.094553],[0.079341,-0.389761,0.917492]]
2025-10-24T22:36:45.657Z,1761345405.657 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:36:45.658Z,1761345405.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251235
2025-10-24T22:36:45.911Z,1761345405.911 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:36:45.912Z,1761345405.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505238
2025-10-24T22:36:46.007Z,1761345406.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424051,0.821041,0.382194],[-0.902593,-0.417725,-0.104074],[0.074203,-0.389098,0.918203]]
2025-10-24T22:36:46.085Z,1761345406.085 [marl:SendObservationData] Running Loop=1
2025-10-24T22:36:46.085Z,1761345406.085 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T22:36:46.085Z,1761345406.085 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T22:36:46.086Z,1761345406.086 [marl:SendObservationData:A] Running Loop=1
2025-10-24T22:36:46.087Z,1761345406.087 [marl:SendObservationData:A](INFO): Got test_good :  41da3effe000000040514000000000004042632c30051f0cc05e773d65d488ed402dcc6fe000000040633cccc0000000 n/a str  and temp var is  nan n/a str 
2025-10-24T22:36:46.087Z,1761345406.087 [marl:SendObservationData:A] Stopped
2025-10-24T22:36:46.087Z,1761345406.087 [marl:SendObservationData:B] Running Loop=1
2025-10-24T22:36:46.160Z,1761345406.160 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:36:46.161Z,1761345406.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754469
2025-10-24T22:36:46.413Z,1761345406.413 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:36:46.413Z,1761345406.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006622
2025-10-24T22:36:46.414Z,1761345406.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437483,0.816510,0.376724],[-0.896559,-0.428308,-0.112845],[0.069214,-0.387123,0.919427]]
2025-10-24T22:36:46.440Z,1761345406.440 [marl:SendObservationData:B] Stopped
2025-10-24T22:36:46.440Z,1761345406.440 [marl:SendObservationData:C] Running Loop=1
2025-10-24T22:36:46.665Z,1761345406.665 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:36:46.666Z,1761345406.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258925
2025-10-24T22:36:46.814Z,1761345406.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450730,0.812220,0.370327],[-0.890349,-0.438884,-0.121072],[0.064193,-0.384291,0.920978]]
2025-10-24T22:36:46.878Z,1761345406.878 [marl:SendObservationData:C] Stopped
2025-10-24T22:36:46.878Z,1761345406.878 [marl:SendObservationData:E] Running Loop=1
2025-10-24T22:36:46.917Z,1761345406.917 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:36:46.917Z,1761345406.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511006
2025-10-24T22:36:47.168Z,1761345407.168 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:36:47.169Z,1761345407.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762478
2025-10-24T22:36:47.221Z,1761345407.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463981,0.807801,0.363565],[-0.883843,-0.449722,-0.128726],[0.059518,-0.381061,0.922632]]
2025-10-24T22:36:47.263Z,1761345407.263 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.006650 min 
2025-10-24T22:36:47.263Z,1761345407.263 [marl:SendObservationData:E] Stopped
2025-10-24T22:36:47.263Z,1761345407.263 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T22:36:47.263Z,1761345407.263 [marl:SendObservationData] Stopped
2025-10-24T22:36:47.263Z,1761345407.263 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T22:36:47.268Z,1761345407.268 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T22:36:47.421Z,1761345407.421 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:36:47.421Z,1761345407.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014952
2025-10-24T22:36:47.623Z,1761345407.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476734,0.802674,0.358384],[-0.877341,-0.459862,-0.137114],[0.054749,-0.379791,0.923451]]
2025-10-24T22:36:47.674Z,1761345407.674 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:36:47.675Z,1761345407.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268050
2025-10-24T22:36:47.929Z,1761345407.929 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:36:47.930Z,1761345407.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523579
2025-10-24T22:36:48.029Z,1761345408.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490091,0.797560,0.351723],[-0.870235,-0.470838,-0.144925],[0.050018,-0.377108,0.924818]]
2025-10-24T22:36:48.177Z,1761345408.177 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:36:48.178Z,1761345408.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771671
2025-10-24T22:36:48.429Z,1761345408.429 [DAT](INFO): DAT read: Rx Time:22:36:47.1690

2025-10-24T22:36:48.429Z,1761345408.429 [DAT](INFO): Rx dataTimestamp_ set to:1761345408.429117
2025-10-24T22:36:48.430Z,1761345408.430 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:36:48.430Z,1761345408.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023627
2025-10-24T22:36:48.434Z,1761345408.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503588,0.792601,0.343778],[-0.862758,-0.482213,-0.152052],[0.045258,-0.373168,0.926659]]
2025-10-24T22:36:48.681Z,1761345408.681 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:36:48.682Z,1761345408.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275742
2025-10-24T22:36:48.835Z,1761345408.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518228,0.786659,0.335572],[-0.854267,-0.494864,-0.159178],[0.040844,-0.369158,0.928469]]
2025-10-24T22:36:48.939Z,1761345408.939 [DAT](INFO): DAT read: 22:36:47.1690 LVL= 14816, 25713, 25282, 28483, AGC= 54, IDX= 510,-0.21,-1.124,-2.936,-3.028,-1.850, PHS= 0.828,-1.040,-1.222, RAW=  85.4,  14.5, CAL=  85.4,  18.4, ROT=  64.6, -18.4

2025-10-24T22:36:48.940Z,1761345408.940 [DAT](INFO): got valid direction response:
 22:36:47.1690 LVL= 14816, 25713, 25282, 28483, AGC= 54, IDX= 510,-0.21,-1.124,-2.936,-3.028,-1.850, PHS= 0.828,-1.040,-1.222, RAW=  85.4,  14.5, CAL=  85.4,  18.4, ROT=  64.6, -18.4

2025-10-24T22:36:48.941Z,1761345408.941 [DAT](INFO): DAT read: Bearing 102.2,  43.4 (Local)

2025-10-24T22:36:48.941Z,1761345408.941 [DAT](INFO): Local bearing/azimuth received:
 Bearing 102.2,  43.4 (Local)

2025-10-24T22:36:48.943Z,1761345408.943 [DAT](INFO): DAT read: Range 11 to 20 : 123.1 m  (Round-trip  164.2 ms) speed  1.1 m/s

2025-10-24T22:36:48.944Z,1761345408.944 [DAT](INFO): DAT read: user:44>

2025-10-24T22:36:48.945Z,1761345408.945 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:36:48.945Z,1761345408.945 [DAT](INFO): set remote address to 10
2025-10-24T22:36:48.946Z,1761345408.946 [DAT](INFO): entering online mode
2025-10-24T22:36:49.185Z,1761345409.185 [DAT](INFO): DAT read: user:45>

2025-10-24T22:36:49.186Z,1761345409.186 [DAT](INFO): DAT read: 

2025-10-24T22:36:49.188Z,1761345409.188 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:36:49.189Z,1761345409.189 [DAT](INFO): commRate: 600
2025-10-24T22:36:49.189Z,1761345409.189 [DAT](INFO): online mode acknowledged
2025-10-24T22:36:49.189Z,1761345409.189 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:36:49.192Z,1761345409.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784365
2025-10-24T22:36:49.273Z,1761345409.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533919,0.779834,0.326787],[-0.844745,-0.508685,-0.166271],[0.036568,-0.364826,0.930357]]
2025-10-24T22:36:49.437Z,1761345409.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030326
2025-10-24T22:36:49.643Z,1761345409.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550895,0.771521,0.318228],[-0.833952,-0.523622,-0.174196],[0.032235,-0.361351,0.931873]]
2025-10-24T22:36:49.690Z,1761345409.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283489
2025-10-24T22:36:49.720Z,1761345409.720 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:36:49.721Z,1761345409.721 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:36:49.721Z,1761345409.721 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:36:49.721Z,1761345409.721 [marl:UpdateRudder:A] Stopped
2025-10-24T22:36:49.721Z,1761345409.721 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:36:49.721Z,1761345409.721 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:36:49.721Z,1761345409.721 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:36:49.721Z,1761345409.721 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:36:49.722Z,1761345409.722 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:36:49.722Z,1761345409.722 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:36:49.722Z,1761345409.722 [marl:UpdateCommandMode] Stopped
2025-10-24T22:36:49.722Z,1761345409.722 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:36:49.722Z,1761345409.722 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:36:49.722Z,1761345409.722 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:36:49.722Z,1761345409.722 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:36:49.723Z,1761345409.723 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:36:49.723Z,1761345409.723 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:36:49.723Z,1761345409.723 [marl:UpdateSpeed] Stopped
2025-10-24T22:36:49.723Z,1761345409.723 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:36:49.944Z,1761345409.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536697
2025-10-24T22:36:50.046Z,1761345410.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568786,0.761856,0.309932],[-0.822006,-0.539409,-0.182600],[0.028065,-0.358627,0.933059]]
2025-10-24T22:36:50.137Z,1761345410.137 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:36:50.137Z,1761345410.137 [marl:UpdateRudder:B] Stopped
2025-10-24T22:36:50.137Z,1761345410.137 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:36:50.137Z,1761345410.137 [marl:UpdateRudder] Stopped
2025-10-24T22:36:50.137Z,1761345410.137 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:36:50.194Z,1761345410.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787129
2025-10-24T22:36:50.445Z,1761345410.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038205
2025-10-24T22:36:50.452Z,1761345410.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587004,0.751057,0.302226],[-0.809220,-0.555519,-0.191211],[0.024282,-0.356808,0.933862]]
2025-10-24T22:36:50.697Z,1761345410.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290668
2025-10-24T22:36:50.855Z,1761345410.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605947,0.739333,0.293623],[-0.795229,-0.572686,-0.199102],[0.020951,-0.354143,0.934956]]
2025-10-24T22:36:50.949Z,1761345410.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542972
2025-10-24T22:36:51.201Z,1761345411.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794359
2025-10-24T22:36:51.260Z,1761345411.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623920,0.727246,0.286071],[-0.781290,-0.588706,-0.207392],[0.017587,-0.352901,0.935495]]
2025-10-24T22:36:51.453Z,1761345411.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047010
2025-10-24T22:36:51.492Z,1761345411.492 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:36:51.671Z,1761345411.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641490,0.713993,0.280543],[-0.767002,-0.603677,-0.217443],[0.014105,-0.354665,0.934887]]
2025-10-24T22:36:51.705Z,1761345411.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298484
2025-10-24T22:36:51.960Z,1761345411.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552408
2025-10-24T22:36:52.066Z,1761345412.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658368,0.700381,0.275715],[-0.752619,-0.617812,-0.227758],[0.010823,-0.357457,0.933867]]
2025-10-24T22:36:52.209Z,1761345412.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802324
2025-10-24T22:36:52.461Z,1761345412.461 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:36:51.6994

2025-10-24T22:36:52.462Z,1761345412.462 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:36:52.462Z,1761345412.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055640
2025-10-24T22:36:52.473Z,1761345412.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674280,0.686596,0.271906],[-0.738438,-0.630626,-0.238791],[0.007518,-0.361797,0.932226]]
2025-10-24T22:36:52.496Z,1761345412.496 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:36:52.715Z,1761345412.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308477
2025-10-24T22:36:52.875Z,1761345412.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689167,0.673002,0.268547],[-0.724590,-0.642313,-0.249807],[0.004370,-0.366745,0.930311]]
2025-10-24T22:36:52.965Z,1761345412.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558335
2025-10-24T22:36:53.217Z,1761345413.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810409
2025-10-24T22:36:53.278Z,1761345413.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702863,0.660310,0.264526],[-0.711324,-0.653069,-0.259845],[0.001176,-0.370800,0.928712]]
2025-10-24T22:36:53.469Z,1761345413.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062290
2025-10-24T22:36:53.691Z,1761345413.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714815,0.648606,0.261438],[-0.699310,-0.661753,-0.270275],[-0.002295,-0.376023,0.926608]]
2025-10-24T22:36:53.722Z,1761345413.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315094
2025-10-24T22:36:53.973Z,1761345413.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566610
2025-10-24T22:36:54.086Z,1761345414.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726124,0.637580,0.257361],[-0.687541,-0.670318,-0.279215],[-0.005508,-0.379691,0.925097]]
2025-10-24T22:36:54.127Z,1761345414.127 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,     -183.48,      +8     +24.32,  20.00,  0.00
2025-10-24T22:36:54.225Z,1761345414.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818500
2025-10-24T22:36:54.477Z,1761345414.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070283
2025-10-24T22:36:54.493Z,1761345414.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736335,0.627582,0.252888],[-0.676560,-0.678037,-0.287285],[-0.008828,-0.382632,0.923859]]
2025-10-24T22:36:54.729Z,1761345414.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322394
2025-10-24T22:36:54.905Z,1761345414.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745777,0.618654,0.247150],[-0.666088,-0.685779,-0.293317],[-0.011972,-0.383373,0.923516]]
2025-10-24T22:36:54.981Z,1761345414.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574292
2025-10-24T22:36:55.233Z,1761345415.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826374
2025-10-24T22:36:55.299Z,1761345415.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754672,0.610294,0.240854],[-0.655932,-0.693445,-0.298139],[-0.014933,-0.382982,0.923635]]
2025-10-24T22:36:55.486Z,1761345415.486 [DAT](INFO): Reached modem response timeout
2025-10-24T22:36:55.702Z,1761345415.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763173,0.602270,0.234176],[-0.645953,-0.701123,-0.301944],[-0.017666,-0.381702,0.924116]]
2025-10-24T22:36:56.527Z,1761345416.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781187,0.584355,0.219717],[-0.623894,-0.718089,-0.308390],[-0.022433,-0.377990,0.925538]]
2025-10-24T22:36:56.925Z,1761345416.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790497,0.574430,0.212474],[-0.611972,-0.726878,-0.311671],[-0.024591,-0.376403,0.926130]]
2025-10-24T22:36:57.327Z,1761345417.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800038,0.564008,0.204533],[-0.599346,-0.736070,-0.314618],[-0.026897,-0.374292,0.926921]]
2025-10-24T22:36:57.732Z,1761345417.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809502,0.553260,0.196494],[-0.586394,-0.745285,-0.317320],[-0.029116,-0.372094,0.927738]]
2025-10-24T22:36:58.539Z,1761345418.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829472,0.528780,0.179910],[-0.557530,-0.764394,-0.323825],[-0.033710,-0.368909,0.928854]]
2025-10-24T22:36:58.945Z,1761345418.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839392,0.515636,0.171875],[-0.542340,-0.773691,-0.327521],[-0.035904,-0.368133,0.929080]]
2025-10-24T22:36:59.265Z,1761345419.265 [DAT](INFO): DAT read: Rx Time:22:36:57.9637

2025-10-24T22:36:59.265Z,1761345419.265 [DAT](INFO): Rx dataTimestamp_ set to:1761345419.265045
2025-10-24T22:36:59.348Z,1761345419.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849168,0.501983,0.164093],[-0.526729,-0.782450,-0.332159],[-0.038343,-0.368491,0.928840]]
2025-10-24T22:36:59.750Z,1761345419.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858811,0.487736,0.156710],[-0.510681,-0.790821,-0.337353],[-0.040610,-0.369751,0.928243]]
2025-10-24T22:37:00.027Z,1761345420.027 [DAT](INFO): DAT read: 22:36:57.9637 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 409, 0.08,-0.286, 1.218,-0.668, 0.106, PHS=-0.290, 1.157,-0.818, RAW= 345.0,  -0.6, CAL= 344.5,  -3.5, ROT= 165.5,   3.5

2025-10-24T22:37:00.028Z,1761345420.028 [DAT](INFO): got valid direction response:
 22:36:57.9637 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 409, 0.08,-0.286, 1.218,-0.668, 0.106, PHS=-0.290, 1.157,-0.818, RAW= 345.0,  -0.6, CAL= 344.5,  -3.5, ROT= 165.5,   3.5

2025-10-24T22:37:00.029Z,1761345420.029 [DAT](INFO): DAT read: 

2025-10-24T22:37:00.029Z,1761345420.029 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:37:00.029Z,1761345420.029 [DAT](INFO): Got DATA 2
2025-10-24T22:37:00.030Z,1761345420.030 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:37:00.030Z,1761345420.030 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:37:00.031Z,1761345420.031 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:37:00.034Z,1761345420.034 [DAT](INFO): DAT read: CRC:Pass MPD:03.4 PSNR:06.9 AGC:70 SPD:-0.9 CCERR:005

2025-10-24T22:37:00.035Z,1761345420.035 [DAT](INFO): Got CRC:Pass
2025-10-24T22:37:00.035Z,1761345420.035 [DAT](INFO): Got CRC:Pass
2025-10-24T22:37:00.036Z,1761345420.036 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:37:00.037Z,1761345420.037 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:37:00.037Z,1761345420.037 [DAT](INFO): Got ack
2025-10-24T22:37:00.037Z,1761345420.037 [DAT](INFO): DAT read: 

2025-10-24T22:37:00.038Z,1761345420.038 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:37:00.038Z,1761345420.038 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:37:00.038Z,1761345420.038 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-24T22:37:00.040Z,1761345420.040 [DAT](INFO): direction in FSK: [-0.966342,0.249913,-0.061049]
2025-10-24T22:37:00.174Z,1761345420.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867510,0.474140,0.150394],[-0.495605,-0.798087,-0.342685],[-0.042453,-0.371819,0.927334]]
2025-10-24T22:37:00.271Z,1761345420.271 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345408.00. Resetting abort timer.
2025-10-24T22:37:00.273Z,1761345420.273 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:37:00.273Z,1761345420.273 [DAT](INFO): #Outgoing data=6
2025-10-24T22:37:00.273Z,1761345420.273 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:37:00.525Z,1761345420.525 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:37:00.564Z,1761345420.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875717,0.461027,0.143438],[-0.480753,-0.805103,-0.347398],[-0.044678,-0.373181,0.926682]]
2025-10-24T22:37:00.972Z,1761345420.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883609,0.447886,0.136505],[-0.465886,-0.811889,-0.351835],[-0.046755,-0.374480,0.926055]]
2025-10-24T22:37:01.367Z,1761345421.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891133,0.435065,0.128844],[-0.451104,-0.818904,-0.354825],[-0.048861,-0.374318,0.926012]]
2025-10-24T22:37:02.179Z,1761345422.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904931,0.409714,0.115042],[-0.422286,-0.831076,-0.361920],[-0.052675,-0.376094,0.925083]]
2025-10-24T22:37:02.578Z,1761345422.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911616,0.396834,0.107143],[-0.407411,-0.837745,-0.363593],[-0.054528,-0.375109,0.925376]]
2025-10-24T22:37:02.627Z,1761345422.627 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:37:02.627Z,1761345422.627 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:37:02.627Z,1761345422.627 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:37:02.627Z,1761345422.627 [marl:UpdateRudder:A] Stopped
2025-10-24T22:37:02.627Z,1761345422.627 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:37:02.628Z,1761345422.628 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:37:02.628Z,1761345422.628 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:37:02.628Z,1761345422.628 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:37:02.628Z,1761345422.628 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:37:02.629Z,1761345422.629 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:37:02.629Z,1761345422.629 [marl:UpdateCommandMode] Stopped
2025-10-24T22:37:02.629Z,1761345422.629 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:37:02.629Z,1761345422.629 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:37:02.629Z,1761345422.629 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:37:02.629Z,1761345422.629 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:37:02.630Z,1761345422.630 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:37:02.630Z,1761345422.630 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:37:02.630Z,1761345422.630 [marl:UpdateSpeed] Stopped
2025-10-24T22:37:02.631Z,1761345422.631 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:37:02.982Z,1761345422.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918121,0.383733,0.099007],[-0.392273,-0.844449,-0.364730],[-0.056352,-0.373704,0.925835]]
2025-10-24T22:37:03.038Z,1761345423.038 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:37:03.038Z,1761345423.038 [marl:UpdateRudder:B] Stopped
2025-10-24T22:37:03.038Z,1761345423.038 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:37:03.038Z,1761345423.038 [marl:UpdateRudder] Stopped
2025-10-24T22:37:03.038Z,1761345423.038 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:37:03.387Z,1761345423.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924506,0.370109,0.091143],[-0.376751,-0.851001,-0.365863],[-0.057846,-0.372581,0.926195]]
2025-10-24T22:37:03.792Z,1761345423.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930770,0.356235,0.082247],[-0.360712,-0.858085,-0.365483],[-0.059622,-0.369848,0.927177]]
2025-10-24T22:37:03.801Z,1761345423.801 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:37:03.0494

2025-10-24T22:37:03.802Z,1761345423.802 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:37:04.194Z,1761345424.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936727,0.342265,0.073461],[-0.344586,-0.864579,-0.365738],[-0.061667,-0.367910,0.927814]]
2025-10-24T22:37:04.598Z,1761345424.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941509,0.330869,0.063921],[-0.330708,-0.870746,-0.363914],[-0.064749,-0.363768,0.929237]]
2025-10-24T22:37:05.006Z,1761345425.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944777,0.323525,0.052225],[-0.320228,-0.877533,-0.356917],[-0.069642,-0.353931,0.932675]]
2025-10-24T22:37:05.409Z,1761345425.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946871,0.319367,0.037947],[-0.312577,-0.886066,-0.342319],[-0.075702,-0.335993,0.938817]]
2025-10-24T22:37:05.810Z,1761345425.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948062,0.317251,0.023014],[-0.307196,-0.894441,-0.324971],[-0.082512,-0.315162,0.945444]]
2025-10-24T22:37:06.214Z,1761345426.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948760,0.315883,0.008487],[-0.303063,-0.901992,-0.307512],[-0.089483,-0.294327,0.951506]]
2025-10-24T22:37:06.621Z,1761345426.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948892,0.315563,-0.004793],[-0.300467,-0.907935,-0.292190],[-0.096556,-0.275816,0.956348]]
2025-10-24T22:37:07.029Z,1761345427.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948545,0.316185,-0.017029],[-0.299173,-0.912529,-0.278903],[-0.103724,-0.259458,0.960168]]
2025-10-24T22:37:07.426Z,1761345427.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948182,0.316505,-0.027853],[-0.297826,-0.915906,-0.269104],[-0.110684,-0.246864,0.962708]]
2025-10-24T22:37:07.830Z,1761345427.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947679,0.317054,-0.037153],[-0.296980,-0.918338,-0.261647],[-0.117076,-0.236923,0.964448]]
2025-10-24T22:37:08.235Z,1761345428.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947170,0.317500,-0.045417],[-0.296105,-0.920049,-0.256576],[-0.123249,-0.229573,0.965456]]
2025-10-24T22:37:08.649Z,1761345428.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946800,0.317390,-0.053221],[-0.294797,-0.921687,-0.252166],[-0.129088,-0.223062,0.966219]]
2025-10-24T22:37:09.043Z,1761345429.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946542,0.316915,-0.060194],[-0.293060,-0.922800,-0.250113],[-0.134812,-0.219102,0.966344]]
2025-10-24T22:37:09.451Z,1761345429.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946552,0.315651,-0.066364],[-0.290550,-0.923745,-0.249550],[-0.140074,-0.216930,0.966085]]
2025-10-24T22:37:09.852Z,1761345429.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946313,0.315125,-0.072033],[-0.288574,-0.923964,-0.251030],[-0.145662,-0.216766,0.965295]]
2025-10-24T22:37:10.256Z,1761345430.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945892,0.315316,-0.076574],[-0.287177,-0.923362,-0.254818],[-0.151053,-0.219040,0.963952]]
2025-10-24T22:37:10.666Z,1761345430.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945296,0.315996,-0.081005],[-0.286307,-0.922681,-0.258240],[-0.156344,-0.220921,0.962679]]
2025-10-24T22:37:11.062Z,1761345431.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944682,0.316906,-0.084536],[-0.285829,-0.921854,-0.261700],[-0.160865,-0.223060,0.961440]]
2025-10-24T22:37:11.470Z,1761345431.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943744,0.318826,-0.087735],[-0.286486,-0.920825,-0.264588],[-0.165146,-0.224569,0.960362]]
2025-10-24T22:37:11.874Z,1761345431.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942815,0.320636,-0.091063],[-0.287284,-0.920232,-0.265784],[-0.169019,-0.224424,0.959722]]
2025-10-24T22:37:12.274Z,1761345432.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941931,0.322668,-0.093013],[-0.288306,-0.919072,-0.268674],[-0.172179,-0.226256,0.958730]]
2025-10-24T22:37:12.682Z,1761345432.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941520,0.323294,-0.094980],[-0.288570,-0.919158,-0.268097],[-0.173976,-0.225010,0.958699]]
2025-10-24T22:37:13.084Z,1761345433.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941428,0.322799,-0.097539],[-0.287883,-0.919978,-0.266014],[-0.175603,-0.222354,0.959022]]
2025-10-24T22:37:13.493Z,1761345433.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941732,0.321078,-0.100249],[-0.285890,-0.921069,-0.264383],[-0.177224,-0.220318,0.959193]]
2025-10-24T22:37:13.881Z,1761345433.881 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:37:14.134Z,1761345434.134 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:37:14.134Z,1761345434.134 [DAT](INFO): #Outgoing data=6
2025-10-24T22:37:14.134Z,1761345434.134 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:37:14.294Z,1761345434.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943106,0.315086,-0.106166],[-0.279757,-0.924545,-0.258751],[-0.179684,-0.214329,0.960092]]
2025-10-24T22:37:14.385Z,1761345434.385 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:37:14.698Z,1761345434.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944000,0.311752,-0.108049],[-0.276179,-0.925772,-0.258208],[-0.180526,-0.213908,0.960028]]
2025-10-24T22:37:15.123Z,1761345435.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944820,0.309267,-0.108021],[-0.273241,-0.925888,-0.260905],[-0.180705,-0.216992,0.959302]]
2025-10-24T22:37:15.506Z,1761345435.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945503,0.307550,-0.106949],[-0.271396,-0.925826,-0.263040],[-0.179914,-0.219679,0.958839]]
2025-10-24T22:37:15.550Z,1761345435.550 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:37:15.550Z,1761345435.550 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:37:15.551Z,1761345435.551 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:37:15.551Z,1761345435.551 [marl:UpdateRudder:A] Stopped
2025-10-24T22:37:15.551Z,1761345435.551 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:37:15.551Z,1761345435.551 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:37:15.551Z,1761345435.551 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:37:15.551Z,1761345435.551 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:37:15.551Z,1761345435.551 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:37:15.552Z,1761345435.552 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:37:15.552Z,1761345435.552 [marl:UpdateCommandMode] Stopped
2025-10-24T22:37:15.552Z,1761345435.552 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:37:15.552Z,1761345435.552 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:37:15.552Z,1761345435.552 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:37:15.552Z,1761345435.552 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:37:15.553Z,1761345435.553 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:37:15.553Z,1761345435.553 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:37:15.553Z,1761345435.553 [marl:UpdateSpeed] Stopped
2025-10-24T22:37:15.553Z,1761345435.553 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:37:15.954Z,1761345435.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945973,0.306820,-0.104862],[-0.270796,-0.925458,-0.264949],[-0.178337,-0.222238,0.958544]]
2025-10-24T22:37:16.020Z,1761345436.020 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:37:16.020Z,1761345436.020 [marl:UpdateRudder:B] Stopped
2025-10-24T22:37:16.020Z,1761345436.020 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:37:16.020Z,1761345436.020 [marl:UpdateRudder] Stopped
2025-10-24T22:37:16.020Z,1761345436.020 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:37:16.316Z,1761345436.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946304,0.306806,-0.101876],[-0.271178,-0.924902,-0.266493],[-0.175987,-0.224557,0.958438]]
2025-10-24T22:37:16.718Z,1761345436.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946471,0.307375,-0.098557],[-0.272400,-0.924392,-0.267018],[-0.173180,-0.225878,0.958639]]
2025-10-24T22:37:17.127Z,1761345437.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946461,0.308621,-0.094688],[-0.274465,-0.923711,-0.267260],[-0.169946,-0.226962,0.958961]]
2025-10-24T22:37:17.530Z,1761345437.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946234,0.310533,-0.090614],[-0.277279,-0.922882,-0.267218],[-0.166606,-0.227725,0.959366]]
2025-10-24T22:37:17.666Z,1761345437.666 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:37:16.8993

2025-10-24T22:37:17.666Z,1761345437.666 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:37:17.972Z,1761345437.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945810,0.314519,-0.080757],[-0.283893,-0.921639,-0.264550],[-0.157635,-0.227288,0.960985]]
2025-10-24T22:37:18.745Z,1761345438.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945529,0.318036,-0.069478],[-0.290663,-0.920893,-0.259750],[-0.146592,-0.225407,0.963173]]
2025-10-24T22:37:19.153Z,1761345439.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945810,0.318347,-0.064021],[-0.292603,-0.921025,-0.257091],[-0.140809,-0.224426,0.964264]]
2025-10-24T22:37:19.552Z,1761345439.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946611,0.316959,-0.058862],[-0.292847,-0.921784,-0.254077],[-0.134790,-0.223274,0.965391]]
2025-10-24T22:37:19.975Z,1761345439.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947897,0.313935,-0.054187],[-0.291454,-0.923236,-0.250379],[-0.128630,-0.221540,0.966630]]
2025-10-24T22:37:20.357Z,1761345440.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949530,0.309646,-0.050123],[-0.288540,-0.924893,-0.247623],[-0.123034,-0.220663,0.967559]]
2025-10-24T22:37:20.759Z,1761345440.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951322,0.304690,-0.046369],[-0.284788,-0.926573,-0.245680],[-0.117820,-0.220516,0.968241]]
2025-10-24T22:37:21.169Z,1761345441.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953211,0.299223,-0.043061],[-0.280385,-0.928331,-0.244102],[-0.113015,-0.220607,0.968793]]
2025-10-24T22:37:21.567Z,1761345441.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955128,0.293391,-0.040638],[-0.275487,-0.930357,-0.241954],[-0.108795,-0.219902,0.969436]]
2025-10-24T22:37:21.980Z,1761345441.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956931,0.287809,-0.038059],[-0.270763,-0.932079,-0.240657],[-0.104737,-0.219987,0.969864]]
2025-10-24T22:37:22.375Z,1761345442.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958530,0.282756,-0.035623],[-0.266483,-0.933563,-0.239682],[-0.101028,-0.220249,0.970198]]
2025-10-24T22:37:22.616Z,1761345442.616 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:37:22.780Z,1761345442.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959767,0.278881,-0.032755],[-0.263364,-0.934494,-0.239502],[-0.097401,-0.221240,0.970343]]
2025-10-24T22:37:23.182Z,1761345443.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960597,0.276329,-0.029926],[-0.261586,-0.935195,-0.238713],[-0.093950,-0.221478,0.970629]]
2025-10-24T22:37:23.593Z,1761345443.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960874,0.275759,-0.026029],[-0.261785,-0.934831,-0.239915],[-0.090492,-0.223714,0.970445]]
2025-10-24T22:37:23.620Z,1761345443.620 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:37:23.997Z,1761345443.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960579,0.277195,-0.021235],[-0.264076,-0.933654,-0.241979],[-0.086902,-0.226832,0.970049]]
2025-10-24T22:37:24.394Z,1761345444.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959960,0.279709,-0.015510],[-0.267496,-0.931676,-0.245817],[-0.083207,-0.231826,0.969192]]
2025-10-24T22:37:24.799Z,1761345444.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959120,0.282838,-0.009544],[-0.271636,-0.929545,-0.249319],[-0.079388,-0.236535,0.968374]]
2025-10-24T22:37:25.209Z,1761345445.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958123,0.286324,-0.004435],[-0.276150,-0.927954,-0.250283],[-0.075778,-0.238577,0.968163]]
2025-10-24T22:37:25.608Z,1761345445.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957070,0.289857,0.000840],[-0.280733,-0.926215,-0.251624],[-0.072157,-0.241058,0.967825]]
2025-10-24T22:37:26.010Z,1761345446.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955993,0.293330,0.005865],[-0.285333,-0.924904,-0.251272],[-0.068281,-0.241887,0.967899]]
2025-10-24T22:37:26.414Z,1761345446.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955030,0.296314,0.010717],[-0.289494,-0.924016,-0.249774],[-0.064109,-0.241645,0.968245]]
2025-10-24T22:37:26.818Z,1761345446.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954359,0.298281,0.015039],[-0.292579,-0.923630,-0.247600],[-0.059964,-0.240699,0.968746]]
2025-10-24T22:37:27.229Z,1761345447.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953872,0.299581,0.019498],[-0.294982,-0.923193,-0.246374],[-0.055808,-0.240761,0.968979]]
2025-10-24T22:37:27.626Z,1761345447.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953752,0.299686,0.023356],[-0.296089,-0.923214,-0.244965],[-0.051850,-0.240551,0.969251]]
2025-10-24T22:37:27.745Z,1761345447.745 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:37:27.997Z,1761345447.997 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:37:27.997Z,1761345447.997 [DAT](INFO): #Outgoing data=7
2025-10-24T22:37:27.997Z,1761345447.997 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:37:28.031Z,1761345448.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953944,0.298792,0.026725],[-0.296125,-0.923680,-0.243158],[-0.047968,-0.239873,0.969618]]
2025-10-24T22:37:28.093Z,1761345448.093 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:37:28.093Z,1761345448.093 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:37:28.093Z,1761345448.093 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:37:28.093Z,1761345448.093 [marl:UpdateRudder:A] Stopped
2025-10-24T22:37:28.094Z,1761345448.094 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:37:28.094Z,1761345448.094 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:37:28.094Z,1761345448.094 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:37:28.094Z,1761345448.094 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:37:28.094Z,1761345448.094 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:37:28.094Z,1761345448.094 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:37:28.094Z,1761345448.094 [marl:UpdateCommandMode] Stopped
2025-10-24T22:37:28.094Z,1761345448.094 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:37:28.094Z,1761345448.094 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:37:28.095Z,1761345448.095 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:37:28.095Z,1761345448.095 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:37:28.095Z,1761345448.095 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:37:28.095Z,1761345448.095 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:37:28.095Z,1761345448.095 [marl:UpdateSpeed] Stopped
2025-10-24T22:37:28.095Z,1761345448.095 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:37:28.249Z,1761345448.249 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:37:28.435Z,1761345448.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954190,0.297755,0.029389],[-0.295848,-0.924265,-0.241265],[-0.044675,-0.238907,0.970014]]
2025-10-24T22:37:28.470Z,1761345448.470 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:37:28.471Z,1761345448.471 [marl:UpdateRudder:B] Stopped
2025-10-24T22:37:28.471Z,1761345448.471 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:37:28.471Z,1761345448.471 [marl:UpdateRudder] Stopped
2025-10-24T22:37:28.471Z,1761345448.471 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:37:28.838Z,1761345448.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954395,0.296839,0.031894],[-0.295646,-0.924857,-0.239235],[-0.041517,-0.237754,0.970438]]
2025-10-24T22:37:29.242Z,1761345449.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954571,0.296049,0.033909],[-0.295457,-0.925539,-0.236817],[-0.038725,-0.236077,0.970962]]
2025-10-24T22:37:29.649Z,1761345449.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954638,0.295579,0.036038],[-0.295589,-0.926077,-0.234538],[-0.035951,-0.234552,0.971439]]
2025-10-24T22:37:30.060Z,1761345450.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954389,0.296092,0.038353],[-0.296650,-0.925886,-0.233952],[-0.033761,-0.234659,0.971491]]
2025-10-24T22:37:30.454Z,1761345450.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954156,0.296422,0.041486],[-0.297685,-0.925385,-0.234620],[-0.031156,-0.236214,0.971201]]
2025-10-24T22:37:30.858Z,1761345450.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953716,0.297198,0.045812],[-0.299418,-0.924435,-0.236155],[-0.027834,-0.238942,0.970635]]
2025-10-24T22:37:31.263Z,1761345451.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953259,0.297856,0.050786],[-0.301222,-0.923605,-0.237106],[-0.023717,-0.241321,0.970155]]
2025-10-24T22:37:31.533Z,1761345451.533 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:37:30.7992

2025-10-24T22:37:31.533Z,1761345451.533 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:37:31.673Z,1761345451.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952998,0.297708,0.056255],[-0.302390,-0.923061,-0.237736],[-0.018849,-0.243572,0.969700]]
2025-10-24T22:37:32.076Z,1761345452.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952981,0.296652,0.061842],[-0.302723,-0.922796,-0.238342],[-0.013637,-0.245856,0.969210]]
2025-10-24T22:37:32.474Z,1761345452.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953101,0.295071,0.067316],[-0.302535,-0.922654,-0.239129],[-0.008451,-0.248280,0.968651]]
2025-10-24T22:37:32.878Z,1761345452.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953379,0.292960,0.072402],[-0.301758,-0.923029,-0.238663],[-0.003090,-0.249384,0.968400]]
2025-10-24T22:37:33.284Z,1761345453.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953570,0.291148,0.077053],[-0.301164,-0.923619,-0.237125],[0.002129,-0.249321,0.968419]]
2025-10-24T22:37:33.692Z,1761345453.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953940,0.288647,0.081738],[-0.299906,-0.924298,-0.236074],[0.007408,-0.249714,0.968291]]
2025-10-24T22:37:34.090Z,1761345454.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953847,0.287607,0.086362],[-0.300060,-0.924175,-0.236357],[0.011835,-0.251362,0.967821]]
2025-10-24T22:37:34.495Z,1761345454.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953500,0.287148,0.091563],[-0.300952,-0.923522,-0.237771],[0.016285,-0.254271,0.966996]]
2025-10-24T22:37:34.900Z,1761345454.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952705,0.288112,0.096668],[-0.303197,-0.922715,-0.238052],[0.020611,-0.256102,0.966430]]
2025-10-24T22:37:35.304Z,1761345455.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951540,0.290249,0.101622],[-0.306556,-0.921467,-0.238582],[0.024393,-0.258173,0.965791]]
2025-10-24T22:37:35.707Z,1761345455.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950314,0.292586,0.106282],[-0.309996,-0.920613,-0.237432],[0.028376,-0.258582,0.965572]]
2025-10-24T22:37:36.111Z,1761345456.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949357,0.294179,0.110363],[-0.312551,-0.920134,-0.235934],[0.032142,-0.258480,0.965482]]
2025-10-24T22:37:36.515Z,1761345456.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948716,0.294947,0.113771],[-0.314067,-0.920413,-0.232814],[0.036048,-0.256606,0.965844]]
2025-10-24T22:37:36.918Z,1761345456.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948242,0.295190,0.117047],[-0.315057,-0.920643,-0.230554],[0.039701,-0.255497,0.965994]]
2025-10-24T22:37:37.322Z,1761345457.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947772,0.295393,0.120298],[-0.315971,-0.921002,-0.227854],[0.043489,-0.253964,0.966235]]
2025-10-24T22:37:37.726Z,1761345457.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947241,0.295655,0.123784],[-0.317018,-0.921151,-0.225790],[0.047268,-0.253120,0.966280]]
2025-10-24T22:37:38.132Z,1761345458.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946435,0.296630,0.127558],[-0.318853,-0.920876,-0.224323],[0.050924,-0.252979,0.966131]]
2025-10-24T22:37:38.546Z,1761345458.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945247,0.298552,0.131813],[-0.321784,-0.919971,-0.223849],[0.054434,-0.254008,0.965669]]
2025-10-24T22:37:38.938Z,1761345458.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943565,0.301667,0.136683],[-0.326096,-0.918337,-0.224319],[0.057851,-0.256231,0.964883]]
2025-10-24T22:37:39.342Z,1761345459.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941711,0.305198,0.141547],[-0.330765,-0.916780,-0.223850],[0.061448,-0.257621,0.964290]]
2025-10-24T22:37:39.747Z,1761345459.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939876,0.308721,0.146027],[-0.335221,-0.915678,-0.221724],[0.065262,-0.257344,0.964113]]
2025-10-24T22:37:40.150Z,1761345460.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938011,0.312294,0.150359],[-0.339738,-0.914334,-0.220390],[0.068652,-0.257811,0.963753]]
2025-10-24T22:37:40.555Z,1761345460.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936038,0.315916,0.155017],[-0.344384,-0.912933,-0.218982],[0.072340,-0.258360,0.963336]]
2025-10-24T22:37:40.958Z,1761345460.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934283,0.318879,0.159472],[-0.348382,-0.911603,-0.218198],[0.075797,-0.259416,0.962787]]
2025-10-24T22:37:40.983Z,1761345460.983 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:37:40.983Z,1761345460.983 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:37:40.983Z,1761345460.983 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:37:40.983Z,1761345460.983 [marl:UpdateRudder:A] Stopped
2025-10-24T22:37:40.983Z,1761345460.983 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:37:40.984Z,1761345460.984 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:37:40.984Z,1761345460.984 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:37:40.984Z,1761345460.984 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:37:40.984Z,1761345460.984 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:37:40.984Z,1761345460.984 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:37:40.985Z,1761345460.985 [marl:UpdateCommandMode] Stopped
2025-10-24T22:37:40.985Z,1761345460.985 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:37:40.985Z,1761345460.985 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:37:40.985Z,1761345460.985 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:37:40.985Z,1761345460.985 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:37:40.985Z,1761345460.985 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:37:40.985Z,1761345460.985 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:37:40.985Z,1761345460.985 [marl:UpdateSpeed] Stopped
2025-10-24T22:37:40.986Z,1761345460.986 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:37:41.364Z,1761345461.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932533,0.322083,0.163231],[-0.352272,-0.910768,-0.215419],[0.079283,-0.258388,0.962783]]
2025-10-24T22:37:41.430Z,1761345461.430 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:37:41.430Z,1761345461.430 [marl:UpdateRudder:B] Stopped
2025-10-24T22:37:41.430Z,1761345461.430 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:37:41.430Z,1761345461.430 [marl:UpdateRudder] Stopped
2025-10-24T22:37:41.430Z,1761345461.430 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:37:41.637Z,1761345461.637 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:37:41.766Z,1761345461.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930701,0.325450,0.166968],[-0.356387,-0.909602,-0.213572],[0.082367,-0.258277,0.962553]]
2025-10-24T22:37:41.891Z,1761345461.891 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:37:41.891Z,1761345461.891 [DAT](INFO): #Outgoing data=8
2025-10-24T22:37:41.892Z,1761345461.892 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:37:42.141Z,1761345462.141 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:37:42.574Z,1761345462.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927686,0.331067,0.172608],[-0.362888,-0.908256,-0.208286],[0.087815,-0.255861,0.962717]]
2025-10-24T22:37:42.773Z,1761345462.773 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:37:42.773Z,1761345462.773 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:37:42.978Z,1761345462.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926557,0.333389,0.174198],[-0.365260,-0.908078,-0.204889],[0.089878,-0.253468,0.963159]]
2025-10-24T22:37:43.382Z,1761345463.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925668,0.335365,0.175123],[-0.366968,-0.908493,-0.199936],[0.092047,-0.249339,0.964032]]
2025-10-24T22:37:43.786Z,1761345463.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925172,0.336154,0.176232],[-0.367687,-0.908960,-0.196464],[0.094146,-0.246561,0.964544]]
2025-10-24T22:37:44.192Z,1761345464.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924871,0.336473,0.177199],[-0.367900,-0.909616,-0.192997],[0.096245,-0.243689,0.965066]]
2025-10-24T22:37:44.604Z,1761345464.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924992,0.336309,0.176879],[-0.367131,-0.911026,-0.187742],[0.098002,-0.238598,0.966161]]
2025-10-24T22:37:44.684Z,1761345464.684 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:37:44.913Z,1761345464.913 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:37:44.964Z,1761345464.964 [DAT](INFO): entering command mode
2025-10-24T22:37:45.004Z,1761345465.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925329,0.335105,0.177398],[-0.365784,-0.912141,-0.184936],[0.099839,-0.236016,0.966607]]
2025-10-24T22:37:45.170Z,1761345465.170 [DAT](INFO): DAT read: 

2025-10-24T22:37:45.170Z,1761345465.170 [DAT](INFO): DAT read: user:46>

2025-10-24T22:37:45.171Z,1761345465.171 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:37:45.171Z,1761345465.171 [DAT](INFO): setting remote address to 0
2025-10-24T22:37:45.403Z,1761345465.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925896,0.332994,0.178416],[-0.363836,-0.913133,-0.183880],[0.101686,-0.235168,0.966621]]
2025-10-24T22:37:45.417Z,1761345465.417 [DAT](INFO): DAT read: user:46>

2025-10-24T22:37:45.418Z,1761345465.418 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:37:45.418Z,1761345465.418 [DAT](INFO): set remote address to 0
2025-10-24T22:37:45.418Z,1761345465.418 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:37:45.419Z,1761345465.419 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:37:45.669Z,1761345465.669 [DAT](INFO): DAT read: user:47>

2025-10-24T22:37:45.670Z,1761345465.670 [DAT](INFO): DAT read: Tx time:22:37:44.8502

2025-10-24T22:37:45.670Z,1761345465.670 [DAT](INFO): Ping request sent.
2025-10-24T22:37:45.671Z,1761345465.671 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:37:45.671Z,1761345465.671 [DAT](INFO): publishing transmit ping time
2025-10-24T22:37:45.672Z,1761345465.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001578
2025-10-24T22:37:45.808Z,1761345465.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926670,0.330350,0.179307],[-0.361390,-0.914202,-0.183390],[0.103340,-0.234742,0.966549]]
2025-10-24T22:37:45.923Z,1761345465.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252410
2025-10-24T22:37:46.173Z,1761345466.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502251
2025-10-24T22:37:46.210Z,1761345466.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927594,0.327035,0.180602],[-0.358402,-0.915430,-0.183129],[0.105439,-0.234598,0.966357]]
2025-10-24T22:37:46.425Z,1761345466.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754234
2025-10-24T22:37:46.618Z,1761345466.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928454,0.323788,0.182027],[-0.355624,-0.916358,-0.183901],[0.107257,-0.235477,0.965943]]
2025-10-24T22:37:46.677Z,1761345466.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006783
2025-10-24T22:37:46.929Z,1761345466.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258225
2025-10-24T22:37:47.027Z,1761345467.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929056,0.320836,0.184174],[-0.353462,-0.916776,-0.185972],[0.109180,-0.237877,0.965140]]
2025-10-24T22:37:47.181Z,1761345467.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510188
2025-10-24T22:37:47.423Z,1761345467.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929089,0.319257,0.186730],[-0.352911,-0.916307,-0.189303],[0.110665,-0.241778,0.964000]]
2025-10-24T22:37:47.433Z,1761345467.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762127
2025-10-24T22:37:47.689Z,1761345467.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017992
2025-10-24T22:37:47.826Z,1761345467.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928370,0.319642,0.189629],[-0.354228,-0.915411,-0.191169],[0.112483,-0.244647,0.963066]]
2025-10-24T22:37:47.939Z,1761345467.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268143
2025-10-24T22:37:48.189Z,1761345468.189 [DAT](INFO): DAT read: Rx Time:22:37:47.0069

2025-10-24T22:37:48.189Z,1761345468.189 [DAT](INFO): Rx dataTimestamp_ set to:1761345468.189066
2025-10-24T22:37:48.190Z,1761345468.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519308
2025-10-24T22:37:48.242Z,1761345468.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927121,0.321180,0.193108],[-0.356941,-0.913789,-0.193863],[0.114195,-0.248662,0.961835]]
2025-10-24T22:37:48.441Z,1761345468.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770257
2025-10-24T22:37:48.642Z,1761345468.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925161,0.324936,0.196198],[-0.361586,-0.911691,-0.195130],[0.115467,-0.251469,0.960953]]
2025-10-24T22:37:48.695Z,1761345468.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024266
2025-10-24T22:37:48.950Z,1761345468.950 [DAT](INFO): DAT read: 22:37:47.0069 LVL= 27728, 23313, 32754, 32755, AGC= 50, IDX= 246,-0.08, 2.348,-2.954, 1.465, 2.863, PHS=-0.413, 0.511,-1.442, RAW=   1.8,  15.7, CAL=   2.2,  19.7, ROT= 147.8, -19.7

2025-10-24T22:37:48.952Z,1761345468.952 [DAT](INFO): got valid direction response:
 22:37:47.0069 LVL= 27728, 23313, 32754, 32755, AGC= 50, IDX= 246,-0.08, 2.348,-2.954, 1.465, 2.863, PHS=-0.413, 0.511,-1.442, RAW=   1.8,  15.7, CAL=   2.2,  19.7, ROT= 147.8, -19.7

2025-10-24T22:37:48.953Z,1761345468.953 [DAT](INFO): DAT read: Bearing 317, -13 (Remote)

2025-10-24T22:37:48.953Z,1761345468.953 [DAT](INFO): Remote Bearing received:Bearing 317, -13 (Remote)

2025-10-24T22:37:48.954Z,1761345468.954 [DAT](INFO): DAT read: Bearing 153.7,  17.9 (Local)

2025-10-24T22:37:48.954Z,1761345468.954 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.7,  17.9 (Local)

2025-10-24T22:37:48.955Z,1761345468.955 [DAT](INFO): DAT read: Range 11 to 20 : 95.6 m  (Round-trip  127.5 ms) speed  0.3 m/s

2025-10-24T22:37:48.962Z,1761345468.962 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-24T22:37:48.963Z,1761345468.963 [DAT](INFO): direction in FSK: [-0.796666,0.501687,0.337095]
2025-10-24T22:37:48.963Z,1761345468.963 [DAT](INFO): publishing direction and range info
2025-10-24T22:37:49.039Z,1761345469.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922686,0.330154,0.199119],[-0.367598,-0.909080,-0.196073],[0.116281,-0.254110,0.960160]]
2025-10-24T22:37:49.214Z,1761345469.214 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345408.00. Resetting abort timer.
2025-10-24T22:37:49.444Z,1761345469.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919983,0.336625,0.200787],[-0.374214,-0.906725,-0.194455],[0.116600,-0.254033,0.960142]]
2025-10-24T22:37:49.858Z,1761345469.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917139,0.343486,0.202171],[-0.381111,-0.904249,-0.192586],[0.116662,-0.253678,0.960228]]
2025-10-24T22:37:50.250Z,1761345470.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914177,0.350939,0.202785],[-0.388248,-0.901858,-0.189512],[0.116376,-0.251979,0.960710]]
2025-10-24T22:37:50.660Z,1761345470.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911246,0.358882,0.202078],[-0.395305,-0.899824,-0.184528],[0.115611,-0.248033,0.961828]]
2025-10-24T22:37:51.060Z,1761345471.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908549,0.366424,0.200680],[-0.401675,-0.898229,-0.178440],[0.114872,-0.242730,0.963269]]
2025-10-24T22:37:51.462Z,1761345471.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906277,0.373123,0.198598],[-0.406972,-0.897189,-0.171538],[0.114175,-0.236285,0.964953]]
2025-10-24T22:37:51.870Z,1761345471.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904756,0.377743,0.196790],[-0.410401,-0.896764,-0.165486],[0.113963,-0.230487,0.966379]]
2025-10-24T22:37:52.220Z,1761345472.220 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-24T22:37:52.221Z,1761345472.221 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:37:52.473Z,1761345472.473 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:37:52.682Z,1761345472.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906241,0.376327,0.192629],[-0.406999,-0.899885,-0.156713],[0.114368,-0.220419,0.968677]]
2025-10-24T22:37:52.741Z,1761345472.741 [DAT](INFO): setting remote address to 10
2025-10-24T22:37:52.998Z,1761345472.998 [DAT](INFO): DAT read: user:48>

2025-10-24T22:37:52.999Z,1761345472.999 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:37:52.000Z,1761345473.000 [DAT](INFO): set remote address to 10
2025-10-24T22:37:53.000Z,1761345473.000 [DAT](INFO): entering online mode
2025-10-24T22:37:53.079Z,1761345473.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908647,0.371407,0.190835],[-0.401402,-0.902842,-0.154118],[0.115054,-0.216641,0.969448]]
2025-10-24T22:37:53.249Z,1761345473.249 [DAT](INFO): DAT read: user:49>

2025-10-24T22:37:53.249Z,1761345473.249 [DAT](INFO): DAT read: 

2025-10-24T22:37:53.250Z,1761345473.250 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:37:53.251Z,1761345473.251 [DAT](INFO): commRate: 600
2025-10-24T22:37:53.251Z,1761345473.251 [DAT](INFO): online mode acknowledged
2025-10-24T22:37:53.251Z,1761345473.251 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:37:53.494Z,1761345473.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911496,0.365035,0.189539],[-0.394744,-0.905830,-0.153783],[0.115554,-0.214991,0.969756]]
2025-10-24T22:37:53.760Z,1761345473.760 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:37:53.906Z,1761345473.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914401,0.358045,0.188878],[-0.387914,-0.908404,-0.155969],[0.115733,-0.215886,0.969536]]
2025-10-24T22:37:54.066Z,1761345474.066 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:37:54.066Z,1761345474.066 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:37:54.066Z,1761345474.066 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:37:54.067Z,1761345474.067 [marl:UpdateRudder:A] Stopped
2025-10-24T22:37:54.067Z,1761345474.067 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:37:54.067Z,1761345474.067 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:37:54.067Z,1761345474.067 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:37:54.067Z,1761345474.067 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:37:54.067Z,1761345474.067 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:37:54.068Z,1761345474.068 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:37:54.068Z,1761345474.068 [marl:UpdateCommandMode] Stopped
2025-10-24T22:37:54.068Z,1761345474.068 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:37:54.068Z,1761345474.068 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:37:54.068Z,1761345474.068 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:37:54.068Z,1761345474.068 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:37:54.069Z,1761345474.069 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:37:54.069Z,1761345474.069 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:37:54.069Z,1761345474.069 [marl:UpdateSpeed] Stopped
2025-10-24T22:37:54.069Z,1761345474.069 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:37:54.297Z,1761345474.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917264,0.350927,0.188356],[-0.381164,-0.910623,-0.159624],[0.115505,-0.218212,0.969042]]
2025-10-24T22:37:54.386Z,1761345474.386 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:37:54.386Z,1761345474.386 [marl:UpdateRudder:B] Stopped
2025-10-24T22:37:54.386Z,1761345474.386 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:37:54.386Z,1761345474.386 [marl:UpdateRudder] Stopped
2025-10-24T22:37:54.386Z,1761345474.386 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:37:54.698Z,1761345474.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920013,0.344057,0.187621],[-0.374717,-0.912497,-0.164125],[0.114736,-0.221302,0.968432]]
2025-10-24T22:37:54.764Z,1761345474.764 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:37:55.102Z,1761345475.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922425,0.338181,0.186456],[-0.369246,-0.913764,-0.169388],[0.113093,-0.225096,0.967751]]
2025-10-24T22:37:55.509Z,1761345475.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924419,0.333399,0.185189],[-0.364837,-0.914527,-0.174739],[0.111102,-0.229096,0.967043]]
2025-10-24T22:37:55.959Z,1761345475.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926023,0.329537,0.184082],[-0.361318,-0.914972,-0.179656],[0.109226,-0.232877,0.966353]]
2025-10-24T22:37:56.315Z,1761345476.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927350,0.326591,0.182649],[-0.358521,-0.915263,-0.183729],[0.107168,-0.235864,0.965859]]
2025-10-24T22:37:56.533Z,1761345476.533 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:37:55.7990

2025-10-24T22:37:56.533Z,1761345476.533 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:37:56.718Z,1761345476.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928412,0.324672,0.180660],[-0.356367,-0.915703,-0.185719],[0.105133,-0.236805,0.965852]]
2025-10-24T22:37:57.124Z,1761345477.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929057,0.323553,0.179353],[-0.355296,-0.915452,-0.188975],[0.103046,-0.239292,0.965464]]
2025-10-24T22:37:57.527Z,1761345477.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929534,0.323032,0.177812],[-0.354596,-0.915352,-0.190767],[0.101137,-0.240376,0.965397]]
2025-10-24T22:37:57.985Z,1761345477.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929693,0.323494,0.176133],[-0.354792,-0.914965,-0.192253],[0.098963,-0.241227,0.965410]]
2025-10-24T22:37:58.335Z,1761345478.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929609,0.324516,0.174690],[-0.355595,-0.914334,-0.193764],[0.096845,-0.242244,0.965370]]
2025-10-24T22:37:58.738Z,1761345478.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929413,0.325783,0.173369],[-0.356663,-0.913601,-0.195257],[0.094779,-0.243309,0.965307]]
2025-10-24T22:37:59.142Z,1761345479.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928917,0.327957,0.171921],[-0.358523,-0.912691,-0.196105],[0.092596,-0.243803,0.965394]]
2025-10-24T22:37:59.546Z,1761345479.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928203,0.330496,0.170916],[-0.360875,-0.911515,-0.197254],[0.090601,-0.244771,0.965339]]
2025-10-24T22:37:59.992Z,1761345479.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926394,0.337060,0.167881],[-0.366457,-0.909548,-0.196038],[0.086619,-0.243130,0.966119]]
2025-10-24T22:38:00.758Z,1761345480.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925473,0.340695,0.165609],[-0.369293,-0.908823,-0.194069],[0.084391,-0.240764,0.966908]]
2025-10-24T22:38:01.162Z,1761345481.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925016,0.343283,0.162795],[-0.370843,-0.908952,-0.190475],[0.082586,-0.236564,0.968100]]
2025-10-24T22:38:01.581Z,1761345481.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925198,0.344369,0.159433],[-0.370793,-0.909757,-0.186692],[0.080754,-0.231844,0.969395]]
2025-10-24T22:38:01.992Z,1761345481.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927113,0.342829,0.151428],[-0.366911,-0.912629,-0.180232],[0.076409,-0.222656,0.971898]]
2025-10-24T22:38:02.779Z,1761345482.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928599,0.340569,0.147367],[-0.363639,-0.914288,-0.178448],[0.073962,-0.219295,0.972851]]
2025-10-24T22:38:03.185Z,1761345483.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930396,0.337559,0.142886],[-0.359689,-0.915844,-0.178475],[0.070616,-0.217447,0.973514]]
2025-10-24T22:38:03.595Z,1761345483.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933620,0.332048,0.134525],[-0.352719,-0.917720,-0.182703],[0.062790,-0.218025,0.973921]]
2025-10-24T22:38:03.998Z,1761345483.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934733,0.330225,0.131249],[-0.350479,-0.917681,-0.187153],[0.058642,-0.220938,0.973523]]
2025-10-24T22:38:04.399Z,1761345484.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935535,0.329292,0.127833],[-0.349018,-0.917460,-0.190926],[0.054411,-0.223234,0.973245]]
2025-10-24T22:38:04.805Z,1761345484.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935971,0.329202,0.124834],[-0.348454,-0.916885,-0.194684],[0.050368,-0.225718,0.972890]]
2025-10-24T22:38:05.205Z,1761345485.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935974,0.330244,0.122035],[-0.348991,-0.916013,-0.197803],[0.046463,-0.227727,0.972616]]
2025-10-24T22:38:05.608Z,1761345485.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935639,0.332179,0.119318],[-0.350403,-0.914785,-0.200961],[0.042395,-0.229836,0.972305]]
2025-10-24T22:38:06.015Z,1761345486.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935275,0.334271,0.116289],[-0.351803,-0.913954,-0.202295],[0.038661,-0.230112,0.972396]]
2025-10-24T22:38:06.414Z,1761345486.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935283,0.335419,0.112866],[-0.352146,-0.913761,-0.202568],[0.035188,-0.229204,0.972742]]
2025-10-24T22:38:06.613Z,1761345486.613 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-24T22:38:06.613Z,1761345486.613 [DAT](ERROR): Ack receipt timeout failure.
2025-10-24T22:38:06.819Z,1761345486.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935592,0.335723,0.109352],[-0.351670,-0.913714,-0.203604],[0.031562,-0.228946,0.972927]]
2025-10-24T22:38:06.859Z,1761345486.859 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:38:06.864Z,1761345486.864 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:38:06.865Z,1761345486.865 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:38:06.865Z,1761345486.865 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:38:06.866Z,1761345486.866 [marl:UpdateRudder:A] Stopped
2025-10-24T22:38:06.866Z,1761345486.866 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:38:06.866Z,1761345486.866 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:38:06.866Z,1761345486.866 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:38:06.866Z,1761345486.866 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:38:06.866Z,1761345486.866 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:38:06.866Z,1761345486.866 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:38:06.867Z,1761345486.867 [marl:UpdateCommandMode] Stopped
2025-10-24T22:38:06.867Z,1761345486.867 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:38:06.867Z,1761345486.867 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:38:06.867Z,1761345486.867 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:38:06.867Z,1761345486.867 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:38:06.867Z,1761345486.867 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:38:06.867Z,1761345486.867 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:38:06.867Z,1761345486.867 [marl:UpdateSpeed] Stopped
2025-10-24T22:38:06.867Z,1761345486.867 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:38:07.116Z,1761345487.116 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:38:07.222Z,1761345487.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936315,0.335073,0.105069],[-0.350026,-0.914565,-0.202616],[0.028201,-0.226489,0.973605]]
2025-10-24T22:38:07.270Z,1761345487.270 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:38:07.270Z,1761345487.270 [marl:UpdateRudder:B] Stopped
2025-10-24T22:38:07.270Z,1761345487.270 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:38:07.270Z,1761345487.270 [marl:UpdateRudder] Stopped
2025-10-24T22:38:07.270Z,1761345487.270 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:38:07.369Z,1761345487.369 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:38:07.629Z,1761345487.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937510,0.333108,0.100569],[-0.347073,-0.915819,-0.202030],[0.024805,-0.224310,0.974202]]
2025-10-24T22:38:08.031Z,1761345488.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938772,0.330958,0.095782],[-0.343882,-0.917216,-0.201145],[0.021282,-0.221767,0.974867]]
2025-10-24T22:38:08.446Z,1761345488.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940437,0.327502,0.091214],[-0.339499,-0.918783,-0.201443],[0.017833,-0.220411,0.975244]]
2025-10-24T22:38:08.841Z,1761345488.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942067,0.324018,0.086735],[-0.335124,-0.920183,-0.202373],[0.014239,-0.219716,0.975460]]
2025-10-24T22:38:09.242Z,1761345489.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943775,0.320247,0.082034],[-0.330427,-0.921540,-0.203916],[0.010294,-0.219557,0.975545]]
2025-10-24T22:38:09.649Z,1761345489.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946173,0.314174,0.077795],[-0.323592,-0.923256,-0.207091],[0.006762,-0.221118,0.975224]]
2025-10-24T22:38:10.050Z,1761345490.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949729,0.303845,0.075451],[-0.313048,-0.924719,-0.216556],[0.003971,-0.229290,0.973350]]
2025-10-24T22:38:10.458Z,1761345490.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954595,0.288120,0.075737],[-0.297900,-0.925052,-0.235657],[0.002163,-0.247519,0.968881]]
2025-10-24T22:38:10.650Z,1761345490.650 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:38:09.8990

2025-10-24T22:38:10.650Z,1761345490.650 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:38:10.858Z,1761345490.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960131,0.268871,0.076528],[-0.279549,-0.924302,-0.259842],[0.000871,-0.270875,0.962614]]
2025-10-24T22:38:11.263Z,1761345491.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965627,0.248118,0.077477],[-0.259933,-0.921979,-0.287037],[0.000213,-0.297309,0.954781]]
2025-10-24T22:38:11.674Z,1761345491.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970609,0.227830,0.077530],[-0.240660,-0.919028,-0.312202],[0.000123,-0.321685,0.946847]]
2025-10-24T22:38:12.078Z,1761345492.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974992,0.208397,0.077205],[-0.222237,-0.915709,-0.334795],[0.000927,-0.343580,0.939123]]
2025-10-24T22:38:12.476Z,1761345492.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978723,0.190421,0.076423],[-0.205173,-0.912162,-0.354775],[0.002154,-0.362907,0.931823]]
2025-10-24T22:38:12.878Z,1761345492.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981892,0.173832,0.075307],[-0.189398,-0.909392,-0.370316],[0.004111,-0.377873,0.925848]]
2025-10-24T22:38:13.283Z,1761345493.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984661,0.158211,0.073565],[-0.174365,-0.907470,-0.382225],[0.006286,-0.389189,0.921136]]
2025-10-24T22:38:13.691Z,1761345493.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986993,0.143844,0.071786],[-0.160513,-0.906597,-0.390279],[0.008942,-0.396725,0.917894]]
2025-10-24T22:38:14.098Z,1761345494.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988987,0.130334,0.070130],[-0.147519,-0.906393,-0.395841],[0.011974,-0.401827,0.915637]]
2025-10-24T22:38:14.495Z,1761345494.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990776,0.117325,0.067812],[-0.134695,-0.907515,-0.397836],[0.014865,-0.403300,0.914947]]
2025-10-24T22:38:14.899Z,1761345494.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992386,0.104443,0.065282],[-0.121890,-0.908912,-0.398776],[0.017686,-0.403697,0.914722]]
2025-10-24T22:38:15.303Z,1761345495.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993888,0.091146,0.062277],[-0.108483,-0.910852,-0.398221],[0.020429,-0.402543,0.915173]]
2025-10-24T22:38:15.707Z,1761345495.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995252,0.077785,0.058513],[-0.094677,-0.913161,-0.396450],[0.022594,-0.400107,0.916190]]
2025-10-24T22:38:16.110Z,1761345496.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996500,0.063637,0.054210],[-0.079906,-0.915632,-0.393997],[0.024563,-0.396950,0.917512]]
2025-10-24T22:38:16.514Z,1761345496.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997629,0.048142,0.049177],[-0.063551,-0.918666,-0.389890],[0.026407,-0.392090,0.919548]]
2025-10-24T22:38:17.325Z,1761345497.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999178,0.014781,0.037752],[-0.028100,-0.923711,-0.382059],[0.029225,-0.382806,0.923367]]
2025-10-24T22:38:17.730Z,1761345497.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999494,-0.002070,0.031724],[-0.010096,-0.925554,-0.378482],[0.030146,-0.378611,0.925065]]
2025-10-24T22:38:18.535Z,1761345498.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999129,-0.036773,0.019715],[0.026729,-0.926917,-0.374314],[0.032039,-0.373461,0.927093]]
2025-10-24T22:38:18.940Z,1761345498.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998431,-0.054484,0.012912],[0.045697,-0.926130,-0.374427],[0.032359,-0.373250,0.927167]]
2025-10-24T22:38:19.343Z,1761345499.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997403,-0.071700,0.006865],[0.063908,-0.924894,-0.374815],[0.033224,-0.373403,0.927074]]
2025-10-24T22:38:19.746Z,1761345499.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996108,-0.088138,0.000667],[0.081369,-0.922462,-0.377416],[0.033880,-0.375893,0.926044]]
2025-10-24T22:38:19.790Z,1761345499.790 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:38:19.790Z,1761345499.790 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:38:19.791Z,1761345499.791 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:38:19.791Z,1761345499.791 [marl:UpdateRudder:A] Stopped
2025-10-24T22:38:19.791Z,1761345499.791 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:38:19.791Z,1761345499.791 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:38:19.791Z,1761345499.791 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:38:19.791Z,1761345499.791 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:38:19.792Z,1761345499.792 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:38:19.792Z,1761345499.792 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:38:19.792Z,1761345499.792 [marl:UpdateCommandMode] Stopped
2025-10-24T22:38:19.792Z,1761345499.792 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:38:19.792Z,1761345499.792 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:38:19.792Z,1761345499.792 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:38:19.792Z,1761345499.792 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:38:19.793Z,1761345499.793 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:38:19.793Z,1761345499.793 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:38:19.793Z,1761345499.793 [marl:UpdateSpeed] Stopped
2025-10-24T22:38:19.793Z,1761345499.793 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:38:20.150Z,1761345500.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994639,-0.103286,-0.004945],[0.097385,-0.919590,-0.380618],[0.034765,-0.379059,0.924719]]
2025-10-24T22:38:20.207Z,1761345500.207 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:38:20.207Z,1761345500.207 [marl:UpdateRudder:B] Stopped
2025-10-24T22:38:20.208Z,1761345500.208 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:38:20.208Z,1761345500.208 [marl:UpdateRudder] Stopped
2025-10-24T22:38:20.208Z,1761345500.208 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:38:20.555Z,1761345500.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992973,-0.117890,-0.010281],[0.112817,-0.916843,-0.382978],[0.035723,-0.381447,0.923700]]
2025-10-24T22:38:20.740Z,1761345500.740 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:38:20.992Z,1761345500.992 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:38:21.245Z,1761345501.245 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:38:21.363Z,1761345501.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989156,-0.145618,-0.019124],[0.141646,-0.911445,-0.386271],[0.038817,-0.384791,0.922187]]
2025-10-24T22:38:21.766Z,1761345501.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987005,-0.159009,-0.023163],[0.155457,-0.908430,-0.388058],[0.040663,-0.386616,0.921344]]
2025-10-24T22:38:22.201Z,1761345502.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984697,-0.172198,-0.026832],[0.168931,-0.905272,-0.389801],[0.042833,-0.388369,0.920508]]
2025-10-24T22:38:22.602Z,1761345502.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982334,-0.184659,-0.030334],[0.181623,-0.901746,-0.392259],[0.045080,-0.390839,0.919354]]
2025-10-24T22:38:23.127Z,1761345503.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979701,-0.197560,-0.033984],[0.194899,-0.899062,-0.392047],[0.046899,-0.390713,0.919317]]
2025-10-24T22:38:23.568Z,1761345503.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976766,-0.210869,-0.038240],[0.208837,-0.896502,-0.390731],[0.048111,-0.389639,0.919710]]
2025-10-24T22:38:23.981Z,1761345503.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973322,-0.225312,-0.043347],[0.224208,-0.893857,-0.388266],[0.048735,-0.387627,0.920527]]
2025-10-24T22:38:24.373Z,1761345504.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969171,-0.241466,-0.049012],[0.241438,-0.891033,-0.384407],[0.049150,-0.384389,0.921862]]
2025-10-24T22:38:24.521Z,1761345504.521 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:38:23.7989

2025-10-24T22:38:24.521Z,1761345504.521 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:38:24.884Z,1761345504.884 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:38:25.178Z,1761345505.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959371,-0.275331,-0.061648],[0.277858,-0.883992,-0.375970],[0.049020,-0.377824,0.924579]]
2025-10-24T22:38:25.583Z,1761345505.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953516,-0.293345,-0.068963],[0.297407,-0.879225,-0.372174],[0.048542,-0.375384,0.925597]]
2025-10-24T22:38:25.890Z,1761345505.890 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:38:26.004Z,1761345506.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947187,-0.311222,-0.077314],[0.317146,-0.873415,-0.369547],[0.047484,-0.374550,0.925990]]
2025-10-24T22:38:26.416Z,1761345506.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940433,-0.328995,-0.085723],[0.336867,-0.867671,-0.365607],[0.045904,-0.372706,0.926813]]
2025-10-24T22:38:26.819Z,1761345506.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926339,-0.362010,-0.104140],[0.374466,-0.854970,-0.358888],[0.040885,-0.371449,0.927553]]
2025-10-24T22:38:27.253Z,1761345507.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919216,-0.376936,-0.113850],[0.391982,-0.848593,-0.355303],[0.037314,-0.371227,0.927792]]
2025-10-24T22:38:27.661Z,1761345507.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912514,-0.389908,-0.123650],[0.407675,-0.842187,-0.352878],[0.033453,-0.372415,0.927463]]
2025-10-24T22:38:28.059Z,1761345508.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905969,-0.402220,-0.132061],[0.422304,-0.836785,-0.348497],[0.029666,-0.371497,0.927960]]
2025-10-24T22:38:28.462Z,1761345508.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899485,-0.414005,-0.139741],[0.436181,-0.831749,-0.343423],[0.025949,-0.369856,0.928727]]
2025-10-24T22:38:28.874Z,1761345508.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892990,-0.425288,-0.147309],[0.449505,-0.826228,-0.339547],[0.022695,-0.369428,0.928982]]
2025-10-24T22:38:29.271Z,1761345509.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886272,-0.436660,-0.154435],[0.462740,-0.820495,-0.335648],[0.019851,-0.368939,0.929242]]
2025-10-24T22:38:29.683Z,1761345509.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879182,-0.448224,-0.161658],[0.476173,-0.814213,-0.332138],[0.017248,-0.368987,0.929274]]
2025-10-24T22:38:30.080Z,1761345510.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871804,-0.459641,-0.169374],[0.489618,-0.806901,-0.330431],[0.015212,-0.371000,0.928508]]
2025-10-24T22:38:30.483Z,1761345510.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863600,-0.472393,-0.176181],[0.503996,-0.799473,-0.326850],[0.013550,-0.371062,0.928509]]
2025-10-24T22:38:30.890Z,1761345510.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854434,-0.486004,-0.183693],[0.519426,-0.791015,-0.323252],[0.011798,-0.371613,0.928313]]
2025-10-24T22:38:31.296Z,1761345511.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844577,-0.499920,-0.191755],[0.535345,-0.781879,-0.319486],[0.009788,-0.372485,0.927986]]
2025-10-24T22:38:31.333Z,1761345511.333 [DAT](INFO): DAT read: Rx Time:22:38:30.1061

2025-10-24T22:38:31.333Z,1761345511.333 [DAT](INFO): Rx dataTimestamp_ set to:1761345511.333064
2025-10-24T22:38:31.695Z,1761345511.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834345,-0.513767,-0.199780],[0.551189,-0.772495,-0.315345],[0.007684,-0.373223,0.927710]]
2025-10-24T22:38:32.094Z,1761345512.094 [DAT](INFO): DAT read: 22:38:30.1061 LVL= 32752, 30193, 32066, 23763, AGC= 61, IDX= 385,-0.11,-2.313,-0.739,-0.722,-1.511, PHS=-0.700, 0.816, 0.744, RAW= 272.4, -11.6, CAL= 272.3, -17.2, ROT= 237.7,  17.2

2025-10-24T22:38:32.095Z,1761345512.095 [DAT](INFO): got valid direction response:
 22:38:30.1061 LVL= 32752, 30193, 32066, 23763, AGC= 61, IDX= 385,-0.11,-2.313,-0.739,-0.722,-1.511, PHS=-0.700, 0.816, 0.744, RAW= 272.4, -11.6, CAL= 272.3, -17.2, ROT= 237.7,  17.2

2025-10-24T22:38:32.096Z,1761345512.096 [DAT](INFO): DAT read: 

2025-10-24T22:38:32.097Z,1761345512.097 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:38:32.097Z,1761345512.097 [DAT](INFO): Got DATA 2
2025-10-24T22:38:32.098Z,1761345512.098 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:38:32.098Z,1761345512.098 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:38:32.098Z,1761345512.098 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:38:32.099Z,1761345512.099 [DAT](INFO): DAT read: CRC:Pass MPD:03.7 PSNR:11.3 AGC:63 SPD:-0.8 CCERR:010

2025-10-24T22:38:32.099Z,1761345512.099 [DAT](INFO): Got CRC:Pass
2025-10-24T22:38:32.099Z,1761345512.099 [DAT](INFO): Got CRC:Pass
2025-10-24T22:38:32.099Z,1761345512.099 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:38:32.100Z,1761345512.100 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:38:32.100Z,1761345512.100 [DAT](INFO): Got ack
2025-10-24T22:38:32.100Z,1761345512.100 [DAT](INFO): DAT read: 

2025-10-24T22:38:32.100Z,1761345512.100 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:38:32.101Z,1761345512.101 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:38:32.101Z,1761345512.101 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-24T22:38:32.102Z,1761345512.102 [DAT](INFO): direction in FSK: [-0.510455,-0.807460,-0.295708]
2025-10-24T22:38:32.155Z,1761345512.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823598,-0.527624,-0.208085],[0.567150,-0.762775,-0.310670],[0.005195,-0.373883,0.927461]]
2025-10-24T22:38:32.263Z,1761345512.263 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345536.00. Resetting abort timer.
2025-10-24T22:38:32.341Z,1761345512.341 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:38:32.593Z,1761345512.593 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:38:32.922Z,1761345512.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801452,-0.553506,-0.226506],[0.598057,-0.742728,-0.301138],[-0.001551,-0.376811,0.926289]]
2025-10-24T22:38:32.986Z,1761345512.986 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:38:32.986Z,1761345512.986 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:38:32.987Z,1761345512.987 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:38:32.987Z,1761345512.987 [marl:UpdateRudder:A] Stopped
2025-10-24T22:38:32.987Z,1761345512.987 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:38:32.987Z,1761345512.987 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:38:32.987Z,1761345512.987 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:38:32.987Z,1761345512.987 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:38:32.987Z,1761345512.987 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:38:32.992Z,1761345512.992 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:38:32.992Z,1761345512.992 [marl:UpdateCommandMode] Stopped
2025-10-24T22:38:32.992Z,1761345512.992 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:38:32.992Z,1761345512.992 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:38:32.992Z,1761345512.992 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:38:32.992Z,1761345512.992 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:38:32.993Z,1761345512.993 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:38:32.993Z,1761345512.993 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:38:32.993Z,1761345512.993 [marl:UpdateSpeed] Stopped
2025-10-24T22:38:32.993Z,1761345512.993 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:38:33.322Z,1761345513.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790407,-0.565714,-0.234997],[0.612557,-0.733314,-0.294999],[-0.005442,-0.377119,0.926149]]
2025-10-24T22:38:33.398Z,1761345513.398 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:38:33.399Z,1761345513.399 [marl:UpdateRudder:B] Stopped
2025-10-24T22:38:33.399Z,1761345513.399 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:38:33.399Z,1761345513.399 [marl:UpdateRudder] Stopped
2025-10-24T22:38:33.399Z,1761345513.399 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:38:33.726Z,1761345513.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779445,-0.577711,-0.242313],[0.626402,-0.724444,-0.287754],[-0.009303,-0.376073,0.926543]]
2025-10-24T22:38:34.130Z,1761345514.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768553,-0.589351,-0.248982],[0.639646,-0.715944,-0.279778],[-0.013370,-0.374285,0.927217]]
2025-10-24T22:38:34.536Z,1761345514.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757856,-0.600624,-0.254764],[0.652184,-0.707970,-0.270988],[-0.017603,-0.371523,0.928257]]
2025-10-24T22:38:34.939Z,1761345514.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747301,-0.611218,-0.260679],[0.664128,-0.699890,-0.262847],[-0.021790,-0.369550,0.928955]]
2025-10-24T22:38:35.350Z,1761345515.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736985,-0.621057,-0.266722],[0.675421,-0.691681,-0.255704],[-0.025680,-0.368599,0.929234]]
2025-10-24T22:38:35.869Z,1761345515.869 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:38:35.0988

2025-10-24T22:38:35.870Z,1761345515.870 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:38:36.152Z,1761345516.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716424,-0.640128,-0.277439],[0.696895,-0.675286,-0.241506],[-0.032756,-0.366367,0.929894]]
2025-10-24T22:38:36.555Z,1761345516.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706347,-0.648591,-0.283556],[0.706967,-0.666556,-0.236433],[-0.035657,-0.367468,0.929352]]
2025-10-24T22:38:36.958Z,1761345516.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696103,-0.656754,-0.290026],[0.716923,-0.657394,-0.232068],[-0.038250,-0.369469,0.928456]]
2025-10-24T22:38:37.367Z,1761345517.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685553,-0.665432,-0.295326],[0.726919,-0.647996,-0.227355],[-0.040080,-0.370542,0.927951]]
2025-10-24T22:38:37.767Z,1761345517.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674597,-0.674396,-0.300181],[0.737019,-0.638179,-0.222552],[-0.041481,-0.371373,0.927557]]
2025-10-24T22:38:38.171Z,1761345518.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663350,-0.683494,-0.304635],[0.747103,-0.628020,-0.217778],[-0.042467,-0.372057,0.927238]]
2025-10-24T22:38:38.574Z,1761345518.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651675,-0.692521,-0.309411],[0.757265,-0.617278,-0.213349],[-0.043244,-0.373341,0.926686]]
2025-10-24T22:38:39.384Z,1761345519.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626706,-0.711354,-0.318145],[0.777970,-0.594600,-0.203011],[-0.044756,-0.374735,0.926051]]
2025-10-24T22:38:39.787Z,1761345519.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613026,-0.721494,-0.321941],[0.788731,-0.582527,-0.196382],[-0.045851,-0.374312,0.926169]]
2025-10-24T22:38:40.190Z,1761345520.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598562,-0.732155,-0.325073],[0.799686,-0.570017,-0.188636],[-0.047187,-0.372866,0.926685]]
2025-10-24T22:38:40.595Z,1761345520.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583517,-0.743117,-0.327543],[0.810639,-0.557174,-0.180057],[-0.048695,-0.370586,0.927521]]
2025-10-24T22:38:40.998Z,1761345520.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568003,-0.753611,-0.330822],[0.821495,-0.543636,-0.172062],[-0.050179,-0.369501,0.927875]]
2025-10-24T22:38:41.402Z,1761345521.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551913,-0.763819,-0.334623],[0.832262,-0.529683,-0.163632],[-0.052259,-0.368805,0.928037]]
2025-10-24T22:38:41.806Z,1761345521.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534798,-0.774094,-0.338776],[0.843210,-0.514847,-0.154695],[-0.054669,-0.368390,0.928063]]
2025-10-24T22:38:42.211Z,1761345522.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518500,-0.782975,-0.343668],[0.853175,-0.500515,-0.146889],[-0.057001,-0.369371,0.927532]]
2025-10-24T22:38:42.615Z,1761345522.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502270,-0.791728,-0.347694],[0.862688,-0.486292,-0.138891],[-0.059117,-0.369712,0.927264]]
2025-10-24T22:38:42.673Z,1761345522.673 [DAT](INFO): DAT read: Rx Time:22:38:41.4075

2025-10-24T22:38:42.674Z,1761345522.674 [DAT](INFO): Rx dataTimestamp_ set to:1761345522.673660
2025-10-24T22:38:42.897Z,1761345522.897 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:38:42.897Z,1761345522.897 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:38:43.019Z,1761345523.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485509,-0.800102,-0.352302],[0.872080,-0.471506,-0.130995],[-0.061303,-0.370835,0.926673]]
2025-10-24T22:38:43.424Z,1761345523.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469135,-0.807463,-0.357654],[0.880860,-0.456836,-0.124041],[-0.063231,-0.373236,0.925579]]
2025-10-24T22:38:43.434Z,1761345523.434 [DAT](INFO): DAT read: 22:38:41.4075 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 463, 0.22, 1.932, 3.105,-2.550, 2.755, PHS=-0.721, 0.395, 0.935, RAW= 251.4,  -8.4, CAL= 249.8, -13.2, ROT= 260.2,  13.2

2025-10-24T22:38:43.435Z,1761345523.435 [DAT](INFO): got valid direction response:
 22:38:41.4075 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 463, 0.22, 1.932, 3.105,-2.550, 2.755, PHS=-0.721, 0.395, 0.935, RAW= 251.4,  -8.4, CAL= 249.8, -13.2, ROT= 260.2,  13.2

2025-10-24T22:38:43.437Z,1761345523.437 [DAT](INFO): DAT read: 

2025-10-24T22:38:43.437Z,1761345523.437 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:38:43.437Z,1761345523.437 [DAT](INFO): Got DATA 2
2025-10-24T22:38:43.438Z,1761345523.438 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:38:43.438Z,1761345523.438 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:38:43.439Z,1761345523.439 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:38:43.440Z,1761345523.440 [DAT](INFO): DAT read: CRC:Pass MPD:41.6 PSNR:07.8 AGC:71 SPD:+0.6 CCERR:005

2025-10-24T22:38:43.440Z,1761345523.440 [DAT](INFO): Got CRC:Pass
2025-10-24T22:38:43.440Z,1761345523.440 [DAT](INFO): Got CRC:Pass
2025-10-24T22:38:43.440Z,1761345523.440 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:38:43.440Z,1761345523.440 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T22:38:43.441Z,1761345523.441 [DAT](INFO): Got ack
2025-10-24T22:38:43.441Z,1761345523.441 [DAT](INFO): DAT read: 

2025-10-24T22:38:43.441Z,1761345523.441 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:38:43.442Z,1761345523.442 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:38:43.442Z,1761345523.442 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-24T22:38:43.443Z,1761345523.443 [DAT](INFO): direction in FSK: [-0.165712,-0.959372,-0.228351]
2025-10-24T22:38:43.531Z,1761345523.531 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345536.00. Resetting abort timer.
2025-10-24T22:38:43.681Z,1761345523.681 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:38:43.853Z,1761345523.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452769,-0.814563,-0.362612],[0.889242,-0.442257,-0.116862],[-0.065176,-0.375361,0.924584]]
2025-10-24T22:38:43.934Z,1761345523.934 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:38:44.230Z,1761345524.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436601,-0.821926,-0.365810],[0.897152,-0.428080,-0.108928],[-0.067066,-0.375745,0.924293]]
2025-10-24T22:38:44.634Z,1761345524.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420386,-0.829253,-0.368261],[0.904699,-0.414058,-0.100375],[-0.069245,-0.375361,0.924288]]
2025-10-24T22:38:44.708Z,1761345524.708 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:38:44.941Z,1761345524.941 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:44.992Z,1761345524.992 [DAT](INFO): entering command mode
2025-10-24T22:38:45.193Z,1761345525.193 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:45.193Z,1761345525.193 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:45.442Z,1761345525.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389297,-0.842928,-0.371377],[0.918219,-0.387066,-0.083987],[-0.072952,-0.373701,0.924676]]
2025-10-24T22:38:45.445Z,1761345525.445 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:45.445Z,1761345525.445 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:45.700Z,1761345525.700 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:45.701Z,1761345525.701 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:45.855Z,1761345525.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373848,-0.848800,-0.373867],[0.924486,-0.373440,-0.076608],[-0.074592,-0.374274,0.924313]]
2025-10-24T22:38:45.938Z,1761345525.938 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:38:45.939Z,1761345525.939 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:38:45.939Z,1761345525.939 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:38:45.951Z,1761345525.951 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:45.953Z,1761345525.953 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:45.960Z,1761345525.960 [marl:UpdateRudder:A] Stopped
2025-10-24T22:38:45.963Z,1761345525.963 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:38:45.969Z,1761345525.969 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:38:45.969Z,1761345525.969 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:38:45.969Z,1761345525.969 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:38:45.969Z,1761345525.969 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:38:45.970Z,1761345525.970 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:38:45.970Z,1761345525.970 [marl:UpdateCommandMode] Stopped
2025-10-24T22:38:45.970Z,1761345525.970 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:38:45.970Z,1761345525.970 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:38:45.970Z,1761345525.970 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:38:45.970Z,1761345525.970 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:38:45.970Z,1761345525.970 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:38:45.970Z,1761345525.970 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:38:45.971Z,1761345525.971 [marl:UpdateSpeed] Stopped
2025-10-24T22:38:45.971Z,1761345525.971 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:38:46.201Z,1761345526.201 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:46.201Z,1761345526.201 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:46.253Z,1761345526.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358554,-0.854271,-0.376377],[0.930416,-0.359823,-0.069660],[-0.075920,-0.375165,0.923844]]
2025-10-24T22:38:46.333Z,1761345526.333 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:38:46.333Z,1761345526.333 [marl:UpdateRudder:B] Stopped
2025-10-24T22:38:46.334Z,1761345526.334 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:38:46.334Z,1761345526.334 [marl:UpdateRudder] Stopped
2025-10-24T22:38:46.334Z,1761345526.334 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:38:46.453Z,1761345526.453 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:46.453Z,1761345526.453 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:46.663Z,1761345526.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343318,-0.859578,-0.378494],[0.936052,-0.346215,-0.062786],[-0.077071,-0.375846,0.923472]]
2025-10-24T22:38:46.705Z,1761345526.705 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:46.705Z,1761345526.705 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:46.957Z,1761345526.957 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:46.957Z,1761345526.957 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:47.058Z,1761345527.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328183,-0.864883,-0.379834],[0.941403,-0.332588,-0.056086],[-0.077820,-0.375983,0.923353]]
2025-10-24T22:38:47.092Z,1761345527.092 [marl:SendObservationData] Running Loop=1
2025-10-24T22:38:47.092Z,1761345527.092 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T22:38:47.092Z,1761345527.092 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T22:38:47.093Z,1761345527.093 [marl:SendObservationData:A] Running Loop=1
2025-10-24T22:38:47.094Z,1761345527.094 [marl:SendObservationData:A](INFO): Got test_good :  41da3f0000000000405140000000000040426317611b4d36c05e7749375b16eb40302ad0000000004057e66660000000 n/a str  and temp var is  nan n/a str 
2025-10-24T22:38:47.094Z,1761345527.094 [marl:SendObservationData:A] Stopped
2025-10-24T22:38:47.094Z,1761345527.094 [marl:SendObservationData:B] Running Loop=1
2025-10-24T22:38:47.209Z,1761345527.209 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:47.209Z,1761345527.209 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:47.461Z,1761345527.461 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:47.461Z,1761345527.461 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:47.464Z,1761345527.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313127,-0.869954,-0.380961],[0.946441,-0.319103,-0.049220],[-0.078747,-0.375970,0.923280]]
2025-10-24T22:38:47.516Z,1761345527.516 [marl:SendObservationData:B] Stopped
2025-10-24T22:38:47.516Z,1761345527.516 [marl:SendObservationData:C] Running Loop=1
2025-10-24T22:38:47.713Z,1761345527.713 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:47.713Z,1761345527.713 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:47.870Z,1761345527.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299386,-0.875093,-0.380237],[0.950698,-0.307377,-0.041136],[-0.080879,-0.373806,0.923974]]
2025-10-24T22:38:47.967Z,1761345527.967 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:47.968Z,1761345527.968 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:47.998Z,1761345527.998 [marl:SendObservationData:C] Stopped
2025-10-24T22:38:47.998Z,1761345527.998 [marl:SendObservationData:E] Running Loop=1
2025-10-24T22:38:48.217Z,1761345528.217 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:38:47.4987

2025-10-24T22:38:48.217Z,1761345528.217 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:38:48.218Z,1761345528.218 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:48.218Z,1761345528.218 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:48.270Z,1761345528.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289072,-0.881342,-0.373730],[0.953546,-0.299660,-0.030880],[-0.084776,-0.365295,0.927023]]
2025-10-24T22:38:48.351Z,1761345528.351 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.010631 min 
2025-10-24T22:38:48.351Z,1761345528.351 [marl:SendObservationData:E] Stopped
2025-10-24T22:38:48.351Z,1761345528.351 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T22:38:48.351Z,1761345528.351 [marl:SendObservationData] Stopped
2025-10-24T22:38:48.352Z,1761345528.352 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T22:38:48.352Z,1761345528.352 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T22:38:48.469Z,1761345528.469 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:48.469Z,1761345528.469 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:48.680Z,1761345528.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282003,-0.890002,-0.358289],[0.955118,-0.295728,-0.017159],[-0.090684,-0.347047,0.933453]]
2025-10-24T22:38:48.721Z,1761345528.721 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:48.721Z,1761345528.721 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:48.973Z,1761345528.973 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:48.973Z,1761345528.973 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:49.078Z,1761345529.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278156,-0.898193,-0.340410],[0.955540,-0.294847,-0.002818],[-0.097838,-0.326059,0.940273]]
2025-10-24T22:38:49.225Z,1761345529.225 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:49.225Z,1761345529.225 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:49.477Z,1761345529.477 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:49.477Z,1761345529.477 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:49.485Z,1761345529.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276787,-0.905328,-0.322134],[0.955126,-0.295989,0.011180],[-0.105470,-0.304585,0.946628]]
2025-10-24T22:38:49.729Z,1761345529.729 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:49.729Z,1761345529.729 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:49.899Z,1761345529.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276953,-0.911465,-0.304184],[0.954181,-0.298202,0.024780],[-0.113295,-0.283384,0.952291]]
2025-10-24T22:38:49.981Z,1761345529.981 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:49.981Z,1761345529.981 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:50.233Z,1761345530.233 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:50.233Z,1761345530.233 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:50.295Z,1761345530.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279029,-0.915665,-0.289310],[0.952704,-0.301740,0.036160],[-0.120407,-0.265537,0.956552]]
2025-10-24T22:38:50.485Z,1761345530.485 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:50.485Z,1761345530.485 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:50.695Z,1761345530.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281522,-0.918773,-0.276771],[0.951076,-0.305435,0.046524],[-0.127280,-0.250133,0.959809]]
2025-10-24T22:38:50.737Z,1761345530.737 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:50.737Z,1761345530.737 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:50.989Z,1761345530.989 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:50.989Z,1761345530.989 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:51.100Z,1761345531.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284534,-0.920860,-0.266567],[0.949353,-0.309321,0.055213],[-0.133299,-0.237356,0.962234]]
2025-10-24T22:38:51.242Z,1761345531.242 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:51.243Z,1761345531.243 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:51.493Z,1761345531.493 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:51.493Z,1761345531.493 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:51.504Z,1761345531.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287193,-0.922400,-0.258261],[0.947807,-0.312635,0.062616],[-0.138499,-0.226799,0.964044]]
2025-10-24T22:38:51.745Z,1761345531.745 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:51.745Z,1761345531.745 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:51.951Z,1761345531.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289630,-0.922892,-0.253741],[0.946426,-0.315693,0.067934],[-0.142800,-0.220471,0.964884]]
2025-10-24T22:38:51.997Z,1761345531.997 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:51.997Z,1761345531.997 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:52.249Z,1761345532.249 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:52.249Z,1761345532.249 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:52.317Z,1761345532.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290874,-0.923448,-0.250273],[0.945417,-0.317580,0.073006],[-0.146899,-0.215377,0.965419]]
2025-10-24T22:38:52.503Z,1761345532.503 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:52.503Z,1761345532.503 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:52.716Z,1761345532.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291516,-0.923288,-0.250117],[0.944672,-0.318981,0.076461],[-0.150378,-0.213989,0.965192]]
2025-10-24T22:38:52.753Z,1761345532.753 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:52.753Z,1761345532.753 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:53.005Z,1761345533.005 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:53.005Z,1761345533.005 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:53.119Z,1761345533.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291056,-0.923240,-0.250827],[0.944296,-0.319323,0.079613],[-0.153597,-0.213684,0.964753]]
2025-10-24T22:38:53.257Z,1761345533.257 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:53.257Z,1761345533.257 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:53.509Z,1761345533.509 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:53.509Z,1761345533.509 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:53.527Z,1761345533.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290082,-0.923169,-0.252214],[0.944220,-0.319019,0.081702],[-0.155885,-0.214445,0.964216]]
2025-10-24T22:38:53.761Z,1761345533.761 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:53.761Z,1761345533.761 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:53.979Z,1761345533.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288529,-0.923040,-0.254456],[0.944429,-0.318080,0.082942],[-0.157496,-0.216384,0.963521]]
2025-10-24T22:38:54.013Z,1761345534.013 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:54.014Z,1761345534.014 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:54.265Z,1761345534.265 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:54.265Z,1761345534.265 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:54.343Z,1761345534.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286327,-0.923287,-0.256042],[0.944873,-0.316399,0.084300],[-0.158845,-0.217789,0.962983]]
2025-10-24T22:38:54.517Z,1761345534.517 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:54.517Z,1761345534.517 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:54.747Z,1761345534.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283351,-0.923428,-0.258830],[0.945610,-0.313992,0.085033],[-0.159792,-0.220658,0.962173]]
2025-10-24T22:38:54.769Z,1761345534.769 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:54.769Z,1761345534.769 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:55.022Z,1761345535.022 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:55.022Z,1761345535.022 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:55.150Z,1761345535.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280426,-0.923500,-0.261741],[0.946430,-0.311501,0.085077],[-0.160101,-0.223862,0.961381]]
2025-10-24T22:38:55.274Z,1761345535.274 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:55.274Z,1761345535.274 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:55.525Z,1761345535.525 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:55.525Z,1761345535.525 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:55.554Z,1761345535.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276960,-0.923757,-0.264510],[0.947470,-0.308375,0.084883],[-0.159980,-0.227106,0.960640]]
2025-10-24T22:38:55.777Z,1761345535.777 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:55.777Z,1761345535.777 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:55.983Z,1761345535.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272556,-0.924044,-0.268059],[0.948774,-0.304406,0.084648],[-0.159817,-0.231256,0.959677]]
2025-10-24T22:38:56.012Z,1761345536.012 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:38:56.029Z,1761345536.029 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:56.029Z,1761345536.029 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:56.281Z,1761345536.281 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:56.282Z,1761345536.282 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:56.364Z,1761345536.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267495,-0.924886,-0.270245],[0.950219,-0.299712,0.085183],[-0.159781,-0.234006,0.959016]]
2025-10-24T22:38:56.533Z,1761345536.533 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:56.533Z,1761345536.533 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:56.769Z,1761345536.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261952,-0.925500,-0.273552],[0.951733,-0.294714,0.085725],[-0.159958,-0.237893,0.958029]]
2025-10-24T22:38:56.785Z,1761345536.785 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:56.785Z,1761345536.785 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:57.016Z,1761345537.016 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:38:57.037Z,1761345537.037 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:57.037Z,1761345537.037 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:57.171Z,1761345537.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256324,-0.926424,-0.275749],[0.953214,-0.289570,0.086792],[-0.160254,-0.240601,0.957303]]
2025-10-24T22:38:57.289Z,1761345537.289 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:57.289Z,1761345537.289 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:57.541Z,1761345537.541 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:57.541Z,1761345537.541 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:57.793Z,1761345537.793 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:57.794Z,1761345537.794 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:57.989Z,1761345537.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245560,-0.928290,-0.279247],[0.955716,-0.280035,0.090488],[-0.162198,-0.244660,0.955946]]
2025-10-24T22:38:58.048Z,1761345538.048 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:58.049Z,1761345538.049 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:58.297Z,1761345538.297 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:38:58.297Z,1761345538.297 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:58.297Z,1761345538.297 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:58.382Z,1761345538.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240677,-0.929488,-0.279511],[0.956485,-0.276071,0.094451],[-0.164956,-0.244616,0.955485]]
2025-10-24T22:38:58.549Z,1761345538.549 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:38:58.549Z,1761345538.549 [DAT](INFO): #Outgoing data=6
2025-10-24T22:38:58.549Z,1761345538.549 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:38:58.550Z,1761345538.550 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:38:58.550Z,1761345538.550 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:38:58.793Z,1761345538.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236202,-0.930677,-0.279372],[0.957158,-0.272403,0.098207],[-0.167501,-0.244206,0.955148]]
2025-10-24T22:38:58.801Z,1761345538.801 [DAT](INFO): entering online mode
2025-10-24T22:38:58.838Z,1761345538.838 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:38:58.838Z,1761345538.838 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:38:58.838Z,1761345538.838 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:38:58.839Z,1761345538.839 [marl:UpdateRudder:A] Stopped
2025-10-24T22:38:58.839Z,1761345538.839 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:38:58.839Z,1761345538.839 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:38:58.839Z,1761345538.839 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:38:58.839Z,1761345538.839 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:38:58.839Z,1761345538.839 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:38:58.839Z,1761345538.839 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:38:58.839Z,1761345538.839 [marl:UpdateCommandMode] Stopped
2025-10-24T22:38:58.839Z,1761345538.839 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:38:58.840Z,1761345538.840 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:38:58.840Z,1761345538.840 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:38:58.840Z,1761345538.840 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:38:58.840Z,1761345538.840 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:38:58.840Z,1761345538.840 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:38:58.840Z,1761345538.840 [marl:UpdateSpeed] Stopped
2025-10-24T22:38:58.841Z,1761345538.841 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:38:59.053Z,1761345539.053 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:38:59.190Z,1761345539.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233559,-0.931154,-0.280004],[0.957283,-0.270687,0.101674],[-0.170468,-0.244296,0.954599]]
2025-10-24T22:38:59.214Z,1761345539.214 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:38:59.214Z,1761345539.214 [marl:UpdateRudder:B] Stopped
2025-10-24T22:38:59.214Z,1761345539.214 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:38:59.214Z,1761345539.214 [marl:UpdateRudder] Stopped
2025-10-24T22:38:59.214Z,1761345539.214 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:38:59.308Z,1761345539.308 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:38:59.556Z,1761345539.556 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:38:59.597Z,1761345539.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233151,-0.931497,-0.279202],[0.956965,-0.270798,0.104335],[-0.172795,-0.242861,0.954547]]
2025-10-24T22:38:59.809Z,1761345539.809 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:38:59.998Z,1761345539.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235376,-0.930848,-0.279499],[0.956257,-0.273200,0.104573],[-0.173700,-0.242659,0.954434]]
2025-10-24T22:39:00.061Z,1761345540.061 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:00.312Z,1761345540.312 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:00.403Z,1761345540.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239371,-0.930624,-0.276839],[0.955411,-0.276541,0.103517],[-0.172892,-0.239716,0.955324]]
2025-10-24T22:39:00.564Z,1761345540.564 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:00.809Z,1761345540.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244663,-0.929994,-0.274320],[0.954604,-0.280615,0.099934],[-0.169917,-0.237417,0.956432]]
2025-10-24T22:39:00.816Z,1761345540.816 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:01.068Z,1761345541.068 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:01.210Z,1761345541.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250405,-0.929524,-0.270708],[0.954078,-0.284411,0.094051],[-0.164414,-0.234725,0.958056]]
2025-10-24T22:39:01.320Z,1761345541.320 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:01.572Z,1761345541.572 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:01.625Z,1761345541.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256415,-0.928478,-0.268663],[0.953743,-0.288171,0.085631],[-0.156928,-0.234279,0.959420]]
2025-10-24T22:39:01.824Z,1761345541.824 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:02.018Z,1761345542.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262641,-0.927330,-0.266607],[0.953523,-0.291735,0.075393],[-0.147692,-0.234415,0.960852]]
2025-10-24T22:39:02.077Z,1761345542.077 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:39:01.2986

2025-10-24T22:39:02.078Z,1761345542.078 [DAT](DEBUG): Re-entering command mode due to unexpected online mode.
2025-10-24T22:39:02.078Z,1761345542.078 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:02.328Z,1761345542.328 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:02.424Z,1761345542.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268632,-0.926148,-0.264740],[0.953434,-0.294781,0.063789],[-0.137118,-0.235276,0.962208]]
2025-10-24T22:39:02.581Z,1761345542.581 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:02.826Z,1761345542.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273552,-0.925103,-0.263351],[0.953575,-0.296687,0.051692],[-0.125953,-0.236984,0.963314]]
2025-10-24T22:39:02.839Z,1761345542.839 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:03.093Z,1761345543.093 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:03.230Z,1761345543.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276544,-0.924782,-0.261348],[0.954025,-0.296899,0.041083],[-0.115586,-0.237971,0.964370]]
2025-10-24T22:39:03.344Z,1761345543.344 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:03.596Z,1761345543.596 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:03.635Z,1761345543.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277416,-0.924991,-0.259678],[0.954836,-0.295389,0.032136],[-0.106431,-0.239034,0.965161]]
2025-10-24T22:39:03.848Z,1761345543.848 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:04.039Z,1761345544.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277121,-0.925309,-0.258859],[0.955748,-0.293148,0.024706],[-0.098745,-0.240558,0.965599]]
2025-10-24T22:39:04.100Z,1761345544.100 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:04.352Z,1761345544.352 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:04.443Z,1761345544.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276306,-0.925996,-0.257266],[0.956649,-0.290643,0.018681],[-0.092071,-0.240952,0.966160]]
2025-10-24T22:39:04.604Z,1761345544.604 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:04.847Z,1761345544.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275507,-0.926484,-0.256364],[0.957403,-0.288440,0.013511],[-0.086463,-0.241721,0.966486]]
2025-10-24T22:39:04.858Z,1761345544.858 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:05.108Z,1761345545.108 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:05.361Z,1761345545.361 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:05.612Z,1761345545.612 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:05.666Z,1761345545.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274991,-0.927914,-0.251706],[0.958869,-0.283848,-0.001168],[-0.070363,-0.241674,0.967803]]
2025-10-24T22:39:05.865Z,1761345545.865 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:06.063Z,1761345546.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275938,-0.928067,-0.250098],[0.959020,-0.283250,-0.007021],[-0.064324,-0.241786,0.968195]]
2025-10-24T22:39:06.116Z,1761345546.116 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:06.368Z,1761345546.368 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:06.467Z,1761345546.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276987,-0.928073,-0.248915],[0.959122,-0.282680,-0.013325],[-0.057996,-0.242431,0.968434]]
2025-10-24T22:39:06.621Z,1761345546.621 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:06.871Z,1761345546.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278075,-0.928590,-0.245754],[0.959196,-0.282063,-0.019559],[-0.051156,-0.241165,0.969135]]
2025-10-24T22:39:06.873Z,1761345546.873 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:07.124Z,1761345547.124 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:07.277Z,1761345547.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279152,-0.929393,-0.241461],[0.959233,-0.281451,-0.025649],[-0.044122,-0.238777,0.970072]]
2025-10-24T22:39:07.377Z,1761345547.377 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:07.628Z,1761345547.628 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:07.679Z,1761345547.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279601,-0.930297,-0.237424],[0.959393,-0.280312,-0.031475],[-0.037272,-0.236583,0.970896]]
2025-10-24T22:39:07.880Z,1761345547.880 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:08.078Z,1761345548.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279245,-0.931341,-0.233724],[0.959714,-0.278607,-0.036442],[-0.031178,-0.234484,0.971620]]
2025-10-24T22:39:08.133Z,1761345548.133 [DAT](INFO): DAT read: Rx Time:22:39:06.9041

2025-10-24T22:39:08.134Z,1761345548.134 [DAT](INFO): Rx dataTimestamp_ set to:1761345548.133364
2025-10-24T22:39:08.134Z,1761345548.134 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:08.384Z,1761345548.384 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:08.482Z,1761345548.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278941,-0.932634,-0.228880],[0.959981,-0.277032,-0.041110],[-0.025067,-0.231188,0.972586]]
2025-10-24T22:39:08.637Z,1761345548.637 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:08.894Z,1761345548.894 [DAT](INFO): DAT read: 22:39:06.9041 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 382, 0.02,-2.155,-1.253,-0.342,-1.268, PHS=-0.784, 0.060, 0.883, RAW= 240.4,  -2.2, CAL= 237.1,  -3.3, ROT= 272.9,   3.3

2025-10-24T22:39:08.895Z,1761345548.895 [DAT](INFO): got valid direction response:
 22:39:06.9041 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 382, 0.02,-2.155,-1.253,-0.342,-1.268, PHS=-0.784, 0.060, 0.883, RAW= 240.4,  -2.2, CAL= 237.1,  -3.3, ROT= 272.9,   3.3

2025-10-24T22:39:08.896Z,1761345548.896 [DAT](INFO): DAT read: 

2025-10-24T22:39:08.896Z,1761345548.896 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T22:39:08.897Z,1761345548.897 [DAT](INFO): Got DATA 2
2025-10-24T22:39:08.897Z,1761345548.897 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T22:39:08.898Z,1761345548.898 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T22:39:08.898Z,1761345548.898 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T22:39:08.899Z,1761345548.899 [DAT](INFO): DAT read: CRC:Pass MPD:04.2 PSNR:11.1 AGC:67 SPD:+0.1 CCERR:008

2025-10-24T22:39:08.899Z,1761345548.899 [DAT](INFO): Got CRC:Pass
2025-10-24T22:39:08.899Z,1761345548.899 [DAT](INFO): Got CRC:Pass
2025-10-24T22:39:08.899Z,1761345548.899 [DAT](INFO): Incoming data is intended for us
2025-10-24T22:39:08.899Z,1761345548.899 [DAT](INFO): Got ack
2025-10-24T22:39:08.900Z,1761345548.900 [DAT](INFO): DAT read: 

2025-10-24T22:39:08.900Z,1761345548.900 [DAT](INFO): DAT read: <EOP>

2025-10-24T22:39:08.901Z,1761345548.901 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:08.902Z,1761345548.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277925,-0.933715,-0.225685],[0.960409,-0.274814,-0.045744],[-0.019309,-0.229463,0.973126]]
2025-10-24T22:39:09.141Z,1761345549.141 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:09.290Z,1761345549.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276534,-0.934814,-0.222828],[0.960904,-0.272322,-0.050047],[-0.013897,-0.227956,0.973572]]
2025-10-24T22:39:09.393Z,1761345549.393 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:09.645Z,1761345549.645 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:09.695Z,1761345549.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273976,-0.935823,-0.221747],[0.961692,-0.268801,-0.053802],[-0.009257,-0.227993,0.973619]]
2025-10-24T22:39:09.896Z,1761345549.896 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:10.106Z,1761345550.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271148,-0.936885,-0.220738],[0.962526,-0.265036,-0.057438],[-0.004690,-0.228041,0.973640]]
2025-10-24T22:39:10.149Z,1761345550.149 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:10.401Z,1761345550.401 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:10.504Z,1761345550.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268551,-0.937257,-0.222327],[0.963265,-0.261402,-0.061555],[-0.000424,-0.230690,0.973027]]
2025-10-24T22:39:10.653Z,1761345550.653 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:10.904Z,1761345550.904 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:10.908Z,1761345550.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266822,-0.937580,-0.223048],[0.963738,-0.258639,-0.065688],[0.003899,-0.232487,0.972592]]
2025-10-24T22:39:11.157Z,1761345551.157 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:11.310Z,1761345551.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265791,-0.938069,-0.222221],[0.963999,-0.256748,-0.069188],[0.007848,-0.232611,0.972538]]
2025-10-24T22:39:11.409Z,1761345551.409 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:11.665Z,1761345551.665 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:11.714Z,1761345551.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265173,-0.938225,-0.222298],[0.964134,-0.255292,-0.072609],[0.011372,-0.233579,0.972271]]
2025-10-24T22:39:11.774Z,1761345551.774 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:39:11.774Z,1761345551.774 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:39:11.774Z,1761345551.774 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:39:11.774Z,1761345551.774 [marl:UpdateRudder:A] Stopped
2025-10-24T22:39:11.775Z,1761345551.775 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:39:11.775Z,1761345551.775 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:39:11.775Z,1761345551.775 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:39:11.775Z,1761345551.775 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:39:11.775Z,1761345551.775 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:39:11.775Z,1761345551.775 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:39:11.775Z,1761345551.775 [marl:UpdateCommandMode] Stopped
2025-10-24T22:39:11.775Z,1761345551.775 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:39:11.775Z,1761345551.775 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:39:11.776Z,1761345551.776 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:39:11.776Z,1761345551.776 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:39:11.776Z,1761345551.776 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:39:11.776Z,1761345551.776 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:39:11.776Z,1761345551.776 [marl:UpdateSpeed] Stopped
2025-10-24T22:39:11.776Z,1761345551.776 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:39:11.914Z,1761345551.914 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:12.120Z,1761345552.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265669,-0.938475,-0.220648],[0.963945,-0.254987,-0.076098],[0.015153,-0.232909,0.972380]]
2025-10-24T22:39:12.165Z,1761345552.165 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:12.197Z,1761345552.197 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:39:12.197Z,1761345552.197 [marl:UpdateRudder:B] Stopped
2025-10-24T22:39:12.197Z,1761345552.197 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:39:12.197Z,1761345552.197 [marl:UpdateRudder] Stopped
2025-10-24T22:39:12.197Z,1761345552.197 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:39:12.416Z,1761345552.416 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:12.522Z,1761345552.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267173,-0.938224,-0.219895],[0.963459,-0.255544,-0.080280],[0.019128,-0.233308,0.972215]]
2025-10-24T22:39:12.669Z,1761345552.669 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:12.921Z,1761345552.921 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:12.928Z,1761345552.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269210,-0.938047,-0.218162],[0.962802,-0.256682,-0.084416],[0.023188,-0.232773,0.972255]]
2025-10-24T22:39:13.172Z,1761345553.172 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:13.331Z,1761345553.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271184,-0.937820,-0.216686],[0.962147,-0.257788,-0.088423],[0.027066,-0.232463,0.972229]]
2025-10-24T22:39:13.424Z,1761345553.424 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:13.678Z,1761345553.678 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:13.745Z,1761345553.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273447,-0.937641,-0.214608],[0.961388,-0.259232,-0.092362],[0.030970,-0.231578,0.972323]]
2025-10-24T22:39:13.930Z,1761345553.930 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:39:13.931Z,1761345553.931 [DAT](FAULT): failed to enter online mode
2025-10-24T22:39:13.931Z,1761345553.931 [DAT](FAULT): Failure returning to online mode
2025-10-24T22:39:13.931Z,1761345553.931 [DAT] Communications Fault, FailCount= 1
2025-10-24T22:39:13.931Z,1761345553.931 [DAT](ERROR): Communications Fault
2025-10-24T22:39:13.934Z,1761345553.934 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:39:13.988Z,1761345553.988 [DAT](INFO): entering command mode
2025-10-24T22:39:14.138Z,1761345554.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275691,-0.937388,-0.212835],[0.960628,-0.260733,-0.095982],[0.034480,-0.230916,0.972363]]
2025-10-24T22:39:14.279Z,1761345554.279 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T22:39:14.392Z,1761345554.392 [DAT](INFO): Powering down
2025-10-24T22:39:14.542Z,1761345554.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278769,-0.936816,-0.211335],[0.959610,-0.263042,-0.099787],[0.037892,-0.230617,0.972306]]
2025-10-24T22:39:14.946Z,1761345554.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281802,-0.936280,-0.209684],[0.958632,-0.265604,-0.102370],[0.040154,-0.229857,0.972396]]
2025-10-24T22:39:15.352Z,1761345555.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285443,-0.935802,-0.206872],[0.957472,-0.268973,-0.104403],[0.042058,-0.227876,0.972781]]
2025-10-24T22:39:15.499Z,1761345555.499 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T22:39:15.499Z,1761345555.499 [DAT] No Fault, FailCount= 1
2025-10-24T22:39:15.754Z,1761345555.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289135,-0.935263,-0.204167],[0.956287,-0.272435,-0.106273],[0.043771,-0.225970,0.973150]]
2025-10-24T22:39:16.158Z,1761345556.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292839,-0.934684,-0.201520],[0.955083,-0.275928,-0.108078],[0.045414,-0.224118,0.973503]]
2025-10-24T22:39:16.563Z,1761345556.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295908,-0.934012,-0.200152],[0.954047,-0.278619,-0.110301],[0.047257,-0.223593,0.973536]]
2025-10-24T22:39:16.967Z,1761345556.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298628,-0.933559,-0.198215],[0.953065,-0.280862,-0.113061],[0.049878,-0.222675,0.973616]]
2025-10-24T22:39:17.370Z,1761345557.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300611,-0.933172,-0.197034],[0.952245,-0.282077,-0.116883],[0.053494,-0.222761,0.973404]]
2025-10-24T22:39:17.440Z,1761345557.440 [DAT](INFO): Powering up
2025-10-24T22:39:17.441Z,1761345557.441 [DAT](DEBUG): Initializing DAT.
2025-10-24T22:39:17.774Z,1761345557.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301357,-0.933079,-0.196337],[0.951753,-0.281856,-0.121343],[0.057884,-0.223432,0.972999]]
2025-10-24T22:39:18.179Z,1761345558.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300860,-0.933256,-0.196256],[0.951570,-0.280129,-0.126657],[0.063226,-0.224858,0.972338]]
2025-10-24T22:39:18.584Z,1761345558.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298272,-0.933739,-0.197902],[0.951999,-0.276090,-0.132180],[0.068783,-0.227828,0.971269]]
2025-10-24T22:39:18.999Z,1761345558.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293870,-0.934745,-0.199732],[0.952936,-0.270217,-0.137461],[0.074519,-0.230728,0.970161]]
2025-10-24T22:39:19.390Z,1761345559.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287342,-0.935960,-0.203501],[0.954462,-0.261998,-0.142688],[0.080233,-0.235235,0.968621]]
2025-10-24T22:39:19.795Z,1761345559.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281260,-0.937208,-0.206238],[0.955815,-0.254447,-0.147221],[0.085500,-0.238532,0.967363]]
2025-10-24T22:39:20.207Z,1761345560.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274808,-0.938876,-0.207345],[0.957283,-0.246993,-0.150343],[0.089940,-0.239804,0.966646]]
2025-10-24T22:39:20.605Z,1761345560.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268057,-0.941205,-0.205616],[0.958879,-0.239993,-0.151508],[0.093254,-0.237773,0.966834]]
2025-10-24T22:39:21.010Z,1761345561.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261887,-0.942805,-0.206238],[0.960431,-0.233610,-0.151652],[0.094799,-0.237793,0.966679]]
2025-10-24T22:39:21.410Z,1761345561.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255719,-0.944008,-0.208461],[0.962143,-0.227484,-0.150108],[0.094281,-0.238955,0.966443]]
2025-10-24T22:39:21.814Z,1761345561.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250368,-0.944716,-0.211724],[0.963761,-0.222397,-0.147327],[0.092095,-0.240937,0.966161]]
2025-10-24T22:39:22.224Z,1761345562.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246230,-0.945390,-0.213562],[0.965082,-0.218836,-0.143972],[0.089375,-0.241555,0.966263]]
2025-10-24T22:39:22.622Z,1761345562.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244715,-0.946234,-0.211554],[0.965657,-0.218205,-0.141043],[0.087298,-0.238804,0.967136]]
2025-10-24T22:39:23.027Z,1761345563.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245668,-0.946233,-0.210452],[0.965538,-0.219619,-0.139654],[0.085926,-0.237508,0.967578]]
2025-10-24T22:39:23.431Z,1761345563.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248679,-0.945791,-0.208898],[0.964824,-0.222893,-0.139405],[0.085286,-0.236217,0.967950]]
2025-10-24T22:39:23.835Z,1761345563.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252242,-0.944831,-0.208971],[0.963945,-0.226427,-0.139791],[0.084762,-0.236698,0.967879]]
2025-10-24T22:39:24.238Z,1761345564.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255431,-0.944053,-0.208612],[0.963158,-0.229687,-0.139893],[0.084151,-0.236659,0.967942]]
2025-10-24T22:39:24.642Z,1761345564.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258264,-0.943194,-0.209009],[0.962418,-0.232389,-0.140520],[0.083967,-0.237446,0.967765]]
2025-10-24T22:39:24.713Z,1761345564.713 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:39:24.713Z,1761345564.713 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:39:24.713Z,1761345564.713 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:39:24.714Z,1761345564.714 [marl:UpdateRudder:A] Stopped
2025-10-24T22:39:24.714Z,1761345564.714 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:39:24.714Z,1761345564.714 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:39:24.714Z,1761345564.714 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:39:24.714Z,1761345564.714 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:39:24.714Z,1761345564.714 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:39:24.715Z,1761345564.715 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:39:24.715Z,1761345564.715 [marl:UpdateCommandMode] Stopped
2025-10-24T22:39:24.715Z,1761345564.715 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:39:24.715Z,1761345564.715 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:39:24.715Z,1761345564.715 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:39:24.715Z,1761345564.715 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:39:24.715Z,1761345564.715 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:39:24.715Z,1761345564.715 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:39:24.715Z,1761345564.715 [marl:UpdateSpeed] Stopped
2025-10-24T22:39:24.720Z,1761345564.720 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:39:25.052Z,1761345565.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260961,-0.942703,-0.207870],[0.961678,-0.235108,-0.141066],[0.084111,-0.236716,0.967931]]
2025-10-24T22:39:25.077Z,1761345565.077 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-24T22:39:25.077Z,1761345565.077 [marl:UpdateRudder:B] Stopped
2025-10-24T22:39:25.077Z,1761345565.077 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:39:25.077Z,1761345565.077 [marl:UpdateRudder] Stopped
2025-10-24T22:39:25.077Z,1761345565.077 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:39:25.450Z,1761345565.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263742,-0.942138,-0.206921],[0.960894,-0.237843,-0.141824],[0.084403,-0.236234,0.968024]]
2025-10-24T22:39:25.854Z,1761345565.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266122,-0.941854,-0.205158],[0.960220,-0.240343,-0.142170],[0.084595,-0.234831,0.968348]]
2025-10-24T22:39:26.258Z,1761345566.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268177,-0.941162,-0.205659],[0.959631,-0.242188,-0.143018],[0.084795,-0.235711,0.968117]]
2025-10-24T22:39:26.679Z,1761345566.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270297,-0.940784,-0.204609],[0.959023,-0.244343,-0.143429],[0.084941,-0.234993,0.968279]]
2025-10-24T22:39:26.686Z,1761345566.686 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-10-24T22:39:26.687Z,1761345566.687 [NAL9602] Data Fault, FailCount= 1
2025-10-24T22:39:26.687Z,1761345566.687 [NAL9602](ERROR): Data Fault
2025-10-24T22:39:26.753Z,1761345566.753 [marl:NeedComms] Running Loop=1
2025-10-24T22:39:26.753Z,1761345566.753 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms
2025-10-24T22:39:26.754Z,1761345566.754 [marl:NeedComms:B.GoToSurface] Running Loop=1
2025-10-24T22:39:26.754Z,1761345566.754 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-24T22:39:26.754Z,1761345566.754 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-24T22:39:26.754Z,1761345566.754 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-24T22:39:26.755Z,1761345566.755 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-24T22:39:26.755Z,1761345566.755 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-24T22:39:26.755Z,1761345566.755 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-24T22:39:26.761Z,1761345566.761 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-24T22:39:26.761Z,1761345566.761 [marl:NeedComms:A] Running Loop=1
2025-10-24T22:39:26.762Z,1761345566.762 [marl:NeedComms:A](ERROR): caught uninitialized data element exception.
2025-10-24T22:39:26.762Z,1761345566.762 [marl:NeedComms:A](INFO): last time_fix was:  nan second since 1970/01/01T00:00:00Z 
2025-10-24T22:39:26.763Z,1761345566.763 [marl:NeedComms:A] Stopped
2025-10-24T22:39:26.823Z,1761345566.823 [CBIT](ERROR): Data Fault in component: NAL9602
2025-10-24T22:39:27.071Z,1761345567.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272459,-0.940466,-0.203198],[0.958429,-0.246682,-0.143391],[0.084729,-0.233819,0.968581]]
2025-10-24T22:39:27.081Z,1761345567.081 [NAL9602](INFO): Powering down
2025-10-24T22:39:27.136Z,1761345567.136 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:39:27.470Z,1761345567.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273713,-0.940162,-0.202920],[0.958097,-0.247996,-0.143343],[0.084442,-0.233652,0.968647]]
2025-10-24T22:39:27.874Z,1761345567.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271645,-0.939756,-0.207528],[0.958647,-0.245201,-0.144474],[0.084885,-0.238192,0.967502]]
2025-10-24T22:39:28.140Z,1761345568.140 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:39:28.319Z,1761345568.319 [CBIT](INFO): Clearing failed state for component NAL9602
2025-10-24T22:39:28.320Z,1761345568.320 [NAL9602] No Fault, FailCount= 1
2025-10-24T22:39:28.343Z,1761345568.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264477,-0.938913,-0.220214],[0.960447,-0.235803,-0.148116],[0.087141,-0.250677,0.964141]]
2025-10-24T22:39:28.753Z,1761345568.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251036,-0.936048,-0.246566],[0.963701,-0.217766,-0.154461],[0.090890,-0.276391,0.956738]]
2025-10-24T22:39:29.157Z,1761345569.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231174,-0.931844,-0.279686],[0.968179,-0.192015,-0.160500],[0.095857,-0.307890,0.946581]]
2025-10-24T22:39:29.540Z,1761345569.540 [DAT](INFO): DAT read: 

2025-10-24T22:39:29.541Z,1761345569.541 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T22:39:29.558Z,1761345569.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204031,-0.926185,-0.317099],[0.974018,-0.159536,-0.160740],[0.098286,-0.341657,0.934671]]
2025-10-24T22:39:30.366Z,1761345570.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133025,-0.912014,-0.387988],[0.987235,-0.087336,-0.133186],[0.087582,-0.400752,0.911991]]
2025-10-24T22:39:30.776Z,1761345570.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091694,-0.905633,-0.414031],[0.992903,-0.051526,-0.107189],[0.075741,-0.420921,0.903930]]
2025-10-24T22:39:31.190Z,1761345571.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048599,-0.902125,-0.428729],[0.996962,-0.017657,-0.075859],[0.060864,-0.431113,0.900243]]
2025-10-24T22:39:31.305Z,1761345571.305 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T22:39:31.306Z,1761345571.306 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T22:39:31.307Z,1761345571.307 [DAT](INFO): DAT read: Oct 24 2025 22:39:25 

2025-10-24T22:39:31.579Z,1761345571.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004438,-0.900799,-0.434213],[0.999054,0.014785,-0.040885],[0.043249,-0.433984,0.899882]]
2025-10-24T22:39:31.985Z,1761345571.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039787,-0.900870,-0.432263],[0.998929,0.046092,-0.004115],[0.023631,-0.431636,0.901738]]
2025-10-24T22:39:32.313Z,1761345572.313 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T22:39:32.314Z,1761345572.314 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:39:32.315Z,1761345572.315 [DAT](INFO): commRate: 600
2025-10-24T22:39:32.387Z,1761345572.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083545,-0.900859,-0.425997],[0.996500,0.076666,0.033304],[0.002658,-0.427288,0.904112]]
2025-10-24T22:39:32.791Z,1761345572.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126520,-0.899632,-0.417918],[0.991779,0.106581,0.070819],[-0.019169,-0.423442,0.905720]]
2025-10-24T22:39:33.599Z,1761345573.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205047,-0.897022,-0.391545],[0.976702,0.161653,0.141142],[-0.063313,-0.411364,0.909270]]
2025-10-24T22:39:34.003Z,1761345574.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240321,-0.893769,-0.378712],[0.967021,0.186531,0.173428],[-0.084363,-0.407901,0.909120]]
2025-10-24T22:39:34.380Z,1761345574.380 [DAT](INFO): entering command mode
2025-10-24T22:39:34.407Z,1761345574.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274345,-0.889245,-0.366030],[0.955913,0.210736,0.204500],[-0.104715,-0.405997,0.907855]]
2025-10-24T22:39:34.581Z,1761345574.581 [DAT](INFO): DAT read: 

2025-10-24T22:39:34.581Z,1761345574.581 [DAT](INFO): DAT read: user:1>

2025-10-24T22:39:34.582Z,1761345574.582 [DAT](INFO): setting verbose to 3
2025-10-24T22:39:34.814Z,1761345574.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307718,-0.882529,-0.355602],[0.943398,0.234394,0.234646],[-0.123731,-0.407679,0.904703]]
2025-10-24T22:39:34.833Z,1761345574.833 [DAT](INFO): DAT read: user:1>

2025-10-24T22:39:34.834Z,1761345574.834 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T22:39:34.834Z,1761345574.834 [DAT](INFO): set verbose to 3
2025-10-24T22:39:34.834Z,1761345574.834 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T22:39:35.085Z,1761345575.085 [DAT](INFO): DAT read: user:2>

2025-10-24T22:39:35.087Z,1761345575.087 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T22:39:35.087Z,1761345575.087 [DAT](INFO): set DatVerbose to 27440
2025-10-24T22:39:35.087Z,1761345575.087 [DAT](INFO): setting transmit power to 8
2025-10-24T22:39:35.220Z,1761345575.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340894,-0.874320,-0.345479],[0.929343,0.257975,0.264141],[-0.141819,-0.411113,0.900485]]
2025-10-24T22:39:35.338Z,1761345575.338 [DAT](INFO): DAT read: user:3>

2025-10-24T22:39:35.340Z,1761345575.340 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T22:39:35.340Z,1761345575.340 [DAT](INFO): set transmit power to 8
2025-10-24T22:39:35.340Z,1761345575.340 [DAT](INFO): setting local address to 11
2025-10-24T22:39:35.589Z,1761345575.589 [DAT](INFO): DAT read: user:4>

2025-10-24T22:39:35.590Z,1761345575.590 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T22:39:35.590Z,1761345575.590 [DAT](INFO): set local address to 11
2025-10-24T22:39:35.591Z,1761345575.591 [DAT](INFO): Setting time to: 22:39:35 And date to:10/24/2025
2025-10-24T22:39:35.619Z,1761345575.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372630,-0.866209,-0.332911],[0.914280,0.281275,0.291506],[-0.158866,-0.412998,0.896769]]
2025-10-24T22:39:35.841Z,1761345575.841 [DAT](INFO): DAT read: user:5>

2025-10-24T22:39:35.841Z,1761345575.841 [DAT](INFO): DAT read: Fri Oct 24, 2025  22:39:35  

2025-10-24T22:39:35.842Z,1761345575.842 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  22:39:35  

2025-10-24T22:39:35.843Z,1761345575.843 [DAT](INFO): setting remote address to 10
2025-10-24T22:39:35.843Z,1761345575.843 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:39:35.843Z,1761345575.843 [DAT](INFO): setting remote address to 0
2025-10-24T22:39:36.023Z,1761345576.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403242,-0.857967,-0.318258],[0.898179,0.304523,0.317079],[-0.175127,-0.413712,0.893405]]
2025-10-24T22:39:36.093Z,1761345576.093 [DAT](INFO): DAT read: user:6>

2025-10-24T22:39:36.094Z,1761345576.094 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:39:36.094Z,1761345576.094 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T22:39:36.094Z,1761345576.094 [DAT] Communications Fault, FailCount= 2
2025-10-24T22:39:36.094Z,1761345576.094 [DAT](ERROR): Communications Fault
2025-10-24T22:39:36.095Z,1761345576.095 [DAT](INFO): DAT read: user:7>

2025-10-24T22:39:36.096Z,1761345576.096 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:39:36.097Z,1761345576.097 [DAT](INFO): set remote address to 0
2025-10-24T22:39:36.097Z,1761345576.097 [DAT](INFO): setting remote address to 10
2025-10-24T22:39:36.099Z,1761345576.099 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:39:36.100Z,1761345576.100 [DAT](INFO): setting remote address to 0
2025-10-24T22:39:36.367Z,1761345576.367 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T22:39:36.426Z,1761345576.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432347,-0.848810,-0.304300],[0.881331,0.326449,0.341595],[-0.190610,-0.415876,0.889221]]
2025-10-24T22:39:36.504Z,1761345576.504 [DAT](INFO): Powering down
2025-10-24T22:39:36.836Z,1761345576.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461055,-0.839167,-0.288491],[0.863195,0.348760,0.365049],[-0.205723,-0.417332,0.885162]]
2025-10-24T22:39:37.234Z,1761345577.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489480,-0.828658,-0.271542],[0.843809,0.371539,0.387229],[-0.219992,-0.418670,0.881089]]
2025-10-24T22:39:37.527Z,1761345577.527 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T22:39:37.527Z,1761345577.527 [DAT] No Fault, FailCount= 2
2025-10-24T22:39:37.643Z,1761345577.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516660,-0.816516,-0.257613],[0.823796,0.392096,0.409415],[-0.233284,-0.423749,0.875223]]
2025-10-24T22:39:37.694Z,1761345577.694 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:39:37.695Z,1761345577.695 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:39:37.695Z,1761345577.695 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:39:37.695Z,1761345577.695 [marl:UpdateRudder:A] Stopped
2025-10-24T22:39:37.695Z,1761345577.695 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:39:37.695Z,1761345577.695 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:39:37.695Z,1761345577.695 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:39:37.695Z,1761345577.695 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:39:37.696Z,1761345577.696 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:39:37.696Z,1761345577.696 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:39:37.696Z,1761345577.696 [marl:UpdateCommandMode] Stopped
2025-10-24T22:39:37.696Z,1761345577.696 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:39:37.697Z,1761345577.697 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:39:37.697Z,1761345577.697 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:39:37.697Z,1761345577.697 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:39:37.697Z,1761345577.697 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:39:37.697Z,1761345577.697 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:39:37.697Z,1761345577.697 [marl:UpdateSpeed] Stopped
2025-10-24T22:39:37.697Z,1761345577.697 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:39:38.043Z,1761345578.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543083,-0.804826,-0.239409],[0.803215,0.414825,0.427511],[-0.244759,-0.424471,0.871733]]
2025-10-24T22:39:38.128Z,1761345578.128 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-24T22:39:38.128Z,1761345578.128 [marl:UpdateRudder:B] Stopped
2025-10-24T22:39:38.129Z,1761345578.129 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:39:38.129Z,1761345578.129 [marl:UpdateRudder] Stopped
2025-10-24T22:39:38.129Z,1761345578.129 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:39:38.449Z,1761345578.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568034,-0.792873,-0.220658],[0.782563,0.437332,0.443098],[-0.254820,-0.424373,0.868892]]
2025-10-24T22:39:38.850Z,1761345578.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592638,-0.779631,-0.202375],[0.761109,0.459807,0.457482],[-0.263614,-0.425151,0.865883]]
2025-10-24T22:39:39.254Z,1761345579.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616197,-0.765999,-0.183157],[0.739280,0.482345,0.469902],[-0.271600,-0.424957,0.863508]]
2025-10-24T22:39:39.552Z,1761345579.552 [DAT](INFO): Powering up
2025-10-24T22:39:39.552Z,1761345579.552 [DAT](DEBUG): Initializing DAT.
2025-10-24T22:39:39.667Z,1761345579.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639165,-0.752712,-0.157774],[0.716595,0.508407,0.477507],[-0.279212,-0.418266,0.864346]]
2025-10-24T22:39:40.065Z,1761345580.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661233,-0.739076,-0.128598],[0.693007,0.536158,0.481950],[-0.287249,-0.407801,0.866710]]
2025-10-24T22:39:40.466Z,1761345580.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681142,-0.725256,-0.100249],[0.669904,0.562113,0.485034],[-0.295423,-0.397534,0.868730]]
2025-10-24T22:39:40.870Z,1761345580.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699710,-0.710873,-0.071175],[0.646591,0.587750,0.486282],[-0.303852,-0.386277,0.870898]]
2025-10-24T22:39:41.274Z,1761345581.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716781,-0.695632,-0.048174],[0.623722,0.608729,0.490327],[-0.311762,-0.381504,0.870206]]
2025-10-24T22:39:41.687Z,1761345581.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732433,-0.680208,-0.029310],[0.601599,0.626431,0.495643],[-0.318780,-0.380658,0.868032]]
2025-10-24T22:39:42.095Z,1761345582.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747240,-0.664424,-0.013148],[0.579756,0.642093,0.501597],[-0.324831,-0.382436,0.865002]]
2025-10-24T22:39:42.486Z,1761345582.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760845,-0.648922,0.003851],[0.558982,0.658384,0.504053],[-0.329627,-0.381354,0.863664]]
2025-10-24T22:39:42.890Z,1761345582.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773780,-0.633123,0.020489],[0.538516,0.674498,0.505028],[-0.333564,-0.379747,0.862860]]
2025-10-24T22:39:43.003Z,1761345583.003 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:39:43.003Z,1761345583.003 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:39:43.300Z,1761345583.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786389,-0.616549,0.038199],[0.517719,0.691543,0.503721],[-0.336985,-0.376344,0.863021]]
2025-10-24T22:39:43.706Z,1761345583.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811452,-0.579723,0.073937],[0.471744,0.724420,0.502666],[-0.344968,-0.373009,0.861313]]
2025-10-24T22:39:44.109Z,1761345584.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823444,-0.559412,0.094860],[0.446275,0.741793,0.500581],[-0.350398,-0.369867,0.860476]]
2025-10-24T22:39:44.511Z,1761345584.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834689,-0.537767,0.118747],[0.419079,0.760121,0.496577],[-0.357305,-0.364723,0.859832]]
2025-10-24T22:39:44.922Z,1761345584.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844636,-0.515787,0.143363],[0.391077,0.777363,0.492712],[-0.365580,-0.360097,0.858302]]
2025-10-24T22:39:44.946Z,1761345584.946 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:39:45.320Z,1761345585.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852857,-0.494467,0.167742],[0.363691,0.793062,0.488652],[-0.374652,-0.355745,0.856202]]
2025-10-24T22:39:45.719Z,1761345585.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859066,-0.475529,0.189415],[0.338905,0.805730,0.485740],[-0.383601,-0.353089,0.853334]]
2025-10-24T22:39:46.136Z,1761345586.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863636,-0.459953,0.206342],[0.317713,0.814404,0.485597],[-0.391398,-0.353822,0.849481]]
2025-10-24T22:39:46.527Z,1761345586.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867423,-0.446644,0.219288],[0.299034,0.820198,0.487703],[-0.397689,-0.357470,0.845020]]
2025-10-24T22:39:46.930Z,1761345586.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870729,-0.434518,0.230271],[0.283055,0.825755,0.487861],[-0.402132,-0.359616,0.842001]]
2025-10-24T22:39:47.335Z,1761345587.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874187,-0.423122,0.238253],[0.268005,0.829562,0.489898],[-0.404932,-0.364410,0.838591]]
2025-10-24T22:39:47.738Z,1761345587.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878329,-0.410985,0.244191],[0.252195,0.832286,0.493658],[-0.406123,-0.372010,0.834669]]
2025-10-24T22:39:48.151Z,1761345588.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883002,-0.397208,0.250065],[0.234924,0.835240,0.497176],[-0.406347,-0.380262,0.830833]]
2025-10-24T22:39:48.546Z,1761345588.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888221,-0.380932,0.256815],[0.215165,0.838832,0.500065],[-0.405916,-0.388911,0.827031]]
2025-10-24T22:39:48.950Z,1761345588.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893389,-0.362293,0.265706],[0.193143,0.843662,0.500930],[-0.405649,-0.396206,0.823693]]
2025-10-24T22:39:49.355Z,1761345589.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898156,-0.342193,0.276079],[0.170274,0.849624,0.499145],[-0.405368,-0.401301,0.821361]]
2025-10-24T22:39:49.758Z,1761345589.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902324,-0.322010,0.286566],[0.147689,0.855506,0.496284],[-0.404967,-0.405487,0.819501]]
2025-10-24T22:39:50.162Z,1761345590.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906349,-0.299117,0.298429],[0.123445,0.862931,0.490012],[-0.404095,-0.407282,0.819041]]
2025-10-24T22:39:50.566Z,1761345590.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909804,-0.277412,0.308707],[0.101088,0.869517,0.483448],[-0.402540,-0.408636,0.819133]]
2025-10-24T22:39:50.647Z,1761345590.647 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:39:50.647Z,1761345590.647 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:39:50.647Z,1761345590.647 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:39:50.654Z,1761345590.654 [marl:UpdateRudder:A] Stopped
2025-10-24T22:39:50.654Z,1761345590.654 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:39:50.654Z,1761345590.654 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:39:50.654Z,1761345590.654 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:39:50.654Z,1761345590.654 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:39:50.655Z,1761345590.655 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:39:50.655Z,1761345590.655 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:39:50.655Z,1761345590.655 [marl:UpdateCommandMode] Stopped
2025-10-24T22:39:50.655Z,1761345590.655 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:39:50.655Z,1761345590.655 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:39:50.655Z,1761345590.655 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:39:50.660Z,1761345590.660 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:39:50.660Z,1761345590.660 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:39:50.661Z,1761345590.661 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:39:50.661Z,1761345590.661 [marl:UpdateSpeed] Stopped
2025-10-24T22:39:50.661Z,1761345590.661 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:39:50.972Z,1761345590.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913068,-0.256030,0.317420],[0.079031,0.874693,0.478190],[-0.400076,-0.411534,0.818889]]
2025-10-24T22:39:50.995Z,1761345590.995 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:39:50.995Z,1761345590.995 [marl:UpdateRudder:B] Stopped
2025-10-24T22:39:50.995Z,1761345590.995 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:39:50.996Z,1761345590.996 [marl:UpdateRudder] Stopped
2025-10-24T22:39:50.996Z,1761345590.996 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:39:51.374Z,1761345591.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916110,-0.233997,0.325557],[0.056541,0.879301,0.472899],[-0.396920,-0.414820,0.818767]]
2025-10-24T22:39:51.661Z,1761345591.661 [DAT](INFO): DAT read: 

2025-10-24T22:39:51.662Z,1761345591.662 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T22:39:51.778Z,1761345591.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918764,-0.210756,0.333849],[0.033420,0.884080,0.466139],[-0.393391,-0.417114,0.819304]]
2025-10-24T22:39:52.182Z,1761345592.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920829,-0.186527,0.342465],[0.007602,0.886608,0.462460],[-0.389894,-0.423243,0.817831]]
2025-10-24T22:39:52.587Z,1761345592.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921941,-0.159808,0.352825],[-0.021325,0.888592,0.458201],[-0.386742,-0.429959,0.815822]]
2025-10-24T22:39:52.990Z,1761345592.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921601,-0.131024,0.365355],[-0.051739,0.891430,0.450196],[-0.384675,-0.433804,0.814763]]
2025-10-24T22:39:53.394Z,1761345593.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920006,-0.101328,0.378579],[-0.081986,0.894861,0.438751],[-0.383233,-0.434692,0.814970]]
2025-10-24T22:39:53.425Z,1761345593.425 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T22:39:53.426Z,1761345593.426 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T22:39:53.427Z,1761345593.427 [DAT](INFO): DAT read: Oct 24 2025 22:39:47 

2025-10-24T22:39:53.800Z,1761345593.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917503,-0.072895,0.390992],[-0.109734,0.898510,0.425015],[-0.382292,-0.432857,0.816387]]
2025-10-24T22:39:54.202Z,1761345594.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914728,-0.048767,0.401117],[-0.131539,0.902680,0.409714],[-0.382061,-0.427539,0.819292]]
2025-10-24T22:39:54.433Z,1761345594.433 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T22:39:54.434Z,1761345594.434 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:39:54.435Z,1761345594.435 [DAT](INFO): commRate: 600
2025-10-24T22:39:54.615Z,1761345594.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912365,-0.028635,0.408374],[-0.148219,0.906766,0.394724],[-0.381603,-0.420662,0.823057]]
2025-10-24T22:39:55.010Z,1761345595.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910658,-0.012583,0.412970],[-0.161026,0.909688,0.382804],[-0.380491,-0.415102,0.826388]]
2025-10-24T22:39:55.415Z,1761345595.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909431,0.000874,0.415855],[-0.172145,0.911087,0.374548],[-0.378552,-0.412213,0.828721]]
2025-10-24T22:39:55.820Z,1761345595.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908356,0.012903,0.417998],[-0.182861,0.911162,0.369251],[-0.376099,-0.411847,0.830019]]
2025-10-24T22:39:56.222Z,1761345596.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907032,0.024278,0.420362],[-0.194007,0.910148,0.366050],[-0.373704,-0.413572,0.830243]]
2025-10-24T22:39:56.500Z,1761345596.500 [DAT](INFO): entering command mode
2025-10-24T22:39:56.627Z,1761345596.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904953,0.037713,0.423836],[-0.207287,0.908955,0.361709],[-0.371607,-0.415185,0.830379]]
2025-10-24T22:39:56.701Z,1761345596.701 [DAT](INFO): DAT read: 

2025-10-24T22:39:56.701Z,1761345596.701 [DAT](INFO): DAT read: user:1>

2025-10-24T22:39:56.701Z,1761345596.701 [DAT](INFO): setting verbose to 3
2025-10-24T22:39:56.953Z,1761345596.953 [DAT](INFO): DAT read: user:1>

2025-10-24T22:39:56.954Z,1761345596.954 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T22:39:56.954Z,1761345596.954 [DAT](INFO): set verbose to 3
2025-10-24T22:39:56.954Z,1761345596.954 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T22:39:57.030Z,1761345597.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902147,0.053002,0.428161],[-0.222938,0.906925,0.357470],[-0.369364,-0.417944,0.829996]]
2025-10-24T22:39:57.205Z,1761345597.205 [DAT](INFO): DAT read: user:2>

2025-10-24T22:39:57.206Z,1761345597.206 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T22:39:57.206Z,1761345597.206 [DAT](INFO): set DatVerbose to 27440
2025-10-24T22:39:57.206Z,1761345597.206 [DAT](INFO): setting transmit power to 8
2025-10-24T22:39:57.434Z,1761345597.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898321,0.070737,0.433607],[-0.241533,0.903937,0.352930],[-0.366988,-0.421775,0.829111]]
2025-10-24T22:39:57.441Z,1761345597.441 [NAL9602](INFO): Powering up NAL9602
2025-10-24T22:39:57.457Z,1761345597.457 [DAT](INFO): DAT read: user:3>

2025-10-24T22:39:57.458Z,1761345597.458 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T22:39:57.458Z,1761345597.458 [DAT](INFO): set transmit power to 8
2025-10-24T22:39:57.458Z,1761345597.458 [DAT](INFO): setting local address to 11
2025-10-24T22:39:57.709Z,1761345597.709 [DAT](INFO): DAT read: user:4>

2025-10-24T22:39:57.711Z,1761345597.711 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T22:39:57.713Z,1761345597.713 [DAT](INFO): set local address to 11
2025-10-24T22:39:57.715Z,1761345597.715 [DAT](INFO): Setting time to: 22:39:57 And date to:10/24/2025
2025-10-24T22:39:57.839Z,1761345597.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893592,0.090665,0.439628],[-0.262249,0.900308,0.347378],[-0.364305,-0.425706,0.828285]]
2025-10-24T22:39:57.963Z,1761345597.963 [DAT](INFO): DAT read: user:5>

2025-10-24T22:39:57.966Z,1761345597.966 [DAT](INFO): DAT read: Fri Oct 24, 2025  22:39:57  

2025-10-24T22:39:57.967Z,1761345597.967 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  22:39:57  

2025-10-24T22:39:57.968Z,1761345597.968 [DAT](INFO): setting remote address to 10
2025-10-24T22:39:57.969Z,1761345597.969 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:39:57.969Z,1761345597.969 [DAT](INFO): setting remote address to 0
2025-10-24T22:39:58.213Z,1761345598.213 [DAT](INFO): DAT read: user:6>

2025-10-24T22:39:58.214Z,1761345598.214 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:39:58.214Z,1761345598.214 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T22:39:58.214Z,1761345598.214 [DAT] Communications Fault, FailCount= 3
2025-10-24T22:39:58.214Z,1761345598.214 [DAT](ERROR): Communications Fault
2025-10-24T22:39:58.215Z,1761345598.215 [DAT](INFO): DAT read: user:7>

2025-10-24T22:39:58.216Z,1761345598.216 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:39:58.217Z,1761345598.217 [DAT](INFO): set remote address to 0
2025-10-24T22:39:58.217Z,1761345598.217 [DAT](INFO): setting remote address to 10
2025-10-24T22:39:58.217Z,1761345598.217 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:39:58.217Z,1761345598.217 [DAT](INFO): setting remote address to 0
2025-10-24T22:39:58.243Z,1761345598.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888295,0.112877,0.445185],[-0.284104,0.896662,0.339534],[-0.360855,-0.428085,0.828569]]
2025-10-24T22:39:58.260Z,1761345598.260 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:39:58.471Z,1761345598.471 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T22:39:58.620Z,1761345598.620 [DAT](INFO): Powering down
2025-10-24T22:39:58.647Z,1761345598.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882377,0.135002,0.450762],[-0.306217,0.892101,0.332245],[-0.357271,-0.431196,0.828509]]
2025-10-24T22:39:59.050Z,1761345599.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876040,0.158445,0.455466],[-0.327934,0.888218,0.321758],[-0.353572,-0.431236,0.830073]]
2025-10-24T22:39:59.264Z,1761345599.264 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:39:59.455Z,1761345599.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869056,0.183160,0.459558],[-0.349559,0.884688,0.308442],[-0.350072,-0.428696,0.832868]]
2025-10-24T22:39:59.535Z,1761345599.535 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T22:39:59.535Z,1761345599.535 [DAT] No Fault, FailCount= 3
2025-10-24T22:39:59.860Z,1761345599.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861528,0.207958,0.463166],[-0.370975,0.880664,0.294633],[-0.346622,-0.425658,0.835864]]
2025-10-24T22:40:00.262Z,1761345600.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853394,0.234052,0.465765],[-0.392407,0.876625,0.278470],[-0.343125,-0.420414,0.839951]]
2025-10-24T22:40:00.672Z,1761345600.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845260,0.258633,0.467594],[-0.412618,0.871929,0.263603],[-0.339532,-0.415751,0.843723]]
2025-10-24T22:40:01.075Z,1761345601.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837628,0.279473,0.469333],[-0.430692,0.866381,0.252762],[-0.335982,-0.413858,0.846072]]
2025-10-24T22:40:01.474Z,1761345601.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829649,0.299353,0.471243],[-0.448529,0.860001,0.243352],[-0.332421,-0.413263,0.847768]]
2025-10-24T22:40:01.669Z,1761345601.669 [DAT](INFO): Powering up
2025-10-24T22:40:01.669Z,1761345601.669 [DAT](DEBUG): Initializing DAT.
2025-10-24T22:40:01.878Z,1761345601.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820868,0.319391,0.473461],[-0.467123,0.852436,0.234837],[-0.328591,-0.413934,0.848933]]
2025-10-24T22:40:02.283Z,1761345602.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810523,0.340376,0.476651],[-0.487684,0.842891,0.227376],[-0.324371,-0.416748,0.849179]]
2025-10-24T22:40:02.789Z,1761345602.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799009,0.361562,0.480476],[-0.508775,0.832400,0.219680],[-0.320520,-0.419980,0.849048]]
2025-10-24T22:40:02.790Z,1761345602.790 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-10-24T22:40:03.187Z,1761345603.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787154,0.382562,0.483771],[-0.529157,0.821847,0.211093],[-0.316830,-0.422153,0.849356]]
2025-10-24T22:40:03.652Z,1761345603.652 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:40:03.652Z,1761345603.652 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:40:03.652Z,1761345603.652 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:40:03.653Z,1761345603.653 [marl:UpdateRudder:A] Stopped
2025-10-24T22:40:03.653Z,1761345603.653 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:40:03.653Z,1761345603.653 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:40:03.653Z,1761345603.653 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:40:03.653Z,1761345603.653 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:40:03.654Z,1761345603.654 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:40:03.654Z,1761345603.654 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:40:03.654Z,1761345603.654 [marl:UpdateCommandMode] Stopped
2025-10-24T22:40:03.654Z,1761345603.654 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:40:03.654Z,1761345603.654 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:40:03.654Z,1761345603.654 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:40:03.654Z,1761345603.654 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:40:03.655Z,1761345603.655 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:40:03.655Z,1761345603.655 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:40:03.655Z,1761345603.655 [marl:UpdateSpeed] Stopped
2025-10-24T22:40:03.655Z,1761345603.655 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:40:03.996Z,1761345603.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766847,0.418765,0.486396],[-0.561822,0.804374,0.193234],[-0.310325,-0.421449,0.852103]]
2025-10-24T22:40:04.095Z,1761345604.095 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:40:04.095Z,1761345604.095 [marl:UpdateRudder:B] Stopped
2025-10-24T22:40:04.095Z,1761345604.095 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:40:04.095Z,1761345604.095 [marl:UpdateRudder] Stopped
2025-10-24T22:40:04.095Z,1761345604.095 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:40:04.399Z,1761345604.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758619,0.433634,0.486270],[-0.574821,0.796812,0.186203],[-0.306721,-0.420775,0.853739]]
2025-10-24T22:40:04.802Z,1761345604.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750615,0.447280,0.486332],[-0.587675,0.788369,0.181966],[-0.302019,-0.422392,0.854617]]
2025-10-24T22:40:05.212Z,1761345605.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742345,0.460151,0.487016],[-0.600851,0.778834,0.179989],[-0.296482,-0.426238,0.854646]]
2025-10-24T22:40:05.610Z,1761345605.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734147,0.470866,0.489197],[-0.613462,0.768783,0.180659],[-0.291020,-0.432734,0.853258]]
2025-10-24T22:40:06.014Z,1761345606.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725899,0.479859,0.492754],[-0.625259,0.758880,0.182077],[-0.286570,-0.440268,0.850906]]
2025-10-24T22:40:06.418Z,1761345606.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717996,0.488582,0.495751],[-0.635502,0.750689,0.180565],[-0.283934,-0.444695,0.849487]]
2025-10-24T22:40:06.823Z,1761345606.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711094,0.497348,0.496981],[-0.643015,0.745926,0.173566],[-0.284389,-0.442988,0.850226]]
2025-10-24T22:40:07.251Z,1761345607.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705772,0.508827,0.492931],[-0.647310,0.745916,0.156841],[-0.287880,-0.429773,0.855816]]
2025-10-24T22:40:07.655Z,1761345607.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701616,0.524329,0.482508],[-0.649498,0.749096,0.130413],[-0.293065,-0.404888,0.866129]]
2025-10-24T22:40:08.069Z,1761345608.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697541,0.541376,0.469413],[-0.651332,0.752114,0.100454],[-0.298669,-0.375815,0.877246]]
2025-10-24T22:40:08.459Z,1761345608.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694184,0.558300,0.454322],[-0.652270,0.754835,0.069051],[-0.304387,-0.344275,0.888157]]
2025-10-24T22:40:08.481Z,1761345608.481 [NAL9602](INFO): NAL9602 initialized
2025-10-24T22:40:08.863Z,1761345608.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691081,0.573504,0.439887],[-0.653164,0.756142,0.040326],[-0.309490,-0.315187,0.897147]]
2025-10-24T22:40:09.267Z,1761345609.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688712,0.585563,0.427541],[-0.653655,0.756608,0.016697],[-0.313704,-0.290964,0.903842]]
2025-10-24T22:40:09.678Z,1761345609.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686749,0.593920,0.419087],[-0.653772,0.756691,-0.001042],[-0.317738,-0.273271,0.907946]]
2025-10-24T22:40:10.083Z,1761345610.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684132,0.600810,0.413510],[-0.654554,0.755860,-0.015301],[-0.321749,-0.260197,0.910371]]
2025-10-24T22:40:10.478Z,1761345610.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680568,0.605725,0.412219],[-0.655728,0.754544,-0.026148],[-0.326876,-0.252508,0.910709]]
2025-10-24T22:40:10.882Z,1761345610.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675306,0.610772,0.413424],[-0.657600,0.752436,-0.037458],[-0.333953,-0.246572,0.909768]]
2025-10-24T22:40:11.288Z,1761345611.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668517,0.614960,0.418221],[-0.659053,0.750434,-0.049971],[-0.344577,-0.242223,0.906970]]
2025-10-24T22:40:11.695Z,1761345611.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660641,0.618512,0.425438],[-0.659555,0.748880,-0.064550],[-0.358527,-0.237955,0.902683]]
2025-10-24T22:40:12.097Z,1761345612.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653011,0.622565,0.431265],[-0.659246,0.747558,-0.080943],[-0.372788,-0.231453,0.898587]]
2025-10-24T22:40:12.498Z,1761345612.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646813,0.628255,0.432352],[-0.659211,0.745638,-0.097292],[-0.383502,-0.222081,0.896441]]
2025-10-24T22:40:12.978Z,1761345612.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639358,0.643492,0.420880],[-0.663360,0.738410,-0.121262],[-0.388813,-0.201665,0.898975]]
2025-10-24T22:40:13.379Z,1761345613.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637940,0.645289,0.420278],[-0.663892,0.737397,-0.124467],[-0.390230,-0.199617,0.898818]]
2025-10-24T22:40:13.764Z,1761345613.764 [DAT](INFO): DAT read: 

2025-10-24T22:40:13.765Z,1761345613.765 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T22:40:13.798Z,1761345613.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633005,0.646578,0.425725],[-0.665980,0.735192,-0.126349],[-0.394684,-0.203544,0.895988]]
2025-10-24T22:40:14.187Z,1761345614.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625931,0.645696,0.437365],[-0.665889,0.734414,-0.131256],[-0.405958,-0.209079,0.889654]]
2025-10-24T22:40:14.595Z,1761345614.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618712,0.645362,0.447999],[-0.663175,0.734760,-0.142572],[-0.421183,-0.208891,0.882593]]
2025-10-24T22:40:14.994Z,1761345614.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613793,0.646127,0.453627],[-0.659104,0.735683,-0.156055],[-0.434557,-0.203202,0.877422]]
2025-10-24T22:40:15.399Z,1761345615.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613113,0.649467,0.449761],[-0.655491,0.735996,-0.169234],[-0.440935,-0.191055,0.876969]]
2025-10-24T22:40:15.529Z,1761345615.529 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T22:40:15.530Z,1761345615.530 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T22:40:15.531Z,1761345615.531 [DAT](INFO): DAT read: Oct 24 2025 22:40:09 

2025-10-24T22:40:15.802Z,1761345615.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615791,0.654297,0.438972],[-0.654500,0.734967,-0.177350],[-0.438670,-0.178097,0.880824]]
2025-10-24T22:40:16.206Z,1761345616.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619182,0.656399,0.430992],[-0.657281,0.733543,-0.172905],[-0.429645,-0.176223,0.885635]]
2025-10-24T22:40:16.538Z,1761345616.538 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T22:40:16.541Z,1761345616.541 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:40:16.542Z,1761345616.542 [DAT](INFO): commRate: 600
2025-10-24T22:40:16.611Z,1761345616.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620615,0.654347,0.432050],[-0.662385,0.732375,-0.157715],[-0.419623,-0.188303,0.887952]]
2025-10-24T22:40:16.639Z,1761345616.639 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:40:16.639Z,1761345616.639 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:40:16.639Z,1761345616.639 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:40:16.639Z,1761345616.639 [marl:UpdateRudder:A] Stopped
2025-10-24T22:40:16.639Z,1761345616.639 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:40:16.639Z,1761345616.639 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:40:16.640Z,1761345616.640 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:40:16.640Z,1761345616.640 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:40:16.640Z,1761345616.640 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:40:16.640Z,1761345616.640 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:40:16.640Z,1761345616.640 [marl:UpdateCommandMode] Stopped
2025-10-24T22:40:16.641Z,1761345616.641 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:40:16.641Z,1761345616.641 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:40:16.641Z,1761345616.641 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:40:16.641Z,1761345616.641 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:40:16.641Z,1761345616.641 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:40:16.641Z,1761345616.641 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:40:16.641Z,1761345616.641 [marl:UpdateSpeed] Stopped
2025-10-24T22:40:16.641Z,1761345616.641 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:40:17.014Z,1761345617.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619245,0.646531,0.445571],[-0.666011,0.733054,-0.138066],[-0.415891,-0.211259,0.884536]]
2025-10-24T22:40:17.057Z,1761345617.057 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:40:17.057Z,1761345617.057 [marl:UpdateRudder:B] Stopped
2025-10-24T22:40:17.058Z,1761345617.058 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:40:17.058Z,1761345617.058 [marl:UpdateRudder] Stopped
2025-10-24T22:40:17.058Z,1761345617.058 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:40:17.419Z,1761345617.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614216,0.635735,0.467525],[-0.666529,0.735106,-0.123928],[-0.422466,-0.235501,0.875250]]
2025-10-24T22:40:17.822Z,1761345617.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603863,0.633410,0.483882],[-0.669111,0.732723,-0.124128],[-0.433175,-0.248814,0.866286]]
2025-10-24T22:40:18.228Z,1761345618.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595661,0.637032,0.489263],[-0.671110,0.729396,-0.132636],[-0.441360,-0.249343,0.861992]]
2025-10-24T22:40:18.612Z,1761345618.612 [DAT](INFO): entering command mode
2025-10-24T22:40:18.635Z,1761345618.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598314,0.638733,0.483778],[-0.667069,0.731555,-0.140875],[-0.443892,-0.238425,0.863779]]
2025-10-24T22:40:18.812Z,1761345618.812 [DAT](INFO): DAT read: 

2025-10-24T22:40:18.813Z,1761345618.813 [DAT](INFO): DAT read: user:1>

2025-10-24T22:40:18.813Z,1761345618.813 [DAT](INFO): setting verbose to 3
2025-10-24T22:40:19.039Z,1761345619.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605239,0.642204,0.470383],[-0.665472,0.732451,-0.143743],[-0.436845,-0.226028,0.870677]]
2025-10-24T22:40:19.065Z,1761345619.065 [DAT](INFO): DAT read: user:1>

2025-10-24T22:40:19.065Z,1761345619.065 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T22:40:19.066Z,1761345619.066 [DAT](INFO): set verbose to 3
2025-10-24T22:40:19.066Z,1761345619.066 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T22:40:19.317Z,1761345619.317 [DAT](INFO): DAT read: user:2>

2025-10-24T22:40:19.318Z,1761345619.318 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T22:40:19.318Z,1761345619.318 [DAT](INFO): set DatVerbose to 27440
2025-10-24T22:40:19.318Z,1761345619.318 [DAT](INFO): setting transmit power to 8
2025-10-24T22:40:19.439Z,1761345619.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611629,0.645799,0.457005],[-0.669070,0.730495,-0.136826],[-0.422202,-0.222081,0.878877]]
2025-10-24T22:40:19.569Z,1761345619.569 [DAT](INFO): DAT read: user:3>

2025-10-24T22:40:19.570Z,1761345619.570 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T22:40:19.571Z,1761345619.571 [DAT](INFO): set transmit power to 8
2025-10-24T22:40:19.571Z,1761345619.571 [DAT](INFO): setting local address to 11
2025-10-24T22:40:19.821Z,1761345619.821 [DAT](INFO): DAT read: user:4>

2025-10-24T22:40:19.822Z,1761345619.822 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T22:40:19.822Z,1761345619.822 [DAT](INFO): set local address to 11
2025-10-24T22:40:19.823Z,1761345619.823 [DAT](INFO): Setting time to: 22:40:19 And date to:10/24/2025
2025-10-24T22:40:19.867Z,1761345619.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614967,0.645663,0.452698],[-0.676203,0.727126,-0.118480],[-0.405667,-0.233255,0.883757]]
2025-10-24T22:40:20.073Z,1761345620.073 [DAT](INFO): DAT read: user:5>

2025-10-24T22:40:20.074Z,1761345620.074 [DAT](INFO): DAT read: Fri Oct 24, 2025  22:40:19  

2025-10-24T22:40:20.074Z,1761345620.074 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  22:40:19  

2025-10-24T22:40:20.075Z,1761345620.075 [DAT](INFO): setting remote address to 10
2025-10-24T22:40:20.075Z,1761345620.075 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:40:20.075Z,1761345620.075 [DAT](INFO): setting remote address to 0
2025-10-24T22:40:20.250Z,1761345620.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614255,0.638485,0.463712],[-0.683015,0.724486,-0.092790],[-0.395198,-0.259725,0.881114]]
2025-10-24T22:40:20.325Z,1761345620.325 [DAT](INFO): DAT read: user:6>

2025-10-24T22:40:20.326Z,1761345620.326 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:40:20.326Z,1761345620.326 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T22:40:20.326Z,1761345620.326 [DAT] Communications Fault, FailCount= 4
2025-10-24T22:40:20.327Z,1761345620.327 [DAT](ERROR): Communications Fault
2025-10-24T22:40:20.327Z,1761345620.327 [DAT](INFO): DAT read: user:7>

2025-10-24T22:40:20.328Z,1761345620.328 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:40:20.329Z,1761345620.329 [DAT](INFO): set remote address to 0
2025-10-24T22:40:20.329Z,1761345620.329 [DAT](INFO): setting remote address to 10
2025-10-24T22:40:20.329Z,1761345620.329 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:40:20.329Z,1761345620.329 [DAT](INFO): setting remote address to 0
2025-10-24T22:40:20.406Z,1761345620.406 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T22:40:20.658Z,1761345620.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608343,0.629808,0.482970],[-0.686668,0.722812,-0.077651],[-0.398002,-0.284401,0.872187]]
2025-10-24T22:40:20.732Z,1761345620.732 [DAT](INFO): Powering down
2025-10-24T22:40:21.061Z,1761345621.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603633,0.624108,0.496101],[-0.683363,0.725542,-0.081265],[-0.410660,-0.289963,0.864454]]
2025-10-24T22:40:21.460Z,1761345621.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603099,0.629546,0.489840],[-0.679280,0.727261,-0.098341],[-0.418151,-0.273429,0.866248]]
2025-10-24T22:40:21.690Z,1761345621.690 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T22:40:21.690Z,1761345621.690 [DAT] No Fault, FailCount= 4
2025-10-24T22:40:21.862Z,1761345621.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600080,0.645605,0.472333],[-0.680880,0.722155,-0.122043],[-0.419889,-0.248367,0.872930]]
2025-10-24T22:40:22.680Z,1761345622.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601082,0.674605,0.428496],[-0.683487,0.711795,-0.161841],[-0.414180,-0.195591,0.888931]]
2025-10-24T22:40:23.076Z,1761345623.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617275,0.670927,0.410887],[-0.674714,0.720051,-0.162132],[-0.404639,-0.177151,0.897154]]
2025-10-24T22:40:23.478Z,1761345623.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624358,0.666524,0.407338],[-0.667754,0.725996,-0.164424],[-0.405318,-0.169342,0.898354]]
2025-10-24T22:40:23.797Z,1761345623.797 [DAT](INFO): Powering up
2025-10-24T22:40:23.797Z,1761345623.797 [DAT](DEBUG): Initializing DAT.
2025-10-24T22:40:23.882Z,1761345623.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631416,0.667082,0.395368],[-0.665554,0.727849,-0.165145],[-0.397933,-0.158864,0.903555]]
2025-10-24T22:40:24.293Z,1761345624.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628362,0.676499,0.384070],[-0.676186,0.719080,-0.160302],[-0.384621,-0.158975,0.909282]]
2025-10-24T22:40:24.704Z,1761345624.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622117,0.669517,0.405854],[-0.678691,0.719610,-0.146765],[-0.390318,-0.184144,0.902077]]
2025-10-24T22:40:24.767Z,1761345624.767 [marl:NeedComms:C] Running Loop=1
2025-10-24T22:40:25.098Z,1761345625.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628333,0.656958,0.416658],[-0.676505,0.725870,-0.124312],[-0.384108,-0.203762,0.900523]]
2025-10-24T22:40:25.176Z,1761345625.176 [Radio_Surface](INFO): Powering up
2025-10-24T22:40:25.502Z,1761345625.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643376,0.659925,0.388028],[-0.685356,0.722354,-0.092152],[-0.341107,-0.206650,0.917029]]
2025-10-24T22:40:25.928Z,1761345625.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651342,0.655821,0.381644],[-0.691867,0.719836,-0.056181],[-0.311566,-0.227454,0.922600]]
2025-10-24T22:40:26.718Z,1761345626.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661055,0.701981,0.265006],[-0.734665,0.677343,0.038384],[-0.152555,-0.220064,0.963482]]
2025-10-24T22:40:27.122Z,1761345627.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681173,0.703972,0.201063],[-0.723030,0.689995,0.033677],[-0.115025,-0.168314,0.978999]]
2025-10-24T22:40:27.534Z,1761345627.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693788,0.713246,0.099696],[-0.719944,0.690421,0.070703],[-0.018403,-0.120829,0.992503]]
2025-10-24T22:40:27.966Z,1761345627.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661470,0.747736,0.057866],[-0.749212,0.655360,0.095832],[0.033734,-0.106743,0.993714]]
2025-10-24T22:40:28.337Z,1761345628.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640846,0.764829,0.065971],[-0.766862,0.633863,0.100702],[0.035204,-0.115125,0.992727]]
2025-10-24T22:40:28.738Z,1761345628.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623395,0.781727,-0.016763],[-0.776008,0.621179,0.109312],[0.095865,-0.055136,0.993866]]
2025-10-24T22:40:29.142Z,1761345629.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606727,0.787876,-0.105516],[-0.778045,0.615797,0.124260],[0.162878,0.006705,0.986623]]
2025-10-24T22:40:29.392Z,1761345629.392 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:40:29.552Z,1761345629.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601212,0.781945,-0.164641],[-0.762794,0.622981,0.173322],[0.238097,0.021384,0.971006]]
2025-10-24T22:40:29.620Z,1761345629.620 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:40:29.620Z,1761345629.620 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:40:29.621Z,1761345629.621 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:40:29.621Z,1761345629.621 [marl:UpdateRudder:A] Stopped
2025-10-24T22:40:29.621Z,1761345629.621 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:40:29.621Z,1761345629.621 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:40:29.621Z,1761345629.621 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:40:29.621Z,1761345629.621 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:40:29.622Z,1761345629.622 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:40:29.622Z,1761345629.622 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:40:29.622Z,1761345629.622 [marl:UpdateCommandMode] Stopped
2025-10-24T22:40:29.622Z,1761345629.622 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:40:29.622Z,1761345629.622 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:40:29.622Z,1761345629.622 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:40:29.622Z,1761345629.622 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:40:29.622Z,1761345629.622 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:40:29.622Z,1761345629.622 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:40:29.623Z,1761345629.623 [marl:UpdateSpeed] Stopped
2025-10-24T22:40:29.623Z,1761345629.623 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:40:29.973Z,1761345629.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593843,0.786836,-0.168049],[-0.767705,0.616636,0.174324],[0.240790,0.025491,0.970242]]
2025-10-24T22:40:30.058Z,1761345630.058 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:40:30.058Z,1761345630.058 [marl:UpdateRudder:B] Stopped
2025-10-24T22:40:30.058Z,1761345630.058 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:40:30.058Z,1761345630.058 [marl:UpdateRudder] Stopped
2025-10-24T22:40:30.059Z,1761345630.059 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:40:30.355Z,1761345630.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581548,0.804328,-0.121895],[-0.777662,0.593635,0.206974],[0.238836,-0.025572,0.970723]]
2025-10-24T22:40:30.396Z,1761345630.396 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:40:30.428Z,1761345630.428 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-10-24T22:40:30.429Z,1761345630.429 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-10-24T22:40:30.766Z,1761345630.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574967,0.815942,-0.060421],[-0.778482,0.568301,0.266457],[0.251750,-0.106167,0.961951]]
2025-10-24T22:40:31.163Z,1761345631.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571540,0.820545,-0.006963],[-0.789859,0.552426,0.266360],[0.222407,-0.146736,0.963848]]
2025-10-24T22:40:31.566Z,1761345631.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557031,0.830489,0.001821],[-0.807809,0.541308,0.233302],[0.192769,-0.131427,0.972403]]
2025-10-24T22:40:31.978Z,1761345631.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550400,0.833983,-0.039154],[-0.804697,0.542404,0.241374],[0.222539,-0.101345,0.969642]]
2025-10-24T22:40:32.377Z,1761345632.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548596,0.832041,-0.082155],[-0.785134,0.546449,0.291476],[0.287413,-0.095400,0.953044]]
2025-10-24T22:40:32.778Z,1761345632.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542395,0.832508,-0.112866],[-0.758184,0.542926,0.361094],[0.361892,-0.110282,0.925674]]
2025-10-24T22:40:33.182Z,1761345633.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532888,0.841632,-0.087667],[-0.774172,0.526737,0.351008],[0.341597,-0.119178,0.932260]]
2025-10-24T22:40:33.586Z,1761345633.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536659,0.843342,-0.027792],[-0.798687,0.518317,0.305690],[0.272206,-0.141854,0.951725]]
2025-10-24T22:40:33.993Z,1761345633.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533966,0.844688,-0.037174],[-0.801228,0.519555,0.296809],[0.270025,-0.128701,0.954213]]
2025-10-24T22:40:34.396Z,1761345634.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530972,0.845150,-0.061563],[-0.795256,0.522077,0.308227],[0.292639,-0.114701,0.949319]]
2025-10-24T22:40:34.799Z,1761345634.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521926,0.850711,-0.062319],[-0.794876,0.511573,0.326290],[0.309459,-0.120763,0.943213]]
2025-10-24T22:40:35.203Z,1761345635.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514182,0.855671,-0.058683],[-0.801388,0.503687,0.322609],[0.305605,-0.118851,0.944712]]
2025-10-24T22:40:35.608Z,1761345635.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503654,0.859931,-0.082771],[-0.809837,0.503323,0.301380],[0.300826,-0.084761,0.949905]]
2025-10-24T22:40:35.896Z,1761345635.896 [DAT](INFO): DAT read: 

2025-10-24T22:40:35.897Z,1761345635.897 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T22:40:36.017Z,1761345636.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502271,0.857174,-0.113914],[-0.797831,0.510185,0.321212],[0.333452,-0.070451,0.940131]]
2025-10-24T22:40:36.415Z,1761345636.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500069,0.856713,-0.126391],[-0.780394,0.509084,0.363068],[0.375389,-0.082924,0.923151]]
2025-10-24T22:40:36.822Z,1761345636.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496397,0.858527,-0.128532],[-0.778857,0.505847,0.370809],[0.383367,-0.083961,0.919772]]
2025-10-24T22:40:37.224Z,1761345637.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507168,0.854520,-0.112143],[-0.781797,0.510914,0.357436],[0.362731,-0.093607,0.927180]]
2025-10-24T22:40:37.627Z,1761345637.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516750,0.848954,-0.110660],[-0.787194,0.521969,0.328440],[0.336592,-0.082611,0.938020]]
2025-10-24T22:40:37.661Z,1761345637.661 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T22:40:37.663Z,1761345637.663 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T22:40:37.664Z,1761345637.664 [DAT](INFO): DAT read: Oct 24 2025 22:40:31 

2025-10-24T22:40:38.035Z,1761345638.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518875,0.845542,-0.125811],[-0.795197,0.531424,0.291975],[0.313736,-0.051453,0.948115]]
2025-10-24T22:40:38.435Z,1761345638.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527096,0.842761,-0.109190],[-0.795688,0.534558,0.284830],[0.298412,-0.063252,0.952339]]
2025-10-24T22:40:38.669Z,1761345638.669 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T22:40:38.671Z,1761345638.671 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:40:38.671Z,1761345638.671 [DAT](INFO): commRate: 600
2025-10-24T22:40:38.842Z,1761345638.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526704,0.843073,-0.108677],[-0.793587,0.533502,0.292566],[0.304634,-0.067851,0.950050]]
2025-10-24T22:40:39.242Z,1761345639.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525898,0.842019,-0.120152],[-0.791964,0.536285,0.291876],[0.310201,-0.058341,0.948879]]
2025-10-24T22:40:39.647Z,1761345639.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529279,0.840575,-0.115316],[-0.792430,0.538314,0.286832],[0.303180,-0.060434,0.951015]]
2025-10-24T22:40:40.050Z,1761345640.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532728,0.841079,-0.093733],[-0.794774,0.535276,0.286033],[0.290749,-0.077881,0.953624]]
2025-10-24T22:40:40.456Z,1761345640.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532688,0.841468,-0.090416],[-0.793961,0.533868,0.290879],[0.293036,-0.083161,0.952478]]
2025-10-24T22:40:40.736Z,1761345640.736 [DAT](INFO): entering command mode
2025-10-24T22:40:40.858Z,1761345640.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534072,0.838247,-0.110041],[-0.786322,0.540318,0.299591],[0.310588,-0.073475,0.947701]]
2025-10-24T22:40:40.937Z,1761345640.937 [DAT](INFO): DAT read: 

2025-10-24T22:40:40.938Z,1761345640.938 [DAT](INFO): DAT read: user:1>

2025-10-24T22:40:40.938Z,1761345640.938 [DAT](INFO): setting verbose to 3
2025-10-24T22:40:41.189Z,1761345641.189 [DAT](INFO): DAT read: user:1>

2025-10-24T22:40:41.190Z,1761345641.190 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T22:40:41.190Z,1761345641.190 [DAT](INFO): set verbose to 3
2025-10-24T22:40:41.190Z,1761345641.190 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T22:40:41.276Z,1761345641.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541956,0.829597,-0.134359],[-0.779825,0.556020,0.287603],[0.313301,-0.051091,0.948278]]
2025-10-24T22:40:41.441Z,1761345641.441 [DAT](INFO): DAT read: user:2>

2025-10-24T22:40:41.441Z,1761345641.441 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T22:40:41.442Z,1761345641.442 [DAT](INFO): set DatVerbose to 27440
2025-10-24T22:40:41.442Z,1761345641.442 [DAT](INFO): setting transmit power to 8
2025-10-24T22:40:41.671Z,1761345641.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547235,0.823949,-0.147111],[-0.779816,0.565765,0.267950],[0.304007,-0.031913,0.952135]]
2025-10-24T22:40:41.693Z,1761345641.693 [DAT](INFO): DAT read: user:3>

2025-10-24T22:40:41.694Z,1761345641.694 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T22:40:41.694Z,1761345641.694 [DAT](INFO): set transmit power to 8
2025-10-24T22:40:41.694Z,1761345641.694 [DAT](INFO): setting local address to 11
2025-10-24T22:40:41.947Z,1761345641.947 [DAT](INFO): DAT read: user:4>

2025-10-24T22:40:41.950Z,1761345641.950 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T22:40:41.951Z,1761345641.951 [DAT](INFO): set local address to 11
2025-10-24T22:40:41.955Z,1761345641.955 [DAT](INFO): Setting time to: 22:40:41 And date to:10/24/2025
2025-10-24T22:40:42.070Z,1761345642.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539409,0.827352,-0.156610],[-0.785379,0.561406,0.260772],[0.303672,-0.017665,0.952613]]
2025-10-24T22:40:42.197Z,1761345642.197 [DAT](INFO): DAT read: user:5>

2025-10-24T22:40:42.198Z,1761345642.198 [DAT](INFO): DAT read: Fri Oct 24, 2025  22:40:41  

2025-10-24T22:40:42.198Z,1761345642.198 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  22:40:41  

2025-10-24T22:40:42.199Z,1761345642.199 [DAT](INFO): setting remote address to 10
2025-10-24T22:40:42.199Z,1761345642.199 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:40:42.199Z,1761345642.199 [DAT](INFO): setting remote address to 0
2025-10-24T22:40:42.449Z,1761345642.449 [DAT](INFO): DAT read: user:6>

2025-10-24T22:40:42.450Z,1761345642.450 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:40:42.450Z,1761345642.450 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T22:40:42.450Z,1761345642.450 [DAT] Communications Fault, FailCount= 5
2025-10-24T22:40:42.450Z,1761345642.450 [DAT](ERROR): Communications Fault
2025-10-24T22:40:42.451Z,1761345642.451 [DAT](INFO): DAT read: user:7>

2025-10-24T22:40:42.452Z,1761345642.452 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:40:42.453Z,1761345642.453 [DAT](INFO): set remote address to 0
2025-10-24T22:40:42.453Z,1761345642.453 [DAT](INFO): setting remote address to 10
2025-10-24T22:40:42.453Z,1761345642.453 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:40:42.453Z,1761345642.453 [DAT](INFO): setting remote address to 0
2025-10-24T22:40:42.476Z,1761345642.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528210,0.835481,-0.151545],[-0.793639,0.549226,0.261701],[0.301879,-0.017961,0.953177]]
2025-10-24T22:40:42.555Z,1761345642.555 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:40:42.555Z,1761345642.555 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:40:42.555Z,1761345642.555 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:40:42.565Z,1761345642.565 [marl:UpdateRudder:A] Stopped
2025-10-24T22:40:42.565Z,1761345642.565 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:40:42.565Z,1761345642.565 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:40:42.565Z,1761345642.565 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:40:42.565Z,1761345642.565 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:40:42.566Z,1761345642.566 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:40:42.566Z,1761345642.566 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:40:42.566Z,1761345642.566 [marl:UpdateCommandMode] Stopped
2025-10-24T22:40:42.566Z,1761345642.566 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:40:42.566Z,1761345642.566 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:40:42.566Z,1761345642.566 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:40:42.566Z,1761345642.566 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:40:42.566Z,1761345642.566 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:40:42.567Z,1761345642.567 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:40:42.567Z,1761345642.567 [marl:UpdateSpeed] Stopped
2025-10-24T22:40:42.567Z,1761345642.567 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:40:42.722Z,1761345642.722 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T22:40:42.856Z,1761345642.856 [DAT](INFO): Powering down
2025-10-24T22:40:42.879Z,1761345642.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522934,0.841977,-0.132722],[-0.800339,0.538593,0.263393],[0.293254,-0.031515,0.955515]]
2025-10-24T22:40:42.926Z,1761345642.926 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:40:42.926Z,1761345642.926 [marl:UpdateRudder:B] Stopped
2025-10-24T22:40:42.927Z,1761345642.927 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:40:42.927Z,1761345642.927 [marl:UpdateRudder] Stopped
2025-10-24T22:40:42.927Z,1761345642.927 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:40:43.090Z,1761345643.090 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:40:43.090Z,1761345643.090 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:40:43.282Z,1761345643.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522016,0.846015,-0.108429],[-0.797620,0.529236,0.289328],[0.302161,-0.064549,0.951069]]
2025-10-24T22:40:43.691Z,1761345643.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521819,0.846927,-0.102074],[-0.786340,0.523942,0.327344],[0.330718,-0.090550,0.939376]]
2025-10-24T22:40:44.060Z,1761345644.060 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T22:40:44.060Z,1761345644.060 [DAT] No Fault, FailCount= 5
2025-10-24T22:40:44.503Z,1761345644.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522287,0.848885,-0.081303],[-0.789909,0.517510,0.328979],[0.321341,-0.107600,0.940831]]
2025-10-24T22:40:44.900Z,1761345644.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529208,0.844534,-0.081866],[-0.796000,0.527561,0.296754],[0.293808,-0.091879,0.951438]]
2025-10-24T22:40:45.304Z,1761345645.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526414,0.845280,-0.091602],[-0.800007,0.528916,0.283259],[0.287883,-0.075829,0.954659]]
2025-10-24T22:40:45.332Z,1761345645.332 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:40:45.706Z,1761345645.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523360,0.846359,-0.098848],[-0.802312,0.528522,0.277416],[0.287036,-0.065882,0.955651]]
2025-10-24T22:40:45.925Z,1761345645.925 [DAT](INFO): Powering up
2025-10-24T22:40:45.926Z,1761345645.926 [DAT](DEBUG): Initializing DAT.
2025-10-24T22:40:46.110Z,1761345646.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523255,0.845650,-0.105267],[-0.798049,0.529589,0.287496],[0.298869,-0.066426,0.951979]]
2025-10-24T22:40:46.521Z,1761345646.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518502,0.845960,-0.124529],[-0.788436,0.529362,0.313280],[0.330944,-0.064253,0.941460]]
2025-10-24T22:40:47.358Z,1761345647.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496824,0.860162,-0.115269],[-0.804778,0.506345,0.309753],[0.324804,-0.061127,0.943804]]
2025-10-24T22:40:47.783Z,1761345647.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505106,0.863044,-0.004852],[-0.834343,0.489731,0.253052],[0.220771,-0.123770,0.967441]]
2025-10-24T22:40:48.185Z,1761345648.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510420,0.859659,0.021394],[-0.837757,0.491495,0.237900],[0.193998,-0.139352,0.971054]]
2025-10-24T22:40:48.252Z,1761345648.252 [marl:SendObservationData] Running Loop=1
2025-10-24T22:40:48.252Z,1761345648.252 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T22:40:48.252Z,1761345648.252 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T22:40:48.253Z,1761345648.253 [marl:SendObservationData:A] Running Loop=1
2025-10-24T22:40:48.254Z,1761345648.254 [marl:SendObservationData:A](INFO): Got test_good :  41da3f0000000000405140000000000040426317611b4d36c05e7749375b16eb40302ad0000000004057e66660000000 n/a str  and temp var is  nan n/a str 
2025-10-24T22:40:48.254Z,1761345648.254 [marl:SendObservationData:A] Stopped
2025-10-24T22:40:48.254Z,1761345648.254 [marl:SendObservationData:B] Running Loop=1
2025-10-24T22:40:48.587Z,1761345648.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510087,0.860064,0.010091],[-0.838680,0.494734,0.227715],[0.190857,-0.124617,0.973676]]
2025-10-24T22:40:48.619Z,1761345648.619 [marl:SendObservationData:B] Stopped
2025-10-24T22:40:48.619Z,1761345648.619 [marl:SendObservationData:C] Running Loop=1
2025-10-24T22:40:48.997Z,1761345648.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502811,0.864307,-0.012427],[-0.842492,0.493234,0.216628],[0.193362,-0.098453,0.976175]]
2025-10-24T22:40:49.055Z,1761345649.055 [marl:SendObservationData:C] Stopped
2025-10-24T22:40:49.055Z,1761345649.055 [marl:SendObservationData:E] Running Loop=1
2025-10-24T22:40:49.399Z,1761345649.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497138,0.867524,-0.016004],[-0.848218,0.489794,0.201563],[0.182699,-0.086629,0.979345]]
2025-10-24T22:40:49.449Z,1761345649.449 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.010357 min 
2025-10-24T22:40:49.449Z,1761345649.449 [marl:SendObservationData:E] Stopped
2025-10-24T22:40:49.450Z,1761345649.450 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T22:40:49.450Z,1761345649.450 [marl:SendObservationData] Stopped
2025-10-24T22:40:49.450Z,1761345649.450 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T22:40:49.450Z,1761345649.450 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T22:40:49.795Z,1761345649.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494372,0.869224,0.006789],[-0.853451,0.483889,0.193578],[0.164977,-0.101494,0.981061]]
2025-10-24T22:40:50.198Z,1761345650.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498520,0.866386,0.029210],[-0.853056,0.484300,0.194292],[0.154185,-0.121776,0.980509]]
2025-10-24T22:40:50.602Z,1761345650.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501131,0.864755,0.032656],[-0.851196,0.485768,0.198734],[0.155993,-0.127388,0.979509]]
2025-10-24T22:40:51.013Z,1761345651.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497631,0.866804,0.031835],[-0.853320,0.482646,0.197228],[0.155593,-0.125312,0.979841]]
2025-10-24T22:40:51.418Z,1761345651.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494574,0.867837,0.047498],[-0.858990,0.479744,0.178833],[0.132411,-0.129247,0.982732]]
2025-10-24T22:40:51.816Z,1761345651.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493779,0.866010,0.078802],[-0.865093,0.480004,0.145638],[0.088299,-0.140084,0.986195]]
2025-10-24T22:40:52.219Z,1761345652.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491467,0.863946,0.109805],[-0.870063,0.481565,0.105290],[0.038087,-0.147284,0.988361]]
2025-10-24T22:40:52.622Z,1761345652.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481427,0.866604,0.131246],[-0.876481,0.476522,0.068618],[-0.003077,-0.148069,0.988972]]
2025-10-24T22:40:53.028Z,1761345653.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477280,0.867106,0.142586],[-0.878092,0.476888,0.039156],[-0.034045,-0.143892,0.989008]]
2025-10-24T22:40:53.434Z,1761345653.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480101,0.865081,0.145391],[-0.875717,0.482329,0.021869],[-0.051208,-0.137821,0.989133]]
2025-10-24T22:40:53.835Z,1761345653.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485076,0.862026,0.147011],[-0.872527,0.488315,0.015653],[-0.058294,-0.135864,0.989011]]
2025-10-24T22:40:54.239Z,1761345654.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483464,0.861130,0.157217],[-0.872218,0.489108,0.003182],[-0.074156,-0.138666,0.987559]]
2025-10-24T22:40:54.646Z,1761345654.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473076,0.861783,0.183110],[-0.873995,0.485251,-0.025751],[-0.111047,-0.147855,0.982755]]
2025-10-24T22:40:55.046Z,1761345655.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463075,0.862457,0.204279],[-0.874469,0.482146,-0.053286],[-0.144449,-0.153961,0.977461]]
2025-10-24T22:40:55.455Z,1761345655.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463822,0.862114,0.204029],[-0.871645,0.485265,-0.068941],[-0.158444,-0.145864,0.976534]]
2025-10-24T22:40:55.543Z,1761345655.543 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:40:55.543Z,1761345655.543 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:40:55.543Z,1761345655.543 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:40:55.544Z,1761345655.544 [marl:UpdateRudder:A] Stopped
2025-10-24T22:40:55.544Z,1761345655.544 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:40:55.544Z,1761345655.544 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:40:55.544Z,1761345655.544 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:40:55.544Z,1761345655.544 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:40:55.545Z,1761345655.545 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:40:55.545Z,1761345655.545 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:40:55.545Z,1761345655.545 [marl:UpdateCommandMode] Stopped
2025-10-24T22:40:55.545Z,1761345655.545 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:40:55.545Z,1761345655.545 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:40:55.545Z,1761345655.545 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:40:55.545Z,1761345655.545 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:40:55.545Z,1761345655.545 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:40:55.546Z,1761345655.546 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:40:55.546Z,1761345655.546 [marl:UpdateSpeed] Stopped
2025-10-24T22:40:55.546Z,1761345655.546 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:40:55.855Z,1761345655.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471605,0.857561,0.205374],[-0.865152,0.495028,-0.080374],[-0.170591,-0.139775,0.975378]]
2025-10-24T22:40:56.023Z,1761345656.023 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:40:56.032Z,1761345656.032 [marl:UpdateRudder:B] Stopped
2025-10-24T22:40:56.032Z,1761345656.032 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:40:56.032Z,1761345656.032 [marl:UpdateRudder] Stopped
2025-10-24T22:40:56.032Z,1761345656.032 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:40:56.351Z,1761345656.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475136,0.851534,0.221667],[-0.856364,0.505398,-0.105897],[-0.202205,-0.139512,0.969355]]
2025-10-24T22:40:56.739Z,1761345656.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473752,0.847254,0.240247],[-0.845019,0.514160,-0.146910],[-0.247995,-0.133414,0.959531]]
2025-10-24T22:40:57.543Z,1761345657.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453357,0.850481,0.266737],[-0.838705,0.508345,-0.195343],[-0.301730,-0.135154,0.943765]]
2025-10-24T22:40:57.983Z,1761345657.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441696,0.853259,0.277226],[-0.840230,0.501746,-0.205584],[-0.314513,-0.142128,0.938553]]
2025-10-24T22:40:58.029Z,1761345658.029 [DAT](INFO): DAT read: 

2025-10-24T22:40:58.029Z,1761345658.029 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T22:40:58.354Z,1761345658.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436544,0.854449,0.281686],[-0.840019,0.499220,-0.212481],[-0.322177,-0.143864,0.935684]]
2025-10-24T22:40:58.755Z,1761345658.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426737,0.856909,0.289141],[-0.840534,0.493788,-0.222882],[-0.333764,-0.147920,0.930979]]
2025-10-24T22:40:59.158Z,1761345659.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415338,0.854775,0.311213],[-0.831180,0.495620,-0.251993],[-0.369640,-0.154012,0.916322]]
2025-10-24T22:40:59.594Z,1761345659.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415034,0.849149,0.326637],[-0.814487,0.506760,-0.282498],[-0.405409,-0.148795,0.901944]]
2025-10-24T22:40:59.793Z,1761345659.793 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T22:40:59.794Z,1761345659.794 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T22:40:59.794Z,1761345659.794 [DAT](INFO): DAT read: Oct 24 2025 22:40:53 

2025-10-24T22:41:00.036Z,1761345660.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415566,0.849504,0.325036],[-0.808395,0.508748,-0.296096],[-0.416896,-0.139710,0.898153]]
2025-10-24T22:41:00.444Z,1761345660.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416914,0.852129,0.316322],[-0.818818,0.503184,-0.276302],[-0.394613,-0.143816,0.907523]]
2025-10-24T22:41:00.524Z,1761345660.524 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:41:00.802Z,1761345660.802 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T22:41:00.804Z,1761345660.804 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:41:00.804Z,1761345660.804 [DAT](INFO): commRate: 600
2025-10-24T22:41:00.871Z,1761345660.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429354,0.847870,0.311082],[-0.828851,0.506728,-0.237137],[-0.358695,-0.156025,0.920323]]
2025-10-24T22:41:01.343Z,1761345661.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418547,0.842800,0.338389],[-0.829395,0.506517,-0.235678],[-0.370029,-0.182016,0.911015]]
2025-10-24T22:41:01.528Z,1761345661.528 [DataOverHttps](INFO): Radio surface powered ON.
2025-10-24T22:41:01.528Z,1761345661.528 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:41:01.750Z,1761345661.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411913,0.838857,0.355874],[-0.826401,0.508445,-0.241960],[-0.383913,-0.194428,0.902668]]
2025-10-24T22:41:02.152Z,1761345662.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434030,0.854742,0.284665],[-0.867370,0.481868,-0.124388],[-0.243490,-0.192922,0.950523]]
2025-10-24T22:41:02.558Z,1761345662.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441146,0.867458,0.230016],[-0.876290,0.471672,-0.098186],[-0.193664,-0.158246,0.968221]]
2025-10-24T22:41:02.880Z,1761345662.880 [DAT](INFO): entering command mode
2025-10-24T22:41:02.963Z,1761345662.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430830,0.877929,0.208866],[-0.880481,0.459676,-0.115984],[-0.197836,-0.133933,0.971042]]
2025-10-24T22:41:03.076Z,1761345663.076 [DAT](INFO): DAT read: 

2025-10-24T22:41:03.077Z,1761345663.077 [DAT](INFO): DAT read: user:1>

2025-10-24T22:41:03.077Z,1761345663.077 [DAT](INFO): setting verbose to 3
2025-10-24T22:41:03.329Z,1761345663.329 [DAT](INFO): DAT read: user:1>

2025-10-24T22:41:03.330Z,1761345663.330 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T22:41:03.330Z,1761345663.330 [DAT](INFO): set verbose to 3
2025-10-24T22:41:03.330Z,1761345663.330 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T22:41:03.392Z,1761345663.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425651,0.885649,0.185600],[-0.887502,0.448609,-0.105306],[-0.176526,-0.119897,0.976967]]
2025-10-24T22:41:03.581Z,1761345663.581 [DAT](INFO): DAT read: user:2>

2025-10-24T22:41:03.581Z,1761345663.581 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T22:41:03.582Z,1761345663.582 [DAT](INFO): set DatVerbose to 27440
2025-10-24T22:41:03.582Z,1761345663.582 [DAT](INFO): setting transmit power to 8
2025-10-24T22:41:03.833Z,1761345663.833 [DAT](INFO): DAT read: user:3>

2025-10-24T22:41:03.833Z,1761345663.833 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T22:41:03.834Z,1761345663.834 [DAT](INFO): set transmit power to 8
2025-10-24T22:41:03.834Z,1761345663.834 [DAT](INFO): setting local address to 11
2025-10-24T22:41:04.085Z,1761345664.085 [DAT](INFO): DAT read: user:4>

2025-10-24T22:41:04.085Z,1761345664.085 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T22:41:04.086Z,1761345664.086 [DAT](INFO): set local address to 11
2025-10-24T22:41:04.087Z,1761345664.087 [DAT](INFO): Setting time to: 22:41:4 And date to:10/24/2025
2025-10-24T22:41:04.171Z,1761345664.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422425,0.884688,0.197191],[-0.887125,0.448165,-0.110260],[-0.185920,-0.128356,0.974145]]
2025-10-24T22:41:04.337Z,1761345664.337 [DAT](INFO): DAT read: user:5>

2025-10-24T22:41:04.338Z,1761345664.338 [DAT](INFO): DAT read: Fri Oct 24, 2025  22:41:04  

2025-10-24T22:41:04.338Z,1761345664.338 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  22:41:04  

2025-10-24T22:41:04.339Z,1761345664.339 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:41:04.339Z,1761345664.339 [DAT](INFO): setting remote address to 0
2025-10-24T22:41:04.574Z,1761345664.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441349,0.886788,0.137175],[-0.891585,0.450645,-0.044659],[-0.101421,-0.102593,0.989540]]
2025-10-24T22:41:04.589Z,1761345664.589 [DAT](INFO): DAT read: user:6>

2025-10-24T22:41:04.590Z,1761345664.590 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:41:04.591Z,1761345664.591 [DAT](INFO): set remote address to 0
2025-10-24T22:41:04.591Z,1761345664.591 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:41:04.591Z,1761345664.591 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:41:04.841Z,1761345664.841 [DAT](INFO): DAT read: user:7>

2025-10-24T22:41:04.842Z,1761345664.842 [DAT](INFO): DAT read: Tx time:22:41:04.6681

2025-10-24T22:41:04.842Z,1761345664.842 [DAT](INFO): Ping request sent.
2025-10-24T22:41:04.842Z,1761345664.842 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:41:04.843Z,1761345664.843 [DAT](INFO): publishing transmit ping time
2025-10-24T22:41:04.843Z,1761345664.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000935
2025-10-24T22:41:04.991Z,1761345664.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440044,0.891903,0.104262],[-0.897905,0.438498,0.038556],[-0.011331,-0.110584,0.993802]]
2025-10-24T22:41:05.094Z,1761345665.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251040
2025-10-24T22:41:05.345Z,1761345665.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502324
2025-10-24T22:41:05.383Z,1761345665.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435820,0.892997,0.112329],[-0.900024,0.431824,0.059029],[0.004206,-0.126825,0.991916]]
2025-10-24T22:41:05.597Z,1761345665.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754280
2025-10-24T22:41:05.793Z,1761345665.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435587,0.898919,0.046991],[-0.898436,0.430949,0.084235],[0.055469,-0.078910,0.995337]]
2025-10-24T22:41:05.849Z,1761345665.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006302
2025-10-24T22:41:06.101Z,1761345666.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258278
2025-10-24T22:41:06.199Z,1761345666.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428489,0.902361,0.046286],[-0.902945,0.425772,0.058382],[0.032974,-0.066810,0.997221]]
2025-10-24T22:41:06.353Z,1761345666.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510225
2025-10-24T22:41:06.603Z,1761345666.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425274,0.900542,0.090367],[-0.904843,0.425254,0.020445],[-0.020018,-0.090463,0.995699]]
2025-10-24T22:41:06.605Z,1761345666.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762952
2025-10-24T22:41:06.857Z,1761345666.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014273
2025-10-24T22:41:07.005Z,1761345667.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425625,0.897742,0.113591],[-0.901979,0.430973,-0.026395],[-0.072651,-0.091222,0.993177]]
2025-10-24T22:41:07.109Z,1761345667.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266188
2025-10-24T22:41:07.361Z,1761345667.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518307
2025-10-24T22:41:07.405Z,1761345667.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422729,0.902914,0.077764],[-0.906247,0.420768,0.040882],[0.004193,-0.087755,0.996133]]
2025-10-24T22:41:07.613Z,1761345667.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770238
2025-10-24T22:41:07.807Z,1761345667.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391481,0.918191,0.060565],[-0.919063,0.386905,0.075014],[0.045444,-0.085030,0.995342]]
2025-10-24T22:41:07.865Z,1761345667.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022325
2025-10-24T22:41:08.117Z,1761345668.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274856
2025-10-24T22:41:08.211Z,1761345668.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381680,0.919475,0.094262],[-0.924187,0.378092,0.054080],[0.014086,-0.107758,0.994077]]
2025-10-24T22:41:08.369Z,1761345668.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526900
2025-10-24T22:41:08.614Z,1761345668.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413414,0.905821,0.092614],[-0.910409,0.409463,0.059128],[0.015637,-0.108761,0.993945]]
2025-10-24T22:41:08.621Z,1761345668.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778100
2025-10-24T22:41:08.658Z,1761345668.658 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:41:08.658Z,1761345668.658 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:41:08.658Z,1761345668.658 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:41:08.659Z,1761345668.659 [marl:UpdateRudder:A] Stopped
2025-10-24T22:41:08.659Z,1761345668.659 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:41:08.659Z,1761345668.659 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:41:08.659Z,1761345668.659 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:41:08.659Z,1761345668.659 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:41:08.660Z,1761345668.660 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:41:08.660Z,1761345668.660 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:41:08.660Z,1761345668.660 [marl:UpdateCommandMode] Stopped
2025-10-24T22:41:08.661Z,1761345668.661 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:41:08.661Z,1761345668.661 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:41:08.661Z,1761345668.661 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:41:08.661Z,1761345668.661 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:41:08.661Z,1761345668.661 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:41:08.662Z,1761345668.662 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:41:08.662Z,1761345668.662 [marl:UpdateSpeed] Stopped
2025-10-24T22:41:08.662Z,1761345668.662 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:41:08.873Z,1761345668.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030216
2025-10-24T22:41:09.018Z,1761345669.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429248,0.899494,0.081587],[-0.903187,0.427526,0.038405],[-0.000336,-0.090173,0.995926]]
2025-10-24T22:41:09.069Z,1761345669.069 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:41:09.069Z,1761345669.069 [marl:UpdateRudder:B] Stopped
2025-10-24T22:41:09.070Z,1761345669.070 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:41:09.070Z,1761345669.070 [marl:UpdateRudder] Stopped
2025-10-24T22:41:09.070Z,1761345669.070 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:41:09.125Z,1761345669.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282308
2025-10-24T22:41:09.377Z,1761345669.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534239
2025-10-24T22:41:09.428Z,1761345669.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421451,0.904118,0.070350],[-0.905554,0.423728,-0.020660],[-0.048488,-0.054998,0.997308]]
2025-10-24T22:41:09.629Z,1761345669.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786906
2025-10-24T22:41:09.829Z,1761345669.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396915,0.914996,0.072393],[-0.916216,0.399684,-0.028301],[-0.054830,-0.055094,0.996975]]
2025-10-24T22:41:09.882Z,1761345669.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039079
2025-10-24T22:41:10.133Z,1761345670.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290281
2025-10-24T22:41:10.231Z,1761345670.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381960,0.922855,0.049440],[-0.922089,0.376955,0.087508],[0.062121,-0.079013,0.994936]]
2025-10-24T22:41:10.385Z,1761345670.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542744
2025-10-24T22:41:10.637Z,1761345670.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794327
2025-10-24T22:41:10.889Z,1761345670.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046222
2025-10-24T22:41:11.039Z,1761345671.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438087,0.897438,0.051812],[-0.896846,0.432419,0.093173],[0.061212,-0.087285,0.994301]]
2025-10-24T22:41:11.141Z,1761345671.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298639
2025-10-24T22:41:11.397Z,1761345671.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554028
2025-10-24T22:41:11.446Z,1761345671.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455988,0.889948,0.008222],[-0.888628,0.454763,0.059427],[0.049148,-0.034404,0.998199]]
2025-10-24T22:41:11.645Z,1761345671.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802827
2025-10-24T22:41:11.846Z,1761345671.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431286,0.902203,-0.004605],[-0.902204,0.431301,0.002893],[0.004596,0.002907,0.999985]]
2025-10-24T22:41:11.899Z,1761345671.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.056480
2025-10-24T22:41:12.149Z,1761345672.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306346
2025-10-24T22:41:12.250Z,1761345672.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440507,0.897491,0.021525],[-0.897513,0.440814,-0.012354],[-0.020576,-0.013877,0.999692]]
2025-10-24T22:41:12.401Z,1761345672.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558274
2025-10-24T22:41:12.653Z,1761345672.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810824
2025-10-24T22:41:12.661Z,1761345672.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411214,0.911513,0.006885],[-0.911375,0.410984,0.022099],[0.017314,-0.015362,0.999732]]
2025-10-24T22:41:12.905Z,1761345672.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062324
2025-10-24T22:41:13.059Z,1761345673.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407810,0.912374,0.035551],[-0.912956,0.406843,0.031473],[0.014252,-0.045292,0.998872]]
2025-10-24T22:41:13.162Z,1761345673.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319661
2025-10-24T22:41:13.413Z,1761345673.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570305
2025-10-24T22:41:13.480Z,1761345673.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443913,0.893232,0.071260],[-0.896051,0.443018,0.028785],[-0.005857,-0.076630,0.997042]]
2025-10-24T22:41:13.665Z,1761345673.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822602
2025-10-24T22:41:13.866Z,1761345673.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438680,0.897115,0.052381],[-0.897737,0.434877,0.070355],[0.040337,-0.077888,0.996146]]
2025-10-24T22:41:13.919Z,1761345673.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075820
2025-10-24T22:41:14.169Z,1761345674.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326885
2025-10-24T22:41:14.270Z,1761345674.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429710,0.900391,0.068154],[-0.900557,0.421830,0.105154],[0.065930,-0.106563,0.992118]]
2025-10-24T22:41:14.421Z,1761345674.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578400
2025-10-24T22:41:14.673Z,1761345674.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830745
2025-10-24T22:41:14.682Z,1761345674.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406166,0.908465,0.098594],[-0.912949,0.398765,0.086665],[0.039416,-0.125211,0.991347]]
2025-10-24T22:41:14.924Z,1761345674.924 [DAT](INFO): Reached modem response timeout
2025-10-24T22:41:15.080Z,1761345675.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386015,0.918501,0.085716],[-0.919517,0.375648,0.115659],[0.074034,-0.123463,0.989584]]
2025-10-24T22:41:15.484Z,1761345675.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422842,0.904351,0.057907],[-0.898626,0.410204,0.155575],[0.116941,-0.117821,0.986125]]
2025-10-24T22:41:15.891Z,1761345675.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467904,0.883779,0.001001],[-0.872557,0.461782,0.159378],[0.140392,-0.075447,0.987217]]
2025-10-24T22:41:16.291Z,1761345676.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444276,0.895294,-0.032671],[-0.887243,0.444750,0.122464],[0.124172,-0.025421,0.991935]]
2025-10-24T22:41:16.695Z,1761345676.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444753,0.895636,-0.005617],[-0.895022,0.444666,0.034749],[0.033620,-0.010428,0.999380]]
2025-10-24T22:41:17.098Z,1761345677.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481532,0.876388,-0.008353],[-0.876065,0.481037,-0.033364],[-0.025222,0.023384,0.999408]]
2025-10-24T22:41:17.201Z,1761345677.201 [DAT](INFO): DAT read: Response Not Received

2025-10-24T22:41:17.201Z,1761345677.201 [DAT](INFO): response not received
2025-10-24T22:41:17.201Z,1761345677.201 [DAT](ERROR): No response from remote modem.
2025-10-24T22:41:17.503Z,1761345677.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487581,0.872146,-0.040331],[-0.872437,0.484935,-0.060754],[-0.033428,0.064808,0.997338]]
2025-10-24T22:41:17.930Z,1761345677.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462542,0.886355,-0.020731],[-0.886402,0.461824,-0.031774],[-0.018589,0.033073,0.999280]]
2025-10-24T22:41:18.312Z,1761345678.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463245,0.884071,0.061834],[-0.883339,0.466239,-0.048294],[-0.071525,-0.032249,0.996917]]
2025-10-24T22:41:18.718Z,1761345678.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460460,0.879549,0.119876],[-0.879342,0.470423,-0.073896],[-0.121387,-0.071386,0.990035]]
2025-10-24T22:41:19.118Z,1761345679.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482988,0.868824,0.108937],[-0.869088,0.490833,-0.061394],[-0.106810,-0.065023,0.992151]]
2025-10-24T22:41:19.526Z,1761345679.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500856,0.865096,0.027436],[-0.865149,0.499441,0.045560],[0.025712,-0.046555,0.998585]]
2025-10-24T22:41:19.967Z,1761345679.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444086,0.895977,0.003463],[-0.892394,0.441958,0.091138],[0.080127,-0.043564,0.995832]]
2025-10-24T22:41:20.331Z,1761345680.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429557,0.902518,0.030693],[-0.902523,0.427913,0.048393],[0.030542,-0.048488,0.998357]]
2025-10-24T22:41:20.734Z,1761345680.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423726,0.905770,-0.005997],[-0.904598,0.423499,0.048496],[0.046466,-0.015124,0.998805]]
2025-10-24T22:41:21.139Z,1761345681.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400931,0.913531,-0.068674],[-0.912720,0.404765,0.055738],[0.078715,0.040333,0.996081]]
2025-10-24T22:41:21.548Z,1761345681.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365643,0.928696,-0.061876],[-0.929024,0.368208,0.036556],[0.056732,0.044118,0.997414]]
2025-10-24T22:41:21.572Z,1761345681.572 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:41:21.572Z,1761345681.572 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:41:21.572Z,1761345681.572 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:41:21.573Z,1761345681.573 [marl:UpdateRudder:A] Stopped
2025-10-24T22:41:21.573Z,1761345681.573 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:41:21.573Z,1761345681.573 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:41:21.573Z,1761345681.573 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:41:21.573Z,1761345681.573 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:41:21.573Z,1761345681.573 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:41:21.573Z,1761345681.573 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:41:21.573Z,1761345681.573 [marl:UpdateCommandMode] Stopped
2025-10-24T22:41:21.574Z,1761345681.574 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:41:21.574Z,1761345681.574 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:41:21.574Z,1761345681.574 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:41:21.574Z,1761345681.574 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:41:21.574Z,1761345681.574 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:41:21.574Z,1761345681.574 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:41:21.574Z,1761345681.574 [marl:UpdateSpeed] Stopped
2025-10-24T22:41:21.574Z,1761345681.574 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:41:21.973Z,1761345681.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374491,0.927138,-0.013085],[-0.924321,0.374395,0.073888],[0.073404,-0.015575,0.997181]]
2025-10-24T22:41:22.035Z,1761345682.035 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:41:22.035Z,1761345682.035 [marl:UpdateRudder:B] Stopped
2025-10-24T22:41:22.035Z,1761345682.035 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:41:22.035Z,1761345682.035 [marl:UpdateRudder] Stopped
2025-10-24T22:41:22.035Z,1761345682.035 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:41:22.351Z,1761345682.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385802,0.922558,0.006556],[-0.907446,0.378181,0.183086],[0.166429,-0.076584,0.983075]]
2025-10-24T22:41:22.756Z,1761345682.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355829,0.934452,-0.013603],[-0.902436,0.347348,0.254871],[0.242890,-0.078415,0.966879]]
2025-10-24T22:41:23.161Z,1761345683.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334708,0.942197,-0.015362],[-0.912300,0.328083,0.245091],[0.235964,-0.068019,0.969378]]
2025-10-24T22:41:23.562Z,1761345683.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327763,0.944752,0.003810],[-0.929771,0.321845,0.178724],[0.167623,-0.062121,0.983892]]
2025-10-24T22:41:23.976Z,1761345683.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327768,0.944084,0.035687],[-0.940146,0.322207,0.110944],[0.093242,-0.069915,0.993186]]
2025-10-24T22:41:24.371Z,1761345684.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344652,0.938426,0.023916],[-0.935517,0.341254,0.091402],[0.077613,-0.053876,0.995527]]
2025-10-24T22:41:24.780Z,1761345684.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335002,0.941743,-0.029884],[-0.932636,0.335940,0.131659],[0.134029,-0.016235,0.990844]]
2025-10-24T22:41:25.178Z,1761345685.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319736,0.947490,0.005675],[-0.930081,0.312707,0.192781],[0.180883,-0.066917,0.981225]]
2025-10-24T22:41:25.582Z,1761345685.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304873,0.947740,0.094030],[-0.935618,0.279590,0.215521],[0.177967,-0.153683,0.971961]]
2025-10-24T22:41:25.987Z,1761345685.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253931,0.959880,0.118952],[-0.954166,0.228463,0.193316],[0.158384,-0.162588,0.973899]]
2025-10-24T22:41:26.393Z,1761345686.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239143,0.964402,0.112873],[-0.969196,0.230031,0.088007],[0.058910,-0.130442,0.989704]]
2025-10-24T22:41:26.796Z,1761345686.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279929,0.957699,0.066728],[-0.960006,0.278867,0.024920],[0.005258,-0.071036,0.997460]]
2025-10-24T22:41:27.202Z,1761345687.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289340,0.956462,-0.038241],[-0.955213,0.291091,0.053233],[0.062047,0.021126,0.997850]]
2025-10-24T22:41:27.602Z,1761345687.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245495,0.967061,-0.067277],[-0.968002,0.248274,0.036510],[0.052011,0.056161,0.997066]]
2025-10-24T22:41:28.008Z,1761345688.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221329,0.975079,-0.015327],[-0.974365,0.220462,-0.044830],[-0.040334,0.024856,0.998877]]
2025-10-24T22:41:28.411Z,1761345688.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221934,0.974683,0.027165],[-0.974761,0.222472,-0.018651],[-0.024222,-0.022340,0.999457]]
2025-10-24T22:41:28.816Z,1761345688.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218185,0.973030,0.074881],[-0.974316,0.212807,0.073626],[0.055705,-0.089022,0.994471]]
2025-10-24T22:41:29.228Z,1761345689.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226342,0.967263,0.114766],[-0.972235,0.217161,0.087184],[0.059407,-0.131313,0.989559]]
2025-10-24T22:41:29.624Z,1761345689.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224605,0.971363,0.077498],[-0.971747,0.217353,0.092006],[0.072527,-0.095974,0.992738]]
2025-10-24T22:41:30.028Z,1761345690.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218630,0.975733,0.012043],[-0.971392,0.216451,0.097710],[0.092732,-0.033061,0.995142]]
2025-10-24T22:41:30.439Z,1761345690.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222755,0.974844,-0.007658],[-0.969033,0.222273,0.107566],[0.106562,-0.016540,0.994168]]
2025-10-24T22:41:30.835Z,1761345690.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215226,0.975931,0.035157],[-0.969938,0.209441,0.123913],[0.113567,-0.060769,0.991670]]
2025-10-24T22:41:31.248Z,1761345691.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205791,0.976137,0.069323],[-0.968982,0.193352,0.153914],[0.136837,-0.098847,0.985650]]
2025-10-24T22:41:31.642Z,1761345691.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182320,0.980120,0.078258],[-0.977219,0.171835,0.124559],[0.108635,-0.099185,0.989121]]
2025-10-24T22:41:31.664Z,1761345691.664 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:41:32.047Z,1761345692.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172318,0.980867,0.090594],[-0.976917,0.158384,0.143347],[0.126256,-0.113204,0.985517]]
2025-10-24T22:41:32.453Z,1761345692.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191636,0.977920,0.083359],[-0.966087,0.172975,0.191719],[0.173067,-0.117272,0.977903]]
2025-10-24T22:41:32.668Z,1761345692.668 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:41:32.856Z,1761345692.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178854,0.982992,0.041687],[-0.962270,0.165939,0.215640],[0.205054,-0.078683,0.975583]]
2025-10-24T22:41:33.262Z,1761345693.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199472,0.979377,0.032119],[-0.955718,0.187206,0.227061],[0.216365,-0.075989,0.973351]]
2025-10-24T22:41:33.667Z,1761345693.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208325,0.978026,0.008096],[-0.963968,0.203917,0.170832],[0.165428,-0.043393,0.985267]]
2025-10-24T22:41:34.067Z,1761345694.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182234,0.982891,0.026737],[-0.971825,0.175915,0.156878],[0.149490,-0.054572,0.987256]]
2025-10-24T22:41:34.472Z,1761345694.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214081,0.974325,0.069716],[-0.965137,0.199978,0.168879],[0.150602,-0.103440,0.983168]]
2025-10-24T22:41:34.515Z,1761345694.515 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:41:34.515Z,1761345694.515 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:41:34.515Z,1761345694.515 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:41:34.515Z,1761345694.515 [marl:UpdateRudder:A] Stopped
2025-10-24T22:41:34.515Z,1761345694.515 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:41:34.532Z,1761345694.532 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:41:34.532Z,1761345694.532 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:41:34.532Z,1761345694.532 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:41:34.532Z,1761345694.532 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:41:34.532Z,1761345694.532 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:41:34.533Z,1761345694.533 [marl:UpdateCommandMode] Stopped
2025-10-24T22:41:34.533Z,1761345694.533 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:41:34.533Z,1761345694.533 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:41:34.533Z,1761345694.533 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:41:34.533Z,1761345694.533 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:41:34.533Z,1761345694.533 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:41:34.533Z,1761345694.533 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:41:34.533Z,1761345694.533 [marl:UpdateSpeed] Stopped
2025-10-24T22:41:34.534Z,1761345694.534 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:41:34.874Z,1761345694.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235132,0.971559,0.028052],[-0.963977,0.229411,0.134604],[0.124340,-0.058691,0.990502]]
2025-10-24T22:41:34.951Z,1761345694.951 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:41:34.951Z,1761345694.951 [marl:UpdateRudder:B] Stopped
2025-10-24T22:41:34.951Z,1761345694.951 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:41:34.951Z,1761345694.951 [marl:UpdateRudder] Stopped
2025-10-24T22:41:34.956Z,1761345694.956 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:41:35.281Z,1761345695.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275580,0.961150,-0.015668],[-0.955977,0.275734,0.100389],[0.100809,-0.012687,0.994825]]
2025-10-24T22:41:35.687Z,1761345695.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255373,0.965734,-0.046291],[-0.957958,0.259212,0.122989],[0.130774,0.012936,0.991328]]
2025-10-24T22:41:36.088Z,1761345696.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226769,0.973906,0.009120],[-0.957470,0.221207,0.185250],[0.178399,-0.050741,0.982649]]
2025-10-24T22:41:36.491Z,1761345696.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258742,0.960777,0.099798],[-0.956167,0.240087,0.167641],[0.137106,-0.138799,0.980784]]
2025-10-24T22:41:36.895Z,1761345696.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301705,0.945633,0.121459],[-0.951837,0.291462,0.095161],[0.054587,-0.144320,0.988024]]
2025-10-24T22:41:37.303Z,1761345697.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346637,0.936185,0.058323],[-0.937966,0.345427,0.030012],[0.007950,-0.065109,0.997847]]
2025-10-24T22:41:37.703Z,1761345697.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347436,0.936695,-0.043492],[-0.936742,0.348806,0.029122],[0.042449,0.030623,0.998629]]
2025-10-24T22:41:38.106Z,1761345698.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321975,0.945115,-0.055580],[-0.945000,0.324393,0.041776],[0.057513,0.039072,0.997580]]
2025-10-24T22:41:38.510Z,1761345698.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346538,0.938035,0.000812],[-0.937493,0.346308,0.034310],[0.031903,-0.012651,0.999411]]
2025-10-24T22:41:38.925Z,1761345698.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324656,0.942819,0.075438],[-0.944140,0.318274,0.085449],[0.056553,-0.098965,0.993483]]
2025-10-24T22:41:39.321Z,1761345699.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306038,0.938367,0.160649],[-0.949948,0.289869,0.116508],[0.062760,-0.188265,0.980111]]
2025-10-24T22:41:39.723Z,1761345699.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338010,0.928001,0.156728],[-0.936577,0.315289,0.153026],[0.092594,-0.198512,0.975715]]
2025-10-24T22:41:40.126Z,1761345700.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341543,0.938188,0.056138],[-0.934496,0.332610,0.126839],[0.100327,-0.095781,0.990333]]
2025-10-24T22:41:40.532Z,1761345700.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332460,0.943089,0.007243],[-0.942059,0.331714,0.049902],[0.044660,-0.023414,0.998728]]
2025-10-24T22:41:40.936Z,1761345700.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334315,0.941958,0.030809],[-0.941660,0.335200,-0.030297],[-0.038866,-0.018883,0.999066]]
2025-10-24T22:41:41.339Z,1761345701.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346750,0.936988,0.042645],[-0.936689,0.348287,-0.036185],[-0.048757,-0.027398,0.998435]]
2025-10-24T22:41:41.749Z,1761345701.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334851,0.942011,0.022149],[-0.941453,0.333488,0.049519],[0.039261,-0.037433,0.998528]]
2025-10-24T22:41:42.146Z,1761345702.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311492,0.949722,0.031631],[-0.943700,0.305273,0.127432],[0.111369,-0.069544,0.991343]]
2025-10-24T22:41:42.551Z,1761345702.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298490,0.953632,0.038605],[-0.946211,0.290391,0.142680],[0.124854,-0.079117,0.989016]]
2025-10-24T22:41:42.955Z,1761345702.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288599,0.957026,0.028489],[-0.953374,0.284500,0.100682],[0.088250,-0.056217,0.994511]]
2025-10-24T22:41:43.358Z,1761345703.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275940,0.960950,0.020775],[-0.960446,0.274825,0.044874],[0.037412,-0.032336,0.998777]]
2025-10-24T22:41:43.474Z,1761345703.474 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:41:43.474Z,1761345703.474 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:41:43.762Z,1761345703.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287602,0.957196,0.032554],[-0.957744,0.287318,0.013196],[0.003277,-0.034974,0.999383]]
2025-10-24T22:41:44.167Z,1761345704.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289650,0.956681,0.029408],[-0.957003,0.288969,0.025341],[0.015746,-0.035483,0.999246]]
2025-10-24T22:41:44.570Z,1761345704.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279375,0.959779,0.027825],[-0.959346,0.277806,0.049787],[0.040054,-0.040603,0.998372]]
2025-10-24T22:41:44.974Z,1761345704.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286832,0.957873,0.014411],[-0.953245,0.283888,0.103589],[0.095134,-0.043449,0.994516]]
2025-10-24T22:41:45.383Z,1761345705.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296286,0.954895,0.019746],[-0.951554,0.293343,0.092168],[0.082218,-0.046097,0.995548]]
2025-10-24T22:41:45.422Z,1761345705.422 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:41:45.437Z,1761345705.437 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:41:45.437Z,1761345705.437 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:41:45.689Z,1761345705.689 [DAT](INFO): DAT read: user:8>

2025-10-24T22:41:45.690Z,1761345705.690 [DAT](INFO): DAT read: Tx time:22:41:45.5180

2025-10-24T22:41:45.690Z,1761345705.690 [DAT](INFO): Ping request sent.
2025-10-24T22:41:45.690Z,1761345705.690 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:41:45.690Z,1761345705.690 [DAT](INFO): publishing transmit ping time
2025-10-24T22:41:45.691Z,1761345705.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000945
2025-10-24T22:41:45.782Z,1761345705.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267818,0.962150,0.050415],[-0.963467,0.267326,0.016401],[0.002303,-0.052966,0.998594]]
2025-10-24T22:41:45.944Z,1761345705.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253207
2025-10-24T22:41:46.187Z,1761345706.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233693,0.966867,0.102743],[-0.971753,0.235829,-0.008983],[-0.032915,-0.097741,0.994667]]
2025-10-24T22:41:46.193Z,1761345706.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502733
2025-10-24T22:41:46.445Z,1761345706.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754780
2025-10-24T22:41:46.596Z,1761345706.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250361,0.958507,0.136325],[-0.967953,0.250676,0.015136],[-0.019666,-0.135746,0.990549]]
2025-10-24T22:41:46.698Z,1761345706.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007538
2025-10-24T22:41:46.949Z,1761345706.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258841
2025-10-24T22:41:46.994Z,1761345706.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255415,0.959336,0.120158],[-0.966521,0.250203,0.056883],[0.024506,-0.130664,0.991124]]
2025-10-24T22:41:47.201Z,1761345707.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510792
2025-10-24T22:41:47.407Z,1761345707.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244750,0.963765,0.106088],[-0.966776,0.234252,0.102324],[0.073765,-0.127607,0.989078]]
2025-10-24T22:41:47.453Z,1761345707.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762910
2025-10-24T22:41:47.461Z,1761345707.461 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:41:47.461Z,1761345707.461 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:41:47.462Z,1761345707.462 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:41:47.462Z,1761345707.462 [marl:UpdateRudder:A] Stopped
2025-10-24T22:41:47.462Z,1761345707.462 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:41:47.462Z,1761345707.462 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:41:47.462Z,1761345707.462 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:41:47.462Z,1761345707.462 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:41:47.463Z,1761345707.463 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:41:47.463Z,1761345707.463 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:41:47.463Z,1761345707.463 [marl:UpdateCommandMode] Stopped
2025-10-24T22:41:47.463Z,1761345707.463 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:41:47.463Z,1761345707.463 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:41:47.463Z,1761345707.463 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:41:47.463Z,1761345707.463 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:41:47.464Z,1761345707.464 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:41:47.464Z,1761345707.464 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:41:47.464Z,1761345707.464 [marl:UpdateSpeed] Stopped
2025-10-24T22:41:47.464Z,1761345707.464 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:41:47.705Z,1761345707.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014843
2025-10-24T22:41:47.803Z,1761345707.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259215,0.962668,0.077963],[-0.959566,0.247525,0.134028],[0.109727,-0.109553,0.987906]]
2025-10-24T22:41:47.838Z,1761345707.838 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:41:47.838Z,1761345707.838 [marl:UpdateRudder:B] Stopped
2025-10-24T22:41:47.838Z,1761345707.838 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:41:47.838Z,1761345707.838 [marl:UpdateRudder] Stopped
2025-10-24T22:41:47.838Z,1761345707.838 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:41:47.960Z,1761345707.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269616
2025-10-24T22:41:48.206Z,1761345708.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244469,0.967917,0.058073],[-0.967814,0.239875,0.076136],[0.059763,-0.074816,0.995405]]
2025-10-24T22:41:48.209Z,1761345708.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519416
2025-10-24T22:41:48.461Z,1761345708.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770802
2025-10-24T22:41:48.614Z,1761345708.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244210,0.969148,0.033363],[-0.969467,0.243212,0.031333],[0.022252,-0.039996,0.998952]]
2025-10-24T22:41:48.713Z,1761345708.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022893
2025-10-24T22:41:48.965Z,1761345708.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274834
2025-10-24T22:41:49.020Z,1761345709.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224996,0.974276,-0.012808],[-0.974045,0.225238,0.022445],[0.024752,0.007425,0.999666]]
2025-10-24T22:41:49.219Z,1761345709.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529093
2025-10-24T22:41:49.469Z,1761345709.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778876
2025-10-24T22:41:49.721Z,1761345709.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030749
2025-10-24T22:41:49.822Z,1761345709.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244683,0.969077,-0.031929],[-0.963175,0.246715,0.106893],[0.111465,0.004599,0.993758]]
2025-10-24T22:41:49.973Z,1761345709.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282914
2025-10-24T22:41:50.225Z,1761345710.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534889
2025-10-24T22:41:50.229Z,1761345710.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223099,0.974752,-0.009213],[-0.968813,0.222765,0.108522],[0.107835,-0.015285,0.994051]]
2025-10-24T22:41:50.477Z,1761345710.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786788
2025-10-24T22:41:50.630Z,1761345710.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203052,0.977857,0.050644],[-0.977566,0.199491,0.067582],[0.055982,-0.063231,0.996428]]
2025-10-24T22:41:50.729Z,1761345710.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039325
2025-10-24T22:41:50.981Z,1761345710.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290766
2025-10-24T22:41:51.039Z,1761345711.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199087,0.974621,0.102361],[-0.979885,0.196508,0.034789],[0.013792,-0.107228,0.994139]]
2025-10-24T22:41:51.233Z,1761345711.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542864
2025-10-24T22:41:51.447Z,1761345711.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200590,0.977912,0.058755],[-0.972936,0.191829,0.128830],[0.114713,-0.083006,0.989925]]
2025-10-24T22:41:51.485Z,1761345711.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794876
2025-10-24T22:41:51.737Z,1761345711.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047308
2025-10-24T22:41:51.850Z,1761345711.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204465,0.978808,0.011311],[-0.964702,0.199533,0.171865],[0.165966,-0.046052,0.985056]]
2025-10-24T22:41:51.990Z,1761345711.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299558
2025-10-24T22:41:52.242Z,1761345712.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551790
2025-10-24T22:41:52.260Z,1761345712.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207592,0.978093,-0.015504],[-0.967491,0.207630,0.144399],[0.144454,-0.014976,0.989398]]
2025-10-24T22:41:52.493Z,1761345712.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802775
2025-10-24T22:41:52.658Z,1761345712.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218711,0.975781,0.004230],[-0.974080,0.218069,0.060120],[0.057741,-0.017269,0.998182]]
2025-10-24T22:41:52.746Z,1761345712.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055532
2025-10-24T22:41:52.997Z,1761345712.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306837
2025-10-24T22:41:53.057Z,1761345713.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201135,0.977500,0.063547],[-0.978819,0.203087,-0.025861],[-0.038185,-0.056999,0.997644]]
2025-10-24T22:41:53.249Z,1761345713.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558802
2025-10-24T22:41:53.463Z,1761345713.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167362,0.973275,0.157244],[-0.984333,0.173933,-0.028906],[-0.055484,-0.149942,0.987137]]
2025-10-24T22:41:53.501Z,1761345713.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810933
2025-10-24T22:41:53.753Z,1761345713.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062798
2025-10-24T22:41:53.862Z,1761345713.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197314,0.962900,0.184096],[-0.980131,0.189883,0.057333],[0.020249,-0.191751,0.981235]]
2025-10-24T22:41:54.005Z,1761345714.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314992
2025-10-24T22:41:54.257Z,1761345714.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566784
2025-10-24T22:41:54.268Z,1761345714.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198953,0.968846,0.147496],[-0.979172,0.190299,0.070773],[0.040499,-0.158505,0.986527]]
2025-10-24T22:41:54.509Z,1761345714.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818920
2025-10-24T22:41:54.674Z,1761345714.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192318,0.977032,0.091774],[-0.981320,0.190998,0.023035],[0.004977,-0.094489,0.995513]]
2025-10-24T22:41:54.761Z,1761345714.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070824
2025-10-24T22:41:55.013Z,1761345715.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322776
2025-10-24T22:41:55.074Z,1761345715.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189264,0.980922,0.044399],[-0.981755,0.188192,0.027231],[0.018356,-0.048743,0.998643]]
2025-10-24T22:41:55.265Z,1761345715.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574860
2025-10-24T22:41:55.481Z,1761345715.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198094,0.979693,0.030995],[-0.978627,0.195900,0.062549],[0.055207,-0.042724,0.997560]]
2025-10-24T22:41:55.517Z,1761345715.517 [DAT](INFO): DAT read: Rx Time:22:41:54.9910

2025-10-24T22:41:55.517Z,1761345715.517 [DAT](INFO): Rx dataTimestamp_ set to:1761345715.517139
2025-10-24T22:41:55.518Z,1761345715.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.828001
2025-10-24T22:41:55.768Z,1761345715.768 [DAT](INFO): Reached modem response timeout
2025-10-24T22:41:55.893Z,1761345715.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194597,0.979563,0.050867],[-0.978856,0.190601,0.074240],[0.063027,-0.064239,0.995942]]
2025-10-24T22:41:55.906Z,1761345715.906 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,224152.00,A,3646.46058,N,12151.81793,W,0.428,0.00,241025,,,A*7A
2025-10-24T22:41:55.930Z,1761345715.930 [NAL9602](INFO): GPS fix at 20251024T224152: (36.774343, -121.863632)
2025-10-24T22:41:55.989Z,1761345715.989 [UniversalFixResidualReporter](INFO): Fix residual: 1.9 %DT, over the last 567.7 m. Residual distance 10.8 m at bearing 48.7 degrees. Fix at (36.7743, -121.8636) with 61.9 m made good.
2025-10-24T22:41:56.007Z,1761345716.007 [marl:NeedComms:C] Stopped
2025-10-24T22:41:56.007Z,1761345716.007 [marl:NeedComms:D] Running Loop=1
2025-10-24T22:41:56.013Z,1761345716.013 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761345664.00. Resetting abort timer.
2025-10-24T22:41:56.272Z,1761345716.272 [DAT](INFO): DAT read: 

2025-10-24T22:41:56.273Z,1761345716.273 [DAT](INFO): DAT read: $Packet for address 10

2025-10-24T22:41:56.274Z,1761345716.274 [DAT](INFO): received a packet notification
2025-10-24T22:41:56.294Z,1761345716.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186895,0.979069,0.080584],[-0.981741,0.183185,0.051272],[0.035437,-0.088695,0.995428]]
2025-10-24T22:41:56.692Z,1761345716.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183121,0.978438,0.095523],[-0.981942,0.177348,0.065854],[0.047494,-0.105858,0.993246]]
2025-10-24T22:41:57.094Z,1761345717.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193642,0.979468,0.056085],[-0.979754,0.190103,0.062795],[0.050843,-0.067109,0.996449]]
2025-10-24T22:41:57.511Z,1761345717.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178060,0.983927,0.013479],[-0.982020,0.178554,-0.061278],[-0.062700,-0.002325,0.998030]]
2025-10-24T22:41:57.929Z,1761345717.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187752,0.981761,0.029891],[-0.974851,0.189978,-0.116510],[-0.120064,-0.007265,0.992740]]
2025-10-24T22:41:58.037Z,1761345718.037 [DAT](INFO): DAT read: Response Not Received

2025-10-24T22:41:58.037Z,1761345718.037 [DAT](INFO): response not received
2025-10-24T22:41:58.037Z,1761345718.037 [DAT](ERROR): No response from remote modem.
2025-10-24T22:41:58.306Z,1761345718.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162729,0.986149,0.032096],[-0.986578,0.162181,0.019013],[0.013545,-0.034759,0.999304]]
2025-10-24T22:41:58.710Z,1761345718.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149062,0.987913,0.042514],[-0.974130,0.139325,0.177931],[0.169857,-0.067936,0.983124]]
2025-10-24T22:41:59.116Z,1761345719.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196849,0.977917,0.070201],[-0.965948,0.181180,0.184712],[0.167914,-0.104171,0.980282]]
2025-10-24T22:41:59.521Z,1761345719.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201006,0.974657,0.098184],[-0.975277,0.189718,0.113322],[0.091823,-0.118535,0.988695]]
2025-10-24T22:41:59.956Z,1761345719.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165539,0.977535,0.130467],[-0.984767,0.156709,0.075336],[0.053199,-0.140950,0.988586]]
2025-10-24T22:42:00.330Z,1761345720.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164317,0.979218,0.118877],[-0.984558,0.155438,0.080524],[0.060372,-0.130272,0.989639]]
2025-10-24T22:42:00.354Z,1761345720.354 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:42:00.355Z,1761345720.355 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:42:00.355Z,1761345720.355 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:42:00.355Z,1761345720.355 [marl:UpdateRudder:A] Stopped
2025-10-24T22:42:00.355Z,1761345720.355 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:42:00.355Z,1761345720.355 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:42:00.355Z,1761345720.355 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:42:00.355Z,1761345720.355 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:42:00.356Z,1761345720.356 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:42:00.357Z,1761345720.357 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:42:00.357Z,1761345720.357 [marl:UpdateCommandMode] Stopped
2025-10-24T22:42:00.357Z,1761345720.357 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:42:00.357Z,1761345720.357 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:42:00.357Z,1761345720.357 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:42:00.357Z,1761345720.357 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:42:00.357Z,1761345720.357 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:42:00.357Z,1761345720.357 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:42:00.358Z,1761345720.358 [marl:UpdateSpeed] Stopped
2025-10-24T22:42:00.358Z,1761345720.358 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:42:00.730Z,1761345720.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188348,0.979623,0.069733],[-0.981186,0.184632,0.056430],[0.042406,-0.079050,0.995968]]
2025-10-24T22:42:00.769Z,1761345720.769 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:42:00.769Z,1761345720.769 [marl:UpdateRudder:B] Stopped
2025-10-24T22:42:00.769Z,1761345720.769 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:42:00.769Z,1761345720.769 [marl:UpdateRudder] Stopped
2025-10-24T22:42:00.770Z,1761345720.770 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:42:01.134Z,1761345721.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199720,0.979812,0.008978],[-0.979077,0.199189,0.041619],[0.038991,-0.017102,0.999093]]
2025-10-24T22:42:01.538Z,1761345721.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225506,0.973980,-0.022572],[-0.970092,0.226621,0.086972],[0.089825,0.002284,0.995955]]
2025-10-24T22:42:01.968Z,1761345721.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225832,0.974132,-0.008147],[-0.956641,0.223341,0.186968],[0.183951,-0.034430,0.982332]]
2025-10-24T22:42:02.349Z,1761345722.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200015,0.979120,0.036294],[-0.954291,0.186280,0.233726],[0.222085,-0.081384,0.971625]]
2025-10-24T22:42:02.750Z,1761345722.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209429,0.973219,0.094789],[-0.962874,0.188369,0.193368],[0.170334,-0.131767,0.976537]]
2025-10-24T22:42:02.788Z,1761345722.788 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:42:03.155Z,1761345723.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208098,0.975368,0.073166],[-0.970653,0.196715,0.138334],[0.120534,-0.099806,0.987679]]
2025-10-24T22:42:03.564Z,1761345723.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186998,0.981998,0.026692],[-0.973889,0.181756,0.136036],[0.128735,-0.051433,0.990344]]
2025-10-24T22:42:03.792Z,1761345723.792 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:42:03.975Z,1761345723.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187140,0.982330,0.002614],[-0.958216,0.181959,0.220710],[0.216334,-0.043809,0.975336]]
2025-10-24T22:42:04.375Z,1761345724.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215843,0.976428,0.000743],[-0.937177,0.206953,0.280839],[0.274066,-0.061313,0.959755]]
2025-10-24T22:42:04.770Z,1761345724.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226859,0.973916,0.004727],[-0.932727,0.215862,0.288833],[0.280279,-0.069933,0.957368]]
2025-10-24T22:42:05.177Z,1761345725.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241583,0.970375,0.003258],[-0.932275,0.231164,0.278257],[0.269261,-0.070260,0.960501]]
2025-10-24T22:42:07.330Z,1761345727.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288198,0.957494,0.012095],[-0.950093,0.284349,0.128333],[0.119439,-0.048477,0.991657]]
2025-10-24T22:42:07.728Z,1761345727.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307510,0.951143,-0.027661],[-0.940531,0.308232,0.142810],[0.144359,-0.017900,0.989364]]
2025-10-24T22:42:08.126Z,1761345728.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276035,0.960339,-0.039417],[-0.946896,0.278749,0.160272],[0.164903,-0.006917,0.986286]]
2025-10-24T22:42:08.530Z,1761345728.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263575,0.964616,0.006597],[-0.948858,0.258025,0.181913],[0.173775,-0.054207,0.983292]]
2025-10-24T22:42:08.934Z,1761345728.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273622,0.959970,0.059900],[-0.952072,0.261466,0.158729],[0.136713,-0.100461,0.985503]]
2025-10-24T22:42:09.341Z,1761345729.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271192,0.957482,0.098404],[-0.961111,0.263834,0.081592],[0.052161,-0.116704,0.991796]]
2025-10-24T22:42:09.743Z,1761345729.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268928,0.959007,0.089355],[-0.962328,0.263682,0.066301],[0.040022,-0.103820,0.993791]]
2025-10-24T22:42:10.146Z,1761345730.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272435,0.960402,0.058374],[-0.960075,0.267335,0.082386],[0.063518,-0.078488,0.994889]]
2025-10-24T22:42:10.550Z,1761345730.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292671,0.951637,0.093435],[-0.953082,0.282414,0.108984],[0.077326,-0.120948,0.989643]]
2025-10-24T22:42:10.954Z,1761345730.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262703,0.959373,0.102909],[-0.956939,0.245403,0.155066],[0.123512,-0.139214,0.982530]]
2025-10-24T22:42:11.365Z,1761345731.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246011,0.961564,0.121956],[-0.962679,0.227752,0.146210],[0.112814,-0.153374,0.981707]]
2025-10-24T22:42:11.762Z,1761345731.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287920,0.946835,0.143549],[-0.957161,0.279707,0.074881],[0.030748,-0.158959,0.986806]]
2025-10-24T22:42:12.168Z,1761345732.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279235,0.956753,0.081559],[-0.959396,0.274462,0.065042],[0.039845,-0.096409,0.994544]]
2025-10-24T22:42:12.570Z,1761345732.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276051,0.960600,0.032315],[-0.958213,0.272430,0.087231],[0.074991,-0.055045,0.995664]]
2025-10-24T22:42:12.975Z,1761345732.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292237,0.955408,0.042356],[-0.956067,0.290795,0.037076],[0.023106,-0.051331,0.998414]]
2025-10-24T22:42:13.381Z,1761345733.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318974,0.946953,0.039181],[-0.947762,0.318615,0.015239],[0.001947,-0.041995,0.999116]]
2025-10-24T22:42:13.783Z,1761345733.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305133,0.951872,0.028867],[-0.952040,0.304184,0.033043],[0.022672,-0.037565,0.999037]]
2025-10-24T22:42:14.188Z,1761345734.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266062,0.961944,0.062248],[-0.963579,0.263598,0.045067],[0.026943,-0.071971,0.997043]]
2025-10-24T22:42:14.590Z,1761345734.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268005,0.962370,0.044923],[-0.963325,0.267040,0.026365],[0.013377,-0.050341,0.998643]]
2025-10-24T22:42:14.997Z,1761345734.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282191,0.959146,-0.020176],[-0.959345,0.282235,-0.000712],[0.005011,0.019557,0.999796]]
2025-10-24T22:42:15.021Z,1761345735.021 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:42:15.021Z,1761345735.021 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:42:15.021Z,1761345735.021 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:42:15.022Z,1761345735.022 [marl:UpdateRudder:A] Stopped
2025-10-24T22:42:15.022Z,1761345735.022 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:42:15.022Z,1761345735.022 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:42:15.022Z,1761345735.022 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:42:15.022Z,1761345735.022 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:42:15.022Z,1761345735.022 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:42:15.022Z,1761345735.022 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:42:15.023Z,1761345735.023 [marl:UpdateCommandMode] Stopped
2025-10-24T22:42:15.023Z,1761345735.023 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:42:15.023Z,1761345735.023 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:42:15.023Z,1761345735.023 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:42:15.023Z,1761345735.023 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:42:15.023Z,1761345735.023 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:42:15.023Z,1761345735.023 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:42:15.023Z,1761345735.023 [marl:UpdateSpeed] Stopped
2025-10-24T22:42:15.024Z,1761345735.024 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:42:15.398Z,1761345735.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284870,0.955507,-0.076522],[-0.958475,0.285035,-0.008986],[0.013225,0.075904,0.997027]]
2025-10-24T22:42:15.432Z,1761345735.432 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:42:15.432Z,1761345735.432 [marl:UpdateRudder:B] Stopped
2025-10-24T22:42:15.433Z,1761345735.433 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:42:15.433Z,1761345735.433 [marl:UpdateRudder] Stopped
2025-10-24T22:42:15.433Z,1761345735.433 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:42:15.802Z,1761345735.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259148,0.963315,-0.069761],[-0.965831,0.258738,-0.015010],[0.003590,0.071267,0.997451]]
2025-10-24T22:42:16.207Z,1761345736.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244695,0.969592,-0.004072],[-0.968339,0.244161,-0.052016],[-0.049440,0.016671,0.998638]]
2025-10-24T22:42:16.612Z,1761345736.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267461,0.963194,0.026886],[-0.962561,0.268353,-0.038258],[-0.044065,-0.015647,0.998906]]
2025-10-24T22:42:17.014Z,1761345737.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275453,0.960663,0.035379],[-0.960589,0.273630,0.048941],[0.037335,-0.047466,0.998175]]
2025-10-24T22:42:17.419Z,1761345737.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258239,0.963857,0.065523],[-0.962823,0.251210,0.099321],[0.079271,-0.088736,0.992896]]
2025-10-24T22:42:17.824Z,1761345737.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238901,0.966750,0.091213],[-0.968181,0.229935,0.098772],[0.074515,-0.111907,0.990921]]
2025-10-24T22:42:18.227Z,1761345738.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230400,0.965999,0.117311],[-0.972516,0.224420,0.062038],[0.033602,-0.128380,0.991156]]
2025-10-24T22:42:18.630Z,1761345738.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222976,0.971013,0.086108],[-0.974674,0.220520,0.037178],[0.017112,-0.092217,0.995592]]
2025-10-24T22:42:19.035Z,1761345739.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231283,0.972110,0.038860],[-0.971993,0.229175,0.052052],[0.041694,-0.049811,0.997888]]
2025-10-24T22:42:19.440Z,1761345739.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254365,0.967099,-0.004227],[-0.964391,0.253976,0.073804],[0.072450,-0.014696,0.997264]]
2025-10-24T22:42:19.849Z,1761345739.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225584,0.974198,-0.007145],[-0.969635,0.225226,0.095297],[0.094447,-0.014569,0.995423]]
2025-10-24T22:42:20.246Z,1761345740.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205271,0.978497,0.020189],[-0.970715,0.200922,0.131692],[0.124804,-0.046631,0.991085]]
2025-10-24T22:42:20.654Z,1761345740.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259612,0.964313,0.051990],[-0.958124,0.250462,0.138805],[0.120830,-0.085849,0.988954]]
2025-10-24T22:42:21.056Z,1761345741.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269533,0.962393,0.033933],[-0.957537,0.264095,0.115658],[0.102347,-0.063666,0.992709]]
2025-10-24T22:42:21.458Z,1761345741.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223138,0.974058,0.037680],[-0.969357,0.217655,0.113900],[0.102744,-0.061941,0.992777]]
2025-10-24T22:42:21.480Z,1761345741.480 [NAL9602](INFO): SBD MO Status=2, MOMSN=2557, MT Status=2, MTMSN=0
2025-10-24T22:42:21.481Z,1761345741.481 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-24T22:42:21.866Z,1761345741.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227473,0.971179,0.071185],[-0.971815,0.221758,0.079996],[0.061904,-0.087376,0.994250]]
2025-10-24T22:42:22.273Z,1761345742.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220831,0.974611,0.036966],[-0.975142,0.219926,0.027026],[0.018210,-0.042015,0.998951]]
2025-10-24T22:42:22.683Z,1761345742.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206303,0.978441,0.009596],[-0.977009,0.205442,0.056990],[0.053790,-0.021133,0.998329]]
2025-10-24T22:42:22.688Z,1761345742.688 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,224221.00,A,3646.45765,N,12151.81633,W,0.389,98.81,241025,,,A*48
2025-10-24T22:42:22.690Z,1761345742.690 [NAL9602](INFO): GPS fix at 20251024T224221: (36.774294, -121.863606)
2025-10-24T22:42:22.717Z,1761345742.717 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761345792.00. Resetting abort timer.
2025-10-24T22:42:23.079Z,1761345743.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203330,0.979066,-0.009335],[-0.977672,0.203539,0.052249],[0.053056,-0.001497,0.998590]]
2025-10-24T22:42:23.483Z,1761345743.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211900,0.977274,0.005845],[-0.975662,0.211888,-0.056448],[-0.056404,0.006259,0.998388]]
2025-10-24T22:42:23.891Z,1761345743.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229530,0.973048,0.022212],[-0.970579,0.230534,-0.069499],[-0.072746,-0.005606,0.997335]]
2025-10-24T22:42:24.293Z,1761345744.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207768,0.978069,0.014585],[-0.978158,0.207646,0.009453],[0.006217,-0.016231,0.999849]]
2025-10-24T22:42:24.692Z,1761345744.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165818,0.985398,0.038668],[-0.984793,0.163401,0.059021],[0.051841,-0.047867,0.997508]]
2025-10-24T22:42:25.094Z,1761345745.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158164,0.983835,0.083977],[-0.987412,0.157686,0.012337],[-0.001105,-0.084871,0.996391]]
2025-10-24T22:42:25.499Z,1761345745.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144660,0.980863,0.130314],[-0.989213,0.146426,-0.004025],[-0.023029,-0.128326,0.991465]]
2025-10-24T22:42:25.921Z,1761345745.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124957,0.979825,0.155976],[-0.991722,0.118670,0.049031],[0.029533,-0.160812,0.986543]]
2025-10-24T22:42:26.308Z,1761345746.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113320,0.985228,0.128389],[-0.991120,0.103045,0.084043],[0.069572,-0.136772,0.988156]]
2025-10-24T22:42:26.710Z,1761345746.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109129,0.992140,0.061224],[-0.987381,0.101083,0.121903],[0.114757,-0.073754,0.990652]]
2025-10-24T22:42:28.980Z,1761345748.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108882,0.986860,0.119382],[-0.992818,0.101970,0.062566],[0.049571,-0.125337,0.990875]]
2025-10-24T22:42:29.366Z,1761345749.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093556,0.989488,0.110278],[-0.995025,0.089116,0.044538],[0.034242,-0.113896,0.992902]]
2025-10-24T22:42:29.771Z,1761345749.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082923,0.992933,0.084901],[-0.995427,0.078474,0.054465],[0.047418,-0.089029,0.994900]]
2025-10-24T22:42:29.856Z,1761345749.856 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:42:29.856Z,1761345749.856 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:42:29.856Z,1761345749.856 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:42:29.857Z,1761345749.857 [marl:UpdateRudder:A] Stopped
2025-10-24T22:42:29.857Z,1761345749.857 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:42:29.857Z,1761345749.857 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:42:29.857Z,1761345749.857 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:42:29.857Z,1761345749.857 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:42:29.857Z,1761345749.857 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:42:29.858Z,1761345749.858 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:42:29.858Z,1761345749.858 [marl:UpdateCommandMode] Stopped
2025-10-24T22:42:29.858Z,1761345749.858 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:42:29.858Z,1761345749.858 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:42:29.858Z,1761345749.858 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:42:29.858Z,1761345749.858 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:42:29.858Z,1761345749.858 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:42:29.858Z,1761345749.858 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:42:29.858Z,1761345749.858 [marl:UpdateSpeed] Stopped
2025-10-24T22:42:29.859Z,1761345749.859 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:42:30.174Z,1761345750.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081420,0.995438,0.049747],[-0.991728,0.075945,0.103478],[0.099228,-0.057761,0.993387]]
2025-10-24T22:42:30.227Z,1761345750.227 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:42:30.227Z,1761345750.227 [marl:UpdateRudder:B] Stopped
2025-10-24T22:42:30.227Z,1761345750.227 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:42:30.227Z,1761345750.227 [marl:UpdateRudder] Stopped
2025-10-24T22:42:30.227Z,1761345750.227 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:42:30.578Z,1761345750.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102161,0.994765,0.002443],[-0.986002,0.100935,0.132714],[0.131773,-0.015967,0.991151]]
2025-10-24T22:42:30.983Z,1761345750.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096632,0.995293,-0.007378],[-0.987675,0.096804,0.122992],[0.123128,-0.004598,0.992380]]
2025-10-24T22:42:31.388Z,1761345751.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078338,0.996669,0.022671],[-0.990891,0.075345,0.111614],[0.109534,-0.031208,0.993493]]
2025-10-24T22:42:31.835Z,1761345751.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064965,0.996680,0.049081],[-0.985088,0.056202,0.162612],[0.159314,-0.058913,0.985469]]
2025-10-24T22:42:32.194Z,1761345752.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050071,0.996178,0.071564],[-0.982566,0.036288,0.182338],[0.179045,-0.079446,0.980628]]
2025-10-24T22:42:32.599Z,1761345752.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043561,0.995264,0.086901],[-0.987273,0.029567,0.156265],[0.152955,-0.092602,0.983885]]
2025-10-24T22:42:33.003Z,1761345753.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043956,0.997600,0.053493],[-0.981714,0.033205,0.187441],[0.185215,-0.060754,0.980818]]
2025-10-24T22:42:33.409Z,1761345753.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040990,0.999026,0.016331],[-0.966915,0.035543,0.252612],[0.251786,-0.026146,0.967430]]
2025-10-24T22:42:33.830Z,1761345753.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049292,0.998427,0.026734],[-0.971299,0.041683,0.234181],[0.232698,-0.037510,0.971825]]
2025-10-24T22:42:33.913Z,1761345753.913 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:42:34.214Z,1761345754.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043124,0.997483,0.056285],[-0.988312,0.034347,0.148525],[0.146218,-0.062032,0.987306]]
2025-10-24T22:42:34.621Z,1761345754.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034347,0.995236,0.091248],[-0.996113,0.026681,0.083944],[0.081110,-0.093777,0.992284]]
2025-10-24T22:42:34.916Z,1761345754.916 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:42:35.023Z,1761345755.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007079,0.993702,0.111833],[-0.996818,-0.001867,0.079690],[0.079397,-0.112041,0.990527]]
2025-10-24T22:42:35.426Z,1761345755.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004160,0.994721,0.102527],[-0.994971,-0.014378,0.099130],[0.100081,-0.101599,0.989778]]
2025-10-24T22:42:35.840Z,1761345755.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017088,0.997744,0.064920],[-0.991812,0.008696,0.127413],[0.126561,-0.066565,0.989723]]
2025-10-24T22:42:36.236Z,1761345756.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013291,0.999858,0.010340],[-0.983370,0.011198,0.181270],[0.181129,-0.012577,0.983379]]
2025-10-24T22:42:36.640Z,1761345756.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027220,0.999629,0.000756],[-0.982953,-0.026903,0.181879],[0.181831,0.004207,0.983321]]
2025-10-24T22:42:37.042Z,1761345757.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009151,0.999414,0.032974],[-0.992281,-0.013154,0.123308],[0.123669,-0.031591,0.991820]]
2025-10-24T22:42:37.446Z,1761345757.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045944,0.998474,0.030632],[-0.997873,0.044453,0.047676],[0.046241,-0.032757,0.998393]]
2025-10-24T22:42:37.850Z,1761345757.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028761,0.999461,0.015823],[-0.999496,0.028969,-0.013023],[-0.013474,-0.015441,0.999790]]
2025-10-24T22:42:38.254Z,1761345758.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004169,0.999255,0.038362],[-0.998531,0.006232,-0.053822],[-0.054021,-0.038081,0.997813]]
2025-10-24T22:42:38.664Z,1761345758.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010662,0.995235,0.096920],[-0.999665,-0.008324,-0.024495],[-0.023571,-0.097149,0.994991]]
2025-10-24T22:42:39.065Z,1761345759.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037128,0.990037,0.135824],[-0.996380,-0.047077,0.070783],[0.076472,-0.132704,0.988201]]
2025-10-24T22:42:39.466Z,1761345759.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013846,0.994069,0.107862],[-0.996483,-0.022633,0.080679],[0.082642,-0.106366,0.990887]]
2025-10-24T22:42:39.871Z,1761345759.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031308,0.998620,0.042162],[-0.999451,0.031737,-0.009539],[-0.010864,-0.041840,0.999065]]
2025-10-24T22:42:39.886Z,1761345759.886 [NAL9602](INFO): SBD MO Status=1, MOMSN=2557, MT Status=0, MTMSN=0
2025-10-24T22:42:39.949Z,1761345759.949 [NAL9602](INFO): Sent 83 bytes from file Logs/20251024T220733/Courier0009.lzma
2025-10-24T22:42:39.950Z,1761345759.950 [NAL9602](INFO): Packets left to send: 0
2025-10-24T22:42:40.275Z,1761345760.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016316,0.999060,0.040149],[-0.999749,-0.015684,-0.016010],[-0.015366,-0.040400,0.999065]]
2025-10-24T22:42:40.711Z,1761345760.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007702,0.963481,0.267668],[-0.991140,-0.028138,0.129804],[0.132595,-0.266296,0.954728]]
2025-10-24T22:42:43.238Z,1761345763.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134226,0.988412,-0.070895],[-0.990837,0.132783,-0.024708],[-0.015008,0.073562,0.997178]]
2025-10-24T22:42:43.306Z,1761345763.306 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-10-24T22:42:43.620Z,1761345763.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139626,0.987360,0.075000],[-0.988157,0.143805,-0.053541],[-0.063650,-0.066637,0.995745]]
2025-10-24T22:42:43.695Z,1761345763.695 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:42:43.695Z,1761345763.695 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:42:44.023Z,1761345764.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168996,0.980558,0.099731],[-0.981704,0.176468,-0.071531],[-0.087739,-0.085818,0.992440]]
2025-10-24T22:42:44.428Z,1761345764.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129263,0.986103,0.104366],[-0.991560,0.127474,0.023660],[0.010027,-0.106544,0.994258]]
2025-10-24T22:42:44.454Z,1761345764.454 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:42:44.454Z,1761345764.454 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:42:44.454Z,1761345764.454 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:42:44.454Z,1761345764.454 [marl:UpdateRudder:A] Stopped
2025-10-24T22:42:44.454Z,1761345764.454 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:42:44.454Z,1761345764.454 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:42:44.455Z,1761345764.455 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:42:44.455Z,1761345764.455 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:42:44.455Z,1761345764.455 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:42:44.455Z,1761345764.455 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:42:44.455Z,1761345764.455 [marl:UpdateCommandMode] Stopped
2025-10-24T22:42:44.455Z,1761345764.455 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:42:44.455Z,1761345764.455 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:42:44.455Z,1761345764.455 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:42:44.456Z,1761345764.456 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:42:44.456Z,1761345764.456 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:42:44.456Z,1761345764.456 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:42:44.456Z,1761345764.456 [marl:UpdateSpeed] Stopped
2025-10-24T22:42:44.456Z,1761345764.456 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:42:44.831Z,1761345764.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122338,0.983440,0.133711],[-0.991659,0.115613,0.056980],[0.040578,-0.139566,0.989381]]
2025-10-24T22:42:44.876Z,1761345764.876 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:42:44.876Z,1761345764.876 [marl:UpdateRudder:B] Stopped
2025-10-24T22:42:44.876Z,1761345764.876 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:42:44.876Z,1761345764.876 [marl:UpdateRudder] Stopped
2025-10-24T22:42:44.877Z,1761345764.877 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:42:45.234Z,1761345765.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146791,0.981928,0.119460],[-0.989056,0.147511,0.002837],[-0.014836,-0.118569,0.992835]]
2025-10-24T22:42:45.638Z,1761345765.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165140,0.984999,0.050048],[-0.986210,0.164359,0.019382],[0.010866,-0.052559,0.998559]]
2025-10-24T22:42:45.703Z,1761345765.703 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:42:45.853Z,1761345765.853 [CTD_Seabird](ERROR): Failed to parse device response: 9,5116.96
2025-10-24T22:42:45.955Z,1761345765.955 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:42:45.955Z,1761345765.955 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:42:46.042Z,1761345766.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164243,0.986369,-0.010022],[-0.985414,0.164526,0.043482],[0.044538,0.002734,0.999004]]
2025-10-24T22:42:46.205Z,1761345766.205 [DAT](INFO): DAT read: user:9>

2025-10-24T22:42:46.205Z,1761345766.205 [DAT](INFO): DAT read: Tx time:22:42:46.0176

2025-10-24T22:42:46.206Z,1761345766.206 [DAT](INFO): Ping request sent.
2025-10-24T22:42:46.206Z,1761345766.206 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:42:46.206Z,1761345766.206 [DAT](INFO): publishing transmit ping time
2025-10-24T22:42:46.207Z,1761345766.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000975
2025-10-24T22:42:46.446Z,1761345766.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174314,0.984667,-0.006818],[-0.984074,0.174445,0.034162],[0.034828,0.000754,0.999393]]
2025-10-24T22:42:46.457Z,1761345766.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251548
2025-10-24T22:42:46.709Z,1761345766.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503037
2025-10-24T22:42:46.851Z,1761345766.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185733,0.982319,0.023489],[-0.979248,0.183074,0.086932],[0.081095,-0.039147,0.995937]]
2025-10-24T22:42:46.961Z,1761345766.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754976
2025-10-24T22:42:47.213Z,1761345767.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007602
2025-10-24T22:42:47.262Z,1761345767.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175098,0.982876,0.057413],[-0.981843,0.169997,0.084174],[0.072972,-0.071109,0.994796]]
2025-10-24T22:42:47.465Z,1761345767.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259072
2025-10-24T22:42:47.662Z,1761345767.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168379,0.980610,0.100259],[-0.985690,0.168330,0.009016],[-0.008035,-0.100343,0.994920]]
2025-10-24T22:42:47.733Z,1761345767.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.526990
2025-10-24T22:42:47.985Z,1761345767.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.779139
2025-10-24T22:42:48.062Z,1761345768.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179894,0.975308,0.128111],[-0.983671,0.177632,0.028968],[0.005496,-0.131230,0.991337]]
2025-10-24T22:42:48.237Z,1761345768.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.030989
2025-10-24T22:42:48.470Z,1761345768.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180244,0.976976,0.114154],[-0.980461,0.169155,0.100409],[0.078788,-0.130021,0.988376]]
2025-10-24T22:42:48.489Z,1761345768.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.282990
2025-10-24T22:42:48.741Z,1761345768.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534969
2025-10-24T22:42:48.874Z,1761345768.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188947,0.978138,0.086861],[-0.978690,0.180331,0.098219],[0.080408,-0.103568,0.991367]]
2025-10-24T22:42:48.993Z,1761345768.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.787027
2025-10-24T22:42:49.245Z,1761345769.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038938
2025-10-24T22:42:49.274Z,1761345769.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201823,0.978506,0.042359],[-0.979338,0.201050,0.021808],[0.012823,-0.045885,0.998864]]
2025-10-24T22:42:49.329Z,1761345769.329 [marl:SendObservationData] Running Loop=1
2025-10-24T22:42:49.330Z,1761345769.330 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T22:42:49.330Z,1761345769.330 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T22:42:49.331Z,1761345769.331 [marl:SendObservationData:A] Running Loop=1
2025-10-24T22:42:49.333Z,1761345769.333 [marl:SendObservationData:A](INFO): Got test_good :  41da3f0000000000405140000000000040426317611b4d36c05e7749375b16eb40302ad0000000004057e66660000000 n/a str  and temp var is  nan n/a str 
2025-10-24T22:42:49.333Z,1761345769.333 [marl:SendObservationData:A] Stopped
2025-10-24T22:42:49.333Z,1761345769.333 [marl:SendObservationData:B] Running Loop=1
2025-10-24T22:42:49.497Z,1761345769.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.291606
2025-10-24T22:42:49.682Z,1761345769.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232986,0.972470,0.004536],[-0.971594,0.232970,-0.041601],[-0.041513,0.005285,0.999124]]
2025-10-24T22:42:49.736Z,1761345769.736 [marl:SendObservationData:B] Stopped
2025-10-24T22:42:49.736Z,1761345769.736 [marl:SendObservationData:C] Running Loop=1
2025-10-24T22:42:49.749Z,1761345769.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.543440
2025-10-24T22:42:50.001Z,1761345770.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.794948
2025-10-24T22:42:50.082Z,1761345770.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233172,0.972172,-0.022632],[-0.972395,0.233311,0.003695],[0.008873,0.021145,0.999737]]
2025-10-24T22:42:50.153Z,1761345770.153 [marl:SendObservationData:C] Stopped
2025-10-24T22:42:50.153Z,1761345770.153 [marl:SendObservationData:E] Running Loop=1
2025-10-24T22:42:50.253Z,1761345770.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.047007
2025-10-24T22:42:50.505Z,1761345770.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.299030
2025-10-24T22:42:50.522Z,1761345770.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196359,0.980411,0.015393],[-0.978941,0.195122,0.060007],[0.055828,-0.026852,0.998079]]
2025-10-24T22:42:50.550Z,1761345770.550 [NAL9602](INFO): SBD MO Status=1, MOMSN=2558, MT Status=0, MTMSN=0
2025-10-24T22:42:50.604Z,1761345770.604 [NAL9602](INFO): Sent 332 bytes from file Logs/20251024T220733/Express0010.lzma
2025-10-24T22:42:50.604Z,1761345770.604 [NAL9602](INFO): Packets left to send: 2
2025-10-24T22:42:50.686Z,1761345770.686 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.011348 min 
2025-10-24T22:42:50.686Z,1761345770.686 [marl:SendObservationData:E] Stopped
2025-10-24T22:42:50.687Z,1761345770.687 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T22:42:50.687Z,1761345770.687 [marl:SendObservationData] Stopped
2025-10-24T22:42:50.687Z,1761345770.687 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T22:42:50.687Z,1761345770.687 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T22:42:50.757Z,1761345770.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.550973
2025-10-24T22:42:50.891Z,1761345770.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191556,0.976011,0.103488],[-0.980677,0.186063,0.060443],[0.039738,-0.113066,0.992792]]
2025-10-24T22:42:51.010Z,1761345771.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.803748
2025-10-24T22:42:51.261Z,1761345771.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.055157
2025-10-24T22:42:51.336Z,1761345771.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179333,0.974682,0.133544],[-0.982112,0.169449,0.082117],[0.057409,-0.145881,0.987635]]
2025-10-24T22:42:51.513Z,1761345771.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.306937
2025-10-24T22:42:51.740Z,1761345771.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190884,0.974020,0.121852],[-0.980556,0.183445,0.069699],[0.045535,-0.132787,0.990098]]
2025-10-24T22:42:51.765Z,1761345771.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.558887
2025-10-24T22:42:52.017Z,1761345772.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.810985
2025-10-24T22:42:52.269Z,1761345772.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.062958
2025-10-24T22:42:52.521Z,1761345772.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.314949
2025-10-24T22:42:52.773Z,1761345772.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.567402
2025-10-24T22:42:53.025Z,1761345773.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.819036
2025-10-24T22:42:53.279Z,1761345773.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.072733
2025-10-24T22:42:53.529Z,1761345773.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.323013
2025-10-24T22:42:53.781Z,1761345773.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.575292
2025-10-24T22:42:53.910Z,1761345773.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271086,0.940883,0.203106],[-0.961942,0.272346,0.022268],[-0.034363,-0.201412,0.978904]]
2025-10-24T22:42:54.034Z,1761345774.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.828167
2025-10-24T22:42:54.289Z,1761345774.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.083648
2025-10-24T22:42:54.318Z,1761345774.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280053,0.958234,0.057956],[-0.959343,0.277149,0.053374],[0.035083,-0.070547,0.996891]]
2025-10-24T22:42:54.541Z,1761345774.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.334962
2025-10-24T22:42:54.794Z,1761345774.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.587973
2025-10-24T22:42:55.045Z,1761345775.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.838997
2025-10-24T22:42:55.119Z,1761345775.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279281,0.959860,-0.025907],[-0.960060,0.279612,0.010123],[0.016961,0.022046,0.999613]]
2025-10-24T22:42:55.297Z,1761345775.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.091613
2025-10-24T22:42:55.549Z,1761345775.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.343094
2025-10-24T22:42:55.801Z,1761345775.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.595642
2025-10-24T22:42:55.978Z,1761345775.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331544,0.943440,0.000484],[-0.935961,0.328851,0.125836],[0.118560,-0.042173,0.992051]]
2025-10-24T22:42:56.053Z,1761345776.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.847045
2025-10-24T22:42:56.306Z,1761345776.306 [DAT](INFO): Reached modem response timeout
2025-10-24T22:42:56.320Z,1761345776.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310485,0.949079,0.053374],[-0.945049,0.302145,0.124860],[0.102376,-0.089209,0.990738]]
2025-10-24T22:42:56.733Z,1761345776.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316946,0.943174,0.099839],[-0.948272,0.317130,0.014445],[-0.018038,-0.099253,0.994899]]
2025-10-24T22:42:57.149Z,1761345777.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308970,0.949078,0.061553],[-0.949664,0.311386,-0.034317],[-0.051736,-0.047852,0.997514]]
2025-10-24T22:42:57.533Z,1761345777.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287951,0.957617,-0.007417],[-0.957607,0.288000,0.006704],[0.008556,0.005172,0.999950]]
2025-10-24T22:42:57.980Z,1761345777.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300544,0.952780,-0.043397],[-0.950615,0.302936,0.067526],[0.077484,0.020960,0.996773]]
2025-10-24T22:42:58.342Z,1761345778.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331822,0.942218,-0.046038],[-0.938838,0.334607,0.081365],[0.092069,0.016223,0.995620]]
2025-10-24T22:42:58.574Z,1761345778.574 [DAT](INFO): DAT read: Response Not Received

2025-10-24T22:42:58.574Z,1761345778.574 [DAT](INFO): response not received
2025-10-24T22:42:58.574Z,1761345778.574 [DAT](ERROR): No response from remote modem.
2025-10-24T22:42:58.736Z,1761345778.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336436,0.941472,-0.021020],[-0.938273,0.337030,0.077814],[0.080344,-0.006457,0.996746]]
2025-10-24T22:42:59.139Z,1761345779.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327823,0.944300,0.028791],[-0.940235,0.323136,0.107431],[0.092144,-0.062289,0.993796]]
2025-10-24T22:42:59.209Z,1761345779.209 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:42:59.209Z,1761345779.209 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:42:59.209Z,1761345779.209 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:42:59.209Z,1761345779.209 [marl:UpdateRudder:A] Stopped
2025-10-24T22:42:59.209Z,1761345779.209 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:42:59.209Z,1761345779.209 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:42:59.209Z,1761345779.209 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:42:59.210Z,1761345779.210 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:42:59.210Z,1761345779.210 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:42:59.210Z,1761345779.210 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:42:59.210Z,1761345779.210 [marl:UpdateCommandMode] Stopped
2025-10-24T22:42:59.210Z,1761345779.210 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:42:59.210Z,1761345779.210 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:42:59.210Z,1761345779.210 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:42:59.210Z,1761345779.210 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:42:59.211Z,1761345779.211 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:42:59.211Z,1761345779.211 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:42:59.211Z,1761345779.211 [marl:UpdateSpeed] Stopped
2025-10-24T22:42:59.211Z,1761345779.211 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:42:59.542Z,1761345779.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343254,0.936364,0.073473],[-0.937848,0.337432,0.081123],[0.051169,-0.096753,0.993992]]
2025-10-24T22:42:59.613Z,1761345779.613 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:42:59.613Z,1761345779.613 [marl:UpdateRudder:B] Stopped
2025-10-24T22:42:59.613Z,1761345779.613 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:42:59.613Z,1761345779.613 [marl:UpdateRudder] Stopped
2025-10-24T22:42:59.614Z,1761345779.614 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:42:59.977Z,1761345779.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334099,0.939792,0.071898],[-0.942472,0.334003,0.013720],[-0.011120,-0.072345,0.997318]]
2025-10-24T22:43:00.351Z,1761345780.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323149,0.944539,0.058482],[-0.944875,0.325476,-0.035725],[-0.052778,-0.043713,0.997649]]
2025-10-24T22:43:00.754Z,1761345780.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320770,0.946279,0.040773],[-0.946371,0.321960,-0.026893],[-0.038575,-0.029960,0.998807]]
2025-10-24T22:43:01.160Z,1761345781.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344713,0.938703,-0.002889],[-0.938550,0.344597,-0.019404],[-0.017219,0.009400,0.999808]]
2025-10-24T22:43:01.560Z,1761345781.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353565,0.934811,-0.033481],[-0.935324,0.353792,0.000921],[0.012706,0.030990,0.999439]]
2025-10-24T22:43:01.978Z,1761345781.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340196,0.940110,-0.021427],[-0.938532,0.340867,0.054470],[0.058512,0.001579,0.998285]]
2025-10-24T22:43:02.370Z,1761345782.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320026,0.947021,0.027119],[-0.943046,0.315677,0.104943],[0.090822,-0.059159,0.994108]]
2025-10-24T22:43:02.783Z,1761345782.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336706,0.938932,0.070959],[-0.935673,0.325183,0.137011],[0.105569,-0.112527,0.988025]]
2025-10-24T22:43:03.176Z,1761345783.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370912,0.925961,0.070858],[-0.925546,0.362335,0.109903],[0.076091,-0.106347,0.991413]]
2025-10-24T22:43:03.392Z,1761345783.392 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002621
2025-10-24T22:43:03.580Z,1761345783.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360984,0.931260,0.049447],[-0.932549,0.360843,0.012044],[-0.006627,-0.050460,0.998704]]
2025-10-24T22:43:03.990Z,1761345783.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327186,0.943213,0.057444],[-0.942205,0.330267,-0.056337],[-0.072109,-0.035691,0.996758]]
2025-10-24T22:43:04.389Z,1761345784.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361144,0.931268,0.048123],[-0.931095,0.362957,-0.036394],[-0.051359,-0.031664,0.998178]]
2025-10-24T22:43:04.798Z,1761345784.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384741,0.922811,-0.019860],[-0.918575,0.384908,0.089809],[0.090521,-0.016310,0.995761]]
2025-10-24T22:43:05.196Z,1761345785.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377654,0.925021,-0.041396],[-0.909694,0.378993,0.169767],[0.172727,-0.026456,0.984614]]
2025-10-24T22:43:05.605Z,1761345785.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372176,0.928127,-0.008117],[-0.911349,0.367077,0.186274],[0.175866,-0.061929,0.982464]]
2025-10-24T22:43:06.018Z,1761345786.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367109,0.929849,0.024741],[-0.916076,0.356802,0.183019],[0.161353,-0.089852,0.982798]]
2025-10-24T22:43:06.468Z,1761345786.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368013,0.929082,0.037051],[-0.919345,0.357614,0.164063],[0.139178,-0.094440,0.985754]]
2025-10-24T22:43:06.838Z,1761345786.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366843,0.930278,0.003076],[-0.921586,0.362960,0.137622],[0.126910,-0.053321,0.990480]]
2025-10-24T22:43:07.219Z,1761345787.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379930,0.923420,-0.054296],[-0.916946,0.383702,0.109462],[0.121913,0.008199,0.992507]]
2025-10-24T22:43:07.622Z,1761345787.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385487,0.916813,-0.104177],[-0.914591,0.394598,0.088407],[0.122161,0.061199,0.990622]]
2025-10-24T22:43:08.031Z,1761345788.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377494,0.922461,-0.081013],[-0.922566,0.382188,0.052953],[0.079809,0.054750,0.995305]]
2025-10-24T22:43:08.429Z,1761345788.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326586,0.945142,0.006874],[-0.943061,0.325365,0.069085],[0.063058,-0.029045,0.997587]]
2025-10-24T22:43:08.832Z,1761345788.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317713,0.941696,0.110752],[-0.947059,0.309469,0.085485],[0.046227,-0.132048,0.990165]]
2025-10-24T22:43:09.243Z,1761345789.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354049,0.922820,0.151833],[-0.934335,0.341929,0.100516],[0.040842,-0.177450,0.983282]]
2025-10-24T22:43:09.659Z,1761345789.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372488,0.924139,0.084964],[-0.920802,0.356622,0.157937],[0.115656,-0.137065,0.983787]]
2025-10-24T22:43:10.075Z,1761345790.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359607,0.932998,0.014061],[-0.917442,0.350782,0.187754],[0.170242,-0.080418,0.982115]]
2025-10-24T22:43:10.448Z,1761345790.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337744,0.941220,0.005845],[-0.933314,0.334090,0.131563],[0.121877,-0.049890,0.991291]]
2025-10-24T22:43:10.864Z,1761345790.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332377,0.943136,-0.004399],[-0.941570,0.332087,0.056253],[0.054515,-0.014555,0.998407]]
2025-10-24T22:43:11.284Z,1761345791.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324260,0.945934,-0.008062],[-0.945043,0.324308,0.041442],[0.041816,-0.005819,0.999108]]
2025-10-24T22:43:11.686Z,1761345791.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338455,0.940968,-0.005156],[-0.938056,0.337829,0.076957],[0.074156,-0.021210,0.997021]]
2025-10-24T22:43:12.075Z,1761345792.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324467,0.945597,0.023819],[-0.945369,0.323342,0.041554],[0.031592,-0.036001,0.998852]]
2025-10-24T22:43:12.146Z,1761345792.146 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:43:12.146Z,1761345792.146 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:43:12.146Z,1761345792.146 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:43:12.147Z,1761345792.147 [marl:UpdateRudder:A] Stopped
2025-10-24T22:43:12.147Z,1761345792.147 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:43:12.147Z,1761345792.147 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:43:12.147Z,1761345792.147 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:43:12.147Z,1761345792.147 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:43:12.147Z,1761345792.147 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:43:12.152Z,1761345792.152 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:43:12.152Z,1761345792.152 [marl:UpdateCommandMode] Stopped
2025-10-24T22:43:12.152Z,1761345792.152 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:43:12.152Z,1761345792.152 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:43:12.152Z,1761345792.152 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:43:12.152Z,1761345792.152 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:43:12.153Z,1761345792.153 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:43:12.153Z,1761345792.153 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:43:12.153Z,1761345792.153 [marl:UpdateSpeed] Stopped
2025-10-24T22:43:12.153Z,1761345792.153 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:43:12.479Z,1761345792.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305288,0.949257,0.075568],[-0.952064,0.305874,0.003977],[-0.019339,-0.073159,0.997133]]
2025-10-24T22:43:12.510Z,1761345792.510 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:43:12.510Z,1761345792.510 [marl:UpdateRudder:B] Stopped
2025-10-24T22:43:12.510Z,1761345792.510 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:43:12.510Z,1761345792.510 [marl:UpdateRudder] Stopped
2025-10-24T22:43:12.510Z,1761345792.510 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:43:12.881Z,1761345792.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311132,0.945542,0.095645],[-0.950026,0.312137,0.004648],[-0.025459,-0.092312,0.995405]]
2025-10-24T22:43:13.030Z,1761345793.030 [DataOverHttps](INFO): Sending 788 bytes from file Logs/20251024T220733/Express0010.lzma
2025-10-24T22:43:13.284Z,1761345793.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338759,0.937410,0.080653],[-0.940744,0.338887,0.012509],[-0.015606,-0.080111,0.996664]]
2025-10-24T22:43:13.692Z,1761345793.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321998,0.946448,0.023537],[-0.946699,0.321651,0.017381],[0.008879,-0.027879,0.999572]]
2025-10-24T22:43:14.030Z,1761345794.030 [DataOverHttps](INFO): Moved sent file to Logs/20251024T220733/Express0010.lzma.bak
2025-10-24T22:43:14.030Z,1761345794.030 [DataOverHttps](INFO): SBD MOMSN=26231991
2025-10-24T22:43:14.096Z,1761345794.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284199,0.958763,-0.002091],[-0.956498,0.283676,0.068114],[0.065898,-0.017358,0.997675]]
2025-10-24T22:43:14.491Z,1761345794.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307556,0.951530,-0.000594],[-0.945948,0.305820,0.107963],[0.102912,-0.032643,0.994155]]
2025-10-24T22:43:14.894Z,1761345794.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293119,0.956035,0.008849],[-0.955880,0.292859,0.022941],[0.019341,-0.015183,0.999698]]
2025-10-24T22:43:15.298Z,1761345795.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262627,0.961461,0.081359],[-0.958676,0.269564,-0.090973],[-0.109399,-0.054105,0.992524]]
2025-10-24T22:43:15.378Z,1761345795.378 [marl:NeedComms:D] Stopped
2025-10-24T22:43:15.378Z,1761345795.378 [marl:NeedComms:E] Running Loop=1
2025-10-24T22:43:15.703Z,1761345795.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276418,0.954381,0.112919],[-0.953302,0.287171,-0.093530],[-0.121690,-0.081793,0.989192]]
2025-10-24T22:43:16.105Z,1761345796.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265561,0.961581,0.069562],[-0.963877,0.266341,-0.002024],[-0.020474,-0.066512,0.997576]]
2025-10-24T22:43:16.508Z,1761345796.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236060,0.970891,0.040585],[-0.971720,0.235591,0.016028],[0.006000,-0.043220,0.999048]]
2025-10-24T22:43:16.914Z,1761345796.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244494,0.969605,0.009444],[-0.969409,0.244204,0.024697],[0.021640,-0.015194,0.999650]]
2025-10-24T22:43:17.317Z,1761345797.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252291,0.966999,-0.035522],[-0.964708,0.254215,0.068648],[0.075412,0.016949,0.997008]]
2025-10-24T22:43:17.721Z,1761345797.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219617,0.975237,-0.026106],[-0.973323,0.220851,0.062184],[0.066410,0.011753,0.997723]]
2025-10-24T22:43:18.124Z,1761345798.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197910,0.979491,0.037794],[-0.980018,0.196938,0.027927],[0.019911,-0.042566,0.998895]]
2025-10-24T22:43:18.530Z,1761345798.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202377,0.976723,0.071106],[-0.979291,0.201421,0.020447],[0.005649,-0.073772,0.997259]]
2025-10-24T22:43:18.935Z,1761345798.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202977,0.976362,0.074282],[-0.979151,0.203003,0.007280],[-0.007971,-0.074211,0.997211]]
2025-10-24T22:43:19.338Z,1761345799.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156484,0.984970,0.073125],[-0.986770,0.159089,-0.031235],[-0.042399,-0.067270,0.996834]]
2025-10-24T22:43:19.747Z,1761345799.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145351,0.986560,0.074646],[-0.989305,0.143993,0.023291],[0.012229,-0.077233,0.996938]]
2025-10-24T22:43:20.150Z,1761345800.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147811,0.987815,0.048715],[-0.981796,0.140613,0.127692],[0.119286,-0.066703,0.990617]]
2025-10-24T22:43:20.576Z,1761345800.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138309,0.990361,0.007507],[-0.979371,0.135638,0.149782],[0.147320,-0.028069,0.988691]]
2025-10-24T22:43:20.974Z,1761345800.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129318,0.991601,-0.002192],[-0.987762,0.129011,0.087645],[0.087192,-0.009169,0.996149]]
2025-10-24T22:43:21.358Z,1761345801.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124420,0.992199,-0.007781],[-0.990278,0.124664,0.061716],[0.062205,0.000026,0.998063]]
2025-10-24T22:43:21.766Z,1761345801.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098599,0.995107,0.006356],[-0.993339,0.098038,0.060546],[0.059627,-0.012283,0.998145]]
2025-10-24T22:43:22.570Z,1761345802.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110646,0.993322,0.032706],[-0.993705,0.109988,0.021294],[0.017555,-0.034856,0.999238]]
2025-10-24T22:43:22.975Z,1761345802.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067391,0.997677,0.009925],[-0.997436,0.067608,-0.023445],[-0.024062,-0.008320,0.999676]]
2025-10-24T22:43:23.383Z,1761345803.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027759,0.999556,0.010830],[-0.998784,0.028176,-0.040456],[-0.040744,-0.009694,0.999123]]
2025-10-24T22:43:23.790Z,1761345803.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028463,0.998905,0.037135],[-0.999594,0.028397,0.002310],[0.001253,-0.037186,0.999308]]
2025-10-24T22:43:24.184Z,1761345804.184 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:43:24.212Z,1761345804.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042535,0.998003,0.046700],[-0.998592,0.040984,0.033689],[0.031707,-0.048067,0.998341]]
2025-10-24T22:43:24.587Z,1761345804.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063885,0.996614,0.051766],[-0.997246,0.061796,0.041000],[0.037662,-0.054243,0.997817]]
2025-10-24T22:43:25.002Z,1761345805.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033658,0.997186,0.066983],[-0.999132,0.035218,-0.022248],[-0.024544,-0.066177,0.997506]]
2025-10-24T22:43:25.037Z,1761345805.037 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:43:25.037Z,1761345805.037 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:43:25.037Z,1761345805.037 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:43:25.038Z,1761345805.038 [marl:UpdateRudder:A] Stopped
2025-10-24T22:43:25.038Z,1761345805.038 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:43:25.038Z,1761345805.038 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:43:25.038Z,1761345805.038 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:43:25.038Z,1761345805.038 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:43:25.038Z,1761345805.038 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:43:25.038Z,1761345805.038 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:43:25.038Z,1761345805.038 [marl:UpdateCommandMode] Stopped
2025-10-24T22:43:25.039Z,1761345805.039 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:43:25.039Z,1761345805.039 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:43:25.039Z,1761345805.039 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:43:25.039Z,1761345805.039 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:43:25.039Z,1761345805.039 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:43:25.039Z,1761345805.039 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:43:25.039Z,1761345805.039 [marl:UpdateSpeed] Stopped
2025-10-24T22:43:25.039Z,1761345805.039 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:43:25.411Z,1761345805.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004604,0.996432,0.084278],[-0.997039,0.011043,-0.076107],[-0.076766,-0.083678,0.993532]]
2025-10-24T22:43:25.555Z,1761345805.555 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:43:25.555Z,1761345805.555 [marl:UpdateRudder:B] Stopped
2025-10-24T22:43:25.556Z,1761345805.556 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:43:25.556Z,1761345805.556 [marl:UpdateRudder] Stopped
2025-10-24T22:43:25.556Z,1761345805.556 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:43:25.819Z,1761345805.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003901,0.996197,0.087036],[-0.999954,-0.003124,-0.009064],[-0.008758,-0.087067,0.996164]]
2025-10-24T22:43:26.620Z,1761345806.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072124,0.992834,0.095286],[-0.993516,-0.079933,0.080854],[0.087891,-0.088837,0.992161]]
2025-10-24T22:43:26.626Z,1761345806.626 [NAL9602](INFO): SBD MO Status=2, MOMSN=2559, MT Status=2, MTMSN=0
2025-10-24T22:43:26.627Z,1761345806.627 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-24T22:43:27.021Z,1761345807.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054399,0.996860,0.057537],[-0.997213,-0.057183,0.047912],[0.051051,-0.054770,0.997193]]
2025-10-24T22:43:27.421Z,1761345807.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063706,0.997890,0.012498],[-0.996097,-0.064349,0.060413],[0.061090,-0.008601,0.998095]]
2025-10-24T22:43:27.824Z,1761345807.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115075,0.993326,0.007804],[-0.991392,-0.115338,0.061964],[0.062450,-0.000606,0.998048]]
2025-10-24T22:43:27.985Z,1761345807.985 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,224327.00,A,3646.45454,N,12151.81048,W,0.486,107.56,241025,,,A*71
2025-10-24T22:43:27.987Z,1761345807.987 [NAL9602](INFO): GPS fix at 20251024T224327: (36.774242, -121.863508)
2025-10-24T22:43:28.117Z,1761345808.117 [marl:NeedComms:E] Stopped
2025-10-24T22:43:28.118Z,1761345808.118 [marl:NeedComms](INFO): Completed marl:NeedComms
2025-10-24T22:43:28.118Z,1761345808.118 [marl:NeedComms] Stopped
2025-10-24T22:43:28.118Z,1761345808.118 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms
2025-10-24T22:43:28.118Z,1761345808.118 [marl:NeedComms:B.GoToSurface] Stopped
2025-10-24T22:43:28.118Z,1761345808.118 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-24T22:43:28.119Z,1761345808.119 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761345792.00. Resetting abort timer.
2025-10-24T22:43:28.247Z,1761345808.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130620,0.989672,0.059057],[-0.990637,-0.132669,0.032207],[0.039709,-0.054298,0.997735]]
2025-10-24T22:43:28.633Z,1761345808.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127649,0.988771,0.077702],[-0.991778,-0.127970,-0.000845],[0.009108,-0.077171,0.996976]]
2025-10-24T22:43:29.059Z,1761345809.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166655,0.983589,0.069122],[-0.985971,-0.165571,-0.021167],[-0.009375,-0.071680,0.997384]]
2025-10-24T22:43:29.459Z,1761345809.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201629,0.975906,0.083382],[-0.979251,-0.202619,0.003496],[0.020307,-0.080947,0.996511]]
2025-10-24T22:43:29.844Z,1761345809.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159362,0.982965,0.091558],[-0.984348,-0.165283,0.061161],[0.075252,-0.080378,0.993920]]
2025-10-24T22:43:30.831Z,1761345810.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181507,0.979742,0.084626],[-0.982182,-0.184875,0.033756],[0.048717,-0.076991,0.995841]]
2025-10-24T22:43:31.239Z,1761345811.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187518,0.977053,0.101014],[-0.981152,-0.191200,0.028004],[0.046676,-0.093859,0.994491]]
2025-10-24T22:43:31.246Z,1761345811.246 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,224330.00,A,3646.45433,N,12151.80980,W,0.292,101.79,241025,,,A*72
2025-10-24T22:43:31.248Z,1761345811.248 [NAL9602](INFO): GPS fix at 20251024T224330: (36.774239, -121.863497)
2025-10-24T22:43:31.274Z,1761345811.274 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761345792.00. Resetting abort timer.
2025-10-24T22:43:31.626Z,1761345811.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165362,0.982767,0.082615],[-0.983325,-0.170723,0.062660],[0.075684,-0.070876,0.994610]]
2025-10-24T22:43:32.031Z,1761345812.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168256,0.985093,0.035799],[-0.984082,-0.169969,0.051889],[0.057200,-0.026498,0.998011]]
2025-10-24T22:43:32.437Z,1761345812.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218664,0.975338,0.030020],[-0.970754,-0.220555,0.094824],[0.099106,-0.008408,0.995041]]
2025-10-24T22:43:32.838Z,1761345812.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236770,0.966429,0.099776],[-0.952114,-0.251250,0.174222],[0.193442,-0.053747,0.979638]]
2025-10-24T22:43:33.247Z,1761345813.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202808,0.965376,0.164070],[-0.947955,-0.235557,0.214227],[0.245458,-0.112084,0.962906]]
2025-10-24T22:43:33.648Z,1761345813.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153656,0.973035,0.172026],[-0.964410,-0.185590,0.188334],[0.215182,-0.136965,0.966922]]
2025-10-24T22:43:34.000Z,1761345814.000 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:43:34.054Z,1761345814.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149735,0.978495,0.141871],[-0.974689,-0.170175,0.144989],[0.166014,-0.116570,0.979209]]
2025-10-24T22:43:34.063Z,1761345814.063 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,224333.00,A,3646.45412,N,12151.81035,W,0.875,186.76,241025,,,A*77
2025-10-24T22:43:34.065Z,1761345814.065 [NAL9602](INFO): GPS fix at 20251024T224333: (36.774235, -121.863506)
2025-10-24T22:43:34.145Z,1761345814.145 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761345792.00. Resetting abort timer.
2025-10-24T22:43:34.455Z,1761345814.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179247,0.974271,0.136622],[-0.973147,-0.195973,0.120749],[0.144417,-0.111310,0.983236]]
2025-10-24T22:43:34.859Z,1761345814.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193380,0.974093,0.117246],[-0.976543,-0.202632,0.072827],[0.094698,-0.100413,0.990429]]
2025-10-24T22:43:35.676Z,1761345815.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247500,0.943250,0.221414],[-0.958474,-0.271775,0.086400],[0.141671,-0.190835,0.971345]]
2025-10-24T22:43:36.075Z,1761345816.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243949,0.928163,0.281072],[-0.945333,-0.292267,0.144656],[0.216412,-0.230418,0.948722]]
2025-10-24T22:43:36.489Z,1761345816.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250223,0.932206,0.261495],[-0.943781,-0.295112,0.148949],[0.216021,-0.209524,0.953643]]
2025-10-24T22:43:36.903Z,1761345816.903 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,224336.00,A,3646.45411,N,12151.81009,W,2.138,130.05,241025,,,A*75
2025-10-24T22:43:36.905Z,1761345816.905 [NAL9602](INFO): GPS fix at 20251024T224336: (36.774235, -121.863501)
2025-10-24T22:43:36.975Z,1761345816.975 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761345792.00. Resetting abort timer.
2025-10-24T22:43:37.287Z,1761345817.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209782,0.971914,0.106650],[-0.954285,-0.227279,0.194124],[0.212911,-0.061051,0.975162]]
2025-10-24T22:43:37.694Z,1761345817.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217054,0.975734,0.028810],[-0.947668,-0.217705,0.233518],[0.234124,0.023384,0.971926]]
2025-10-24T22:43:38.192Z,1761345818.192 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:43:38.192Z,1761345818.192 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:43:38.192Z,1761345818.192 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:43:38.193Z,1761345818.193 [marl:UpdateRudder:A] Stopped
2025-10-24T22:43:38.193Z,1761345818.193 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:43:38.193Z,1761345818.193 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:43:38.193Z,1761345818.193 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:43:38.193Z,1761345818.193 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:43:38.193Z,1761345818.193 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:43:38.193Z,1761345818.193 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:43:38.194Z,1761345818.194 [marl:UpdateCommandMode] Stopped
2025-10-24T22:43:38.194Z,1761345818.194 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:43:38.194Z,1761345818.194 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:43:38.194Z,1761345818.194 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:43:38.194Z,1761345818.194 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:43:38.194Z,1761345818.194 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:43:38.194Z,1761345818.194 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:43:38.194Z,1761345818.194 [marl:UpdateSpeed] Stopped
2025-10-24T22:43:38.195Z,1761345818.195 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:43:38.546Z,1761345818.546 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:43:38.546Z,1761345818.546 [marl:UpdateRudder:B] Stopped
2025-10-24T22:43:38.546Z,1761345818.546 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:43:38.546Z,1761345818.546 [marl:UpdateRudder] Stopped
2025-10-24T22:43:38.546Z,1761345818.546 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:43:38.903Z,1761345818.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218682,0.957296,0.189110],[-0.968812,-0.236146,0.075090],[0.116541,-0.166791,0.979081]]
2025-10-24T22:43:39.307Z,1761345819.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258895,0.937780,0.231391],[-0.965254,-0.259985,-0.026320],[0.035476,-0.230165,0.972505]]
2025-10-24T22:43:39.723Z,1761345819.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300326,0.928792,0.217139],[-0.953805,-0.290579,-0.076289],[-0.007760,-0.230019,0.973155]]
2025-10-24T22:43:40.131Z,1761345820.131 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,224339.00,A,3646.45381,N,12151.80927,W,0.622,122.04,241025,,,A*7C
2025-10-24T22:43:40.141Z,1761345820.141 [NAL9602](INFO): GPS fix at 20251024T224339: (36.774230, -121.863488)
2025-10-24T22:43:40.274Z,1761345820.274 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761345792.00. Resetting abort timer.
2025-10-24T22:43:40.567Z,1761345820.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312727,0.928419,0.200596],[-0.946805,-0.321574,0.012282],[0.075909,-0.186085,0.979597]]
2025-10-24T22:43:40.959Z,1761345820.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267566,0.952771,0.143650],[-0.960818,-0.275025,0.034488],[0.072366,-0.128794,0.989027]]
2025-10-24T22:43:41.365Z,1761345821.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284147,0.955931,0.073873],[-0.953931,-0.289609,0.078368],[0.096309,-0.048202,0.994184]]
2025-10-24T22:43:41.768Z,1761345821.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289341,0.955231,0.061772],[-0.949130,-0.294671,0.111005],[0.124238,-0.026511,0.991898]]
2025-10-24T22:43:42.574Z,1761345822.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275450,0.954142,0.117221],[-0.960575,-0.277970,0.005392],[0.037728,-0.111115,0.993091]]
2025-10-24T22:43:42.979Z,1761345822.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280590,0.945168,0.167113],[-0.959735,-0.278701,-0.035142],[0.013359,-0.170245,0.985311]]
2025-10-24T22:43:42.984Z,1761345822.984 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,224342.00,A,3646.45345,N,12151.80936,W,1.477,205.41,241025,,,A*7C
2025-10-24T22:43:42.987Z,1761345822.987 [NAL9602](INFO): GPS fix at 20251024T224342: (36.774224, -121.863489)
2025-10-24T22:43:43.029Z,1761345823.029 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761345792.00. Resetting abort timer.
2025-10-24T22:43:43.389Z,1761345823.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310586,0.933262,0.180440],[-0.949805,-0.312191,-0.020171],[0.037507,-0.177648,0.983379]]
2025-10-24T22:43:43.786Z,1761345823.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351916,0.920021,0.172386],[-0.933644,-0.358159,0.005507],[0.066808,-0.159009,0.985014]]
2025-10-24T22:43:43.970Z,1761345823.970 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:43:43.971Z,1761345823.971 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:43:44.594Z,1761345824.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382167,0.895738,0.227163],[-0.912574,-0.404515,0.059798],[0.145454,-0.184450,0.972019]]
2025-10-24T22:43:44.000Z,1761345825.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350546,0.908680,0.226754],[-0.919477,-0.379932,0.101066],[0.177988,-0.173067,0.968694]]
2025-10-24T22:43:45.402Z,1761345825.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361746,0.912281,0.192050],[-0.912955,-0.388374,0.125218],[0.188821,-0.130035,0.973364]]
2025-10-24T22:43:45.806Z,1761345825.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389448,0.902262,0.185075],[-0.897722,-0.416779,0.142796],[0.205975,-0.110534,0.972294]]
2025-10-24T22:43:45.812Z,1761345825.812 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,224345.00,A,3646.45316,N,12151.81065,W,1.089,257.28,241025,,,A*7E
2025-10-24T22:43:45.814Z,1761345825.814 [NAL9602](INFO): GPS fix at 20251024T224345: (36.774219, -121.863511)
2025-10-24T22:43:45.860Z,1761345825.860 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:43:45.861Z,1761345825.861 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761345792.00. Resetting abort timer.
2025-10-24T22:43:45.969Z,1761345825.969 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:43:45.969Z,1761345825.969 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:43:46.221Z,1761345826.221 [DAT](INFO): DAT read: user:10>

2025-10-24T22:43:46.222Z,1761345826.222 [DAT](INFO): DAT read: Tx time:22:43:46.0672

2025-10-24T22:43:46.222Z,1761345826.222 [DAT](INFO): Ping request sent.
2025-10-24T22:43:46.223Z,1761345826.223 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:43:46.223Z,1761345826.223 [DAT](INFO): publishing transmit ping time
2025-10-24T22:43:46.224Z,1761345826.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000925
2025-10-24T22:43:46.473Z,1761345826.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250178
2025-10-24T22:43:46.618Z,1761345826.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455607,0.849567,0.265815],[-0.851261,-0.503140,0.149015],[0.260341,-0.158386,0.952437]]
2025-10-24T22:43:46.725Z,1761345826.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502644
2025-10-24T22:43:46.977Z,1761345826.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754200
2025-10-24T22:43:47.018Z,1761345827.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467560,0.820616,0.328598],[-0.837502,-0.530169,0.132328],[0.282803,-0.213330,0.935154]]
2025-10-24T22:43:47.229Z,1761345827.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006259
2025-10-24T22:43:47.288Z,1761345827.288 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:43:47.429Z,1761345827.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456269,0.806189,0.376666],[-0.839803,-0.530077,0.117255],[0.294192,-0.262826,0.918898]]
2025-10-24T22:43:47.481Z,1761345827.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258270
2025-10-24T22:43:47.733Z,1761345827.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510187
2025-10-24T22:43:47.826Z,1761345827.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454319,0.804447,0.382700],[-0.845735,-0.524451,0.098405],[0.279869,-0.278955,0.918617]]
2025-10-24T22:43:47.985Z,1761345827.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762243
2025-10-24T22:43:48.237Z,1761345828.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014180
2025-10-24T22:43:48.489Z,1761345828.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266782
2025-10-24T22:43:48.635Z,1761345828.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490127,0.812723,0.315052],[-0.815368,-0.555258,0.163900],[0.308140,-0.176552,0.934815]]
2025-10-24T22:43:48.741Z,1761345828.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518317
2025-10-24T22:43:48.993Z,1761345828.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770165
2025-10-24T22:43:49.038Z,1761345829.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503655,0.793663,0.341219],[-0.793492,-0.581177,0.180566],[0.341617,-0.179812,0.922478]]
2025-10-24T22:43:49.051Z,1761345829.051 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,224348.00,A,3646.45266,N,12151.81161,W,1.030,224.98,241025,,,A*7D
2025-10-24T22:43:49.053Z,1761345829.053 [NAL9602](INFO): GPS fix at 20251024T224348: (36.774211, -121.863527)
2025-10-24T22:43:49.092Z,1761345829.092 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761345792.00. Resetting abort timer.
2025-10-24T22:43:49.245Z,1761345829.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022193
2025-10-24T22:43:49.442Z,1761345829.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495826,0.755102,0.428927],[-0.793059,-0.594968,0.130655],[0.353855,-0.275382,0.893841]]
2025-10-24T22:43:49.497Z,1761345829.497 [DAT](INFO): setting remote address to 10
2025-10-24T22:43:49.497Z,1761345829.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274823
2025-10-24T22:43:49.748Z,1761345829.748 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:49.749Z,1761345829.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526304
2025-10-24T22:43:49.848Z,1761345829.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490930,0.732800,0.471160],[-0.797286,-0.595906,0.096077],[0.351172,-0.328483,0.876799]]
2025-10-24T22:43:50.000Z,1761345830.000 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:50.001Z,1761345830.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778394
2025-10-24T22:43:50.250Z,1761345830.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502466,0.723713,0.473041],[-0.794189,-0.602600,0.078337],[0.341748,-0.336322,0.877551]]
2025-10-24T22:43:50.253Z,1761345830.253 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:50.253Z,1761345830.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030468
2025-10-24T22:43:50.504Z,1761345830.504 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:50.505Z,1761345830.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282365
2025-10-24T22:43:50.659Z,1761345830.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529356,0.718667,0.450888],[-0.771553,-0.628813,0.096433],[0.352828,-0.296837,0.887356]]
2025-10-24T22:43:50.757Z,1761345830.757 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:50.758Z,1761345830.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535043
2025-10-24T22:43:51.008Z,1761345831.008 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:51.009Z,1761345831.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786385
2025-10-24T22:43:51.059Z,1761345831.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545599,0.703875,0.454842],[-0.743576,-0.656928,0.124662],[0.386545,-0.270194,0.881804]]
2025-10-24T22:43:51.083Z,1761345831.083 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:43:51.083Z,1761345831.083 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:43:51.083Z,1761345831.083 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:43:51.083Z,1761345831.083 [marl:UpdateRudder:A] Stopped
2025-10-24T22:43:51.083Z,1761345831.083 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:43:51.083Z,1761345831.083 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:43:51.084Z,1761345831.084 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:43:51.084Z,1761345831.084 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:43:51.084Z,1761345831.084 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:43:51.084Z,1761345831.084 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:43:51.084Z,1761345831.084 [marl:UpdateCommandMode] Stopped
2025-10-24T22:43:51.084Z,1761345831.084 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:43:51.085Z,1761345831.085 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:43:51.085Z,1761345831.085 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:43:51.085Z,1761345831.085 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:43:51.085Z,1761345831.085 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:43:51.085Z,1761345831.085 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:43:51.085Z,1761345831.085 [marl:UpdateSpeed] Stopped
2025-10-24T22:43:51.085Z,1761345831.085 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:43:51.260Z,1761345831.260 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:51.261Z,1761345831.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038323
2025-10-24T22:43:51.466Z,1761345831.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541997,0.678809,0.495436],[-0.739928,-0.664966,0.101620],[0.398429,-0.311509,0.862680]]
2025-10-24T22:43:51.513Z,1761345831.513 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:51.513Z,1761345831.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290865
2025-10-24T22:43:51.537Z,1761345831.537 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:43:51.537Z,1761345831.537 [marl:UpdateRudder:B] Stopped
2025-10-24T22:43:51.537Z,1761345831.537 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:43:51.537Z,1761345831.537 [marl:UpdateRudder] Stopped
2025-10-24T22:43:51.537Z,1761345831.537 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:43:51.764Z,1761345831.764 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:51.765Z,1761345831.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542363
2025-10-24T22:43:51.868Z,1761345831.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531930,0.673936,0.512699],[-0.757492,-0.649332,0.067634],[0.378493,-0.352389,0.855900]]
2025-10-24T22:43:51.895Z,1761345831.895 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,224351.00,A,3646.44964,N,12151.81165,W,5.093,224.98,241025,,,A*74
2025-10-24T22:43:51.903Z,1761345831.903 [NAL9602](INFO): GPS fix at 20251024T224351: (36.774161, -121.863528)
2025-10-24T22:43:52.000Z,1761345832.000 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761345792.00. Resetting abort timer.
2025-10-24T22:43:52.017Z,1761345832.017 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:52.017Z,1761345832.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794443
2025-10-24T22:43:52.269Z,1761345832.269 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:52.270Z,1761345832.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047055
2025-10-24T22:43:52.274Z,1761345832.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531054,0.687784,0.494909],[-0.772648,-0.632832,0.050381],[0.347846,-0.355636,0.867483]]
2025-10-24T22:43:52.521Z,1761345832.521 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:52.521Z,1761345832.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298462
2025-10-24T22:43:52.685Z,1761345832.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552160,0.706110,0.443315],[-0.762989,-0.642306,0.072738],[0.336105,-0.298082,0.893410]]
2025-10-24T22:43:52.773Z,1761345832.773 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:52.774Z,1761345832.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551148
2025-10-24T22:43:53.024Z,1761345833.024 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:53.025Z,1761345833.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802333
2025-10-24T22:43:53.093Z,1761345833.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578545,0.703849,0.412167],[-0.735833,-0.668405,0.108558],[0.351903,-0.240481,0.904618]]
2025-10-24T22:43:53.276Z,1761345833.276 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:53.277Z,1761345833.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054283
2025-10-24T22:43:53.482Z,1761345833.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590396,0.672563,0.446198],[-0.709300,-0.696146,0.110789],[0.385132,-0.251079,0.888050]]
2025-10-24T22:43:53.529Z,1761345833.529 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:53.529Z,1761345833.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306467
2025-10-24T22:43:53.781Z,1761345833.781 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:53.782Z,1761345833.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558949
2025-10-24T22:43:53.890Z,1761345833.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587525,0.638273,0.497415],[-0.696957,-0.711476,0.089738],[0.411176,-0.293954,0.862859]]
2025-10-24T22:43:54.033Z,1761345834.033 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:54.033Z,1761345834.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810450
2025-10-24T22:43:54.285Z,1761345834.285 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:54.285Z,1761345834.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062418
2025-10-24T22:43:54.292Z,1761345834.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584268,0.616476,0.527815],[-0.695658,-0.715382,0.065487],[0.417961,-0.328917,0.846831]]
2025-10-24T22:43:54.537Z,1761345834.537 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:54.538Z,1761345834.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314983
2025-10-24T22:43:54.706Z,1761345834.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585099,0.610691,0.533588],[-0.699137,-0.713259,0.049695],[0.410934,-0.343975,0.844283]]
2025-10-24T22:43:54.789Z,1761345834.789 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:54.790Z,1761345834.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567024
2025-10-24T22:43:55.041Z,1761345835.041 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:55.041Z,1761345835.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818473
2025-10-24T22:43:55.098Z,1761345835.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587717,0.615999,0.524532],[-0.704728,-0.708227,0.042107],[0.397426,-0.344905,0.850349]]
2025-10-24T22:43:55.116Z,1761345835.116 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,224354.00,A,3646.44375,N,12151.81229,W,7.017,224.98,241025,,,A*7E
2025-10-24T22:43:55.118Z,1761345835.118 [NAL9602](INFO): GPS fix at 20251024T224354: (36.774062, -121.863538)
2025-10-24T22:43:55.145Z,1761345835.145 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761345792.00. Resetting abort timer.
2025-10-24T22:43:55.293Z,1761345835.293 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:55.293Z,1761345835.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070471
2025-10-24T22:43:55.506Z,1761345835.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593529,0.626281,0.505465],[-0.709027,-0.704058,0.039785],[0.380794,-0.334775,0.861929]]
2025-10-24T22:43:55.545Z,1761345835.545 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:55.545Z,1761345835.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322457
2025-10-24T22:43:55.796Z,1761345835.796 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:55.797Z,1761345835.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574339
2025-10-24T22:43:55.940Z,1761345835.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604719,0.636727,0.478429],[-0.708345,-0.704592,0.042395],[0.364091,-0.313256,0.877102]]
2025-10-24T22:43:56.049Z,1761345836.049 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:56.049Z,1761345836.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826440
2025-10-24T22:43:56.301Z,1761345836.301 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:56.301Z,1761345836.301 [DAT](INFO): Reached modem response timeout
2025-10-24T22:43:56.313Z,1761345836.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619020,0.643919,0.449647],[-0.702467,-0.709982,0.049662],[0.351219,-0.285120,0.891825]]
2025-10-24T22:43:56.552Z,1761345836.552 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:56.715Z,1761345836.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633025,0.642616,0.431652],[-0.690671,-0.720675,0.060014],[0.349647,-0.260139,0.900042]]
2025-10-24T22:43:56.805Z,1761345836.805 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:57.056Z,1761345837.056 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:57.120Z,1761345837.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638457,0.633742,0.436743],[-0.680939,-0.729603,0.063264],[0.358742,-0.257004,0.897359]]
2025-10-24T22:43:57.308Z,1761345837.308 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:57.561Z,1761345837.561 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:57.813Z,1761345837.813 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:57.964Z,1761345837.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642214,0.614327,0.458436],[-0.678524,-0.733843,0.032857],[0.356605,-0.289959,0.888120]]
2025-10-24T22:43:57.969Z,1761345837.969 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,224357.00,A,3646.43893,N,12151.81746,W,6.862,224.98,241025,,,A*7E
2025-10-24T22:43:57.971Z,1761345837.971 [NAL9602](INFO): GPS fix at 20251024T224357: (36.773982, -121.863624)
2025-10-24T22:43:58.039Z,1761345838.039 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761345792.00. Resetting abort timer.
2025-10-24T22:43:58.065Z,1761345838.065 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:58.316Z,1761345838.316 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:43:58.569Z,1761345838.569 [DAT](INFO): DAT read: Response Not Received

2025-10-24T22:43:58.569Z,1761345838.569 [DAT](INFO): response not received
2025-10-24T22:43:58.570Z,1761345838.570 [DAT](INFO): DAT read: user:11>

2025-10-24T22:43:58.570Z,1761345838.570 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:43:58.571Z,1761345838.571 [DAT](INFO): set remote address to 10
2025-10-24T22:43:58.571Z,1761345838.571 [DAT](INFO): entering online mode
2025-10-24T22:43:58.735Z,1761345838.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688254,0.570281,0.448426],[-0.639802,-0.768526,-0.004618],[0.341993,-0.290082,0.893808]]
2025-10-24T22:43:58.823Z,1761345838.823 [DAT](INFO): DAT read: user:12>

2025-10-24T22:43:58.823Z,1761345838.823 [DAT](INFO): DAT read: 

2025-10-24T22:43:58.825Z,1761345838.825 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:43:58.826Z,1761345838.826 [DAT](INFO): commRate: 600
2025-10-24T22:43:58.826Z,1761345838.826 [DAT](INFO): online mode acknowledged
2025-10-24T22:43:58.826Z,1761345838.826 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:43:59.138Z,1761345839.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711697,0.537919,0.451809],[-0.617494,-0.785693,-0.037250],[0.334945,-0.305500,0.891337]]
2025-10-24T22:43:59.543Z,1761345839.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731532,0.501172,0.462263],[-0.596911,-0.798409,-0.079002],[0.329481,-0.333722,0.883217]]
2025-10-24T22:43:59.969Z,1761345839.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748378,0.466000,0.471990],[-0.576635,-0.808752,-0.115811],[0.327755,-0.358837,0.873964]]
2025-10-24T22:44:00.352Z,1761345840.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761810,0.435629,0.479451],[-0.557376,-0.817951,-0.142435],[0.330119,-0.375743,0.865933]]
2025-10-24T22:44:01.158Z,1761345841.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778601,0.393919,0.488476],[-0.530461,-0.829031,-0.176971],[0.335250,-0.396907,0.854443]]
2025-10-24T22:44:01.976Z,1761345841.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796641,0.381447,0.468893],[-0.511524,-0.838727,-0.186762],[0.322033,-0.388632,0.863284]]
2025-10-24T22:44:02.097Z,1761345842.097 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:44:02.0160

2025-10-24T22:44:02.098Z,1761345842.098 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:44:02.372Z,1761345842.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804534,0.385057,0.452169],[-0.507242,-0.841512,-0.185912],[0.308919,-0.378932,0.872342]]
2025-10-24T22:44:03.196Z,1761345843.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814508,0.409325,0.411132],[-0.506038,-0.847837,-0.158420],[0.283728,-0.337083,0.897704]]
2025-10-24T22:44:03.595Z,1761345843.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820043,0.406671,0.402675],[-0.500607,-0.850695,-0.160343],[0.277347,-0.333071,0.901189]]
2025-10-24T22:44:03.994Z,1761345843.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832255,0.394547,0.389467],[-0.485215,-0.858210,-0.167457],[0.268175,-0.328342,0.905689]]
2025-10-24T22:44:04.071Z,1761345844.071 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:44:04.072Z,1761345844.072 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:44:04.073Z,1761345844.073 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:44:04.073Z,1761345844.073 [marl:UpdateRudder:A] Stopped
2025-10-24T22:44:04.073Z,1761345844.073 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:44:04.073Z,1761345844.073 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:44:04.073Z,1761345844.073 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:44:04.073Z,1761345844.073 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:44:04.075Z,1761345844.075 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:44:04.075Z,1761345844.075 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:44:04.077Z,1761345844.077 [marl:UpdateCommandMode] Stopped
2025-10-24T22:44:04.078Z,1761345844.078 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:44:04.078Z,1761345844.078 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:44:04.078Z,1761345844.078 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:44:04.078Z,1761345844.078 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:44:04.078Z,1761345844.078 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:44:04.078Z,1761345844.078 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:44:04.078Z,1761345844.078 [marl:UpdateSpeed] Stopped
2025-10-24T22:44:04.078Z,1761345844.078 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:44:04.395Z,1761345844.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846291,0.376930,0.376451],[-0.466135,-0.866052,-0.180755],[0.257894,-0.328449,0.908632]]
2025-10-24T22:44:04.437Z,1761345844.437 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:44:04.437Z,1761345844.437 [marl:UpdateRudder:B] Stopped
2025-10-24T22:44:04.438Z,1761345844.438 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:44:04.438Z,1761345844.438 [marl:UpdateRudder] Stopped
2025-10-24T22:44:04.438Z,1761345844.438 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:44:04.799Z,1761345844.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859124,0.357907,0.365798],[-0.447897,-0.871632,-0.199113],[0.247577,-0.334903,0.909146]]
2025-10-24T22:44:05.206Z,1761345845.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868498,0.344315,0.356593],[-0.435750,-0.873239,-0.218117],[0.236290,-0.344819,0.908442]]
2025-10-24T22:44:05.602Z,1761345845.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875221,0.338286,0.345760],[-0.428883,-0.873262,-0.231244],[0.223713,-0.350680,0.909382]]
2025-10-24T22:44:06.006Z,1761345846.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881545,0.337503,0.330106],[-0.422174,-0.876524,-0.231246],[0.211300,-0.343216,0.915180]]
2025-10-24T22:44:06.411Z,1761345846.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888353,0.335906,0.313042],[-0.412223,-0.883744,-0.221517],[0.202240,-0.325829,0.923545]]
2025-10-24T22:44:06.815Z,1761345846.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896418,0.325077,0.301263],[-0.396802,-0.891451,-0.218779],[0.197441,-0.315659,0.928104]]
2025-10-24T22:44:07.218Z,1761345847.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905912,0.306091,0.292629],[-0.376625,-0.898292,-0.226329],[0.193589,-0.315245,0.929055]]
2025-10-24T22:44:07.622Z,1761345847.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915997,0.284147,0.283212],[-0.354763,-0.903336,-0.241095],[0.187329,-0.321315,0.928259]]
2025-10-24T22:44:08.026Z,1761345848.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926306,0.261134,0.271598],[-0.331976,-0.906584,-0.260573],[0.178181,-0.331534,0.926464]]
2025-10-24T22:44:08.431Z,1761345848.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936377,0.237774,0.258191],[-0.308237,-0.908910,-0.280842],[0.167896,-0.342558,0.924373]]
2025-10-24T22:44:08.836Z,1761345848.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945632,0.213718,0.245162],[-0.283888,-0.910212,-0.301532],[0.158707,-0.354737,0.921398]]
2025-10-24T22:44:09.238Z,1761345849.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953550,0.191288,0.232703],[-0.260623,-0.911260,-0.318876],[0.151056,-0.364712,0.918786]]
2025-10-24T22:44:09.645Z,1761345849.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960357,0.170309,0.220704],[-0.238427,-0.912032,-0.333693],[0.144458,-0.373086,0.916482]]
2025-10-24T22:44:10.049Z,1761345850.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966374,0.150480,0.208510],[-0.216812,-0.912807,-0.346085],[0.138250,-0.379655,0.914740]]
2025-10-24T22:44:10.450Z,1761345850.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971690,0.132056,0.195905],[-0.196598,-0.911808,-0.360495],[0.131023,-0.388804,0.911957]]
2025-10-24T22:44:10.854Z,1761345850.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975988,0.119218,0.182303],[-0.180481,-0.911187,-0.370358],[0.121959,-0.394367,0.910824]]
2025-10-24T22:44:11.262Z,1761345851.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978782,0.113992,0.170268],[-0.171467,-0.910600,-0.376042],[0.112180,-0.397258,0.910825]]
2025-10-24T22:44:11.675Z,1761345851.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981242,0.109036,0.158983],[-0.162287,-0.912324,-0.375936],[0.104054,-0.394685,0.912906]]
2025-10-24T22:44:12.066Z,1761345852.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983753,0.102718,0.147236],[-0.151304,-0.915804,-0.372036],[0.096624,-0.388269,0.916467]]
2025-10-24T22:44:12.179Z,1761345852.179 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:44:12.429Z,1761345852.429 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:44:12.429Z,1761345852.429 [DAT](INFO): #Outgoing data=7
2025-10-24T22:44:12.429Z,1761345852.429 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:44:12.470Z,1761345852.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986219,0.094987,0.135461],[-0.139009,-0.919727,-0.367123],[0.089715,-0.380894,0.920256]]
2025-10-24T22:44:12.681Z,1761345852.681 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:44:12.875Z,1761345852.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988783,0.084912,0.122878],[-0.124559,-0.922777,-0.364648],[0.082426,-0.375863,0.923002]]
2025-10-24T22:44:13.278Z,1761345853.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991482,0.071884,0.108609],[-0.107004,-0.924990,-0.364613],[0.074252,-0.373129,0.924803]]
2025-10-24T22:44:13.686Z,1761345853.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994035,0.056638,0.093202],[-0.087059,-0.926807,-0.365308],[0.065690,-0.371243,0.926209]]
2025-10-24T22:44:14.086Z,1761345854.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996133,0.038932,0.078765],[-0.065297,-0.927855,-0.367181],[0.058788,-0.370904,0.926809]]
2025-10-24T22:44:14.492Z,1761345854.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997591,0.019462,0.066584],[-0.042680,-0.928863,-0.367957],[0.054686,-0.369912,0.927456]]
2025-10-24T22:44:14.894Z,1761345854.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998427,-0.000218,0.056071],[-0.020453,-0.929674,-0.367814],[0.052208,-0.368382,0.928207]]
2025-10-24T22:44:15.298Z,1761345855.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998841,-0.017907,0.044677],[0.000105,-0.929025,-0.370018],[0.048132,-0.369584,0.927950]]
2025-10-24T22:44:15.714Z,1761345855.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998993,-0.032118,0.031333],[0.018156,-0.927925,-0.372326],[0.041033,-0.371382,0.927573]]
2025-10-24T22:44:15.960Z,1761345855.960 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:44:15.8659

2025-10-24T22:44:15.961Z,1761345855.961 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:44:16.115Z,1761345856.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998832,-0.046332,0.013682],[0.037924,-0.927428,-0.372075],[0.029928,-0.371121,0.928102]]
2025-10-24T22:44:16.521Z,1761345856.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997974,-0.063239,-0.006927],[0.061364,-0.928165,-0.367075],[0.016784,-0.366756,0.930166]]
2025-10-24T22:44:16.922Z,1761345856.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996341,-0.081480,-0.025798],[0.085292,-0.928658,-0.360997],[0.005456,-0.361877,0.932210]]
2025-10-24T22:44:16.961Z,1761345856.961 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:44:16.962Z,1761345856.962 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:44:16.962Z,1761345856.962 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:44:16.962Z,1761345856.962 [marl:UpdateRudder:A] Stopped
2025-10-24T22:44:16.962Z,1761345856.962 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:44:16.962Z,1761345856.962 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:44:16.962Z,1761345856.962 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:44:16.963Z,1761345856.963 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:44:16.963Z,1761345856.963 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:44:16.963Z,1761345856.963 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:44:16.963Z,1761345856.963 [marl:UpdateCommandMode] Stopped
2025-10-24T22:44:16.963Z,1761345856.963 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:44:16.963Z,1761345856.963 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:44:16.963Z,1761345856.963 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:44:16.963Z,1761345856.963 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:44:16.965Z,1761345856.965 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:44:16.965Z,1761345856.965 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:44:16.965Z,1761345856.965 [marl:UpdateSpeed] Stopped
2025-10-24T22:44:16.965Z,1761345856.965 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:44:17.327Z,1761345857.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994084,-0.100416,-0.041389],[0.108579,-0.928102,-0.356142],[-0.002650,-0.358529,0.933515]]
2025-10-24T22:44:17.375Z,1761345857.375 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:44:17.375Z,1761345857.375 [marl:UpdateRudder:B] Stopped
2025-10-24T22:44:17.375Z,1761345857.375 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:44:17.380Z,1761345857.380 [marl:UpdateRudder] Stopped
2025-10-24T22:44:17.380Z,1761345857.380 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:44:17.412Z,1761345857.412 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:44:17.732Z,1761345857.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991499,-0.118145,-0.054512],[0.129857,-0.924849,-0.357480],[-0.008181,-0.361520,0.932328]]
2025-10-24T22:44:18.149Z,1761345858.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988601,-0.135385,-0.065865],[0.150077,-0.921062,-0.359334],[-0.012018,-0.365123,0.930882]]
2025-10-24T22:44:18.416Z,1761345858.416 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:44:18.538Z,1761345858.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985023,-0.154579,-0.076384],[0.171802,-0.917449,-0.358847],[-0.014608,-0.366596,0.930266]]
2025-10-24T22:44:18.942Z,1761345858.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981043,-0.173707,-0.085910],[0.193098,-0.913675,-0.357647],[-0.016368,-0.367456,0.929897]]
2025-10-24T22:44:19.347Z,1761345859.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976992,-0.191066,-0.094767],[0.212472,-0.910511,-0.354719],[-0.018512,-0.366693,0.930158]]
2025-10-24T22:44:19.753Z,1761345859.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973158,-0.204516,-0.105527],[0.228906,-0.907539,-0.352101],[-0.023760,-0.366806,0.929994]]
2025-10-24T22:44:20.163Z,1761345860.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969715,-0.213543,-0.118547],[0.241866,-0.907118,-0.344439],[-0.033983,-0.362680,0.931294]]
2025-10-24T22:44:20.559Z,1761345860.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966586,-0.218828,-0.133511],[0.251458,-0.910592,-0.328010],[-0.049796,-0.350623,0.935192]]
2025-10-24T22:44:20.964Z,1761345860.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963435,-0.223178,-0.148272],[0.259100,-0.916982,-0.303334],[-0.068265,-0.330659,0.941278]]
2025-10-24T22:44:21.366Z,1761345861.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960263,-0.228354,-0.160463],[0.265717,-0.923893,-0.275349],[-0.085374,-0.307045,0.947858]]
2025-10-24T22:44:21.762Z,1761345861.762 [DAT](INFO): DAT read: Rx Time:22:44:21.0646

2025-10-24T22:44:21.762Z,1761345861.762 [DAT](INFO): Rx dataTimestamp_ set to:1761345861.762014
2025-10-24T22:44:21.773Z,1761345861.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957344,-0.234410,-0.168949],[0.271697,-0.929287,-0.250213],[-0.098349,-0.285443,0.953336]]
2025-10-24T22:44:22.177Z,1761345862.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955306,-0.239642,-0.173094],[0.275844,-0.933169,-0.230448],[-0.106301,-0.267895,0.957566]]
2025-10-24T22:44:22.266Z,1761345862.266 [DAT](INFO): DAT read: 22:44:21.0646 LVL= 32752, 30097, 32754, 32755, AGC= 77, IDX= 105,-0.07,-2.361,-0.492,-1.087,-1.391, PHS=-0.868, 0.944, 0.260, RAW= 291.9,  -4.3, CAL= 291.5,  -9.2, ROT= 218.5,   9.2

2025-10-24T22:44:22.267Z,1761345862.267 [DAT](INFO): got valid direction response:
 22:44:21.0646 LVL= 32752, 30097, 32754, 32755, AGC= 77, IDX= 105,-0.07,-2.361,-0.492,-1.087,-1.391, PHS=-0.868, 0.944, 0.260, RAW= 291.9,  -4.3, CAL= 291.5,  -9.2, ROT= 218.5,   9.2

2025-10-24T22:44:22.267Z,1761345862.267 [DAT](INFO): DAT read: 

2025-10-24T22:44:22.269Z,1761345862.269 [DAT](INFO): DAT read: $Packet for address 10

2025-10-24T22:44:22.269Z,1761345862.269 [DAT](INFO): received a packet notification
2025-10-24T22:44:22.280Z,1761345862.280 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-24T22:44:22.281Z,1761345862.281 [DAT](INFO): direction in FSK: [-0.772541,-0.614507,-0.159881]
2025-10-24T22:44:22.578Z,1761345862.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954385,-0.243248,-0.173149],[0.277377,-0.936938,-0.212627],[-0.110509,-0.250955,0.961670]]
2025-10-24T22:44:22.613Z,1761345862.613 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345920.00. Resetting abort timer.
2025-10-24T22:44:22.983Z,1761345862.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954621,-0.243700,-0.171201],[0.275698,-0.940529,-0.198481],[-0.112650,-0.236674,0.965037]]
2025-10-24T22:44:23.387Z,1761345863.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955686,-0.241119,-0.168899],[0.271203,-0.944280,-0.186505],[-0.114518,-0.224046,0.967827]]
2025-10-24T22:44:23.791Z,1761345863.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957455,-0.235566,-0.166701],[0.264200,-0.947909,-0.177954],[-0.116097,-0.214425,0.969816]]
2025-10-24T22:44:24.203Z,1761345864.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959755,-0.226850,-0.165559],[0.255129,-0.950688,-0.176355],[-0.117389,-0.211496,0.970304]]
2025-10-24T22:44:24.598Z,1761345864.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962063,-0.216791,-0.165637],[0.245765,-0.952259,-0.181117],[-0.118465,-0.214954,0.969413]]
2025-10-24T22:44:25.002Z,1761345865.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963729,-0.208481,-0.166623],[0.238752,-0.952478,-0.189164],[-0.119268,-0.222084,0.967706]]
2025-10-24T22:44:25.407Z,1761345865.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964908,-0.203389,-0.166091],[0.234350,-0.952342,-0.195258],[-0.118462,-0.227329,0.966586]]
2025-10-24T22:44:25.812Z,1761345865.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965591,-0.202512,-0.163166],[0.233332,-0.951678,-0.199660],[-0.114848,-0.230862,0.966185]]
2025-10-24T22:44:26.041Z,1761345866.041 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:44:26.217Z,1761345866.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965448,-0.207400,-0.157780],[0.236962,-0.950633,-0.200364],[-0.108436,-0.230829,0.966933]]
2025-10-24T22:44:26.293Z,1761345866.293 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:44:26.293Z,1761345866.293 [DAT](INFO): #Outgoing data=8
2025-10-24T22:44:26.293Z,1761345866.293 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:44:26.545Z,1761345866.545 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:44:26.626Z,1761345866.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964774,-0.214655,-0.152103],[0.242817,-0.949061,-0.200806],[-0.101251,-0.230665,0.967751]]
2025-10-24T22:44:27.022Z,1761345867.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964303,-0.218925,-0.148967],[0.246973,-0.946492,-0.207744],[-0.095515,-0.237119,0.966774]]
2025-10-24T22:44:27.426Z,1761345867.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964040,-0.221048,-0.147529],[0.249379,-0.944307,-0.214694],[-0.091855,-0.243764,0.965475]]
2025-10-24T22:44:27.830Z,1761345867.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964036,-0.221276,-0.147211],[0.249979,-0.943036,-0.219530],[-0.090249,-0.248434,0.964435]]
2025-10-24T22:44:28.237Z,1761345868.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964062,-0.220666,-0.147954],[0.249786,-0.942547,-0.221838],[-0.090502,-0.250823,0.963793]]
2025-10-24T22:44:28.561Z,1761345868.561 [DAT](INFO): DAT read: Rx Time:22:44:27.9160

2025-10-24T22:44:28.561Z,1761345868.561 [DAT](INFO): Rx dataTimestamp_ set to:1761345868.561006
2025-10-24T22:44:28.644Z,1761345868.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963811,-0.221494,-0.148353],[0.250313,-0.943356,-0.217769],[-0.091715,-0.247023,0.964660]]
2025-10-24T22:44:29.044Z,1761345869.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963073,-0.224352,-0.148850],[0.252576,-0.944317,-0.210880],[-0.093250,-0.240689,0.966112]]
2025-10-24T22:44:29.069Z,1761345869.069 [DAT](INFO): DAT read: 22:44:27.9160 LVL= 32752, 28353, 31634, 32755, AGC= 75, IDX= 472,-0.11, 0.841, 2.768, 2.233, 2.132, PHS=-1.188, 0.681, 0.057, RAW= 289.1,   5.5, CAL= 287.2,   1.5, ROT= 222.8,  -1.5

2025-10-24T22:44:29.070Z,1761345869.070 [DAT](INFO): got valid direction response:
 22:44:27.9160 LVL= 32752, 28353, 31634, 32755, AGC= 75, IDX= 472,-0.11, 0.841, 2.768, 2.233, 2.132, PHS=-1.188, 0.681, 0.057, RAW= 289.1,   5.5, CAL= 287.2,   1.5, ROT= 222.8,  -1.5

2025-10-24T22:44:29.071Z,1761345869.071 [DAT](INFO): DAT read: 

2025-10-24T22:44:29.071Z,1761345869.071 [DAT](INFO): DAT read: $Packet for address 10

2025-10-24T22:44:29.072Z,1761345869.072 [DAT](INFO): received a packet notification
2025-10-24T22:44:29.084Z,1761345869.084 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-24T22:44:29.085Z,1761345869.085 [DAT](INFO): direction in FSK: [-0.733478,-0.679209,0.026177]
2025-10-24T22:44:29.446Z,1761345869.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961858,-0.229495,-0.148865],[0.256897,-0.944806,-0.203339],[-0.093983,-0.233826,0.967725]]
2025-10-24T22:44:29.493Z,1761345869.493 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345920.00. Resetting abort timer.
2025-10-24T22:44:29.821Z,1761345869.821 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:44:29.7156

2025-10-24T22:44:29.821Z,1761345869.821 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:44:29.851Z,1761345869.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960381,-0.235764,-0.148607],[0.262462,-0.944448,-0.197817],[-0.093714,-0.228984,0.968909]]
2025-10-24T22:44:29.907Z,1761345869.907 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:44:29.907Z,1761345869.907 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:44:29.912Z,1761345869.912 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:44:29.913Z,1761345869.913 [marl:UpdateRudder:A] Stopped
2025-10-24T22:44:29.913Z,1761345869.913 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:44:29.913Z,1761345869.913 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:44:29.914Z,1761345869.914 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:44:29.914Z,1761345869.914 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:44:29.915Z,1761345869.915 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:44:29.920Z,1761345869.920 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:44:29.920Z,1761345869.920 [marl:UpdateCommandMode] Stopped
2025-10-24T22:44:29.921Z,1761345869.921 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:44:29.921Z,1761345869.921 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:44:29.921Z,1761345869.921 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:44:29.922Z,1761345869.922 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:44:29.923Z,1761345869.923 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:44:29.924Z,1761345869.924 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:44:29.928Z,1761345869.928 [marl:UpdateSpeed] Stopped
2025-10-24T22:44:29.929Z,1761345869.929 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:44:30.259Z,1761345870.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958759,-0.241344,-0.150111],[0.268346,-0.942695,-0.198285],[-0.093654,-0.230389,0.968581]]
2025-10-24T22:44:30.329Z,1761345870.329 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:44:30.330Z,1761345870.330 [marl:UpdateRudder:B] Stopped
2025-10-24T22:44:30.330Z,1761345870.330 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:44:30.330Z,1761345870.330 [marl:UpdateRudder] Stopped
2025-10-24T22:44:30.330Z,1761345870.330 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:44:30.583Z,1761345870.583 [DAT](INFO): DAT read: 22:44:29.4103 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 398, 0.13, 2.912,-1.546,-1.867,-2.148, PHS=-1.121, 0.647, 0.237, RAW= 282.8,   3.0, CAL= 281.3,  -2.4, ROT= 228.7,   2.4

2025-10-24T22:44:30.584Z,1761345870.584 [DAT](INFO): got valid direction response:
 22:44:29.4103 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 398, 0.13, 2.912,-1.546,-1.867,-2.148, PHS=-1.121, 0.647, 0.237, RAW= 282.8,   3.0, CAL= 281.3,  -2.4, ROT= 228.7,   2.4

2025-10-24T22:44:30.585Z,1761345870.585 [DAT](INFO): DAT read: Rx Time:22:44:29.4103

2025-10-24T22:44:30.585Z,1761345870.585 [DAT](INFO): Rx dataTimestamp_ set to:1761345870.584720
2025-10-24T22:44:30.586Z,1761345870.586 [DAT](INFO): DAT read: $Error in header

2025-10-24T22:44:30.586Z,1761345870.586 [DAT](INFO): Received a bad header
2025-10-24T22:44:30.600Z,1761345870.600 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-24T22:44:30.602Z,1761345870.602 [DAT](INFO): direction in FSK: [-0.659423,-0.750605,-0.041876]
2025-10-24T22:44:30.693Z,1761345870.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956502,-0.247613,-0.154245],[0.275600,-0.940344,-0.199495],[-0.095646,-0.233328,0.967683]]
2025-10-24T22:44:30.734Z,1761345870.734 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345920.00. Resetting abort timer.
2025-10-24T22:44:31.063Z,1761345871.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953355,-0.255847,-0.160175],[0.284883,-0.938040,-0.197286],[-0.099775,-0.233715,0.967172]]
2025-10-24T22:44:31.466Z,1761345871.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952376,-0.258491,-0.161750],[0.287652,-0.937613,-0.195289],[-0.101179,-0.232516,0.967315]]
2025-10-24T22:44:31.872Z,1761345871.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953411,-0.255974,-0.159640],[0.284657,-0.938565,-0.195105],[-0.099890,-0.231458,0.967703]]
2025-10-24T22:44:32.286Z,1761345872.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955199,-0.251382,-0.156211],[0.279450,-0.939884,-0.196280],[-0.097479,-0.231140,0.968025]]
2025-10-24T22:44:33.082Z,1761345873.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958930,-0.239986,-0.151192],[0.267287,-0.942943,-0.198533],[-0.094921,-0.230791,0.968362]]
2025-10-24T22:44:33.529Z,1761345873.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958528,-0.239874,-0.153896],[0.268475,-0.941182,-0.205177],[-0.095627,-0.237985,0.966550]]
2025-10-24T22:44:33.965Z,1761345873.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956154,-0.245620,-0.159500],[0.276799,-0.935822,-0.218219],[-0.095664,-0.252800,0.962777]]
2025-10-24T22:44:34.342Z,1761345874.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952094,-0.256421,-0.166629],[0.291321,-0.926235,-0.239207],[-0.093000,-0.276290,0.956564]]
2025-10-24T22:44:34.737Z,1761345874.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947583,-0.268388,-0.173360],[0.307752,-0.912516,-0.269451],[-0.085877,-0.308679,0.947282]]
2025-10-24T22:44:35.146Z,1761345875.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942980,-0.280841,-0.178654],[0.324194,-0.896557,-0.301801],[-0.075416,-0.342511,0.936482]]
2025-10-24T22:44:35.546Z,1761345875.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938593,-0.293276,-0.181747],[0.339198,-0.880749,-0.330495],[-0.063147,-0.371848,0.926143]]
2025-10-24T22:44:35.977Z,1761345875.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934442,-0.305588,-0.182850],[0.352557,-0.866254,-0.353988],[-0.050220,-0.395247,0.917201]]
2025-10-24T22:44:36.367Z,1761345876.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930190,-0.319988,-0.179872],[0.365292,-0.855195,-0.367700],[-0.036166,-0.407737,0.912383]]
2025-10-24T22:44:36.770Z,1761345876.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925196,-0.337220,-0.174054],[0.378929,-0.845836,-0.375465],[-0.020607,-0.413333,0.910347]]
2025-10-24T22:44:37.176Z,1761345877.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919379,-0.356240,-0.166840],[0.393359,-0.836112,-0.382341],[-0.003292,-0.417145,0.908834]]
2025-10-24T22:44:37.381Z,1761345877.381 [DAT](INFO): DAT read: Rx Time:22:44:36.6697

2025-10-24T22:44:37.382Z,1761345877.382 [DAT](INFO): Rx dataTimestamp_ set to:1761345877.381321
2025-10-24T22:44:37.578Z,1761345877.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913002,-0.374889,-0.160892],[0.407709,-0.824771,-0.391825],[0.014192,-0.423333,0.905863]]
2025-10-24T22:44:37.902Z,1761345877.902 [DAT](INFO): DAT read: 22:44:36.6697 LVL= 30192, 27505, 28146, 24915, AGC= 77, IDX= 267,-0.31, 2.260,-2.327,-2.458,-2.929, PHS=-0.993, 0.647, 0.427, RAW= 277.1,  -1.1, CAL= 275.9,  -6.6, ROT= 234.1,   6.6

2025-10-24T22:44:37.906Z,1761345877.906 [DAT](INFO): got valid direction response:
 22:44:36.6697 LVL= 30192, 27505, 28146, 24915, AGC= 77, IDX= 267,-0.31, 2.260,-2.327,-2.458,-2.929, PHS=-0.993, 0.647, 0.427, RAW= 277.1,  -1.1, CAL= 275.9,  -6.6, ROT= 234.1,   6.6

2025-10-24T22:44:37.907Z,1761345877.907 [DAT](INFO): DAT read: 

2025-10-24T22:44:37.910Z,1761345877.910 [DAT](INFO): DAT read: $Packet for address 10

2025-10-24T22:44:37.911Z,1761345877.911 [DAT](INFO): received a packet notification
2025-10-24T22:44:37.925Z,1761345877.925 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-10-24T22:44:37.929Z,1761345877.929 [DAT](INFO): direction in FSK: [-0.582486,-0.804673,-0.114937]
2025-10-24T22:44:38.101Z,1761345878.101 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345920.00. Resetting abort timer.
2025-10-24T22:44:38.386Z,1761345878.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899889,-0.407647,-0.154996],[0.434276,-0.804947,-0.404307],[0.040050,-0.431142,0.901395]]
2025-10-24T22:44:39.206Z,1761345879.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883939,-0.440315,-0.157400],[0.464988,-0.792157,-0.395315],[0.049378,-0.422623,0.904959]]
2025-10-24T22:44:39.638Z,1761345879.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869130,-0.469389,-0.155842],[0.491438,-0.784133,-0.378977],[0.055687,-0.405967,0.912189]]
2025-10-24T22:44:39.911Z,1761345879.911 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:44:40.079Z,1761345880.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862901,-0.481702,-0.152856],[0.501646,-0.779755,-0.374610],[0.061261,-0.399931,0.914496]]
2025-10-24T22:44:40.161Z,1761345880.161 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:44:40.161Z,1761345880.161 [DAT](INFO): #Outgoing data=9
2025-10-24T22:44:40.161Z,1761345880.161 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:44:40.413Z,1761345880.413 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:44:40.484Z,1761345880.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856843,-0.493462,-0.149385],[0.510914,-0.773787,-0.374459],[0.069190,-0.397176,0.915131]]
2025-10-24T22:44:40.886Z,1761345880.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850015,-0.506203,-0.145717],[0.520739,-0.765808,-0.377317],[0.079408,-0.396606,0.914548]]
2025-10-24T22:44:41.291Z,1761345881.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841069,-0.521951,-0.142019],[0.533195,-0.755731,-0.380228],[0.091132,-0.395522,0.913924]]
2025-10-24T22:44:41.697Z,1761345881.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830626,-0.538690,-0.140976],[0.547179,-0.742699,-0.385997],[0.103230,-0.397758,0.911664]]
2025-10-24T22:44:42.109Z,1761345882.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819018,-0.556205,-0.140876],[0.562167,-0.728771,-0.390974],[0.114795,-0.399411,0.909557]]
2025-10-24T22:44:42.117Z,1761345882.117 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050102325830,35.0, +15.3,507.8,  0
2025-10-24T22:44:42.555Z,1761345882.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807384,-0.572889,-0.141168],[0.576685,-0.715618,-0.394113],[0.124761,-0.399610,0.908156]]
2025-10-24T22:44:42.628Z,1761345882.628 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:44:42.628Z,1761345882.628 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:44:42.629Z,1761345882.629 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:44:42.629Z,1761345882.629 [marl:UpdateRudder:A] Stopped
2025-10-24T22:44:42.629Z,1761345882.629 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:44:42.629Z,1761345882.629 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:44:42.629Z,1761345882.629 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:44:42.629Z,1761345882.629 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:44:42.630Z,1761345882.630 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:44:42.630Z,1761345882.630 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:44:42.630Z,1761345882.630 [marl:UpdateCommandMode] Stopped
2025-10-24T22:44:42.630Z,1761345882.630 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:44:42.630Z,1761345882.630 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:44:42.630Z,1761345882.630 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:44:42.630Z,1761345882.630 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:44:42.631Z,1761345882.631 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:44:42.631Z,1761345882.631 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:44:42.631Z,1761345882.631 [marl:UpdateSpeed] Stopped
2025-10-24T22:44:42.631Z,1761345882.631 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:44:42.955Z,1761345882.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797028,-0.586734,-0.143141],[0.589360,-0.703856,-0.396538],[0.131911,-0.400413,0.906790]]
2025-10-24T22:44:43.009Z,1761345883.009 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:44:43.009Z,1761345883.009 [marl:UpdateRudder:B] Stopped
2025-10-24T22:44:43.009Z,1761345883.009 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:44:43.009Z,1761345883.009 [marl:UpdateRudder] Stopped
2025-10-24T22:44:43.009Z,1761345883.009 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:44:43.414Z,1761345883.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787239,-0.598515,-0.148437],[0.601861,-0.693371,-0.396231],[0.134228,-0.401268,0.906072]]
2025-10-24T22:44:43.697Z,1761345883.697 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:44:43.6157

2025-10-24T22:44:43.697Z,1761345883.697 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:44:44.212Z,1761345884.212 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:44:44.212Z,1761345884.212 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:44:44.247Z,1761345884.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771006,-0.616970,-0.157791],[0.623299,-0.680295,-0.385613],[0.130567,-0.395661,0.909068]]
2025-10-24T22:44:44.682Z,1761345884.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763304,-0.626676,-0.156985],[0.632753,-0.676168,-0.377387],[0.130352,-0.387394,0.912653]]
2025-10-24T22:44:45.087Z,1761345885.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754278,-0.637892,-0.155427],[0.643037,-0.669958,-0.371026],[0.132545,-0.379802,0.915523]]
2025-10-24T22:44:45.483Z,1761345885.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744669,-0.649179,-0.155031],[0.653075,-0.660798,-0.369918],[0.137699,-0.376713,0.916038]]
2025-10-24T22:44:45.917Z,1761345885.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735630,-0.658902,-0.157151],[0.661618,-0.649145,-0.375330],[0.145292,-0.380078,0.913472]]
2025-10-24T22:44:46.073Z,1761345886.073 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:44:46.218Z,1761345886.218 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:44:46.273Z,1761345886.273 [DAT](INFO): entering command mode
2025-10-24T22:44:46.334Z,1761345886.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726468,-0.667507,-0.163339],[0.670220,-0.635700,-0.383002],[0.151822,-0.387712,0.909192]]
2025-10-24T22:44:46.468Z,1761345886.468 [DAT](INFO): DAT read: 

2025-10-24T22:44:46.469Z,1761345886.469 [DAT](INFO): DAT read: user:13>

2025-10-24T22:44:46.470Z,1761345886.470 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:44:46.470Z,1761345886.470 [DAT](INFO): setting remote address to 0
2025-10-24T22:44:46.541Z,1761345886.541 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.255936
2025-10-24T22:44:46.725Z,1761345886.725 [DAT](INFO): DAT read: user:13>

2025-10-24T22:44:46.726Z,1761345886.726 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:44:46.727Z,1761345886.727 [DAT](INFO): set remote address to 0
2025-10-24T22:44:46.727Z,1761345886.727 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:44:46.727Z,1761345886.727 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:44:46.741Z,1761345886.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714809,-0.677883,-0.171820],[0.681682,-0.620588,-0.387532],[0.156072,-0.394138,0.905702]]
2025-10-24T22:44:46.977Z,1761345886.977 [DAT](INFO): DAT read: user:14>

2025-10-24T22:44:46.977Z,1761345886.977 [DAT](INFO): DAT read: Tx time:22:44:46.8168

2025-10-24T22:44:46.978Z,1761345886.978 [DAT](INFO): Ping request sent.
2025-10-24T22:44:46.978Z,1761345886.978 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:44:46.978Z,1761345886.978 [DAT](INFO): publishing transmit ping time
2025-10-24T22:44:46.979Z,1761345886.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000993
2025-10-24T22:44:47.138Z,1761345887.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701489,-0.688994,-0.182211],[0.694560,-0.603644,-0.391409],[0.159688,-0.401125,0.901997]]
2025-10-24T22:44:47.232Z,1761345887.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254532
2025-10-24T22:44:47.481Z,1761345887.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502829
2025-10-24T22:44:47.542Z,1761345887.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687874,-0.699810,-0.192603],[0.707002,-0.585961,-0.395977],[0.164251,-0.408553,0.897834]]
2025-10-24T22:44:47.544Z,1761345887.544 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:44:47.733Z,1761345887.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755033
2025-10-24T22:44:47.971Z,1761345887.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674761,-0.710453,-0.199887],[0.718215,-0.569749,-0.399441],[0.169899,-0.413089,0.894702]]
2025-10-24T22:44:47.985Z,1761345887.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006944
2025-10-24T22:44:48.237Z,1761345888.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258920
2025-10-24T22:44:48.489Z,1761345888.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510934
2025-10-24T22:44:48.741Z,1761345888.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762812
2025-10-24T22:44:48.762Z,1761345888.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648649,-0.732048,-0.208230],[0.740219,-0.543163,-0.396295],[0.177004,-0.411192,0.894198]]
2025-10-24T22:44:48.993Z,1761345888.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014934
2025-10-24T22:44:49.159Z,1761345889.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637019,-0.741467,-0.210790],[0.750069,-0.533159,-0.391329],[0.177773,-0.407391,0.895784]]
2025-10-24T22:44:49.245Z,1761345889.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267004
2025-10-24T22:44:49.497Z,1761345889.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518923
2025-10-24T22:44:49.567Z,1761345889.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626565,-0.749502,-0.213689],[0.759052,-0.524651,-0.385461],[0.176792,-0.403717,0.897640]]
2025-10-24T22:44:49.749Z,1761345889.749 [DAT](INFO): DAT read: Rx Time:22:44:49.1666

2025-10-24T22:44:49.749Z,1761345889.749 [DAT](INFO): Rx dataTimestamp_ set to:1761345889.748997
2025-10-24T22:44:49.750Z,1761345889.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771955
2025-10-24T22:44:49.981Z,1761345889.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616449,-0.757158,-0.216107],[0.767722,-0.516998,-0.378571],[0.174911,-0.399280,0.899990]]
2025-10-24T22:44:50.007Z,1761345890.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028750
2025-10-24T22:44:50.266Z,1761345890.266 [DAT](INFO): DAT read: 22:44:49.1666 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 352,-0.35,-0.167, 1.903, 0.804, 1.010, PHS=-1.075, 0.938,-0.250, RAW= 305.9,   4.5, CAL= 303.6,   1.8, ROT= 206.4,  -1.8

2025-10-24T22:44:50.267Z,1761345890.267 [DAT](INFO): got valid direction response:
 22:44:49.1666 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 352,-0.35,-0.167, 1.903, 0.804, 1.010, PHS=-1.075, 0.938,-0.250, RAW= 305.9,   4.5, CAL= 303.6,   1.8, ROT= 206.4,  -1.8

2025-10-24T22:44:50.280Z,1761345890.280 [DAT](INFO): DAT read: Bearing 299, -11 (Remote)

2025-10-24T22:44:50.280Z,1761345890.280 [DAT](INFO): Remote Bearing received:Bearing 299, -11 (Remote)

2025-10-24T22:44:50.282Z,1761345890.282 [DAT](INFO): DAT read: Range 11 to 20 : 240.4 m  (Round-trip  320.6 ms) speed -0.9 m/s

2025-10-24T22:44:50.282Z,1761345890.282 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-24T22:44:50.283Z,1761345890.283 [DAT](INFO): direction in FSK: [-0.895270,-0.444416,0.031411]
2025-10-24T22:44:50.283Z,1761345890.283 [DAT](INFO): publishing direction and range info
2025-10-24T22:44:50.387Z,1761345890.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605147,-0.765452,-0.218816],[0.776968,-0.507931,-0.371923],[0.173546,-0.395081,0.902104]]
2025-10-24T22:44:50.448Z,1761345890.448 [marl:SendObservationData] Running Loop=1
2025-10-24T22:44:50.448Z,1761345890.448 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T22:44:50.448Z,1761345890.448 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T22:44:50.449Z,1761345890.449 [marl:SendObservationData:A] Running Loop=1
2025-10-24T22:44:50.451Z,1761345890.451 [marl:SendObservationData:A](INFO): Got test_good :  41da3f006000000040514000000000004042630c70ca8712c05e77462cba82f640165347600000004057e66660000000 n/a str  and temp var is  nan n/a str 
2025-10-24T22:44:50.451Z,1761345890.451 [marl:SendObservationData:A] Stopped
2025-10-24T22:44:50.451Z,1761345890.451 [marl:SendObservationData:B] Running Loop=1
2025-10-24T22:44:50.464Z,1761345890.464 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345920.00. Resetting abort timer.
2025-10-24T22:44:50.826Z,1761345890.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592113,-0.774437,-0.222823],[0.786979,-0.496202,-0.366672],[0.173399,-0.392468,0.903273]]
2025-10-24T22:44:50.873Z,1761345890.873 [marl:SendObservationData:B] Stopped
2025-10-24T22:44:50.873Z,1761345890.873 [marl:SendObservationData:C] Running Loop=1
2025-10-24T22:44:51.227Z,1761345891.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577195,-0.784487,-0.226772],[0.797687,-0.482215,-0.362166],[0.174762,-0.389934,0.904107]]
2025-10-24T22:44:51.257Z,1761345891.257 [marl:SendObservationData:C] Stopped
2025-10-24T22:44:51.257Z,1761345891.257 [marl:SendObservationData:E] Running Loop=1
2025-10-24T22:44:51.698Z,1761345891.698 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.011997 min 
2025-10-24T22:44:51.698Z,1761345891.698 [marl:SendObservationData:E] Stopped
2025-10-24T22:44:51.699Z,1761345891.699 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T22:44:51.699Z,1761345891.699 [marl:SendObservationData] Stopped
2025-10-24T22:44:51.699Z,1761345891.699 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T22:44:51.699Z,1761345891.699 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T22:44:52.047Z,1761345892.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527448,-0.811383,-0.251906],[0.830094,-0.429021,-0.356209],[0.180950,-0.396987,0.899810]]
2025-10-24T22:44:52.075Z,1761345892.075 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,1057.71, 619.60, 689.39
2025-10-24T22:44:52.447Z,1761345892.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509862,-0.820348,-0.258979],[0.841255,-0.412546,-0.349423],[0.179807,-0.396024,0.900463]]
2025-10-24T22:44:52.847Z,1761345892.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492508,-0.829065,-0.264739],[0.851893,-0.396998,-0.341572],[0.178085,-0.393756,0.901799]]
2025-10-24T22:44:53.148Z,1761345893.148 [Radio_Surface](INFO): Powering down
2025-10-24T22:44:53.252Z,1761345893.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474978,-0.837425,-0.270400],[0.862104,-0.381158,-0.333909],[0.176558,-0.391712,0.902989]]
2025-10-24T22:44:53.662Z,1761345893.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457607,-0.845091,-0.276438],[0.871602,-0.364873,-0.327380],[0.175801,-0.390755,0.903551]]
2025-10-24T22:44:53.784Z,1761345893.784 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-24T22:44:53.785Z,1761345893.785 [DAT](ERROR): Ack receipt timeout failure.
2025-10-24T22:44:54.039Z,1761345894.039 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:44:54.059Z,1761345894.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439761,-0.852405,-0.282872],[0.880754,-0.347683,-0.321542],[0.175734,-0.390542,0.903656]]
2025-10-24T22:44:54.289Z,1761345894.289 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:44:54.289Z,1761345894.289 [DAT](INFO): #Outgoing data=10
2025-10-24T22:44:54.289Z,1761345894.289 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:44:54.463Z,1761345894.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422478,-0.858921,-0.289427],[0.889203,-0.330914,-0.315933],[0.175586,-0.390834,0.903559]]
2025-10-24T22:44:54.541Z,1761345894.541 [DAT](INFO): setting remote address to 10
2025-10-24T22:44:54.793Z,1761345894.793 [DAT](INFO): DAT read: user:15>

2025-10-24T22:44:54.794Z,1761345894.794 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:44:54.794Z,1761345894.794 [DAT](INFO): set remote address to 10
2025-10-24T22:44:54.794Z,1761345894.794 [DAT](INFO): entering online mode
2025-10-24T22:44:54.863Z,1761345894.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404496,-0.864964,-0.297018],[0.897576,-0.313210,-0.310253],[0.175328,-0.392093,0.903063]]
2025-10-24T22:44:55.045Z,1761345895.045 [DAT](INFO): DAT read: user:16>

2025-10-24T22:44:55.045Z,1761345895.045 [DAT](INFO): DAT read: 

2025-10-24T22:44:55.046Z,1761345895.046 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:44:55.047Z,1761345895.047 [DAT](INFO): commRate: 600
2025-10-24T22:44:55.047Z,1761345895.047 [DAT](INFO): online mode acknowledged
2025-10-24T22:44:55.047Z,1761345895.047 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:44:55.266Z,1761345895.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386685,-0.870509,-0.304448],[0.905487,-0.295799,-0.304298],[0.174839,-0.393341,0.902615]]
2025-10-24T22:44:55.731Z,1761345895.731 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:44:55.731Z,1761345895.731 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:44:55.731Z,1761345895.731 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:44:55.732Z,1761345895.732 [marl:UpdateRudder:A] Stopped
2025-10-24T22:44:55.732Z,1761345895.732 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:44:55.732Z,1761345895.732 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:44:55.732Z,1761345895.732 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:44:55.732Z,1761345895.732 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:44:55.733Z,1761345895.733 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:44:55.733Z,1761345895.733 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:44:55.733Z,1761345895.733 [marl:UpdateCommandMode] Stopped
2025-10-24T22:44:55.733Z,1761345895.733 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:44:55.733Z,1761345895.733 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:44:55.733Z,1761345895.733 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:44:55.733Z,1761345895.733 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:44:55.734Z,1761345895.734 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:44:55.734Z,1761345895.734 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:44:55.734Z,1761345895.734 [marl:UpdateSpeed] Stopped
2025-10-24T22:44:55.734Z,1761345895.734 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:44:56.167Z,1761345896.167 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:44:56.168Z,1761345896.168 [marl:UpdateRudder:B] Stopped
2025-10-24T22:44:56.168Z,1761345896.168 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:44:56.168Z,1761345896.168 [marl:UpdateRudder] Stopped
2025-10-24T22:44:56.168Z,1761345896.168 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:44:56.511Z,1761345896.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332039,-0.888104,-0.317839],[0.927037,-0.245009,-0.283853],[0.174217,-0.388899,0.904658]]
2025-10-24T22:44:56.943Z,1761345896.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311985,-0.894843,-0.319251],[0.934201,-0.227742,-0.274593],[0.173011,-0.383914,0.907016]]
2025-10-24T22:44:57.322Z,1761345897.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293130,-0.899547,-0.323866],[0.940891,-0.211293,-0.264724],[0.169701,-0.382322,0.908312]]
2025-10-24T22:44:57.722Z,1761345897.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277971,-0.904030,-0.324750],[0.946514,-0.200109,-0.253115],[0.163838,-0.377739,0.911301]]
2025-10-24T22:44:58.127Z,1761345898.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268310,-0.909824,-0.316591],[0.950652,-0.196923,-0.239754],[0.155789,-0.365296,0.917763]]
2025-10-24T22:44:58.321Z,1761345898.321 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:44:58.2156

2025-10-24T22:44:58.321Z,1761345898.321 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:44:58.537Z,1761345898.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263469,-0.917136,-0.299073],[0.953374,-0.200255,-0.225777],[0.147177,-0.344614,0.927135]]
2025-10-24T22:44:58.934Z,1761345898.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261129,-0.923784,-0.280062],[0.955218,-0.205455,-0.212949],[0.139178,-0.323127,0.936065]]
2025-10-24T22:44:59.341Z,1761345899.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258220,-0.930473,-0.259889],[0.957082,-0.209741,-0.200007],[0.131592,-0.300381,0.944698]]
2025-10-24T22:44:59.743Z,1761345899.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254523,-0.936308,-0.241962],[0.959088,-0.212321,-0.187269],[0.123968,-0.279727,0.952042]]
2025-10-24T22:45:00.558Z,1761345900.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247430,-0.943938,-0.218541],[0.963012,-0.214746,-0.162765],[0.106709,-0.250731,0.962158]]
2025-10-24T22:45:00.955Z,1761345900.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245720,-0.945439,-0.213931],[0.964542,-0.216542,-0.150889],[0.096331,-0.243421,0.965125]]
2025-10-24T22:45:01.361Z,1761345901.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246577,-0.946331,-0.208944],[0.965429,-0.221054,-0.138138],[0.084536,-0.235782,0.968122]]
2025-10-24T22:45:01.763Z,1761345901.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250168,-0.946263,-0.204945],[0.965513,-0.228054,-0.125599],[0.072111,-0.229298,0.970681]]
2025-10-24T22:45:02.167Z,1761345902.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254587,-0.946157,-0.199933],[0.965211,-0.235870,-0.112836],[0.059603,-0.221704,0.973291]]
2025-10-24T22:45:02.194Z,1761345902.194 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,     -222.69,     +1060.83,       +30

2025-10-24T22:45:02.574Z,1761345902.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258456,-0.945817,-0.196546],[0.964836,-0.242656,-0.101044],[0.047876,-0.215750,0.975274]]
2025-10-24T22:45:02.974Z,1761345902.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261600,-0.945111,-0.195784],[0.964423,-0.247949,-0.091700],[0.038122,-0.212807,0.976350]]
2025-10-24T22:45:03.381Z,1761345903.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264252,-0.944332,-0.195978],[0.963952,-0.252050,-0.085250],[0.031108,-0.211441,0.976896]]
2025-10-24T22:45:03.782Z,1761345903.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266261,-0.944092,-0.194412],[0.963522,-0.255035,-0.081126],[0.027009,-0.208921,0.977560]]
2025-10-24T22:45:04.186Z,1761345904.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267660,-0.943991,-0.192974],[0.963190,-0.256963,-0.078959],[0.024950,-0.207005,0.978022]]
2025-10-24T22:45:04.591Z,1761345904.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268551,-0.943861,-0.192370],[0.962967,-0.258092,-0.077989],[0.023961,-0.206190,0.978219]]
2025-10-24T22:45:04.996Z,1761345904.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268597,-0.943883,-0.192200],[0.962958,-0.258182,-0.077800],[0.023812,-0.205978,0.978267]]
2025-10-24T22:45:05.398Z,1761345905.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266006,-0.944004,-0.195186],[0.963682,-0.255455,-0.077844],[0.023624,-0.208805,0.977672]]
2025-10-24T22:45:05.802Z,1761345905.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260326,-0.944388,-0.200901],[0.965251,-0.249642,-0.077257],[0.022807,-0.214032,0.976560]]
2025-10-24T22:45:06.206Z,1761345906.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254243,-0.944722,-0.207029],[0.966886,-0.243375,-0.076816],[0.022184,-0.219704,0.975314]]
2025-10-24T22:45:06.614Z,1761345906.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248066,-0.945171,-0.212403],[0.968481,-0.236867,-0.077058],[0.022522,-0.224824,0.974139]]
2025-10-24T22:45:07.016Z,1761345907.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241269,-0.946803,-0.212965],[0.970175,-0.230021,-0.076488],[0.023433,-0.225067,0.974061]]
2025-10-24T22:45:07.419Z,1761345907.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234034,-0.948465,-0.213638],[0.971916,-0.222675,-0.076120],[0.024625,-0.225453,0.973943]]
2025-10-24T22:45:07.822Z,1761345907.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226244,-0.949767,-0.216234],[0.973727,-0.214627,-0.076097],[0.025865,-0.227769,0.973372]]
2025-10-24T22:45:08.227Z,1761345908.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218267,-0.951687,-0.215989],[0.975517,-0.206661,-0.075221],[0.026950,-0.227119,0.973494]]
2025-10-24T22:45:08.400Z,1761345908.400 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:45:08.633Z,1761345908.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210650,-0.953201,-0.216874],[0.977173,-0.199060,-0.074221],[0.027577,-0.227558,0.973374]]
2025-10-24T22:45:08.654Z,1761345908.654 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:45:08.654Z,1761345908.654 [DAT](INFO): #Outgoing data=10
2025-10-24T22:45:08.654Z,1761345908.654 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:45:08.675Z,1761345908.675 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:45:08.675Z,1761345908.675 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:45:08.675Z,1761345908.675 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:45:08.675Z,1761345908.675 [marl:UpdateRudder:A] Stopped
2025-10-24T22:45:08.676Z,1761345908.676 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:45:08.692Z,1761345908.692 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:45:08.692Z,1761345908.692 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:45:08.692Z,1761345908.692 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:45:08.692Z,1761345908.692 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:45:08.693Z,1761345908.693 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:45:08.693Z,1761345908.693 [marl:UpdateCommandMode] Stopped
2025-10-24T22:45:08.693Z,1761345908.693 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:45:08.693Z,1761345908.693 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:45:08.693Z,1761345908.693 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:45:08.693Z,1761345908.693 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:45:08.693Z,1761345908.693 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:45:08.693Z,1761345908.693 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:45:08.693Z,1761345908.693 [marl:UpdateSpeed] Stopped
2025-10-24T22:45:08.694Z,1761345908.694 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:45:08.905Z,1761345908.905 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:45:09.042Z,1761345909.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203866,-0.953802,-0.220680],[0.978615,-0.192226,-0.073232],[0.027429,-0.230891,0.972593]]
2025-10-24T22:45:09.085Z,1761345909.085 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:45:09.086Z,1761345909.086 [marl:UpdateRudder:B] Stopped
2025-10-24T22:45:09.086Z,1761345909.086 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:45:09.086Z,1761345909.086 [marl:UpdateRudder] Stopped
2025-10-24T22:45:09.086Z,1761345909.086 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:45:09.438Z,1761345909.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198029,-0.953960,-0.225266],[0.979849,-0.186546,-0.071387],[0.026078,-0.234864,0.971678]]
2025-10-24T22:45:09.842Z,1761345909.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193791,-0.954240,-0.227752],[0.980771,-0.182984,-0.067855],[0.023075,-0.236523,0.971352]]
2025-10-24T22:45:10.248Z,1761345910.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190924,-0.954395,-0.229518],[0.981441,-0.181329,-0.062399],[0.017935,-0.237172,0.971302]]
2025-10-24T22:45:10.654Z,1761345910.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191277,-0.954538,-0.228626],[0.981461,-0.183126,-0.056557],[0.012119,-0.235206,0.971870]]
2025-10-24T22:45:11.057Z,1761345911.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194807,-0.954632,-0.225231],[0.980820,-0.188082,-0.051155],[0.006473,-0.230876,0.972962]]
2025-10-24T22:45:11.459Z,1761345911.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198903,-0.954757,-0.221080],[0.980017,-0.193285,-0.046989],[0.002132,-0.226009,0.974123]]
2025-10-24T22:45:11.863Z,1761345911.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200779,-0.954015,-0.222581],[0.979636,-0.195386,-0.046228],[0.000613,-0.227330,0.973818]]
2025-10-24T22:45:12.181Z,1761345912.181 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:45:12.0655

2025-10-24T22:45:12.181Z,1761345912.181 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:45:12.307Z,1761345912.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198827,-0.951223,-0.235885],[0.980029,-0.192191,-0.051039],[0.003214,-0.241322,0.970440]]
2025-10-24T22:45:12.712Z,1761345912.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193801,-0.946197,-0.259138],[0.980993,-0.184311,-0.060673],[0.009647,-0.265971,0.963933]]
2025-10-24T22:45:13.161Z,1761345913.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185548,-0.940944,-0.283190],[0.982478,-0.172489,-0.070601],[0.017584,-0.291328,0.956462]]
2025-10-24T22:45:13.562Z,1761345913.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173326,-0.935855,-0.306813],[0.984569,-0.157019,-0.077260],[0.024129,-0.315470,0.948629]]
2025-10-24T22:45:14.044Z,1761345914.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157408,-0.931629,-0.327551],[0.987146,-0.139149,-0.078614],[0.027660,-0.335715,0.941558]]
2025-10-24T22:45:14.543Z,1761345914.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123549,-0.923854,-0.362257],[0.991924,-0.104427,-0.071982],[0.028671,-0.368225,0.929295]]
2025-10-24T22:45:14.938Z,1761345914.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108350,-0.920331,-0.375834],[0.993683,-0.089154,-0.068154],[0.029217,-0.380845,0.924177]]
2025-10-24T22:45:15.343Z,1761345915.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094999,-0.918564,-0.383686],[0.994939,-0.074940,-0.066932],[0.032728,-0.388103,0.921035]]
2025-10-24T22:45:15.749Z,1761345915.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082943,-0.917496,-0.389002],[0.995734,-0.060466,-0.069695],[0.040423,-0.393123,0.918597]]
2025-10-24T22:45:16.150Z,1761345916.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069206,-0.917811,-0.390938],[0.996310,-0.043646,-0.073905],[0.050768,-0.394610,0.917445]]
2025-10-24T22:45:16.554Z,1761345916.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052562,-0.918770,-0.391278],[0.996656,-0.023717,-0.078195],[0.062563,-0.394080,0.916944]]
2025-10-24T22:45:16.962Z,1761345916.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034221,-0.918814,-0.393204],[0.996628,-0.002017,-0.082025],[0.074573,-0.394685,0.915785]]
2025-10-24T22:45:17.364Z,1761345917.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014897,-0.918549,-0.395026],[0.996246,0.020057,-0.084208],[0.085272,-0.394798,0.914802]]
2025-10-24T22:45:17.668Z,1761345917.668 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:45:17.766Z,1761345917.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006187,-0.918762,-0.394764],[0.995639,0.042408,-0.083094],[0.093085,-0.392528,0.915018]]
2025-10-24T22:45:18.170Z,1761345918.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028965,-0.918661,-0.393983],[0.994873,0.064700,-0.077722],[0.096891,-0.389712,0.915825]]
2025-10-24T22:45:18.614Z,1761345918.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053055,-0.918673,-0.391440],[0.993865,0.086672,-0.068706],[0.097045,-0.385393,0.917635]]
2025-10-24T22:45:18.673Z,1761345918.673 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-24T22:45:18.673Z,1761345918.673 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:45:19.029Z,1761345919.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077289,-0.917082,-0.391135],[0.992551,0.107833,-0.056703],[0.094179,-0.383839,0.918585]]
2025-10-24T22:45:19.454Z,1761345919.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100409,-0.914135,-0.392778],[0.990903,0.127432,-0.043266],[0.089603,-0.384860,0.918615]]
2025-10-24T22:45:19.854Z,1761345919.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122223,-0.910697,-0.394578],[0.988918,0.145504,-0.029502],[0.084280,-0.386600,0.918389]]
2025-10-24T22:45:20.258Z,1761345920.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141318,-0.906941,-0.396847],[0.986771,0.161221,-0.017058],[0.079451,-0.389186,0.917726]]
2025-10-24T22:45:20.673Z,1761345920.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153483,-0.904616,-0.397635],[0.985112,0.171610,-0.010169],[0.077437,-0.390154,0.917487]]
2025-10-24T22:45:21.067Z,1761345921.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162294,-0.903194,-0.397369],[0.983638,0.180004,-0.007398],[0.078210,-0.389667,0.917629]]
2025-10-24T22:45:21.473Z,1761345921.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172570,-0.902547,-0.394498],[0.981770,0.190001,-0.005223],[0.079669,-0.386405,0.918882]]
2025-10-24T22:45:21.875Z,1761345921.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183315,-0.901110,-0.392933],[0.979610,0.200876,-0.003649],[0.082219,-0.384252,0.919560]]
2025-10-24T22:45:22.018Z,1761345922.018 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:45:22.018Z,1761345922.018 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:45:22.018Z,1761345922.018 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:45:22.019Z,1761345922.019 [marl:UpdateRudder:A] Stopped
2025-10-24T22:45:22.019Z,1761345922.019 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:45:22.019Z,1761345922.019 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:45:22.019Z,1761345922.019 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:45:22.019Z,1761345922.019 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:45:22.020Z,1761345922.020 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:45:22.021Z,1761345922.021 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:45:22.021Z,1761345922.021 [marl:UpdateCommandMode] Stopped
2025-10-24T22:45:22.021Z,1761345922.021 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:45:22.021Z,1761345922.021 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:45:22.021Z,1761345922.021 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:45:22.021Z,1761345922.021 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:45:22.022Z,1761345922.022 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:45:22.022Z,1761345922.022 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:45:22.022Z,1761345922.022 [marl:UpdateSpeed] Stopped
2025-10-24T22:45:22.022Z,1761345922.022 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:45:22.279Z,1761345922.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195624,-0.900609,-0.388117],[0.976961,0.213400,-0.002765],[0.085315,-0.378634,0.921606]]
2025-10-24T22:45:22.281Z,1761345922.281 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:45:22.337Z,1761345922.337 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:45:22.337Z,1761345922.337 [marl:UpdateRudder:B] Stopped
2025-10-24T22:45:22.337Z,1761345922.337 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:45:22.337Z,1761345922.337 [marl:UpdateRudder] Stopped
2025-10-24T22:45:22.337Z,1761345922.337 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:45:22.533Z,1761345922.533 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:45:22.533Z,1761345922.533 [DAT](INFO): #Outgoing data=11
2025-10-24T22:45:22.533Z,1761345922.533 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:45:22.699Z,1761345922.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209696,-0.898688,-0.385211],[0.973806,0.227382,-0.000369],[0.087922,-0.375043,0.922828]]
2025-10-24T22:45:22.784Z,1761345922.784 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:45:23.087Z,1761345923.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225666,-0.894266,-0.386475],[0.970037,0.242920,0.004319],[0.090020,-0.375869,0.922290]]
2025-10-24T22:45:23.495Z,1761345923.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242336,-0.888124,-0.390525],[0.965820,0.259008,0.010298],[0.092003,-0.379672,0.920535]]
2025-10-24T22:45:23.907Z,1761345923.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259569,-0.881480,-0.394484],[0.961079,0.275804,0.016098],[0.094611,-0.383309,0.918762]]
2025-10-24T22:45:24.322Z,1761345924.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277107,-0.875128,-0.396689],[0.955871,0.293014,0.021310],[0.097587,-0.385089,0.917706]]
2025-10-24T22:45:24.729Z,1761345924.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294933,-0.869713,-0.395745],[0.950144,0.310801,0.025068],[0.101196,-0.383408,0.918018]]
2025-10-24T22:45:25.126Z,1761345925.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313805,-0.864395,-0.392871],[0.943669,0.329670,0.028413],[0.104958,-0.379656,0.919154]]
2025-10-24T22:45:25.535Z,1761345925.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334122,-0.858707,-0.388567],[0.936314,0.349667,0.032380],[0.108064,-0.374640,0.920851]]
2025-10-24T22:45:25.968Z,1761345925.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355857,-0.851780,-0.384496],[0.928023,0.370588,0.037932],[0.110180,-0.370319,0.922347]]
2025-10-24T22:45:26.061Z,1761345926.061 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:45:25.9654

2025-10-24T22:45:26.061Z,1761345926.061 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:45:26.339Z,1761345926.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377069,-0.842883,-0.383884],[0.919392,0.390745,0.045123],[0.111967,-0.369955,0.922278]]
2025-10-24T22:45:26.749Z,1761345926.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397726,-0.834256,-0.381879],[0.910530,0.410111,0.052383],[0.112912,-0.368546,0.922727]]
2025-10-24T22:45:27.147Z,1761345927.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418420,-0.825113,-0.379623],[0.901280,0.428895,0.061184],[0.112335,-0.367747,0.923116]]
2025-10-24T22:45:27.550Z,1761345927.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438428,-0.814223,-0.380555],[0.892027,0.445965,0.073511],[0.109860,-0.371695,0.921832]]
2025-10-24T22:45:27.971Z,1761345927.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456864,-0.802882,-0.382957],[0.883221,0.460640,0.087928],[0.105810,-0.378406,0.919572]]
2025-10-24T22:45:28.360Z,1761345928.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472935,-0.793161,-0.383703],[0.875245,0.473017,0.101003],[0.101386,-0.383602,0.917916]]
2025-10-24T22:45:28.762Z,1761345928.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485022,-0.785811,-0.383738],[0.868939,0.482476,0.110282],[0.098484,-0.386933,0.916833]]
2025-10-24T22:45:29.166Z,1761345929.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493894,-0.780349,-0.383568],[0.864039,0.489909,0.115868],[0.097496,-0.388644,0.916215]]
2025-10-24T22:45:29.574Z,1761345929.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502113,-0.775634,-0.382459],[0.859251,0.497476,0.119182],[0.097823,-0.388471,0.916254]]
2025-10-24T22:45:29.986Z,1761345929.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510692,-0.770867,-0.380734],[0.854004,0.505995,0.121024],[0.099356,-0.386954,0.916730]]
2025-10-24T22:45:30.378Z,1761345930.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519254,-0.765510,-0.379959],[0.848537,0.514751,0.122537],[0.101782,-0.386037,0.916851]]
2025-10-24T22:45:30.782Z,1761345930.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527683,-0.760352,-0.378703],[0.842916,0.523867,0.122707],[0.105090,-0.383964,0.917348]]
2025-10-24T22:45:31.187Z,1761345931.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536116,-0.755356,-0.376851],[0.837062,0.533410,0.121662],[0.109118,-0.380673,0.918249]]
2025-10-24T22:45:31.599Z,1761345931.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545462,-0.749409,-0.375310],[0.830470,0.543681,0.121367],[0.113095,-0.377885,0.918919]]
2025-10-24T22:45:32.005Z,1761345932.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556551,-0.741509,-0.374721],[0.822547,0.555252,0.122931],[0.116910,-0.376643,0.918952]]
2025-10-24T22:45:32.803Z,1761345932.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585712,-0.719667,-0.372855],[0.800933,0.584451,0.130094],[0.124291,-0.374829,0.918724]]
2025-10-24T22:45:33.208Z,1761345933.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602355,-0.706193,-0.372102],[0.787849,0.600904,0.134940],[0.128303,-0.374442,0.918331]]
2025-10-24T22:45:33.610Z,1761345933.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619888,-0.691751,-0.370431],[0.773463,0.618219,0.139856],[0.132261,-0.373210,0.918271]]
2025-10-24T22:45:34.015Z,1761345934.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638059,-0.675820,-0.368982],[0.757916,0.635768,0.146161],[0.135809,-0.372917,0.917872]]
2025-10-24T22:45:34.423Z,1761345934.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656114,-0.660597,-0.364864],[0.741895,0.653172,0.151520],[0.138225,-0.370105,0.918649]]
2025-10-24T22:45:34.830Z,1761345934.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674750,-0.643369,-0.361647],[0.724894,0.669806,0.160901],[0.138714,-0.370724,0.918326]]
2025-10-24T22:45:34.856Z,1761345934.856 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:45:34.856Z,1761345934.856 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:45:34.856Z,1761345934.856 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:45:34.856Z,1761345934.856 [marl:UpdateRudder:A] Stopped
2025-10-24T22:45:34.856Z,1761345934.856 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:45:34.857Z,1761345934.857 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:45:34.857Z,1761345934.857 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:45:34.857Z,1761345934.857 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:45:34.857Z,1761345934.857 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:45:34.857Z,1761345934.857 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:45:34.857Z,1761345934.857 [marl:UpdateCommandMode] Stopped
2025-10-24T22:45:34.857Z,1761345934.857 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:45:34.857Z,1761345934.857 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:45:34.858Z,1761345934.858 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:45:34.858Z,1761345934.858 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:45:34.858Z,1761345934.858 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:45:34.858Z,1761345934.858 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:45:34.858Z,1761345934.858 [marl:UpdateSpeed] Stopped
2025-10-24T22:45:34.858Z,1761345934.858 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:45:35.228Z,1761345935.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693394,-0.625450,-0.357794],[0.707363,0.685441,0.172648],[0.137264,-0.372803,0.917702]]
2025-10-24T22:45:35.253Z,1761345935.253 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:45:35.253Z,1761345935.253 [marl:UpdateRudder:B] Stopped
2025-10-24T22:45:35.253Z,1761345935.253 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:45:35.253Z,1761345935.253 [marl:UpdateRudder] Stopped
2025-10-24T22:45:35.253Z,1761345935.253 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:45:35.630Z,1761345935.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711530,-0.607743,-0.352667],[0.689679,0.700067,0.185066],[0.134418,-0.374907,0.917266]]
2025-10-24T22:45:36.034Z,1761345936.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728168,-0.589939,-0.348917],[0.672739,0.712566,0.199177],[0.131124,-0.379765,0.915743]]
2025-10-24T22:45:36.141Z,1761345936.141 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:45:36.393Z,1761345936.393 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:45:36.393Z,1761345936.393 [DAT](INFO): #Outgoing data=12
2025-10-24T22:45:36.393Z,1761345936.393 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:45:36.448Z,1761345936.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742506,-0.574146,-0.345023],[0.657512,0.723082,0.211730],[0.127916,-0.384068,0.914401]]
2025-10-24T22:45:36.645Z,1761345936.645 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:45:37.246Z,1761345937.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763175,-0.551628,-0.336556],[0.634312,0.738926,0.227238],[0.123339,-0.386904,0.913834]]
2025-10-24T22:45:37.659Z,1761345937.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771073,-0.543309,-0.332057],[0.625082,0.745233,0.232164],[0.121323,-0.386578,0.914242]]
2025-10-24T22:45:38.466Z,1761345938.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785645,-0.526440,-0.324997],[0.607299,0.756502,0.242677],[0.118106,-0.388028,0.914049]]
2025-10-24T22:45:38.862Z,1761345938.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792511,-0.518101,-0.321710],[0.598492,0.762093,0.247025],[0.117189,-0.388311,0.914047]]
2025-10-24T22:45:39.268Z,1761345939.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799047,-0.509478,-0.319307],[0.589613,0.767997,0.250075],[0.117819,-0.388089,0.914060]]
2025-10-24T22:45:39.681Z,1761345939.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805420,-0.499951,-0.318351],[0.580459,0.773959,0.253090],[0.119858,-0.388634,0.913563]]
2025-10-24T22:45:39.930Z,1761345939.930 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:45:39.8153

2025-10-24T22:45:39.931Z,1761345939.931 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:45:40.074Z,1761345940.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811799,-0.489429,-0.318499],[0.570795,0.780164,0.256003],[0.123186,-0.389621,0.912700]]
2025-10-24T22:45:40.489Z,1761345940.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818879,-0.478232,-0.317381],[0.559798,0.787554,0.257652],[0.126737,-0.388655,0.912625]]
2025-10-24T22:45:40.882Z,1761345940.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827963,-0.464105,-0.314775],[0.545556,0.796534,0.260580],[0.129793,-0.387478,0.912696]]
2025-10-24T22:45:41.290Z,1761345941.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838170,-0.448592,-0.310219],[0.529184,0.806577,0.263434],[0.132041,-0.384966,0.913437]]
2025-10-24T22:45:41.700Z,1761345941.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859220,-0.415895,-0.297947],[0.493341,0.827764,0.267249],[0.135482,-0.376615,0.916409]]
2025-10-24T22:45:42.100Z,1761345942.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869633,-0.399439,-0.290151],[0.474633,0.838175,0.268677],[0.135877,-0.371365,0.918491]]
2025-10-24T22:45:42.503Z,1761345942.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880354,-0.381458,-0.281897],[0.454638,0.848046,0.272256],[0.135207,-0.367843,0.920006]]
2025-10-24T22:45:42.907Z,1761345942.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890500,-0.363054,-0.274227],[0.434756,0.856698,0.277589],[0.134150,-0.366415,0.920730]]
2025-10-24T22:45:43.310Z,1761345943.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898987,-0.346403,-0.268007],[0.417218,0.863478,0.283435],[0.133235,-0.366622,0.920780]]
2025-10-24T22:45:43.713Z,1761345943.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906215,-0.331247,-0.262772],[0.401517,0.868957,0.289307],[0.132505,-0.367682,0.920463]]
2025-10-24T22:45:44.114Z,1761345944.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913298,-0.314993,-0.258196],[0.385268,0.873773,0.296797],[0.132116,-0.370539,0.919373]]
2025-10-24T22:45:44.408Z,1761345944.408 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:45:44.409Z,1761345944.409 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:45:44.518Z,1761345944.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920260,-0.298560,-0.252950],[0.368412,0.878929,0.302914],[0.131887,-0.371949,0.918836]]
2025-10-24T22:45:44.924Z,1761345944.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927022,-0.281672,-0.247571],[0.350892,0.884438,0.307644],[0.132307,-0.372063,0.918729]]
2025-10-24T22:45:45.327Z,1761345945.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933772,-0.263678,-0.241957],[0.332274,0.889893,0.312544],[0.132905,-0.372241,0.918571]]
2025-10-24T22:45:45.731Z,1761345945.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940185,-0.246290,-0.235358],[0.313582,0.895642,0.315424],[0.133111,-0.370361,0.919301]]
2025-10-24T22:45:46.134Z,1761345946.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945358,-0.231789,-0.229285],[0.297391,0.901283,0.315036],[0.133629,-0.366009,0.920967]]
2025-10-24T22:45:46.199Z,1761345946.199 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:45:46.225Z,1761345946.225 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:45:46.276Z,1761345946.276 [DAT](INFO): entering command mode
2025-10-24T22:45:46.477Z,1761345946.477 [DAT](INFO): DAT read: 

2025-10-24T22:45:46.478Z,1761345946.478 [DAT](INFO): DAT read: user:17>

2025-10-24T22:45:46.478Z,1761345946.478 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:45:46.478Z,1761345946.478 [DAT](INFO): setting remote address to 0
2025-10-24T22:45:46.544Z,1761345946.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949686,-0.217826,-0.225052],[0.282757,0.905314,0.316947],[0.134703,-0.364635,0.921356]]
2025-10-24T22:45:46.729Z,1761345946.729 [DAT](INFO): DAT read: user:17>

2025-10-24T22:45:46.731Z,1761345946.731 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:45:46.731Z,1761345946.731 [DAT](INFO): set remote address to 0
2025-10-24T22:45:46.732Z,1761345946.732 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:45:46.732Z,1761345946.732 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:45:46.953Z,1761345946.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953705,-0.203530,-0.221410],[0.268290,0.908440,0.320557],[0.135894,-0.365119,0.920989]]
2025-10-24T22:45:46.982Z,1761345946.982 [DAT](INFO): DAT read: user:18>

2025-10-24T22:45:46.983Z,1761345946.983 [DAT](INFO): DAT read: Tx time:22:45:46.8165

2025-10-24T22:45:46.983Z,1761345946.983 [DAT](INFO): Ping request sent.
2025-10-24T22:45:46.983Z,1761345946.983 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:45:46.984Z,1761345946.984 [DAT](INFO): publishing transmit ping time
2025-10-24T22:45:46.985Z,1761345946.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001094
2025-10-24T22:45:47.233Z,1761345947.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249925
2025-10-24T22:45:47.347Z,1761345947.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957515,-0.188241,-0.218474],[0.253642,0.910205,0.327402],[0.137225,-0.368907,0.919281]]
2025-10-24T22:45:47.485Z,1761345947.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501384
2025-10-24T22:45:47.737Z,1761345947.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753325
2025-10-24T22:45:47.758Z,1761345947.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961178,-0.172165,-0.215629],[0.238660,0.910929,0.336525],[0.138484,-0.374923,0.916654]]
2025-10-24T22:45:47.787Z,1761345947.787 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:45:47.787Z,1761345947.787 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:45:47.787Z,1761345947.787 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:45:47.789Z,1761345947.789 [marl:UpdateRudder:A] Stopped
2025-10-24T22:45:47.789Z,1761345947.789 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:45:47.789Z,1761345947.789 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:45:47.789Z,1761345947.789 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:45:47.789Z,1761345947.789 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:45:47.789Z,1761345947.789 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:45:47.789Z,1761345947.789 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:45:47.789Z,1761345947.789 [marl:UpdateCommandMode] Stopped
2025-10-24T22:45:47.790Z,1761345947.790 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:45:47.790Z,1761345947.790 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:45:47.790Z,1761345947.790 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:45:47.790Z,1761345947.790 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:45:47.790Z,1761345947.790 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:45:47.790Z,1761345947.790 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:45:47.790Z,1761345947.790 [marl:UpdateSpeed] Stopped
2025-10-24T22:45:47.790Z,1761345947.790 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:45:47.991Z,1761345947.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007039
2025-10-24T22:45:48.154Z,1761345948.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964659,-0.155729,-0.212560],[0.223669,0.910385,0.348097],[0.139303,-0.383338,0.913042]]
2025-10-24T22:45:48.206Z,1761345948.206 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:45:48.206Z,1761345948.206 [marl:UpdateRudder:B] Stopped
2025-10-24T22:45:48.206Z,1761345948.206 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:45:48.207Z,1761345948.207 [marl:UpdateRudder] Stopped
2025-10-24T22:45:48.207Z,1761345948.207 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:45:48.241Z,1761345948.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257561
2025-10-24T22:45:48.493Z,1761345948.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509385
2025-10-24T22:45:48.558Z,1761345948.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967985,-0.139284,-0.208817],[0.208762,0.908639,0.361654],[0.139367,-0.393669,0.908626]]
2025-10-24T22:45:48.749Z,1761345948.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765117
2025-10-24T22:45:48.792Z,1761345948.792 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:45:48.966Z,1761345948.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971077,-0.124236,-0.203900],[0.194592,0.906650,0.374326],[0.138361,-0.403177,0.904602]]
2025-10-24T22:45:48.997Z,1761345948.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013606
2025-10-24T22:45:49.249Z,1761345949.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265868
2025-10-24T22:45:49.368Z,1761345949.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973940,-0.111227,-0.197659],[0.181288,0.905469,0.383746],[0.136291,-0.409579,0.902036]]
2025-10-24T22:45:49.501Z,1761345949.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517571
2025-10-24T22:45:49.753Z,1761345949.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769443
2025-10-24T22:45:49.770Z,1761345949.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976510,-0.100653,-0.190517],[0.168985,0.906327,0.387317],[0.133686,-0.410414,0.902047]]
2025-10-24T22:45:49.796Z,1761345949.796 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:45:50.005Z,1761345950.005 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-24T22:45:50.006Z,1761345950.006 [DAT](ERROR): Ack receipt timeout failure.
2025-10-24T22:45:50.006Z,1761345950.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022601
2025-10-24T22:45:50.174Z,1761345950.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978995,-0.090539,-0.182680],[0.156062,0.909348,0.385657],[0.131202,-0.406066,0.904376]]
2025-10-24T22:45:50.262Z,1761345950.262 [DAT](INFO): DAT read: Rx Time:22:45:49.5999

2025-10-24T22:45:50.262Z,1761345950.262 [DAT](INFO): Rx dataTimestamp_ set to:1761345950.261873
2025-10-24T22:45:50.262Z,1761345950.262 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:45:50.263Z,1761345950.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279433
2025-10-24T22:45:50.513Z,1761345950.513 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:45:50.513Z,1761345950.513 [DAT](INFO): #Outgoing data=13
2025-10-24T22:45:50.513Z,1761345950.513 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:45:50.514Z,1761345950.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530485
2025-10-24T22:45:50.580Z,1761345950.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981430,-0.079306,-0.174659],[0.141413,0.914343,0.379447],[0.129606,-0.397100,0.908578]]
2025-10-24T22:45:50.770Z,1761345950.770 [DAT](INFO): DAT read: 22:45:49.5999 LVL= 27024, 24273, 18130, 23587, AGC= 62, IDX= 136, 0.10,-2.564,-2.607,-1.180,-2.521, PHS= 0.059,-0.041, 1.297, RAW= 206.2, -19.8, CAL= 205.4, -23.3, ROT= 304.6,  23.3

2025-10-24T22:45:50.771Z,1761345950.771 [DAT](INFO): got valid direction response:
 22:45:49.5999 LVL= 27024, 24273, 18130, 23587, AGC= 62, IDX= 136, 0.10,-2.564,-2.607,-1.180,-2.521, PHS= 0.059,-0.041, 1.297, RAW= 206.2, -19.8, CAL= 205.4, -23.3, ROT= 304.6,  23.3

2025-10-24T22:45:50.773Z,1761345950.773 [DAT](INFO): DAT read: Bearing 117.2, -26.7 (Local)

2025-10-24T22:45:50.773Z,1761345950.773 [DAT](INFO): Local bearing/azimuth received:
 Bearing 117.2, -26.7 (Local)

2025-10-24T22:45:50.774Z,1761345950.774 [DAT](INFO): DAT read: Range 11 to 20 : 284.4 m  (Round-trip  379.2 ms) speed -0.4 m/s

2025-10-24T22:45:50.775Z,1761345950.775 [DAT](INFO): setting remote address to 10
2025-10-24T22:45:50.778Z,1761345950.778 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-24T22:45:50.816Z,1761345950.816 [DAT](INFO): direction in FSK: [0.521534,-0.756006,-0.395545]
2025-10-24T22:45:50.817Z,1761345950.817 [DAT](INFO): publishing direction and range info
2025-10-24T22:45:50.983Z,1761345950.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983620,-0.066460,-0.167555],[0.125446,0.919898,0.371552],[0.129440,-0.386485,0.913167]]
2025-10-24T22:45:51.017Z,1761345951.017 [DAT](INFO): DAT read: user:19>

2025-10-24T22:45:51.018Z,1761345951.018 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:45:51.018Z,1761345951.018 [DAT](INFO): set remote address to 10
2025-10-24T22:45:51.018Z,1761345951.018 [DAT](INFO): entering online mode
2025-10-24T22:45:51.074Z,1761345951.074 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345920.00. Resetting abort timer.
2025-10-24T22:45:51.269Z,1761345951.269 [DAT](INFO): DAT read: user:20>

2025-10-24T22:45:51.269Z,1761345951.269 [DAT](INFO): DAT read: 

2025-10-24T22:45:51.270Z,1761345951.270 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:45:51.271Z,1761345951.271 [DAT](INFO): commRate: 600
2025-10-24T22:45:51.271Z,1761345951.271 [DAT](INFO): online mode acknowledged
2025-10-24T22:45:51.271Z,1761345951.271 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:45:51.388Z,1761345951.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985499,-0.051383,-0.161714],[0.107703,0.925868,0.362173],[0.131116,-0.374338,0.917976]]
2025-10-24T22:45:51.790Z,1761345951.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987091,-0.032659,-0.156793],[0.087162,0.930856,0.354837],[0.134363,-0.363922,0.921687]]
2025-10-24T22:45:52.194Z,1761345952.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988307,-0.012573,-0.151959],[0.065853,0.934053,0.351012],[0.137524,-0.356914,0.923958]]
2025-10-24T22:45:52.640Z,1761345952.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989016,0.003750,-0.147760],[0.048609,0.935822,0.349106],[0.139586,-0.352454,0.925361]]
2025-10-24T22:45:53.036Z,1761345953.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989432,0.017607,-0.143924],[0.034325,0.935944,0.350472],[0.140876,-0.351708,0.925449]]
2025-10-24T22:45:53.450Z,1761345953.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989679,0.030599,-0.139996],[0.021500,0.934173,0.356173],[0.141679,-0.355507,0.923873]]
2025-10-24T22:45:53.843Z,1761345953.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989822,0.043179,-0.135602],[0.009050,0.931832,0.362776],[0.142023,-0.360311,0.921958]]
2025-10-24T22:45:54.248Z,1761345954.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989857,0.055065,-0.130965],[-0.002628,0.928772,0.370642],[0.142046,-0.366538,0.919496]]
2025-10-24T22:45:54.545Z,1761345954.545 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:45:54.4653

2025-10-24T22:45:54.545Z,1761345954.545 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:45:54.658Z,1761345954.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989795,0.066467,-0.126048],[-0.014043,0.925747,0.377882],[0.141805,-0.372255,0.917234]]
2025-10-24T22:45:55.056Z,1761345955.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989534,0.079059,-0.120714],[-0.026822,0.922751,0.384463],[0.141784,-0.377201,0.915214]]
2025-10-24T22:45:55.458Z,1761345955.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988986,0.093167,-0.115008],[-0.041400,0.920143,0.389388],[0.142102,-0.380338,0.913865]]
2025-10-24T22:45:55.864Z,1761345955.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988099,0.108768,-0.108768],[-0.057851,0.917964,0.392422],[0.142528,-0.381459,0.913332]]
2025-10-24T22:45:56.266Z,1761345956.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986918,0.123620,-0.103494],[-0.073762,0.917022,0.391956],[0.143360,-0.379194,0.914144]]
2025-10-24T22:45:56.677Z,1761345956.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985512,0.138671,-0.097653],[-0.089891,0.915307,0.392597],[0.143824,-0.378131,0.914511]]
2025-10-24T22:45:57.076Z,1761345957.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983838,0.153707,-0.091853],[-0.105798,0.912847,0.394357],[0.144463,-0.378265,0.914355]]
2025-10-24T22:45:57.484Z,1761345957.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981908,0.168399,-0.086597],[-0.121472,0.910979,0.394160],[0.145264,-0.376509,0.914953]]
2025-10-24T22:45:57.886Z,1761345957.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980006,0.181286,-0.082000],[-0.135108,0.908864,0.394605],[0.146063,-0.375636,0.915185]]
2025-10-24T22:45:58.287Z,1761345958.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977974,0.193948,-0.077139],[-0.148523,0.906297,0.395686],[0.146654,-0.375513,0.915141]]
2025-10-24T22:45:58.697Z,1761345958.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975664,0.207096,-0.072046],[-0.162415,0.903302,0.397072],[0.147311,-0.375708,0.914955]]
2025-10-24T22:45:59.095Z,1761345959.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973008,0.221261,-0.065564],[-0.177373,0.898796,0.400879],[0.147627,-0.378429,0.913782]]
2025-10-24T22:45:59.498Z,1761345959.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969712,0.237360,-0.057612],[-0.194559,0.893230,0.405323],[0.147668,-0.381837,0.912356]]
2025-10-24T22:45:59.927Z,1761345959.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965990,0.253711,-0.049929],[-0.212425,0.888737,0.406229],[0.147439,-0.381807,0.912406]]
2025-10-24T22:46:00.308Z,1761345960.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961851,0.270108,-0.043414],[-0.230243,0.884952,0.404781],[0.147754,-0.379344,0.913382]]
2025-10-24T22:46:00.762Z,1761345960.762 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:46:00.762Z,1761345960.762 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:46:00.763Z,1761345960.763 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:46:00.763Z,1761345960.763 [marl:UpdateRudder:A] Stopped
2025-10-24T22:46:00.763Z,1761345960.763 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:46:00.763Z,1761345960.763 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:46:00.763Z,1761345960.763 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:46:00.763Z,1761345960.763 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:46:00.784Z,1761345960.784 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:46:00.784Z,1761345960.784 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:46:00.784Z,1761345960.784 [marl:UpdateCommandMode] Stopped
2025-10-24T22:46:00.784Z,1761345960.784 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:46:00.784Z,1761345960.784 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:46:00.784Z,1761345960.784 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:46:00.785Z,1761345960.785 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:46:00.785Z,1761345960.785 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:46:00.785Z,1761345960.785 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:46:00.785Z,1761345960.785 [marl:UpdateSpeed] Stopped
2025-10-24T22:46:00.785Z,1761345960.785 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:46:01.170Z,1761345961.170 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:46:01.170Z,1761345961.170 [marl:UpdateRudder:B] Stopped
2025-10-24T22:46:01.170Z,1761345961.170 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:46:01.170Z,1761345961.170 [marl:UpdateRudder] Stopped
2025-10-24T22:46:01.170Z,1761345961.170 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:46:01.518Z,1761345961.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947716,0.317654,-0.030507],[-0.280068,0.873764,0.397616],[0.152961,-0.368283,0.917044]]
2025-10-24T22:46:01.982Z,1761345961.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943277,0.330836,-0.027857],[-0.293302,0.869690,0.397005],[0.155571,-0.366315,0.917394]]
2025-10-24T22:46:02.329Z,1761345962.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939145,0.342629,-0.024759],[-0.305071,0.864989,0.398404],[0.157921,-0.366605,0.916876]]
2025-10-24T22:46:02.730Z,1761345962.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934927,0.354258,-0.020301],[-0.316974,0.859509,0.400963],[0.159494,-0.368437,0.915869]]
2025-10-24T22:46:03.131Z,1761345963.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930390,0.366337,-0.013079],[-0.329971,0.852504,0.405408],[0.159666,-0.372872,0.914042]]
2025-10-24T22:46:03.541Z,1761345963.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925378,0.379020,-0.004339],[-0.344124,0.844870,0.409600],[0.158913,-0.377542,0.912255]]
2025-10-24T22:46:03.973Z,1761345963.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919771,0.392422,0.005125],[-0.359518,0.837268,0.411982],[0.157380,-0.380772,0.911177]]
2025-10-24T22:46:04.624Z,1761345964.624 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:46:04.839Z,1761345964.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906306,0.422002,0.022874],[-0.392935,0.821480,0.413247],[0.155601,-0.383516,0.910332]]
2025-10-24T22:46:04.877Z,1761345964.877 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:46:04.877Z,1761345964.877 [DAT](INFO): #Outgoing data=13
2025-10-24T22:46:04.878Z,1761345964.878 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:46:05.129Z,1761345965.129 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:46:05.243Z,1761345965.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899344,0.436263,0.029235],[-0.408667,0.814915,0.410980],[0.155471,-0.381560,0.911175]]
2025-10-24T22:46:05.650Z,1761345965.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892683,0.449379,0.034274],[-0.423123,0.809480,0.407074],[0.155187,-0.377890,0.912752]]
2025-10-24T22:46:06.053Z,1761345966.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886295,0.461602,0.037472],[-0.436480,0.805527,0.400764],[0.154808,-0.371551,0.915415]]
2025-10-24T22:46:06.456Z,1761345966.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879804,0.473522,0.041493],[-0.449589,0.800633,0.396051],[0.154318,-0.367103,0.917290]]
2025-10-24T22:46:06.641Z,1761345966.641 [DAT](INFO): DAT read: Rx Time:22:46:06.1002

2025-10-24T22:46:06.641Z,1761345966.641 [DAT](INFO): Rx dataTimestamp_ set to:1761345966.640987
2025-10-24T22:46:06.858Z,1761345966.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872464,0.486390,0.047227],[-0.463957,0.794104,0.392609],[0.153458,-0.364449,0.918492]]
2025-10-24T22:46:07.262Z,1761345967.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864132,0.500244,0.055065],[-0.479604,0.785404,0.391306],[0.152500,-0.364550,0.918612]]
2025-10-24T22:46:07.406Z,1761345967.406 [DAT](INFO): DAT read: 22:46:06.1002 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 462,-0.27,-0.270,-2.323,-1.873,-1.029, PHS= 0.862,-1.249,-0.888, RAW=  99.2,  13.0, CAL= 100.0,  15.1, ROT=  50.0, -15.1

2025-10-24T22:46:07.407Z,1761345967.407 [DAT](INFO): got valid direction response:
 22:46:06.1002 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 462,-0.27,-0.270,-2.323,-1.873,-1.029, PHS= 0.862,-1.249,-0.888, RAW=  99.2,  13.0, CAL= 100.0,  15.1, ROT=  50.0, -15.1

2025-10-24T22:46:07.407Z,1761345967.407 [DAT](INFO): DAT read: $Error in header

2025-10-24T22:46:07.410Z,1761345967.410 [DAT](INFO): Received a bad header
2025-10-24T22:46:07.424Z,1761345967.424 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-24T22:46:07.425Z,1761345967.425 [DAT](INFO): direction in FSK: [0.620594,0.739595,0.260505]
2025-10-24T22:46:07.682Z,1761345967.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855306,0.514325,0.062623],[-0.495357,0.776296,0.389854],[0.151898,-0.364465,0.918745]]
2025-10-24T22:46:07.727Z,1761345967.727 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345920.00. Resetting abort timer.
2025-10-24T22:46:08.079Z,1761345968.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846199,0.528308,0.069554],[-0.510752,0.766928,0.388528],[0.151919,-0.364297,0.918808]]
2025-10-24T22:46:08.405Z,1761345968.405 [DAT](INFO): DAT read: Forwarding Delay UpRx Time:22:46:07.7286

2025-10-24T22:46:08.406Z,1761345968.406 [DAT](INFO): Rx dataTimestamp_ set to:1761345968.405386
2025-10-24T22:46:08.475Z,1761345968.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836945,0.542188,0.074534],[-0.525508,0.758115,0.386139],[0.152854,-0.362345,0.919425]]
2025-10-24T22:46:08.888Z,1761345968.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828080,0.555060,0.078693],[-0.538940,0.749538,0.384365],[0.154362,-0.360696,0.919821]]
2025-10-24T22:46:08.914Z,1761345968.914 [DAT](INFO): DAT read: 22:46:07.7286 LVL= 19104, 23905, 28018, 32755, AGC= 65, IDX= 271, 0.12, 2.966, 1.051, 1.395, 2.352, PHS= 0.715,-1.256,-1.001, RAW=  96.8,  16.4, CAL=  97.6,  20.0, ROT=  52.4, -20.0

2025-10-24T22:46:08.915Z,1761345968.915 [DAT](INFO): got valid direction response:
 22:46:07.7286 LVL= 19104, 23905, 28018, 32755, AGC= 65, IDX= 271, 0.12, 2.966, 1.051, 1.395, 2.352, PHS= 0.715,-1.256,-1.001, RAW=  96.8,  16.4, CAL=  97.6,  20.0, ROT=  52.4, -20.0

2025-10-24T22:46:08.915Z,1761345968.915 [DAT](INFO): DAT read: 

2025-10-24T22:46:08.917Z,1761345968.917 [DAT](INFO): DAT read: $Packet for address 50

2025-10-24T22:46:08.918Z,1761345968.918 [DAT](INFO): received a packet notification
2025-10-24T22:46:08.932Z,1761345968.932 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-24T22:46:08.933Z,1761345968.933 [DAT](INFO): direction in FSK: [0.573349,0.744509,0.342020]
2025-10-24T22:46:08.971Z,1761345968.971 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761345920.00. Resetting abort timer.
2025-10-24T22:46:09.285Z,1761345969.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821144,0.564947,0.080977],[-0.549054,0.743254,0.382246],[0.155762,-0.358340,0.920506]]
2025-10-24T22:46:09.689Z,1761345969.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814554,0.573948,0.084173],[-0.558339,0.736357,0.382147],[0.157351,-0.358276,0.920260]]
2025-10-24T22:46:10.090Z,1761345970.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807924,0.582697,0.087880],[-0.567400,0.728951,0.382999],[0.159112,-0.359297,0.919559]]
2025-10-24T22:46:10.555Z,1761345970.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794197,0.599032,0.102039],[-0.585821,0.710168,0.390480],[0.161445,-0.369894,0.914939]]
2025-10-24T22:46:10.955Z,1761345970.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787056,0.606946,0.110271],[-0.595372,0.700587,0.393332],[0.161477,-0.375227,0.912760]]
2025-10-24T22:46:11.761Z,1761345971.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773083,0.621355,0.127520],[-0.614439,0.683660,0.393795],[0.157506,-0.382790,0.910310]]
2025-10-24T22:46:12.163Z,1761345972.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766008,0.628225,0.136254],[-0.624171,0.676175,0.391405],[0.153759,-0.384865,0.910075]]
2025-10-24T22:46:12.568Z,1761345972.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757728,0.636339,0.144642],[-0.635128,0.668227,0.387408],[0.149869,-0.385416,0.910491]]
2025-10-24T22:46:12.971Z,1761345972.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746895,0.647057,0.153185],[-0.648501,0.657921,0.382866],[0.146952,-0.385301,0.911015]]
2025-10-24T22:46:13.385Z,1761345973.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734339,0.659606,0.160207],[-0.663152,0.646801,0.376667],[0.144830,-0.382843,0.912390]]
2025-10-24T22:46:13.779Z,1761345973.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721278,0.672571,0.165550],[-0.677735,0.635971,0.369074],[0.142944,-0.378404,0.914537]]
2025-10-24T22:46:13.803Z,1761345973.803 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:46:13.804Z,1761345973.804 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:46:13.804Z,1761345973.804 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:46:13.804Z,1761345973.804 [marl:UpdateRudder:A] Stopped
2025-10-24T22:46:13.804Z,1761345973.804 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:46:13.804Z,1761345973.804 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:46:13.805Z,1761345973.805 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:46:13.805Z,1761345973.805 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:46:13.805Z,1761345973.805 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:46:13.805Z,1761345973.805 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:46:13.805Z,1761345973.805 [marl:UpdateCommandMode] Stopped
2025-10-24T22:46:13.805Z,1761345973.805 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:46:13.805Z,1761345973.805 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:46:13.805Z,1761345973.805 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:46:13.806Z,1761345973.806 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:46:13.806Z,1761345973.806 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:46:13.806Z,1761345973.806 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:46:13.806Z,1761345973.806 [marl:UpdateSpeed] Stopped
2025-10-24T22:46:13.806Z,1761345973.806 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:46:14.184Z,1761345974.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707841,0.685728,0.169523],[-0.692096,0.625262,0.360624],[0.141294,-0.372591,0.917176]]
2025-10-24T22:46:14.244Z,1761345974.244 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:46:14.245Z,1761345974.245 [marl:UpdateRudder:B] Stopped
2025-10-24T22:46:14.245Z,1761345974.245 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:46:14.245Z,1761345974.245 [marl:UpdateRudder] Stopped
2025-10-24T22:46:14.245Z,1761345974.245 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:46:14.586Z,1761345974.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693981,0.698955,0.172781],[-0.706151,0.613920,0.352778],[0.140502,-0.366831,0.919616]]
2025-10-24T22:46:14.990Z,1761345974.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679703,0.711988,0.176287],[-0.719945,0.601628,0.346010],[0.140296,-0.362101,0.921520]]
2025-10-24T22:46:15.209Z,1761345975.209 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-24T22:46:15.209Z,1761345975.209 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:46:15.395Z,1761345975.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665107,0.724948,0.179119],[-0.733379,0.588945,0.339558],[0.140670,-0.357204,0.923373]]
2025-10-24T22:46:15.462Z,1761345975.462 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:46:15.462Z,1761345975.462 [DAT](INFO): #Outgoing data=14
2025-10-24T22:46:15.463Z,1761345975.463 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:46:15.712Z,1761345975.712 [DAT](INFO): entering online mode
2025-10-24T22:46:15.800Z,1761345975.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650532,0.737273,0.182309],[-0.746158,0.575672,0.334441],[0.141624,-0.353596,0.924615]]
2025-10-24T22:46:15.965Z,1761345975.965 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:16.202Z,1761345976.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636817,0.748407,0.185341],[-0.757687,0.562954,0.330142],[0.142742,-0.350671,0.925557]]
2025-10-24T22:46:16.217Z,1761345976.217 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:16.469Z,1761345976.469 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:16.606Z,1761345976.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624113,0.758032,0.189395],[-0.767995,0.550562,0.327209],[0.143761,-0.349670,0.925777]]
2025-10-24T22:46:16.720Z,1761345976.720 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:16.973Z,1761345976.973 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:17.020Z,1761345977.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612054,0.766266,0.195518],[-0.777516,0.537926,0.325738],[0.144428,-0.351387,0.925023]]
2025-10-24T22:46:17.224Z,1761345977.224 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:17.416Z,1761345977.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600873,0.773379,0.202082],[-0.786133,0.525971,0.324576],[0.144731,-0.353892,0.924020]]
2025-10-24T22:46:17.477Z,1761345977.477 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:17.731Z,1761345977.731 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:17.818Z,1761345977.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590052,0.779648,0.209732],[-0.794288,0.514000,0.323900],[0.144725,-0.357705,0.922552]]
2025-10-24T22:46:17.985Z,1761345977.985 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:18.222Z,1761345978.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579576,0.785418,0.217280],[-0.802021,0.502507,0.322876],[0.144408,-0.361394,0.921162]]
2025-10-24T22:46:18.236Z,1761345978.236 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:18.489Z,1761345978.489 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:18.706Z,1761345978.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568777,0.790892,0.225791],[-0.809800,0.490446,0.322003],[0.143931,-0.365994,0.919420]]
2025-10-24T22:46:18.740Z,1761345978.740 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:18.998Z,1761345978.998 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:46:18.8651

2025-10-24T22:46:18.999Z,1761345978.999 [DAT](DEBUG): Re-entering command mode due to unexpected online mode.
2025-10-24T22:46:18.999Z,1761345978.999 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:19.106Z,1761345979.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557078,0.796752,0.234201],[-0.817978,0.477721,0.320461],[0.143445,-0.370093,0.917853]]
2025-10-24T22:46:19.244Z,1761345979.244 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:19.497Z,1761345979.497 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:19.569Z,1761345979.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544210,0.802797,0.243623],[-0.826781,0.463926,0.318130],[0.142370,-0.374552,0.916210]]
2025-10-24T22:46:19.748Z,1761345979.748 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:19.919Z,1761345979.919 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:46:19.997Z,1761345979.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530913,0.809456,0.250823],[-0.835655,0.450918,0.313614],[0.140756,-0.376103,0.915824]]
2025-10-24T22:46:20.001Z,1761345980.001 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:20.252Z,1761345980.252 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:20.394Z,1761345980.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516706,0.816205,0.258503],[-0.844809,0.437051,0.308681],[0.138968,-0.377883,0.915365]]
2025-10-24T22:46:20.504Z,1761345980.504 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:20.757Z,1761345980.757 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:20.801Z,1761345980.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502548,0.822851,0.265257],[-0.853661,0.423746,0.302823],[0.136776,-0.378623,0.915389]]
2025-10-24T22:46:20.920Z,1761345980.920 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:46:21.009Z,1761345981.009 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:21.202Z,1761345981.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488005,0.829251,0.272386],[-0.862428,0.410041,0.296790],[0.134424,-0.379749,0.915271]]
2025-10-24T22:46:21.273Z,1761345981.273 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:21.525Z,1761345981.525 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:21.606Z,1761345981.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473969,0.835679,0.277480],[-0.870538,0.397343,0.290316],[0.132356,-0.379157,0.915818]]
2025-10-24T22:46:21.776Z,1761345981.776 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:22.020Z,1761345982.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459190,0.842630,0.281280],[-0.878693,0.384303,0.283214],[0.130548,-0.377208,0.916882]]
2025-10-24T22:46:22.028Z,1761345982.028 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:22.282Z,1761345982.282 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:22.415Z,1761345982.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444758,0.849337,0.284284],[-0.886306,0.371628,0.276323],[0.129043,-0.374860,0.918057]]
2025-10-24T22:46:22.535Z,1761345982.535 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:22.784Z,1761345982.784 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:22.818Z,1761345982.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429701,0.856694,0.285364],[-0.893820,0.358670,0.269149],[0.128227,-0.370718,0.919851]]
2025-10-24T22:46:23.037Z,1761345983.037 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:23.222Z,1761345983.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414785,0.863401,0.287214],[-0.900940,0.345459,0.262612],[0.127519,-0.367690,0.921164]]
2025-10-24T22:46:23.289Z,1761345983.289 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:23.540Z,1761345983.540 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:23.626Z,1761345983.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400731,0.869664,0.288270],[-0.907395,0.333221,0.256119],[0.126680,-0.364210,0.922661]]
2025-10-24T22:46:23.792Z,1761345983.792 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:24.032Z,1761345984.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386891,0.875205,0.290397],[-0.913483,0.320750,0.250336],[0.125951,-0.362126,0.923581]]
2025-10-24T22:46:24.044Z,1761345984.044 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:24.297Z,1761345984.297 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:24.434Z,1761345984.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372518,0.880213,0.294033],[-0.919538,0.307343,0.244930],[0.125221,-0.361615,0.923880]]
2025-10-24T22:46:24.549Z,1761345984.549 [DAT](INFO): DAT read: Rx Time:22:46:23.8459

2025-10-24T22:46:24.549Z,1761345984.549 [DAT](INFO): Rx dataTimestamp_ set to:1761345984.549062
2025-10-24T22:46:24.550Z,1761345984.550 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:24.800Z,1761345984.800 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:24.873Z,1761345984.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358122,0.884721,0.298357],[-0.925377,0.293821,0.239470],[0.124201,-0.361852,0.923925]]
2025-10-24T22:46:25.058Z,1761345985.058 [DAT](INFO): DAT read: 22:46:23.8459 LVL= 13360, 16929, 27426, 31171, AGC= 74, IDX=  82, 0.16,-2.245,-3.034, 2.019,-2.512, PHS= 0.370,-0.477,-1.796, RAW=  52.8,  19.6, CAL=  48.3,  23.7, ROT= 101.7, -23.7

2025-10-24T22:46:25.059Z,1761345985.059 [DAT](INFO): got valid direction response:
 22:46:23.8459 LVL= 13360, 16929, 27426, 31171, AGC= 74, IDX=  82, 0.16,-2.245,-3.034, 2.019,-2.512, PHS= 0.370,-0.477,-1.796, RAW=  52.8,  19.6, CAL=  48.3,  23.7, ROT= 101.7, -23.7

2025-10-24T22:46:25.060Z,1761345985.060 [DAT](INFO): DAT read: $Error in header

2025-10-24T22:46:25.061Z,1761345985.061 [DAT](INFO): Received a bad header
2025-10-24T22:46:25.072Z,1761345985.072 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:25.275Z,1761345985.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343549,0.888753,0.303467],[-0.931040,0.279983,0.234037],[0.123035,-0.362943,0.923653]]
2025-10-24T22:46:25.304Z,1761345985.304 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:25.556Z,1761345985.556 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:25.731Z,1761345985.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328306,0.892531,0.309198],[-0.936771,0.265675,0.227764],[0.121140,-0.364424,0.923320]]
2025-10-24T22:46:25.808Z,1761345985.808 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:26.060Z,1761345986.060 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:26.134Z,1761345986.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312171,0.895917,0.316041],[-0.942603,0.250588,0.220691],[0.118524,-0.366795,0.922721]]
2025-10-24T22:46:26.312Z,1761345986.312 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:26.546Z,1761345986.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278506,0.901453,0.331387],[-0.953846,0.219262,0.205190],[0.112308,-0.373239,0.920912]]
2025-10-24T22:46:26.565Z,1761345986.565 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:26.817Z,1761345986.817 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:26.950Z,1761345986.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260999,0.903990,0.338645],[-0.959154,0.203198,0.196812],[0.109104,-0.376181,0.920100]]
2025-10-24T22:46:26.974Z,1761345986.974 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:46:26.974Z,1761345986.974 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:46:26.974Z,1761345986.974 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:46:26.974Z,1761345986.974 [marl:UpdateRudder:A] Stopped
2025-10-24T22:46:26.974Z,1761345986.974 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:46:26.974Z,1761345986.974 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:46:26.974Z,1761345986.974 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:46:26.975Z,1761345986.975 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:46:26.975Z,1761345986.975 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:46:26.975Z,1761345986.975 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:46:26.975Z,1761345986.975 [marl:UpdateCommandMode] Stopped
2025-10-24T22:46:26.975Z,1761345986.975 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:46:26.975Z,1761345986.975 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:46:26.975Z,1761345986.975 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:46:26.975Z,1761345986.975 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:46:26.976Z,1761345986.976 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:46:26.976Z,1761345986.976 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:46:26.976Z,1761345986.976 [marl:UpdateSpeed] Stopped
2025-10-24T22:46:26.976Z,1761345986.976 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:46:27.069Z,1761345987.069 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:27.321Z,1761345987.321 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:27.353Z,1761345987.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243710,0.906465,0.344858],[-0.964065,0.187652,0.188056],[0.105753,-0.378297,0.919624]]
2025-10-24T22:46:27.389Z,1761345987.389 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:46:27.390Z,1761345987.390 [marl:UpdateRudder:B] Stopped
2025-10-24T22:46:27.390Z,1761345987.390 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:46:27.390Z,1761345987.390 [marl:UpdateRudder] Stopped
2025-10-24T22:46:27.390Z,1761345987.390 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:46:27.573Z,1761345987.573 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:27.755Z,1761345987.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226814,0.908697,0.350464],[-0.968561,0.172693,0.179069],[0.102196,-0.380062,0.919298]]
2025-10-24T22:46:27.825Z,1761345987.825 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:28.077Z,1761345988.077 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:28.158Z,1761345988.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209853,0.911196,0.354519],[-0.972732,0.157945,0.169840],[0.098763,-0.380494,0.919495]]
2025-10-24T22:46:28.330Z,1761345988.330 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:28.560Z,1761345988.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193442,0.913272,0.358489],[-0.976490,0.143792,0.160599],[0.095122,-0.381127,0.919616]]
2025-10-24T22:46:28.581Z,1761345988.581 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:28.834Z,1761345988.834 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:28.963Z,1761345988.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177030,0.915235,0.361946],[-0.979926,0.129649,0.151450],[0.091687,-0.381491,0.919814]]
2025-10-24T22:46:29.085Z,1761345989.085 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:29.337Z,1761345989.337 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:29.366Z,1761345989.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160437,0.917611,0.363661],[-0.983078,0.115548,0.142150],[0.088419,-0.380313,0.920622]]
2025-10-24T22:46:29.588Z,1761345989.588 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:29.773Z,1761345989.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144602,0.919936,0.364429],[-0.985809,0.102201,0.133173],[0.085266,-0.378515,0.921659]]
2025-10-24T22:46:29.841Z,1761345989.841 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:30.092Z,1761345990.092 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:30.177Z,1761345990.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128062,0.922377,0.364447],[-0.988384,0.088374,0.123639],[0.081834,-0.376047,0.922980]]
2025-10-24T22:46:30.344Z,1761345990.344 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:30.578Z,1761345990.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111075,0.924229,0.365325],[-0.990725,0.074027,0.113943],[0.078266,-0.374593,0.923880]]
2025-10-24T22:46:30.597Z,1761345990.597 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:30.849Z,1761345990.849 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T22:46:30.849Z,1761345990.849 [DAT](FAULT): failed to enter online mode
2025-10-24T22:46:30.849Z,1761345990.849 [DAT](FAULT): Failure returning to online mode
2025-10-24T22:46:30.849Z,1761345990.849 [DAT] Communications Fault, FailCount= 1
2025-10-24T22:46:30.849Z,1761345990.849 [DAT](ERROR): Communications Fault
2025-10-24T22:46:30.931Z,1761345990.931 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T22:46:30.982Z,1761345990.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093357,0.925950,0.365924],[-0.992783,0.058787,0.104529],[0.075277,-0.373041,0.924756]]
2025-10-24T22:46:31.253Z,1761345991.253 [DAT](INFO): Powering down
2025-10-24T22:46:31.387Z,1761345991.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075698,0.927567,0.365908],[-0.994499,0.043586,0.095250],[0.072402,-0.371106,0.925764]]
2025-10-24T22:46:31.732Z,1761345991.732 [DAT](FAULT): LCB fault: LCB Watchdog Reset. Hardware Overcurrent Shutdown.
2025-10-24T22:46:31.732Z,1761345991.732 [DAT] Hardware Fault, FailCount= 1
2025-10-24T22:46:31.732Z,1761345991.732 [DAT](ERROR): Hardware Fault
2025-10-24T22:46:31.809Z,1761345991.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057917,0.928733,0.366199],[-0.995859,0.027999,0.086492],[0.070075,-0.369692,0.926508]]
2025-10-24T22:46:32.194Z,1761345992.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040470,0.929763,0.365928],[-0.996869,0.012673,0.078049],[0.067929,-0.367941,0.927365]]
2025-10-24T22:46:32.487Z,1761345992.487 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T22:46:32.487Z,1761345992.487 [DAT] No Fault, FailCount= 1
2025-10-24T22:46:32.598Z,1761345992.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023340,0.930153,0.366430],[-0.997559,-0.002463,0.069791],[0.065819,-0.367164,0.927825]]
2025-10-24T22:46:33.002Z,1761345993.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006734,0.929765,0.368093],[-0.997960,-0.017120,0.061501],[0.063484,-0.367756,0.927753]]
2025-10-24T22:46:33.407Z,1761345993.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009543,0.929323,0.369146],[-0.998095,-0.031354,0.053130],[0.060950,-0.367935,0.927852]]
2025-10-24T22:46:33.833Z,1761345993.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026753,0.928706,0.369851],[-0.997924,-0.046497,0.044571],[0.058590,-0.367891,0.928021]]
2025-10-24T22:46:34.218Z,1761345994.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044479,0.927854,0.370282],[-0.997443,-0.062001,0.035548],[0.055941,-0.367754,0.928239]]
2025-10-24T22:46:34.309Z,1761345994.309 [DAT](INFO): Powering up
2025-10-24T22:46:34.309Z,1761345994.309 [DAT](DEBUG): Initializing DAT.
2025-10-24T22:46:34.623Z,1761345994.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062889,0.926768,0.370333],[-0.996591,-0.078170,0.026385],[0.053401,-0.367411,0.928524]]
2025-10-24T22:46:35.027Z,1761345995.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081532,0.925328,0.370297],[-0.995359,-0.094650,0.017360],[0.051113,-0.367164,0.928751]]
2025-10-24T22:46:35.433Z,1761345995.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099659,0.923417,0.370633],[-0.993826,-0.110632,0.008407],[0.048766,-0.367506,0.928742]]
2025-10-24T22:46:35.835Z,1761345995.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117467,0.920828,0.371857],[-0.991983,-0.126372,-0.000424],[0.046602,-0.368926,0.928290]]
2025-10-24T22:46:36.238Z,1761345996.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134813,0.917868,0.373287],[-0.989866,-0.141718,-0.009025],[0.044618,-0.370720,0.927672]]
2025-10-24T22:46:36.642Z,1761345996.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151270,0.914821,0.374460],[-0.987574,-0.156194,-0.017360],[0.042607,-0.372433,0.927080]]
2025-10-24T22:46:37.051Z,1761345997.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166180,0.911318,0.376674],[-0.985269,-0.169085,-0.025597],[0.040363,-0.375379,0.925992]]
2025-10-24T22:46:37.451Z,1761345997.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180352,0.907941,0.378307],[-0.982861,-0.181280,-0.033490],[0.038173,-0.377863,0.925074]]
2025-10-24T22:46:37.855Z,1761345997.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194083,0.904729,0.379205],[-0.980332,-0.192983,-0.041318],[0.035799,-0.379766,0.924390]]
2025-10-24T22:46:38.258Z,1761345998.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207869,0.901730,0.379044],[-0.977589,-0.204719,-0.049093],[0.033329,-0.380754,0.924076]]
2025-10-24T22:46:38.670Z,1761345998.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222778,0.898617,0.377965],[-0.974372,-0.217631,-0.056887],[0.031137,-0.380952,0.924070]]
2025-10-24T22:46:39.066Z,1761345999.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238647,0.895379,0.375957],[-0.970675,-0.231484,-0.064855],[0.028958,-0.380409,0.924365]]
2025-10-24T22:46:39.470Z,1761345999.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254976,0.892754,0.371453],[-0.966569,-0.246072,-0.072067],[0.027066,-0.377410,0.925651]]
2025-10-24T22:46:39.878Z,1761345999.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271920,0.890226,0.365454],[-0.961994,-0.261349,-0.079149],[0.025051,-0.373087,0.927458]]
2025-10-24T22:46:39.987Z,1761345999.987 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:46:39.987Z,1761345999.987 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:46:39.987Z,1761345999.987 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:46:39.987Z,1761345999.987 [marl:UpdateRudder:A] Stopped
2025-10-24T22:46:39.988Z,1761345999.988 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:46:39.988Z,1761345999.988 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:46:39.988Z,1761345999.988 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:46:39.988Z,1761345999.988 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:46:39.989Z,1761345999.989 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:46:39.989Z,1761345999.989 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:46:39.989Z,1761345999.989 [marl:UpdateCommandMode] Stopped
2025-10-24T22:46:39.989Z,1761345999.989 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:46:39.989Z,1761345999.989 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:46:39.989Z,1761345999.989 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:46:39.989Z,1761345999.989 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:46:39.990Z,1761345999.990 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:46:39.990Z,1761345999.990 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:46:39.990Z,1761345999.990 [marl:UpdateSpeed] Stopped
2025-10-24T22:46:39.990Z,1761345999.990 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:46:40.363Z,1761346000.363 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:46:40.363Z,1761346000.363 [marl:UpdateRudder:B] Stopped
2025-10-24T22:46:40.364Z,1761346000.364 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:46:40.364Z,1761346000.364 [marl:UpdateRudder] Stopped
2025-10-24T22:46:40.364Z,1761346000.364 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:46:40.687Z,1761346000.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308175,0.883601,0.352529],[-0.951073,-0.294765,-0.092594],[0.022097,-0.363816,0.931209]]
2025-10-24T22:46:41.086Z,1761346001.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325463,0.879028,0.348402],[-0.945327,-0.310584,-0.099474],[0.020768,-0.361729,0.932052]]
2025-10-24T22:46:41.490Z,1761346001.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340417,0.874318,0.345953],[-0.940087,-0.323822,-0.106657],[0.018775,-0.361534,0.932170]]
2025-10-24T22:46:41.911Z,1761346001.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351127,0.871556,0.342198],[-0.936199,-0.332845,-0.112893],[0.015506,-0.360005,0.932821]]
2025-10-24T22:46:42.302Z,1761346002.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357054,0.872360,0.333917],[-0.934023,-0.337504,-0.117011],[0.010622,-0.353665,0.935312]]
2025-10-24T22:46:42.702Z,1761346002.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359740,0.877376,0.317487],[-0.933043,-0.339799,-0.118182],[0.004191,-0.338744,0.940869]]
2025-10-24T22:46:43.106Z,1761346003.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362009,0.883257,0.298005],[-0.932169,-0.341912,-0.118982],[-0.003200,-0.320864,0.947120]]
2025-10-24T22:46:43.512Z,1761346003.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364940,0.888804,0.277211],[-0.930971,-0.344978,-0.119516],[-0.010595,-0.301691,0.953347]]
2025-10-24T22:46:43.954Z,1761346003.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368625,0.893532,0.256351],[-0.929400,-0.348861,-0.120465],[-0.018208,-0.282659,0.959048]]
2025-10-24T22:46:44.319Z,1761346004.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372620,0.897628,0.235411],[-0.927628,-0.353262,-0.121299],[-0.025720,-0.263572,0.964297]]
2025-10-24T22:46:44.431Z,1761346004.431 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:46:44.432Z,1761346004.432 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:46:44.723Z,1761346004.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376785,0.900458,0.217274],[-0.925717,-0.357713,-0.122842],[-0.032892,-0.247420,0.968350]]
2025-10-24T22:46:45.127Z,1761346005.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380246,0.902491,0.202295],[-0.924045,-0.361379,-0.124684],[-0.039421,-0.234340,0.971355]]
2025-10-24T22:46:45.531Z,1761346005.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382047,0.904029,0.191761],[-0.923032,-0.363108,-0.127144],[-0.045312,-0.225576,0.973171]]
2025-10-24T22:46:45.969Z,1761346005.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382280,0.905563,0.183897],[-0.922632,-0.363050,-0.130175],[-0.051118,-0.219433,0.974288]]
2025-10-24T22:46:46.339Z,1761346006.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380812,0.906767,0.180984],[-0.922914,-0.360747,-0.134508],[-0.056678,-0.218255,0.974245]]
2025-10-24T22:46:46.395Z,1761346006.395 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:46:46.409Z,1761346006.409 [DAT](INFO): DAT read: 

2025-10-24T22:46:46.410Z,1761346006.410 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T22:46:46.742Z,1761346006.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378075,0.908269,0.179184],[-0.923686,-0.357092,-0.138888],[-0.062162,-0.218020,0.973963]]
2025-10-24T22:46:47.148Z,1761346007.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374830,0.909550,0.179501],[-0.924640,-0.352687,-0.143710],[-0.067404,-0.219841,0.973204]]
2025-10-24T22:46:47.551Z,1761346007.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371591,0.910978,0.178992],[-0.925546,-0.348402,-0.148261],[-0.072702,-0.220758,0.972615]]
2025-10-24T22:46:47.984Z,1761346007.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368835,0.912302,0.177950],[-0.926214,-0.344665,-0.152750],[-0.078021,-0.221160,0.972112]]
2025-10-24T22:46:48.173Z,1761346008.173 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T22:46:48.174Z,1761346008.174 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T22:46:48.175Z,1761346008.175 [DAT](INFO): DAT read: Oct 24 2025 22:46:42 

2025-10-24T22:46:48.358Z,1761346008.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366789,0.913475,0.176149],[-0.926605,-0.341854,-0.156648],[-0.082877,-0.220678,0.971819]]
2025-10-24T22:46:48.772Z,1761346008.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365673,0.914296,0.174205],[-0.926638,-0.340066,-0.160300],[-0.087320,-0.220042,0.971574]]
2025-10-24T22:46:49.166Z,1761346009.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365409,0.914855,0.171805],[-0.926329,-0.339224,-0.163833],[-0.091603,-0.219014,0.971412]]
2025-10-24T22:46:49.181Z,1761346009.181 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T22:46:49.182Z,1761346009.182 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:46:49.182Z,1761346009.182 [DAT](INFO): commRate: 600
2025-10-24T22:46:49.570Z,1761346009.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365745,0.915096,0.169796],[-0.925772,-0.338918,-0.167576],[-0.095801,-0.218482,0.971127]]
2025-10-24T22:46:49.977Z,1761346009.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367528,0.915195,0.165350],[-0.924632,-0.340482,-0.170670],[-0.099898,-0.215613,0.971355]]
2025-10-24T22:46:50.784Z,1761346010.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373691,0.913766,0.159334],[-0.921282,-0.345706,-0.178120],[-0.107677,-0.213354,0.971023]]
2025-10-24T22:46:51.041Z,1761346011.041 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:46:51.187Z,1761346011.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378198,0.912453,0.156191],[-0.919016,-0.349799,-0.181799],[-0.111247,-0.212298,0.970852]]
2025-10-24T22:46:51.248Z,1761346011.248 [DAT](INFO): entering command mode
2025-10-24T22:46:51.449Z,1761346011.449 [DAT](INFO): DAT read: 

2025-10-24T22:46:51.449Z,1761346011.449 [DAT](INFO): DAT read: user:1>

2025-10-24T22:46:51.450Z,1761346011.450 [DAT](INFO): setting verbose to 3
2025-10-24T22:46:51.591Z,1761346011.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383495,0.910681,0.153594],[-0.916430,-0.354641,-0.185434],[-0.114400,-0.211871,0.970579]]
2025-10-24T22:46:51.658Z,1761346011.658 [marl:SendObservationData] Running Loop=1
2025-10-24T22:46:51.659Z,1761346011.659 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T22:46:51.659Z,1761346011.659 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T22:46:51.660Z,1761346011.660 [marl:SendObservationData:A] Running Loop=1
2025-10-24T22:46:51.662Z,1761346011.662 [marl:SendObservationData:A](INFO): Got test_good :  41da3f006000000040514000000000004042630c70ca8712c05e77462cba82f640165347600000004057e66660000000 n/a str  and temp var is  nan n/a str 
2025-10-24T22:46:51.662Z,1761346011.662 [marl:SendObservationData:A] Stopped
2025-10-24T22:46:51.662Z,1761346011.662 [marl:SendObservationData:B] Running Loop=1
2025-10-24T22:46:51.701Z,1761346011.701 [DAT](INFO): DAT read: user:1>

2025-10-24T22:46:51.702Z,1761346011.702 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T22:46:51.702Z,1761346011.702 [DAT](INFO): set verbose to 3
2025-10-24T22:46:51.702Z,1761346011.702 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T22:46:51.955Z,1761346011.955 [DAT](INFO): DAT read: user:2>

2025-10-24T22:46:51.960Z,1761346011.960 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T22:46:51.961Z,1761346011.961 [DAT](INFO): set DatVerbose to 27440
2025-10-24T22:46:51.962Z,1761346011.962 [DAT](INFO): setting transmit power to 8
2025-10-24T22:46:51.995Z,1761346011.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389216,0.908650,0.151217],[-0.913634,-0.359882,-0.189095],[-0.117401,-0.211755,0.970246]]
2025-10-24T22:46:52.044Z,1761346012.044 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:46:52.135Z,1761346012.135 [marl:SendObservationData:B] Stopped
2025-10-24T22:46:52.135Z,1761346012.135 [marl:SendObservationData:C] Running Loop=1
2025-10-24T22:46:52.205Z,1761346012.205 [DAT](INFO): DAT read: user:3>

2025-10-24T22:46:52.206Z,1761346012.206 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T22:46:52.207Z,1761346012.207 [DAT](INFO): set transmit power to 8
2025-10-24T22:46:52.207Z,1761346012.207 [DAT](INFO): setting local address to 11
2025-10-24T22:46:52.399Z,1761346012.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395080,0.906501,0.148887],[-0.910730,-0.365265,-0.192747],[-0.120342,-0.211746,0.969887]]
2025-10-24T22:46:52.457Z,1761346012.457 [DAT](INFO): DAT read: user:4>

2025-10-24T22:46:52.457Z,1761346012.457 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T22:46:52.458Z,1761346012.458 [DAT](INFO): set local address to 11
2025-10-24T22:46:52.459Z,1761346012.459 [DAT](INFO): Setting time to: 22:46:52 And date to:10/24/2025
2025-10-24T22:46:52.472Z,1761346012.472 [marl:SendObservationData:C] Stopped
2025-10-24T22:46:52.473Z,1761346012.473 [marl:SendObservationData:E] Running Loop=1
2025-10-24T22:46:52.709Z,1761346012.709 [DAT](INFO): DAT read: user:5>

2025-10-24T22:46:52.709Z,1761346012.709 [DAT](INFO): DAT read: Fri Oct 24, 2025  22:46:52  

2025-10-24T22:46:52.710Z,1761346012.710 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  22:46:52  

2025-10-24T22:46:52.710Z,1761346012.710 [DAT](INFO): setting remote address to 10
2025-10-24T22:46:52.711Z,1761346012.711 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:46:52.711Z,1761346012.711 [DAT](INFO): setting remote address to 0
2025-10-24T22:46:52.803Z,1761346012.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401453,0.903869,0.147836],[-0.907582,-0.370923,-0.196750],[-0.123001,-0.213159,0.969244]]
2025-10-24T22:46:52.863Z,1761346012.863 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:46:52.863Z,1761346012.863 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:46:52.863Z,1761346012.863 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:46:52.863Z,1761346012.863 [marl:UpdateRudder:A] Stopped
2025-10-24T22:46:52.863Z,1761346012.863 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:46:52.863Z,1761346012.863 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:46:52.863Z,1761346012.863 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:46:52.863Z,1761346012.863 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:46:52.864Z,1761346012.864 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:46:52.864Z,1761346012.864 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:46:52.864Z,1761346012.864 [marl:UpdateCommandMode] Stopped
2025-10-24T22:46:52.864Z,1761346012.864 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:46:52.864Z,1761346012.864 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:46:52.865Z,1761346012.865 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:46:52.865Z,1761346012.865 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:46:52.865Z,1761346012.865 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:46:52.865Z,1761346012.865 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:46:52.865Z,1761346012.865 [marl:UpdateSpeed] Stopped
2025-10-24T22:46:52.865Z,1761346012.865 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:46:52.867Z,1761346012.867 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.014632 min 
2025-10-24T22:46:52.867Z,1761346012.867 [marl:SendObservationData:E] Stopped
2025-10-24T22:46:52.868Z,1761346012.868 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T22:46:52.868Z,1761346012.868 [marl:SendObservationData] Stopped
2025-10-24T22:46:52.868Z,1761346012.868 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T22:46:52.868Z,1761346012.868 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T22:46:52.961Z,1761346012.961 [DAT](INFO): DAT read: user:6>

2025-10-24T22:46:52.962Z,1761346012.962 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:46:52.962Z,1761346012.962 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T22:46:52.962Z,1761346012.962 [DAT] Communications Fault, FailCount= 2
2025-10-24T22:46:52.962Z,1761346012.962 [DAT](ERROR): Communications Fault
2025-10-24T22:46:52.963Z,1761346012.963 [DAT](INFO): DAT read: user:7>

2025-10-24T22:46:52.965Z,1761346012.965 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:46:52.966Z,1761346012.966 [DAT](INFO): set remote address to 0
2025-10-24T22:46:52.967Z,1761346012.967 [DAT](INFO): setting remote address to 10
2025-10-24T22:46:52.970Z,1761346012.970 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:46:52.970Z,1761346012.970 [DAT](INFO): setting remote address to 0
2025-10-24T22:46:53.087Z,1761346013.087 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T22:46:53.206Z,1761346013.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407581,0.901390,0.146201],[-0.904484,-0.376468,-0.200450],[-0.125644,-0.213936,0.968734]]
2025-10-24T22:46:53.251Z,1761346013.251 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:46:53.251Z,1761346013.251 [marl:UpdateRudder:B] Stopped
2025-10-24T22:46:53.251Z,1761346013.251 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:46:53.251Z,1761346013.251 [marl:UpdateRudder] Stopped
2025-10-24T22:46:53.251Z,1761346013.251 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:46:53.377Z,1761346013.377 [DAT](INFO): Powering down
2025-10-24T22:46:53.610Z,1761346013.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412308,0.899132,0.146846],[-0.901982,-0.380191,-0.204656],[-0.128183,-0.216834,0.967756]]
2025-10-24T22:46:54.014Z,1761346014.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416845,0.897095,0.146497],[-0.899644,-0.384134,-0.207562],[-0.129929,-0.218317,0.967190]]
2025-10-24T22:46:54.420Z,1761346014.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420784,0.895002,0.148030],[-0.897668,-0.387255,-0.210301],[-0.130895,-0.221373,0.966365]]
2025-10-24T22:46:54.847Z,1761346014.847 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T22:46:54.847Z,1761346014.847 [DAT] No Fault, FailCount= 2
2025-10-24T22:46:54.869Z,1761346014.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423084,0.893368,0.151305],[-0.896649,-0.388754,-0.211874],[-0.130461,-0.225307,0.965514]]
2025-10-24T22:46:55.270Z,1761346015.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423521,0.892270,0.156472],[-0.896708,-0.388404,-0.212264],[-0.128622,-0.230208,0.964604]]
2025-10-24T22:46:55.680Z,1761346015.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422119,0.891576,0.164035],[-0.897794,-0.386070,-0.211935],[-0.125627,-0.236732,0.963419]]
2025-10-24T22:46:56.079Z,1761346016.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420508,0.890524,0.173607],[-0.899114,-0.383391,-0.211199],[-0.121519,-0.244903,0.961902]]
2025-10-24T22:46:56.483Z,1761346016.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421732,0.886971,0.188214],[-0.899246,-0.382547,-0.212164],[-0.116182,-0.258727,0.958938]]
2025-10-24T22:46:56.580Z,1761346016.580 [DAT](INFO): Powering up
2025-10-24T22:46:56.580Z,1761346016.580 [DAT](DEBUG): Initializing DAT.
2025-10-24T22:46:56.886Z,1761346016.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424816,0.880767,0.209237],[-0.898599,-0.382234,-0.215447],[-0.109781,-0.279546,0.953836]]
2025-10-24T22:46:57.292Z,1761346017.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429483,0.872100,0.234493],[-0.897207,-0.382503,-0.220708],[-0.102786,-0.305179,0.946732]]
2025-10-24T22:46:57.695Z,1761346017.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435418,0.862256,0.258700],[-0.895128,-0.384141,-0.226235],[-0.095695,-0.330077,0.939091]]
2025-10-24T22:46:58.502Z,1761346018.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450673,0.841574,0.297738],[-0.888964,-0.392656,-0.235720],[-0.081467,-0.370911,0.925088]]
2025-10-24T22:46:58.907Z,1761346018.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460563,0.832186,0.308783],[-0.884562,-0.401421,-0.237511],[-0.073701,-0.382527,0.921000]]
2025-10-24T22:46:59.310Z,1761346019.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472878,0.823564,0.313254],[-0.878626,-0.413955,-0.238030],[-0.066360,-0.387792,0.919355]]
2025-10-24T22:46:59.722Z,1761346019.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486770,0.815059,0.314220],[-0.871521,-0.428757,-0.237947],[-0.059217,-0.389675,0.919047]]
2025-10-24T22:47:00.119Z,1761346020.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502039,0.806733,0.311671],[-0.863262,-0.445652,-0.237009],[-0.052306,-0.388041,0.920157]]
2025-10-24T22:47:00.528Z,1761346020.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518543,0.798034,0.307009],[-0.853835,-0.464130,-0.235689],[-0.045596,-0.384350,0.922061]]
2025-10-24T22:47:01.336Z,1761346021.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554118,0.777208,0.298161],[-0.831821,-0.503184,-0.234263],[-0.032042,-0.377826,0.925322]]
2025-10-24T22:47:01.742Z,1761346021.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572511,0.765009,0.294946],[-0.819519,-0.523009,-0.234201],[-0.024907,-0.375796,0.926368]]
2025-10-24T22:47:02.143Z,1761346022.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589858,0.751800,0.294729],[-0.807315,-0.541081,-0.235528],[-0.017598,-0.376867,0.926100]]
2025-10-24T22:47:02.548Z,1761346022.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606006,0.738478,0.295648],[-0.795384,-0.557400,-0.238055],[-0.011005,-0.379416,0.925161]]
2025-10-24T22:47:02.954Z,1761346022.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620328,0.725273,0.298618],[-0.784330,-0.571417,-0.241473],[-0.004499,-0.384007,0.923319]]
2025-10-24T22:47:03.355Z,1761346023.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632915,0.712829,0.302148],[-0.774220,-0.583457,-0.245279],[0.001449,-0.389170,0.921165]]
2025-10-24T22:47:03.759Z,1761346023.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644258,0.701167,0.305445],[-0.764776,-0.594276,-0.248904],[0.006996,-0.393955,0.919103]]
2025-10-24T22:47:04.165Z,1761346024.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655518,0.689763,0.307447],[-0.755076,-0.605409,-0.251676],[0.012534,-0.397123,0.917680]]
2025-10-24T22:47:04.614Z,1761346024.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676422,0.667883,0.310462],[-0.736152,-0.626308,-0.256551],[0.023098,-0.402084,0.915311]]
2025-10-24T22:47:05.028Z,1761346025.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686321,0.657487,0.310924],[-0.726761,-0.636420,-0.258435],[0.027960,-0.403336,0.914625]]
2025-10-24T22:47:05.420Z,1761346025.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695899,0.647216,0.311186],[-0.717403,-0.646161,-0.260404],[0.032539,-0.404460,0.913977]]
2025-10-24T22:47:05.822Z,1761346025.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705511,0.637277,0.310050],[-0.707756,-0.656119,-0.261894],[0.036531,-0.404209,0.913937]]
2025-10-24T22:47:05.872Z,1761346025.872 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:47:05.872Z,1761346025.872 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:47:05.872Z,1761346025.872 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:47:05.873Z,1761346025.873 [marl:UpdateRudder:A] Stopped
2025-10-24T22:47:05.873Z,1761346025.873 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:47:05.873Z,1761346025.873 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:47:05.873Z,1761346025.873 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:47:05.873Z,1761346025.873 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:47:05.873Z,1761346025.873 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:47:05.873Z,1761346025.873 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:47:05.873Z,1761346025.873 [marl:UpdateCommandMode] Stopped
2025-10-24T22:47:05.873Z,1761346025.873 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:47:05.874Z,1761346025.874 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:47:05.874Z,1761346025.874 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:47:05.874Z,1761346025.874 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:47:05.874Z,1761346025.874 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:47:05.874Z,1761346025.874 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:47:05.874Z,1761346025.874 [marl:UpdateSpeed] Stopped
2025-10-24T22:47:05.874Z,1761346025.874 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:47:06.232Z,1761346026.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715328,0.627657,0.307168],[-0.697616,-0.666887,-0.261904],[0.040461,-0.401633,0.914907]]
2025-10-24T22:47:06.274Z,1761346026.274 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:47:06.274Z,1761346026.274 [marl:UpdateRudder:B] Stopped
2025-10-24T22:47:06.275Z,1761346026.275 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:47:06.275Z,1761346026.275 [marl:UpdateRudder] Stopped
2025-10-24T22:47:06.275Z,1761346026.275 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:47:06.630Z,1761346026.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725152,0.617709,0.304286],[-0.687143,-0.677760,-0.261678],[0.044592,-0.398844,0.915934]]
2025-10-24T22:47:07.058Z,1761346027.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735508,0.606809,0.301348],[-0.675764,-0.689014,-0.261921],[0.048697,-0.396286,0.916835]]
2025-10-24T22:47:07.443Z,1761346027.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745306,0.595895,0.299046],[-0.664621,-0.699619,-0.262321],[0.052902,-0.394261,0.917475]]
2025-10-24T22:47:07.919Z,1761346027.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755271,0.584334,0.296849],[-0.652930,-0.710200,-0.263247],[0.056998,-0.392644,0.917922]]
2025-10-24T22:47:08.294Z,1761346028.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764867,0.572407,0.295515],[-0.641318,-0.719864,-0.265530],[0.060740,-0.392614,0.917695]]
2025-10-24T22:47:08.683Z,1761346028.683 [DAT](INFO): DAT read: 

2025-10-24T22:47:08.685Z,1761346028.685 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T22:47:08.727Z,1761346028.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774255,0.560964,0.293001],[-0.629640,-0.729517,-0.267129],[0.063899,-0.391311,0.918037]]
2025-10-24T22:47:09.165Z,1761346029.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783647,0.548935,0.290805],[-0.617616,-0.738733,-0.269860],[0.066692,-0.391081,0.917937]]
2025-10-24T22:47:09.563Z,1761346029.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792701,0.537468,0.287668],[-0.605700,-0.747776,-0.271955],[0.068945,-0.389819,0.918307]]
2025-10-24T22:47:09.978Z,1761346029.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801788,0.525939,0.283768],[-0.593382,-0.757014,-0.273547],[0.070947,-0.387710,0.919047]]
2025-10-24T22:47:10.371Z,1761346030.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810405,0.514580,0.280092],[-0.581354,-0.765552,-0.275604],[0.072605,-0.386184,0.919560]]
2025-10-24T22:47:10.445Z,1761346030.445 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T22:47:10.446Z,1761346030.446 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T22:47:10.446Z,1761346030.446 [DAT](INFO): DAT read: Oct 24 2025 22:47:04 

2025-10-24T22:47:10.776Z,1761346030.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819072,0.502876,0.276110],[-0.568825,-0.774432,-0.276938],[0.074563,-0.383890,0.920363]]
2025-10-24T22:47:11.193Z,1761346031.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827650,0.490608,0.272581],[-0.556003,-0.782951,-0.279014],[0.076531,-0.382481,0.920788]]
2025-10-24T22:47:11.453Z,1761346031.453 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T22:47:11.454Z,1761346031.454 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:47:11.455Z,1761346031.455 [DAT](INFO): commRate: 600
2025-10-24T22:47:11.638Z,1761346031.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836085,0.478129,0.268987],[-0.542985,-0.791196,-0.281381],[0.078285,-0.381314,0.921125]]
2025-10-24T22:47:12.059Z,1761346032.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844634,0.465628,0.264167],[-0.529340,-0.800099,-0.282207],[0.079957,-0.378196,0.922266]]
2025-10-24T22:47:12.521Z,1761346032.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853618,0.452120,0.258698],[-0.514556,-0.809156,-0.283722],[0.081051,-0.375304,0.923351]]
2025-10-24T22:47:12.925Z,1761346032.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862993,0.437578,0.252524],[-0.498582,-0.818375,-0.285794],[0.081603,-0.372542,0.924421]]
2025-10-24T22:47:13.329Z,1761346033.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872140,0.422108,0.247378],[-0.482296,-0.826723,-0.289691],[0.082232,-0.371960,0.924599]]
2025-10-24T22:47:13.520Z,1761346033.520 [DAT](INFO): entering command mode
2025-10-24T22:47:13.720Z,1761346033.720 [DAT](INFO): DAT read: 

2025-10-24T22:47:13.721Z,1761346033.721 [DAT](INFO): DAT read: user:1>

2025-10-24T22:47:13.721Z,1761346033.721 [DAT](INFO): setting verbose to 3
2025-10-24T22:47:13.756Z,1761346033.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881216,0.405790,0.242472],[-0.465408,-0.834598,-0.294687],[0.082785,-0.372532,0.924320]]
2025-10-24T22:47:13.973Z,1761346033.973 [DAT](INFO): DAT read: user:1>

2025-10-24T22:47:13.974Z,1761346033.974 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T22:47:13.975Z,1761346033.975 [DAT](INFO): set verbose to 3
2025-10-24T22:47:13.975Z,1761346033.975 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T22:47:14.135Z,1761346034.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889924,0.389520,0.237296],[-0.448473,-0.842076,-0.299634],[0.083108,-0.373072,0.924073]]
2025-10-24T22:47:14.225Z,1761346034.225 [DAT](INFO): DAT read: user:2>

2025-10-24T22:47:14.226Z,1761346034.226 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T22:47:14.226Z,1761346034.226 [DAT](INFO): set DatVerbose to 27440
2025-10-24T22:47:14.226Z,1761346034.226 [DAT](INFO): setting transmit power to 8
2025-10-24T22:47:14.477Z,1761346034.477 [DAT](INFO): DAT read: user:3>

2025-10-24T22:47:14.478Z,1761346034.478 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T22:47:14.478Z,1761346034.478 [DAT](INFO): set transmit power to 8
2025-10-24T22:47:14.478Z,1761346034.478 [DAT](INFO): setting local address to 11
2025-10-24T22:47:14.559Z,1761346034.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898063,0.373702,0.232013],[-0.431940,-0.848911,-0.304593],[0.083131,-0.373760,0.923793]]
2025-10-24T22:47:14.732Z,1761346034.732 [DAT](INFO): DAT read: user:4>

2025-10-24T22:47:14.733Z,1761346034.733 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T22:47:14.734Z,1761346034.734 [DAT](INFO): set local address to 11
2025-10-24T22:47:14.735Z,1761346034.735 [DAT](INFO): Setting time to: 22:47:14 And date to:10/24/2025
2025-10-24T22:47:14.944Z,1761346034.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905508,0.358567,0.226901],[-0.416198,-0.854688,-0.310301],[0.082666,-0.375417,0.923162]]
2025-10-24T22:47:14.988Z,1761346034.988 [DAT](INFO): DAT read: user:5>

2025-10-24T22:47:14.994Z,1761346034.994 [DAT](INFO): DAT read: Fri Oct 24, 2025  22:47:14  

2025-10-24T22:47:14.995Z,1761346034.995 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  22:47:14  

2025-10-24T22:47:14.995Z,1761346034.995 [DAT](INFO): setting remote address to 10
2025-10-24T22:47:14.996Z,1761346034.996 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:47:14.996Z,1761346034.996 [DAT](INFO): setting remote address to 0
2025-10-24T22:47:15.241Z,1761346035.241 [DAT](INFO): DAT read: user:6>

2025-10-24T22:47:15.242Z,1761346035.242 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:47:15.243Z,1761346035.243 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T22:47:15.243Z,1761346035.243 [DAT] Communications Fault, FailCount= 3
2025-10-24T22:47:15.243Z,1761346035.243 [DAT](ERROR): Communications Fault
2025-10-24T22:47:15.244Z,1761346035.244 [DAT](INFO): DAT read: user:7>

2025-10-24T22:47:15.245Z,1761346035.245 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:47:15.245Z,1761346035.245 [DAT](INFO): set remote address to 0
2025-10-24T22:47:15.245Z,1761346035.245 [DAT](INFO): setting remote address to 10
2025-10-24T22:47:15.246Z,1761346035.246 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:47:15.246Z,1761346035.246 [DAT](INFO): setting remote address to 0
2025-10-24T22:47:15.349Z,1761346035.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911857,0.345070,0.222362],[-0.402219,-0.859326,-0.315876],[0.082082,-0.377472,0.922376]]
2025-10-24T22:47:15.639Z,1761346035.639 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T22:47:15.649Z,1761346035.649 [DAT](INFO): Powering down
2025-10-24T22:47:15.752Z,1761346035.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917739,0.332405,0.217398],[-0.388802,-0.863706,-0.320695],[0.081167,-0.378839,0.921896]]
2025-10-24T22:47:16.207Z,1761346036.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927595,0.310673,0.207484],[-0.365085,-0.871640,-0.327043],[0.079247,-0.379113,0.921951]]
2025-10-24T22:47:16.607Z,1761346036.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932526,0.299579,0.201614],[-0.352493,-0.876394,-0.328150],[0.078386,-0.377076,0.922859]]
2025-10-24T22:47:17.051Z,1761346037.051 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T22:47:17.051Z,1761346037.051 [DAT] No Fault, FailCount= 3
2025-10-24T22:47:17.091Z,1761346037.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937649,0.287314,0.195613],[-0.338822,-0.881087,-0.329978],[0.077544,-0.375682,0.923499]]
2025-10-24T22:47:17.483Z,1761346037.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943002,0.274123,0.188688],[-0.323918,-0.886093,-0.331538],[0.076313,-0.373760,0.924381]]
2025-10-24T22:47:17.891Z,1761346037.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948460,0.259920,0.181289],[-0.307931,-0.891037,-0.333513],[0.074848,-0.372149,0.925150]]
2025-10-24T22:47:18.291Z,1761346038.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954117,0.244369,0.173046],[-0.290329,-0.896408,-0.334905],[0.073279,-0.369779,0.926226]]
2025-10-24T22:47:18.695Z,1761346038.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959712,0.227875,0.164397],[-0.271708,-0.901721,-0.336265],[0.071614,-0.367386,0.927307]]
2025-10-24T22:47:18.848Z,1761346038.848 [DAT](INFO): Powering up
2025-10-24T22:47:18.848Z,1761346038.848 [DAT](DEBUG): Initializing DAT.
2025-10-24T22:47:19.098Z,1761346039.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965031,0.210700,0.155954],[-0.252677,-0.906061,-0.339423],[0.069787,-0.366959,0.927616]]
2025-10-24T22:47:19.159Z,1761346039.159 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:47:19.159Z,1761346039.159 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:47:19.159Z,1761346039.159 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:47:19.160Z,1761346039.160 [marl:UpdateRudder:A] Stopped
2025-10-24T22:47:19.160Z,1761346039.160 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:47:19.160Z,1761346039.160 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:47:19.160Z,1761346039.160 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:47:19.161Z,1761346039.161 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:47:19.161Z,1761346039.161 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:47:19.162Z,1761346039.162 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:47:19.162Z,1761346039.162 [marl:UpdateCommandMode] Stopped
2025-10-24T22:47:19.162Z,1761346039.162 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:47:19.162Z,1761346039.162 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:47:19.162Z,1761346039.162 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:47:19.162Z,1761346039.162 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:47:19.163Z,1761346039.163 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:47:19.163Z,1761346039.163 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:47:19.163Z,1761346039.163 [marl:UpdateSpeed] Stopped
2025-10-24T22:47:19.163Z,1761346039.163 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:47:19.502Z,1761346039.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970107,0.193115,0.146963],[-0.233029,-0.910346,-0.342006],[0.067741,-0.366030,0.928134]]
2025-10-24T22:47:19.527Z,1761346039.527 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:47:19.527Z,1761346039.527 [marl:UpdateRudder:B] Stopped
2025-10-24T22:47:19.527Z,1761346039.527 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:47:19.527Z,1761346039.527 [marl:UpdateRudder] Stopped
2025-10-24T22:47:19.527Z,1761346039.527 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:47:19.942Z,1761346039.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974719,0.175220,0.138642],[-0.213522,-0.913248,-0.346967],[0.065819,-0.367798,0.927573]]
2025-10-24T22:47:20.310Z,1761346040.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979006,0.157067,0.129909],[-0.193565,-0.916114,-0.351095],[0.063866,-0.368870,0.927284]]
2025-10-24T22:47:20.715Z,1761346040.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982553,0.141420,0.120788],[-0.175710,-0.918718,-0.353672],[0.060954,-0.368725,0.927538]]
2025-10-24T22:47:21.119Z,1761346041.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985264,0.129993,0.111162],[-0.161369,-0.921919,-0.352172],[0.056702,-0.364920,0.929311]]
2025-10-24T22:47:21.525Z,1761346041.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987230,0.123820,0.100229],[-0.151052,-0.927450,-0.342081],[0.050600,-0.352852,0.934310]]
2025-10-24T22:47:21.962Z,1761346041.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988611,0.121498,0.088802],[-0.144096,-0.934424,-0.325711],[0.043406,-0.334798,0.941290]]
2025-10-24T22:47:22.165Z,1761346042.165 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:47:22.331Z,1761346042.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989598,0.121045,0.077745],[-0.139304,-0.941213,-0.307753],[0.035923,-0.315382,0.948285]]
2025-10-24T22:47:22.734Z,1761346042.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990114,0.122879,0.067639],[-0.137390,-0.946746,-0.291198],[0.028254,-0.297613,0.954269]]
2025-10-24T22:47:23.151Z,1761346043.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990343,0.125862,0.058141],[-0.137102,-0.951406,-0.275734],[0.020611,-0.281043,0.959474]]
2025-10-24T22:47:23.168Z,1761346043.168 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:47:23.542Z,1761346043.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990266,0.130040,0.049622],[-0.138543,-0.955160,-0.261678],[0.013369,-0.266005,0.963879]]
2025-10-24T22:47:23.969Z,1761346043.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990009,0.134844,0.041231],[-0.140873,-0.958563,-0.247611],[0.006134,-0.250945,0.967982]]
2025-10-24T22:47:24.351Z,1761346044.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989637,0.139634,0.033465],[-0.143586,-0.961049,-0.236151],[-0.000813,-0.238509,0.971140]]
2025-10-24T22:47:24.756Z,1761346044.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989223,0.144039,0.026276],[-0.146227,-0.962774,-0.227343],[-0.007448,-0.228735,0.973460]]
2025-10-24T22:47:25.170Z,1761346045.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988750,0.148226,0.020067],[-0.148956,-0.963511,-0.222394],[-0.013630,-0.222881,0.974750]]
2025-10-24T22:47:25.562Z,1761346045.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988287,0.151939,0.014288],[-0.151342,-0.963734,-0.219802],[-0.019627,-0.219389,0.975440]]
2025-10-24T22:47:25.974Z,1761346045.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987880,0.154930,0.009449],[-0.153186,-0.963327,-0.220308],[-0.025029,-0.219085,0.975385]]
2025-10-24T22:47:26.372Z,1761346046.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987566,0.157124,0.004962],[-0.154322,-0.962969,-0.221077],[-0.029958,-0.219094,0.975244]]
2025-10-24T22:47:26.776Z,1761346046.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987381,0.158365,0.000327],[-0.154482,-0.962711,-0.222088],[-0.034856,-0.219336,0.975026]]
2025-10-24T22:47:27.179Z,1761346047.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987422,0.158034,-0.004753],[-0.153053,-0.962978,-0.221920],[-0.039647,-0.218401,0.975053]]
2025-10-24T22:47:27.582Z,1761346047.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987670,0.156202,-0.010475],[-0.150005,-0.963384,-0.222238],[-0.044805,-0.217926,0.974936]]
2025-10-24T22:47:27.987Z,1761346047.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988024,0.153385,-0.016792],[-0.145932,-0.964236,-0.221251],[-0.050128,-0.216151,0.975072]]
2025-10-24T22:47:28.391Z,1761346048.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988358,0.150392,-0.023055],[-0.141619,-0.964724,-0.221927],[-0.055617,-0.216078,0.974791]]
2025-10-24T22:47:28.794Z,1761346048.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988594,0.147764,-0.029105],[-0.137622,-0.964843,-0.223915],[-0.061168,-0.217355,0.974174]]
2025-10-24T22:47:29.203Z,1761346049.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988807,0.145014,-0.035087],[-0.133495,-0.964938,-0.225997],[-0.066629,-0.218784,0.973496]]
2025-10-24T22:47:29.602Z,1761346049.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988947,0.142421,-0.041223],[-0.129638,-0.965524,-0.225736],[-0.071952,-0.217897,0.973316]]
2025-10-24T22:47:30.008Z,1761346050.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988992,0.140344,-0.046892],[-0.126348,-0.965887,-0.226050],[-0.077018,-0.217637,0.972986]]
2025-10-24T22:47:30.410Z,1761346050.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989000,0.138244,-0.052608],[-0.123124,-0.966510,-0.225163],[-0.081973,-0.216209,0.972900]]
2025-10-24T22:47:30.814Z,1761346050.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988978,0.136160,-0.058168],[-0.119969,-0.967139,-0.224164],[-0.086778,-0.214715,0.972814]]
2025-10-24T22:47:30.953Z,1761346050.953 [DAT](INFO): DAT read: 

2025-10-24T22:47:30.953Z,1761346050.953 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T22:47:31.225Z,1761346051.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988949,0.134165,-0.063084],[-0.116790,-0.967113,-0.225947],[-0.091323,-0.216083,0.972095]]
2025-10-24T22:47:31.635Z,1761346051.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988881,0.132214,-0.068074],[-0.113720,-0.967295,-0.226732],[-0.095825,-0.216470,0.971575]]
2025-10-24T22:47:32.026Z,1761346052.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988696,0.131344,-0.072313],[-0.111694,-0.966955,-0.229180],[-0.100025,-0.218513,0.970694]]
2025-10-24T22:47:32.152Z,1761346052.152 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:47:32.153Z,1761346052.153 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:47:32.153Z,1761346052.153 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:47:32.153Z,1761346052.153 [marl:UpdateRudder:A] Stopped
2025-10-24T22:47:32.153Z,1761346052.153 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:47:32.153Z,1761346052.153 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:47:32.153Z,1761346052.153 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:47:32.153Z,1761346052.153 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:47:32.154Z,1761346052.154 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:47:32.154Z,1761346052.154 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:47:32.154Z,1761346052.154 [marl:UpdateCommandMode] Stopped
2025-10-24T22:47:32.154Z,1761346052.154 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:47:32.154Z,1761346052.154 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:47:32.154Z,1761346052.154 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:47:32.154Z,1761346052.154 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:47:32.154Z,1761346052.154 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:47:32.155Z,1761346052.155 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:47:32.155Z,1761346052.155 [marl:UpdateSpeed] Stopped
2025-10-24T22:47:32.155Z,1761346052.155 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:47:32.431Z,1761346052.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988478,0.130845,-0.076092],[-0.110106,-0.966539,-0.231689],[-0.103861,-0.220641,0.969809]]
2025-10-24T22:47:32.475Z,1761346052.475 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:47:32.475Z,1761346052.475 [marl:UpdateRudder:B] Stopped
2025-10-24T22:47:32.475Z,1761346052.475 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:47:32.475Z,1761346052.475 [marl:UpdateRudder] Stopped
2025-10-24T22:47:32.475Z,1761346052.475 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:47:32.717Z,1761346052.717 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T22:47:32.718Z,1761346052.718 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T22:47:32.719Z,1761346052.719 [DAT](INFO): DAT read: Oct 24 2025 22:47:26 

2025-10-24T22:47:32.836Z,1761346052.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988294,0.130672,-0.078735],[-0.109088,-0.966082,-0.234063],[-0.106650,-0.222734,0.969028]]
2025-10-24T22:47:33.242Z,1761346053.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988204,0.130318,-0.080438],[-0.108282,-0.966004,-0.234758],[-0.108297,-0.223279,0.968720]]
2025-10-24T22:47:33.644Z,1761346053.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988084,0.131141,-0.080570],[-0.108770,-0.965325,-0.237313],[-0.108898,-0.225722,0.968086]]
2025-10-24T22:47:33.725Z,1761346053.725 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T22:47:33.726Z,1761346053.726 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:47:33.726Z,1761346053.726 [DAT](INFO): commRate: 600
2025-10-24T22:47:34.048Z,1761346054.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987945,0.132503,-0.080052],[-0.110095,-0.964903,-0.238412],[-0.108833,-0.226725,0.967859]]
2025-10-24T22:47:34.451Z,1761346054.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987810,0.133831,-0.079504],[-0.111449,-0.964600,-0.239012],[-0.108677,-0.227237,0.967756]]
2025-10-24T22:47:34.855Z,1761346054.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987760,0.134533,-0.078936],[-0.112266,-0.964507,-0.239001],[-0.108288,-0.227214,0.967805]]
2025-10-24T22:47:35.263Z,1761346055.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987764,0.134734,-0.078546],[-0.112576,-0.964524,-0.238788],[-0.107932,-0.227023,0.967890]]
2025-10-24T22:47:35.674Z,1761346055.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987797,0.134646,-0.078284],[-0.112592,-0.964615,-0.238412],[-0.107615,-0.226688,0.968004]]
2025-10-24T22:47:35.792Z,1761346055.792 [DAT](INFO): entering command mode
2025-10-24T22:47:35.992Z,1761346055.992 [DAT](INFO): DAT read: 

2025-10-24T22:47:35.993Z,1761346055.993 [DAT](INFO): DAT read: user:1>

2025-10-24T22:47:35.993Z,1761346055.993 [DAT](INFO): setting verbose to 3
2025-10-24T22:47:36.071Z,1761346056.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987758,0.135248,-0.077726],[-0.113323,-0.964565,-0.238270],[-0.107198,-0.226545,0.968084]]
2025-10-24T22:47:36.245Z,1761346056.245 [DAT](INFO): DAT read: user:1>

2025-10-24T22:47:36.245Z,1761346056.245 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T22:47:36.246Z,1761346056.246 [DAT](INFO): set verbose to 3
2025-10-24T22:47:36.246Z,1761346056.246 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T22:47:36.476Z,1761346056.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987730,0.135783,-0.077157],[-0.113875,-0.964275,-0.239180],[-0.106877,-0.227459,0.967905]]
2025-10-24T22:47:36.496Z,1761346056.496 [DAT](INFO): DAT read: user:2>

2025-10-24T22:47:36.497Z,1761346056.497 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T22:47:36.498Z,1761346056.498 [DAT](INFO): set DatVerbose to 27440
2025-10-24T22:47:36.498Z,1761346056.498 [DAT](INFO): setting transmit power to 8
2025-10-24T22:47:36.749Z,1761346056.749 [DAT](INFO): DAT read: user:3>

2025-10-24T22:47:36.750Z,1761346056.750 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T22:47:36.750Z,1761346056.750 [DAT](INFO): set transmit power to 8
2025-10-24T22:47:36.750Z,1761346056.750 [DAT](INFO): setting local address to 11
2025-10-24T22:47:36.880Z,1761346056.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987561,0.137496,-0.076279],[-0.115623,-0.963785,-0.240314],[-0.106559,-0.228505,0.967694]]
2025-10-24T22:47:37.001Z,1761346057.001 [DAT](INFO): DAT read: user:4>

2025-10-24T22:47:37.001Z,1761346057.001 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T22:47:37.002Z,1761346057.002 [DAT](INFO): set local address to 11
2025-10-24T22:47:37.003Z,1761346057.003 [DAT](INFO): Setting time to: 22:47:37 And date to:10/24/2025
2025-10-24T22:47:37.253Z,1761346057.253 [DAT](INFO): DAT read: user:5>

2025-10-24T22:47:37.253Z,1761346057.253 [DAT](INFO): DAT read: Fri Oct 24, 2025  22:47:37  

2025-10-24T22:47:37.254Z,1761346057.254 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  22:47:37  

2025-10-24T22:47:37.254Z,1761346057.254 [DAT](INFO): setting remote address to 10
2025-10-24T22:47:37.255Z,1761346057.255 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:47:37.255Z,1761346057.255 [DAT](INFO): setting remote address to 0
2025-10-24T22:47:37.283Z,1761346057.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987526,0.137990,-0.075832],[-0.116308,-0.963927,-0.239411],[-0.106133,-0.227604,0.967953]]
2025-10-24T22:47:37.505Z,1761346057.505 [DAT](INFO): DAT read: user:6>

2025-10-24T22:47:37.506Z,1761346057.506 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:47:37.506Z,1761346057.506 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T22:47:37.506Z,1761346057.506 [DAT] Communications Fault, FailCount= 4
2025-10-24T22:47:37.506Z,1761346057.506 [DAT](ERROR): Communications Fault
2025-10-24T22:47:37.507Z,1761346057.507 [DAT](INFO): DAT read: user:7>

2025-10-24T22:47:37.508Z,1761346057.508 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:47:37.509Z,1761346057.509 [DAT](INFO): set remote address to 0
2025-10-24T22:47:37.509Z,1761346057.509 [DAT](INFO): setting remote address to 10
2025-10-24T22:47:37.509Z,1761346057.509 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:47:37.509Z,1761346057.509 [DAT](INFO): setting remote address to 0
2025-10-24T22:47:37.644Z,1761346057.644 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T22:47:37.702Z,1761346057.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987482,0.138725,-0.075070],[-0.117168,-0.963749,-0.239709],[-0.105602,-0.227912,0.967938]]
2025-10-24T22:47:37.913Z,1761346057.913 [DAT](INFO): Powering down
2025-10-24T22:47:38.104Z,1761346058.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987630,0.138518,-0.073479],[-0.117367,-0.963806,-0.239378],[-0.103978,-0.227793,0.968142]]
2025-10-24T22:47:38.495Z,1761346058.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987937,0.137223,-0.071764],[-0.116665,-0.964287,-0.237780],[-0.101830,-0.226539,0.968664]]
2025-10-24T22:47:38.898Z,1761346058.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988398,0.134832,-0.069924],[-0.114824,-0.964678,-0.237089],[-0.099421,-0.226310,0.968968]]
2025-10-24T22:47:38.963Z,1761346058.963 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T22:47:38.963Z,1761346058.963 [DAT] No Fault, FailCount= 4
2025-10-24T22:47:39.302Z,1761346059.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988965,0.131560,-0.068125],[-0.112134,-0.965224,-0.236154],[-0.096824,-0.225908,0.969325]]
2025-10-24T22:47:39.709Z,1761346059.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989648,0.127315,-0.066247],[-0.108455,-0.965734,-0.235788],[-0.093996,-0.226162,0.969544]]
2025-10-24T22:47:40.123Z,1761346060.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990322,0.123237,-0.063829],[-0.104968,-0.965963,-0.236426],[-0.090793,-0.227437,0.969551]]
2025-10-24T22:47:40.514Z,1761346060.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990972,0.119168,-0.061436],[-0.101465,-0.966113,-0.237339],[-0.087637,-0.228963,0.969482]]
2025-10-24T22:47:40.919Z,1761346060.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991505,0.115739,-0.059356],[-0.098568,-0.966320,-0.237720],[-0.084870,-0.229850,0.969518]]
2025-10-24T22:47:40.964Z,1761346060.964 [DAT](INFO): Powering up
2025-10-24T22:47:40.964Z,1761346060.964 [DAT](DEBUG): Initializing DAT.
2025-10-24T22:47:41.330Z,1761346061.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991972,0.112864,-0.057036],[-0.096148,-0.966113,-0.239542],[-0.082139,-0.232135,0.969209]]
2025-10-24T22:47:41.727Z,1761346061.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992293,0.111233,-0.054611],[-0.094915,-0.965594,-0.242115],[-0.079663,-0.235066,0.968709]]
2025-10-24T22:47:42.130Z,1761346062.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992482,0.111112,-0.051325],[-0.095206,-0.964390,-0.246754],[-0.076914,-0.240012,0.967718]]
2025-10-24T22:47:42.534Z,1761346062.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992497,0.112337,-0.048262],[-0.096800,-0.963107,-0.251105],[-0.074690,-0.244549,0.966756]]
2025-10-24T22:47:42.939Z,1761346062.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992400,0.114485,-0.045115],[-0.099436,-0.962063,-0.254060],[-0.072489,-0.247643,0.966136]]
2025-10-24T22:47:43.350Z,1761346063.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992250,0.117097,-0.041581],[-0.102681,-0.961118,-0.256336],[-0.069980,-0.250080,0.965693]]
2025-10-24T22:47:43.747Z,1761346063.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992101,0.119657,-0.037657],[-0.106091,-0.960539,-0.257119],[-0.066938,-0.251092,0.965646]]
2025-10-24T22:47:44.151Z,1761346064.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991949,0.122222,-0.033162],[-0.109708,-0.960141,-0.257086],[-0.063262,-0.251378,0.965819]]
2025-10-24T22:47:44.556Z,1761346064.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991859,0.124262,-0.027845],[-0.113123,-0.960183,-0.255444],[-0.058479,-0.250215,0.966423]]
2025-10-24T22:47:44.719Z,1761346064.719 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:47:44.720Z,1761346064.720 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:47:44.960Z,1761346064.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991813,0.125792,-0.022003],[-0.116191,-0.960409,-0.253209],[-0.052983,-0.248579,0.967161]]
2025-10-24T22:47:44.985Z,1761346064.985 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:47:44.985Z,1761346064.985 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:47:44.985Z,1761346064.985 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:47:44.985Z,1761346064.985 [marl:UpdateRudder:A] Stopped
2025-10-24T22:47:44.985Z,1761346064.985 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:47:44.986Z,1761346064.986 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:47:44.986Z,1761346064.986 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:47:44.986Z,1761346064.986 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:47:44.986Z,1761346064.986 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:47:44.986Z,1761346064.986 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:47:44.986Z,1761346064.986 [marl:UpdateCommandMode] Stopped
2025-10-24T22:47:44.986Z,1761346064.986 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:47:44.986Z,1761346064.986 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:47:44.987Z,1761346064.987 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:47:44.987Z,1761346064.987 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:47:44.987Z,1761346064.987 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:47:44.987Z,1761346064.987 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:47:44.987Z,1761346064.987 [marl:UpdateSpeed] Stopped
2025-10-24T22:47:44.987Z,1761346064.987 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:47:45.362Z,1761346065.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991781,0.126932,-0.016099],[-0.118877,-0.960670,-0.250960],[-0.047320,-0.246984,0.967864]]
2025-10-24T22:47:45.418Z,1761346065.418 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:47:45.418Z,1761346065.418 [marl:UpdateRudder:B] Stopped
2025-10-24T22:47:45.418Z,1761346065.418 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:47:45.418Z,1761346065.418 [marl:UpdateRudder] Stopped
2025-10-24T22:47:45.418Z,1761346065.418 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:47:45.767Z,1761346065.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991794,0.127457,-0.010005],[-0.120984,-0.960957,-0.248847],[-0.041332,-0.245595,0.968491]]
2025-10-24T22:47:46.176Z,1761346066.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991791,0.127806,-0.004020],[-0.122859,-0.961175,-0.247079],[-0.035442,-0.244556,0.968987]]
2025-10-24T22:47:46.585Z,1761346066.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991842,0.127464,0.001735],[-0.123999,-0.961541,-0.245079],[-0.029570,-0.243295,0.969501]]
2025-10-24T22:47:46.611Z,1761346066.611 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:47:46.979Z,1761346066.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991899,0.126815,0.007313],[-0.124781,-0.961987,-0.242921],[-0.023771,-0.241866,0.970018]]
2025-10-24T22:47:47.383Z,1761346067.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992018,0.125483,0.012414],[-0.124771,-0.962604,-0.240471],[-0.018225,-0.240101,0.970577]]
2025-10-24T22:47:47.786Z,1761346067.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992198,0.123513,0.016935],[-0.123971,-0.963157,-0.238662],[-0.013167,-0.238900,0.970955]]
2025-10-24T22:47:48.190Z,1761346068.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992394,0.121276,0.021126],[-0.122833,-0.964187,-0.235063],[-0.008138,-0.235870,0.971750]]
2025-10-24T22:47:48.595Z,1761346068.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992636,0.118487,0.025176],[-0.121089,-0.965056,-0.232389],[-0.003239,-0.233727,0.972297]]
2025-10-24T22:47:48.000Z,1761346069.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992889,0.115372,0.029347],[-0.119032,-0.965886,-0.229989],[0.001811,-0.231847,0.972751]]
2025-10-24T22:47:49.402Z,1761346069.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993094,0.112556,0.033100],[-0.117153,-0.966509,-0.228333],[0.006291,-0.230634,0.973020]]
2025-10-24T22:47:49.806Z,1761346069.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993339,0.109205,0.036760],[-0.114712,-0.967333,-0.226071],[0.010871,-0.228782,0.973417]]
2025-10-24T22:47:50.215Z,1761346070.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993597,0.105554,0.040295],[-0.111920,-0.968346,-0.223116],[0.015469,-0.226197,0.973959]]
2025-10-24T22:47:50.618Z,1761346070.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993843,0.101837,0.043638],[-0.109030,-0.968955,-0.221897],[0.019686,-0.225288,0.974093]]
2025-10-24T22:47:51.019Z,1761346071.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994079,0.098040,0.046852],[-0.106039,-0.969417,-0.221330],[0.023720,-0.224987,0.974073]]
2025-10-24T22:47:51.423Z,1761346071.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994250,0.094605,0.050166],[-0.103478,-0.969350,-0.222828],[0.027548,-0.226738,0.973566]]
2025-10-24T22:47:51.826Z,1761346071.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994282,0.092415,0.053513],[-0.102190,-0.968863,-0.225526],[0.031005,-0.229705,0.972766]]
2025-10-24T22:47:52.238Z,1761346072.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993816,0.092384,0.061595],[-0.104388,-0.966436,-0.234743],[0.037842,-0.239721,0.970104]]
2025-10-24T22:47:52.639Z,1761346072.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993387,0.093985,0.065952],[-0.107103,-0.965516,-0.237294],[0.041375,-0.242788,0.969197]]
2025-10-24T22:47:53.049Z,1761346073.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992922,0.095742,0.070275],[-0.109965,-0.964653,-0.239482],[0.044862,-0.245514,0.968354]]
2025-10-24T22:47:53.061Z,1761346073.061 [DAT](INFO): DAT read: 

2025-10-24T22:47:53.062Z,1761346073.062 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T22:47:53.300Z,1761346073.300 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:47:53.447Z,1761346073.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992461,0.097561,0.074188],[-0.112769,-0.963973,-0.240914],[0.048011,-0.247464,0.967707]]
2025-10-24T22:47:53.853Z,1761346073.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992100,0.098620,0.077536],[-0.114563,-0.964079,-0.239639],[0.051118,-0.246629,0.967761]]
2025-10-24T22:47:54.264Z,1761346074.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991800,0.099061,0.080738],[-0.115711,-0.964275,-0.238296],[0.054248,-0.245684,0.967831]]
2025-10-24T22:47:54.304Z,1761346074.304 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:47:54.658Z,1761346074.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991444,0.099850,0.084073],[-0.117177,-0.964615,-0.236194],[0.057514,-0.244024,0.968062]]
2025-10-24T22:47:54.825Z,1761346074.825 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T22:47:54.826Z,1761346074.826 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T22:47:54.827Z,1761346074.827 [DAT](INFO): DAT read: Oct 24 2025 22:47:49 

2025-10-24T22:47:55.064Z,1761346075.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990964,0.101543,0.087633],[-0.119695,-0.964316,-0.236152],[0.060526,-0.244508,0.967756]]
2025-10-24T22:47:55.470Z,1761346075.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990254,0.105097,0.091388],[-0.123983,-0.964131,-0.234690],[0.063445,-0.243733,0.967765]]
2025-10-24T22:47:55.833Z,1761346075.833 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T22:47:55.839Z,1761346075.839 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:47:55.839Z,1761346075.839 [DAT](INFO): commRate: 600
2025-10-24T22:47:55.866Z,1761346075.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989359,0.109805,0.095460],[-0.129539,-0.963505,-0.234262],[0.066253,-0.244135,0.967475]]
2025-10-24T22:47:56.270Z,1761346076.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988237,0.115866,0.099818],[-0.136494,-0.962618,-0.233958],[0.068978,-0.244831,0.967109]]
2025-10-24T22:47:56.680Z,1761346076.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987013,0.122575,0.103831],[-0.143755,-0.962429,-0.230359],[0.071694,-0.242293,0.967551]]
2025-10-24T22:47:57.101Z,1761346077.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985795,0.128843,0.107740],[-0.150597,-0.962089,-0.227389],[0.074358,-0.240384,0.967826]]
2025-10-24T22:47:57.482Z,1761346077.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984768,0.133696,0.111166],[-0.155885,-0.962078,-0.223843],[0.077024,-0.237763,0.968265]]
2025-10-24T22:47:57.891Z,1761346077.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984163,0.136061,0.113621],[-0.158334,-0.962945,-0.218330],[0.079705,-0.232863,0.969238]]
2025-10-24T22:47:57.900Z,1761346077.900 [DAT](INFO): entering command mode
2025-10-24T22:47:57.000Z,1761346078.000 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:47:57.000Z,1761346078.000 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:47:58.000Z,1761346078.000 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:47:58.001Z,1761346078.001 [marl:UpdateRudder:A] Stopped
2025-10-24T22:47:58.001Z,1761346078.001 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:47:58.001Z,1761346078.001 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:47:58.001Z,1761346078.001 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:47:58.001Z,1761346078.001 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:47:58.001Z,1761346078.001 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:47:58.001Z,1761346078.001 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:47:58.002Z,1761346078.002 [marl:UpdateCommandMode] Stopped
2025-10-24T22:47:58.002Z,1761346078.002 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:47:58.002Z,1761346078.002 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:47:58.002Z,1761346078.002 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:47:58.002Z,1761346078.002 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:47:58.002Z,1761346078.002 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:47:58.002Z,1761346078.002 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:47:58.002Z,1761346078.002 [marl:UpdateSpeed] Stopped
2025-10-24T22:47:58.002Z,1761346078.002 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:47:58.100Z,1761346078.100 [DAT](INFO): DAT read: 

2025-10-24T22:47:58.101Z,1761346078.101 [DAT](INFO): DAT read: user:1>

2025-10-24T22:47:58.101Z,1761346078.101 [DAT](INFO): setting verbose to 3
2025-10-24T22:47:58.291Z,1761346078.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984012,0.135835,0.115193],[-0.157952,-0.964411,-0.212043],[0.082290,-0.226848,0.970448]]
2025-10-24T22:47:58.353Z,1761346078.353 [DAT](INFO): DAT read: user:1>

2025-10-24T22:47:58.354Z,1761346078.354 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T22:47:58.354Z,1761346078.354 [DAT](INFO): set verbose to 3
2025-10-24T22:47:58.354Z,1761346078.354 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T22:47:58.373Z,1761346078.373 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:47:58.373Z,1761346078.373 [marl:UpdateRudder:B] Stopped
2025-10-24T22:47:58.373Z,1761346078.373 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:47:58.373Z,1761346078.373 [marl:UpdateRudder] Stopped
2025-10-24T22:47:58.374Z,1761346078.374 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:47:58.605Z,1761346078.605 [DAT](INFO): DAT read: user:2>

2025-10-24T22:47:58.606Z,1761346078.606 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T22:47:58.606Z,1761346078.606 [DAT](INFO): set DatVerbose to 27440
2025-10-24T22:47:58.606Z,1761346078.606 [DAT](INFO): setting transmit power to 8
2025-10-24T22:47:58.695Z,1761346078.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984201,0.133434,0.116374],[-0.155555,-0.965591,-0.208416],[0.084560,-0.223226,0.971092]]
2025-10-24T22:47:58.857Z,1761346078.857 [DAT](INFO): DAT read: user:3>

2025-10-24T22:47:58.857Z,1761346078.857 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T22:47:58.858Z,1761346078.858 [DAT](INFO): set transmit power to 8
2025-10-24T22:47:58.858Z,1761346078.858 [DAT](INFO): setting local address to 11
2025-10-24T22:47:59.098Z,1761346079.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984698,0.129526,0.116590],[-0.151406,-0.967125,-0.204317],[0.086293,-0.218842,0.971937]]
2025-10-24T22:47:59.108Z,1761346079.108 [DAT](INFO): DAT read: user:4>

2025-10-24T22:47:59.109Z,1761346079.109 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T22:47:59.110Z,1761346079.110 [DAT](INFO): set local address to 11
2025-10-24T22:47:59.111Z,1761346079.111 [DAT](INFO): Setting time to: 22:47:59 And date to:10/24/2025
2025-10-24T22:47:59.364Z,1761346079.364 [DAT](INFO): DAT read: user:5>

2025-10-24T22:47:59.366Z,1761346079.366 [DAT](INFO): DAT read: Fri Oct 24, 2025  22:47:59  

2025-10-24T22:47:59.366Z,1761346079.366 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  22:47:59  

2025-10-24T22:47:59.367Z,1761346079.367 [DAT](INFO): setting remote address to 10
2025-10-24T22:47:59.368Z,1761346079.368 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:47:59.369Z,1761346079.369 [DAT](INFO): setting remote address to 0
2025-10-24T22:47:59.511Z,1761346079.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985369,0.123892,0.117045],[-0.146023,-0.967833,-0.204882],[0.087897,-0.218976,0.971763]]
2025-10-24T22:47:59.613Z,1761346079.613 [DAT](INFO): DAT read: user:6>

2025-10-24T22:47:59.614Z,1761346079.614 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:47:59.615Z,1761346079.615 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T22:47:59.615Z,1761346079.615 [DAT] Communications Fault, FailCount= 5
2025-10-24T22:47:59.615Z,1761346079.615 [DAT](ERROR): Communications Fault
2025-10-24T22:47:59.616Z,1761346079.616 [DAT](INFO): DAT read: user:7>

2025-10-24T22:47:59.617Z,1761346079.617 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:47:59.617Z,1761346079.617 [DAT](INFO): set remote address to 0
2025-10-24T22:47:59.618Z,1761346079.618 [DAT](INFO): setting remote address to 10
2025-10-24T22:47:59.618Z,1761346079.618 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:47:59.618Z,1761346079.618 [DAT](INFO): setting remote address to 0
2025-10-24T22:47:59.785Z,1761346079.785 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T22:47:59.966Z,1761346079.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986233,0.116601,0.117259],[-0.139081,-0.968460,-0.206741],[0.089454,-0.220203,0.971344]]
2025-10-24T22:48:00.021Z,1761346080.021 [DAT](INFO): Powering down
2025-10-24T22:48:00.315Z,1761346080.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987191,0.108089,0.117352],[-0.131104,-0.968740,-0.210604],[0.090920,-0.223291,0.970502]]
2025-10-24T22:48:00.719Z,1761346080.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987970,0.100908,0.117191],[-0.124132,-0.969403,-0.211776],[0.092235,-0.223776,0.970267]]
2025-10-24T22:48:01.123Z,1761346081.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988164,0.100068,0.116266],[-0.122144,-0.971799,-0.201711],[0.092803,-0.213525,0.972520]]
2025-10-24T22:48:01.307Z,1761346081.307 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T22:48:01.308Z,1761346081.308 [DAT] No Fault, FailCount= 5
2025-10-24T22:48:01.539Z,1761346081.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987547,0.108376,0.114043],[-0.127543,-0.975904,-0.177040],[0.092108,-0.189381,0.977574]]
2025-10-24T22:48:01.968Z,1761346081.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986194,0.122865,0.111017],[-0.138272,-0.979893,-0.143841],[0.091112,-0.157206,0.983354]]
2025-10-24T22:48:02.335Z,1761346082.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984250,0.140789,0.106912],[-0.152346,-0.982302,-0.108963],[0.089679,-0.123534,0.988280]]
2025-10-24T22:48:02.741Z,1761346082.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981776,0.160452,0.101841],[-0.168387,-0.982882,-0.074755],[0.088103,-0.090541,0.991988]]
2025-10-24T22:48:03.142Z,1761346083.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978754,0.181081,0.096176],[-0.186194,-0.981384,-0.047083],[0.085860,-0.063990,0.994250]]
2025-10-24T22:48:03.220Z,1761346083.220 [DAT](INFO): Powering up
2025-10-24T22:48:03.220Z,1761346083.220 [DAT](DEBUG): Initializing DAT.
2025-10-24T22:48:03.548Z,1761346083.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975093,0.202606,0.090243],[-0.205533,-0.978348,-0.024314],[0.083363,-0.042256,0.995623]]
2025-10-24T22:48:03.969Z,1761346083.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970655,0.225227,0.084270],[-0.226523,-0.973987,-0.006017],[0.080722,-0.024930,0.996425]]
2025-10-24T22:48:04.355Z,1761346084.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965497,0.248220,0.078753],[-0.248507,-0.968610,0.006286],[0.077841,-0.013501,0.996874]]
2025-10-24T22:48:04.758Z,1761346084.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959603,0.271449,0.074003],[-0.271118,-0.962434,0.014682],[0.075209,-0.005975,0.997150]]
2025-10-24T22:48:05.162Z,1761346085.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953158,0.294508,0.068951],[-0.293711,-0.955649,0.021661],[0.072273,0.000395,0.997385]]
2025-10-24T22:48:05.567Z,1761346085.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946213,0.317120,0.064161],[-0.316034,-0.948372,0.026685],[0.069311,0.004973,0.997583]]
2025-10-24T22:48:05.975Z,1761346085.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938710,0.339557,0.059362],[-0.338218,-0.940536,0.031628],[0.066572,0.009612,0.997735]]
2025-10-24T22:48:06.374Z,1761346086.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930665,0.361764,0.054681],[-0.360228,-0.932166,0.036076],[0.064023,0.013877,0.997852]]
2025-10-24T22:48:06.778Z,1761346086.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922124,0.383581,0.050524],[-0.381966,-0.923360,0.038846],[0.061552,0.016523,0.997967]]
2025-10-24T22:48:07.183Z,1761346087.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913208,0.404799,0.046791],[-0.403109,-0.914205,0.041616],[0.059623,0.019142,0.998037]]
2025-10-24T22:48:07.594Z,1761346087.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904165,0.424935,0.043778],[-0.423213,-0.904984,0.043515],[0.058109,0.020817,0.998093]]
2025-10-24T22:48:07.993Z,1761346087.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895561,0.442975,0.041761],[-0.441276,-0.896286,0.044117],[0.056972,0.021081,0.998153]]
2025-10-24T22:48:08.394Z,1761346088.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887963,0.458175,0.039967],[-0.456491,-0.888602,0.044738],[0.056012,0.021481,0.998199]]
2025-10-24T22:48:08.798Z,1761346088.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881405,0.470743,0.039065],[-0.469148,-0.882040,0.043654],[0.055006,0.020150,0.998283]]
2025-10-24T22:48:09.204Z,1761346089.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875691,0.481343,0.038404],[-0.479840,-0.876334,0.042329],[0.054030,0.018639,0.998365]]
2025-10-24T22:48:09.606Z,1761346089.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870608,0.490451,0.038723],[-0.489103,-0.871332,0.039479],[0.053103,0.015431,0.998470]]
2025-10-24T22:48:10.017Z,1761346090.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865989,0.498526,0.039191],[-0.497300,-0.866782,0.037172],[0.052501,0.012701,0.998540]]
2025-10-24T22:48:10.415Z,1761346090.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861707,0.505867,0.039502],[-0.504705,-0.862540,0.036016],[0.052291,0.011099,0.998570]]
2025-10-24T22:48:10.819Z,1761346090.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857610,0.512628,0.041432],[-0.511620,-0.858582,0.032888],[0.052432,0.007008,0.998600]]
2025-10-24T22:48:10.845Z,1761346090.845 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:48:10.845Z,1761346090.845 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:48:10.845Z,1761346090.845 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:48:10.845Z,1761346090.845 [marl:UpdateRudder:A] Stopped
2025-10-24T22:48:10.845Z,1761346090.845 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:48:10.845Z,1761346090.845 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:48:10.845Z,1761346090.845 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:48:10.845Z,1761346090.845 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:48:10.846Z,1761346090.846 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:48:10.846Z,1761346090.846 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:48:10.846Z,1761346090.846 [marl:UpdateCommandMode] Stopped
2025-10-24T22:48:10.846Z,1761346090.846 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:48:10.846Z,1761346090.846 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:48:10.846Z,1761346090.846 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:48:10.846Z,1761346090.846 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:48:10.847Z,1761346090.847 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:48:10.847Z,1761346090.847 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:48:10.847Z,1761346090.847 [marl:UpdateSpeed] Stopped
2025-10-24T22:48:10.847Z,1761346090.847 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:48:11.222Z,1761346091.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853558,0.519167,0.043641],[-0.518315,-0.854668,0.029870],[0.052806,0.002876,0.998601]]
2025-10-24T22:48:11.277Z,1761346091.277 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:48:11.277Z,1761346091.277 [marl:UpdateRudder:B] Stopped
2025-10-24T22:48:11.277Z,1761346091.277 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:48:11.277Z,1761346091.277 [marl:UpdateRudder] Stopped
2025-10-24T22:48:11.277Z,1761346091.277 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:48:11.626Z,1761346091.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849241,0.526103,0.044781],[-0.525321,-0.850420,0.028693],[0.053178,0.000843,0.998585]]
2025-10-24T22:48:12.031Z,1761346092.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844244,0.533944,0.046422],[-0.533300,-0.845516,0.026351],[0.053321,-0.002510,0.998574]]
2025-10-24T22:48:12.436Z,1761346092.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837966,0.543786,0.045942],[-0.543157,-0.839219,0.026312],[0.052864,-0.002905,0.998598]]
2025-10-24T22:48:12.838Z,1761346092.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829426,0.556779,0.045279],[-0.556221,-0.830650,0.025272],[0.051681,-0.004224,0.998655]]
2025-10-24T22:48:13.246Z,1761346093.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818487,0.572802,0.044454],[-0.572322,-0.819674,0.024127],[0.050258,-0.005694,0.998720]]
2025-10-24T22:48:13.650Z,1761346093.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807511,0.588279,0.043046],[-0.587852,-0.808632,0.023336],[0.048537,-0.006461,0.998800]]
2025-10-24T22:48:14.050Z,1761346094.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798595,0.600189,0.044944],[-0.600018,-0.799768,0.018706],[0.047172,-0.012028,0.998814]]
2025-10-24T22:48:14.455Z,1761346094.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792936,0.607226,0.050299],[-0.607571,-0.794204,0.009868],[0.045940,-0.022736,0.998685]]
2025-10-24T22:48:14.858Z,1761346094.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789880,0.610098,0.062206],[-0.611602,-0.791137,-0.006764],[0.045087,-0.043388,0.998040]]
2025-10-24T22:48:15.266Z,1761346095.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788332,0.610279,0.078059],[-0.613654,-0.789066,-0.028348],[0.044294,-0.070249,0.996546]]
2025-10-24T22:48:15.316Z,1761346095.316 [DAT](INFO): DAT read: 

2025-10-24T22:48:15.317Z,1761346095.317 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T22:48:15.673Z,1761346095.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787362,0.609109,0.095118],[-0.614952,-0.786887,-0.051409],[0.043533,-0.098970,0.994138]]
2025-10-24T22:48:16.070Z,1761346096.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787052,0.606570,0.112348],[-0.615352,-0.784804,-0.073660],[0.043491,-0.127108,0.990935]]
2025-10-24T22:48:16.482Z,1761346096.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786300,0.604578,0.127350],[-0.616333,-0.781943,-0.093264],[0.043195,-0.151824,0.987463]]
2025-10-24T22:48:16.882Z,1761346096.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785228,0.603367,0.139155],[-0.617712,-0.778900,-0.108382],[0.042994,-0.171063,0.984322]]
2025-10-24T22:48:17.082Z,1761346097.082 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T22:48:17.083Z,1761346097.083 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T22:48:17.083Z,1761346097.083 [DAT](INFO): DAT read: Oct 24 2025 22:48:11 

2025-10-24T22:48:17.282Z,1761346097.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783593,0.603297,0.148374],[-0.619803,-0.775541,-0.119917],[0.042725,-0.185929,0.981634]]
2025-10-24T22:48:17.689Z,1761346097.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781701,0.604071,0.155054],[-0.622230,-0.772219,-0.128482],[0.042123,-0.196914,0.979515]]
2025-10-24T22:48:18.089Z,1761346098.089 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T22:48:18.090Z,1761346098.090 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:48:18.090Z,1761346098.090 [DAT](INFO): commRate: 600
2025-10-24T22:48:18.098Z,1761346098.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778625,0.606761,0.159950],[-0.626140,-0.767991,-0.134677],[0.041124,-0.205014,0.977895]]
2025-10-24T22:48:18.499Z,1761346098.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775285,0.610433,0.162188],[-0.630322,-0.764160,-0.136944],[0.040343,-0.208402,0.977211]]
2025-10-24T22:48:18.898Z,1761346098.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771901,0.614856,0.161619],[-0.634533,-0.760791,-0.136250],[0.039184,-0.207724,0.977402]]
2025-10-24T22:48:19.302Z,1761346099.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769317,0.618417,0.160349],[-0.637730,-0.758331,-0.135036],[0.038089,-0.206145,0.977780]]
2025-10-24T22:48:19.707Z,1761346099.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767568,0.621223,0.157865],[-0.639906,-0.756860,-0.132980],[0.036871,-0.203090,0.978466]]
2025-10-24T22:48:20.121Z,1761346100.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765936,0.624133,0.154274],[-0.641933,-0.755689,-0.129831],[0.035551,-0.198476,0.979461]]
2025-10-24T22:48:20.156Z,1761346100.156 [DAT](INFO): entering command mode
2025-10-24T22:48:20.357Z,1761346100.357 [DAT](INFO): DAT read: 

2025-10-24T22:48:20.357Z,1761346100.357 [DAT](INFO): DAT read: user:1>

2025-10-24T22:48:20.358Z,1761346100.358 [DAT](INFO): setting verbose to 3
2025-10-24T22:48:20.515Z,1761346100.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764483,0.626604,0.151438],[-0.643743,-0.754466,-0.127969],[0.034069,-0.195318,0.980148]]
2025-10-24T22:48:20.611Z,1761346100.611 [DAT](INFO): DAT read: user:1>

2025-10-24T22:48:20.617Z,1761346100.617 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T22:48:20.618Z,1761346100.618 [DAT](INFO): set verbose to 3
2025-10-24T22:48:20.618Z,1761346100.618 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T22:48:20.861Z,1761346100.861 [DAT](INFO): DAT read: user:2>

2025-10-24T22:48:20.861Z,1761346100.861 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T22:48:20.862Z,1761346100.862 [DAT](INFO): set DatVerbose to 27440
2025-10-24T22:48:20.862Z,1761346100.862 [DAT](INFO): setting transmit power to 8
2025-10-24T22:48:20.931Z,1761346100.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763916,0.628308,0.147177],[-0.644497,-0.754323,-0.124979],[0.032493,-0.190329,0.981183]]
2025-10-24T22:48:21.113Z,1761346101.113 [DAT](INFO): DAT read: user:3>

2025-10-24T22:48:21.113Z,1761346101.113 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T22:48:21.114Z,1761346101.114 [DAT](INFO): set transmit power to 8
2025-10-24T22:48:21.114Z,1761346101.114 [DAT](INFO): setting local address to 11
2025-10-24T22:48:21.327Z,1761346101.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764343,0.628918,0.142272],[-0.644069,-0.755224,-0.121703],[0.030906,-0.184656,0.982317]]
2025-10-24T22:48:21.365Z,1761346101.365 [DAT](INFO): DAT read: user:4>

2025-10-24T22:48:21.366Z,1761346101.366 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T22:48:21.366Z,1761346101.366 [DAT](INFO): set local address to 11
2025-10-24T22:48:21.367Z,1761346101.367 [DAT](INFO): Setting time to: 22:48:21 And date to:10/24/2025
2025-10-24T22:48:21.617Z,1761346101.617 [DAT](INFO): DAT read: user:5>

2025-10-24T22:48:21.618Z,1761346101.618 [DAT](INFO): DAT read: Fri Oct 24, 2025  22:48:21  

2025-10-24T22:48:21.618Z,1761346101.618 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  22:48:21  

2025-10-24T22:48:21.618Z,1761346101.618 [DAT](INFO): setting remote address to 10
2025-10-24T22:48:21.619Z,1761346101.619 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:48:21.619Z,1761346101.619 [DAT](INFO): setting remote address to 0
2025-10-24T22:48:21.726Z,1761346101.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765875,0.628174,0.137236],[-0.642309,-0.757253,-0.118351],[0.029577,-0.178790,0.983443]]
2025-10-24T22:48:21.869Z,1761346101.869 [DAT](INFO): DAT read: user:6>

2025-10-24T22:48:21.870Z,1761346101.870 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:48:21.870Z,1761346101.870 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T22:48:21.870Z,1761346101.870 [DAT] Communications Fault, FailCount= 6
2025-10-24T22:48:21.871Z,1761346101.871 [DAT](ERROR): Communications Fault
2025-10-24T22:48:21.871Z,1761346101.871 [DAT](INFO): DAT read: user:7>

2025-10-24T22:48:21.872Z,1761346101.872 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:48:21.873Z,1761346101.873 [DAT](INFO): set remote address to 0
2025-10-24T22:48:21.873Z,1761346101.873 [DAT](INFO): setting remote address to 10
2025-10-24T22:48:21.873Z,1761346101.873 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:48:21.873Z,1761346101.873 [DAT](INFO): setting remote address to 0
2025-10-24T22:48:22.133Z,1761346102.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768411,0.625994,0.132950],[-0.639328,-0.760109,-0.116161],[0.028340,-0.174258,0.984292]]
2025-10-24T22:48:22.276Z,1761346102.276 [DAT](INFO): Powering down
2025-10-24T22:48:22.295Z,1761346102.295 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T22:48:22.534Z,1761346102.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771816,0.622389,0.130124],[-0.635252,-0.763618,-0.115506],[0.027476,-0.171811,0.984747]]
2025-10-24T22:48:22.940Z,1761346102.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775456,0.618181,0.128527],[-0.630838,-0.767141,-0.116354],[0.026671,-0.171307,0.984857]]
2025-10-24T22:48:23.343Z,1761346103.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778912,0.613652,0.129336],[-0.626604,-0.769997,-0.120301],[0.025766,-0.174746,0.984276]]
2025-10-24T22:48:23.461Z,1761346103.461 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T22:48:23.461Z,1761346103.461 [DAT] No Fault, FailCount= 6
2025-10-24T22:48:23.746Z,1761346103.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782343,0.608996,0.130625],[-0.622347,-0.772732,-0.124776],[0.024950,-0.178912,0.983549]]
2025-10-24T22:48:23.844Z,1761346103.844 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:48:23.844Z,1761346103.844 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:48:23.844Z,1761346103.844 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:48:23.844Z,1761346103.844 [marl:UpdateRudder:A] Stopped
2025-10-24T22:48:23.844Z,1761346103.844 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:48:23.845Z,1761346103.845 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:48:23.845Z,1761346103.845 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:48:23.845Z,1761346103.845 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:48:23.845Z,1761346103.845 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:48:23.845Z,1761346103.845 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:48:23.845Z,1761346103.845 [marl:UpdateCommandMode] Stopped
2025-10-24T22:48:23.845Z,1761346103.845 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:48:23.845Z,1761346103.845 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:48:23.846Z,1761346103.846 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:48:23.846Z,1761346103.846 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:48:23.846Z,1761346103.846 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:48:23.846Z,1761346103.846 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:48:23.846Z,1761346103.846 [marl:UpdateSpeed] Stopped
2025-10-24T22:48:23.846Z,1761346103.846 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:48:24.153Z,1761346104.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785226,0.604920,0.132260],[-0.618735,-0.774882,-0.129327],[0.024253,-0.183385,0.982742]]
2025-10-24T22:48:24.235Z,1761346104.235 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:48:24.240Z,1761346104.240 [marl:UpdateRudder:B] Stopped
2025-10-24T22:48:24.240Z,1761346104.240 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:48:24.240Z,1761346104.240 [marl:UpdateRudder] Stopped
2025-10-24T22:48:24.240Z,1761346104.240 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:48:24.441Z,1761346104.441 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:48:24.555Z,1761346104.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787295,0.601699,0.134627],[-0.616133,-0.776021,-0.134800],[0.023365,-0.189075,0.981685]]
2025-10-24T22:48:24.969Z,1761346104.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788041,0.600304,0.136481],[-0.615224,-0.775911,-0.139503],[0.022153,-0.193900,0.980771]]
2025-10-24T22:48:25.324Z,1761346105.324 [DAT](INFO): Powering up
2025-10-24T22:48:25.324Z,1761346105.324 [DAT](DEBUG): Initializing DAT.
2025-10-24T22:48:25.362Z,1761346105.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786910,0.601127,0.139352],[-0.616717,-0.773763,-0.144744],[0.020816,-0.199841,0.979607]]
2025-10-24T22:48:25.444Z,1761346105.444 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:48:25.766Z,1761346105.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783897,0.604447,0.141949],[-0.620593,-0.769858,-0.148939],[0.019255,-0.204845,0.978605]]
2025-10-24T22:48:26.179Z,1761346106.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780379,0.608343,0.144659],[-0.625050,-0.765516,-0.152632],[0.017886,-0.209530,0.977639]]
2025-10-24T22:48:26.574Z,1761346106.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776605,0.612667,0.146713],[-0.629776,-0.761039,-0.155566],[0.016344,-0.213210,0.976870]]
2025-10-24T22:48:26.979Z,1761346106.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772472,0.617683,0.147495],[-0.634883,-0.756463,-0.157121],[0.014523,-0.215014,0.976503]]
2025-10-24T22:48:27.382Z,1761346107.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768028,0.623284,0.147141],[-0.640292,-0.751864,-0.157247],[0.012620,-0.214984,0.976536]]
2025-10-24T22:48:27.788Z,1761346107.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763697,0.629097,0.144926],[-0.645486,-0.747829,-0.155238],[0.010720,-0.212103,0.977189]]
2025-10-24T22:48:28.191Z,1761346108.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760128,0.633853,0.142952],[-0.649714,-0.744406,-0.154051],[0.008769,-0.209976,0.977667]]
2025-10-24T22:48:28.595Z,1761346108.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756088,0.639326,0.139974],[-0.654436,-0.740729,-0.151772],[0.006652,-0.206357,0.978454]]
2025-10-24T22:48:28.999Z,1761346108.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752631,0.644432,0.135109],[-0.658426,-0.738050,-0.147503],[0.004661,-0.199974,0.979790]]
2025-10-24T22:48:29.403Z,1761346109.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750233,0.648259,0.130042],[-0.661169,-0.736336,-0.143755],[0.002564,-0.193829,0.981032]]
2025-10-24T22:48:29.806Z,1761346109.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748851,0.650955,0.124420],[-0.662739,-0.735701,-0.139721],[0.000584,-0.187088,0.982343]]
2025-10-24T22:48:30.219Z,1761346110.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747993,0.652824,0.119696],[-0.663704,-0.735199,-0.137768],[-0.001938,-0.182492,0.983205]]
2025-10-24T22:48:30.616Z,1761346110.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747797,0.653948,0.114682],[-0.663912,-0.735378,-0.135795],[-0.004469,-0.177686,0.984077]]
2025-10-24T22:48:31.019Z,1761346111.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748249,0.654272,0.109777],[-0.663381,-0.736143,-0.134235],[-0.007015,-0.173265,0.984850]]
2025-10-24T22:48:31.429Z,1761346111.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748458,0.654369,0.107758],[-0.663114,-0.736108,-0.135739],[-0.009502,-0.173050,0.984867]]
2025-10-24T22:48:31.828Z,1761346111.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748771,0.654498,0.104761],[-0.662720,-0.736376,-0.136208],[-0.012004,-0.171415,0.985126]]
2025-10-24T22:48:32.230Z,1761346112.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748672,0.654912,0.102857],[-0.662777,-0.735979,-0.138067],[-0.014721,-0.171538,0.985067]]
2025-10-24T22:48:32.634Z,1761346112.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748807,0.654897,0.101975],[-0.662564,-0.735637,-0.140880],[-0.017245,-0.173057,0.984761]]
2025-10-24T22:48:33.040Z,1761346113.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748488,0.655316,0.101621],[-0.662855,-0.734765,-0.144030],[-0.019718,-0.175164,0.984342]]
2025-10-24T22:48:33.447Z,1761346113.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748586,0.655493,0.099740],[-0.662666,-0.734616,-0.145647],[-0.022200,-0.175124,0.984296]]
2025-10-24T22:48:33.846Z,1761346113.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749104,0.655044,0.098792],[-0.661996,-0.734681,-0.148342],[-0.024590,-0.176524,0.983989]]
2025-10-24T22:48:34.250Z,1761346114.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750067,0.654195,0.097093],[-0.660801,-0.735269,-0.150739],[-0.027223,-0.177224,0.983794]]
2025-10-24T22:48:34.661Z,1761346114.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751850,0.652438,0.095114],[-0.658640,-0.736583,-0.153749],[-0.030252,-0.178243,0.983521]]
2025-10-24T22:48:35.058Z,1761346115.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754407,0.649738,0.093330],[-0.655583,-0.738681,-0.156723],[-0.032887,-0.179418,0.983223]]
2025-10-24T22:48:35.463Z,1761346115.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757497,0.646448,0.091127],[-0.651856,-0.741296,-0.159885],[-0.035805,-0.180514,0.982920]]
2025-10-24T22:48:35.866Z,1761346115.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760972,0.642641,0.089073],[-0.647656,-0.744364,-0.162675],[-0.038239,-0.181480,0.982651]]
2025-10-24T22:48:36.276Z,1761346116.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764416,0.638693,0.087974],[-0.643442,-0.747163,-0.166522],[-0.040626,-0.183898,0.982105]]
2025-10-24T22:48:36.689Z,1761346116.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769959,0.632172,0.086727],[-0.636526,-0.751422,-0.173780],[-0.044691,-0.189007,0.980958]]
2025-10-24T22:48:36.731Z,1761346116.731 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:48:36.731Z,1761346116.731 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:48:36.731Z,1761346116.731 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:48:36.748Z,1761346116.748 [marl:UpdateRudder:A] Stopped
2025-10-24T22:48:36.748Z,1761346116.748 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:48:36.748Z,1761346116.748 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:48:36.748Z,1761346116.748 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:48:36.748Z,1761346116.748 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:48:36.748Z,1761346116.748 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:48:36.749Z,1761346116.749 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:48:36.749Z,1761346116.749 [marl:UpdateCommandMode] Stopped
2025-10-24T22:48:36.749Z,1761346116.749 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:48:36.749Z,1761346116.749 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:48:36.749Z,1761346116.749 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:48:36.749Z,1761346116.749 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:48:36.749Z,1761346116.749 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:48:36.749Z,1761346116.749 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:48:36.750Z,1761346116.750 [marl:UpdateSpeed] Stopped
2025-10-24T22:48:36.750Z,1761346116.750 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:48:37.173Z,1761346117.173 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:48:37.174Z,1761346117.174 [marl:UpdateRudder:B] Stopped
2025-10-24T22:48:37.174Z,1761346117.174 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:48:37.174Z,1761346117.174 [marl:UpdateRudder] Stopped
2025-10-24T22:48:37.174Z,1761346117.174 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:48:37.425Z,1761346117.425 [DAT](INFO): DAT read: 

2025-10-24T22:48:37.426Z,1761346117.426 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T22:48:37.494Z,1761346117.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771107,0.630294,0.090130],[-0.634850,-0.750320,-0.184349],[-0.048568,-0.199372,0.978719]]
2025-10-24T22:48:37.899Z,1761346117.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769617,0.631647,0.093340],[-0.636560,-0.747624,-0.189340],[-0.049813,-0.205135,0.977465]]
2025-10-24T22:48:38.301Z,1761346118.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766770,0.634624,0.096521],[-0.639914,-0.743795,-0.193076],[-0.050739,-0.209810,0.976425]]
2025-10-24T22:48:38.701Z,1761346118.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762713,0.638962,0.099983],[-0.644701,-0.738917,-0.195861],[-0.051269,-0.213845,0.975521]]
2025-10-24T22:48:39.101Z,1761346119.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757543,0.644648,0.102754],[-0.650743,-0.733315,-0.196935],[-0.051603,-0.216053,0.975017]]
2025-10-24T22:48:39.197Z,1761346119.197 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T22:48:39.199Z,1761346119.199 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T22:48:39.199Z,1761346119.199 [DAT](INFO): DAT read: Oct 24 2025 22:48:33 

2025-10-24T22:48:39.502Z,1761346119.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750674,0.652671,0.102512],[-0.658612,-0.727024,-0.194078],[-0.052141,-0.213205,0.975615]]
2025-10-24T22:48:39.950Z,1761346119.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740656,0.665371,0.093325],[-0.669753,-0.720098,-0.181353],[-0.053464,-0.196825,0.978980]]
2025-10-24T22:48:40.206Z,1761346120.206 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T22:48:40.207Z,1761346120.207 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:48:40.207Z,1761346120.207 [DAT](INFO): commRate: 600
2025-10-24T22:48:40.311Z,1761346120.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726807,0.682968,0.072848],[-0.684542,-0.711616,-0.158130],[-0.056158,-0.164797,0.984727]]
2025-10-24T22:48:40.717Z,1761346120.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710640,0.701919,0.047954],[-0.701026,-0.700663,-0.132792],[-0.059609,-0.127985,0.989983]]
2025-10-24T22:48:41.120Z,1761346121.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694775,0.718926,0.020822],[-0.716485,-0.689309,-0.107249],[-0.062751,-0.089433,0.994014]]
2025-10-24T22:48:41.523Z,1761346121.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681615,0.731689,-0.005700],[-0.728840,-0.679609,-0.083207],[-0.064755,-0.052561,0.996516]]
2025-10-24T22:48:41.962Z,1761346121.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670739,0.741201,-0.027028],[-0.738751,-0.670877,-0.064590],[-0.066007,-0.023356,0.997546]]
2025-10-24T22:48:42.272Z,1761346122.272 [DAT](INFO): entering command mode
2025-10-24T22:48:42.337Z,1761346122.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661227,0.748944,-0.043133],[-0.747214,-0.662631,-0.050901],[-0.066703,-0.001427,0.997772]]
2025-10-24T22:48:42.473Z,1761346122.473 [DAT](INFO): DAT read: 

2025-10-24T22:48:42.473Z,1761346122.473 [DAT](INFO): DAT read: user:1>

2025-10-24T22:48:42.474Z,1761346122.474 [DAT](INFO): setting verbose to 3
2025-10-24T22:48:42.725Z,1761346122.725 [DAT](INFO): DAT read: user:1>

2025-10-24T22:48:42.726Z,1761346122.726 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T22:48:42.726Z,1761346122.726 [DAT](INFO): set verbose to 3
2025-10-24T22:48:42.726Z,1761346122.726 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T22:48:42.759Z,1761346122.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652226,0.756192,-0.052685],[-0.755060,-0.654245,-0.042988],[-0.066976,0.011743,0.997685]]
2025-10-24T22:48:42.977Z,1761346122.977 [DAT](INFO): DAT read: user:2>

2025-10-24T22:48:42.977Z,1761346122.977 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T22:48:42.978Z,1761346122.978 [DAT](INFO): set DatVerbose to 27440
2025-10-24T22:48:42.978Z,1761346122.978 [DAT](INFO): setting transmit power to 8
2025-10-24T22:48:43.138Z,1761346123.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642598,0.763935,-0.058920],[-0.763270,-0.644965,-0.037946],[-0.066990,0.020588,0.997541]]
2025-10-24T22:48:43.229Z,1761346123.229 [DAT](INFO): DAT read: user:3>

2025-10-24T22:48:43.230Z,1761346123.230 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T22:48:43.231Z,1761346123.231 [DAT](INFO): set transmit power to 8
2025-10-24T22:48:43.231Z,1761346123.231 [DAT](INFO): setting local address to 11
2025-10-24T22:48:43.481Z,1761346123.481 [DAT](INFO): DAT read: user:4>

2025-10-24T22:48:43.481Z,1761346123.481 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T22:48:43.482Z,1761346123.482 [DAT](INFO): set local address to 11
2025-10-24T22:48:43.483Z,1761346123.483 [DAT](INFO): Setting time to: 22:48:43 And date to:10/24/2025
2025-10-24T22:48:43.547Z,1761346123.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632561,0.772060,-0.061563],[-0.771671,-0.635048,-0.035184],[-0.066259,0.025250,0.997483]]
2025-10-24T22:48:43.733Z,1761346123.733 [DAT](INFO): DAT read: user:5>

2025-10-24T22:48:43.733Z,1761346123.733 [DAT](INFO): DAT read: Fri Oct 24, 2025  22:48:43  

2025-10-24T22:48:43.734Z,1761346123.734 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  22:48:43  

2025-10-24T22:48:43.734Z,1761346123.734 [DAT](INFO): setting remote address to 10
2025-10-24T22:48:43.735Z,1761346123.735 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:48:43.735Z,1761346123.735 [DAT](INFO): setting remote address to 0
2025-10-24T22:48:43.967Z,1761346123.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621460,0.781114,-0.060392],[-0.780765,-0.623863,-0.034667],[-0.064756,0.025608,0.997573]]
2025-10-24T22:48:43.990Z,1761346123.990 [DAT](INFO): DAT read: user:6>

2025-10-24T22:48:43.991Z,1761346123.991 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:48:43.992Z,1761346123.992 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T22:48:43.992Z,1761346123.992 [DAT] Communications Fault, FailCount= 7
2025-10-24T22:48:43.992Z,1761346123.992 [DAT](ERROR): Communications Fault
2025-10-24T22:48:43.993Z,1761346123.993 [DAT](INFO): DAT read: user:7>

2025-10-24T22:48:43.994Z,1761346123.994 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:48:43.994Z,1761346123.994 [DAT](INFO): set remote address to 0
2025-10-24T22:48:43.994Z,1761346123.994 [DAT](INFO): setting remote address to 10
2025-10-24T22:48:43.995Z,1761346123.995 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:48:43.995Z,1761346123.995 [DAT](INFO): setting remote address to 0
2025-10-24T22:48:44.187Z,1761346124.187 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T22:48:44.352Z,1761346124.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610327,0.789969,-0.058736],[-0.789665,-0.612606,-0.033813],[-0.062694,0.025745,0.997701]]
2025-10-24T22:48:44.408Z,1761346124.408 [DAT](INFO): Powering down
2025-10-24T22:48:44.754Z,1761346124.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598464,0.799237,-0.055329],[-0.798871,-0.600542,-0.033982],[-0.060387,0.023864,0.997890]]
2025-10-24T22:48:44.899Z,1761346124.899 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:48:44.899Z,1761346124.899 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:48:45.158Z,1761346125.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586072,0.808546,-0.052656],[-0.808159,-0.587993,-0.033813],[-0.058301,0.022737,0.998040]]
2025-10-24T22:48:45.303Z,1761346125.303 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T22:48:45.303Z,1761346125.303 [DAT] No Fault, FailCount= 7
2025-10-24T22:48:45.564Z,1761346125.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573821,0.817527,-0.048770],[-0.817065,-0.575534,-0.034149],[-0.055987,0.020253,0.998226]]
2025-10-24T22:48:45.975Z,1761346125.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560967,0.826622,-0.044860],[-0.826078,-0.562484,-0.034737],[-0.053947,0.017571,0.998389]]
2025-10-24T22:48:46.379Z,1761346126.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547792,0.835623,-0.040721],[-0.834986,-0.549113,-0.035673],[-0.052170,0.014460,0.998533]]
2025-10-24T22:48:46.775Z,1761346126.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533869,0.844774,-0.036610],[-0.844052,-0.535004,-0.036706],[-0.050595,0.011305,0.998655]]
2025-10-24T22:48:46.800Z,1761346126.800 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:48:47.182Z,1761346127.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518954,0.854147,-0.033471],[-0.853386,-0.519950,-0.037218],[-0.049193,0.009249,0.998747]]
2025-10-24T22:48:47.456Z,1761346127.456 [DAT](INFO): Powering up
2025-10-24T22:48:47.456Z,1761346127.456 [DAT](DEBUG): Initializing DAT.
2025-10-24T22:48:47.582Z,1761346127.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503517,0.863446,-0.030538],[-0.862650,-0.504389,-0.037784],[-0.048028,0.007319,0.998819]]
2025-10-24T22:48:47.986Z,1761346127.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487795,0.872488,-0.028649],[-0.871713,-0.488589,-0.037377],[-0.046608,0.006742,0.998890]]
2025-10-24T22:48:48.399Z,1761346128.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472427,0.880938,-0.027571],[-0.880222,-0.473177,-0.036222],[-0.044955,0.007157,0.998963]]
2025-10-24T22:48:48.799Z,1761346128.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457256,0.888916,-0.027288],[-0.888291,-0.457990,-0.034411],[-0.043086,0.008505,0.999035]]
2025-10-24T22:48:49.204Z,1761346129.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442681,0.896247,-0.027843],[-0.895750,-0.443422,-0.031749],[-0.040801,0.010886,0.999108]]
2025-10-24T22:48:49.606Z,1761346129.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428653,0.903002,-0.029038],[-0.902657,-0.429409,-0.028612],[-0.038306,0.013946,0.999169]]
2025-10-24T22:48:49.644Z,1761346129.644 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:48:49.644Z,1761346129.644 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:48:49.644Z,1761346129.644 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:48:49.645Z,1761346129.645 [marl:UpdateRudder:A] Stopped
2025-10-24T22:48:49.645Z,1761346129.645 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:48:49.645Z,1761346129.645 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:48:49.645Z,1761346129.645 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:48:49.645Z,1761346129.645 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:48:49.646Z,1761346129.646 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:48:49.646Z,1761346129.646 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:48:49.646Z,1761346129.646 [marl:UpdateCommandMode] Stopped
2025-10-24T22:48:49.646Z,1761346129.646 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:48:49.646Z,1761346129.646 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:48:49.646Z,1761346129.646 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:48:49.646Z,1761346129.646 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:48:49.647Z,1761346129.647 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:48:49.647Z,1761346129.647 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:48:49.647Z,1761346129.647 [marl:UpdateSpeed] Stopped
2025-10-24T22:48:49.647Z,1761346129.647 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:48:50.010Z,1761346130.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414948,0.909362,-0.029643],[-0.909129,-0.415694,-0.026146],[-0.036098,0.016100,0.999219]]
2025-10-24T22:48:50.071Z,1761346130.071 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:48:50.071Z,1761346130.071 [marl:UpdateRudder:B] Stopped
2025-10-24T22:48:50.071Z,1761346130.071 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:48:50.071Z,1761346130.071 [marl:UpdateRudder] Stopped
2025-10-24T22:48:50.071Z,1761346130.071 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:48:50.419Z,1761346130.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402496,0.914892,-0.031148],[-0.914807,-0.403239,-0.022934],[-0.033542,0.019263,0.999252]]
2025-10-24T22:48:50.818Z,1761346130.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390704,0.919925,-0.032986],[-0.919999,-0.391435,-0.019520],[-0.030869,0.022721,0.999265]]
2025-10-24T22:48:51.223Z,1761346131.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378964,0.924854,-0.032109],[-0.924974,-0.379624,-0.017593],[-0.028460,0.023033,0.999330]]
2025-10-24T22:48:51.627Z,1761346131.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366944,0.929769,-0.029690],[-0.929876,-0.367509,-0.016387],[-0.026148,0.021595,0.999425]]
2025-10-24T22:48:52.030Z,1761346132.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354385,0.934720,-0.026661],[-0.934790,-0.354857,-0.015615],[-0.024056,0.019388,0.999523]]
2025-10-24T22:48:52.434Z,1761346132.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342215,0.939383,-0.021181],[-0.939360,-0.342564,-0.015876],[-0.022170,0.014464,0.999650]]
2025-10-24T22:48:52.543Z,1761346132.543 [marl:SendObservationData] Running Loop=1
2025-10-24T22:48:52.543Z,1761346132.543 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T22:48:52.543Z,1761346132.543 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T22:48:52.544Z,1761346132.544 [marl:SendObservationData:A] Running Loop=1
2025-10-24T22:48:52.546Z,1761346132.546 [marl:SendObservationData:A](INFO): Got test_good :  41da3f006000000040514000000000004042630c70ca8712c05e77462cba82f640165347600000004057e66660000000 n/a str  and temp var is  nan n/a str 
2025-10-24T22:48:52.546Z,1761346132.546 [marl:SendObservationData:A] Stopped
2025-10-24T22:48:52.546Z,1761346132.546 [marl:SendObservationData:B] Running Loop=1
2025-10-24T22:48:52.839Z,1761346132.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332276,0.943134,-0.009499],[-0.942964,-0.332399,-0.018139],[-0.020265,0.002930,0.999790]]
2025-10-24T22:48:52.912Z,1761346132.912 [marl:SendObservationData:B] Stopped
2025-10-24T22:48:52.912Z,1761346132.912 [marl:SendObservationData:C] Running Loop=1
2025-10-24T22:48:53.243Z,1761346133.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325678,0.945425,0.010252],[-0.945298,-0.325383,-0.023196],[-0.018594,-0.017246,0.999678]]
2025-10-24T22:48:53.306Z,1761346133.306 [marl:SendObservationData:C] Stopped
2025-10-24T22:48:53.306Z,1761346133.306 [marl:SendObservationData:E] Running Loop=1
2025-10-24T22:48:53.654Z,1761346133.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321679,0.946071,0.038381],[-0.946703,-0.320654,-0.030570],[-0.016614,-0.046169,0.998795]]
2025-10-24T22:48:53.693Z,1761346133.693 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.007330 min 
2025-10-24T22:48:53.693Z,1761346133.693 [marl:SendObservationData:E] Stopped
2025-10-24T22:48:53.693Z,1761346133.693 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T22:48:53.694Z,1761346133.694 [marl:SendObservationData] Stopped
2025-10-24T22:48:53.694Z,1761346133.694 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T22:48:53.694Z,1761346133.694 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T22:48:54.050Z,1761346134.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318623,0.945198,0.071271],[-0.947764,-0.316495,-0.039689],[-0.014957,-0.080194,0.996667]]
2025-10-24T22:48:54.454Z,1761346134.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316261,0.942852,0.104920],[-0.948576,-0.312716,-0.049115],[-0.013498,-0.115058,0.993267]]
2025-10-24T22:48:54.869Z,1761346134.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314739,0.939827,0.132912],[-0.949103,-0.309846,-0.056563],[-0.011977,-0.143949,0.989513]]
2025-10-24T22:48:55.262Z,1761346135.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313429,0.936749,0.155769],[-0.949556,-0.307385,-0.062115],[-0.010306,-0.167380,0.985839]]
2025-10-24T22:48:55.572Z,1761346135.572 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:48:55.671Z,1761346135.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312476,0.934104,0.172650],[-0.949889,-0.305676,-0.065361],[-0.008280,-0.184422,0.982812]]
2025-10-24T22:48:56.070Z,1761346136.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311242,0.932460,0.183431],[-0.950310,-0.304105,-0.066572],[-0.006293,-0.195036,0.980776]]
2025-10-24T22:48:56.482Z,1761346136.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310109,0.931537,0.189925],[-0.950690,-0.302907,-0.066598],[-0.004509,-0.201213,0.979537]]
2025-10-24T22:48:56.577Z,1761346136.577 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:48:56.883Z,1761346136.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309731,0.931504,0.190699],[-0.950820,-0.302833,-0.065071],[-0.002864,-0.201475,0.979490]]
2025-10-24T22:48:57.283Z,1761346137.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310302,0.931293,0.190804],[-0.950637,-0.303647,-0.063941],[-0.001611,-0.201227,0.979543]]
2025-10-24T22:48:57.691Z,1761346137.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312319,0.930714,0.190339],[-0.949977,-0.305937,-0.062812],[-0.000228,-0.200435,0.979707]]
2025-10-24T22:48:58.090Z,1761346138.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314893,0.930199,0.188607],[-0.949126,-0.308860,-0.061357],[0.001179,-0.198333,0.980134]]
2025-10-24T22:48:58.495Z,1761346138.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317025,0.929634,0.187819],[-0.948414,-0.311297,-0.060050],[0.002643,-0.197167,0.980366]]
2025-10-24T22:48:58.898Z,1761346138.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318721,0.929300,0.186596],[-0.947839,-0.313357,-0.058378],[0.004221,-0.195470,0.980701]]
2025-10-24T22:48:59.305Z,1761346139.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319029,0.928940,0.187858],[-0.947725,-0.313994,-0.056796],[0.006226,-0.196158,0.980553]]
2025-10-24T22:48:59.552Z,1761346139.552 [DAT](INFO): DAT read: 

2025-10-24T22:48:59.553Z,1761346139.553 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T22:48:59.706Z,1761346139.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317663,0.928795,0.190869],[-0.948173,-0.312773,-0.056046],[0.007644,-0.198781,0.980014]]
2025-10-24T22:49:00.111Z,1761346140.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315598,0.928775,0.194357],[-0.948848,-0.310887,-0.055104],[0.009243,-0.201806,0.979382]]
2025-10-24T22:49:00.518Z,1761346140.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313027,0.929013,0.197355],[-0.949686,-0.308483,-0.054179],[0.010548,-0.204385,0.978834]]
2025-10-24T22:49:00.920Z,1761346140.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310756,0.929141,0.200318],[-0.950417,-0.306359,-0.053402],[0.011751,-0.206980,0.978275]]
2025-10-24T22:49:01.317Z,1761346141.317 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T22:49:01.318Z,1761346141.318 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T22:49:01.319Z,1761346141.319 [DAT](INFO): DAT read: Oct 24 2025 22:48:55 

2025-10-24T22:49:01.362Z,1761346141.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308724,0.929632,0.201181],[-0.951073,-0.304429,-0.052751],[0.012206,-0.207623,0.978133]]
2025-10-24T22:49:01.726Z,1761346141.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307511,0.929989,0.201387],[-0.951457,-0.303393,-0.051796],[0.012930,-0.207539,0.978141]]
2025-10-24T22:49:02.150Z,1761346142.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305795,0.930430,0.201963],[-0.951995,-0.301910,-0.050550],[0.013941,-0.207726,0.978088]]
2025-10-24T22:49:02.326Z,1761346142.326 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T22:49:02.327Z,1761346142.327 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:49:02.328Z,1761346142.328 [DAT](INFO): commRate: 600
2025-10-24T22:49:02.536Z,1761346142.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303517,0.930991,0.202812],[-0.952712,-0.299824,-0.049456],[0.014765,-0.208232,0.977968]]
2025-10-24T22:49:02.567Z,1761346142.567 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:49:02.567Z,1761346142.567 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:49:02.567Z,1761346142.567 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:49:02.567Z,1761346142.567 [marl:UpdateRudder:A] Stopped
2025-10-24T22:49:02.567Z,1761346142.567 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:49:02.567Z,1761346142.567 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:49:02.568Z,1761346142.568 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:49:02.568Z,1761346142.568 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:49:02.568Z,1761346142.568 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:49:02.568Z,1761346142.568 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:49:02.568Z,1761346142.568 [marl:UpdateCommandMode] Stopped
2025-10-24T22:49:02.569Z,1761346142.569 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:49:02.569Z,1761346142.569 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:49:02.569Z,1761346142.569 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:49:02.569Z,1761346142.569 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:49:02.569Z,1761346142.569 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:49:02.569Z,1761346142.569 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:49:02.569Z,1761346142.569 [marl:UpdateSpeed] Stopped
2025-10-24T22:49:02.569Z,1761346142.569 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:49:02.938Z,1761346142.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300370,0.931902,0.203315],[-0.953680,-0.297114,-0.047096],[0.016519,-0.208044,0.977980]]
2025-10-24T22:49:02.978Z,1761346142.978 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:49:02.978Z,1761346142.978 [marl:UpdateRudder:B] Stopped
2025-10-24T22:49:02.978Z,1761346142.978 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:49:02.978Z,1761346142.978 [marl:UpdateRudder] Stopped
2025-10-24T22:49:02.978Z,1761346142.978 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:49:03.350Z,1761346143.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296286,0.933046,0.204059],[-0.954925,-0.293478,-0.044607],[0.018267,-0.208078,0.977942]]
2025-10-24T22:49:03.747Z,1761346143.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290561,0.934488,0.205683],[-0.956658,-0.288092,-0.042539],[0.019504,-0.209128,0.977694]]
2025-10-24T22:49:04.152Z,1761346144.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284974,0.936212,0.205660],[-0.958310,-0.282921,-0.039969],[0.020766,-0.208476,0.977807]]
2025-10-24T22:49:04.400Z,1761346144.400 [DAT](INFO): entering command mode
2025-10-24T22:49:04.554Z,1761346144.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278692,0.938365,0.204455],[-0.960133,-0.277064,-0.037143],[0.021794,-0.206656,0.978171]]
2025-10-24T22:49:04.601Z,1761346144.601 [DAT](INFO): DAT read: 

2025-10-24T22:49:04.602Z,1761346144.602 [DAT](INFO): DAT read: user:1>

2025-10-24T22:49:04.602Z,1761346144.602 [DAT](INFO): setting verbose to 3
2025-10-24T22:49:04.853Z,1761346144.853 [DAT](INFO): DAT read: user:1>

2025-10-24T22:49:04.853Z,1761346144.853 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T22:49:04.854Z,1761346144.854 [DAT](INFO): set verbose to 3
2025-10-24T22:49:04.854Z,1761346144.854 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T22:49:04.958Z,1761346144.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273087,0.940828,0.200664],[-0.961718,-0.271961,-0.033707],[0.022861,-0.202187,0.979080]]
2025-10-24T22:49:05.105Z,1761346145.105 [DAT](INFO): DAT read: user:2>

2025-10-24T22:49:05.106Z,1761346145.106 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T22:49:05.106Z,1761346145.106 [DAT](INFO): set DatVerbose to 27440
2025-10-24T22:49:05.106Z,1761346145.106 [DAT](INFO): setting transmit power to 8
2025-10-24T22:49:05.357Z,1761346145.357 [DAT](INFO): DAT read: user:3>

2025-10-24T22:49:05.357Z,1761346145.357 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T22:49:05.358Z,1761346145.358 [DAT](INFO): set transmit power to 8
2025-10-24T22:49:05.358Z,1761346145.358 [DAT](INFO): setting local address to 11
2025-10-24T22:49:05.369Z,1761346145.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268863,0.942914,0.196536],[-0.962886,-0.268158,-0.030703],[0.023753,-0.197497,0.980016]]
2025-10-24T22:49:05.609Z,1761346145.609 [DAT](INFO): DAT read: user:4>

2025-10-24T22:49:05.610Z,1761346145.610 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T22:49:05.610Z,1761346145.610 [DAT](INFO): set local address to 11
2025-10-24T22:49:05.611Z,1761346145.611 [DAT](INFO): Setting time to: 22:49:5 And date to:10/24/2025
2025-10-24T22:49:05.768Z,1761346145.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266500,0.944618,0.191505],[-0.963525,-0.266138,-0.028094],[0.024429,-0.192007,0.981089]]
2025-10-24T22:49:05.861Z,1761346145.861 [DAT](INFO): DAT read: user:5>

2025-10-24T22:49:05.862Z,1761346145.862 [DAT](INFO): DAT read: Fri Oct 24, 2025  22:49:05  

2025-10-24T22:49:05.862Z,1761346145.862 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  22:49:05  

2025-10-24T22:49:05.863Z,1761346145.863 [DAT](INFO): setting remote address to 10
2025-10-24T22:49:05.866Z,1761346145.866 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:49:05.867Z,1761346145.867 [DAT](INFO): setting remote address to 0
2025-10-24T22:49:06.113Z,1761346146.113 [DAT](INFO): DAT read: user:6>

2025-10-24T22:49:06.114Z,1761346146.114 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:49:06.114Z,1761346146.114 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T22:49:06.114Z,1761346146.114 [DAT] Communications Fault, FailCount= 8
2025-10-24T22:49:06.114Z,1761346146.114 [DAT](ERROR): Communications Fault
2025-10-24T22:49:06.115Z,1761346146.115 [DAT](INFO): DAT read: user:7>

2025-10-24T22:49:06.116Z,1761346146.116 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:49:06.116Z,1761346146.116 [DAT](INFO): set remote address to 0
2025-10-24T22:49:06.117Z,1761346146.117 [DAT](INFO): setting remote address to 10
2025-10-24T22:49:06.117Z,1761346146.117 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:49:06.117Z,1761346146.117 [DAT](INFO): setting remote address to 0
2025-10-24T22:49:06.356Z,1761346146.356 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T22:49:06.357Z,1761346146.357 [CBIT](FAULT): Communications Fault in component: DAT
2025-10-24T22:49:06.520Z,1761346146.520 [DAT](INFO): Powering down
2025-10-24T22:49:06.582Z,1761346146.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266204,0.946762,0.181046],[-0.963596,-0.266223,-0.024654],[0.024857,-0.181018,0.983166]]
2025-10-24T22:49:06.981Z,1761346146.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268006,0.946740,0.178483],[-0.963098,-0.268052,-0.024317],[0.024821,-0.178414,0.983642]]
2025-10-24T22:49:07.382Z,1761346147.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271053,0.945777,0.178984],[-0.962237,-0.271085,-0.024755],[0.025107,-0.178935,0.983540]]
2025-10-24T22:49:07.786Z,1761346147.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274830,0.944388,0.180556],[-0.961153,-0.274838,-0.025479],[0.025562,-0.180545,0.983235]]
2025-10-24T22:49:08.190Z,1761346148.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278851,0.942805,0.182648],[-0.959980,-0.278826,-0.026349],[0.026085,-0.182686,0.982825]]
2025-10-24T22:49:08.595Z,1761346148.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283095,0.940956,0.185630],[-0.958719,-0.283032,-0.027410],[0.026747,-0.185727,0.982237]]
2025-10-24T22:49:08.998Z,1761346148.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287364,0.939400,0.186947],[-0.957438,-0.287244,-0.028333],[0.027083,-0.187132,0.981961]]
2025-10-24T22:49:09.402Z,1761346149.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290955,0.937864,0.189095],[-0.956351,-0.290712,-0.029654],[0.027161,-0.189469,0.981511]]
2025-10-24T22:49:09.814Z,1761346149.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293920,0.936087,0.193268],[-0.955434,-0.293550,-0.031215],[0.027514,-0.193830,0.980649]]
2025-10-24T22:49:09.817Z,1761346149.817 [BPC1](FAULT): Battery stick #10 (s/n: 00BE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-24T22:49:09.818Z,1761346149.818 [BPC1](FAULT): Battery stick #12 (s/n: 0284) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x0AD0.
2025-10-24T22:49:09.820Z,1761346149.820 [BPC1](FAULT): Battery stick #14 (s/n: 0129) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-24T22:49:09.821Z,1761346149.821 [BPC1](FAULT): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-24T22:49:09.822Z,1761346149.822 [BPC1](FAULT): Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-24T22:49:09.823Z,1761346149.823 [BPC1](FAULT): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0.
2025-10-24T22:49:09.825Z,1761346149.825 [BPC1](FAULT): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-24T22:49:09.825Z,1761346149.825 [BPC1](FAULT): Battery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-24T22:49:09.826Z,1761346149.826 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-24T22:49:09.827Z,1761346149.827 [BPC1](ERROR): Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0.
2025-10-24T22:49:09.828Z,1761346149.828 [BPC1](FAULT): Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-24T22:49:09.829Z,1761346149.829 [BPC1](FAULT): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-24T22:49:09.830Z,1761346149.830 [BPC1](FAULT): Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-24T22:49:09.830Z,1761346149.830 [BPC1](INFO): Calculating totals. Valid battery stick count: 29. Valid reserve battery stick count: 2.
2025-10-24T22:49:09.833Z,1761346149.833 [BPC1](ERROR): Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.
2025-10-24T22:49:10.215Z,1761346150.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295736,0.934918,0.196136],[-0.954854,-0.295368,-0.031811],[0.028192,-0.196689,0.980061]]
2025-10-24T22:49:11.020Z,1761346151.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293632,0.933617,0.205280],[-0.955457,-0.293313,-0.032687],[0.029694,-0.205734,0.978157]]
2025-10-24T22:49:11.423Z,1761346151.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289362,0.933598,0.211340],[-0.956739,-0.289078,-0.032940],[0.030341,-0.211729,0.976857]]
2025-10-24T22:49:11.829Z,1761346151.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282989,0.934352,0.216570],[-0.958631,-0.282772,-0.032664],[0.030720,-0.216854,0.975721]]
2025-10-24T22:49:12.230Z,1761346152.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274922,0.935507,0.221911],[-0.960976,-0.274733,-0.032352],[0.030701,-0.222145,0.974530]]
2025-10-24T22:49:12.636Z,1761346152.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266271,0.937336,0.224726],[-0.963413,-0.266198,-0.031202],[0.030575,-0.224812,0.973922]]
2025-10-24T22:49:13.038Z,1761346153.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258095,0.939392,0.225675],[-0.965626,-0.258294,-0.029176],[0.030883,-0.225448,0.973766]]
2025-10-24T22:49:13.442Z,1761346153.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251229,0.941421,0.224968],[-0.967405,-0.251858,-0.026382],[0.031823,-0.224263,0.974009]]
2025-10-24T22:49:13.847Z,1761346153.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245852,0.943571,0.221882],[-0.968749,-0.246953,-0.023214],[0.032891,-0.220655,0.974797]]
2025-10-24T22:49:14.252Z,1761346154.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241197,0.945533,0.218611],[-0.969876,-0.242775,-0.020032],[0.034132,-0.216857,0.975606]]
2025-10-24T22:49:14.659Z,1761346154.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237165,0.947456,0.214661],[-0.970822,-0.239214,-0.016770],[0.035462,-0.212375,0.976545]]
2025-10-24T22:49:15.058Z,1761346155.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232976,0.949173,0.211643],[-0.971797,-0.235404,-0.014012],[0.036522,-0.208938,0.977247]]
2025-10-24T22:49:15.462Z,1761346155.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229397,0.950834,0.208065],[-0.972606,-0.232188,-0.011248],[0.037615,-0.204946,0.978050]]
2025-10-24T22:49:15.517Z,1761346155.517 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:49:15.517Z,1761346155.517 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:49:15.517Z,1761346155.517 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:49:15.518Z,1761346155.518 [marl:UpdateRudder:A] Stopped
2025-10-24T22:49:15.518Z,1761346155.518 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:49:15.518Z,1761346155.518 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:49:15.518Z,1761346155.518 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:49:15.518Z,1761346155.518 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:49:15.518Z,1761346155.518 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:49:15.518Z,1761346155.518 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:49:15.518Z,1761346155.518 [marl:UpdateCommandMode] Stopped
2025-10-24T22:49:15.519Z,1761346155.519 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:49:15.519Z,1761346155.519 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:49:15.519Z,1761346155.519 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:49:15.519Z,1761346155.519 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:49:15.519Z,1761346155.519 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:49:15.519Z,1761346155.519 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:49:15.519Z,1761346155.519 [marl:UpdateSpeed] Stopped
2025-10-24T22:49:15.519Z,1761346155.519 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:49:15.868Z,1761346155.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225910,0.952558,0.203957],[-0.973397,-0.228953,-0.008872],[0.038246,-0.200536,0.978940]]
2025-10-24T22:49:15.977Z,1761346155.977 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:49:15.977Z,1761346155.977 [marl:UpdateRudder:B] Stopped
2025-10-24T22:49:15.977Z,1761346155.977 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:49:15.977Z,1761346155.977 [marl:UpdateRudder] Stopped
2025-10-24T22:49:15.978Z,1761346155.978 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:49:16.271Z,1761346156.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222964,0.954316,0.198916],[-0.974066,-0.226163,-0.006788],[0.038509,-0.195270,0.979993]]
2025-10-24T22:49:16.679Z,1761346156.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221374,0.955867,0.193162],[-0.974430,-0.224630,-0.005163],[0.038455,-0.189366,0.981153]]
2025-10-24T22:49:17.082Z,1761346157.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221080,0.956818,0.188742],[-0.974515,-0.224277,-0.004522],[0.038004,-0.184932,0.982016]]
2025-10-24T22:49:17.890Z,1761346157.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223296,0.957731,0.181353],[-0.974087,-0.226112,-0.005269],[0.035960,-0.177830,0.983404]]
2025-10-24T22:49:18.298Z,1761346158.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225997,0.957602,0.178671],[-0.973508,-0.228562,-0.006372],[0.034735,-0.175378,0.983888]]
2025-10-24T22:49:18.695Z,1761346158.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228514,0.957319,0.176981],[-0.972958,-0.230858,-0.007513],[0.033665,-0.173912,0.984186]]
2025-10-24T22:49:19.103Z,1761346159.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227587,0.959589,0.165510],[-0.973186,-0.229965,-0.004911],[0.033349,-0.162190,0.986196]]
2025-10-24T22:49:19.537Z,1761346159.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211188,0.969921,0.121049],[-0.976855,-0.213738,0.008339],[0.033960,-0.116486,0.992612]]
2025-10-24T22:49:19.942Z,1761346159.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196828,0.975811,0.095141],[-0.979824,-0.199210,0.016132],[0.034695,-0.090046,0.995333]]
2025-10-24T22:49:20.715Z,1761346160.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178131,0.981474,0.070561],[-0.983387,-0.180105,0.022618],[0.034907,-0.065360,0.997251]]
2025-10-24T22:49:21.122Z,1761346161.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156175,0.986483,0.049612],[-0.987134,-0.157627,0.026839],[0.034296,-0.044782,0.998408]]
2025-10-24T22:49:21.526Z,1761346161.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133251,0.990492,0.034209],[-0.990523,-0.134256,0.028973],[0.033291,-0.030024,0.998995]]
2025-10-24T22:49:21.963Z,1761346161.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091641,0.995754,0.008710],[-0.995289,-0.091869,0.030976],[0.031645,-0.005831,0.999482]]
2025-10-24T22:49:22.337Z,1761346162.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073705,0.997280,-0.000156],[-0.996786,-0.073663,0.031490],[0.031393,0.002477,0.999504]]
2025-10-24T22:49:22.739Z,1761346162.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057389,0.998329,-0.006724],[-0.997857,-0.057148,0.031868],[0.031430,0.008538,0.999469]]
2025-10-24T22:49:23.146Z,1761346163.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042494,0.999031,-0.011451],[-0.998592,-0.042106,0.032271],[0.031758,0.012806,0.999414]]
2025-10-24T22:49:23.548Z,1761346163.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028037,0.999507,-0.014153],[-0.999071,-0.027556,0.033132],[0.032725,0.015069,0.999351]]
2025-10-24T22:49:23.967Z,1761346163.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013518,0.999780,-0.016063],[-0.999326,-0.012960,0.034353],[0.034137,0.016516,0.999281]]
2025-10-24T22:49:24.351Z,1761346164.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002008,0.999863,-0.016428],[-0.999374,0.002586,0.035292],[0.035330,0.016347,0.999242]]
2025-10-24T22:49:24.760Z,1761346164.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018867,0.999695,-0.015910],[-0.999164,0.019430,0.035957],[0.036255,0.015218,0.999227]]
2025-10-24T22:49:25.159Z,1761346165.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036407,0.999213,-0.015751],[-0.998645,0.036963,0.036641],[0.037195,0.014395,0.999204]]
2025-10-24T22:49:25.569Z,1761346165.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054716,0.998367,-0.016429],[-0.997786,0.055292,0.036963],[0.037811,0.014370,0.999182]]
2025-10-24T22:49:25.974Z,1761346165.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072749,0.997232,-0.015345],[-0.996609,0.073279,0.037419],[0.038440,0.012571,0.999182]]
2025-10-24T22:49:26.370Z,1761346166.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089985,0.995835,-0.014670],[-0.995182,0.090482,0.037750],[0.038920,0.011202,0.999180]]
2025-10-24T22:49:26.697Z,1761346166.697 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:49:26.778Z,1761346166.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106865,0.994181,-0.013549],[-0.993533,0.107301,0.037121],[0.038359,0.009495,0.999219]]
2025-10-24T22:49:27.583Z,1761346167.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137233,0.990485,-0.010333],[-0.989845,0.137520,0.035992],[0.037070,0.005289,0.999299]]
2025-10-24T22:49:27.700Z,1761346167.700 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:49:27.987Z,1761346167.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151551,0.988407,-0.009202],[-0.987775,0.151785,0.035518],[0.036503,0.003707,0.999327]]
2025-10-24T22:49:28.391Z,1761346168.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165933,0.986082,-0.010423],[-0.985462,0.166201,0.035236],[0.036478,0.004425,0.999325]]
2025-10-24T22:49:28.442Z,1761346168.442 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:49:28.442Z,1761346168.442 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:49:28.442Z,1761346168.442 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:49:28.443Z,1761346168.443 [marl:UpdateRudder:A] Stopped
2025-10-24T22:49:28.443Z,1761346168.443 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:49:28.443Z,1761346168.443 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:49:28.443Z,1761346168.443 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:49:28.443Z,1761346168.443 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:49:28.443Z,1761346168.443 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:49:28.443Z,1761346168.443 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:49:28.444Z,1761346168.444 [marl:UpdateCommandMode] Stopped
2025-10-24T22:49:28.444Z,1761346168.444 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:49:28.444Z,1761346168.444 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:49:28.444Z,1761346168.444 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:49:28.444Z,1761346168.444 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:49:28.444Z,1761346168.444 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:49:28.445Z,1761346168.445 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:49:28.445Z,1761346168.445 [marl:UpdateSpeed] Stopped
2025-10-24T22:49:28.445Z,1761346168.445 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:49:28.795Z,1761346168.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180655,0.983480,-0.011461],[-0.982873,0.180951,0.034890],[0.036388,0.004962,0.999325]]
2025-10-24T22:49:28.826Z,1761346168.826 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:49:28.826Z,1761346168.826 [marl:UpdateRudder:B] Stopped
2025-10-24T22:49:28.826Z,1761346168.826 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:49:28.826Z,1761346168.826 [marl:UpdateRudder] Stopped
2025-10-24T22:49:28.827Z,1761346168.827 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:49:29.204Z,1761346169.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195896,0.980542,-0.012700],[-0.979957,0.196224,0.034360],[0.036184,0.005715,0.999329]]
2025-10-24T22:49:29.602Z,1761346169.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212037,0.977145,-0.015071],[-0.976595,0.212436,0.033665],[0.036097,0.007580,0.999319]]
2025-10-24T22:49:30.006Z,1761346170.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229019,0.973300,-0.015418],[-0.972765,0.229417,0.033106],[0.035759,0.007417,0.999333]]
2025-10-24T22:49:30.411Z,1761346170.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246169,0.969076,-0.017103],[-0.968571,0.246613,0.032442],[0.035657,0.008579,0.999327]]
2025-10-24T22:49:30.815Z,1761346170.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264381,0.964246,-0.018255],[-0.963779,0.264847,0.031411],[0.035123,0.009289,0.999340]]
2025-10-24T22:49:31.218Z,1761346171.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281624,0.959316,-0.020004],[-0.958911,0.282128,0.029890],[0.034317,0.010764,0.999353]]
2025-10-24T22:49:31.622Z,1761346171.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298435,0.954227,-0.019668],[-0.953843,0.298911,0.028923],[0.033478,0.010129,0.999388]]
2025-10-24T22:49:32.027Z,1761346172.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313651,0.949343,-0.019257],[-0.948995,0.314093,0.027457],[0.032115,0.009663,0.999437]]
2025-10-24T22:49:32.432Z,1761346172.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327731,0.944593,-0.018364],[-0.944290,0.328122,0.025529],[0.030140,0.008975,0.999505]]
2025-10-24T22:49:32.834Z,1761346172.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340710,0.940029,-0.016185],[-0.939762,0.341018,0.023520],[0.027629,0.007196,0.999592]]
2025-10-24T22:49:33.245Z,1761346173.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352991,0.935517,-0.014348],[-0.935303,0.353231,0.020880],[0.024602,0.006049,0.999679]]
2025-10-24T22:49:33.645Z,1761346173.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365078,0.930878,-0.013603],[-0.930729,0.365279,0.017743],[0.021486,0.006184,0.999750]]
2025-10-24T22:49:34.046Z,1761346174.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376354,0.926384,-0.013021],[-0.926278,0.376527,0.015370],[0.019142,0.006277,0.999797]]
2025-10-24T22:49:34.450Z,1761346174.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387055,0.921972,-0.012534],[-0.921884,0.387209,0.014086],[0.017840,0.006102,0.999822]]
2025-10-24T22:49:34.854Z,1761346174.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397384,0.917562,-0.012861],[-0.917475,0.397544,0.014095],[0.018045,0.006198,0.999818]]
2025-10-24T22:49:35.266Z,1761346175.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408094,0.912807,-0.015588],[-0.912728,0.408307,0.014602],[0.019694,0.008268,0.999772]]
2025-10-24T22:49:35.666Z,1761346175.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420951,0.906915,-0.017451],[-0.906828,0.421211,0.015623],[0.021519,0.009249,0.999726]]
2025-10-24T22:49:36.066Z,1761346176.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436965,0.899252,-0.020189],[-0.899194,0.437281,0.015338],[0.022621,0.011452,0.999678]]
2025-10-24T22:49:36.470Z,1761346176.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455283,0.890063,-0.022478],[-0.890046,0.455640,0.014518],[0.023164,0.013396,0.999642]]
2025-10-24T22:49:36.876Z,1761346176.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475067,0.879645,-0.023133],[-0.879649,0.475428,0.013622],[0.022980,0.013878,0.999640]]
2025-10-24T22:49:37.279Z,1761346177.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495452,0.868309,-0.023819],[-0.868357,0.495801,0.011724],[0.021989,0.014875,0.999647]]
2025-10-24T22:49:37.685Z,1761346177.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515631,0.856462,-0.024459],[-0.856565,0.515957,0.009240],[0.020534,0.016186,0.999658]]
2025-10-24T22:49:38.492Z,1761346178.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552742,0.833080,-0.021316],[-0.833185,0.552963,0.005914],[0.016713,0.014491,0.999755]]
2025-10-24T22:49:38.894Z,1761346178.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567946,0.822841,-0.019247],[-0.822922,0.568129,0.005426],[0.015400,0.012757,0.999800]]
2025-10-24T22:49:39.298Z,1761346179.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581285,0.813527,-0.016760],[-0.813575,0.581433,0.005514],[0.014230,0.010431,0.999844]]
2025-10-24T22:49:39.706Z,1761346179.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592803,0.805226,-0.013962],[-0.805236,0.592920,0.006340],[0.013383,0.007484,0.999882]]
2025-10-24T22:49:40.108Z,1761346180.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603673,0.797149,-0.011550],[-0.797135,0.603762,0.006882],[0.012460,0.005052,0.999910]]
2025-10-24T22:49:40.511Z,1761346180.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614111,0.789165,-0.009277],[-0.789137,0.614175,0.007270],[0.011435,0.002856,0.999931]]
2025-10-24T22:49:40.914Z,1761346180.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624034,0.781365,-0.007081],[-0.781327,0.624073,0.007806],[0.010519,0.000661,0.999944]]
2025-10-24T22:49:41.326Z,1761346181.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633138,0.774023,-0.005045],[-0.773978,0.633157,0.008379],[0.009679,-0.001401,0.999952]]
2025-10-24T22:49:41.350Z,1761346181.350 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:49:41.350Z,1761346181.350 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:49:41.350Z,1761346181.350 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:49:41.351Z,1761346181.351 [marl:UpdateRudder:A] Stopped
2025-10-24T22:49:41.351Z,1761346181.351 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:49:41.351Z,1761346181.351 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:49:41.351Z,1761346181.351 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:49:41.351Z,1761346181.351 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:49:41.351Z,1761346181.351 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:49:41.352Z,1761346181.352 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:49:41.352Z,1761346181.352 [marl:UpdateCommandMode] Stopped
2025-10-24T22:49:41.352Z,1761346181.352 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:49:41.352Z,1761346181.352 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:49:41.352Z,1761346181.352 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:49:41.352Z,1761346181.352 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:49:41.353Z,1761346181.353 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:49:41.353Z,1761346181.353 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:49:41.353Z,1761346181.353 [marl:UpdateSpeed] Stopped
2025-10-24T22:49:41.353Z,1761346181.353 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:49:41.728Z,1761346181.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641923,0.766754,-0.004728],[-0.766713,0.641939,0.008154],[0.009287,-0.001609,0.999956]]
2025-10-24T22:49:41.758Z,1761346181.758 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:49:41.758Z,1761346181.758 [marl:UpdateRudder:B] Stopped
2025-10-24T22:49:41.758Z,1761346181.758 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:49:41.758Z,1761346181.758 [marl:UpdateRudder] Stopped
2025-10-24T22:49:41.758Z,1761346181.758 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:49:42.126Z,1761346182.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650846,0.759186,-0.006053],[-0.759151,0.650874,0.007236],[0.009433,-0.000114,0.999956]]
2025-10-24T22:49:42.530Z,1761346182.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660248,0.751000,-0.008407],[-0.750982,0.660297,0.005800],[0.009907,0.002485,0.999948]]
2025-10-24T22:49:42.934Z,1761346182.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670196,0.742096,-0.011478],[-0.742112,0.670266,0.003579],[0.010349,0.006119,0.999928]]
2025-10-24T22:49:43.346Z,1761346183.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681367,0.731810,-0.013921],[-0.731864,0.681449,0.001679],[0.010715,0.009045,0.999902]]
2025-10-24T22:49:43.743Z,1761346183.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693389,0.720401,-0.015315],[-0.720485,0.693470,0.000047],[0.010654,0.011001,0.999883]]
2025-10-24T22:49:44.146Z,1761346184.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705108,0.708929,-0.015570],[-0.709022,0.705186,-0.000735],[0.010459,0.011557,0.999878]]
2025-10-24T22:49:44.550Z,1761346184.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715010,0.699020,-0.011453],[-0.699036,0.715079,0.003223],[0.010443,0.005702,0.999929]]
2025-10-24T22:49:44.955Z,1761346184.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721498,0.692416,-0.001155],[-0.692343,0.721444,0.013451],[0.010147,-0.008905,0.999909]]
2025-10-24T22:49:45.202Z,1761346185.202 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:49:45.203Z,1761346185.203 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:49:45.358Z,1761346185.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724244,0.689374,0.015312],[-0.689478,0.723689,0.029896],[0.009528,-0.032209,0.999436]]
2025-10-24T22:49:45.762Z,1761346185.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724785,0.688027,0.036117],[-0.688923,0.723090,0.050256],[0.008462,-0.061306,0.998083]]
2025-10-24T22:49:46.166Z,1761346186.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723100,0.688108,0.060281],[-0.690700,0.719322,0.074226],[0.007714,-0.095309,0.995418]]
2025-10-24T22:49:46.571Z,1761346186.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720517,0.688552,0.082170],[-0.693398,0.714140,0.095935],[0.007375,-0.126099,0.991990]]
2025-10-24T22:49:46.977Z,1761346186.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717788,0.688711,0.102266],[-0.696223,0.708402,0.115934],[0.007400,-0.154416,0.987978]]
2025-10-24T22:49:47.001Z,1761346187.001 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:49:47.379Z,1761346187.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715798,0.688148,0.118682],[-0.698273,0.703655,0.131471],[0.006960,-0.176979,0.984190]]
2025-10-24T22:49:47.783Z,1761346187.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715318,0.686689,0.129531],[-0.698771,0.701211,0.141500],[0.006338,-0.191730,0.981427]]
2025-10-24T22:49:48.197Z,1761346188.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716669,0.684111,0.135565],[-0.697393,0.701462,0.146949],[0.005436,-0.199856,0.979810]]
2025-10-24T22:49:48.590Z,1761346188.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719487,0.680614,0.138214],[-0.694492,0.703811,0.149435],[0.004431,-0.203506,0.979064]]
2025-10-24T22:49:48.994Z,1761346188.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723226,0.676290,0.139913],[-0.690604,0.707284,0.151050],[0.003195,-0.205867,0.978575]]
2025-10-24T22:49:49.400Z,1761346189.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727463,0.671494,0.141040],[-0.686145,0.711437,0.151863],[0.001634,-0.207249,0.978287]]
2025-10-24T22:49:49.805Z,1761346189.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732030,0.666252,0.142270],[-0.681272,0.716157,0.151617],[-0.000873,-0.207912,0.978147]]
2025-10-24T22:49:50.210Z,1761346190.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736975,0.660368,0.144159],[-0.675908,0.721239,0.151532],[-0.003907,-0.209114,0.977884]]
2025-10-24T22:49:50.611Z,1761346190.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741300,0.655230,0.145423],[-0.671136,0.725939,0.150297],[-0.007089,-0.209014,0.977887]]
2025-10-24T22:49:51.015Z,1761346191.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744488,0.651325,0.146671],[-0.667561,0.729502,0.148962],[-0.009975,-0.208812,0.977905]]
2025-10-24T22:49:51.425Z,1761346191.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746086,0.649288,0.147585],[-0.665734,0.731532,0.147171],[-0.012407,-0.208054,0.978039]]
2025-10-24T22:49:51.822Z,1761346191.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746632,0.648413,0.148661],[-0.665076,0.732488,0.145381],[-0.014626,-0.207417,0.978143]]
2025-10-24T22:49:52.226Z,1761346192.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746597,0.648389,0.148945],[-0.665069,0.733003,0.142793],[-0.016592,-0.205668,0.978481]]
2025-10-24T22:49:52.632Z,1761346192.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745906,0.649036,0.149586],[-0.665791,0.732843,0.140228],[-0.018610,-0.204190,0.978754]]
2025-10-24T22:49:53.034Z,1761346193.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744574,0.650600,0.149432],[-0.667222,0.732250,0.136472],[-0.020633,-0.201318,0.979309]]
2025-10-24T22:49:53.439Z,1761346193.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742745,0.652583,0.149881],[-0.669182,0.731130,0.132831],[-0.022899,-0.198957,0.979741]]
2025-10-24T22:49:53.843Z,1761346193.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740567,0.655267,0.148947],[-0.671530,0.729796,0.128240],[-0.024669,-0.194993,0.980494]]
2025-10-24T22:49:54.248Z,1761346194.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738510,0.657661,0.148608],[-0.673741,0.728314,0.125032],[-0.026005,-0.192460,0.980960]]
2025-10-24T22:49:54.289Z,1761346194.289 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:49:54.289Z,1761346194.289 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:49:54.289Z,1761346194.289 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:49:54.290Z,1761346194.290 [marl:UpdateRudder:A] Stopped
2025-10-24T22:49:54.290Z,1761346194.290 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:49:54.290Z,1761346194.290 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:49:54.290Z,1761346194.290 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:49:54.290Z,1761346194.290 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:49:54.291Z,1761346194.291 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:49:54.291Z,1761346194.291 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:49:54.291Z,1761346194.291 [marl:UpdateCommandMode] Stopped
2025-10-24T22:49:54.291Z,1761346194.291 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:49:54.291Z,1761346194.291 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:49:54.291Z,1761346194.291 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:49:54.291Z,1761346194.291 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:49:54.291Z,1761346194.291 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:49:54.292Z,1761346194.292 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:49:54.336Z,1761346194.336 [marl:UpdateSpeed] Stopped
2025-10-24T22:49:54.336Z,1761346194.336 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:49:54.654Z,1761346194.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736720,0.659727,0.148337],[-0.675650,0.727026,0.122191],[-0.027233,-0.190244,0.981359]]
2025-10-24T22:49:54.700Z,1761346194.700 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:49:54.700Z,1761346194.700 [marl:UpdateRudder:B] Stopped
2025-10-24T22:49:54.701Z,1761346194.701 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:49:54.701Z,1761346194.701 [marl:UpdateRudder] Stopped
2025-10-24T22:49:54.701Z,1761346194.701 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:49:55.054Z,1761346195.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735195,0.661176,0.149448],[-0.677256,0.725746,0.120905],[-0.028522,-0.190103,0.981350]]
2025-10-24T22:49:55.864Z,1761346195.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732216,0.663848,0.152203],[-0.680294,0.723564,0.116853],[-0.032556,-0.189105,0.981417]]
2025-10-24T22:49:56.266Z,1761346196.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730660,0.665095,0.154223],[-0.681859,0.722340,0.115302],[-0.034715,-0.189405,0.981285]]
2025-10-24T22:49:57.075Z,1761346197.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728914,0.666567,0.156116],[-0.683459,0.721709,0.109634],[-0.039592,-0.186613,0.981635]]
2025-10-24T22:49:57.480Z,1761346197.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730327,0.665521,0.153961],[-0.681776,0.724174,0.103701],[-0.042479,-0.180703,0.982620]]
2025-10-24T22:49:57.824Z,1761346197.824 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:49:57.886Z,1761346197.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735251,0.662255,0.144305],[-0.676247,0.731136,0.090174],[-0.045789,-0.163886,0.985416]]
2025-10-24T22:49:58.286Z,1761346198.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744407,0.655278,0.128332],[-0.665896,0.742748,0.070056],[-0.049413,-0.137606,0.989254]]
2025-10-24T22:49:58.697Z,1761346198.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756681,0.644646,0.108930],[-0.651625,0.757170,0.045588],[-0.053090,-0.105477,0.993003]]
2025-10-24T22:49:58.829Z,1761346198.829 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:49:59.097Z,1761346199.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770836,0.630780,0.089037],[-0.634517,0.772666,0.019385],[-0.056568,-0.071439,0.995840]]
2025-10-24T22:49:59.498Z,1761346199.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785572,0.614558,0.072082],[-0.615879,0.787826,-0.004817],[-0.059749,-0.040610,0.997387]]
2025-10-24T22:49:59.923Z,1761346199.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799563,0.597528,0.060493],[-0.597325,0.801659,-0.023380],[-0.062465,-0.017440,0.997895]]
2025-10-24T22:50:00.307Z,1761346200.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813199,0.579555,0.053133],[-0.578345,0.814933,-0.037437],[-0.064997,-0.000285,0.997885]]
2025-10-24T22:50:00.715Z,1761346200.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826008,0.561604,0.048081],[-0.559675,0.827304,-0.048286],[-0.066895,0.012975,0.997676]]
2025-10-24T22:50:01.114Z,1761346201.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837561,0.544341,0.046730],[-0.542025,0.838629,-0.053947],[-0.068555,0.019855,0.997450]]
2025-10-24T22:50:01.518Z,1761346201.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847922,0.527953,0.047896],[-0.525521,0.849003,-0.054962],[-0.069681,0.021433,0.997339]]
2025-10-24T22:50:01.973Z,1761346201.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857154,0.512644,0.049825],[-0.510201,0.858342,-0.054258],[-0.070582,0.021087,0.997283]]
2025-10-24T22:50:02.327Z,1761346202.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865435,0.498305,0.052100],[-0.495966,0.866793,-0.051841],[-0.070993,0.019025,0.997295]]
2025-10-24T22:50:02.731Z,1761346202.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872920,0.484846,0.054175],[-0.482743,0.874462,-0.047697],[-0.070500,0.015483,0.997392]]
2025-10-24T22:50:03.142Z,1761346203.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880301,0.471213,0.055038],[-0.469315,0.881922,-0.044232],[-0.069382,0.013108,0.997504]]
2025-10-24T22:50:03.539Z,1761346203.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887280,0.457832,0.055894],[-0.456190,0.888983,-0.040001],[-0.068003,0.009994,0.997635]]
2025-10-24T22:50:03.970Z,1761346203.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894257,0.444018,0.056140],[-0.442584,0.895984,-0.036500],[-0.066507,0.007793,0.997755]]
2025-10-24T22:50:04.346Z,1761346204.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901180,0.429720,0.056703],[-0.428484,0.902946,-0.033032],[-0.065394,0.005472,0.997845]]
2025-10-24T22:50:04.750Z,1761346204.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907685,0.415833,0.056491],[-0.414708,0.909429,-0.030906],[-0.064227,0.004626,0.997925]]
2025-10-24T22:50:05.157Z,1761346205.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913682,0.402312,0.057714],[-0.401416,0.915501,-0.026884],[-0.063653,0.001396,0.997971]]
2025-10-24T22:50:05.560Z,1761346205.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919049,0.389622,0.059526],[-0.389017,0.920970,-0.021926],[-0.063365,-0.003006,0.997986]]
2025-10-24T22:50:05.971Z,1761346205.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924259,0.376906,0.060715],[-0.376534,0.926230,-0.017896],[-0.062981,-0.006321,0.997995]]
2025-10-24T22:50:06.367Z,1761346206.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929421,0.363946,0.060986],[-0.363649,0.931394,-0.016286],[-0.062729,-0.007042,0.998006]]
2025-10-24T22:50:06.771Z,1761346206.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934559,0.350547,0.060965],[-0.350259,0.936521,-0.015709],[-0.062602,-0.006673,0.998016]]
2025-10-24T22:50:07.209Z,1761346207.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944715,0.322268,0.060478],[-0.321919,0.946637,-0.015703],[-0.062312,-0.004634,0.998046]]
2025-10-24T22:50:07.250Z,1761346207.250 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:50:07.250Z,1761346207.250 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:50:07.251Z,1761346207.251 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:50:07.251Z,1761346207.251 [marl:UpdateRudder:A] Stopped
2025-10-24T22:50:07.251Z,1761346207.251 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:50:07.251Z,1761346207.251 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:50:07.251Z,1761346207.251 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:50:07.251Z,1761346207.251 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:50:07.251Z,1761346207.251 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:50:07.252Z,1761346207.252 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:50:07.252Z,1761346207.252 [marl:UpdateCommandMode] Stopped
2025-10-24T22:50:07.252Z,1761346207.252 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:50:07.252Z,1761346207.252 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:50:07.252Z,1761346207.252 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:50:07.252Z,1761346207.252 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:50:07.253Z,1761346207.253 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:50:07.253Z,1761346207.253 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:50:07.253Z,1761346207.253 [marl:UpdateSpeed] Stopped
2025-10-24T22:50:07.253Z,1761346207.253 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:50:07.626Z,1761346207.626 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:50:07.627Z,1761346207.627 [marl:UpdateRudder:B] Stopped
2025-10-24T22:50:07.627Z,1761346207.627 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:50:07.627Z,1761346207.627 [marl:UpdateRudder] Stopped
2025-10-24T22:50:07.627Z,1761346207.627 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:50:07.988Z,1761346207.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954006,0.293526,0.060950],[-0.293146,0.955945,-0.015282],[-0.062750,-0.003288,0.998024]]
2025-10-24T22:50:08.391Z,1761346208.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958233,0.279390,0.061072],[-0.279072,0.960170,-0.013851],[-0.062509,-0.003771,0.998037]]
2025-10-24T22:50:08.797Z,1761346208.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962092,0.265818,0.060988],[-0.265583,0.964012,-0.012074],[-0.062003,-0.004581,0.998065]]
2025-10-24T22:50:09.199Z,1761346209.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965793,0.252173,0.060442],[-0.252016,0.967668,-0.010326],[-0.061092,-0.005259,0.998118]]
2025-10-24T22:50:09.602Z,1761346209.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969334,0.238524,0.059137],[-0.238386,0.971124,-0.009476],[-0.059690,-0.004912,0.998205]]
2025-10-24T22:50:10.002Z,1761346210.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972891,0.224026,0.057410],[-0.223825,0.974578,-0.010000],[-0.058191,-0.003121,0.998301]]
2025-10-24T22:50:10.407Z,1761346210.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976425,0.208434,0.056127],[-0.208239,0.978033,-0.009373],[-0.056848,-0.002536,0.998380]]
2025-10-24T22:50:10.810Z,1761346210.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979900,0.191875,0.054596],[-0.191660,0.981418,-0.009205],[-0.055347,-0.001444,0.998466]]
2025-10-24T22:50:11.214Z,1761346211.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983264,0.174295,0.053043],[-0.174027,0.984693,-0.009662],[-0.053915,0.000269,0.998545]]
2025-10-24T22:50:11.624Z,1761346211.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986397,0.156191,0.051244],[-0.155848,0.987724,-0.010643],[-0.052277,0.002512,0.998629]]
2025-10-24T22:50:12.023Z,1761346212.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989213,0.137839,0.049575],[-0.137470,0.990447,-0.010798],[-0.050590,0.003866,0.998712]]
2025-10-24T22:50:12.428Z,1761346212.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991744,0.118918,0.047987],[-0.118565,0.992894,-0.010147],[-0.048853,0.004374,0.998796]]
2025-10-24T22:50:12.831Z,1761346212.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993971,0.099466,0.046134],[-0.099078,0.995023,-0.010622],[-0.046961,0.005987,0.998879]]
2025-10-24T22:50:13.234Z,1761346213.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995821,0.079722,0.044555],[-0.079418,0.996805,-0.008568],[-0.045095,0.004994,0.998970]]
2025-10-24T22:50:13.638Z,1761346213.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997282,0.059979,0.042781],[-0.059779,0.998194,-0.005938],[-0.043059,0.003364,0.999067]]
2025-10-24T22:50:14.043Z,1761346214.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998363,0.039815,0.041057],[-0.039681,0.999204,-0.004075],[-0.041186,0.002439,0.999148]]
2025-10-24T22:50:14.447Z,1761346214.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999033,0.019852,0.039239],[-0.019797,0.999802,-0.001791],[-0.039266,0.001013,0.999228]]
2025-10-24T22:50:14.850Z,1761346214.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999305,-0.000244,0.037279],[0.000278,1.000000,-0.000891],[-0.037278,0.000900,0.999304]]
2025-10-24T22:50:15.254Z,1761346215.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999182,-0.020232,0.035002],[0.020236,0.999795,0.000258],[-0.035000,0.000451,0.999387]]
2025-10-24T22:50:15.665Z,1761346215.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998692,-0.039555,0.032407],[0.039491,0.999216,0.002640],[-0.032486,-0.001356,0.999471]]
2025-10-24T22:50:16.067Z,1761346216.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997889,-0.057796,0.029632],[0.057648,0.998320,0.005818],[-0.029919,-0.004097,0.999544]]
2025-10-24T22:50:16.467Z,1761346216.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996835,-0.074879,0.026691],[0.074651,0.997165,0.009465],[-0.027324,-0.007443,0.999599]]
2025-10-24T22:50:16.870Z,1761346216.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995662,-0.089937,0.023861],[0.089616,0.995875,0.014190],[-0.025038,-0.011991,0.999615]]
2025-10-24T22:50:17.276Z,1761346217.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994444,-0.103030,0.021605],[0.102679,0.994573,0.016761],[-0.023215,-0.014450,0.999626]]
2025-10-24T22:50:17.684Z,1761346217.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993071,-0.115887,0.019522],[0.115476,0.993088,0.021013],[-0.021823,-0.018613,0.999589]]
2025-10-24T22:50:18.091Z,1761346218.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991594,-0.128114,0.018136],[0.127679,0.991540,0.023392],[-0.020980,-0.020880,0.999562]]
2025-10-24T22:50:18.486Z,1761346218.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989999,-0.140041,0.017029],[0.139619,0.989917,0.023883],[-0.020202,-0.021267,0.999570]]
2025-10-24T22:50:18.892Z,1761346218.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988262,-0.151958,0.015710],[0.151607,0.988206,0.021531],[-0.018796,-0.018896,0.999645]]
2025-10-24T22:50:19.294Z,1761346219.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986358,-0.164012,0.014089],[0.163769,0.986353,0.016954],[-0.016678,-0.014416,0.999757]]
2025-10-24T22:50:19.699Z,1761346219.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984379,-0.175630,0.012309],[0.175515,0.984427,0.009858],[-0.013848,-0.007543,0.999876]]
2025-10-24T22:50:20.111Z,1761346220.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982308,-0.187024,0.009618],[0.186977,0.982349,0.005559],[-0.010487,-0.003663,0.999938]]
2025-10-24T22:50:20.166Z,1761346220.166 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:50:20.166Z,1761346220.166 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:50:20.167Z,1761346220.167 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:50:20.167Z,1761346220.167 [marl:UpdateRudder:A] Stopped
2025-10-24T22:50:20.167Z,1761346220.167 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:50:20.167Z,1761346220.167 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:50:20.167Z,1761346220.167 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:50:20.167Z,1761346220.167 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:50:20.167Z,1761346220.167 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:50:20.168Z,1761346220.168 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:50:20.168Z,1761346220.168 [marl:UpdateCommandMode] Stopped
2025-10-24T22:50:20.168Z,1761346220.168 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:50:20.168Z,1761346220.168 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:50:20.168Z,1761346220.168 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:50:20.168Z,1761346220.168 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:50:20.169Z,1761346220.169 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:50:20.169Z,1761346220.169 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:50:20.169Z,1761346220.169 [marl:UpdateSpeed] Stopped
2025-10-24T22:50:20.169Z,1761346220.169 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:50:20.507Z,1761346220.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980077,-0.198489,0.007140],[0.198484,0.980103,0.001358],[-0.007267,0.000086,0.999974]]
2025-10-24T22:50:20.543Z,1761346220.543 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:50:20.543Z,1761346220.543 [marl:UpdateRudder:B] Stopped
2025-10-24T22:50:20.543Z,1761346220.543 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:50:20.543Z,1761346220.543 [marl:UpdateRudder] Stopped
2025-10-24T22:50:20.543Z,1761346220.543 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:50:20.910Z,1761346220.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977558,-0.210616,0.004554],[0.210624,0.977566,-0.001204],[-0.004199,0.002136,0.999989]]
2025-10-24T22:50:21.314Z,1761346221.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974307,-0.225211,0.002373],[0.225220,0.974300,-0.004068],[-0.001396,0.004498,0.999989]]
2025-10-24T22:50:21.718Z,1761346221.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970093,-0.242734,0.000155],[0.242730,0.970071,-0.006668],[0.001469,0.006506,0.999978]]
2025-10-24T22:50:22.133Z,1761346222.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964829,-0.262863,-0.002722],[0.262835,0.964809,-0.007892],[0.004700,0.006899,0.999965]]
2025-10-24T22:50:22.526Z,1761346222.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959178,-0.282737,-0.006047],[0.282689,0.959180,-0.007749],[0.007991,0.005723,0.999952]]
2025-10-24T22:50:22.930Z,1761346222.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953148,-0.302317,-0.010609],[0.302276,0.953206,-0.005308],[0.011717,0.001853,0.999930]]
2025-10-24T22:50:23.335Z,1761346223.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947673,-0.318760,-0.017534],[0.318853,0.947801,0.002681],[0.015764,-0.008132,0.999843]]
2025-10-24T22:50:23.739Z,1761346223.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943216,-0.331058,-0.027288],[0.331576,0.943271,0.017259],[0.020026,-0.025327,0.999479]]
2025-10-24T22:50:24.149Z,1761346224.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939721,-0.339517,-0.040653],[0.341036,0.939234,0.039176],[0.024882,-0.050679,0.998405]]
2025-10-24T22:50:24.546Z,1761346224.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936837,-0.345211,-0.056267],[0.348479,0.935022,0.065542],[0.029985,-0.081010,0.996262]]
2025-10-24T22:50:24.951Z,1761346224.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934327,-0.348831,-0.073142],[0.354661,0.930279,0.093787],[0.035327,-0.113569,0.992902]]
2025-10-24T22:50:25.354Z,1761346225.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932161,-0.350689,-0.089958],[0.359706,0.925287,0.120230],[0.041074,-0.144432,0.988662]]
2025-10-24T22:50:25.760Z,1761346225.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930376,-0.351280,-0.104890],[0.363628,0.920633,0.142159],[0.046628,-0.170402,0.984271]]
2025-10-24T22:50:26.162Z,1761346226.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928953,-0.350910,-0.117934],[0.366519,0.916601,0.159709],[0.052055,-0.191587,0.980094]]
2025-10-24T22:50:26.574Z,1761346226.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928096,-0.349539,-0.128300],[0.367862,0.914064,0.170777],[0.057581,-0.205694,0.976921]]
2025-10-24T22:50:26.970Z,1761346226.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927719,-0.347178,-0.137135],[0.367939,0.912424,0.179172],[0.062921,-0.216678,0.974213]]
2025-10-24T22:50:27.376Z,1761346227.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927731,-0.344259,-0.144223],[0.367007,0.911734,0.184519],[0.067970,-0.224115,0.972190]]
2025-10-24T22:50:27.778Z,1761346227.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927885,-0.341983,-0.148582],[0.365762,0.912232,0.184530],[0.072436,-0.225568,0.971531]]
2025-10-24T22:50:28.182Z,1761346228.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928050,-0.340189,-0.151638],[0.364536,0.913140,0.182456],[0.076398,-0.224606,0.971450]]
2025-10-24T22:50:28.586Z,1761346228.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928432,-0.338425,-0.153243],[0.362818,0.914664,0.178192],[0.079861,-0.221038,0.971990]]
2025-10-24T22:50:28.956Z,1761346228.956 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:50:28.997Z,1761346228.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929014,-0.336668,-0.153582],[0.360593,0.916835,0.171422],[0.083097,-0.214634,0.973153]]
2025-10-24T22:50:29.394Z,1761346229.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929659,-0.334800,-0.153759],[0.358369,0.918597,0.166586],[0.085470,-0.209971,0.973965]]
2025-10-24T22:50:29.798Z,1761346229.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930022,-0.333722,-0.153913],[0.356964,0.919893,0.162398],[0.087388,-0.205975,0.974648]]
2025-10-24T22:50:29.960Z,1761346229.960 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:50:30.206Z,1761346230.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929774,-0.334200,-0.154370],[0.357218,0.920399,0.158937],[0.088966,-0.202919,0.975146]]
2025-10-24T22:50:30.608Z,1761346230.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929072,-0.335523,-0.155723],[0.358552,0.920353,0.156174],[0.090920,-0.200932,0.975377]]
2025-10-24T22:50:31.010Z,1761346231.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927985,-0.337973,-0.156901],[0.360874,0.920058,0.152524],[0.092809,-0.198161,0.975766]]
2025-10-24T22:50:31.415Z,1761346231.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927100,-0.339509,-0.158805],[0.362645,0.919594,0.151112],[0.094732,-0.197686,0.975677]]
2025-10-24T22:50:31.818Z,1761346231.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926209,-0.341095,-0.160597],[0.364391,0.919215,0.149209],[0.096729,-0.196719,0.975677]]
2025-10-24T22:50:32.238Z,1761346232.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925390,-0.342421,-0.162481],[0.365961,0.918790,0.147979],[0.098615,-0.196400,0.975552]]
2025-10-24T22:50:32.626Z,1761346232.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924281,-0.344228,-0.164959],[0.368159,0.918056,0.147077],[0.100814,-0.196672,0.975273]]
2025-10-24T22:50:33.035Z,1761346233.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922839,-0.346969,-0.167274],[0.371239,0.916979,0.146052],[0.102711,-0.196881,0.975032]]
2025-10-24T22:50:33.078Z,1761346233.078 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:50:33.078Z,1761346233.078 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:50:33.078Z,1761346233.078 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:50:33.078Z,1761346233.078 [marl:UpdateRudder:A] Stopped
2025-10-24T22:50:33.079Z,1761346233.079 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:50:33.079Z,1761346233.079 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:50:33.079Z,1761346233.079 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:50:33.079Z,1761346233.079 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:50:33.079Z,1761346233.079 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:50:33.079Z,1761346233.079 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:50:33.079Z,1761346233.079 [marl:UpdateCommandMode] Stopped
2025-10-24T22:50:33.079Z,1761346233.079 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:50:33.080Z,1761346233.080 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:50:33.080Z,1761346233.080 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:50:33.080Z,1761346233.080 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:50:33.080Z,1761346233.080 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:50:33.080Z,1761346233.080 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:50:33.080Z,1761346233.080 [marl:UpdateSpeed] Stopped
2025-10-24T22:50:33.081Z,1761346233.081 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:50:33.435Z,1761346233.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921205,-0.350525,-0.168858],[0.374923,0.915731,0.144463],[0.103991,-0.196389,0.974996]]
2025-10-24T22:50:33.501Z,1761346233.501 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:50:33.501Z,1761346233.501 [marl:UpdateRudder:B] Stopped
2025-10-24T22:50:33.501Z,1761346233.501 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:50:33.501Z,1761346233.501 [marl:UpdateRudder] Stopped
2025-10-24T22:50:33.501Z,1761346233.501 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:50:33.838Z,1761346233.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919104,-0.355483,-0.169944],[0.379799,0.914113,0.141951],[0.104887,-0.195012,0.975176]]
2025-10-24T22:50:34.242Z,1761346234.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916680,-0.361145,-0.171088],[0.385466,0.912015,0.140161],[0.105417,-0.194431,0.975235]]
2025-10-24T22:50:34.648Z,1761346234.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914097,-0.367085,-0.172266],[0.391527,0.909547,0.139393],[0.105515,-0.194865,0.975138]]
2025-10-24T22:50:35.058Z,1761346235.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911386,-0.373188,-0.173512],[0.397765,0.906954,0.138624],[0.105634,-0.195357,0.975027]]
2025-10-24T22:50:35.455Z,1761346235.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908576,-0.379092,-0.175440],[0.404128,0.903993,0.139558],[0.105691,-0.197699,0.974548]]
2025-10-24T22:50:35.862Z,1761346235.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905825,-0.384872,-0.177073],[0.410203,0.901263,0.139495],[0.105902,-0.198994,0.974262]]
2025-10-24T22:50:36.270Z,1761346236.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903155,-0.391128,-0.177003],[0.416075,0.899046,0.136373],[0.105794,-0.196813,0.974717]]
2025-10-24T22:50:36.709Z,1761346236.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898948,-0.403205,-0.171225],[0.425367,0.896859,0.121274],[0.104667,-0.181852,0.977740]]
2025-10-24T22:50:37.110Z,1761346237.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892719,-0.420897,-0.160929],[0.438805,0.893219,0.098032],[0.102483,-0.158131,0.982085]]
2025-10-24T22:50:37.955Z,1761346237.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875737,-0.464362,-0.132111],[0.473223,0.879825,0.044366],[0.095632,-0.101371,0.990242]]
2025-10-24T22:50:38.323Z,1761346238.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865520,-0.487448,-0.115189],[0.492441,0.870162,0.017871],[0.091522,-0.072191,0.993183]]
2025-10-24T22:50:38.726Z,1761346238.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854756,-0.509341,-0.099815],[0.511660,0.859184,-0.002738],[0.087154,-0.048731,0.995002]]
2025-10-24T22:50:39.131Z,1761346239.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843610,-0.529904,-0.086742],[0.530478,0.847503,-0.018198],[0.083157,-0.030663,0.996065]]
2025-10-24T22:50:39.541Z,1761346239.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831921,-0.549560,-0.076756],[0.549156,0.835245,-0.028177],[0.079595,-0.018709,0.996652]]
2025-10-24T22:50:39.962Z,1761346239.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820332,-0.567662,-0.069390],[0.566727,0.823187,-0.034407],[0.076652,-0.011101,0.996996]]
2025-10-24T22:50:40.343Z,1761346240.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808681,-0.584722,-0.064301],[0.583515,0.811206,-0.038142],[0.074464,-0.006676,0.997201]]
2025-10-24T22:50:40.746Z,1761346240.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797824,-0.599803,-0.060933],[0.598496,0.800134,-0.039850],[0.072657,-0.004675,0.997346]]
2025-10-24T22:50:41.152Z,1761346241.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787630,-0.613307,-0.059104],[0.612042,0.789829,-0.039689],[0.071024,-0.004914,0.997463]]
2025-10-24T22:50:41.555Z,1761346241.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777974,-0.625678,-0.057309],[0.624454,0.780065,-0.039442],[0.069382,-0.005102,0.997577]]
2025-10-24T22:50:41.969Z,1761346241.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768806,-0.637100,-0.055149],[0.635907,0.770766,-0.039271],[0.067527,-0.004878,0.997706]]
2025-10-24T22:50:42.362Z,1761346242.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759618,-0.648326,-0.051507],[0.647089,0.761357,-0.040138],[0.065238,-0.002840,0.997866]]
2025-10-24T22:50:42.767Z,1761346242.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750040,-0.659667,-0.047739],[0.658392,0.751558,-0.040994],[0.062921,-0.000684,0.998018]]
2025-10-24T22:50:43.170Z,1761346243.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739935,-0.671197,-0.044607],[0.669956,0.741279,-0.040799],[0.060450,0.000304,0.998171]]
2025-10-24T22:50:43.574Z,1761346243.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728985,-0.683319,-0.040697],[0.682058,0.730115,-0.041573],[0.058121,0.002548,0.998306]]
2025-10-24T22:50:43.978Z,1761346243.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717529,-0.695427,-0.039146],[0.694299,0.718595,-0.039617],[0.055681,0.001247,0.998448]]
2025-10-24T22:50:44.382Z,1761346244.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705242,-0.707963,-0.037706],[0.706944,0.706249,-0.037981],[0.053519,0.000130,0.998567]]
2025-10-24T22:50:44.786Z,1761346244.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692209,-0.720800,-0.035971],[0.719818,0.693143,-0.037616],[0.052046,0.000145,0.998645]]
2025-10-24T22:50:45.191Z,1761346245.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678705,-0.733563,-0.035282],[0.732664,0.679621,-0.036319],[0.050621,-0.001199,0.998717]]
2025-10-24T22:50:45.303Z,1761346245.303 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:50:45.303Z,1761346245.303 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:50:45.596Z,1761346245.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664656,-0.746302,-0.035576],[0.745522,0.665597,-0.034304],[0.049281,-0.003722,0.998778]]
2025-10-24T22:50:46.005Z,1761346246.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650453,-0.758668,-0.036519],[0.758006,0.651443,-0.032375],[0.048352,-0.006623,0.998808]]
2025-10-24T22:50:46.089Z,1761346246.089 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:50:46.090Z,1761346246.090 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:50:46.090Z,1761346246.090 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:50:46.090Z,1761346246.090 [marl:UpdateRudder:A] Stopped
2025-10-24T22:50:46.090Z,1761346246.090 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:50:46.090Z,1761346246.090 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:50:46.090Z,1761346246.090 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:50:46.090Z,1761346246.090 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:50:46.091Z,1761346246.091 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:50:46.091Z,1761346246.091 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:50:46.091Z,1761346246.091 [marl:UpdateCommandMode] Stopped
2025-10-24T22:50:46.091Z,1761346246.091 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:50:46.091Z,1761346246.091 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:50:46.091Z,1761346246.091 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:50:46.091Z,1761346246.091 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:50:46.091Z,1761346246.091 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:50:46.092Z,1761346246.092 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:50:46.092Z,1761346246.092 [marl:UpdateSpeed] Stopped
2025-10-24T22:50:46.092Z,1761346246.092 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:50:46.402Z,1761346246.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636299,-0.770516,-0.037805],[0.769973,0.637347,-0.030500],[0.047596,-0.009702,0.998820]]
2025-10-24T22:50:46.452Z,1761346246.452 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:50:46.452Z,1761346246.452 [marl:UpdateRudder:B] Stopped
2025-10-24T22:50:46.452Z,1761346246.452 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:50:46.452Z,1761346246.452 [marl:UpdateRudder] Stopped
2025-10-24T22:50:46.452Z,1761346246.452 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:50:46.811Z,1761346246.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622106,-0.781968,-0.038854],[0.781525,0.623197,-0.029041],[0.046923,-0.012298,0.998823]]
2025-10-24T22:50:47.244Z,1761346247.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593787,-0.803749,-0.037467],[0.803359,0.594820,-0.028336],[0.045061,-0.013274,0.998896]]
2025-10-24T22:50:47.285Z,1761346247.285 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:50:48.020Z,1761346248.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580363,-0.813506,-0.037244],[0.813177,0.581377,-0.027265],[0.043833,-0.014462,0.998934]]
2025-10-24T22:50:48.429Z,1761346248.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567463,-0.822505,-0.038347],[0.822291,0.568500,-0.025410],[0.042701,-0.017113,0.998941]]
2025-10-24T22:50:48.843Z,1761346248.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542153,-0.839437,-0.037632],[0.839304,0.543138,-0.023867],[0.040474,-0.018645,0.999007]]
2025-10-24T22:50:49.235Z,1761346249.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529919,-0.847241,-0.036995],[0.847146,0.530863,-0.022978],[0.039107,-0.019164,0.999051]]
2025-10-24T22:50:49.639Z,1761346249.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517748,-0.854780,-0.035873],[0.854717,0.518631,-0.021942],[0.037361,-0.019301,0.999115]]
2025-10-24T22:50:50.045Z,1761346250.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504580,-0.862630,-0.035608],[0.862628,0.505424,-0.020474],[0.035659,-0.020385,0.999156]]
2025-10-24T22:50:50.445Z,1761346250.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491498,-0.870203,-0.034294],[0.870239,0.492265,-0.018952],[0.033374,-0.020529,0.999232]]
2025-10-24T22:50:50.849Z,1761346250.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477332,-0.878118,-0.032596],[0.878167,0.478021,-0.017857],[0.031262,-0.020101,0.999309]]
2025-10-24T22:50:51.251Z,1761346251.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462606,-0.886015,-0.031189],[0.886081,0.463228,-0.016707],[0.029251,-0.019907,0.999374]]
2025-10-24T22:50:51.661Z,1761346251.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446951,-0.894044,-0.030338],[0.894145,0.447518,-0.015236],[0.027198,-0.020317,0.999424]]
2025-10-24T22:50:52.060Z,1761346252.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431073,-0.901830,-0.029652],[0.901970,0.431586,-0.013569],[0.025035,-0.020896,0.999468]]
2025-10-24T22:50:52.462Z,1761346252.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414354,-0.909644,-0.029289],[0.909817,0.414828,-0.012273],[0.023314,-0.021563,0.999496]]
2025-10-24T22:50:52.869Z,1761346252.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397186,-0.917314,-0.027879],[0.917488,0.397604,-0.011286],[0.021437,-0.021096,0.999548]]
2025-10-24T22:50:53.271Z,1761346253.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379509,-0.924746,-0.028607],[0.924974,0.379905,-0.009785],[0.019916,-0.022748,0.999543]]
2025-10-24T22:50:53.678Z,1761346253.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361122,-0.932054,-0.029447],[0.932342,0.361488,-0.008062],[0.018159,-0.024543,0.999534]]
2025-10-24T22:50:53.714Z,1761346253.714 [marl:SendObservationData] Running Loop=1
2025-10-24T22:50:53.714Z,1761346253.714 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T22:50:53.714Z,1761346253.714 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T22:50:53.715Z,1761346253.715 [marl:SendObservationData:A] Running Loop=1
2025-10-24T22:50:53.717Z,1761346253.717 [marl:SendObservationData:A](INFO): Got test_good :  41da3f006000000040514000000000004042630c70ca8712c05e77462cba82f640165347600000004057e66660000000 n/a str  and temp var is  nan n/a str 
2025-10-24T22:50:53.717Z,1761346253.717 [marl:SendObservationData:A] Stopped
2025-10-24T22:50:53.717Z,1761346253.717 [marl:SendObservationData:B] Running Loop=1
2025-10-24T22:50:54.078Z,1761346254.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342464,-0.939105,-0.028292],[0.939385,0.342787,-0.007336],[0.016587,-0.024065,0.999573]]
2025-10-24T22:50:54.132Z,1761346254.132 [marl:SendObservationData:B] Stopped
2025-10-24T22:50:54.132Z,1761346254.132 [marl:SendObservationData:C] Running Loop=1
2025-10-24T22:50:54.488Z,1761346254.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323938,-0.945663,-0.028038],[0.945955,0.324232,-0.006521],[0.015257,-0.024410,0.999586]]
2025-10-24T22:50:54.538Z,1761346254.538 [marl:SendObservationData:C] Stopped
2025-10-24T22:50:54.538Z,1761346254.538 [marl:SendObservationData:E] Running Loop=1
2025-10-24T22:50:54.896Z,1761346254.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304459,-0.952138,-0.027141],[0.952421,0.304725,-0.006140],[0.014117,-0.023980,0.999613]]
2025-10-24T22:50:54.955Z,1761346254.955 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.013764 min 
2025-10-24T22:50:54.960Z,1761346254.960 [marl:SendObservationData:E] Stopped
2025-10-24T22:50:54.961Z,1761346254.961 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T22:50:54.961Z,1761346254.961 [marl:SendObservationData] Stopped
2025-10-24T22:50:54.962Z,1761346254.962 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T22:50:54.962Z,1761346254.962 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T22:50:55.291Z,1761346255.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284767,-0.958218,-0.026963],[0.958507,0.285013,-0.005711],[0.013158,-0.024218,0.999620]]
2025-10-24T22:50:55.695Z,1761346255.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266068,-0.963613,-0.025627],[0.963874,0.266296,-0.005837],[0.012449,-0.023148,0.999655]]
2025-10-24T22:50:56.098Z,1761346256.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247912,-0.968485,-0.024020],[0.968709,0.248123,-0.006206],[0.011971,-0.021730,0.999692]]
2025-10-24T22:50:56.504Z,1761346256.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230464,-0.972830,-0.022099],[0.973016,0.230652,-0.006350],[0.011275,-0.020039,0.999736]]
2025-10-24T22:50:56.906Z,1761346256.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213913,-0.976623,-0.021192],[0.976798,0.214081,-0.005952],[0.010350,-0.019427,0.999758]]
2025-10-24T22:50:57.310Z,1761346257.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198749,-0.979792,-0.022500],[0.980008,0.198900,-0.004689],[0.009070,-0.021119,0.999736]]
2025-10-24T22:50:57.714Z,1761346257.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184376,-0.982556,-0.024277],[0.982825,0.184509,-0.003315],[0.007737,-0.023249,0.999700]]
2025-10-24T22:50:58.118Z,1761346258.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170902,-0.984931,-0.026514],[0.985269,0.171004,-0.001632],[0.006142,-0.025844,0.999647]]
2025-10-24T22:50:58.523Z,1761346258.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157470,-0.987151,-0.027135],[0.987515,0.157523,0.000162],[0.004115,-0.026822,0.999632]]
2025-10-24T22:50:58.926Z,1761346258.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143283,-0.989305,-0.027292],[0.989680,0.143280,0.002089],[0.001843,-0.027309,0.999625]]
2025-10-24T22:50:58.973Z,1761346258.973 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:50:58.973Z,1761346258.973 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:50:58.973Z,1761346258.973 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:50:58.973Z,1761346258.973 [marl:UpdateRudder:A] Stopped
2025-10-24T22:50:58.973Z,1761346258.973 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:50:58.974Z,1761346258.974 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:50:58.974Z,1761346258.974 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:50:58.974Z,1761346258.974 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:50:58.974Z,1761346258.974 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:50:58.975Z,1761346258.975 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:50:58.975Z,1761346258.975 [marl:UpdateCommandMode] Stopped
2025-10-24T22:50:58.975Z,1761346258.975 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:50:58.975Z,1761346258.975 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:50:58.975Z,1761346258.975 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:50:58.975Z,1761346258.975 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:50:58.980Z,1761346258.980 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:50:58.980Z,1761346258.980 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:50:58.980Z,1761346258.980 [marl:UpdateSpeed] Stopped
2025-10-24T22:50:58.980Z,1761346258.980 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:50:59.332Z,1761346259.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128468,-0.991322,-0.027887],[0.991713,0.128396,0.004358],[-0.000739,-0.028216,0.999602]]
2025-10-24T22:50:59.357Z,1761346259.357 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:50:59.357Z,1761346259.357 [marl:UpdateRudder:B] Stopped
2025-10-24T22:50:59.357Z,1761346259.357 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:50:59.357Z,1761346259.357 [marl:UpdateRudder] Stopped
2025-10-24T22:50:59.357Z,1761346259.357 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:50:59.735Z,1761346259.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112082,-0.993285,-0.028673],[0.993695,0.111950,0.006193],[-0.002941,-0.029186,0.999570]]
2025-10-24T22:51:00.080Z,1761346260.080 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:51:00.138Z,1761346260.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094348,-0.995132,-0.028490],[0.995527,0.094168,0.007599],[-0.004879,-0.029080,0.999565]]
2025-10-24T22:51:00.542Z,1761346260.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075420,-0.996764,-0.027809],[0.997131,0.075211,0.008504],[-0.006385,-0.028370,0.999577]]
2025-10-24T22:51:00.961Z,1761346260.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055368,-0.998151,-0.025094],[0.998437,0.055156,0.009029],[-0.007628,-0.025554,0.999644]]
2025-10-24T22:51:01.084Z,1761346261.084 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:51:01.350Z,1761346261.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034625,-0.999123,-0.023561],[0.999366,0.034419,0.009128],[-0.008309,-0.023862,0.999681]]
2025-10-24T22:51:01.755Z,1761346261.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013919,-0.999653,-0.022345],[0.999866,0.013723,0.008917],[-0.008608,-0.022466,0.999711]]
2025-10-24T22:51:02.160Z,1761346262.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006640,-0.999774,-0.020195],[0.999943,-0.006808,0.008272],[-0.008407,-0.020139,0.999762]]
2025-10-24T22:51:02.563Z,1761346262.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026353,-0.999479,-0.018635],[0.999619,-0.026501,0.007774],[-0.008264,-0.018423,0.999796]]
2025-10-24T22:51:02.978Z,1761346262.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045945,-0.998809,-0.016414],[0.998912,-0.046069,0.007221],[-0.007968,-0.016064,0.999839]]
2025-10-24T22:51:03.371Z,1761346263.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063710,-0.997819,-0.017255],[0.997933,-0.063844,0.007344],[-0.008430,-0.016751,0.999824]]
2025-10-24T22:51:03.776Z,1761346263.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080512,-0.996583,-0.018420],[0.996713,-0.080662,0.007552],[-0.009012,-0.017752,0.999802]]
2025-10-24T22:51:04.178Z,1761346264.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096860,-0.995138,-0.017820],[0.995252,-0.097012,0.007860],[-0.009550,-0.016974,0.999810]]
2025-10-24T22:51:04.582Z,1761346264.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112665,-0.993447,-0.019231],[0.993577,-0.112844,0.008446],[-0.010560,-0.018156,0.999779]]
2025-10-24T22:51:04.993Z,1761346264.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126883,-0.991692,-0.021161],[0.991849,-0.127097,0.009081],[-0.011695,-0.019836,0.999735]]
2025-10-24T22:51:05.392Z,1761346265.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140902,-0.989752,-0.023188],[0.989939,-0.141157,0.009769],[-0.012942,-0.021579,0.999683]]
2025-10-24T22:51:05.794Z,1761346265.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154482,-0.987678,-0.025049],[0.987893,-0.154782,0.010525],[-0.014272,-0.023120,0.999631]]
2025-10-24T22:51:06.198Z,1761346266.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168214,-0.985419,-0.025582],[0.985629,-0.168544,0.011329],[-0.015476,-0.023309,0.999609]]
2025-10-24T22:51:06.603Z,1761346266.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182383,-0.982889,-0.025807],[0.983086,-0.182739,0.012157],[-0.016665,-0.023153,0.999593]]
2025-10-24T22:51:07.017Z,1761346267.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197193,-0.979992,-0.027031],[0.980204,-0.197585,0.012673],[-0.017760,-0.023997,0.999554]]
2025-10-24T22:51:07.411Z,1761346267.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212861,-0.976699,-0.027372],[0.976906,-0.213271,0.013012],[-0.018547,-0.023970,0.999541]]
2025-10-24T22:51:07.815Z,1761346267.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228559,-0.973177,-0.026221],[0.973333,-0.228972,0.013971],[-0.019600,-0.022328,0.999559]]
2025-10-24T22:51:08.219Z,1761346268.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245290,-0.969127,-0.025033],[0.969235,-0.245697,0.014712],[-0.020408,-0.020654,0.999578]]
2025-10-24T22:51:08.623Z,1761346268.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262247,-0.964692,-0.024401],[0.964771,-0.262652,0.015194],[-0.021066,-0.019557,0.999587]]
2025-10-24T22:51:09.034Z,1761346269.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279334,-0.959886,-0.024319],[0.959953,-0.279742,0.015317],[-0.021505,-0.019067,0.999587]]
2025-10-24T22:51:09.437Z,1761346269.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296562,-0.954732,-0.023197],[0.954771,-0.296947,0.015311],[-0.021506,-0.017607,0.999614]]
2025-10-24T22:51:09.834Z,1761346269.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313138,-0.949473,-0.021108],[0.949464,-0.313484,0.015711],[-0.021534,-0.015121,0.999654]]
2025-10-24T22:51:10.238Z,1761346270.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328996,-0.944111,-0.020387],[0.944088,-0.329325,0.015601],[-0.021443,-0.014115,0.999670]]
2025-10-24T22:51:10.645Z,1761346270.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344810,-0.938455,-0.020186],[0.938448,-0.345119,0.014454],[-0.020531,-0.013960,0.999692]]
2025-10-24T22:51:11.047Z,1761346271.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360000,-0.932739,-0.019928],[0.932740,-0.360291,0.013621],[-0.019885,-0.013684,0.999709]]
2025-10-24T22:51:11.450Z,1761346271.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374286,-0.927113,-0.019283],[0.927108,-0.374559,0.013251],[-0.019508,-0.012918,0.999726]]
2025-10-24T22:51:11.855Z,1761346271.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388899,-0.921069,-0.019724],[0.921084,-0.389169,0.012322],[-0.019025,-0.013375,0.999730]]
2025-10-24T22:51:11.883Z,1761346271.883 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:51:11.883Z,1761346271.883 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:51:11.883Z,1761346271.883 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:51:11.900Z,1761346271.900 [marl:UpdateRudder:A] Stopped
2025-10-24T22:51:11.900Z,1761346271.900 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:51:11.900Z,1761346271.900 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:51:11.901Z,1761346271.901 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:51:11.901Z,1761346271.901 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:51:11.903Z,1761346271.903 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:51:11.903Z,1761346271.903 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:51:11.903Z,1761346271.903 [marl:UpdateCommandMode] Stopped
2025-10-24T22:51:11.909Z,1761346271.909 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:51:11.909Z,1761346271.909 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:51:11.910Z,1761346271.910 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:51:11.910Z,1761346271.910 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:51:11.911Z,1761346271.911 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:51:11.916Z,1761346271.916 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:51:11.916Z,1761346271.916 [marl:UpdateSpeed] Stopped
2025-10-24T22:51:11.917Z,1761346271.917 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:51:12.273Z,1761346272.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403652,-0.914702,-0.019613],[0.914721,-0.403913,0.011802],[-0.018718,-0.013177,0.999738]]
2025-10-24T22:51:12.335Z,1761346272.335 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:51:12.335Z,1761346272.335 [marl:UpdateRudder:B] Stopped
2025-10-24T22:51:12.335Z,1761346272.335 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:51:12.336Z,1761346272.336 [marl:UpdateRudder] Stopped
2025-10-24T22:51:12.336Z,1761346272.336 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:51:12.666Z,1761346272.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418368,-0.908089,-0.018490],[0.908087,-0.418611,0.011966],[-0.018607,-0.011784,0.999757]]
2025-10-24T22:51:13.066Z,1761346273.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433040,-0.901182,-0.018659],[0.901174,-0.433287,0.012136],[-0.019021,-0.011560,0.999752]]
2025-10-24T22:51:13.471Z,1761346273.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448272,-0.893712,-0.018224],[0.893680,-0.448519,0.012923],[-0.019723,-0.010493,0.999750]]
2025-10-24T22:51:13.878Z,1761346273.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463780,-0.885793,-0.016688],[0.885710,-0.464011,0.014529],[-0.020614,-0.008043,0.999755]]
2025-10-24T22:51:14.278Z,1761346274.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479723,-0.877273,-0.016075],[0.877159,-0.479947,0.015621],[-0.021419,-0.006606,0.999749]]
2025-10-24T22:51:14.685Z,1761346274.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496115,-0.868139,-0.014340],[0.867972,-0.496307,0.017444],[-0.022261,-0.003793,0.999745]]
2025-10-24T22:51:15.093Z,1761346275.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512434,-0.858635,-0.012544],[0.858418,-0.512587,0.019325],[-0.023023,-0.000865,0.999735]]
2025-10-24T22:51:15.492Z,1761346275.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529428,-0.848249,-0.013374],[0.848029,-0.529596,0.019357],[-0.023502,-0.001093,0.999723]]
2025-10-24T22:51:15.915Z,1761346275.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546311,-0.837479,-0.013195],[0.837246,-0.546470,0.019759],[-0.023758,-0.000253,0.999718]]
2025-10-24T22:51:16.298Z,1761346276.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563143,-0.826256,-0.013074],[0.826026,-0.563295,0.019503],[-0.023479,0.000183,0.999724]]
2025-10-24T22:51:16.702Z,1761346276.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579370,-0.814965,-0.012699],[0.814747,-0.579509,0.018858],[-0.022728,0.000579,0.999741]]
2025-10-24T22:51:17.116Z,1761346277.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594362,-0.804100,-0.012568],[0.803914,-0.594495,0.017254],[-0.021346,0.000152,0.999772]]
2025-10-24T22:51:17.510Z,1761346277.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609272,-0.792888,-0.010768],[0.792732,-0.609366,0.015760],[-0.019057,0.001066,0.999818]]
2025-10-24T22:51:17.950Z,1761346277.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623163,-0.782037,-0.009242],[0.781921,-0.623231,0.013540],[-0.016349,0.001211,0.999866]]
2025-10-24T22:51:18.319Z,1761346278.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635720,-0.771882,-0.007669],[0.771795,-0.635764,0.011633],[-0.013855,0.001477,0.999903]]
2025-10-24T22:51:18.723Z,1761346278.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646340,-0.763025,-0.006126],[0.762966,-0.646367,0.009645],[-0.011319,0.001560,0.999935]]
2025-10-24T22:51:19.133Z,1761346279.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655640,-0.755061,-0.004308],[0.755023,-0.655652,0.007831],[-0.008737,0.001881,0.999960]]
2025-10-24T22:51:19.530Z,1761346279.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664472,-0.747305,-0.003453],[0.747287,-0.664481,0.005274],[-0.006236,0.000924,0.999980]]
2025-10-24T22:51:19.961Z,1761346279.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673256,-0.739406,-0.002302],[0.739398,-0.673260,0.003585],[-0.004201,0.000712,0.999991]]
2025-10-24T22:51:20.341Z,1761346280.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682229,-0.731139,-0.000633],[0.731133,-0.682226,0.003408],[-0.002924,0.001863,0.999994]]
2025-10-24T22:51:20.742Z,1761346280.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691136,-0.722724,0.000672],[0.722720,-0.691128,0.004360],[-0.002687,0.003499,0.999990]]
2025-10-24T22:51:21.146Z,1761346281.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699799,-0.714339,0.001107],[0.714330,-0.699780,0.006328],[-0.003745,0.005219,0.999979]]
2025-10-24T22:51:21.551Z,1761346281.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707876,-0.706337,0.000065],[0.706309,-0.707848,0.008866],[-0.006217,0.006322,0.999961]]
2025-10-24T22:51:21.969Z,1761346281.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716594,-0.697489,-0.001299],[0.697424,-0.716550,0.012449],[-0.009614,0.008015,0.999922]]
2025-10-24T22:51:22.359Z,1761346282.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727005,-0.686629,-0.002034],[0.686514,-0.726932,0.016387],[-0.012730,0.010517,0.999864]]
2025-10-24T22:51:22.762Z,1761346282.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739444,-0.673211,-0.002989],[0.673058,-0.739358,0.018516],[-0.014676,0.011680,0.999824]]
2025-10-24T22:51:23.170Z,1761346283.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752884,-0.658137,-0.004548],[0.657961,-0.752813,0.018974],[-0.015911,0.011293,0.999810]]
2025-10-24T22:51:23.572Z,1761346283.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766426,-0.642310,-0.005384],[0.642113,-0.766357,0.019679],[-0.016766,0.011626,0.999792]]
2025-10-24T22:51:23.974Z,1761346283.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779847,-0.625946,-0.005541],[0.625745,-0.779773,0.019937],[-0.016800,0.012080,0.999786]]
2025-10-24T22:51:24.385Z,1761346284.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793197,-0.608945,-0.004995],[0.608745,-0.793104,0.020367],[-0.016363,0.013114,0.999780]]
2025-10-24T22:51:24.783Z,1761346284.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806178,-0.591662,-0.003691],[0.591479,-0.806058,0.020561],[-0.015140,0.014392,0.999782]]
2025-10-24T22:51:24.838Z,1761346284.838 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:51:24.838Z,1761346284.838 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:51:24.838Z,1761346284.838 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:51:24.838Z,1761346284.838 [marl:UpdateRudder:A] Stopped
2025-10-24T22:51:24.838Z,1761346284.838 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:51:24.838Z,1761346284.838 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:51:24.838Z,1761346284.838 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:51:24.839Z,1761346284.839 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:51:24.839Z,1761346284.839 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:51:24.839Z,1761346284.839 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:51:24.839Z,1761346284.839 [marl:UpdateCommandMode] Stopped
2025-10-24T22:51:24.839Z,1761346284.839 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:51:24.839Z,1761346284.839 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:51:24.839Z,1761346284.839 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:51:24.839Z,1761346284.839 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:51:24.840Z,1761346284.840 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:51:24.840Z,1761346284.840 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:51:24.840Z,1761346284.840 [marl:UpdateSpeed] Stopped
2025-10-24T22:51:24.840Z,1761346284.840 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:51:25.186Z,1761346285.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818293,-0.574797,-0.002370],[0.574644,-0.818158,0.020065],[-0.013472,0.015057,0.999796]]
2025-10-24T22:51:25.235Z,1761346285.235 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:51:25.235Z,1761346285.235 [marl:UpdateRudder:B] Stopped
2025-10-24T22:51:25.235Z,1761346285.235 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:51:25.235Z,1761346285.235 [marl:UpdateRudder] Stopped
2025-10-24T22:51:25.235Z,1761346285.235 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:51:25.590Z,1761346285.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829633,-0.558309,-0.000762],[0.558187,-0.829479,0.019807],[-0.011690,0.016008,0.999804]]
2025-10-24T22:51:25.994Z,1761346285.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839881,-0.542770,0.000404],[0.542674,-0.839719,0.019381],[-0.010180,0.016497,0.999812]]
2025-10-24T22:51:26.402Z,1761346286.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849039,-0.528325,0.002261],[0.528260,-0.848849,0.019935],[-0.008613,0.018120,0.999799]]
2025-10-24T22:51:26.802Z,1761346286.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857216,-0.514943,0.003717],[0.514907,-0.857011,0.020081],[-0.007155,0.019128,0.999791]]
2025-10-24T22:51:27.207Z,1761346287.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864816,-0.502065,0.004945],[0.502054,-0.864594,0.020475],[-0.006005,0.020189,0.999778]]
2025-10-24T22:51:28.016Z,1761346288.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878898,-0.476975,0.005739],[0.476993,-0.878703,0.018946],[-0.003994,0.019389,0.999804]]
2025-10-24T22:51:28.418Z,1761346288.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885416,-0.464764,0.005732],[0.464788,-0.885243,0.017782],[-0.003191,0.018408,0.999825]]
2025-10-24T22:51:28.822Z,1761346288.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891848,-0.452295,0.006054],[0.452330,-0.891689,0.016953],[-0.002270,0.017858,0.999838]]
2025-10-24T22:51:29.227Z,1761346289.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898308,-0.439332,0.005434],[0.439361,-0.898175,0.015605],[-0.001975,0.016406,0.999863]]
2025-10-24T22:51:29.630Z,1761346289.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904589,-0.426251,0.005362],[0.426281,-0.904454,0.015733],[-0.001857,0.016518,0.999862]]
2025-10-24T22:51:30.035Z,1761346290.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911203,-0.411935,0.004292],[0.411950,-0.911076,0.015378],[-0.002424,0.015781,0.999873]]
2025-10-24T22:51:30.438Z,1761346290.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918039,-0.396477,0.003181],[0.396478,-0.917919,0.015148],[-0.003086,0.015168,0.999880]]
2025-10-24T22:51:30.846Z,1761346290.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925098,-0.379723,0.001992],[0.379709,-0.924982,0.015156],[-0.003913,0.014777,0.999883]]
2025-10-24T22:51:31.220Z,1761346291.220 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:51:31.246Z,1761346291.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932387,-0.361460,0.000922],[0.361428,-0.932263,0.015973],[-0.004914,0.015226,0.999872]]
2025-10-24T22:51:31.653Z,1761346291.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939498,-0.342554,-0.000054],[0.342505,-0.939368,0.016692],[-0.005768,0.015664,0.999861]]
2025-10-24T22:51:32.054Z,1761346292.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946315,-0.323244,-0.001072],[0.323186,-0.946196,0.016228],[-0.006260,0.015011,0.999868]]
2025-10-24T22:51:32.224Z,1761346292.224 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:51:32.460Z,1761346292.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952725,-0.303831,-0.001278],[0.303775,-0.952616,0.015626],[-0.005965,0.014499,0.999877]]
2025-10-24T22:51:32.869Z,1761346292.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958685,-0.284466,-0.001254],[0.284418,-0.958587,0.014735],[-0.005394,0.013770,0.999891]]
2025-10-24T22:51:33.266Z,1761346293.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964081,-0.265607,-0.000321],[0.265573,-0.963975,0.014929],[-0.004275,0.014307,0.999889]]
2025-10-24T22:51:33.682Z,1761346293.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972693,-0.232077,0.002865],[0.232089,-0.972506,0.019147],[-0.001657,0.019289,0.999813]]
2025-10-24T22:51:34.081Z,1761346294.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975965,-0.217876,0.004618],[0.217925,-0.975741,0.020931],[-0.000055,0.021434,0.999770]]
2025-10-24T22:51:34.483Z,1761346294.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978755,-0.204952,0.005723],[0.205027,-0.978541,0.020537],[0.001391,0.021274,0.999773]]
2025-10-24T22:51:34.887Z,1761346294.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981115,-0.193310,0.006631],[0.193408,-0.980895,0.020937],[0.002457,0.021824,0.999759]]
2025-10-24T22:51:35.291Z,1761346295.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983235,-0.182204,0.007179],[0.182315,-0.983028,0.020429],[0.003335,0.021395,0.999766]]
2025-10-24T22:51:35.696Z,1761346295.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985171,-0.171401,0.007790],[0.171525,-0.984978,0.019924],[0.004258,0.020965,0.999771]]
2025-10-24T22:51:36.096Z,1761346296.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987022,-0.160363,0.008422],[0.160498,-0.986851,0.019138],[0.005242,0.020241,0.999781]]
2025-10-24T22:51:36.499Z,1761346296.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988780,-0.149083,0.009428],[0.149238,-0.988625,0.018660],[0.006538,0.019857,0.999781]]
2025-10-24T22:51:36.902Z,1761346296.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990481,-0.137243,0.010588],[0.137416,-0.990351,0.017916],[0.008027,0.019200,0.999783]]
2025-10-24T22:51:37.311Z,1761346297.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992242,-0.123790,0.011499],[0.123979,-0.992131,0.017482],[0.009244,0.018772,0.999781]]
2025-10-24T22:51:37.710Z,1761346297.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993966,-0.109019,0.012104],[0.109204,-0.993894,0.015814],[0.010306,0.017041,0.999802]]
2025-10-24T22:51:37.745Z,1761346297.745 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:51:37.745Z,1761346297.745 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:51:37.745Z,1761346297.745 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:51:37.746Z,1761346297.746 [marl:UpdateRudder:A] Stopped
2025-10-24T22:51:37.746Z,1761346297.746 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:51:37.746Z,1761346297.746 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:51:37.746Z,1761346297.746 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:51:37.746Z,1761346297.746 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:51:37.747Z,1761346297.747 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:51:37.747Z,1761346297.747 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:51:37.747Z,1761346297.747 [marl:UpdateCommandMode] Stopped
2025-10-24T22:51:37.747Z,1761346297.747 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:51:37.747Z,1761346297.747 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:51:37.747Z,1761346297.747 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:51:37.747Z,1761346297.747 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:51:37.747Z,1761346297.747 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:51:37.748Z,1761346297.748 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:51:37.748Z,1761346297.748 [marl:UpdateSpeed] Stopped
2025-10-24T22:51:37.748Z,1761346297.748 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:51:38.114Z,1761346298.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995590,-0.092966,0.012600],[0.093139,-0.995556,0.013938],[0.011248,0.015050,0.999824]]
2025-10-24T22:51:38.177Z,1761346298.177 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:51:38.177Z,1761346298.177 [marl:UpdateRudder:B] Stopped
2025-10-24T22:51:38.177Z,1761346298.177 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:51:38.177Z,1761346298.177 [marl:UpdateRudder] Stopped
2025-10-24T22:51:38.177Z,1761346298.177 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:51:38.518Z,1761346298.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997042,-0.075792,0.012741],[0.075952,-0.997032,0.012553],[0.011752,0.013483,0.999840]]
2025-10-24T22:51:38.924Z,1761346298.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998259,-0.057551,0.012919],[0.057702,-0.998266,0.011637],[0.012227,0.012362,0.999849]]
2025-10-24T22:51:39.340Z,1761346299.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999184,-0.038445,0.012408],[0.038571,-0.999205,0.010072],[0.012011,0.010542,0.999872]]
2025-10-24T22:51:39.730Z,1761346299.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999756,-0.018326,0.012316],[0.018450,-0.999780,0.009984],[0.012131,0.010209,0.999874]]
2025-10-24T22:51:40.139Z,1761346300.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999919,0.002295,0.012484],[-0.002167,-0.999945,0.010260],[0.012507,0.010232,0.999869]]
2025-10-24T22:51:40.540Z,1761346300.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999703,0.020928,0.012504],[-0.020817,-0.999743,0.008977],[0.012688,0.008714,0.999882]]
2025-10-24T22:51:40.942Z,1761346300.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999294,0.035445,0.012462],[-0.035445,-0.999372,0.000210],[0.012462,-0.000232,0.999922]]
2025-10-24T22:51:41.349Z,1761346301.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998912,0.044679,0.013367],[-0.044896,-0.998857,-0.016390],[0.012619,-0.016973,0.999776]]
2025-10-24T22:51:41.750Z,1761346301.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998631,0.050063,0.015130],[-0.050660,-0.997829,-0.042081],[0.012990,-0.042789,0.999000]]
2025-10-24T22:51:42.161Z,1761346302.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998489,0.052129,0.017369],[-0.053264,-0.995910,-0.072980],[0.013494,-0.073795,0.997182]]
2025-10-24T22:51:42.558Z,1761346302.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998445,0.052231,0.019476],[-0.053980,-0.993109,-0.104022],[0.013908,-0.104911,0.994384]]
2025-10-24T22:51:42.962Z,1761346302.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998528,0.050007,0.021001],[-0.052319,-0.990151,-0.129863],[0.014300,-0.130770,0.991310]]
2025-10-24T22:51:43.367Z,1761346303.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998669,0.046749,0.021768],[-0.049512,-0.987248,-0.151295],[0.014417,-0.152172,0.988249]]
2025-10-24T22:51:43.772Z,1761346303.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998846,0.042745,0.021916],[-0.045815,-0.984858,-0.167198],[0.014437,-0.168009,0.985680]]
2025-10-24T22:51:44.174Z,1761346304.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999034,0.038378,0.021399],[-0.041604,-0.982859,-0.179604],[0.014140,-0.180321,0.983506]]
2025-10-24T22:51:44.578Z,1761346304.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999189,0.034548,0.020665],[-0.037818,-0.981506,-0.187661],[0.013799,-0.188290,0.982017]]
2025-10-24T22:51:44.982Z,1761346304.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999318,0.031423,0.019375],[-0.034575,-0.980601,-0.192939],[0.012936,-0.193477,0.981020]]
2025-10-24T22:51:45.388Z,1761346305.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999413,0.029200,0.017922],[-0.032158,-0.979943,-0.196669],[0.011820,-0.197130,0.980306]]
2025-10-24T22:51:45.790Z,1761346305.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999463,0.028709,0.015787],[-0.031269,-0.979699,-0.198018],[0.009782,-0.198406,0.980071]]
2025-10-24T22:51:45.853Z,1761346305.853 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:51:45.853Z,1761346305.853 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:51:46.194Z,1761346306.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999499,0.028718,0.013317],[-0.030777,-0.980016,-0.196522],[0.007407,-0.196833,0.980409]]
2025-10-24T22:51:46.599Z,1761346306.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999500,0.029602,0.011143],[-0.031214,-0.980069,-0.196189],[0.005113,-0.196439,0.980503]]
2025-10-24T22:51:47.004Z,1761346307.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999464,0.031547,0.008719],[-0.032646,-0.979936,-0.196619],[0.002342,-0.196798,0.980441]]
2025-10-24T22:51:47.406Z,1761346307.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999415,0.033603,0.006443],[-0.034215,-0.980373,-0.194161],[-0.000208,-0.194268,0.980949]]
2025-10-24T22:51:47.456Z,1761346307.456 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:51:47.818Z,1761346307.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999345,0.035903,0.004492],[-0.036099,-0.980856,-0.191359],[-0.002464,-0.191396,0.981510]]
2025-10-24T22:51:48.214Z,1761346308.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999246,0.038713,0.002790],[-0.038543,-0.981237,-0.188915],[-0.004576,-0.188880,0.981989]]
2025-10-24T22:51:48.620Z,1761346308.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999204,0.039882,0.001017],[-0.039377,-0.981817,-0.185700],[-0.006407,-0.185592,0.982606]]
2025-10-24T22:51:49.022Z,1761346309.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999130,0.041692,-0.000879],[-0.040816,-0.982024,-0.184292],[-0.008547,-0.184096,0.982871]]
2025-10-24T22:51:49.426Z,1761346309.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999084,0.042699,-0.002819],[-0.041474,-0.982427,-0.181982],[-0.010540,-0.181698,0.983298]]
2025-10-24T22:51:49.833Z,1761346309.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999055,0.043211,-0.004686],[-0.041654,-0.982668,-0.180634],[-0.012410,-0.180268,0.983539]]
2025-10-24T22:51:50.236Z,1761346310.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999015,0.043915,-0.006342],[-0.042054,-0.982725,-0.180232],[-0.014147,-0.179788,0.983604]]
2025-10-24T22:51:50.638Z,1761346310.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998963,0.044840,-0.007926],[-0.042683,-0.982731,-0.180048],[-0.015863,-0.179523,0.983626]]
2025-10-24T22:51:50.682Z,1761346310.682 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:51:50.682Z,1761346310.682 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:51:50.683Z,1761346310.683 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:51:50.683Z,1761346310.683 [marl:UpdateRudder:A] Stopped
2025-10-24T22:51:50.683Z,1761346310.683 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:51:50.683Z,1761346310.683 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:51:50.683Z,1761346310.683 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:51:50.683Z,1761346310.683 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:51:50.684Z,1761346310.684 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:51:50.684Z,1761346310.684 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:51:50.684Z,1761346310.684 [marl:UpdateCommandMode] Stopped
2025-10-24T22:51:50.684Z,1761346310.684 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:51:50.684Z,1761346310.684 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:51:50.685Z,1761346310.685 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:51:50.685Z,1761346310.685 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:51:50.685Z,1761346310.685 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:51:50.685Z,1761346310.685 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:51:50.685Z,1761346310.685 [marl:UpdateSpeed] Stopped
2025-10-24T22:51:50.685Z,1761346310.685 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:51:51.042Z,1761346311.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998850,0.047026,-0.009367],[-0.044561,-0.982503,-0.180835],[-0.017707,-0.180209,0.983469]]
2025-10-24T22:51:51.086Z,1761346311.086 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:51:51.086Z,1761346311.086 [marl:UpdateRudder:B] Stopped
2025-10-24T22:51:51.086Z,1761346311.086 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:51:51.086Z,1761346311.086 [marl:UpdateRudder] Stopped
2025-10-24T22:51:51.086Z,1761346311.086 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:51:51.446Z,1761346311.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998725,0.049288,-0.010871],[-0.046508,-0.982354,-0.181157],[-0.019608,-0.180420,0.983394]]
2025-10-24T22:51:51.853Z,1761346311.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998543,0.052506,-0.012432],[-0.049384,-0.982147,-0.181518],[-0.021741,-0.180639,0.983309]]
2025-10-24T22:51:52.254Z,1761346312.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998333,0.056026,-0.013864],[-0.052558,-0.981753,-0.182754],[-0.023850,-0.181720,0.983061]]
2025-10-24T22:51:52.663Z,1761346312.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998080,0.059995,-0.015401],[-0.056157,-0.981381,-0.183677],[-0.026134,-0.182459,0.982866]]
2025-10-24T22:51:53.064Z,1761346313.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997851,0.063348,-0.016734],[-0.059233,-0.981343,-0.182913],[-0.028009,-0.181529,0.982987]]
2025-10-24T22:51:53.467Z,1761346313.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997639,0.066328,-0.017779],[-0.061974,-0.981176,-0.182899],[-0.029575,-0.181366,0.982971]]
2025-10-24T22:51:53.873Z,1761346313.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997464,0.068610,-0.018902],[-0.064058,-0.981295,-0.181540],[-0.031004,-0.179869,0.983202]]
2025-10-24T22:51:54.279Z,1761346314.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997338,0.070253,-0.019524],[-0.065562,-0.981197,-0.181534],[-0.031910,-0.179770,0.983191]]
2025-10-24T22:51:54.683Z,1761346314.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997299,0.070626,-0.020146],[-0.065813,-0.981157,-0.181658],[-0.032596,-0.179842,0.983155]]
2025-10-24T22:51:55.082Z,1761346315.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997336,0.069794,-0.021201],[-0.064814,-0.981274,-0.181385],[-0.033464,-0.179528,0.983184]]
2025-10-24T22:51:55.486Z,1761346315.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997411,0.068428,-0.022097],[-0.063352,-0.981597,-0.180149],[-0.034017,-0.178283,0.983391]]
2025-10-24T22:51:55.911Z,1761346315.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997465,0.067386,-0.022880],[-0.062157,-0.981517,-0.180998],[-0.034653,-0.179117,0.983217]]
2025-10-24T22:51:56.302Z,1761346316.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997497,0.066769,-0.023274],[-0.061457,-0.981447,-0.181620],[-0.034969,-0.179735,0.983093]]
2025-10-24T22:51:56.702Z,1761346316.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997446,0.067452,-0.023483],[-0.062003,-0.980957,-0.184063],[-0.035451,-0.182137,0.982634]]
2025-10-24T22:51:57.107Z,1761346317.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997395,0.068110,-0.023732],[-0.062562,-0.980697,-0.185257],[-0.035892,-0.183290,0.982404]]
2025-10-24T22:51:57.510Z,1761346317.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997278,0.069945,-0.023345],[-0.064273,-0.979731,-0.189724],[-0.036142,-0.187707,0.981560]]
2025-10-24T22:51:57.963Z,1761346317.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997121,0.072177,-0.023223],[-0.066409,-0.979169,-0.191879],[-0.036588,-0.189785,0.981144]]
2025-10-24T22:51:58.318Z,1761346318.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996976,0.074088,-0.023453],[-0.068221,-0.978936,-0.192434],[-0.037216,-0.190252,0.981030]]
2025-10-24T22:51:58.722Z,1761346318.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996859,0.075452,-0.024062],[-0.069477,-0.979011,-0.191597],[-0.038014,-0.189324,0.981179]]
2025-10-24T22:51:59.126Z,1761346319.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996702,0.077148,-0.025170],[-0.071017,-0.979310,-0.189493],[-0.039268,-0.187081,0.981559]]
2025-10-24T22:51:59.532Z,1761346319.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996536,0.078847,-0.026458],[-0.072562,-0.979738,-0.186679],[-0.040641,-0.184113,0.982065]]
2025-10-24T22:51:59.969Z,1761346319.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996368,0.080541,-0.027645],[-0.074047,-0.979799,-0.185772],[-0.042049,-0.183050,0.982204]]
2025-10-24T22:52:00.339Z,1761346320.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996170,0.082533,-0.028865],[-0.075836,-0.979893,-0.184551],[-0.043516,-0.181655,0.982399]]
2025-10-24T22:52:00.742Z,1761346320.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995888,0.085797,-0.029087],[-0.078999,-0.979606,-0.184744],[-0.044344,-0.181687,0.982356]]
2025-10-24T22:52:01.147Z,1761346321.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995620,0.088946,-0.028795],[-0.082224,-0.979653,-0.183081],[-0.044493,-0.179912,0.982676]]
2025-10-24T22:52:01.550Z,1761346321.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995345,0.092273,-0.027803],[-0.085647,-0.979235,-0.183751],[-0.044181,-0.180514,0.982580]]
2025-10-24T22:52:01.966Z,1761346321.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995040,0.095915,-0.026362],[-0.089520,-0.979012,-0.183091],[-0.043370,-0.179823,0.982742]]
2025-10-24T22:52:02.358Z,1761346322.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994734,0.099564,-0.024302],[-0.093462,-0.978566,-0.183503],[-0.042051,-0.180266,0.982719]]
2025-10-24T22:52:02.360Z,1761346322.360 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:52:02.770Z,1761346322.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994438,0.103017,-0.021944],[-0.097245,-0.978016,-0.184465],[-0.040465,-0.181305,0.982594]]
2025-10-24T22:52:03.168Z,1761346323.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994185,0.105847,-0.019827],[-0.100346,-0.977383,-0.186151],[-0.039082,-0.183079,0.982321]]
2025-10-24T22:52:03.364Z,1761346323.364 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:52:03.571Z,1761346323.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993975,0.108275,-0.017033],[-0.103168,-0.976698,-0.188194],[-0.037013,-0.185303,0.981984]]
2025-10-24T22:52:03.614Z,1761346323.614 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:52:03.615Z,1761346323.615 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:52:03.615Z,1761346323.615 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:52:03.615Z,1761346323.615 [marl:UpdateRudder:A] Stopped
2025-10-24T22:52:03.615Z,1761346323.615 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:52:03.615Z,1761346323.615 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:52:03.615Z,1761346323.615 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:52:03.615Z,1761346323.615 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:52:03.616Z,1761346323.616 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:52:03.616Z,1761346323.616 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:52:03.616Z,1761346323.616 [marl:UpdateCommandMode] Stopped
2025-10-24T22:52:03.616Z,1761346323.616 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:52:03.616Z,1761346323.616 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:52:03.616Z,1761346323.616 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:52:03.616Z,1761346323.616 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:52:03.617Z,1761346323.617 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:52:03.617Z,1761346323.617 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:52:03.617Z,1761346323.617 [marl:UpdateSpeed] Stopped
2025-10-24T22:52:03.617Z,1761346323.617 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:52:03.975Z,1761346323.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993788,0.110365,-0.014340],[-0.105675,-0.976179,-0.189490],[-0.034911,-0.186798,0.981778]]
2025-10-24T22:52:04.038Z,1761346324.038 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:52:04.038Z,1761346324.038 [marl:UpdateRudder:B] Stopped
2025-10-24T22:52:04.038Z,1761346324.038 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:52:04.038Z,1761346324.038 [marl:UpdateRudder] Stopped
2025-10-24T22:52:04.039Z,1761346324.039 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:52:04.380Z,1761346324.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993654,0.111884,-0.011523],[-0.107654,-0.975725,-0.190711],[-0.032581,-0.188261,0.981579]]
2025-10-24T22:52:04.784Z,1761346324.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993626,0.112401,-0.008614],[-0.108657,-0.975274,-0.192443],[-0.030032,-0.190280,0.981270]]
2025-10-24T22:52:05.186Z,1761346325.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993735,0.111587,-0.006289],[-0.108259,-0.975025,-0.193922],[-0.027772,-0.192026,0.980997]]
2025-10-24T22:52:05.591Z,1761346325.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993860,0.110575,-0.003935],[-0.107712,-0.975040,-0.194153],[-0.025305,-0.192537,0.980963]]
2025-10-24T22:52:05.996Z,1761346325.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994049,0.108916,-0.001971],[-0.106451,-0.975074,-0.194677],[-0.023125,-0.193308,0.980866]]
2025-10-24T22:52:06.400Z,1761346326.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994217,0.107388,-0.000068],[-0.105270,-0.974734,-0.197005],[-0.021222,-0.195858,0.980402]]
2025-10-24T22:52:06.803Z,1761346326.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994383,0.105836,0.001151],[-0.103994,-0.974940,-0.196665],[-0.019692,-0.195680,0.980470]]
2025-10-24T22:52:07.206Z,1761346327.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994385,0.105800,0.002359],[-0.104193,-0.974887,-0.196824],[-0.018524,-0.195964,0.980436]]
2025-10-24T22:52:08.021Z,1761346328.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994234,0.107121,0.004797],[-0.105957,-0.974590,-0.197349],[-0.016465,-0.196720,0.980321]]
2025-10-24T22:52:08.419Z,1761346328.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994001,0.109213,0.005863],[-0.108220,-0.974368,-0.197217],[-0.015826,-0.196669,0.980342]]
2025-10-24T22:52:08.822Z,1761346328.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993763,0.111302,0.006826],[-0.110485,-0.974491,-0.195345],[-0.015091,-0.194881,0.980711]]
2025-10-24T22:52:09.233Z,1761346329.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993517,0.113417,0.007844],[-0.112788,-0.974629,-0.193334],[-0.014282,-0.192965,0.981102]]
2025-10-24T22:52:09.632Z,1761346329.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993275,0.115492,0.008168],[-0.114938,-0.975096,-0.189679],[-0.013942,-0.189342,0.981812]]
2025-10-24T22:52:10.036Z,1761346330.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993163,0.116440,0.008259],[-0.115949,-0.975835,-0.185210],[-0.013507,-0.184901,0.982664]]
2025-10-24T22:52:10.439Z,1761346330.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993106,0.116872,0.008987],[-0.116553,-0.976431,-0.181652],[-0.012455,-0.181447,0.983322]]
2025-10-24T22:52:10.843Z,1761346330.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993026,0.117493,0.009732],[-0.117355,-0.977213,-0.176868],[-0.011270,-0.176777,0.984186]]
2025-10-24T22:52:11.251Z,1761346331.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992893,0.118487,0.011153],[-0.118600,-0.977326,-0.175407],[-0.009883,-0.175483,0.984433]]
2025-10-24T22:52:11.653Z,1761346331.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992808,0.119056,0.012533],[-0.119419,-0.977578,-0.173438],[-0.008397,-0.173688,0.984765]]
2025-10-24T22:52:12.055Z,1761346332.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992599,0.120610,0.014180],[-0.121236,-0.977371,-0.173342],[-0.007048,-0.173778,0.984760]]
2025-10-24T22:52:12.459Z,1761346332.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992327,0.122641,0.015678],[-0.123505,-0.977352,-0.171839],[-0.005752,-0.172457,0.985000]]
2025-10-24T22:52:12.864Z,1761346332.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991969,0.125219,0.017797],[-0.126409,-0.976907,-0.172258],[-0.004184,-0.173124,0.984891]]
2025-10-24T22:52:13.271Z,1761346333.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991568,0.128047,0.019928],[-0.129563,-0.976576,-0.171791],[-0.002536,-0.172924,0.984932]]
2025-10-24T22:52:13.676Z,1761346333.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991022,0.131818,0.022333],[-0.133693,-0.975815,-0.172947],[-0.001004,-0.174380,0.984678]]
2025-10-24T22:52:14.077Z,1761346334.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990417,0.135842,0.024922],[-0.138108,-0.974994,-0.174108],[0.000648,-0.175881,0.984411]]
2025-10-24T22:52:14.480Z,1761346334.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989661,0.140713,0.027755],[-0.143404,-0.974030,-0.175216],[0.002379,-0.177385,0.984139]]
2025-10-24T22:52:14.882Z,1761346334.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988865,0.145548,0.031019],[-0.148755,-0.972722,-0.177997],[0.004266,-0.180629,0.983542]]
2025-10-24T22:52:15.290Z,1761346335.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988023,0.150375,0.034611],[-0.154168,-0.971472,-0.180208],[0.006524,-0.183385,0.983019]]
2025-10-24T22:52:15.691Z,1761346335.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987231,0.154530,0.038679],[-0.159024,-0.970256,-0.182522],[0.009324,-0.186343,0.982441]]
2025-10-24T22:52:16.101Z,1761346336.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986490,0.158127,0.042822],[-0.163363,-0.969088,-0.184883],[0.012263,-0.189381,0.981827]]
2025-10-24T22:52:16.498Z,1761346336.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985872,0.160730,0.047152],[-0.166752,-0.968398,-0.185468],[0.015851,-0.190710,0.981518]]
2025-10-24T22:52:16.533Z,1761346336.533 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:52:16.533Z,1761346336.533 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:52:16.533Z,1761346336.533 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:52:16.534Z,1761346336.534 [marl:UpdateRudder:A] Stopped
2025-10-24T22:52:16.534Z,1761346336.534 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:52:16.534Z,1761346336.534 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:52:16.534Z,1761346336.534 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:52:16.534Z,1761346336.534 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:52:16.535Z,1761346336.535 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:52:16.535Z,1761346336.535 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:52:16.535Z,1761346336.535 [marl:UpdateCommandMode] Stopped
2025-10-24T22:52:16.535Z,1761346336.535 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:52:16.535Z,1761346336.535 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:52:16.535Z,1761346336.535 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:52:16.535Z,1761346336.535 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:52:16.536Z,1761346336.536 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:52:16.536Z,1761346336.536 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:52:16.536Z,1761346336.536 [marl:UpdateSpeed] Stopped
2025-10-24T22:52:16.536Z,1761346336.536 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:52:16.903Z,1761346336.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985308,0.162610,0.052209],[-0.169620,-0.967392,-0.188099],[0.019919,-0.194191,0.980761]]
2025-10-24T22:52:16.950Z,1761346336.950 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:52:16.950Z,1761346336.950 [marl:UpdateRudder:B] Stopped
2025-10-24T22:52:16.950Z,1761346336.950 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:52:16.950Z,1761346336.950 [marl:UpdateRudder] Stopped
2025-10-24T22:52:16.950Z,1761346336.950 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:52:17.344Z,1761346337.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984791,0.162109,0.062514],[-0.171448,-0.964996,-0.198464],[0.028153,-0.206163,0.978113]]
2025-10-24T22:52:18.120Z,1761346338.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984987,0.159523,0.065971],[-0.169654,-0.965163,-0.199193],[0.031897,-0.207394,0.977737]]
2025-10-24T22:52:18.518Z,1761346338.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985403,0.155954,0.068263],[-0.166572,-0.966052,-0.197477],[0.035149,-0.205965,0.977928]]
2025-10-24T22:52:18.923Z,1761346338.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985899,0.152066,0.069845],[-0.162970,-0.967274,-0.194477],[0.037986,-0.203118,0.978417]]
2025-10-24T22:52:19.338Z,1761346339.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987429,0.140363,0.072674],[-0.152085,-0.968946,-0.194974],[0.043051,-0.203575,0.978112]]
2025-10-24T22:52:19.735Z,1761346339.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988968,0.128235,0.074152],[-0.140990,-0.968417,-0.205648],[0.045439,-0.213834,0.975813]]
2025-10-24T22:52:20.139Z,1761346340.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990971,0.110650,0.075712],[-0.125312,-0.965183,-0.229604],[0.047670,-0.237018,0.970335]]
2025-10-24T22:52:20.544Z,1761346340.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992921,0.091040,0.076283],[-0.107902,-0.959843,-0.258957],[0.049644,-0.265355,0.962872]]
2025-10-24T22:52:20.946Z,1761346340.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994433,0.072246,0.076708],[-0.091569,-0.952697,-0.289799],[0.052143,-0.295210,0.954009]]
2025-10-24T22:52:21.347Z,1761346341.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995584,0.053807,0.076920],[-0.075708,-0.944706,-0.319059],[0.055499,-0.323473,0.944608]]
2025-10-24T22:52:21.750Z,1761346341.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996375,0.036149,0.077003],[-0.060582,-0.937003,-0.344029],[0.059716,-0.347447,0.935796]]
2025-10-24T22:52:22.160Z,1761346342.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996922,0.017981,0.076308],[-0.044718,-0.929894,-0.365099],[0.064393,-0.367388,0.927836]]
2025-10-24T22:52:22.560Z,1761346342.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997213,-0.000474,0.074606],[-0.028060,-0.924176,-0.380936],[0.069130,-0.381968,0.921587]]
2025-10-24T22:52:22.962Z,1761346342.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997210,-0.017990,0.072448],[-0.011839,-0.920125,-0.391446],[0.073704,-0.391211,0.917345]]
2025-10-24T22:52:23.366Z,1761346343.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996951,-0.034776,0.069854],[0.004200,-0.917818,-0.396979],[0.077918,-0.395475,0.915166]]
2025-10-24T22:52:23.773Z,1761346343.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996432,-0.051935,0.066533],[0.021055,-0.916307,-0.399923],[0.081735,-0.397095,0.914131]]
2025-10-24T22:52:24.179Z,1761346344.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995703,-0.067606,0.063289],[0.036463,-0.914419,-0.403123],[0.085126,-0.399083,0.912955]]
2025-10-24T22:52:24.214Z,1761346344.214 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,   +20,  +710,   -WE,   +20,  +710,   -52,A
2025-10-24T22:52:24.623Z,1761346344.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994722,-0.083455,0.059689],[0.052345,-0.913109,-0.404342],[0.088247,-0.399083,0.912658]]
2025-10-24T22:52:25.029Z,1761346345.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993492,-0.099031,0.056277],[0.068045,-0.912223,-0.404003],[0.091346,-0.397545,0.913025]]
2025-10-24T22:52:25.430Z,1761346345.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991951,-0.115037,0.052914],[0.084038,-0.910687,-0.404458],[0.094715,-0.396756,0.913024]]
2025-10-24T22:52:25.834Z,1761346345.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990080,-0.131621,0.049166],[0.100768,-0.909036,-0.404351],[0.097915,-0.395385,0.913282]]
2025-10-24T22:52:26.238Z,1761346346.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987822,-0.148794,0.045474],[0.118035,-0.907099,-0.404028],[0.101366,-0.393741,0.913615]]
2025-10-24T22:52:26.644Z,1761346346.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985235,-0.166111,0.041455],[0.135567,-0.904812,-0.403654],[0.104560,-0.392075,0.913972]]
2025-10-24T22:52:27.046Z,1761346347.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982435,-0.182895,0.037029],[0.152647,-0.901807,-0.404280],[0.107334,-0.391527,0.913885]]
2025-10-24T22:52:27.850Z,1761346347.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976341,-0.214439,0.027842],[0.185221,-0.895778,-0.404073],[0.111589,-0.389356,0.914303]]
2025-10-24T22:52:28.261Z,1761346348.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973160,-0.228964,0.023129],[0.200271,-0.892118,-0.404991],[0.113362,-0.389489,0.914028]]
2025-10-24T22:52:28.672Z,1761346348.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969959,-0.242568,0.018452],[0.214495,-0.888553,-0.405543],[0.114768,-0.389403,0.913889]]
2025-10-24T22:52:29.062Z,1761346349.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966691,-0.255545,0.014341],[0.228081,-0.885517,-0.404770],[0.116136,-0.388017,0.914306]]
2025-10-24T22:52:29.478Z,1761346349.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963176,-0.268675,0.010325],[0.241708,-0.882043,-0.404447],[0.117771,-0.387058,0.914503]]
2025-10-24T22:52:29.531Z,1761346349.531 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:52:29.531Z,1761346349.531 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:52:29.531Z,1761346349.531 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:52:29.536Z,1761346349.536 [marl:UpdateRudder:A] Stopped
2025-10-24T22:52:29.536Z,1761346349.536 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:52:29.536Z,1761346349.536 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:52:29.536Z,1761346349.536 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:52:29.536Z,1761346349.536 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:52:29.537Z,1761346349.537 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:52:29.537Z,1761346349.537 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:52:29.537Z,1761346349.537 [marl:UpdateCommandMode] Stopped
2025-10-24T22:52:29.537Z,1761346349.537 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:52:29.537Z,1761346349.537 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:52:29.537Z,1761346349.537 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:52:29.537Z,1761346349.537 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:52:29.538Z,1761346349.538 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:52:29.538Z,1761346349.538 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:52:29.538Z,1761346349.538 [marl:UpdateSpeed] Stopped
2025-10-24T22:52:29.538Z,1761346349.538 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:52:29.884Z,1761346349.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959564,-0.281414,0.006536],[0.254897,-0.878529,-0.403999],[0.119433,-0.385997,0.914736]]
2025-10-24T22:52:29.971Z,1761346349.971 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:52:29.971Z,1761346349.971 [marl:UpdateRudder:B] Stopped
2025-10-24T22:52:29.971Z,1761346349.971 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:52:29.971Z,1761346349.971 [marl:UpdateRudder] Stopped
2025-10-24T22:52:29.971Z,1761346349.971 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:52:30.366Z,1761346350.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955764,-0.294123,0.002599],[0.268408,-0.875748,-0.401275],[0.120300,-0.382827,0.915954]]
2025-10-24T22:52:30.824Z,1761346350.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951544,-0.307501,-0.002545],[0.282849,-0.871954,-0.399616],[0.120663,-0.380973,0.916679]]
2025-10-24T22:52:31.232Z,1761346351.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946759,-0.321833,-0.008391],[0.298492,-0.867735,-0.397415],[0.120620,-0.378760,0.917601]]
2025-10-24T22:52:31.630Z,1761346351.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941481,-0.336755,-0.014510],[0.314720,-0.862834,-0.395562],[0.120688,-0.376981,0.918325]]
2025-10-24T22:52:32.034Z,1761346352.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935486,-0.352735,-0.021076],[0.332066,-0.857142,-0.393751],[0.120824,-0.375347,0.918975]]
2025-10-24T22:52:32.438Z,1761346352.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928873,-0.369316,-0.028297],[0.350154,-0.850629,-0.392202],[0.120776,-0.374214,0.919444]]
2025-10-24T22:52:32.844Z,1761346352.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921527,-0.386751,-0.034806],[0.368959,-0.844124,-0.389004],[0.121067,-0.371320,0.920578]]
2025-10-24T22:52:33.265Z,1761346353.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913484,-0.404686,-0.042140],[0.388499,-0.836765,-0.385866],[0.120894,-0.368854,0.921592]]
2025-10-24T22:52:33.490Z,1761346353.490 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:52:33.670Z,1761346353.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904960,-0.422487,-0.050528],[0.408111,-0.828239,-0.384013],[0.120392,-0.368137,0.921944]]
2025-10-24T22:52:34.493Z,1761346354.493 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:52:34.586Z,1761346354.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878436,-0.471244,-0.079242],[0.464058,-0.801688,-0.376759],[0.114018,-0.367731,0.922916]]
2025-10-24T22:52:34.987Z,1761346354.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869922,-0.485087,-0.089033],[0.480633,-0.793366,-0.373581],[0.110584,-0.367779,0.923315]]
2025-10-24T22:52:35.390Z,1761346355.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861958,-0.497398,-0.098100],[0.495552,-0.785755,-0.370158],[0.107033,-0.367674,0.923775]]
2025-10-24T22:52:35.794Z,1761346355.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854191,-0.508933,-0.106517],[0.509488,-0.778331,-0.366908],[0.103826,-0.367679,0.924139]]
2025-10-24T22:52:36.198Z,1761346356.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847107,-0.519026,-0.114115],[0.521677,-0.771236,-0.364757],[0.101309,-0.368519,0.924083]]
2025-10-24T22:52:36.604Z,1761346356.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839888,-0.528964,-0.121592],[0.533604,-0.763760,-0.363232],[0.099270,-0.369956,0.923730]]
2025-10-24T22:52:37.006Z,1761346357.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832600,-0.538879,-0.128013],[0.545194,-0.756599,-0.361000],[0.097681,-0.370361,0.923738]]
2025-10-24T22:52:37.818Z,1761346357.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816842,-0.559223,-0.141560],[0.568983,-0.740628,-0.357391],[0.095018,-0.372477,0.923164]]
2025-10-24T22:52:38.219Z,1761346358.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808455,-0.569629,-0.148067],[0.581066,-0.732478,-0.354737],[0.093613,-0.372825,0.923168]]
2025-10-24T22:52:38.622Z,1761346358.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799429,-0.580580,-0.154400],[0.593719,-0.724287,-0.350579],[0.091709,-0.371934,0.923718]]
2025-10-24T22:52:39.026Z,1761346359.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790211,-0.591433,-0.160542],[0.606242,-0.716087,-0.345963],[0.089652,-0.370712,0.924411]]
2025-10-24T22:52:39.431Z,1761346359.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780210,-0.602555,-0.167926],[0.619485,-0.707130,-0.340889],[0.086659,-0.369993,0.924984]]
2025-10-24T22:52:39.844Z,1761346359.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769963,-0.613660,-0.174868],[0.632642,-0.698432,-0.334600],[0.083197,-0.368258,0.925994]]
2025-10-24T22:52:40.249Z,1761346360.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759036,-0.624764,-0.183122],[0.646179,-0.688606,-0.329051],[0.079481,-0.368091,0.926386]]
2025-10-24T22:52:40.657Z,1761346360.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747364,-0.636400,-0.190898],[0.660105,-0.678537,-0.322254],[0.075551,-0.366854,0.927206]]
2025-10-24T22:52:41.055Z,1761346361.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734798,-0.648453,-0.198948],[0.674497,-0.667597,-0.315228],[0.071593,-0.365819,0.927928]]
2025-10-24T22:52:41.458Z,1761346361.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722426,-0.659723,-0.207042],[0.688115,-0.656591,-0.308846],[0.067811,-0.365587,0.928304]]
2025-10-24T22:52:41.863Z,1761346361.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710169,-0.670670,-0.214155],[0.701116,-0.646061,-0.301730],[0.064004,-0.364426,0.929030]]
2025-10-24T22:52:42.266Z,1761346362.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698067,-0.680773,-0.221927],[0.713539,-0.635532,-0.294892],[0.059712,-0.364208,0.929401]]
2025-10-24T22:52:42.390Z,1761346362.390 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:52:42.390Z,1761346362.390 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:52:42.390Z,1761346362.390 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:52:42.390Z,1761346362.390 [marl:UpdateRudder:A] Stopped
2025-10-24T22:52:42.390Z,1761346362.390 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:52:42.390Z,1761346362.390 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:52:42.391Z,1761346362.391 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:52:42.391Z,1761346362.391 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:52:42.391Z,1761346362.391 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:52:42.391Z,1761346362.391 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:52:42.391Z,1761346362.391 [marl:UpdateCommandMode] Stopped
2025-10-24T22:52:42.391Z,1761346362.391 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:52:42.391Z,1761346362.391 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:52:42.391Z,1761346362.391 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:52:42.391Z,1761346362.391 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:52:42.396Z,1761346362.396 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:52:42.396Z,1761346362.396 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:52:42.396Z,1761346362.396 [marl:UpdateSpeed] Stopped
2025-10-24T22:52:42.396Z,1761346362.396 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:52:42.675Z,1761346362.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686240,-0.690311,-0.229230],[0.725289,-0.625551,-0.287475],[0.055052,-0.363535,0.929952]]
2025-10-24T22:52:42.723Z,1761346362.723 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:52:42.723Z,1761346362.723 [marl:UpdateRudder:B] Stopped
2025-10-24T22:52:42.723Z,1761346362.723 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:52:42.723Z,1761346362.723 [marl:UpdateRudder] Stopped
2025-10-24T22:52:42.723Z,1761346362.723 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:52:43.075Z,1761346363.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674582,-0.699305,-0.236457],[0.736490,-0.615769,-0.280020],[0.050217,-0.363045,0.930417]]
2025-10-24T22:52:43.480Z,1761346363.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663471,-0.707598,-0.243128],[0.746838,-0.606708,-0.272284],[0.045160,-0.362230,0.930994]]
2025-10-24T22:52:43.888Z,1761346363.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652531,-0.715288,-0.250131],[0.756706,-0.597678,-0.264909],[0.039989,-0.362137,0.931266]]
2025-10-24T22:52:44.287Z,1761346364.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642258,-0.722180,-0.256828],[0.765687,-0.589180,-0.258049],[0.035040,-0.362384,0.931370]]
2025-10-24T22:52:44.692Z,1761346364.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632300,-0.728707,-0.263027],[0.774113,-0.580791,-0.251856],[0.030766,-0.362861,0.931335]]
2025-10-24T22:52:45.095Z,1761346365.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622406,-0.734990,-0.269074],[0.782222,-0.572182,-0.246447],[0.027177,-0.363866,0.931055]]
2025-10-24T22:52:45.500Z,1761346365.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611927,-0.741615,-0.274867],[0.790529,-0.562670,-0.241797],[0.024660,-0.365253,0.930582]]
2025-10-24T22:52:45.796Z,1761346365.796 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:52:45.797Z,1761346365.797 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:52:45.935Z,1761346365.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600938,-0.748104,-0.281448],[0.798967,-0.552131,-0.238333],[0.022902,-0.368092,0.929507]]
2025-10-24T22:52:46.306Z,1761346366.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588789,-0.755645,-0.286930],[0.807993,-0.540671,-0.234142],[0.021793,-0.369698,0.928896]]
2025-10-24T22:52:46.710Z,1761346366.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575712,-0.763660,-0.292197],[0.817382,-0.528333,-0.229675],[0.021016,-0.371063,0.928370]]
2025-10-24T22:52:47.125Z,1761346367.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561577,-0.771820,-0.298203],[0.827170,-0.514755,-0.225425],[0.020486,-0.373258,0.927501]]
2025-10-24T22:52:47.518Z,1761346367.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546921,-0.780301,-0.303328],[0.836947,-0.500984,-0.220307],[0.019943,-0.374360,0.927069]]
2025-10-24T22:52:47.555Z,1761346367.555 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:52:47.959Z,1761346367.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530888,-0.789513,-0.307941],[0.847231,-0.486371,-0.213641],[0.018898,-0.374317,0.927108]]
2025-10-24T22:52:48.327Z,1761346368.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514614,-0.797971,-0.313712],[0.857243,-0.471361,-0.207251],[0.017508,-0.375581,0.926624]]
2025-10-24T22:52:48.731Z,1761346368.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497658,-0.806989,-0.317971],[0.867229,-0.456237,-0.199405],[0.015848,-0.374989,0.926894]]
2025-10-24T22:52:49.135Z,1761346369.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480270,-0.815645,-0.322589],[0.877008,-0.440649,-0.191535],[0.014076,-0.374902,0.926958]]
2025-10-24T22:52:49.538Z,1761346369.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462514,-0.824375,-0.326323],[0.886528,-0.424951,-0.182988],[0.012180,-0.373929,0.927378]]
2025-10-24T22:52:49.963Z,1761346369.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443883,-0.833510,-0.328980],[0.896026,-0.408672,-0.173562],[0.010221,-0.371816,0.928250]]
2025-10-24T22:52:50.347Z,1761346370.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425071,-0.841649,-0.333080],[0.905124,-0.391935,-0.164736],[0.008104,-0.371503,0.928397]]
2025-10-24T22:52:50.752Z,1761346370.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405900,-0.849432,-0.337210],[0.913899,-0.374931,-0.155610],[0.005749,-0.371338,0.928480]]
2025-10-24T22:52:51.156Z,1761346371.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386654,-0.856455,-0.342028],[0.922221,-0.357984,-0.146138],[0.002721,-0.371930,0.928257]]
2025-10-24T22:52:51.558Z,1761346371.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367497,-0.863030,-0.346590],[0.930024,-0.341431,-0.135940],[-0.001017,-0.372295,0.928114]]
2025-10-24T22:52:51.970Z,1761346371.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348733,-0.869081,-0.350831],[0.937206,-0.325549,-0.125151],[-0.005447,-0.372445,0.928038]]
2025-10-24T22:52:52.373Z,1761346372.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331790,-0.874131,-0.354697],[0.943303,-0.311321,-0.115150],[-0.009768,-0.372792,0.927863]]
2025-10-24T22:52:52.770Z,1761346372.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316282,-0.877831,-0.359693],[0.948558,-0.298341,-0.105974],[-0.014284,-0.374708,0.927033]]
2025-10-24T22:52:53.174Z,1761346373.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302251,-0.881306,-0.363242],[0.953044,-0.286882,-0.096981],[-0.018738,-0.375498,0.926634]]
2025-10-24T22:52:53.584Z,1761346373.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289810,-0.884292,-0.366111],[0.956804,-0.276952,-0.088456],[-0.023174,-0.375931,0.926358]]
2025-10-24T22:52:53.984Z,1761346373.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278302,-0.886780,-0.369011],[0.960101,-0.267815,-0.080498],[-0.027442,-0.376691,0.925933]]
2025-10-24T22:52:54.407Z,1761346374.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267260,-0.889563,-0.370473],[0.963117,-0.259067,-0.072735],[-0.031275,-0.376248,0.925991]]
2025-10-24T22:52:54.790Z,1761346374.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256590,-0.892002,-0.372147],[0.965902,-0.250426,-0.065727],[-0.034566,-0.376322,0.925844]]
2025-10-24T22:52:54.842Z,1761346374.842 [marl:SendObservationData] Running Loop=1
2025-10-24T22:52:54.842Z,1761346374.842 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T22:52:54.842Z,1761346374.842 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T22:52:54.843Z,1761346374.843 [marl:SendObservationData:A] Running Loop=1
2025-10-24T22:52:54.844Z,1761346374.844 [marl:SendObservationData:A](INFO): Got test_good :  41da3f006000000040514000000000004042630c70ca8712c05e77462cba82f640165347600000004057e66660000000 n/a str  and temp var is  nan n/a str 
2025-10-24T22:52:54.845Z,1761346374.845 [marl:SendObservationData:A] Stopped
2025-10-24T22:52:54.845Z,1761346374.845 [marl:SendObservationData:B] Running Loop=1
2025-10-24T22:52:55.195Z,1761346375.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246161,-0.894121,-0.374101],[0.968525,-0.241626,-0.059795],[-0.036928,-0.377046,0.925458]]
2025-10-24T22:52:55.251Z,1761346375.251 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:52:55.251Z,1761346375.251 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:52:55.251Z,1761346375.251 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:52:55.251Z,1761346375.251 [marl:UpdateRudder:A] Stopped
2025-10-24T22:52:55.251Z,1761346375.251 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:52:55.251Z,1761346375.251 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:52:55.251Z,1761346375.251 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:52:55.251Z,1761346375.251 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:52:55.256Z,1761346375.256 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:52:55.256Z,1761346375.256 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:52:55.256Z,1761346375.256 [marl:UpdateCommandMode] Stopped
2025-10-24T22:52:55.256Z,1761346375.256 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:52:55.256Z,1761346375.256 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:52:55.256Z,1761346375.256 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:52:55.257Z,1761346375.257 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:52:55.257Z,1761346375.257 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:52:55.257Z,1761346375.257 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:52:55.257Z,1761346375.257 [marl:UpdateSpeed] Stopped
2025-10-24T22:52:55.257Z,1761346375.257 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:52:55.259Z,1761346375.259 [marl:SendObservationData:B] Stopped
2025-10-24T22:52:55.259Z,1761346375.259 [marl:SendObservationData:C] Running Loop=1
2025-10-24T22:52:55.607Z,1761346375.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235792,-0.896058,-0.376142],[0.971042,-0.232567,-0.054687],[-0.038475,-0.378144,0.924947]]
2025-10-24T22:52:55.631Z,1761346375.631 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:52:55.631Z,1761346375.631 [marl:UpdateRudder:B] Stopped
2025-10-24T22:52:55.631Z,1761346375.631 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:52:55.631Z,1761346375.631 [marl:UpdateRudder] Stopped
2025-10-24T22:52:55.631Z,1761346375.631 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:52:55.633Z,1761346375.633 [marl:SendObservationData:C] Stopped
2025-10-24T22:52:55.633Z,1761346375.633 [marl:SendObservationData:E] Running Loop=1
2025-10-24T22:52:56.002Z,1761346376.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225400,-0.897839,-0.378260],[0.973489,-0.223059,-0.050637],[-0.038910,-0.379645,0.924313]]
2025-10-24T22:52:56.052Z,1761346376.052 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.012011 min 
2025-10-24T22:52:56.052Z,1761346376.052 [marl:SendObservationData:E] Stopped
2025-10-24T22:52:56.053Z,1761346376.053 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T22:52:56.053Z,1761346376.053 [marl:SendObservationData] Stopped
2025-10-24T22:52:56.053Z,1761346376.053 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T22:52:56.053Z,1761346376.053 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T22:52:56.409Z,1761346376.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215046,-0.899934,-0.379308],[0.975863,-0.213138,-0.047576],[-0.038029,-0.380384,0.924047]]
2025-10-24T22:52:56.810Z,1761346376.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204432,-0.902255,-0.379662],[0.978207,-0.202690,-0.045037],[-0.036319,-0.380595,0.924028]]
2025-10-24T22:52:57.216Z,1761346377.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193017,-0.904760,-0.379675],[0.980607,-0.191270,-0.042721],[-0.033968,-0.380558,0.924133]]
2025-10-24T22:52:57.618Z,1761346377.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179395,-0.907491,-0.379838],[0.983259,-0.177921,-0.039308],[-0.031909,-0.380531,0.924217]]
2025-10-24T22:52:58.023Z,1761346378.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163914,-0.910047,-0.380718],[0.986011,-0.162973,-0.034955],[-0.030236,-0.381122,0.924030]]
2025-10-24T22:52:58.430Z,1761346378.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146644,-0.913166,-0.380295],[0.988769,-0.146521,-0.029449],[-0.028830,-0.380342,0.924396]]
2025-10-24T22:52:58.832Z,1761346378.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128251,-0.915709,-0.380825],[0.991353,-0.129125,-0.023375],[-0.027769,-0.380530,0.924351]]
2025-10-24T22:52:59.234Z,1761346379.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109060,-0.918275,-0.380626],[0.993663,-0.111187,-0.016469],[-0.027198,-0.380010,0.924582]]
2025-10-24T22:52:59.638Z,1761346379.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089381,-0.920979,-0.379221],[0.995633,-0.092924,-0.008991],[-0.026958,-0.378368,0.925263]]
2025-10-24T22:53:00.043Z,1761346380.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069691,-0.923662,-0.376817],[0.997195,-0.074836,-0.000988],[-0.027287,-0.375829,0.926287]]
2025-10-24T22:53:00.459Z,1761346380.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049060,-0.925507,-0.375539],[0.998403,-0.055988,0.007553],[-0.028016,-0.374568,0.926776]]
2025-10-24T22:53:00.851Z,1761346380.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028033,-0.926210,-0.375964],[0.999173,-0.037052,0.016778],[-0.029471,-0.375182,0.926482]]
2025-10-24T22:53:01.254Z,1761346381.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006849,-0.926395,-0.376491],[0.999465,-0.018379,0.027041],[-0.031970,-0.376104,0.926026]]
2025-10-24T22:53:01.663Z,1761346381.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014863,-0.926317,-0.376451],[0.999257,0.000367,0.038548],[-0.035570,-0.376744,0.925634]]
2025-10-24T22:53:02.072Z,1761346382.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036400,-0.925751,-0.376377],[0.998535,0.018604,0.050810],[-0.040035,-0.377675,0.925072]]
2025-10-24T22:53:02.472Z,1761346382.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057497,-0.925222,-0.375044],[0.997326,0.036260,0.063446],[-0.045102,-0.377689,0.924833]]
2025-10-24T22:53:02.871Z,1761346382.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076875,-0.924061,-0.374434],[0.995780,0.052282,0.075419],[-0.050115,-0.378652,0.924181]]
2025-10-24T22:53:03.276Z,1761346383.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093667,-0.922788,-0.373749],[0.994133,0.066294,0.085464],[-0.054088,-0.379561,0.923584]]
2025-10-24T22:53:03.683Z,1761346383.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108730,-0.921785,-0.372142],[0.992407,0.079001,0.094272],[-0.057499,-0.379566,0.923376]]
2025-10-24T22:53:04.085Z,1761346384.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122685,-0.920631,-0.370657],[0.990617,0.090939,0.102016],[-0.060212,-0.379696,0.923150]]
2025-10-24T22:53:04.487Z,1761346384.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135713,-0.919358,-0.369275],[0.988790,0.102263,0.108794],[-0.062257,-0.379900,0.922930]]
2025-10-24T22:53:04.621Z,1761346384.621 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:53:04.891Z,1761346384.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148219,-0.917423,-0.369277],[0.986919,0.113269,0.114723],[-0.063422,-0.381450,0.922211]]
2025-10-24T22:53:05.294Z,1761346385.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160117,-0.915562,-0.368929],[0.985044,0.124102,0.119532],[-0.063654,-0.382550,0.921739]]
2025-10-24T22:53:05.624Z,1761346385.624 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:53:05.698Z,1761346385.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171854,-0.913890,-0.367792],[0.983092,0.135141,0.123558],[-0.063215,-0.382808,0.921663]]
2025-10-24T22:53:06.102Z,1761346386.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183961,-0.911319,-0.368315],[0.980957,0.146462,0.127564],[-0.062307,-0.384768,0.920908]]
2025-10-24T22:53:06.517Z,1761346386.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196740,-0.909412,-0.366420],[0.978529,0.158709,0.131499],[-0.061432,-0.384424,0.921110]]
2025-10-24T22:53:06.910Z,1761346386.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210722,-0.907333,-0.363790],[0.975666,0.172141,0.135807],[-0.060599,-0.383555,0.921528]]
2025-10-24T22:53:07.314Z,1761346387.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225915,-0.904578,-0.361525],[0.972295,0.186507,0.140920],[-0.060046,-0.383345,0.921651]]
2025-10-24T22:53:07.719Z,1761346387.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242015,-0.901733,-0.358200],[0.968431,0.201757,0.146408],[-0.059751,-0.382325,0.922094]]
2025-10-24T22:53:08.125Z,1761346388.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259274,-0.897892,-0.355763],[0.963956,0.217808,0.152803],[-0.059712,-0.382558,0.922000]]
2025-10-24T22:53:08.166Z,1761346388.166 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:53:08.166Z,1761346388.166 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:53:08.167Z,1761346388.167 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:53:08.167Z,1761346388.167 [marl:UpdateRudder:A] Stopped
2025-10-24T22:53:08.167Z,1761346388.167 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:53:08.167Z,1761346388.167 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:53:08.167Z,1761346388.167 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:53:08.167Z,1761346388.167 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:53:08.167Z,1761346388.167 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:53:08.184Z,1761346388.184 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:53:08.184Z,1761346388.184 [marl:UpdateCommandMode] Stopped
2025-10-24T22:53:08.184Z,1761346388.184 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:53:08.184Z,1761346388.184 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:53:08.184Z,1761346388.184 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:53:08.184Z,1761346388.184 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:53:08.185Z,1761346388.185 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:53:08.185Z,1761346388.185 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:53:08.185Z,1761346388.185 [marl:UpdateSpeed] Stopped
2025-10-24T22:53:08.185Z,1761346388.185 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:53:08.526Z,1761346388.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277084,-0.893532,-0.353305],[0.958947,0.234063,0.160108],[-0.060366,-0.383164,0.921705]]
2025-10-24T22:53:08.603Z,1761346388.603 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:53:08.603Z,1761346388.603 [marl:UpdateRudder:B] Stopped
2025-10-24T22:53:08.603Z,1761346388.603 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:53:08.603Z,1761346388.603 [marl:UpdateRudder] Stopped
2025-10-24T22:53:08.603Z,1761346388.603 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:53:08.930Z,1761346388.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295499,-0.888829,-0.350234],[0.953355,0.250716,0.168093],[-0.061597,-0.383569,0.921456]]
2025-10-24T22:53:09.335Z,1761346389.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313904,-0.883619,-0.347393],[0.947354,0.267164,0.176475],[-0.063126,-0.384500,0.920964]]
2025-10-24T22:53:09.740Z,1761346389.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331360,-0.878506,-0.344134],[0.941284,0.282795,0.184423],[-0.064697,-0.385038,0.920630]]
2025-10-24T22:53:10.142Z,1761346390.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347920,-0.873595,-0.340269],[0.935140,0.297506,0.192361],[-0.066814,-0.385126,0.920442]]
2025-10-24T22:53:10.554Z,1761346390.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363384,-0.868980,-0.335896],[0.929070,0.311252,0.199878],[-0.069142,-0.384704,0.920447]]
2025-10-24T22:53:10.950Z,1761346390.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377608,-0.864518,-0.331693],[0.923212,0.323895,0.206814],[-0.071361,-0.384317,0.920439]]
2025-10-24T22:53:11.355Z,1761346391.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390178,-0.860369,-0.327912],[0.917841,0.335213,0.212602],[-0.072996,-0.383924,0.920475]]
2025-10-24T22:53:11.760Z,1761346391.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401822,-0.856258,-0.324593],[0.912706,0.345771,0.217737],[-0.074204,-0.383750,0.920451]]
2025-10-24T22:53:12.162Z,1761346392.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412637,-0.852529,-0.320819],[0.907815,0.355953,0.221740],[-0.074843,-0.382742,0.920819]]
2025-10-24T22:53:12.569Z,1761346392.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423485,-0.848147,-0.318289],[0.902831,0.366229,0.225327],[-0.074544,-0.382784,0.920826]]
2025-10-24T22:53:12.971Z,1761346392.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435237,-0.842923,-0.316306],[0.897292,0.377352,0.229068],[-0.073728,-0.383517,0.920586]]
2025-10-24T22:53:13.376Z,1761346393.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448160,-0.836305,-0.315827],[0.890986,0.389109,0.233960],[-0.072771,-0.386250,0.919519]]
2025-10-24T22:53:13.779Z,1761346393.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462753,-0.829552,-0.312574],[0.883578,0.403070,0.238379],[-0.071759,-0.386494,0.919496]]
2025-10-24T22:53:14.183Z,1761346394.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479242,-0.821431,-0.309158],[0.874801,0.418535,0.244031],[-0.071061,-0.387402,0.919168]]
2025-10-24T22:53:14.600Z,1761346394.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515673,-0.802758,-0.299434],[0.853812,0.452388,0.257586],[-0.071319,-0.388490,0.918689]]
2025-10-24T22:53:14.999Z,1761346394.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534708,-0.791999,-0.294659],[0.841905,0.469302,0.266365],[-0.072677,-0.390503,0.917729]]
2025-10-24T22:53:15.399Z,1761346395.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552984,-0.781577,-0.288696],[0.829815,0.485461,0.275200],[-0.074939,-0.391746,0.917017]]
2025-10-24T22:53:15.803Z,1761346395.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570141,-0.771919,-0.281214],[0.817875,0.500979,0.283019],[-0.077585,-0.391358,0.916962]]
2025-10-24T22:53:16.206Z,1761346396.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584940,-0.763139,-0.274705],[0.807122,0.514284,0.289940],[-0.079988,-0.391319,0.916772]]
2025-10-24T22:53:16.606Z,1761346396.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597893,-0.755349,-0.268278],[0.797362,0.526177,0.295553],[-0.082084,-0.390623,0.916884]]
2025-10-24T22:53:17.017Z,1761346397.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609245,-0.748153,-0.262845],[0.788559,0.536637,0.300325],[-0.083637,-0.390241,0.916906]]
2025-10-24T22:53:17.421Z,1761346397.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619515,-0.741296,-0.258230],[0.780426,0.546232,0.304246],[-0.084483,-0.390014,0.916925]]
2025-10-24T22:53:17.820Z,1761346397.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629083,-0.734548,-0.254348],[0.772717,0.555297,0.307496],[-0.084632,-0.389980,0.916926]]
2025-10-24T22:53:18.223Z,1761346398.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638596,-0.727888,-0.249747],[0.764892,0.564757,0.309822],[-0.084469,-0.388880,0.917408]]
2025-10-24T22:53:18.626Z,1761346398.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648660,-0.720588,-0.244935],[0.756428,0.574875,0.311987],[-0.084007,-0.387649,0.917971]]
2025-10-24T22:53:19.034Z,1761346399.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659266,-0.712304,-0.240815],[0.747260,0.585115,0.315029],[-0.083492,-0.387639,0.918022]]
2025-10-24T22:53:19.435Z,1761346399.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671048,-0.703291,-0.234684],[0.736705,0.596886,0.317794],[-0.083422,-0.386148,0.918657]]
2025-10-24T22:53:19.840Z,1761346399.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683158,-0.693399,-0.229113],[0.725476,0.608514,0.321552],[-0.083546,-0.385886,0.918756]]
2025-10-24T22:53:20.242Z,1761346400.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696170,-0.682453,-0.222720],[0.712918,0.620845,0.326037],[-0.084230,-0.385758,0.918747]]
2025-10-24T22:53:20.648Z,1761346400.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709290,-0.671279,-0.215157],[0.699742,0.633568,0.330080],[-0.085259,-0.384676,0.919106]]
2025-10-24T22:53:21.050Z,1761346401.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722416,-0.659340,-0.208293],[0.686024,0.645755,0.335217],[-0.086516,-0.385060,0.918827]]
2025-10-24T22:53:21.074Z,1761346401.074 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:53:21.074Z,1761346401.074 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:53:21.074Z,1761346401.074 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:53:21.075Z,1761346401.075 [marl:UpdateRudder:A] Stopped
2025-10-24T22:53:21.075Z,1761346401.075 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:53:21.075Z,1761346401.075 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:53:21.075Z,1761346401.075 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:53:21.075Z,1761346401.075 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:53:21.075Z,1761346401.075 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:53:21.075Z,1761346401.075 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:53:21.076Z,1761346401.076 [marl:UpdateCommandMode] Stopped
2025-10-24T22:53:21.076Z,1761346401.076 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:53:21.076Z,1761346401.076 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:53:21.076Z,1761346401.076 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:53:21.076Z,1761346401.076 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:53:21.076Z,1761346401.076 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:53:21.077Z,1761346401.077 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:53:21.077Z,1761346401.077 [marl:UpdateSpeed] Stopped
2025-10-24T22:53:21.077Z,1761346401.077 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:53:21.457Z,1761346401.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735076,-0.647273,-0.201744],[0.672271,0.657310,0.340581],[-0.087840,-0.385980,0.918316]]
2025-10-24T22:53:21.529Z,1761346401.529 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:53:21.529Z,1761346401.529 [marl:UpdateRudder:B] Stopped
2025-10-24T22:53:21.529Z,1761346401.529 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:53:21.530Z,1761346401.530 [marl:UpdateRudder] Stopped
2025-10-24T22:53:21.530Z,1761346401.530 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:53:21.950Z,1761346401.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747231,-0.635104,-0.195673],[0.658546,0.668104,0.346345],[-0.089235,-0.387659,0.917473]]
2025-10-24T22:53:22.306Z,1761346402.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759215,-0.622776,-0.189058],[0.644533,0.679095,0.351294],[-0.090389,-0.388562,0.916978]]
2025-10-24T22:53:22.713Z,1761346402.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770241,-0.611079,-0.182517],[0.631182,0.689442,0.355358],[-0.091317,-0.388912,0.916738]]
2025-10-24T22:53:23.114Z,1761346403.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780564,-0.599651,-0.176463],[0.618246,0.699014,0.359376],[-0.092150,-0.389613,0.916357]]
2025-10-24T22:53:23.522Z,1761346403.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790292,-0.588592,-0.170287],[0.605621,0.708137,0.362994],[-0.093069,-0.390001,0.916099]]
2025-10-24T22:53:23.959Z,1761346403.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799268,-0.578214,-0.163827],[0.593635,0.717132,0.365128],[-0.093636,-0.389089,0.916429]]
2025-10-24T22:53:24.330Z,1761346404.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808145,-0.567568,-0.157377],[0.581405,0.726017,0.367243],[-0.094177,-0.388285,0.916714]]
2025-10-24T22:53:24.732Z,1761346404.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816563,-0.557278,-0.150552],[0.569522,0.735194,0.367606],[-0.094174,-0.385916,0.917715]]
2025-10-24T22:53:25.538Z,1761346405.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833026,-0.535616,-0.138503],[0.545121,0.751953,0.370688],[-0.094399,-0.384294,0.918372]]
2025-10-24T22:53:25.985Z,1761346405.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841378,-0.523896,-0.132725],[0.532192,0.760396,0.372249],[-0.094096,-0.383838,0.918594]]
2025-10-24T22:53:26.374Z,1761346406.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849495,-0.512001,-0.127332],[0.519179,0.768288,0.374414],[-0.093872,-0.384171,0.918477]]
2025-10-24T22:53:26.782Z,1761346406.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857452,-0.499792,-0.122410],[0.506036,0.775902,0.376702],[-0.093294,-0.384947,0.918211]]
2025-10-24T22:53:27.186Z,1761346407.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865617,-0.486688,-0.117650],[0.492018,0.783202,0.380150],[-0.092871,-0.386950,0.917412]]
2025-10-24T22:53:27.586Z,1761346407.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873312,-0.474012,-0.112425],[0.478301,0.790466,0.382611],[-0.092494,-0.387912,0.917044]]
2025-10-24T22:53:27.998Z,1761346407.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880746,-0.461274,-0.107296],[0.464574,0.797524,0.384871],[-0.091960,-0.388821,0.916713]]
2025-10-24T22:53:28.395Z,1761346408.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888285,-0.447970,-0.101354],[0.450068,0.804982,0.386579],[-0.091587,-0.389008,0.916670]]
2025-10-24T22:53:28.799Z,1761346408.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894728,-0.436212,-0.095812],[0.437185,0.811611,0.387501],[-0.091271,-0.388595,0.916877]]
2025-10-24T22:53:29.212Z,1761346409.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901959,-0.422310,-0.090133],[0.422167,0.818480,0.389700],[-0.090802,-0.389545,0.916520]]
2025-10-24T22:53:29.606Z,1761346409.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908871,-0.408515,-0.084075],[0.407185,0.825457,0.390923],[-0.090298,-0.389533,0.916575]]
2025-10-24T22:53:30.011Z,1761346410.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915533,-0.394556,-0.078261],[0.392147,0.832181,0.392040],[-0.089554,-0.389615,0.916613]]
2025-10-24T22:53:30.415Z,1761346410.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922071,-0.380299,-0.071823],[0.376702,0.839323,0.391960],[-0.088779,-0.388470,0.917175]]
2025-10-24T22:53:30.820Z,1761346410.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928266,-0.366105,-0.065491],[0.361308,0.845937,0.392234],[-0.088197,-0.387760,0.917531]]
2025-10-24T22:53:31.222Z,1761346411.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934456,-0.351076,-0.059484],[0.345159,0.852013,0.393623],[-0.087511,-0.388355,0.917345]]
2025-10-24T22:53:31.662Z,1761346411.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940562,-0.335451,-0.053071],[0.328317,0.858097,0.394813],[-0.086900,-0.388770,0.917227]]
2025-10-24T22:53:32.054Z,1761346412.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946175,-0.320274,-0.046672],[0.311910,0.863805,0.395669],[-0.086407,-0.388929,0.917207]]
2025-10-24T22:53:32.496Z,1761346412.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951423,-0.305203,-0.040561],[0.295726,0.869223,0.396229],[-0.085673,-0.388976,0.917255]]
2025-10-24T22:53:32.890Z,1761346412.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956083,-0.290988,-0.035090],[0.280509,0.873734,0.397371],[-0.084971,-0.389763,0.916987]]
2025-10-24T22:53:33.294Z,1761346413.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960470,-0.276739,-0.030224],[0.265539,0.878134,0.397956],[-0.083589,-0.390251,0.916906]]
2025-10-24T22:53:33.698Z,1761346413.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964487,-0.262886,-0.025599],[0.251095,0.882505,0.397664],[-0.081949,-0.389970,0.917174]]
2025-10-24T22:53:33.761Z,1761346413.761 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:53:33.761Z,1761346413.761 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:53:33.761Z,1761346413.761 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:53:33.761Z,1761346413.761 [marl:UpdateRudder:A] Stopped
2025-10-24T22:53:33.762Z,1761346413.762 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:53:33.762Z,1761346413.762 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:53:33.762Z,1761346413.762 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:53:33.762Z,1761346413.762 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:53:33.762Z,1761346413.762 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:53:33.762Z,1761346413.762 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:53:33.762Z,1761346413.762 [marl:UpdateCommandMode] Stopped
2025-10-24T22:53:33.762Z,1761346413.762 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:53:33.762Z,1761346413.762 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:53:33.763Z,1761346413.763 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:53:33.763Z,1761346413.763 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:53:33.763Z,1761346413.763 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:53:33.763Z,1761346413.763 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:53:33.763Z,1761346413.763 [marl:UpdateSpeed] Stopped
2025-10-24T22:53:33.763Z,1761346413.763 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:53:34.104Z,1761346414.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968608,-0.247725,-0.020737],[0.235294,0.886684,0.398030],[-0.080214,-0.390414,0.917138]]
2025-10-24T22:53:34.174Z,1761346414.174 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:53:34.174Z,1761346414.174 [marl:UpdateRudder:B] Stopped
2025-10-24T22:53:34.174Z,1761346414.174 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:53:34.174Z,1761346414.174 [marl:UpdateRudder] Stopped
2025-10-24T22:53:34.174Z,1761346414.174 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:53:34.506Z,1761346414.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972759,-0.231319,-0.015192],[0.218112,0.891082,0.397995],[-0.078527,-0.390467,0.917262]]
2025-10-24T22:53:34.910Z,1761346414.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976776,-0.214080,-0.008884],[0.199942,0.895800,0.396945],[-0.077020,-0.389503,0.917799]]
2025-10-24T22:53:35.315Z,1761346415.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980490,-0.196553,-0.002419],[0.181448,0.900272,0.395711],[-0.075600,-0.388429,0.918372]]
2025-10-24T22:53:35.719Z,1761346415.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983912,-0.178606,0.004187],[0.162471,0.904285,0.394806],[-0.074301,-0.387774,0.918755]]
2025-10-24T22:53:35.744Z,1761346415.744 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:53:36.122Z,1761346416.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986862,-0.161190,0.011013],[0.143957,0.908209,0.392979],[-0.073347,-0.386230,0.919482]]
2025-10-24T22:53:36.526Z,1761346416.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989320,-0.144726,0.017310],[0.126486,0.911457,0.391469],[-0.072433,-0.385098,0.920029]]
2025-10-24T22:53:36.748Z,1761346416.748 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:53:36.930Z,1761346416.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991224,-0.130208,0.022822],[0.111104,0.914129,0.389902],[-0.071631,-0.383944,0.920574]]
2025-10-24T22:53:37.336Z,1761346417.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992730,-0.117190,0.027462],[0.097365,0.915992,0.389203],[-0.070766,-0.383700,0.920742]]
2025-10-24T22:53:37.740Z,1761346417.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993956,-0.105138,0.031575],[0.084656,0.917224,0.389272],[-0.069889,-0.384247,0.920581]]
2025-10-24T22:53:38.142Z,1761346418.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994964,-0.093815,0.035277],[0.072720,0.917912,0.390064],[-0.068975,-0.385535,0.920112]]
2025-10-24T22:53:38.547Z,1761346418.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995801,-0.082931,0.038777],[0.061147,0.917733,0.392462],[-0.068134,-0.388443,0.918950]]
2025-10-24T22:53:38.961Z,1761346418.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996509,-0.072107,0.042079],[0.049766,0.917728,0.394080],[-0.067033,-0.390610,0.918112]]
2025-10-24T22:53:39.357Z,1761346419.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997077,-0.061306,0.045597],[0.038239,0.917085,0.396855],[-0.066146,-0.393951,0.916748]]
2025-10-24T22:53:39.757Z,1761346419.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997590,-0.049302,0.048831],[0.025764,0.916562,0.399062],[-0.064431,-0.396842,0.915623]]
2025-10-24T22:53:40.158Z,1761346420.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997956,-0.036948,0.052133],[0.012948,0.915878,0.401247],[-0.062573,-0.399752,0.914485]]
2025-10-24T22:53:40.563Z,1761346420.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998194,-0.024121,0.055022],[0.000031,0.916068,0.401024],[-0.060077,-0.400298,0.914414]]
2025-10-24T22:53:40.970Z,1761346420.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998257,-0.010705,0.058043],[-0.013527,0.915741,0.401541],[-0.057450,-0.401626,0.914000]]
2025-10-24T22:53:41.370Z,1761346421.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998110,0.003218,0.061366],[-0.027588,0.915795,0.400697],[-0.054909,-0.401632,0.914153]]
2025-10-24T22:53:41.775Z,1761346421.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997772,0.017030,0.064504],[-0.041443,0.915910,0.399238],[-0.052281,-0.401022,0.914576]]
2025-10-24T22:53:42.179Z,1761346422.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997201,0.031659,0.067738],[-0.056120,0.915554,0.398260],[-0.049410,-0.400947,0.914768]]
2025-10-24T22:53:42.583Z,1761346422.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996392,0.046242,0.071166],[-0.070864,0.914740,0.397780],[-0.046704,-0.401388,0.914717]]
2025-10-24T22:53:42.986Z,1761346422.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995250,0.061788,0.075231],[-0.086728,0.913774,0.396858],[-0.044223,-0.401497,0.914792]]
2025-10-24T22:53:43.390Z,1761346423.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993752,0.078160,0.079670],[-0.103496,0.912520,0.395722],[-0.041771,-0.401495,0.914908]]
2025-10-24T22:53:43.796Z,1761346423.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991845,0.095625,0.084251],[-0.121310,0.911024,0.394104],[-0.039069,-0.401111,0.915196]]
2025-10-24T22:53:44.198Z,1761346424.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989520,0.113490,0.089270],[-0.139676,0.909066,0.392542],[-0.036603,-0.400898,0.915391]]
2025-10-24T22:53:44.602Z,1761346424.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986766,0.131796,0.094454],[-0.158463,0.907308,0.389462],[-0.034370,-0.399276,0.916186]]
2025-10-24T22:53:45.006Z,1761346425.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983540,0.150610,0.099825],[-0.177751,0.905701,0.384851],[-0.032449,-0.396261,0.917565]]
2025-10-24T22:53:45.413Z,1761346425.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979960,0.169364,0.104858],[-0.196837,0.904112,0.379259],[-0.030571,-0.392298,0.919330]]
2025-10-24T22:53:45.815Z,1761346425.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975985,0.188339,0.109465],[-0.215990,0.901982,0.373867],[-0.028322,-0.388532,0.921000]]
2025-10-24T22:53:46.007Z,1761346426.007 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:53:46.008Z,1761346426.008 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:53:46.219Z,1761346426.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971593,0.207436,0.113918],[-0.235235,0.899209,0.368900],[-0.025913,-0.385218,0.922462]]
2025-10-24T22:53:46.628Z,1761346426.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962238,0.243628,0.121421],[-0.271447,0.892147,0.361097],[-0.020352,-0.380420,0.924590]]
2025-10-24T22:53:46.685Z,1761346426.685 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:53:46.685Z,1761346426.685 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:53:46.685Z,1761346426.685 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:53:46.686Z,1761346426.686 [marl:UpdateRudder:A] Stopped
2025-10-24T22:53:46.686Z,1761346426.686 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:53:46.686Z,1761346426.686 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:53:46.686Z,1761346426.686 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:53:46.686Z,1761346426.686 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:53:46.686Z,1761346426.686 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:53:46.686Z,1761346426.686 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:53:46.686Z,1761346426.686 [marl:UpdateCommandMode] Stopped
2025-10-24T22:53:46.687Z,1761346426.687 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:53:46.687Z,1761346426.687 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:53:46.687Z,1761346426.687 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:53:46.687Z,1761346426.687 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:53:46.687Z,1761346426.687 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:53:46.687Z,1761346426.687 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:53:46.687Z,1761346426.687 [marl:UpdateSpeed] Stopped
2025-10-24T22:53:46.687Z,1761346426.687 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:53:47.032Z,1761346427.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958085,0.258210,0.124102],[-0.285928,0.888855,0.358026],[-0.017862,-0.378504,0.925427]]
2025-10-24T22:53:47.055Z,1761346427.055 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:53:47.056Z,1761346427.056 [marl:UpdateRudder:B] Stopped
2025-10-24T22:53:47.056Z,1761346427.056 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:53:47.056Z,1761346427.056 [marl:UpdateRudder] Stopped
2025-10-24T22:53:47.056Z,1761346427.056 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:53:47.444Z,1761346427.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954291,0.270887,0.126293],[-0.298479,0.885645,0.355729],[-0.015488,-0.377165,0.926017]]
2025-10-24T22:53:47.839Z,1761346427.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950809,0.281844,0.128554],[-0.309499,0.881882,0.355661],[-0.013129,-0.377953,0.925732]]
2025-10-24T22:53:47.889Z,1761346427.889 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:53:48.241Z,1761346428.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947404,0.291914,0.131192],[-0.319860,0.877380,0.357622],[-0.010710,-0.380775,0.924606]]
2025-10-24T22:53:48.645Z,1761346428.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943986,0.301867,0.133293],[-0.329899,0.872618,0.360144],[-0.007598,-0.383945,0.923325]]
2025-10-24T22:53:49.048Z,1761346429.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940509,0.311494,0.135699],[-0.339743,0.867093,0.364314],[-0.004182,-0.388743,0.921337]]
2025-10-24T22:53:49.450Z,1761346429.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936804,0.321201,0.138668],[-0.349854,0.861296,0.368472],[-0.001081,-0.393699,0.919239]]
2025-10-24T22:53:49.854Z,1761346429.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932754,0.331477,0.141748],[-0.360507,0.855390,0.371945],[0.002041,-0.398034,0.917368]]
2025-10-24T22:53:50.260Z,1761346430.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927914,0.343253,0.145438],[-0.372753,0.848559,0.375504],[0.005480,-0.402648,0.915338]]
2025-10-24T22:53:50.673Z,1761346430.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922544,0.356101,0.148675],[-0.385785,0.842034,0.377027],[0.009071,-0.405180,0.914192]]
2025-10-24T22:53:51.066Z,1761346431.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916608,0.369963,0.151519],[-0.399579,0.835533,0.377121],[0.012921,-0.406216,0.913686]]
2025-10-24T22:53:51.471Z,1761346431.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910032,0.384736,0.154337],[-0.414202,0.828925,0.375925],[0.016698,-0.406030,0.913707]]
2025-10-24T22:53:51.885Z,1761346431.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903259,0.399545,0.156484],[-0.428598,0.822508,0.373877],[0.020671,-0.404776,0.914182]]
2025-10-24T22:53:52.279Z,1761346432.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896157,0.414528,0.158329],[-0.443053,0.816090,0.371082],[0.024613,-0.402696,0.915003]]
2025-10-24T22:53:52.690Z,1761346432.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889130,0.429182,0.158903],[-0.456757,0.810451,0.366800],[0.028640,-0.398713,0.916628]]
2025-10-24T22:53:53.086Z,1761346433.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882057,0.443471,0.159085],[-0.469996,0.804694,0.362729],[0.032845,-0.394717,0.918215]]
2025-10-24T22:53:53.490Z,1761346433.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875325,0.456724,0.158773],[-0.482138,0.799459,0.358342],[0.036731,-0.390216,0.919990]]
2025-10-24T22:53:53.922Z,1761346433.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868917,0.468867,0.158576],[-0.493288,0.794049,0.355181],[0.040616,-0.386846,0.921249]]
2025-10-24T22:53:54.300Z,1761346434.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862348,0.480511,0.159580],[-0.504395,0.787859,0.353362],[0.044068,-0.385212,0.921775]]
2025-10-24T22:53:54.702Z,1761346434.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855486,0.492035,0.161386],[-0.515673,0.781104,0.352078],[0.047175,-0.384420,0.921952]]
2025-10-24T22:53:55.106Z,1761346435.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848886,0.502505,0.163954],[-0.526192,0.773948,0.352316],[0.050148,-0.385347,0.921408]]
2025-10-24T22:53:55.511Z,1761346435.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841477,0.513321,0.168576],[-0.537688,0.765019,0.354453],[0.052984,-0.388905,0.919753]]
2025-10-24T22:53:55.958Z,1761346435.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833253,0.524973,0.173472],[-0.550072,0.755499,0.355868],[0.055763,-0.391950,0.918295]]
2025-10-24T22:53:56.318Z,1761346436.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824145,0.537542,0.178421],[-0.563348,0.745449,0.356294],[0.058520,-0.394151,0.917181]]
2025-10-24T22:53:56.722Z,1761346436.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814960,0.550109,0.182266],[-0.576254,0.735911,0.355482],[0.061422,-0.394735,0.916740]]
2025-10-24T22:53:57.126Z,1761346437.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805584,0.562438,0.186271],[-0.588960,0.725967,0.355104],[0.064497,-0.395772,0.916081]]
2025-10-24T22:53:57.530Z,1761346437.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795866,0.574922,0.189900],[-0.601656,0.715781,0.354496],[0.067881,-0.396386,0.915571]]
2025-10-24T22:53:57.972Z,1761346437.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785972,0.587435,0.192793],[-0.614180,0.706075,0.352478],[0.070932,-0.395447,0.915746]]
2025-10-24T22:53:58.339Z,1761346438.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775714,0.599722,0.196471],[-0.626818,0.696040,0.350183],[0.073260,-0.394793,0.915845]]
2025-10-24T22:53:58.750Z,1761346438.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764875,0.612240,0.200319],[-0.639757,0.685592,0.347382],[0.075344,-0.393859,0.916078]]
2025-10-24T22:53:59.146Z,1761346439.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753195,0.625135,0.204705],[-0.653213,0.674129,0.344765],[0.077528,-0.393391,0.916097]]
2025-10-24T22:53:59.550Z,1761346439.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741494,0.637663,0.208739],[-0.666242,0.662917,0.341561],[0.079424,-0.392336,0.916387]]
2025-10-24T22:53:59.602Z,1761346439.602 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:53:59.602Z,1761346439.602 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:53:59.602Z,1761346439.602 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:53:59.602Z,1761346439.602 [marl:UpdateRudder:A] Stopped
2025-10-24T22:53:59.602Z,1761346439.602 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:53:59.603Z,1761346439.603 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:53:59.603Z,1761346439.603 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:53:59.603Z,1761346439.603 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:53:59.603Z,1761346439.603 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:53:59.603Z,1761346439.603 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:53:59.603Z,1761346439.603 [marl:UpdateCommandMode] Stopped
2025-10-24T22:53:59.603Z,1761346439.603 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:53:59.603Z,1761346439.603 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:53:59.604Z,1761346439.604 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:53:59.604Z,1761346439.604 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:53:59.604Z,1761346439.604 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:53:59.604Z,1761346439.604 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:53:59.604Z,1761346439.604 [marl:UpdateSpeed] Stopped
2025-10-24T22:53:59.604Z,1761346439.604 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:53:59.970Z,1761346439.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729473,0.650449,0.211625],[-0.679179,0.652078,0.336913],[0.081149,-0.389500,0.917444]]
2025-10-24T22:54:00.026Z,1761346440.026 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:54:00.026Z,1761346440.026 [marl:UpdateRudder:B] Stopped
2025-10-24T22:54:00.026Z,1761346440.026 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:54:00.026Z,1761346440.026 [marl:UpdateRudder] Stopped
2025-10-24T22:54:00.026Z,1761346440.026 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:54:00.360Z,1761346440.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716672,0.663870,0.213676],[-0.692410,0.640695,0.331780],[0.083357,-0.385729,0.918839]]
2025-10-24T22:54:00.370Z,1761346440.370 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-10-24T22:54:00.371Z,1761346440.371 [NAL9602] Data Fault, FailCount= 2
2025-10-24T22:54:00.371Z,1761346440.371 [NAL9602](ERROR): Data Fault
2025-10-24T22:54:00.401Z,1761346440.401 [marl:NeedComms] Running Loop=1
2025-10-24T22:54:00.401Z,1761346440.401 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms
2025-10-24T22:54:00.401Z,1761346440.401 [marl:NeedComms:B.GoToSurface] Running Loop=1
2025-10-24T22:54:00.401Z,1761346440.401 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-24T22:54:00.401Z,1761346440.401 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-24T22:54:00.402Z,1761346440.402 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-24T22:54:00.402Z,1761346440.402 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-24T22:54:00.402Z,1761346440.402 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-24T22:54:00.403Z,1761346440.403 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-24T22:54:00.403Z,1761346440.403 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-24T22:54:00.403Z,1761346440.403 [marl:NeedComms:A] Running Loop=1
2025-10-24T22:54:00.405Z,1761346440.405 [marl:NeedComms:A](ERROR): caught uninitialized data element exception.
2025-10-24T22:54:00.405Z,1761346440.405 [marl:NeedComms:A](INFO): last time_fix was:  nan second since 1970/01/01T00:00:00Z 
2025-10-24T22:54:00.405Z,1761346440.405 [marl:NeedComms:A] Stopped
2025-10-24T22:54:00.454Z,1761346440.454 [CBIT](ERROR): Data Fault in component: NAL9602
2025-10-24T22:54:00.762Z,1761346440.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704259,0.676517,0.215275],[-0.704751,0.629591,0.327018],[0.085698,-0.382021,0.920172]]
2025-10-24T22:54:00.775Z,1761346440.775 [NAL9602](INFO): Powering down
2025-10-24T22:54:01.166Z,1761346441.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691974,0.688299,0.217754],[-0.716565,0.618169,0.323113],[0.087790,-0.379621,0.920967]]
2025-10-24T22:54:01.571Z,1761346441.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679768,0.699264,0.221236],[-0.727942,0.606432,0.319908],[0.089536,-0.378510,0.921256]]
2025-10-24T22:54:01.934Z,1761346441.934 [CBIT](INFO): Clearing failed state for component NAL9602
2025-10-24T22:54:01.934Z,1761346441.934 [NAL9602] No Fault, FailCount= 2
2025-10-24T22:54:01.994Z,1761346441.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667122,0.710269,0.224646],[-0.739311,0.594224,0.316731],[0.091474,-0.377381,0.921529]]
2025-10-24T22:54:02.407Z,1761346442.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654720,0.720666,0.227996],[-0.750113,0.582307,0.313447],[0.093127,-0.376243,0.921829]]
2025-10-24T22:54:02.778Z,1761346442.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641822,0.731301,0.230789],[-0.761156,0.570900,0.307758],[0.093307,-0.373192,0.923050]]
2025-10-24T22:54:03.182Z,1761346443.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628078,0.741879,0.234806],[-0.773068,0.560461,0.297068],[0.088788,-0.368103,0.925536]]
2025-10-24T22:54:03.588Z,1761346443.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613515,0.751319,0.243143],[-0.785834,0.550502,0.281802],[0.077872,-0.363960,0.928154]]
2025-10-24T22:54:03.994Z,1761346443.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599149,0.759563,0.253149],[-0.798284,0.542518,0.261567],[0.061338,-0.358802,0.931396]]
2025-10-24T22:54:04.396Z,1761346444.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584706,0.766698,0.265129],[-0.810162,0.534976,0.239664],[0.041912,-0.354930,0.933953]]
2025-10-24T22:54:04.799Z,1761346444.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569913,0.773065,0.278512],[-0.821485,0.528202,0.214858],[0.018989,-0.351244,0.936091]]
2025-10-24T22:54:05.205Z,1761346445.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554599,0.778249,0.294530],[-0.832096,0.521215,0.189607],[-0.005952,-0.350233,0.936644]]
2025-10-24T22:54:05.606Z,1761346445.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538839,0.783002,0.310740],[-0.841790,0.514611,0.162990],[-0.032289,-0.349404,0.936416]]
2025-10-24T22:54:06.011Z,1761346446.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522637,0.787154,0.327474],[-0.850466,0.508235,0.135660],[-0.059648,-0.349407,0.935071]]
2025-10-24T22:54:06.263Z,1761346446.263 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T22:54:06.263Z,1761346446.263 [DAT] No Fault, FailCount= 8
2025-10-24T22:54:06.414Z,1761346446.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504836,0.791691,0.344043],[-0.858846,0.500715,0.108023],[-0.086747,-0.350014,0.932719]]
2025-10-24T22:54:06.540Z,1761346446.540 [DAT](INFO): Powering up
2025-10-24T22:54:06.540Z,1761346446.540 [DAT](DEBUG): Initializing DAT.
2025-10-24T22:54:06.820Z,1761346446.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485311,0.797591,0.358221],[-0.866982,0.492031,0.079048],[-0.113208,-0.348934,0.930284]]
2025-10-24T22:54:06.869Z,1761346446.869 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:54:07.222Z,1761346447.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464062,0.804195,0.371373],[-0.874985,0.481484,0.050731],[-0.138012,-0.348488,0.927097]]
2025-10-24T22:54:07.626Z,1761346447.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441715,0.811201,0.383199],[-0.882522,0.469712,0.022945],[-0.161380,-0.348316,0.923381]]
2025-10-24T22:54:07.872Z,1761346447.872 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:54:08.030Z,1761346448.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418489,0.818970,0.392625],[-0.889730,0.456472,-0.003806],[-0.182339,-0.347738,0.919691]]
2025-10-24T22:54:08.436Z,1761346448.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395186,0.825884,0.402173],[-0.896050,0.442991,-0.029224],[-0.202295,-0.348819,0.915097]]
2025-10-24T22:54:08.850Z,1761346448.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371927,0.833345,0.408910],[-0.901718,0.428939,-0.054000],[-0.220398,-0.348637,0.910976]]
2025-10-24T22:54:09.242Z,1761346449.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348355,0.840524,0.414931],[-0.906924,0.414112,-0.077459],[-0.236934,-0.349328,0.906550]]
2025-10-24T22:54:09.648Z,1761346449.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324805,0.848412,0.417971],[-0.911652,0.398500,-0.100445],[-0.251780,-0.348419,0.902890]]
2025-10-24T22:54:10.057Z,1761346450.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301014,0.855685,0.420943],[-0.915875,0.382370,-0.122337],[-0.265638,-0.348706,0.898799]]
2025-10-24T22:54:10.457Z,1761346450.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277399,0.862988,0.422258],[-0.919574,0.365787,-0.143467],[-0.278266,-0.348500,0.895051]]
2025-10-24T22:54:10.865Z,1761346450.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254472,0.870600,0.421070],[-0.922514,0.349180,-0.164441],[-0.290191,-0.346597,0.891997]]
2025-10-24T22:54:11.262Z,1761346451.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233956,0.876856,0.419986],[-0.924128,0.334774,-0.184157],[-0.302080,-0.345036,0.888650]]
2025-10-24T22:54:11.673Z,1761346451.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215647,0.881960,0.419099],[-0.924765,0.322273,-0.202362],[-0.313539,-0.343929,0.885102]]
2025-10-24T22:54:12.070Z,1761346452.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199119,0.885612,0.419575],[-0.924631,0.311630,-0.218964],[-0.324669,-0.344352,0.880915]]
2025-10-24T22:54:12.474Z,1761346452.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184489,0.887721,0.421800],[-0.924048,0.302868,-0.233252],[-0.334813,-0.346731,0.876172]]
2025-10-24T22:54:12.517Z,1761346452.517 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:54:12.517Z,1761346452.517 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:54:12.517Z,1761346452.517 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:54:12.518Z,1761346452.518 [marl:UpdateRudder:A] Stopped
2025-10-24T22:54:12.518Z,1761346452.518 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:54:12.518Z,1761346452.518 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:54:12.518Z,1761346452.518 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:54:12.518Z,1761346452.518 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:54:12.518Z,1761346452.518 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:54:12.518Z,1761346452.518 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:54:12.518Z,1761346452.518 [marl:UpdateCommandMode] Stopped
2025-10-24T22:54:12.519Z,1761346452.519 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:54:12.519Z,1761346452.519 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:54:12.519Z,1761346452.519 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:54:12.519Z,1761346452.519 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:54:12.519Z,1761346452.519 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:54:12.519Z,1761346452.519 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:54:12.519Z,1761346452.519 [marl:UpdateSpeed] Stopped
2025-10-24T22:54:12.519Z,1761346452.519 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:54:12.878Z,1761346452.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170993,0.889984,0.422718],[-0.923368,0.294430,-0.246377],[-0.343733,-0.348196,0.872128]]
2025-10-24T22:54:12.902Z,1761346452.902 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:54:12.902Z,1761346452.902 [marl:UpdateRudder:B] Stopped
2025-10-24T22:54:12.902Z,1761346452.902 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:54:12.902Z,1761346452.902 [marl:UpdateRudder] Stopped
2025-10-24T22:54:12.902Z,1761346452.902 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:54:13.283Z,1761346453.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158423,0.892086,0.423184],[-0.922477,0.286544,-0.258707],[-0.352050,-0.349392,0.868324]]
2025-10-24T22:54:14.545Z,1761346454.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114966,0.901205,0.417868],[-0.920522,0.254769,-0.296195],[-0.373392,-0.350604,0.858869]]
2025-10-24T22:54:14.948Z,1761346454.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097956,0.905712,0.412420],[-0.919964,0.240468,-0.309583],[-0.379567,-0.349086,0.856778]]
2025-10-24T22:54:15.357Z,1761346455.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080741,0.910400,0.405774],[-0.919138,0.225488,-0.323017],[-0.385572,-0.346882,0.854990]]
2025-10-24T22:54:15.754Z,1761346455.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063208,0.915089,0.398268],[-0.918274,0.209621,-0.335904],[-0.390867,-0.344488,0.853552]]
2025-10-24T22:54:16.160Z,1761346456.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045511,0.919671,0.390043],[-0.917432,0.192976,-0.347964],[-0.395281,-0.342002,0.852518]]
2025-10-24T22:54:16.565Z,1761346456.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027728,0.923594,0.382368],[-0.916521,0.176181,-0.359094],[-0.399023,-0.340492,0.851379]]
2025-10-24T22:54:16.966Z,1761346456.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009587,0.926583,0.375968],[-0.915474,0.159385,-0.369465],[-0.402264,-0.340647,0.849790]]
2025-10-24T22:54:17.370Z,1761346457.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009243,0.929574,0.368520],[-0.914161,0.141499,-0.379852],[-0.405246,-0.340398,0.848472]]
2025-10-24T22:54:17.778Z,1761346457.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028755,0.931620,0.362295],[-0.912472,0.123520,-0.390048],[-0.408127,-0.341800,0.846525]]
2025-10-24T22:54:18.179Z,1761346458.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048481,0.932765,0.357209],[-0.910294,0.105938,-0.400177],[-0.411113,-0.344566,0.843955]]
2025-10-24T22:54:18.582Z,1761346458.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068679,0.932991,0.353287],[-0.907732,0.088475,-0.410116],[-0.413892,-0.348856,0.840829]]
2025-10-24T22:54:18.637Z,1761346458.637 [DAT](INFO): DAT read: 

2025-10-24T22:54:18.637Z,1761346458.637 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T22:54:19.391Z,1761346459.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107344,0.930826,0.349342],[-0.901978,0.056632,-0.428052],[-0.418226,-0.361047,0.833506]]
2025-10-24T22:54:19.800Z,1761346459.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125095,0.928230,0.350344],[-0.899341,0.043029,-0.435125],[-0.418971,-0.369511,0.829413]]
2025-10-24T22:54:20.219Z,1761346460.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141817,0.923333,0.356853],[-0.896877,0.032713,-0.441068],[-0.418927,-0.382604,0.823477]]
2025-10-24T22:54:20.401Z,1761346460.401 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T22:54:20.402Z,1761346460.402 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T22:54:20.402Z,1761346460.402 [DAT](INFO): DAT read: Oct 24 2025 22:53:48 

2025-10-24T22:54:20.603Z,1761346460.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157285,0.916870,0.366894],[-0.894522,0.025146,-0.446317],[-0.418440,-0.398393,0.816205]]
2025-10-24T22:54:21.007Z,1761346461.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172758,0.910723,0.375152],[-0.892180,0.016692,-0.451372],[-0.417337,-0.412681,0.809645]]
2025-10-24T22:54:21.409Z,1761346461.409 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T22:54:21.410Z,1761346461.410 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:54:21.410Z,1761346461.410 [DAT](INFO): commRate: 600
2025-10-24T22:54:21.418Z,1761346461.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189718,0.906403,0.377413],[-0.889561,0.004012,-0.456800],[-0.415559,-0.422395,0.805539]]
2025-10-24T22:54:21.823Z,1761346461.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207061,0.903352,0.375607],[-0.886636,-0.010993,-0.462337],[-0.413524,-0.428758,0.803221]]
2025-10-24T22:54:22.220Z,1761346462.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224781,0.902456,0.367487],[-0.883625,-0.029826,-0.467244],[-0.410706,-0.429749,0.804137]]
2025-10-24T22:54:22.623Z,1761346462.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241606,0.901846,0.358189],[-0.880662,-0.048772,-0.471227],[-0.407505,-0.429295,0.806006]]
2025-10-24T22:54:23.026Z,1761346463.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256522,0.901821,0.347728],[-0.878232,-0.067244,-0.473484],[-0.403615,-0.426845,0.809258]]
2025-10-24T22:54:23.431Z,1761346463.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269420,0.900726,0.340742],[-0.876582,-0.082860,-0.474066],[-0.398770,-0.426411,0.811884]]
2025-10-24T22:54:23.484Z,1761346463.484 [DAT](INFO): entering command mode
2025-10-24T22:54:23.685Z,1761346463.685 [DAT](INFO): DAT read: 

2025-10-24T22:54:23.685Z,1761346463.685 [DAT](INFO): DAT read: user:1>

2025-10-24T22:54:23.685Z,1761346463.685 [DAT](INFO): setting verbose to 3
2025-10-24T22:54:23.843Z,1761346463.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280526,0.898683,0.337155],[-0.875510,-0.095596,-0.473649],[-0.393429,-0.428054,0.813624]]
2025-10-24T22:54:23.939Z,1761346463.939 [DAT](INFO): DAT read: user:1>

2025-10-24T22:54:23.945Z,1761346463.945 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T22:54:23.946Z,1761346463.946 [DAT](INFO): set verbose to 3
2025-10-24T22:54:23.947Z,1761346463.947 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T22:54:24.189Z,1761346464.189 [DAT](INFO): DAT read: user:2>

2025-10-24T22:54:24.190Z,1761346464.190 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T22:54:24.190Z,1761346464.190 [DAT](INFO): set DatVerbose to 27440
2025-10-24T22:54:24.190Z,1761346464.190 [DAT](INFO): setting transmit power to 8
2025-10-24T22:54:24.274Z,1761346464.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301595,0.894236,0.330731],[-0.872890,-0.119430,-0.473075],[-0.383541,-0.431368,0.816589]]
2025-10-24T22:54:24.441Z,1761346464.441 [DAT](INFO): DAT read: user:3>

2025-10-24T22:54:24.442Z,1761346464.442 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T22:54:24.442Z,1761346464.442 [DAT](INFO): set transmit power to 8
2025-10-24T22:54:24.442Z,1761346464.442 [DAT](INFO): setting local address to 11
2025-10-24T22:54:24.693Z,1761346464.693 [DAT](INFO): DAT read: user:4>

2025-10-24T22:54:24.694Z,1761346464.694 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T22:54:24.694Z,1761346464.694 [DAT](INFO): set local address to 11
2025-10-24T22:54:24.695Z,1761346464.695 [DAT](INFO): Setting time to: 22:54:24 And date to:10/24/2025
2025-10-24T22:54:24.945Z,1761346464.945 [DAT](INFO): DAT read: user:5>

2025-10-24T22:54:24.945Z,1761346464.945 [DAT](INFO): DAT read: Fri Oct 24, 2025  22:54:24  

2025-10-24T22:54:24.946Z,1761346464.946 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  22:54:24  

2025-10-24T22:54:24.946Z,1761346464.946 [DAT](INFO): setting remote address to 10
2025-10-24T22:54:24.947Z,1761346464.947 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:54:24.947Z,1761346464.947 [DAT](INFO): setting remote address to 0
2025-10-24T22:54:25.046Z,1761346465.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313717,0.894018,0.319864],[-0.870249,-0.135975,-0.473475],[-0.379801,-0.426898,0.820676]]
2025-10-24T22:54:25.197Z,1761346465.197 [DAT](INFO): DAT read: user:6>

2025-10-24T22:54:25.198Z,1761346465.198 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:54:25.199Z,1761346465.199 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T22:54:25.199Z,1761346465.199 [DAT] Communications Fault, FailCount= 1
2025-10-24T22:54:25.199Z,1761346465.199 [DAT](ERROR): Communications Fault
2025-10-24T22:54:25.201Z,1761346465.201 [DAT](INFO): DAT read: user:7>

2025-10-24T22:54:25.202Z,1761346465.202 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:54:25.202Z,1761346465.202 [DAT](INFO): set remote address to 0
2025-10-24T22:54:25.202Z,1761346465.202 [DAT](INFO): setting remote address to 10
2025-10-24T22:54:25.203Z,1761346465.203 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:54:25.203Z,1761346465.203 [DAT](INFO): setting remote address to 0
2025-10-24T22:54:25.223Z,1761346465.223 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T22:54:25.450Z,1761346465.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328776,0.894207,0.303810],[-0.866430,-0.157597,-0.473774],[-0.375772,-0.418996,0.826582]]
2025-10-24T22:54:25.487Z,1761346465.487 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:54:25.487Z,1761346465.487 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:54:25.488Z,1761346465.488 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:54:25.488Z,1761346465.488 [marl:UpdateRudder:A] Stopped
2025-10-24T22:54:25.488Z,1761346465.488 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:54:25.489Z,1761346465.489 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:54:25.489Z,1761346465.489 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:54:25.489Z,1761346465.489 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:54:25.489Z,1761346465.489 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:54:25.489Z,1761346465.489 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:54:25.489Z,1761346465.489 [marl:UpdateCommandMode] Stopped
2025-10-24T22:54:25.489Z,1761346465.489 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:54:25.489Z,1761346465.489 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:54:25.490Z,1761346465.490 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:54:25.490Z,1761346465.490 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:54:25.490Z,1761346465.490 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:54:25.490Z,1761346465.490 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:54:25.490Z,1761346465.490 [marl:UpdateSpeed] Stopped
2025-10-24T22:54:25.490Z,1761346465.490 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:54:25.609Z,1761346465.609 [DAT](INFO): Powering down
2025-10-24T22:54:25.854Z,1761346465.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345452,0.893756,0.286118],[-0.861838,-0.181504,-0.473595],[-0.371347,-0.410192,0.832973]]
2025-10-24T22:54:25.958Z,1761346465.958 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:54:25.958Z,1761346465.958 [marl:UpdateRudder:B] Stopped
2025-10-24T22:54:25.958Z,1761346465.958 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:54:25.958Z,1761346465.958 [marl:UpdateRudder] Stopped
2025-10-24T22:54:25.958Z,1761346465.958 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:54:26.259Z,1761346466.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362551,0.891567,0.271414],[-0.857091,-0.204604,-0.472791],[-0.365993,-0.404037,0.838334]]
2025-10-24T22:54:26.686Z,1761346466.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393610,0.882447,0.257600],[-0.849223,-0.241754,-0.469441],[-0.351981,-0.403537,0.844552]]
2025-10-24T22:54:26.851Z,1761346466.851 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T22:54:26.851Z,1761346466.851 [DAT] No Fault, FailCount= 1
2025-10-24T22:54:27.476Z,1761346467.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424408,0.872517,0.242058],[-0.839957,-0.279535,-0.465116],[-0.338158,-0.400717,0.851513]]
2025-10-24T22:54:27.885Z,1761346467.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441609,0.865968,0.234693],[-0.833209,-0.298806,-0.465272],[-0.332783,-0.401016,0.853488]]
2025-10-24T22:54:28.291Z,1761346468.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458765,0.859098,0.226902],[-0.825620,-0.317742,-0.466252],[-0.328460,-0.401235,0.855058]]
2025-10-24T22:54:28.656Z,1761346468.656 [DAT](INFO): Powering up
2025-10-24T22:54:28.656Z,1761346468.656 [DAT](DEBUG): Initializing DAT.
2025-10-24T22:54:28.692Z,1761346468.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474401,0.854519,0.211520],[-0.818170,-0.339324,-0.464174],[-0.324872,-0.393264,0.860117]]
2025-10-24T22:54:29.145Z,1761346469.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486623,0.853168,0.187890],[-0.812049,-0.362439,-0.457399],[-0.322140,-0.375157,0.869186]]
2025-10-24T22:54:29.681Z,1761346469.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494927,0.853732,0.161831],[-0.807900,-0.383545,-0.447426],[-0.319912,-0.352186,0.879557]]
2025-10-24T22:54:30.087Z,1761346470.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500135,0.854274,0.141705],[-0.805344,-0.398721,-0.438683],[-0.318255,-0.333522,0.887399]]
2025-10-24T22:54:30.495Z,1761346470.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504917,0.854107,0.124740],[-0.802814,-0.411594,-0.431370],[-0.317094,-0.317949,0.893510]]
2025-10-24T22:54:30.898Z,1761346470.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510005,0.853375,0.107914],[-0.799628,-0.424127,-0.425102],[-0.317003,-0.303095,0.898689]]
2025-10-24T22:54:30.921Z,1761346470.921 [NAL9602](INFO): Powering up NAL9602
2025-10-24T22:54:31.309Z,1761346471.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515154,0.852009,0.093256],[-0.796012,-0.435259,-0.420612],[-0.317775,-0.290913,0.902435]]
2025-10-24T22:54:31.709Z,1761346471.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519903,0.850361,0.081164],[-0.792485,-0.444678,-0.417407],[-0.318855,-0.281333,0.905087]]
2025-10-24T22:54:32.104Z,1761346472.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523531,0.848840,0.073390],[-0.789704,-0.451111,-0.415773],[-0.319818,-0.275627,0.906502]]
2025-10-24T22:54:32.504Z,1761346472.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525642,0.847787,0.070408],[-0.788165,-0.454181,-0.415350],[-0.320151,-0.273818,0.906933]]
2025-10-24T22:54:32.906Z,1761346472.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526642,0.847179,0.070252],[-0.787656,-0.455211,-0.415188],[-0.319759,-0.273989,0.907019]]
2025-10-24T22:54:33.312Z,1761346473.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526348,0.847047,0.073957],[-0.788080,-0.453348,-0.416420],[-0.319199,-0.277466,0.906159]]
2025-10-24T22:54:33.715Z,1761346473.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524974,0.847519,0.078183],[-0.789297,-0.450414,-0.417298],[-0.318454,-0.280781,0.905400]]
2025-10-24T22:54:34.117Z,1761346474.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522993,0.848617,0.079547],[-0.790941,-0.448421,-0.416331],[-0.317635,-0.280655,0.905727]]
2025-10-24T22:54:34.522Z,1761346474.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520638,0.850026,0.079954],[-0.792850,-0.446617,-0.414634],[-0.316740,-0.279266,0.906469]]
2025-10-24T22:54:34.924Z,1761346474.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518103,0.851596,0.079707],[-0.794872,-0.444981,-0.412518],[-0.315830,-0.277084,0.907456]]
2025-10-24T22:54:35.329Z,1761346475.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515574,0.853037,0.080686],[-0.796938,-0.442805,-0.410869],[-0.314759,-0.276136,0.908117]]
2025-10-24T22:54:35.737Z,1761346475.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513109,0.854393,0.082047],[-0.799125,-0.440648,-0.408935],[-0.313237,-0.275394,0.908868]]
2025-10-24T22:54:36.138Z,1761346476.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510691,0.855857,0.081876],[-0.801243,-0.439234,-0.406304],[-0.311775,-0.273098,0.910062]]
2025-10-24T22:54:36.541Z,1761346476.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507213,0.858086,0.080149],[-0.803439,-0.437157,-0.404204],[-0.311804,-0.269412,0.911151]]
2025-10-24T22:54:36.944Z,1761346476.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503070,0.861110,0.073562],[-0.805031,-0.435936,-0.402350],[-0.314399,-0.261630,0.912526]]
2025-10-24T22:54:37.348Z,1761346477.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499226,0.864053,0.064694],[-0.805009,-0.434899,-0.403514],[-0.320522,-0.253524,0.912683]]
2025-10-24T22:54:37.761Z,1761346477.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497076,0.866167,0.051685],[-0.802578,-0.436308,-0.406821],[-0.329824,-0.243702,0.912045]]
2025-10-24T22:54:38.000Z,1761346478.000 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:54:38.156Z,1761346478.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497987,0.866477,0.035012],[-0.797258,-0.441574,-0.411572],[-0.341157,-0.232872,0.910704]]
2025-10-24T22:54:38.560Z,1761346478.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502311,0.864504,0.017803],[-0.789502,-0.450140,-0.417206],[-0.352662,-0.223623,0.908638]]
2025-10-24T22:54:38.603Z,1761346478.603 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:54:38.603Z,1761346478.603 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:54:38.603Z,1761346478.603 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:54:38.604Z,1761346478.604 [marl:UpdateRudder:A] Stopped
2025-10-24T22:54:38.604Z,1761346478.604 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:54:38.604Z,1761346478.604 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:54:38.604Z,1761346478.604 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:54:38.604Z,1761346478.604 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:54:38.605Z,1761346478.605 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:54:38.605Z,1761346478.605 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:54:38.605Z,1761346478.605 [marl:UpdateCommandMode] Stopped
2025-10-24T22:54:38.605Z,1761346478.605 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:54:38.605Z,1761346478.605 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:54:38.605Z,1761346478.605 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:54:38.605Z,1761346478.605 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:54:38.606Z,1761346478.606 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:54:38.606Z,1761346478.606 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:54:38.606Z,1761346478.606 [marl:UpdateSpeed] Stopped
2025-10-24T22:54:38.606Z,1761346478.606 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:54:38.964Z,1761346478.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510174,0.860058,0.004698],[-0.780207,-0.460495,-0.423346],[-0.361939,-0.219645,0.905956]]
2025-10-24T22:54:38.993Z,1761346478.993 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:54:38.993Z,1761346478.993 [marl:UpdateRudder:B] Stopped
2025-10-24T22:54:38.993Z,1761346478.993 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:54:38.993Z,1761346478.993 [marl:UpdateRudder] Stopped
2025-10-24T22:54:38.993Z,1761346478.993 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:54:39.004Z,1761346479.004 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:54:39.375Z,1761346479.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521034,0.853536,-0.000097],[-0.770307,-0.470277,-0.430659],[-0.367628,-0.224313,0.902515]]
2025-10-24T22:54:39.826Z,1761346479.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533215,0.845978,0.001952],[-0.760935,-0.478602,-0.438084],[-0.369675,-0.235078,0.898932]]
2025-10-24T22:54:40.214Z,1761346480.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543554,0.839331,0.008479],[-0.753947,-0.483769,-0.444445],[-0.368934,-0.247973,0.895766]]
2025-10-24T22:54:40.615Z,1761346480.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546494,0.837220,0.020151],[-0.751775,-0.479833,-0.452321],[-0.369023,-0.262340,0.891628]]
2025-10-24T22:54:40.764Z,1761346480.764 [DAT](INFO): DAT read: 

2025-10-24T22:54:40.765Z,1761346480.765 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T22:54:41.021Z,1761346481.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543275,0.838957,0.031674],[-0.752871,-0.470139,-0.460602],[-0.371534,-0.274080,0.887042]]
2025-10-24T22:54:41.423Z,1761346481.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542903,0.839138,0.033231],[-0.751458,-0.467749,-0.465318],[-0.374922,-0.277594,0.884520]]
2025-10-24T22:54:41.827Z,1761346481.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544625,0.838416,0.021019],[-0.747985,-0.474241,-0.464342],[-0.379343,-0.268614,0.885407]]
2025-10-24T22:54:41.830Z,1761346481.830 [NAL9602](INFO): NAL9602 initialized
2025-10-24T22:54:42.231Z,1761346482.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545801,0.837893,-0.006054],[-0.744281,-0.488116,-0.455838],[-0.384899,-0.244292,0.890042]]
2025-10-24T22:54:42.525Z,1761346482.525 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T22:54:42.526Z,1761346482.526 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T22:54:42.527Z,1761346482.527 [DAT](INFO): DAT read: Oct 24 2025 22:54:33 

2025-10-24T22:54:42.635Z,1761346482.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542704,0.839059,-0.038102],[-0.743504,-0.501013,-0.442931],[-0.390735,-0.212051,0.895746]]
2025-10-24T22:54:43.040Z,1761346483.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534216,0.842789,-0.065720],[-0.747400,-0.507213,-0.429101],[-0.394976,-0.180113,0.900863]]
2025-10-24T22:54:43.447Z,1761346483.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521461,0.848896,-0.086330],[-0.755286,-0.506284,-0.416197],[-0.397015,-0.151827,0.905167]]
2025-10-24T22:54:43.534Z,1761346483.534 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T22:54:43.535Z,1761346483.535 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:54:43.536Z,1761346483.536 [DAT](INFO): commRate: 600
2025-10-24T22:54:43.853Z,1761346483.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505534,0.856584,-0.103442],[-0.765793,-0.500687,-0.403575],[-0.397488,-0.124806,0.909080]]
2025-10-24T22:54:44.659Z,1761346484.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467379,0.875124,-0.125361],[-0.790905,-0.477264,-0.382999],[-0.395002,-0.079857,0.915203]]
2025-10-24T22:54:45.069Z,1761346485.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446139,0.885093,-0.132555],[-0.803917,-0.461420,-0.375245],[-0.393291,-0.060848,0.917399]]
2025-10-24T22:54:45.462Z,1761346485.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424761,0.894133,-0.141793],[-0.815389,-0.445902,-0.369205],[-0.393344,-0.041207,0.918467]]
2025-10-24T22:54:45.600Z,1761346485.600 [DAT](INFO): entering command mode
2025-10-24T22:54:45.800Z,1761346485.800 [DAT](INFO): DAT read: 

2025-10-24T22:54:45.801Z,1761346485.801 [DAT](INFO): DAT read: user:1>

2025-10-24T22:54:45.801Z,1761346485.801 [DAT](INFO): setting verbose to 3
2025-10-24T22:54:45.905Z,1761346485.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405752,0.901204,-0.152303],[-0.823783,-0.432778,-0.366175],[-0.395912,-0.023112,0.917998]]
2025-10-24T22:54:46.053Z,1761346486.053 [DAT](INFO): DAT read: user:1>

2025-10-24T22:54:46.053Z,1761346486.053 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T22:54:46.054Z,1761346486.054 [DAT](INFO): set verbose to 3
2025-10-24T22:54:46.054Z,1761346486.054 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T22:54:46.216Z,1761346486.216 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:54:46.216Z,1761346486.216 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:54:46.278Z,1761346486.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390463,0.905730,-0.164902],[-0.829383,-0.423822,-0.364004],[-0.399578,-0.005363,0.916683]]
2025-10-24T22:54:46.305Z,1761346486.305 [DAT](INFO): DAT read: user:2>

2025-10-24T22:54:46.306Z,1761346486.306 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T22:54:46.306Z,1761346486.306 [DAT](INFO): set DatVerbose to 27440
2025-10-24T22:54:46.306Z,1761346486.306 [DAT](INFO): setting transmit power to 8
2025-10-24T22:54:46.557Z,1761346486.557 [DAT](INFO): DAT read: user:3>

2025-10-24T22:54:46.558Z,1761346486.558 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T22:54:46.558Z,1761346486.558 [DAT](INFO): set transmit power to 8
2025-10-24T22:54:46.558Z,1761346486.558 [DAT](INFO): setting local address to 11
2025-10-24T22:54:46.679Z,1761346486.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380042,0.908594,-0.173275],[-0.832959,-0.417631,-0.362993],[-0.402179,0.006379,0.915539]]
2025-10-24T22:54:46.813Z,1761346486.813 [DAT](INFO): DAT read: user:4>

2025-10-24T22:54:46.814Z,1761346486.814 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T22:54:46.814Z,1761346486.814 [DAT](INFO): set local address to 11
2025-10-24T22:54:46.815Z,1761346486.815 [DAT](INFO): Setting time to: 22:54:46 And date to:10/24/2025
2025-10-24T22:54:47.061Z,1761346487.061 [DAT](INFO): DAT read: user:5>

2025-10-24T22:54:47.061Z,1761346487.061 [DAT](INFO): DAT read: Fri Oct 24, 2025  22:54:46  

2025-10-24T22:54:47.062Z,1761346487.062 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  22:54:46  

2025-10-24T22:54:47.062Z,1761346487.062 [DAT](INFO): setting remote address to 10
2025-10-24T22:54:47.063Z,1761346487.063 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:54:47.063Z,1761346487.063 [DAT](INFO): setting remote address to 0
2025-10-24T22:54:47.087Z,1761346487.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373588,0.911379,-0.172687],[-0.835273,-0.411491,-0.364683],[-0.403423,0.008000,0.914978]]
2025-10-24T22:54:47.314Z,1761346487.314 [DAT](INFO): DAT read: user:6>

2025-10-24T22:54:47.315Z,1761346487.315 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:54:47.316Z,1761346487.316 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T22:54:47.316Z,1761346487.316 [DAT] Communications Fault, FailCount= 2
2025-10-24T22:54:47.316Z,1761346487.316 [DAT](ERROR): Communications Fault
2025-10-24T22:54:47.317Z,1761346487.317 [DAT](INFO): DAT read: user:7>

2025-10-24T22:54:47.318Z,1761346487.318 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:54:47.318Z,1761346487.318 [DAT](INFO): set remote address to 0
2025-10-24T22:54:47.318Z,1761346487.318 [DAT](INFO): setting remote address to 10
2025-10-24T22:54:47.319Z,1761346487.319 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:54:47.319Z,1761346487.319 [DAT](INFO): setting remote address to 0
2025-10-24T22:54:47.483Z,1761346487.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367649,0.914627,-0.168199],[-0.837017,-0.404264,-0.368746],[-0.405261,0.005216,0.914186]]
2025-10-24T22:54:47.648Z,1761346487.648 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T22:54:47.724Z,1761346487.724 [DAT](INFO): Powering down
2025-10-24T22:54:47.959Z,1761346487.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350201,0.923594,-0.155994],[-0.842486,-0.383371,-0.378476],[-0.409362,-0.001120,0.912372]]
2025-10-24T22:54:48.015Z,1761346488.015 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:54:48.295Z,1761346488.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342603,0.929256,-0.138225],[-0.848790,-0.369230,-0.378451],[-0.402715,-0.012334,0.915242]]
2025-10-24T22:54:48.699Z,1761346488.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332620,0.936099,-0.114383],[-0.859296,-0.350811,-0.372212],[-0.388554,-0.025516,0.921073]]
2025-10-24T22:54:48.815Z,1761346488.815 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T22:54:48.815Z,1761346488.815 [DAT] No Fault, FailCount= 2
2025-10-24T22:54:49.104Z,1761346489.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316409,0.943310,-0.100257],[-0.872302,-0.330856,-0.360032],[-0.372792,-0.026463,0.927538]]
2025-10-24T22:54:49.509Z,1761346489.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295549,0.950700,-0.093920],[-0.882821,-0.309364,-0.353441],[-0.365072,-0.021545,0.930730]]
2025-10-24T22:54:49.966Z,1761346489.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277357,0.955802,-0.097548],[-0.887249,-0.293763,-0.355659],[-0.368596,-0.012095,0.929511]]
2025-10-24T22:54:50.311Z,1761346490.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265703,0.958298,-0.105196],[-0.887722,-0.285758,-0.360959],[-0.375967,-0.002523,0.926630]]
2025-10-24T22:54:50.714Z,1761346490.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258624,0.959711,-0.109856],[-0.889414,-0.280953,-0.360566],[-0.376904,0.004456,0.926242]]
2025-10-24T22:54:50.772Z,1761346490.772 [DAT](INFO): Powering up
2025-10-24T22:54:50.772Z,1761346490.772 [DAT](DEBUG): Initializing DAT.
2025-10-24T22:54:51.120Z,1761346491.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249285,0.962055,-0.110942],[-0.892719,-0.272688,-0.358740],[-0.375380,0.009612,0.926821]]
2025-10-24T22:54:51.522Z,1761346491.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243590,0.963666,-0.109595],[-0.894212,-0.266904,-0.359370],[-0.375564,0.010462,0.926737]]
2025-10-24T22:54:51.570Z,1761346491.570 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:54:51.570Z,1761346491.570 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:54:51.570Z,1761346491.570 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:54:51.570Z,1761346491.570 [marl:UpdateRudder:A] Stopped
2025-10-24T22:54:51.570Z,1761346491.570 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:54:51.570Z,1761346491.570 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:54:51.571Z,1761346491.571 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:54:51.571Z,1761346491.571 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:54:51.571Z,1761346491.571 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:54:51.571Z,1761346491.571 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:54:51.571Z,1761346491.571 [marl:UpdateCommandMode] Stopped
2025-10-24T22:54:51.571Z,1761346491.571 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:54:51.571Z,1761346491.571 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:54:51.571Z,1761346491.571 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:54:51.572Z,1761346491.572 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:54:51.572Z,1761346491.572 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:54:51.572Z,1761346491.572 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:54:51.572Z,1761346491.572 [marl:UpdateSpeed] Stopped
2025-10-24T22:54:51.572Z,1761346491.572 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:54:52.035Z,1761346492.035 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:54:52.036Z,1761346492.036 [marl:UpdateRudder:B] Stopped
2025-10-24T22:54:52.036Z,1761346492.036 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:54:52.036Z,1761346492.036 [marl:UpdateRudder] Stopped
2025-10-24T22:54:52.036Z,1761346492.036 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:54:52.335Z,1761346492.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223934,0.971709,-0.075061],[-0.910517,-0.236055,-0.339465],[-0.347579,-0.007674,0.937619]]
2025-10-24T22:54:52.748Z,1761346492.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201031,0.978147,-0.053052],[-0.924665,-0.207361,-0.319369],[-0.323391,-0.015148,0.946144]]
2025-10-24T22:54:53.144Z,1761346493.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173001,0.983788,-0.047239],[-0.939360,-0.179227,-0.292371],[-0.296097,-0.006206,0.955138]]
2025-10-24T22:54:53.548Z,1761346493.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140693,0.988275,-0.059318],[-0.949781,-0.151642,-0.273717],[-0.279502,0.017829,0.959979]]
2025-10-24T22:54:54.011Z,1761346494.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114756,0.990290,-0.078462],[-0.946253,-0.133011,-0.294811],[-0.302385,0.040414,0.952329]]
2025-10-24T22:54:54.394Z,1761346494.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096523,0.991101,-0.091665],[-0.939544,-0.121125,-0.320290],[-0.328543,0.055208,0.942874]]
2025-10-24T22:54:54.799Z,1761346494.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086082,0.991930,-0.093088],[-0.937556,-0.112259,-0.329222],[-0.337015,0.058935,0.939653]]
2025-10-24T22:54:55.203Z,1761346495.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086361,0.992512,-0.086377],[-0.935095,-0.110665,-0.336677],[-0.343715,0.051695,0.937650]]
2025-10-24T22:54:55.703Z,1761346495.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085556,0.994224,-0.064793],[-0.936302,-0.102463,-0.335916],[-0.340615,0.031926,0.939661]]
2025-10-24T22:54:55.778Z,1761346495.778 [marl:SendObservationData] Running Loop=1
2025-10-24T22:54:55.779Z,1761346495.779 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T22:54:55.779Z,1761346495.779 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T22:54:55.779Z,1761346495.779 [marl:SendObservationData:A] Running Loop=1
2025-10-24T22:54:55.782Z,1761346495.782 [marl:SendObservationData:A](INFO): Got test_good :  41da3f006000000040514000000000004042630c70ca8712c05e77462cba82f640165347600000004057e66660000000 n/a str  and temp var is  nan n/a str 
2025-10-24T22:54:55.782Z,1761346495.782 [marl:SendObservationData:A] Stopped
2025-10-24T22:54:55.782Z,1761346495.782 [marl:SendObservationData:B] Running Loop=1
2025-10-24T22:54:56.145Z,1761346496.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077093,0.996241,-0.039499],[-0.943499,-0.085703,-0.320102],[-0.322284,0.012589,0.946559]]
2025-10-24T22:54:56.208Z,1761346496.208 [marl:NeedComms:C] Running Loop=1
2025-10-24T22:54:56.209Z,1761346496.209 [marl:SendObservationData:B] Stopped
2025-10-24T22:54:56.209Z,1761346496.209 [marl:SendObservationData:C] Running Loop=1
2025-10-24T22:54:56.549Z,1761346496.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077062,0.996748,-0.023568],[-0.949779,-0.080581,-0.302368],[-0.303283,-0.000916,0.952900]]
2025-10-24T22:54:56.616Z,1761346496.616 [marl:SendObservationData:C] Stopped
2025-10-24T22:54:56.616Z,1761346496.616 [marl:SendObservationData:E] Running Loop=1
2025-10-24T22:54:56.849Z,1761346496.849 [Radio_Surface](INFO): Powering up
2025-10-24T22:54:56.951Z,1761346496.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050423,0.998704,0.006895],[-0.946350,-0.045571,-0.319913],[-0.319184,-0.022656,0.947422]]
2025-10-24T22:54:57.011Z,1761346497.011 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.009595 min 
2025-10-24T22:54:57.011Z,1761346497.011 [marl:SendObservationData:E] Stopped
2025-10-24T22:54:57.011Z,1761346497.011 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T22:54:57.012Z,1761346497.012 [marl:SendObservationData] Stopped
2025-10-24T22:54:57.012Z,1761346497.012 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T22:54:57.012Z,1761346497.012 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T22:54:57.355Z,1761346497.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020013,0.999736,0.011288],[-0.949803,-0.015485,-0.312464],[-0.312207,-0.016975,0.949862]]
2025-10-24T22:54:57.762Z,1761346497.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018133,0.999639,-0.019843],[-0.975620,-0.022032,-0.218356],[-0.218714,0.015400,0.975667]]
2025-10-24T22:54:58.163Z,1761346498.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006121,0.999943,-0.008692],[-0.996552,-0.006819,-0.082689],[-0.082744,0.008156,0.996537]]
2025-10-24T22:54:58.590Z,1761346498.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014943,0.999165,0.038022],[-0.999683,0.015699,-0.019658],[-0.020239,-0.037717,0.999084]]
2025-10-24T22:54:59.009Z,1761346499.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008842,0.998285,0.057869],[-0.999669,0.010223,-0.023622],[-0.024174,-0.057641,0.998045]]
2025-10-24T22:54:59.394Z,1761346499.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025427,0.997314,0.068686],[-0.999651,0.025856,-0.005354],[-0.007116,-0.068526,0.997624]]
2025-10-24T22:54:59.798Z,1761346499.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039755,0.997593,0.056805],[-0.996220,0.035178,0.079420],[0.077231,-0.059748,0.995221]]
2025-10-24T22:54:59.949Z,1761346499.949 [CTD_Seabird](ERROR): Salinity reading out of range: 23.726704 psu
2025-10-24T22:54:59.955Z,1761346499.955 [CTD_Seabird](INFO): some bad data, not updating bins
2025-10-24T22:55:00.205Z,1761346500.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058413,0.994208,0.090216],[-0.993441,0.048992,0.103318],[0.098300,-0.095659,0.990548]]
2025-10-24T22:55:00.606Z,1761346500.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107593,0.979373,0.171031],[-0.991652,0.093420,0.088878],[0.071067,-0.179166,0.981249]]
2025-10-24T22:55:01.014Z,1761346501.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140743,0.970748,0.194526],[-0.989134,0.129440,0.069708],[0.042490,-0.202223,0.978417]]
2025-10-24T22:55:01.417Z,1761346501.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168292,0.975105,0.144386],[-0.985380,0.162475,0.051261],[0.026526,-0.150902,0.988193]]
2025-10-24T22:55:01.818Z,1761346501.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138553,0.986494,0.087364],[-0.983407,0.126613,0.129926],[0.117110,-0.103916,0.987667]]
2025-10-24T22:55:02.100Z,1761346502.100 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-10-24T22:55:02.101Z,1761346502.101 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-10-24T22:55:02.229Z,1761346502.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132694,0.981744,0.136276],[-0.983502,0.113364,0.140968],[0.122946,-0.152733,0.980590]]
2025-10-24T22:55:02.627Z,1761346502.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191119,0.962473,0.192664],[-0.979760,0.175152,0.096917],[0.059534,-0.207287,0.976467]]
2025-10-24T22:55:02.645Z,1761346502.645 [DAT](INFO): DAT read: 

2025-10-24T22:55:02.897Z,1761346502.897 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T22:55:03.034Z,1761346503.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227741,0.960615,0.159229],[-0.970016,0.209566,0.123094],[0.084877,-0.182488,0.979538]]
2025-10-24T22:55:03.440Z,1761346503.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219232,0.970012,0.104946],[-0.973277,0.209892,0.093151],[0.068330,-0.122563,0.990106]]
2025-10-24T22:55:03.843Z,1761346503.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229702,0.968395,0.097197],[-0.973251,0.229009,0.018380],[-0.004460,-0.098819,0.995095]]
2025-10-24T22:55:04.654Z,1761346504.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247798,0.968235,0.033426],[-0.968779,0.247925,0.000344],[-0.007954,-0.032468,0.999441]]
2025-10-24T22:55:04.661Z,1761346504.661 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T22:55:04.663Z,1761346504.663 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T22:55:04.664Z,1761346504.664 [DAT](INFO): DAT read: Oct 24 2025 22:54:55 

2025-10-24T22:55:04.725Z,1761346504.725 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:55:04.725Z,1761346504.725 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:55:04.726Z,1761346504.726 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:55:04.726Z,1761346504.726 [marl:UpdateRudder:A] Stopped
2025-10-24T22:55:04.726Z,1761346504.726 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:55:04.727Z,1761346504.727 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:55:04.727Z,1761346504.727 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:55:04.727Z,1761346504.727 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:55:04.728Z,1761346504.728 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:55:04.732Z,1761346504.732 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:55:04.732Z,1761346504.732 [marl:UpdateCommandMode] Stopped
2025-10-24T22:55:04.732Z,1761346504.732 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:55:04.732Z,1761346504.732 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:55:04.733Z,1761346504.733 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:55:04.733Z,1761346504.733 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:55:04.733Z,1761346504.733 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:55:04.734Z,1761346504.734 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:55:04.734Z,1761346504.734 [marl:UpdateSpeed] Stopped
2025-10-24T22:55:04.734Z,1761346504.734 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:55:05.058Z,1761346505.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225566,0.973827,0.027932],[-0.974059,0.224899,0.025107],[0.018168,-0.032871,0.999294]]
2025-10-24T22:55:05.096Z,1761346505.096 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:55:05.096Z,1761346505.096 [marl:UpdateRudder:B] Stopped
2025-10-24T22:55:05.096Z,1761346505.096 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:55:05.096Z,1761346505.096 [marl:UpdateRudder] Stopped
2025-10-24T22:55:05.097Z,1761346505.097 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:55:05.458Z,1761346505.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200194,0.976821,0.075782],[-0.978655,0.195704,0.062724],[0.046439,-0.086722,0.995150]]
2025-10-24T22:55:05.670Z,1761346505.670 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T22:55:05.671Z,1761346505.671 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:55:05.672Z,1761346505.672 [DAT](INFO): commRate: 600
2025-10-24T22:55:05.862Z,1761346505.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231280,0.961512,0.148340],[-0.970810,0.218131,0.099730],[0.063534,-0.167076,0.983895]]
2025-10-24T22:55:06.266Z,1761346506.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287950,0.949209,0.126833],[-0.954565,0.273881,0.117449],[0.076746,-0.154890,0.984946]]
2025-10-24T22:55:06.679Z,1761346506.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309074,0.948505,0.069367],[-0.949682,0.303918,0.075751],[0.050769,-0.089289,0.994711]]
2025-10-24T22:55:07.075Z,1761346507.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314232,0.948630,0.036861],[-0.946065,0.309684,0.095171],[0.078867,-0.064779,0.994778]]
2025-10-24T22:55:07.482Z,1761346507.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295426,0.954361,0.043800],[-0.951138,0.289501,0.107355],[0.089775,-0.073375,0.993255]]
2025-10-24T22:55:07.736Z,1761346507.736 [DAT](INFO): entering command mode
2025-10-24T22:55:07.890Z,1761346507.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279336,0.955022,0.099520],[-0.960117,0.276501,0.041507],[0.012123,-0.107146,0.994169]]
2025-10-24T22:55:07.938Z,1761346507.938 [DAT](INFO): DAT read: 

2025-10-24T22:55:07.940Z,1761346507.940 [DAT](INFO): DAT read: user:1>

2025-10-24T22:55:07.941Z,1761346507.941 [DAT](INFO): setting verbose to 3
2025-10-24T22:55:08.189Z,1761346508.189 [DAT](INFO): DAT read: user:1>

2025-10-24T22:55:08.189Z,1761346508.189 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T22:55:08.190Z,1761346508.190 [DAT](INFO): set verbose to 3
2025-10-24T22:55:08.190Z,1761346508.190 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T22:55:08.286Z,1761346508.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275945,0.955689,0.102535],[-0.961157,0.273745,0.035218],[0.005589,-0.108271,0.994106]]
2025-10-24T22:55:08.441Z,1761346508.441 [DAT](INFO): DAT read: user:2>

2025-10-24T22:55:08.441Z,1761346508.441 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T22:55:08.442Z,1761346508.442 [DAT](INFO): set DatVerbose to 27440
2025-10-24T22:55:08.442Z,1761346508.442 [DAT](INFO): setting transmit power to 8
2025-10-24T22:55:08.693Z,1761346508.693 [DAT](INFO): DAT read: user:3>

2025-10-24T22:55:08.694Z,1761346508.694 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T22:55:08.694Z,1761346508.694 [DAT](INFO): set transmit power to 8
2025-10-24T22:55:08.694Z,1761346508.694 [DAT](INFO): setting local address to 11
2025-10-24T22:55:08.695Z,1761346508.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266979,0.961260,0.068564],[-0.961923,0.261489,0.079548],[0.058538,-0.087191,0.994470]]
2025-10-24T22:55:08.945Z,1761346508.945 [DAT](INFO): DAT read: user:4>

2025-10-24T22:55:08.945Z,1761346508.945 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T22:55:08.946Z,1761346508.946 [DAT](INFO): set local address to 11
2025-10-24T22:55:08.947Z,1761346508.947 [DAT](INFO): Setting time to: 22:55:8 And date to:10/24/2025
2025-10-24T22:55:09.098Z,1761346509.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298742,0.949887,0.092018],[-0.949799,0.286547,0.125593],[0.092932,-0.124918,0.987805]]
2025-10-24T22:55:09.124Z,1761346509.124 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:55:09.197Z,1761346509.197 [DAT](INFO): DAT read: user:5>

2025-10-24T22:55:09.198Z,1761346509.198 [DAT](INFO): DAT read: Fri Oct 24, 2025  22:55:08  

2025-10-24T22:55:09.199Z,1761346509.199 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  22:55:08  

2025-10-24T22:55:09.201Z,1761346509.201 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:55:09.201Z,1761346509.201 [DAT](INFO): setting remote address to 0
2025-10-24T22:55:09.449Z,1761346509.449 [DAT](INFO): DAT read: user:6>

2025-10-24T22:55:09.450Z,1761346509.450 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:55:09.450Z,1761346509.450 [DAT](INFO): set remote address to 0
2025-10-24T22:55:09.450Z,1761346509.450 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:55:09.450Z,1761346509.450 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:55:09.507Z,1761346509.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315128,0.942163,0.114120],[-0.941453,0.295154,0.162941],[0.119834,-0.158786,0.980014]]
2025-10-24T22:55:09.701Z,1761346509.701 [DAT](INFO): DAT read: user:7>

2025-10-24T22:55:09.703Z,1761346509.703 [DAT](INFO): DAT read: Tx time:22:55:08.6570

2025-10-24T22:55:09.703Z,1761346509.703 [DAT](INFO): Ping request sent.
2025-10-24T22:55:09.703Z,1761346509.703 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:55:09.704Z,1761346509.704 [DAT](INFO): publishing transmit ping time
2025-10-24T22:55:09.705Z,1761346509.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002000
2025-10-24T22:55:09.951Z,1761346509.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317830,0.943161,0.097115],[-0.940835,0.301023,0.155611],[0.117532,-0.140827,0.983033]]
2025-10-24T22:55:09.956Z,1761346509.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251903
2025-10-24T22:55:10.128Z,1761346510.128 [DataOverHttps](INFO): Radio surface powered ON.
2025-10-24T22:55:10.128Z,1761346510.128 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:55:10.206Z,1761346510.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503172
2025-10-24T22:55:10.457Z,1761346510.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753447
2025-10-24T22:55:10.710Z,1761346510.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006368
2025-10-24T22:55:10.729Z,1761346510.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336742,0.941435,-0.017480],[-0.929681,0.335367,0.152386],[0.149323,-0.035064,0.988167]]
2025-10-24T22:55:10.961Z,1761346510.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257554
2025-10-24T22:55:11.131Z,1761346511.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334155,0.942112,-0.027654],[-0.929802,0.334308,0.153968],[0.154300,-0.025736,0.987689]]
2025-10-24T22:55:11.213Z,1761346511.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509825
2025-10-24T22:55:11.465Z,1761346511.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761467
2025-10-24T22:55:11.527Z,1761346511.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336062,0.941060,-0.038310],[-0.922489,0.337088,0.188110],[0.189936,-0.027876,0.981401]]
2025-10-24T22:55:11.718Z,1761346511.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014346
2025-10-24T22:55:11.960Z,1761346511.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370743,0.928336,-0.027224],[-0.908647,0.368632,0.196143],[0.192122,-0.047982,0.980197]]
2025-10-24T22:55:11.969Z,1761346511.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265524
2025-10-24T22:55:12.222Z,1761346512.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518695
2025-10-24T22:55:12.334Z,1761346512.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377850,0.925751,-0.014609],[-0.899614,0.370822,0.230619],[0.218913,-0.073997,0.972934]]
2025-10-24T22:55:12.473Z,1761346512.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769514
2025-10-24T22:55:12.725Z,1761346512.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021569
2025-10-24T22:55:12.737Z,1761346512.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362786,0.931836,0.008247],[-0.905334,0.350344,0.240062],[0.220810,-0.094557,0.970722]]
2025-10-24T22:55:12.977Z,1761346512.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273625
2025-10-24T22:55:13.139Z,1761346513.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367552,0.929696,0.023895],[-0.907126,0.352729,0.229574],[0.205005,-0.106056,0.972998]]
2025-10-24T22:55:13.229Z,1761346513.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525631
2025-10-24T22:55:13.481Z,1761346513.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777504
2025-10-24T22:55:13.548Z,1761346513.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387542,0.921829,-0.006516],[-0.895189,0.378011,0.236104],[0.220110,-0.085667,0.971706]]
2025-10-24T22:55:13.733Z,1761346513.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029484
2025-10-24T22:55:13.965Z,1761346513.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406044,0.912883,-0.042092],[-0.893981,0.406346,0.188895],[0.189543,-0.039070,0.981095]]
2025-10-24T22:55:13.985Z,1761346513.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281565
2025-10-24T22:55:14.237Z,1761346514.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533453
2025-10-24T22:55:14.351Z,1761346514.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420686,0.905561,-0.054623],[-0.887480,0.423279,0.182249],[0.188159,-0.028193,0.981734]]
2025-10-24T22:55:14.489Z,1761346514.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785476
2025-10-24T22:55:14.741Z,1761346514.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037475
2025-10-24T22:55:14.756Z,1761346514.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409382,0.910724,-0.054666],[-0.882960,0.410565,0.227633],[0.229755,-0.044921,0.972211]]
2025-10-24T22:55:14.993Z,1761346514.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289470
2025-10-24T22:55:15.162Z,1761346515.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400087,0.916295,-0.018256],[-0.891992,0.393894,0.221804],[0.210429,-0.072456,0.974920]]
2025-10-24T22:55:15.250Z,1761346515.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546433
2025-10-24T22:55:15.501Z,1761346515.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797553
2025-10-24T22:55:15.564Z,1761346515.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420385,0.906919,0.027838],[-0.891198,0.406947,0.200400],[0.170418,-0.109054,0.979319]]
2025-10-24T22:55:15.753Z,1761346515.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049464
2025-10-24T22:55:15.969Z,1761346515.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435559,0.899751,0.027124],[-0.886556,0.423563,0.186048],[0.155908,-0.105082,0.982166]]
2025-10-24T22:55:16.005Z,1761346516.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.301586
2025-10-24T22:55:16.257Z,1761346516.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553522
2025-10-24T22:55:16.370Z,1761346516.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414156,0.909985,-0.020049],[-0.891161,0.409875,0.194510],[0.185219,-0.062691,0.980695]]
2025-10-24T22:55:16.509Z,1761346516.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805455
2025-10-24T22:55:16.761Z,1761346516.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057458
2025-10-24T22:55:16.776Z,1761346516.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429322,0.902918,-0.020543],[-0.885464,0.425285,0.187315],[0.177866,-0.062228,0.982085]]
2025-10-24T22:55:17.013Z,1761346517.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309527
2025-10-24T22:55:17.184Z,1761346517.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444807,0.895285,-0.024742],[-0.880001,0.442017,0.173836],[0.166569,-0.055551,0.984464]]
2025-10-24T22:55:17.265Z,1761346517.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561484
2025-10-24T22:55:17.517Z,1761346517.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813487
2025-10-24T22:55:17.583Z,1761346517.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458719,0.887414,-0.045540],[-0.873752,0.459794,0.158579],[0.161664,-0.032952,0.986295]]
2025-10-24T22:55:17.614Z,1761346517.614 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:55:17.614Z,1761346517.614 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:55:17.614Z,1761346517.614 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:55:17.614Z,1761346517.614 [marl:UpdateRudder:A] Stopped
2025-10-24T22:55:17.614Z,1761346517.614 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:55:17.614Z,1761346517.614 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:55:17.615Z,1761346517.615 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:55:17.615Z,1761346517.615 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:55:17.615Z,1761346517.615 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:55:17.615Z,1761346517.615 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:55:17.615Z,1761346517.615 [marl:UpdateCommandMode] Stopped
2025-10-24T22:55:17.615Z,1761346517.615 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:55:17.615Z,1761346517.615 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:55:17.616Z,1761346517.616 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:55:17.616Z,1761346517.616 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:55:17.616Z,1761346517.616 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:55:17.616Z,1761346517.616 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:55:17.616Z,1761346517.616 [marl:UpdateSpeed] Stopped
2025-10-24T22:55:17.616Z,1761346517.616 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:55:17.769Z,1761346517.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065527
2025-10-24T22:55:17.986Z,1761346517.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457092,0.887140,-0.063642],[-0.870205,0.460864,0.174209],[0.183878,-0.024248,0.982650]]
2025-10-24T22:55:18.021Z,1761346518.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317541
2025-10-24T22:55:18.048Z,1761346518.048 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:55:18.048Z,1761346518.048 [marl:UpdateRudder:B] Stopped
2025-10-24T22:55:18.048Z,1761346518.048 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:55:18.048Z,1761346518.048 [marl:UpdateRudder] Stopped
2025-10-24T22:55:18.048Z,1761346518.048 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:55:18.273Z,1761346518.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570092
2025-10-24T22:55:18.390Z,1761346518.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448498,0.890902,-0.071712],[-0.868670,0.453377,0.199652],[0.210383,-0.027249,0.977239]]
2025-10-24T22:55:18.527Z,1761346518.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823717
2025-10-24T22:55:18.781Z,1761346518.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.077406
2025-10-24T22:55:18.801Z,1761346518.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450586,0.889678,-0.073786],[-0.856815,0.454187,0.244096],[0.250679,-0.046766,0.966940]]
2025-10-24T22:55:19.033Z,1761346519.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.329523
2025-10-24T22:55:19.213Z,1761346519.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439954,0.894894,-0.074860],[-0.853593,0.442629,0.274699],[0.278962,-0.056955,0.958612]]
2025-10-24T22:55:19.285Z,1761346519.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.581627
2025-10-24T22:55:19.537Z,1761346519.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.833456
2025-10-24T22:55:19.603Z,1761346519.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470701,0.881481,-0.037829],[-0.843487,0.462160,0.273747],[0.258786,-0.096945,0.961057]]
2025-10-24T22:55:19.788Z,1761346519.788 [DAT](INFO): Reached modem response timeout
2025-10-24T22:55:20.007Z,1761346520.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487685,0.872806,-0.019294],[-0.839034,0.474692,0.265874],[0.241215,-0.113475,0.963815]]
2025-10-24T22:55:20.419Z,1761346520.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472940,0.880390,-0.035229],[-0.845282,0.464638,0.263838],[0.248649,-0.095001,0.963924]]
2025-10-24T22:55:20.815Z,1761346520.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486995,0.872738,-0.034122],[-0.842320,0.479634,0.245864],[0.230941,-0.090993,0.968704]]
2025-10-24T22:55:21.225Z,1761346521.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497326,0.865790,-0.055451],[-0.850497,0.499161,0.165812],[0.171237,-0.035302,0.984597]]
2025-10-24T22:55:21.622Z,1761346521.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517677,0.854734,-0.037940],[-0.850360,0.518904,0.087334],[0.094335,-0.012948,0.995456]]
2025-10-24T22:55:22.027Z,1761346522.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547058,0.835920,-0.044342],[-0.825506,0.547511,0.137009],[0.138806,-0.038347,0.989577]]
2025-10-24T22:55:22.057Z,1761346522.057 [DAT](INFO): DAT read: Response Not Received

2025-10-24T22:55:22.057Z,1761346522.057 [DAT](INFO): response not received
2025-10-24T22:55:22.057Z,1761346522.057 [DAT](ERROR): No response from remote modem.
2025-10-24T22:55:22.058Z,1761346522.058 [DAT](INFO): Failure count cleared after critical for DAT
2025-10-24T22:55:22.430Z,1761346522.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528535,0.843155,-0.098688],[-0.799225,0.533415,0.276961],[0.286163,-0.067510,0.955800]]
2025-10-24T22:55:22.834Z,1761346522.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494118,0.862539,-0.108964],[-0.786499,0.496891,0.366769],[0.370495,-0.095527,0.923909]]
2025-10-24T22:55:23.238Z,1761346523.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464841,0.882244,-0.074622],[-0.812803,0.458634,0.359174],[0.351103,-0.106305,0.930283]]
2025-10-24T22:55:23.643Z,1761346523.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486554,0.873650,-0.001126],[-0.844646,0.470729,0.254927],[0.223247,-0.123085,0.966960]]
2025-10-24T22:55:24.056Z,1761346524.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530275,0.847347,0.028500],[-0.842486,0.522870,0.129708],[0.095006,-0.092792,0.991143]]
2025-10-24T22:55:24.451Z,1761346524.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529155,0.848382,0.015624],[-0.848301,0.528502,0.032716],[0.019498,-0.030566,0.999343]]
2025-10-24T22:55:24.855Z,1761346524.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516971,0.855992,-0.004353],[-0.854085,0.516146,0.064283],[0.057273,-0.029515,0.997922]]
2025-10-24T22:55:25.258Z,1761346525.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517312,0.855290,-0.029441],[-0.845755,0.516194,0.135065],[0.130717,-0.044971,0.990399]]
2025-10-24T22:55:25.667Z,1761346525.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529956,0.847999,-0.006698],[-0.840067,0.526046,0.132523],[0.115902,-0.064605,0.991157]]
2025-10-24T22:55:26.071Z,1761346526.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513708,0.857296,0.033890],[-0.853380,0.506485,0.123354],[0.088586,-0.092288,0.991784]]
2025-10-24T22:55:26.470Z,1761346526.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505398,0.859448,0.076951],[-0.853665,0.485002,0.189812],[0.125812,-0.161620,0.978800]]
2025-10-24T22:55:26.874Z,1761346526.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523724,0.843764,0.117371],[-0.847617,0.502349,0.170852],[0.085197,-0.188965,0.978281]]
2025-10-24T22:55:27.287Z,1761346527.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540722,0.830668,0.132703],[-0.840871,0.538159,0.057621],[-0.023551,-0.142743,0.989480]]
2025-10-24T22:55:27.694Z,1761346527.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559391,0.826103,0.068088],[-0.827311,0.561519,-0.015890],[-0.051359,-0.047441,0.997553]]
2025-10-24T22:55:28.086Z,1761346528.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560308,0.828188,-0.012578],[-0.828273,0.560314,-0.003380],[0.004248,0.012312,0.999915]]
2025-10-24T22:55:28.490Z,1761346528.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568989,0.822131,-0.018777],[-0.822337,0.568938,-0.008482],[0.003710,0.020267,0.999788]]
2025-10-24T22:55:28.895Z,1761346528.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576512,0.817041,0.008804],[-0.817039,0.576562,-0.004871],[-0.009056,-0.004385,0.999949]]
2025-10-24T22:55:29.303Z,1761346529.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590415,0.806658,0.026703],[-0.807083,0.590292,0.013128],[-0.005173,-0.029302,0.999557]]
2025-10-24T22:55:29.707Z,1761346529.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591610,0.799818,0.101431],[-0.802260,0.596484,-0.024190],[-0.079850,-0.067063,0.994548]]
2025-10-24T22:55:30.110Z,1761346530.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596728,0.791972,0.129217],[-0.799417,0.600693,0.010079],[-0.069638,-0.109312,0.991565]]
2025-10-24T22:55:30.516Z,1761346530.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582816,0.807025,0.095061],[-0.812276,0.575254,0.096387],[0.023103,-0.133392,0.990794]]
2025-10-24T22:55:30.539Z,1761346530.539 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:55:30.539Z,1761346530.539 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:55:30.540Z,1761346530.540 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:55:30.540Z,1761346530.540 [marl:UpdateRudder:A] Stopped
2025-10-24T22:55:30.540Z,1761346530.540 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:55:30.540Z,1761346530.540 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:55:30.540Z,1761346530.540 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:55:30.541Z,1761346530.541 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:55:30.541Z,1761346530.541 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:55:30.541Z,1761346530.541 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:55:30.541Z,1761346530.541 [marl:UpdateCommandMode] Stopped
2025-10-24T22:55:30.541Z,1761346530.541 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:55:30.541Z,1761346530.541 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:55:30.541Z,1761346530.541 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:55:30.541Z,1761346530.541 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:55:30.542Z,1761346530.542 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:55:30.542Z,1761346530.542 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:55:30.542Z,1761346530.542 [marl:UpdateSpeed] Stopped
2025-10-24T22:55:30.542Z,1761346530.542 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:55:30.918Z,1761346530.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587682,0.805460,0.076585],[-0.807611,0.578248,0.115729],[0.048930,-0.129863,0.990324]]
2025-10-24T22:55:30.954Z,1761346530.954 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:55:30.954Z,1761346530.954 [marl:UpdateRudder:B] Stopped
2025-10-24T22:55:30.954Z,1761346530.954 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:55:30.954Z,1761346530.954 [marl:UpdateRudder] Stopped
2025-10-24T22:55:30.954Z,1761346530.954 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:55:31.322Z,1761346531.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602846,0.797705,0.015610],[-0.797195,0.601432,0.052539],[0.032523,-0.044117,0.998497]]
2025-10-24T22:55:31.726Z,1761346531.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615457,0.786767,-0.047023],[-0.786688,0.616862,0.024540],[0.048314,0.021889,0.998592]]
2025-10-24T22:55:32.130Z,1761346532.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609512,0.790372,-0.061703],[-0.788074,0.612524,0.061274],[0.086224,0.011279,0.996212]]
2025-10-24T22:55:32.538Z,1761346532.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596084,0.802847,-0.011033],[-0.796349,0.592903,0.119558],[0.102528,-0.062481,0.992766]]
2025-10-24T22:55:32.938Z,1761346532.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605966,0.791834,0.076192],[-0.793560,0.595047,0.127210],[0.055391,-0.137548,0.988945]]
2025-10-24T22:55:33.342Z,1761346533.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634608,0.766551,0.098345],[-0.772823,0.628745,0.086166],[0.004217,-0.130685,0.991415]]
2025-10-24T22:55:33.747Z,1761346533.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601860,0.797362,0.044469],[-0.798091,0.598553,0.069175],[0.028541,-0.077124,0.996613]]
2025-10-24T22:55:34.554Z,1761346534.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634138,0.773196,0.006066],[-0.771158,0.631855,0.077947],[0.056436,-0.054106,0.996939]]
2025-10-24T22:55:34.958Z,1761346534.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603215,0.792173,-0.092706],[-0.785753,0.610184,0.101330],[0.136839,0.011721,0.990524]]
2025-10-24T22:55:35.362Z,1761346535.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578694,0.815011,-0.029505],[-0.815425,0.578850,-0.003799],[0.013983,0.026258,0.999557]]
2025-10-24T22:55:35.766Z,1761346535.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590124,0.807097,0.018648],[-0.805412,0.590162,-0.054965],[-0.055367,0.017417,0.998314]]
2025-10-24T22:55:36.179Z,1761346536.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589215,0.807561,-0.025899],[-0.807773,0.589483,0.003570],[0.018150,0.018816,0.999658]]
2025-10-24T22:55:36.575Z,1761346536.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592383,0.804308,-0.046593],[-0.803233,0.594095,0.043223],[0.062445,0.011821,0.997978]]
2025-10-24T22:55:36.980Z,1761346536.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589794,0.807355,0.017890],[-0.805929,0.587058,0.076431],[0.051204,-0.059497,0.996914]]
2025-10-24T22:55:37.383Z,1761346537.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570098,0.812726,0.120271],[-0.820814,0.569739,0.040764],[-0.035393,-0.121959,0.991904]]
2025-10-24T22:55:37.786Z,1761346537.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567858,0.809767,0.147700],[-0.820784,0.570579,0.027435],[-0.062058,-0.136809,0.988652]]
2025-10-24T22:55:38.193Z,1761346538.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564441,0.821004,0.085785],[-0.825236,0.558733,0.082480],[0.019786,-0.117348,0.992894]]
2025-10-24T22:55:38.594Z,1761346538.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520795,0.852320,0.048203],[-0.852701,0.516661,0.077214],[0.040906,-0.081316,0.995849]]
2025-10-24T22:55:38.998Z,1761346538.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522330,0.851319,0.049263],[-0.852688,0.520771,0.041474],[0.009653,-0.063669,0.997924]]
2025-10-24T22:55:39.407Z,1761346539.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547417,0.836761,0.012892],[-0.836673,0.546904,0.029585],[0.017705,-0.026982,0.999479]]
2025-10-24T22:55:39.808Z,1761346539.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553694,0.831925,-0.036399],[-0.828448,0.554748,0.076998],[0.084249,-0.012479,0.996367]]
2025-10-24T22:55:40.213Z,1761346540.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552155,0.832809,-0.039431],[-0.826390,0.552940,0.106473],[0.110475,-0.026204,0.993533]]
2025-10-24T22:55:40.280Z,1761346540.280 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:55:40.615Z,1761346540.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524052,0.851043,0.033106],[-0.850515,0.520898,0.072726],[0.044648,-0.066270,0.996802]]
2025-10-24T22:55:41.018Z,1761346541.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532459,0.844788,0.053106],[-0.844141,0.525320,0.107074],[0.062557,-0.101841,0.992832]]
2025-10-24T22:55:41.284Z,1761346541.284 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:55:41.427Z,1761346541.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539545,0.841950,-0.003466],[-0.825857,0.530024,0.192442],[0.163864,-0.100968,0.981302]]
2025-10-24T22:55:41.826Z,1761346541.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511416,0.859042,-0.022378],[-0.844523,0.507245,0.171706],[0.158853,-0.068915,0.984894]]
2025-10-24T22:55:42.231Z,1761346542.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492403,0.869656,0.035186],[-0.869327,0.489436,0.068727],[0.042547,-0.064429,0.997015]]
2025-10-24T22:55:42.635Z,1761346542.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494098,0.863990,0.096896],[-0.864937,0.499782,-0.045852],[-0.088042,-0.061153,0.994238]]
2025-10-24T22:55:43.040Z,1761346543.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518372,0.853044,0.060054],[-0.853647,0.520349,-0.022885],[-0.050771,-0.039402,0.997933]]
2025-10-24T22:55:43.443Z,1761346543.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508733,0.860741,0.017764],[-0.860911,0.508499,0.016151],[0.004869,-0.023510,0.999712]]
2025-10-24T22:55:43.495Z,1761346543.495 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:55:43.495Z,1761346543.495 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:55:43.495Z,1761346543.495 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:55:43.495Z,1761346543.495 [marl:UpdateRudder:A] Stopped
2025-10-24T22:55:43.495Z,1761346543.495 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:55:43.495Z,1761346543.495 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:55:43.496Z,1761346543.496 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:55:43.512Z,1761346543.512 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:55:43.512Z,1761346543.512 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:55:43.512Z,1761346543.512 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:55:43.512Z,1761346543.512 [marl:UpdateCommandMode] Stopped
2025-10-24T22:55:43.512Z,1761346543.512 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:55:43.513Z,1761346543.513 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:55:43.513Z,1761346543.513 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:55:43.513Z,1761346543.513 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:55:43.513Z,1761346543.513 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:55:43.513Z,1761346543.513 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:55:43.513Z,1761346543.513 [marl:UpdateSpeed] Stopped
2025-10-24T22:55:43.513Z,1761346543.513 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:55:43.847Z,1761346543.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509373,0.859438,0.043655],[-0.860423,0.509502,0.008952],[-0.014549,-0.042122,0.999007]]
2025-10-24T22:55:43.968Z,1761346543.968 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:55:43.972Z,1761346543.972 [marl:UpdateRudder:B] Stopped
2025-10-24T22:55:43.972Z,1761346543.972 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:55:43.972Z,1761346543.972 [marl:UpdateRudder] Stopped
2025-10-24T22:55:43.972Z,1761346543.972 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:55:44.254Z,1761346544.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519247,0.853671,0.040341],[-0.854601,0.518999,0.017224],[-0.006233,-0.043420,0.999037]]
2025-10-24T22:55:44.663Z,1761346544.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482262,0.873482,0.066722],[-0.874490,0.484528,-0.022378],[-0.051875,-0.047556,0.997521]]
2025-10-24T22:55:45.058Z,1761346545.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464944,0.879085,0.105054],[-0.879656,0.472120,-0.057519],[-0.100162,-0.065668,0.992802]]
2025-10-24T22:55:45.470Z,1761346545.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456498,0.885788,0.083604],[-0.888850,0.458197,-0.001288],[-0.039448,-0.073724,0.996498]]
2025-10-24T22:55:45.867Z,1761346545.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436732,0.897616,0.059584],[-0.899563,0.436288,0.020954],[-0.007187,-0.062751,0.998003]]
2025-10-24T22:55:46.271Z,1761346546.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450272,0.891259,0.053976],[-0.891220,0.452304,-0.033889],[-0.054618,-0.032845,0.997967]]
2025-10-24T22:55:46.356Z,1761346546.356 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:55:46.356Z,1761346546.356 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:55:46.678Z,1761346546.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453279,0.891367,-0.001530],[-0.891199,0.453225,0.018767],[0.017422,-0.007143,0.999823]]
2025-10-24T22:55:47.078Z,1761346547.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439589,0.896872,-0.048806],[-0.884863,0.441752,0.147894],[0.154202,-0.021826,0.987798]]
2025-10-24T22:55:47.517Z,1761346547.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430147,0.902506,-0.021338],[-0.884133,0.425932,0.192068],[0.182431,-0.063752,0.981150]]
2025-10-24T22:55:47.903Z,1761346547.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443098,0.895472,0.042364],[-0.888054,0.431985,0.157317],[0.122572,-0.107329,0.986639]]
2025-10-24T22:55:48.291Z,1761346548.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444561,0.891732,0.084729],[-0.894437,0.436803,0.095846],[0.048459,-0.118394,0.991783]]
2025-10-24T22:55:48.346Z,1761346548.346 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:55:48.537Z,1761346548.537 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:55:48.537Z,1761346548.537 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:55:48.695Z,1761346548.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452839,0.886977,0.090601],[-0.891591,0.450634,0.044647],[-0.001227,-0.100997,0.994886]]
2025-10-24T22:55:48.789Z,1761346548.789 [DAT](INFO): DAT read: user:8>

2025-10-24T22:55:48.790Z,1761346548.790 [DAT](INFO): DAT read: Tx time:22:55:47.6679

2025-10-24T22:55:48.790Z,1761346548.790 [DAT](INFO): Ping request sent.
2025-10-24T22:55:48.790Z,1761346548.790 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:55:48.790Z,1761346548.790 [DAT](INFO): publishing transmit ping time
2025-10-24T22:55:48.791Z,1761346548.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000927
2025-10-24T22:55:49.041Z,1761346549.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250631
2025-10-24T22:55:49.099Z,1761346549.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461472,0.886337,0.038093],[-0.887128,0.460697,0.027624],[0.006935,-0.046541,0.998892]]
2025-10-24T22:55:49.293Z,1761346549.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503444
2025-10-24T22:55:49.502Z,1761346549.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442843,0.895743,0.039176],[-0.895677,0.443946,-0.025966],[-0.040651,-0.023590,0.998895]]
2025-10-24T22:55:49.545Z,1761346549.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754969
2025-10-24T22:55:49.797Z,1761346549.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006746
2025-10-24T22:55:49.939Z,1761346549.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456975,0.887670,0.056712],[-0.884199,0.460275,-0.079616],[-0.096776,-0.013763,0.995211]]
2025-10-24T22:55:50.049Z,1761346550.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259096
2025-10-24T22:55:50.301Z,1761346550.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510912
2025-10-24T22:55:50.312Z,1761346550.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456358,0.889350,0.028175],[-0.888772,0.457123,-0.033502],[-0.042675,-0.009753,0.999041]]
2025-10-24T22:55:50.553Z,1761346550.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762787
2025-10-24T22:55:50.716Z,1761346550.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421385,0.906435,0.028458],[-0.906853,0.420916,0.021128],[0.007173,-0.034710,0.999372]]
2025-10-24T22:55:50.805Z,1761346550.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014827
2025-10-24T22:55:51.057Z,1761346551.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266833
2025-10-24T22:55:51.120Z,1761346551.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438173,0.894624,0.087478],[-0.898850,0.436996,0.033208],[-0.008519,-0.093181,0.995613]]
2025-10-24T22:55:51.309Z,1761346551.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518809
2025-10-24T22:55:51.523Z,1761346551.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445211,0.890287,0.095793],[-0.895073,0.445484,0.019708],[-0.025129,-0.094516,0.995206]]
2025-10-24T22:55:51.562Z,1761346551.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772479
2025-10-24T22:55:51.813Z,1761346551.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022821
2025-10-24T22:55:51.955Z,1761346551.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418284,0.905086,0.076542],[-0.905030,0.422450,-0.049574],[-0.077203,-0.048537,0.995833]]
2025-10-24T22:55:52.065Z,1761346552.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274890
2025-10-24T22:55:52.317Z,1761346552.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526725
2025-10-24T22:55:52.340Z,1761346552.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440658,0.895612,0.060815],[-0.891911,0.444488,-0.083218],[-0.101562,-0.017571,0.994674]]
2025-10-24T22:55:52.569Z,1761346552.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778802
2025-10-24T22:55:52.734Z,1761346552.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438172,0.898804,0.012494],[-0.897896,0.438298,-0.040960],[-0.042291,0.006729,0.999083]]
2025-10-24T22:55:52.821Z,1761346552.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030658
2025-10-24T22:55:53.073Z,1761346553.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283427
2025-10-24T22:55:53.148Z,1761346553.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428489,0.903235,-0.023727],[-0.901938,0.429145,0.048396],[0.053895,0.000663,0.998546]]
2025-10-24T22:55:53.325Z,1761346553.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534784
2025-10-24T22:55:53.550Z,1761346553.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437913,0.898763,-0.021373],[-0.894976,0.438073,0.084316],[0.085143,-0.017795,0.996210]]
2025-10-24T22:55:53.577Z,1761346553.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786893
2025-10-24T22:55:53.829Z,1761346553.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038788
2025-10-24T22:55:53.969Z,1761346553.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461501,0.886996,-0.015955],[-0.880660,0.460225,0.112384],[0.107027,-0.037815,0.993537]]
2025-10-24T22:55:54.081Z,1761346554.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290865
2025-10-24T22:55:54.333Z,1761346554.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542791
2025-10-24T22:55:54.585Z,1761346554.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795427
2025-10-24T22:55:54.755Z,1761346554.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403872,0.914719,0.013261],[-0.912392,0.401705,0.078572],[0.066544,-0.043832,0.996820]]
2025-10-24T22:55:54.837Z,1761346554.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046903
2025-10-24T22:55:55.089Z,1761346555.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298763
2025-10-24T22:55:55.159Z,1761346555.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376295,0.922578,0.085153],[-0.925977,0.377579,0.001112],[-0.031126,-0.079268,0.996367]]
2025-10-24T22:55:55.341Z,1761346555.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550856
2025-10-24T22:55:55.569Z,1761346555.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393934,0.916575,0.068602],[-0.918812,0.394686,0.002793],[-0.024516,-0.064133,0.997640]]
2025-10-24T22:55:55.593Z,1761346555.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802828
2025-10-24T22:55:55.845Z,1761346555.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054724
2025-10-24T22:55:55.974Z,1761346555.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372437,0.927593,0.029354],[-0.927760,0.372932,-0.013542],[-0.023508,-0.022190,0.999477]]
2025-10-24T22:55:56.097Z,1761346556.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306692
2025-10-24T22:55:56.349Z,1761346556.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558974
2025-10-24T22:55:56.381Z,1761346556.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363849,0.931435,0.006568],[-0.931054,0.363889,-0.026872],[-0.027419,0.003662,0.999617]]
2025-10-24T22:55:56.441Z,1761346556.441 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:55:56.441Z,1761346556.441 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:55:56.442Z,1761346556.442 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:55:56.442Z,1761346556.442 [marl:UpdateRudder:A] Stopped
2025-10-24T22:55:56.442Z,1761346556.442 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:55:56.442Z,1761346556.442 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:55:56.442Z,1761346556.442 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:55:56.442Z,1761346556.442 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:55:56.442Z,1761346556.442 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:55:56.443Z,1761346556.443 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:55:56.443Z,1761346556.443 [marl:UpdateCommandMode] Stopped
2025-10-24T22:55:56.443Z,1761346556.443 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:55:56.443Z,1761346556.443 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:55:56.443Z,1761346556.443 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:55:56.443Z,1761346556.443 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:55:56.443Z,1761346556.443 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:55:56.443Z,1761346556.443 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:55:56.443Z,1761346556.443 [marl:UpdateSpeed] Stopped
2025-10-24T22:55:56.444Z,1761346556.444 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:55:56.601Z,1761346556.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810766
2025-10-24T22:55:56.779Z,1761346556.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361199,0.932443,-0.009240],[-0.932488,0.361190,-0.002684],[0.000835,0.009585,0.999954]]
2025-10-24T22:55:56.811Z,1761346556.811 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:55:56.811Z,1761346556.811 [marl:UpdateRudder:B] Stopped
2025-10-24T22:55:56.812Z,1761346556.812 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:55:56.812Z,1761346556.812 [marl:UpdateRudder] Stopped
2025-10-24T22:55:56.812Z,1761346556.812 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:55:56.854Z,1761346556.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063568
2025-10-24T22:55:57.105Z,1761346557.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314826
2025-10-24T22:55:57.182Z,1761346557.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319039,0.947571,0.017977],[-0.946273,0.317433,0.061670],[0.052731,-0.036686,0.997935]]
2025-10-24T22:55:57.357Z,1761346557.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566748
2025-10-24T22:55:57.584Z,1761346557.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345393,0.936509,0.060455],[-0.934560,0.337378,0.113018],[0.085446,-0.095535,0.991752]]
2025-10-24T22:55:57.611Z,1761346557.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.820764
2025-10-24T22:55:57.861Z,1761346557.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070782
2025-10-24T22:55:57.988Z,1761346557.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330861,0.940801,0.073657],[-0.941807,0.324281,0.088554],[0.059426,-0.098669,0.993344]]
2025-10-24T22:55:58.114Z,1761346558.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323445
2025-10-24T22:55:58.369Z,1761346558.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578624
2025-10-24T22:55:58.391Z,1761346558.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333990,0.939447,0.076747],[-0.941331,0.328257,0.078375],[0.048437,-0.098421,0.993965]]
2025-10-24T22:55:58.617Z,1761346558.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827468
2025-10-24T22:55:58.795Z,1761346558.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331935,0.941507,0.058172],[-0.942796,0.329103,0.053174],[0.030919,-0.072495,0.996889]]
2025-10-24T22:55:58.880Z,1761346558.880 [DAT](INFO): Reached modem response timeout
2025-10-24T22:55:59.202Z,1761346559.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279444,0.958108,0.062768],[-0.960159,0.279018,0.015621],[-0.002547,-0.064633,0.997906]]
2025-10-24T22:55:59.617Z,1761346559.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237737,0.967954,0.080902],[-0.969524,0.231395,0.080495],[0.059195,-0.097573,0.993466]]
2025-10-24T22:56:00.006Z,1761346560.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258201,0.958971,0.117077],[-0.956192,0.236368,0.172704],[0.137945,-0.156540,0.977991]]
2025-10-24T22:56:00.410Z,1761346560.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323636,0.939033,0.116090],[-0.942021,0.308285,0.132500],[0.088633,-0.152241,0.984361]]
2025-10-24T22:56:00.815Z,1761346560.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368024,0.927056,0.071597],[-0.929376,0.364387,0.059019],[0.028625,-0.088261,0.995686]]
2025-10-24T22:56:01.149Z,1761346561.149 [DAT](INFO): DAT read: Response Not Received

2025-10-24T22:56:01.149Z,1761346561.149 [DAT](INFO): response not received
2025-10-24T22:56:01.149Z,1761346561.149 [DAT](ERROR): No response from remote modem.
2025-10-24T22:56:01.222Z,1761346561.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376306,0.926284,-0.019821],[-0.925097,0.376827,0.046867],[0.050881,0.000700,0.998704]]
2025-10-24T22:56:01.632Z,1761346561.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298315,0.953935,-0.031884],[-0.954258,0.298783,0.010991],[0.020011,0.027147,0.999431]]
2025-10-24T22:56:02.026Z,1761346562.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279087,0.959899,0.026551],[-0.956719,0.280324,-0.078152],[-0.082461,-0.003591,0.996588]]
2025-10-24T22:56:02.430Z,1761346562.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315018,0.949023,0.010932],[-0.943002,0.314280,-0.109432],[-0.107289,0.024164,0.993934]]
2025-10-24T22:56:02.836Z,1761346562.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303097,0.949253,-0.083969],[-0.952951,0.301536,-0.030994],[-0.004101,0.089413,0.995986]]
2025-10-24T22:56:03.238Z,1761346563.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293306,0.945055,-0.144366],[-0.945349,0.309205,0.103477],[0.142430,0.106126,0.984099]]
2025-10-24T22:56:03.642Z,1761346563.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311747,0.941434,-0.128517],[-0.925285,0.331544,0.184193],[0.216014,0.061493,0.974452]]
2025-10-24T22:56:04.047Z,1761346564.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264808,0.963252,-0.044975],[-0.954837,0.268442,0.127378],[0.134770,0.009213,0.990834]]
2025-10-24T22:56:04.453Z,1761346564.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228216,0.972254,0.051377],[-0.973519,0.228601,-0.001664],[-0.013363,-0.049637,0.998678]]
2025-10-24T22:56:04.854Z,1761346564.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212785,0.970903,0.109860],[-0.970707,0.222892,-0.089706],[-0.111583,-0.087554,0.989891]]
2025-10-24T22:56:05.258Z,1761346565.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186649,0.976429,0.108387],[-0.980450,0.192131,-0.042457],[-0.062281,-0.098344,0.993202]]
2025-10-24T22:56:05.666Z,1761346565.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185774,0.979075,0.083066],[-0.982374,0.183283,0.036732],[0.020739,-0.088426,0.995867]]
2025-10-24T22:56:06.066Z,1761346566.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193335,0.978219,0.075557],[-0.978319,0.186380,0.090301],[0.074252,-0.091377,0.993044]]
2025-10-24T22:56:06.470Z,1761346566.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203652,0.975886,0.078564],[-0.973850,0.193664,0.118791],[0.100712,-0.100701,0.989806]]
2025-10-24T22:56:06.874Z,1761346566.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229443,0.971785,0.054684],[-0.969783,0.223461,0.097912],[0.082930,-0.075497,0.993692]]
2025-10-24T22:56:07.282Z,1761346567.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253840,0.967056,0.019168],[-0.965307,0.252027,0.068302],[0.061221,-0.035841,0.997481]]
2025-10-24T22:56:07.686Z,1761346567.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245050,0.969500,0.004583],[-0.967516,0.244240,0.065266],[0.062156,-0.020428,0.997857]]
2025-10-24T22:56:08.086Z,1761346568.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202152,0.978903,0.029726],[-0.978595,0.200707,0.045487],[0.038561,-0.038285,0.998523]]
2025-10-24T22:56:08.490Z,1761346568.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173325,0.981731,0.078503],[-0.983988,0.169256,0.055860],[0.041552,-0.086928,0.995348]]
2025-10-24T22:56:08.895Z,1761346568.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184976,0.978370,0.092604],[-0.978215,0.174269,0.112810],[0.094232,-0.111454,0.989292]]
2025-10-24T22:56:09.298Z,1761346569.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200262,0.976295,0.082111],[-0.976755,0.192409,0.094494],[0.076455,-0.099126,0.992133]]
2025-10-24T22:56:09.336Z,1761346569.336 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:56:09.336Z,1761346569.336 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:56:09.337Z,1761346569.337 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:56:09.337Z,1761346569.337 [marl:UpdateRudder:A] Stopped
2025-10-24T22:56:09.337Z,1761346569.337 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:56:09.337Z,1761346569.337 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:56:09.337Z,1761346569.337 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:56:09.337Z,1761346569.337 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:56:09.337Z,1761346569.337 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:56:09.338Z,1761346569.338 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:56:09.338Z,1761346569.338 [marl:UpdateCommandMode] Stopped
2025-10-24T22:56:09.338Z,1761346569.338 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:56:09.338Z,1761346569.338 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:56:09.338Z,1761346569.338 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:56:09.338Z,1761346569.338 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:56:09.338Z,1761346569.338 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:56:09.338Z,1761346569.338 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:56:09.338Z,1761346569.338 [marl:UpdateSpeed] Stopped
2025-10-24T22:56:09.339Z,1761346569.339 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:56:09.702Z,1761346569.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195693,0.979209,0.053415],[-0.976801,0.189801,0.099175],[0.086975,-0.071584,0.993635]]
2025-10-24T22:56:09.753Z,1761346569.753 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:56:09.753Z,1761346569.753 [marl:UpdateRudder:B] Stopped
2025-10-24T22:56:09.754Z,1761346569.754 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:56:09.754Z,1761346569.754 [marl:UpdateRudder] Stopped
2025-10-24T22:56:09.754Z,1761346569.754 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:56:10.113Z,1761346570.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167254,0.985774,0.016587],[-0.978692,0.163973,0.123592],[0.119114,-0.036905,0.992195]]
2025-10-24T22:56:10.513Z,1761346570.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164113,0.985960,0.030810],[-0.982566,0.160622,0.093619],[0.087356,-0.045637,0.995131]]
2025-10-24T22:56:10.915Z,1761346570.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169597,0.981616,0.087563],[-0.981393,0.160103,0.105992],[0.090024,-0.103910,0.990504]]
2025-10-24T22:56:11.318Z,1761346571.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170062,0.979133,0.111255],[-0.975096,0.150892,0.162540],[0.142361,-0.136126,0.980410]]
2025-10-24T22:56:11.412Z,1761346571.412 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:56:11.722Z,1761346571.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167619,0.981452,0.093035],[-0.976657,0.152456,0.151324],[0.134334,-0.116228,0.984096]]
2025-10-24T22:56:12.129Z,1761346572.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164225,0.983027,0.081777],[-0.982102,0.155192,0.106733],[0.092230,-0.097841,0.990919]]
2025-10-24T22:56:12.416Z,1761346572.416 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:56:12.533Z,1761346572.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129709,0.991322,0.021368],[-0.989368,0.127963,0.069115],[0.065781,-0.030105,0.997380]]
2025-10-24T22:56:12.934Z,1761346572.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121113,0.992379,-0.022702],[-0.991636,0.119931,-0.047695],[-0.044609,0.028289,0.998604]]
2025-10-24T22:56:13.339Z,1761346573.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150817,0.988126,-0.029337],[-0.986007,0.148229,-0.076277],[-0.071023,0.040430,0.996655]]
2025-10-24T22:56:13.744Z,1761346573.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115194,0.993006,-0.025886],[-0.993016,0.115785,0.022636],[0.025475,0.023098,0.999409]]
2025-10-24T22:56:14.147Z,1761346574.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098890,0.994373,0.037986],[-0.992648,0.095897,0.073856],[0.069797,-0.045011,0.996545]]
2025-10-24T22:56:14.551Z,1761346574.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122792,0.987422,0.099597],[-0.992193,0.119939,0.034163],[0.021788,-0.103014,0.994441]]
2025-10-24T22:56:14.954Z,1761346574.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131855,0.984853,0.112595],[-0.991123,0.129035,0.032012],[0.016999,-0.115817,0.993125]]
2025-10-24T22:56:15.361Z,1761346575.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157581,0.982935,0.094902],[-0.985530,0.150460,0.078059],[0.062448,-0.105829,0.992422]]
2025-10-24T22:56:15.762Z,1761346575.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162790,0.986086,0.033675],[-0.983913,0.159697,0.080070],[0.073578,-0.046168,0.996220]]
2025-10-24T22:56:16.166Z,1761346576.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127690,0.991811,-0.002553],[-0.988484,0.127471,0.081553],[0.081211,-0.007890,0.996666]]
2025-10-24T22:56:16.570Z,1761346576.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126612,0.991946,0.003597],[-0.987815,0.125753,0.091692],[0.090501,-0.015162,0.995781]]
2025-10-24T22:56:16.976Z,1761346576.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145589,0.988743,0.034517],[-0.986365,0.142356,0.082576],[0.076733,-0.046068,0.995987]]
2025-10-24T22:56:17.378Z,1761346577.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174183,0.983517,0.048531],[-0.980884,0.168952,0.096553],[0.086762,-0.064421,0.994144]]
2025-10-24T22:56:17.783Z,1761346577.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159271,0.983098,0.090281],[-0.986179,0.154206,0.060598],[0.045652,-0.098685,0.994071]]
2025-10-24T22:56:18.186Z,1761346578.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147322,0.972354,0.181172],[-0.985273,0.160345,-0.059391],[-0.086799,-0.169754,0.981656]]
2025-10-24T22:56:18.598Z,1761346578.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168743,0.965595,0.197871],[-0.975434,0.192436,-0.107227],[-0.141615,-0.174916,0.974346]]
2025-10-24T22:56:18.994Z,1761346578.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154654,0.974331,0.163589],[-0.987774,0.155774,0.006036],[-0.019602,-0.162523,0.986510]]
2025-10-24T22:56:19.398Z,1761346579.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121395,0.986520,0.109736],[-0.989697,0.111841,0.089397],[0.075919,-0.119458,0.989932]]
2025-10-24T22:56:19.802Z,1761346579.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111698,0.990576,0.079266],[-0.993204,0.108657,0.041699],[0.032693,-0.083385,0.995981]]
2025-10-24T22:56:20.206Z,1761346580.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145904,0.987502,0.059594],[-0.989105,0.144418,0.028550],[0.019586,-0.063110,0.997814]]
2025-10-24T22:56:20.611Z,1761346580.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173094,0.984861,0.009361],[-0.984317,0.172654,0.036191],[0.034027,-0.015478,0.999301]]
2025-10-24T22:56:21.015Z,1761346581.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138304,0.990348,0.009066],[-0.990300,0.138409,-0.012222],[-0.013359,-0.007288,0.999884]]
2025-10-24T22:56:21.425Z,1761346581.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091195,0.992854,0.076976],[-0.994959,0.094081,-0.034722],[-0.041716,-0.073421,0.996428]]
2025-10-24T22:56:21.822Z,1761346581.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090142,0.985681,0.142501],[-0.995677,0.085973,0.035162],[0.022408,-0.145055,0.989170]]
2025-10-24T22:56:22.226Z,1761346582.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069998,0.991416,0.110428],[-0.994202,0.060276,0.089049],[0.081629,-0.116021,0.989887]]
2025-10-24T22:56:22.307Z,1761346582.307 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:56:22.307Z,1761346582.307 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:56:22.312Z,1761346582.312 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:56:22.312Z,1761346582.312 [marl:UpdateRudder:A] Stopped
2025-10-24T22:56:22.312Z,1761346582.312 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:56:22.312Z,1761346582.312 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:56:22.313Z,1761346582.313 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:56:22.313Z,1761346582.313 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:56:22.313Z,1761346582.313 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:56:22.313Z,1761346582.313 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:56:22.313Z,1761346582.313 [marl:UpdateCommandMode] Stopped
2025-10-24T22:56:22.313Z,1761346582.313 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:56:22.313Z,1761346582.313 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:56:22.313Z,1761346582.313 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:56:22.314Z,1761346582.314 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:56:22.314Z,1761346582.314 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:56:22.314Z,1761346582.314 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:56:22.314Z,1761346582.314 [marl:UpdateSpeed] Stopped
2025-10-24T22:56:22.314Z,1761346582.314 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:56:22.633Z,1761346582.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103008,0.993147,0.055207],[-0.993153,0.099616,0.061027],[0.055109,-0.061115,0.996608]]
2025-10-24T22:56:22.701Z,1761346582.701 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:56:22.701Z,1761346582.701 [marl:UpdateRudder:B] Stopped
2025-10-24T22:56:22.701Z,1761346582.701 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:56:22.701Z,1761346582.701 [marl:UpdateRudder] Stopped
2025-10-24T22:56:22.701Z,1761346582.701 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:56:23.034Z,1761346583.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121659,0.992558,-0.005172],[-0.991744,0.121343,-0.041474],[-0.040538,0.010175,0.999126]]
2025-10-24T22:56:23.438Z,1761346583.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074233,0.997181,-0.010906],[-0.993801,0.073065,-0.083793],[-0.082760,0.017058,0.996423]]
2025-10-24T22:56:23.843Z,1761346583.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067207,0.996581,0.048064],[-0.997425,0.068317,-0.021838],[-0.025047,-0.046472,0.998606]]
2025-10-24T22:56:24.251Z,1761346584.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076072,0.991062,0.109589],[-0.997099,0.075343,0.010782],[0.002429,-0.110091,0.993918]]
2025-10-24T22:56:24.654Z,1761346584.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071771,0.988248,0.134962],[-0.997121,0.067770,0.034016],[0.024470,-0.137015,0.990267]]
2025-10-24T22:56:25.054Z,1761346585.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097608,0.985224,0.140739],[-0.993918,0.089256,0.064496],[0.050981,-0.146178,0.987944]]
2025-10-24T22:56:25.458Z,1761346585.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103906,0.989529,0.100180],[-0.993542,0.098651,0.056065],[0.045595,-0.105358,0.993389]]
2025-10-24T22:56:25.865Z,1761346585.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094279,0.993947,0.056394],[-0.993998,0.090825,0.060976],[0.055485,-0.061804,0.996545]]
2025-10-24T22:56:25.870Z,1761346585.870 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225622.00,A,3646.43146,N,12151.84152,W,0.311,97.78,241025,,,A*42
2025-10-24T22:56:25.874Z,1761346585.874 [NAL9602](INFO): GPS fix at 20251024T225622: (36.773858, -121.864025)
2025-10-24T22:56:25.898Z,1761346585.898 [UniversalFixResidualReporter](INFO): Fix residual: 5.2 %DT, over the last 595.2 m. Residual distance 31.0 m at bearing -132.4 degrees. Fix at (36.7739, -121.8640) with 38.3 m made good.
2025-10-24T22:56:25.958Z,1761346585.958 [marl:NeedComms:C] Stopped
2025-10-24T22:56:25.958Z,1761346585.958 [marl:NeedComms:D] Running Loop=1
2025-10-24T22:56:25.968Z,1761346585.968 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761346560.00. Resetting abort timer.
2025-10-24T22:56:26.269Z,1761346586.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137430,0.990486,0.007067],[-0.987733,0.136507,0.075832],[0.074146,-0.017401,0.997096]]
2025-10-24T22:56:26.684Z,1761346586.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153000,0.986899,-0.051202],[-0.987178,0.155019,0.038069],[0.045508,0.044721,0.997962]]
2025-10-24T22:56:27.087Z,1761346587.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098679,0.994984,-0.016423],[-0.994652,0.098114,-0.032270],[-0.030497,0.019519,0.999344]]
2025-10-24T22:56:27.487Z,1761346587.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095970,0.990718,0.096266],[-0.992782,0.102259,-0.062664],[-0.071927,-0.089557,0.993381]]
2025-10-24T22:56:27.923Z,1761346587.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091946,0.981826,0.166026],[-0.995387,0.095212,-0.011804],[-0.027397,-0.164175,0.986051]]
2025-10-24T22:56:28.298Z,1761346588.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052760,0.989442,0.134987],[-0.998605,0.051971,0.009363],[0.002249,-0.135293,0.990803]]
2025-10-24T22:56:28.698Z,1761346588.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031118,0.997449,0.064237],[-0.998732,0.028485,0.041503],[0.039567,-0.065447,0.997071]]
2025-10-24T22:56:29.102Z,1761346589.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062074,0.997988,0.012911],[-0.996503,0.061246,0.056836],[0.055931,-0.016394,0.998300]]
2025-10-24T22:56:29.508Z,1761346589.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076804,0.996917,-0.016067],[-0.995377,0.077597,0.056603],[0.057675,0.011645,0.998268]]
2025-10-24T22:56:29.946Z,1761346589.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083988,0.996370,-0.013911],[-0.993364,0.084819,0.077680],[0.078577,0.007294,0.996881]]
2025-10-24T22:56:30.322Z,1761346590.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064375,0.997764,-0.017968],[-0.997451,0.064889,0.029674],[0.030774,0.016012,0.999398]]
2025-10-24T22:56:30.718Z,1761346590.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073457,0.997076,-0.021054],[-0.996949,0.072856,-0.028029],[-0.026413,0.023048,0.999385]]
2025-10-24T22:56:31.125Z,1761346591.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076430,0.996946,-0.016028],[-0.997051,0.076307,-0.008133],[-0.006885,0.016602,0.999838]]
2025-10-24T22:56:31.527Z,1761346591.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048540,0.998271,0.033162],[-0.998787,0.048237,0.009881],[0.008264,-0.033602,0.999401]]
2025-10-24T22:56:31.959Z,1761346591.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012616,0.992869,0.118541],[-0.997844,0.020137,-0.062466],[-0.064408,-0.117497,0.990982]]
2025-10-24T22:56:32.342Z,1761346592.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000273,0.980250,0.197760],[-0.999351,0.007392,-0.035257],[-0.036023,-0.197622,0.979616]]
2025-10-24T22:56:32.740Z,1761346592.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016849,0.980727,0.194657],[-0.996136,-0.000318,0.087826],[0.086195,-0.195384,0.976932]]
2025-10-24T22:56:33.142Z,1761346593.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029828,0.990487,0.134332],[-0.993777,0.014957,0.110377],[0.107318,-0.136788,0.984770]]
2025-10-24T22:56:33.550Z,1761346593.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042998,0.996282,0.074655],[-0.998324,0.039948,0.041869],[0.038731,-0.076331,0.996330]]
2025-10-24T22:56:33.965Z,1761346593.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038903,0.998692,0.033172],[-0.999182,0.039245,-0.009727],[-0.011016,-0.032766,0.999402]]
2025-10-24T22:56:34.366Z,1761346594.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035572,0.998116,0.049982],[-0.999042,0.034240,0.027257],[0.025494,-0.050904,0.998378]]
2025-10-24T22:56:34.758Z,1761346594.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055951,0.994619,0.087196],[-0.997091,0.051135,0.056524],[0.051761,-0.090105,0.994586]]
2025-10-24T22:56:35.163Z,1761346595.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044003,0.993391,0.106010],[-0.998815,0.041537,0.025356],[0.020785,-0.107000,0.994042]]
2025-10-24T22:56:35.198Z,1761346595.198 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:56:35.198Z,1761346595.198 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:56:35.198Z,1761346595.198 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:56:35.198Z,1761346595.198 [marl:UpdateRudder:A] Stopped
2025-10-24T22:56:35.198Z,1761346595.198 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:56:35.198Z,1761346595.198 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:56:35.198Z,1761346595.198 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:56:35.199Z,1761346595.199 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:56:35.199Z,1761346595.199 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:56:35.199Z,1761346595.199 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:56:35.199Z,1761346595.199 [marl:UpdateCommandMode] Stopped
2025-10-24T22:56:35.199Z,1761346595.199 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:56:35.199Z,1761346595.199 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:56:35.199Z,1761346595.199 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:56:35.199Z,1761346595.199 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:56:35.210Z,1761346595.210 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:56:35.210Z,1761346595.210 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:56:35.210Z,1761346595.210 [marl:UpdateSpeed] Stopped
2025-10-24T22:56:35.210Z,1761346595.210 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:56:35.571Z,1761346595.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008208,0.991466,0.130107],[-0.999805,0.005801,0.018869],[0.017953,-0.130237,0.991320]]
2025-10-24T22:56:35.600Z,1761346595.600 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:56:35.600Z,1761346595.600 [marl:UpdateRudder:B] Stopped
2025-10-24T22:56:35.600Z,1761346595.600 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:56:35.600Z,1761346595.600 [marl:UpdateRudder] Stopped
2025-10-24T22:56:35.601Z,1761346595.601 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:56:35.973Z,1761346595.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000881,0.989719,0.143019],[-0.998890,-0.007608,0.046495],[0.047105,-0.142819,0.988627]]
2025-10-24T22:56:36.378Z,1761346596.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010707,0.992518,0.121625],[-0.992442,-0.025418,0.120055],[0.122249,-0.119421,0.985289]]
2025-10-24T22:56:36.778Z,1761346596.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011088,0.997348,0.071926],[-0.988850,-0.021619,0.147336],[0.148500,-0.069490,0.986468]]
2025-10-24T22:56:37.184Z,1761346597.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013723,0.999512,0.028079],[-0.991309,0.009925,0.131179],[0.130836,-0.029635,0.990961]]
2025-10-24T22:56:39.324Z,1761346599.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031524,0.991961,0.122557],[-0.999346,0.029107,0.021465],[0.017725,-0.123153,0.992229]]
2025-10-24T22:56:39.711Z,1761346599.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018507,0.989498,0.143355],[-0.999697,-0.015984,-0.018732],[-0.016243,-0.143658,0.989494]]
2025-10-24T22:56:40.114Z,1761346600.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013182,0.993448,0.113525],[-0.999863,-0.011964,-0.011409],[-0.009976,-0.113660,0.993470]]
2025-10-24T22:56:40.519Z,1761346600.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042528,0.997212,0.061319],[-0.998937,0.043532,-0.015133],[-0.017760,-0.060610,0.998003]]
2025-10-24T22:56:40.929Z,1761346600.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045569,0.998532,0.029298],[-0.998942,0.045369,0.007462],[0.006122,-0.029607,0.999543]]
2025-10-24T22:56:41.327Z,1761346601.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058060,0.997258,0.045890],[-0.998188,0.058720,-0.013170],[-0.015829,-0.045043,0.998860]]
2025-10-24T22:56:41.730Z,1761346601.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094315,0.993371,0.065710],[-0.992218,0.099185,-0.075277],[-0.081296,-0.058099,0.994995]]
2025-10-24T22:56:42.135Z,1761346602.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062250,0.994816,0.080406],[-0.992677,0.070069,-0.098402],[-0.103526,-0.073692,0.991893]]
2025-10-24T22:56:42.557Z,1761346602.557 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:56:42.565Z,1761346602.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049792,0.990629,0.127179],[-0.995863,0.058935,-0.069168],[-0.076015,-0.123209,0.989465]]
2025-10-24T22:56:42.942Z,1761346602.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082278,0.981426,0.173299],[-0.996557,0.079233,0.024423],[0.010238,-0.174712,0.984566]]
2025-10-24T22:56:43.347Z,1761346603.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086853,0.981811,0.168828],[-0.993236,0.072232,0.090906],[0.077058,-0.175582,0.981444]]
2025-10-24T22:56:43.560Z,1761346603.560 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:56:43.752Z,1761346603.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097489,0.991642,0.084514],[-0.988388,0.086523,0.124914],[0.116558,-0.095710,0.988562]]
2025-10-24T22:56:44.154Z,1761346604.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128496,0.991446,0.022869],[-0.988839,0.126336,0.078976],[0.075411,-0.032762,0.996614]]
2025-10-24T22:56:44.561Z,1761346604.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120401,0.992553,0.018499],[-0.992716,0.120459,-0.002081],[-0.004294,-0.018114,0.999827]]
2025-10-24T22:56:44.970Z,1761346604.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096322,0.992660,0.073127],[-0.995040,0.097866,-0.017821],[-0.024847,-0.071048,0.997163]]
2025-10-24T22:56:45.366Z,1761346605.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132363,0.982570,0.130526],[-0.990843,0.134701,-0.009209],[-0.026630,-0.128112,0.991402]]
2025-10-24T22:56:45.770Z,1761346605.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131269,0.983582,0.123837],[-0.990523,0.135225,-0.024059],[-0.040410,-0.119506,0.992011]]
2025-10-24T22:56:46.174Z,1761346606.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104224,0.987840,0.115365],[-0.994049,0.107163,-0.019556],[-0.031681,-0.112640,0.993131]]
2025-10-24T22:56:46.580Z,1761346606.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093927,0.991173,0.093559],[-0.995551,0.094221,0.001284],[-0.007543,-0.093263,0.995613]]
2025-10-24T22:56:46.618Z,1761346606.618 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:56:46.618Z,1761346606.618 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:56:46.982Z,1761346606.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102798,0.991423,0.080700],[-0.994636,0.103391,-0.003197],[-0.011514,-0.079939,0.996733]]
2025-10-24T22:56:47.386Z,1761346607.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107417,0.992582,0.056949],[-0.993945,0.105880,0.029362],[0.023114,-0.059758,0.997945]]
2025-10-24T22:56:47.790Z,1761346607.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133448,0.990978,0.012416],[-0.990295,0.132844,0.040855],[0.038837,-0.017748,0.999088]]
2025-10-24T22:56:48.197Z,1761346608.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172206,0.984274,-0.039361],[-0.985029,0.171741,-0.014936],[-0.007942,0.041344,0.999113]]
2025-10-24T22:56:48.598Z,1761346608.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169012,0.982640,-0.076504],[-0.984684,0.164971,-0.056410],[-0.042810,0.084867,0.995472]]
2025-10-24T22:56:48.632Z,1761346608.632 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:56:48.829Z,1761346608.829 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:56:48.829Z,1761346608.829 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:56:49.002Z,1761346609.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188076,0.981398,-0.038531],[-0.982152,0.187844,-0.009585],[-0.002168,0.039646,0.999211]]
2025-10-24T22:56:49.081Z,1761346609.081 [DAT](INFO): DAT read: user:9>

2025-10-24T22:56:49.081Z,1761346609.081 [DAT](INFO): DAT read: Tx time:22:56:47.9677

2025-10-24T22:56:49.082Z,1761346609.082 [DAT](INFO): Ping request sent.
2025-10-24T22:56:49.082Z,1761346609.082 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:56:49.082Z,1761346609.082 [DAT](INFO): publishing transmit ping time
2025-10-24T22:56:49.083Z,1761346609.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000939
2025-10-24T22:56:49.333Z,1761346609.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251051
2025-10-24T22:56:49.410Z,1761346609.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184034,0.982264,0.035905],[-0.981649,0.181817,0.057518],[0.049970,-0.045832,0.997699]]
2025-10-24T22:56:49.585Z,1761346609.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502981
2025-10-24T22:56:49.812Z,1761346609.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156579,0.981637,0.108953],[-0.983766,0.145216,0.105434],[0.087676,-0.123693,0.988440]]
2025-10-24T22:56:49.834Z,1761346609.834 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:56:49.834Z,1761346609.834 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:56:49.834Z,1761346609.834 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:56:49.835Z,1761346609.835 [marl:UpdateRudder:A] Stopped
2025-10-24T22:56:49.835Z,1761346609.835 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:56:49.835Z,1761346609.835 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:56:49.835Z,1761346609.835 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:56:49.835Z,1761346609.835 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:56:49.835Z,1761346609.835 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:56:49.835Z,1761346609.835 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:56:49.837Z,1761346609.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755147
2025-10-24T22:56:49.837Z,1761346609.837 [marl:UpdateCommandMode] Stopped
2025-10-24T22:56:49.837Z,1761346609.837 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:56:49.838Z,1761346609.838 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:56:49.838Z,1761346609.838 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:56:49.838Z,1761346609.838 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:56:49.838Z,1761346609.838 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:56:49.838Z,1761346609.838 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:56:49.838Z,1761346609.838 [marl:UpdateSpeed] Stopped
2025-10-24T22:56:49.838Z,1761346609.838 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:56:50.089Z,1761346610.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007075
2025-10-24T22:56:50.215Z,1761346610.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222478,0.966613,0.127135],[-0.969834,0.206097,0.130179],[0.099630,-0.152261,0.983306]]
2025-10-24T22:56:50.270Z,1761346610.270 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:56:50.270Z,1761346610.270 [marl:UpdateRudder:B] Stopped
2025-10-24T22:56:50.270Z,1761346610.270 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:56:50.270Z,1761346610.270 [marl:UpdateRudder] Stopped
2025-10-24T22:56:50.270Z,1761346610.270 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:56:50.341Z,1761346610.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259070
2025-10-24T22:56:50.593Z,1761346610.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510993
2025-10-24T22:56:50.618Z,1761346610.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264578,0.959821,0.093502],[-0.963517,0.259038,0.067331],[0.040405,-0.107905,0.993340]]
2025-10-24T22:56:50.845Z,1761346610.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763080
2025-10-24T22:56:51.037Z,1761346611.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226959,0.969953,0.087636],[-0.973664,0.227979,-0.001687],[-0.021615,-0.084945,0.996151]]
2025-10-24T22:56:51.097Z,1761346611.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015101
2025-10-24T22:56:51.349Z,1761346611.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267682
2025-10-24T22:56:51.433Z,1761346611.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218045,0.969325,0.113425],[-0.975912,0.215702,0.032688],[0.007219,-0.117820,0.993009]]
2025-10-24T22:56:51.601Z,1761346611.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519073
2025-10-24T22:56:51.831Z,1761346611.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282624,0.954287,0.097263],[-0.955892,0.271737,0.111486],[0.079960,-0.124481,0.988995]]
2025-10-24T22:56:51.853Z,1761346611.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771123
2025-10-24T22:56:52.105Z,1761346612.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023651
2025-10-24T22:56:52.234Z,1761346612.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356570,0.934161,0.014143],[-0.926396,0.351564,0.134884],[0.121031,-0.061198,0.990760]]
2025-10-24T22:56:52.357Z,1761346612.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275059
2025-10-24T22:56:52.609Z,1761346612.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527004
2025-10-24T22:56:52.645Z,1761346612.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360368,0.930309,-0.068270],[-0.926116,0.365575,0.093087],[0.111558,0.029680,0.993315]]
2025-10-24T22:56:52.861Z,1761346612.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779016
2025-10-24T22:56:53.051Z,1761346613.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357158,0.932347,-0.056275],[-0.932888,0.359065,0.028157],[0.046458,0.042442,0.998018]]
2025-10-24T22:56:53.113Z,1761346613.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031353
2025-10-24T22:56:53.365Z,1761346613.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283004
2025-10-24T22:56:53.447Z,1761346613.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358832,0.932983,-0.027981],[-0.933268,0.358111,-0.027689],[-0.015813,0.036049,0.999225]]
2025-10-24T22:56:53.617Z,1761346613.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535043
2025-10-24T22:56:53.851Z,1761346613.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392232,0.919764,-0.013694],[-0.919596,0.391713,-0.030060],[-0.022284,0.024383,0.999454]]
2025-10-24T22:56:53.869Z,1761346613.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787181
2025-10-24T22:56:54.121Z,1761346614.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039029
2025-10-24T22:56:54.256Z,1761346614.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422352,0.905900,-0.031068],[-0.905834,0.423070,0.021827],[0.032918,0.018924,0.999279]]
2025-10-24T22:56:54.373Z,1761346614.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291113
2025-10-24T22:56:54.625Z,1761346614.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543037
2025-10-24T22:56:54.663Z,1761346614.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412118,0.911127,0.002522],[-0.910675,0.411998,-0.030488],[-0.028817,0.010268,0.999532]]
2025-10-24T22:56:54.877Z,1761346614.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795018
2025-10-24T22:56:55.062Z,1761346615.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408316,0.910937,0.058929],[-0.909694,0.411415,-0.056525],[-0.075735,-0.030528,0.996661]]
2025-10-24T22:56:55.137Z,1761346615.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054945
2025-10-24T22:56:55.389Z,1761346615.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307097
2025-10-24T22:56:55.466Z,1761346615.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409726,0.911058,0.045813],[-0.912207,0.409303,0.018697],[-0.001717,-0.049451,0.998775]]
2025-10-24T22:56:55.641Z,1761346615.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.559031
2025-10-24T22:56:55.873Z,1761346615.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405295,0.913868,0.024101],[-0.913862,0.404309,0.037278],[0.024323,-0.037133,0.999014]]
2025-10-24T22:56:55.898Z,1761346615.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.815569
2025-10-24T22:56:56.145Z,1761346616.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063056
2025-10-24T22:56:56.274Z,1761346616.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414459,0.908534,0.052825],[-0.909959,0.414608,0.008617],[-0.014073,-0.051640,0.998567]]
2025-10-24T22:56:56.397Z,1761346616.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315000
2025-10-24T22:56:56.650Z,1761346616.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.568407
2025-10-24T22:56:56.682Z,1761346616.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453034,0.890945,0.031252],[-0.890849,0.451095,0.053873],[0.033901,-0.052247,0.998059]]
2025-10-24T22:56:56.715Z,1761346616.715 [marl:SendObservationData] Running Loop=1
2025-10-24T22:56:56.715Z,1761346616.715 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T22:56:56.715Z,1761346616.715 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T22:56:56.720Z,1761346616.720 [marl:SendObservationData:A] Running Loop=1
2025-10-24T22:56:56.722Z,1761346616.722 [marl:SendObservationData:A](INFO): Got test_good :  41da3f006000000040514000000000004042630c70ca8712c05e77462cba82f640165347600000004057e66660000000 n/a str  and temp var is  nan n/a str 
2025-10-24T22:56:56.722Z,1761346616.722 [marl:SendObservationData:A] Stopped
2025-10-24T22:56:56.722Z,1761346616.722 [marl:SendObservationData:B] Running Loop=1
2025-10-24T22:56:56.901Z,1761346616.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.819060
2025-10-24T22:56:57.085Z,1761346617.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459418,0.887625,-0.032512],[-0.882192,0.460252,0.099527],[0.103306,-0.017042,0.994504]]
2025-10-24T22:56:57.110Z,1761346617.110 [marl:SendObservationData:B] Stopped
2025-10-24T22:56:57.110Z,1761346617.110 [marl:SendObservationData:C] Running Loop=1
2025-10-24T22:56:57.153Z,1761346617.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.071594
2025-10-24T22:56:57.405Z,1761346617.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.323676
2025-10-24T22:56:57.488Z,1761346617.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430523,0.902249,-0.024454],[-0.898199,0.430942,0.086764],[0.088821,-0.015390,0.995929]]
2025-10-24T22:56:57.523Z,1761346617.523 [marl:SendObservationData:C] Stopped
2025-10-24T22:56:57.523Z,1761346617.523 [marl:SendObservationData:E] Running Loop=1
2025-10-24T22:56:57.657Z,1761346617.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.575396
2025-10-24T22:56:57.911Z,1761346617.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.829154
2025-10-24T22:56:57.921Z,1761346617.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413849,0.910345,0.001105],[-0.909590,0.413456,0.041230],[0.037077,-0.018069,0.999149]]
2025-10-24T22:56:58.062Z,1761346618.062 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.008240 min 
2025-10-24T22:56:58.062Z,1761346618.062 [marl:SendObservationData:E] Stopped
2025-10-24T22:56:58.063Z,1761346618.063 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T22:56:58.063Z,1761346618.063 [marl:SendObservationData] Stopped
2025-10-24T22:56:58.063Z,1761346618.063 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T22:56:58.063Z,1761346618.063 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T22:56:58.161Z,1761346618.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079028
2025-10-24T22:56:58.296Z,1761346618.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395456,0.918478,-0.003546],[-0.916612,0.394893,0.062300],[0.058622,-0.021387,0.998051]]
2025-10-24T22:56:58.413Z,1761346618.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.331082
2025-10-24T22:56:58.665Z,1761346618.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583267
2025-10-24T22:56:58.699Z,1761346618.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390022,0.920553,-0.021575],[-0.910602,0.389073,0.139377],[0.136698,-0.034714,0.990004]]
2025-10-24T22:56:58.917Z,1761346618.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834979
2025-10-24T22:56:59.102Z,1761346619.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411362,0.911387,-0.012414],[-0.902036,0.409021,0.137961],[0.130814,-0.045554,0.990360]]
2025-10-24T22:56:59.169Z,1761346619.169 [DAT](INFO): Reached modem response timeout
2025-10-24T22:56:59.515Z,1761346619.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412414,0.910846,-0.016540],[-0.899657,0.410069,0.149869],[0.143290,-0.046928,0.988568]]
2025-10-24T22:56:59.946Z,1761346619.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394087,0.918359,-0.036231],[-0.894216,0.392237,0.215701],[0.212302,-0.052607,0.975787]]
2025-10-24T22:57:00.314Z,1761346620.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396094,0.917763,-0.028663],[-0.896744,0.393356,0.202785],[0.197383,-0.054618,0.978804]]
2025-10-24T22:57:00.719Z,1761346620.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407549,0.913157,-0.006907],[-0.904339,0.404641,0.135779],[0.126783,-0.049090,0.990715]]
2025-10-24T22:57:01.124Z,1761346621.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419038,0.907820,-0.016430],[-0.901656,0.418186,0.110169],[0.106885,-0.031350,0.993777]]
2025-10-24T22:57:01.437Z,1761346621.437 [DAT](INFO): DAT read: Response Not Received

2025-10-24T22:57:01.437Z,1761346621.437 [DAT](INFO): response not received
2025-10-24T22:57:01.437Z,1761346621.437 [DAT](ERROR): No response from remote modem.
2025-10-24T22:57:01.529Z,1761346621.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404070,0.913432,-0.048673],[-0.909366,0.406886,0.086586],[0.098894,0.009275,0.995055]]
2025-10-24T22:57:01.959Z,1761346621.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398972,0.916806,-0.016987],[-0.913699,0.399046,0.076925],[0.077304,-0.015170,0.996892]]
2025-10-24T22:57:02.336Z,1761346622.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423434,0.905910,0.005487],[-0.901910,0.420980,0.096614],[0.085214,-0.045859,0.995307]]
2025-10-24T22:57:02.340Z,1761346622.340 [NAL9602](INFO): SBD MO Status=1, MOMSN=2559, MT Status=0, MTMSN=0
2025-10-24T22:57:02.392Z,1761346622.392 [NAL9602](INFO): Sent 212 bytes from file Logs/20251024T220733/Courier0012.lzma
2025-10-24T22:57:02.392Z,1761346622.392 [NAL9602](INFO): Packets left to send: 0
2025-10-24T22:57:02.740Z,1761346622.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417691,0.908589,0.000690],[-0.905487,0.416202,0.082877],[0.075014,-0.035242,0.996560]]
2025-10-24T22:57:03.097Z,1761346623.097 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:57:03.097Z,1761346623.097 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:57:03.097Z,1761346623.097 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:57:03.098Z,1761346623.098 [marl:UpdateRudder:A] Stopped
2025-10-24T22:57:03.098Z,1761346623.098 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:57:03.098Z,1761346623.098 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:57:03.098Z,1761346623.098 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:57:03.098Z,1761346623.098 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:57:03.098Z,1761346623.098 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:57:03.098Z,1761346623.098 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:57:03.098Z,1761346623.098 [marl:UpdateCommandMode] Stopped
2025-10-24T22:57:03.099Z,1761346623.099 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:57:03.099Z,1761346623.099 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:57:03.099Z,1761346623.099 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:57:03.099Z,1761346623.099 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:57:03.099Z,1761346623.099 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:57:03.099Z,1761346623.099 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:57:03.099Z,1761346623.099 [marl:UpdateSpeed] Stopped
2025-10-24T22:57:03.099Z,1761346623.099 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:57:03.176Z,1761346623.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391537,0.920043,0.014814],[-0.917637,0.389221,0.080306],[0.068120,-0.045037,0.996660]]
2025-10-24T22:57:03.225Z,1761346623.225 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T22:57:03.225Z,1761346623.225 [marl:UpdateRudder:B] Stopped
2025-10-24T22:57:03.225Z,1761346623.225 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:57:03.225Z,1761346623.225 [marl:UpdateRudder] Stopped
2025-10-24T22:57:03.225Z,1761346623.225 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:57:03.562Z,1761346623.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374789,0.926995,0.014590],[-0.923352,0.371808,0.095810],[0.083391,-0.049380,0.995293]]
2025-10-24T22:57:05.728Z,1761346625.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425742,0.904091,-0.036923],[-0.904369,0.426486,0.015015],[0.029322,0.027000,0.999205]]
2025-10-24T22:57:06.118Z,1761346626.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392779,0.917771,-0.058494],[-0.912811,0.396809,0.096540],[0.111812,0.015475,0.993609]]
2025-10-24T22:57:06.522Z,1761346626.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420901,0.906925,0.018152],[-0.905507,0.418887,0.067762],[0.053851,-0.044958,0.997536]]
2025-10-24T22:57:06.922Z,1761346626.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367541,0.927612,0.066708],[-0.929760,0.364842,0.049372],[0.021460,-0.080169,0.996550]]
2025-10-24T22:57:07.329Z,1761346627.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347173,0.932390,0.100598],[-0.936696,0.339556,0.085457],[0.045521,-0.123898,0.991250]]
2025-10-24T22:57:07.730Z,1761346627.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404331,0.913327,0.048481],[-0.911856,0.398433,0.098845],[0.070961,-0.084174,0.993921]]
2025-10-24T22:57:08.137Z,1761346628.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388209,0.921568,-0.002331],[-0.921526,0.388164,-0.010858],[-0.009102,0.006363,0.999938]]
2025-10-24T22:57:08.540Z,1761346628.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352705,0.935648,0.012713],[-0.930424,0.352116,-0.101612],[-0.099549,0.024011,0.994743]]
2025-10-24T22:57:08.943Z,1761346628.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368298,0.929595,0.014516],[-0.929105,0.368576,-0.030243],[-0.033464,-0.002348,0.999437]]
2025-10-24T22:57:09.346Z,1761346629.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378657,0.925440,-0.013427],[-0.920106,0.377964,0.102703],[0.100120,-0.026534,0.994621]]
2025-10-24T22:57:09.750Z,1761346629.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364658,0.930650,-0.030255],[-0.917165,0.364604,0.160848],[0.160724,-0.030905,0.986515]]
2025-10-24T22:57:10.165Z,1761346630.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366099,0.930535,0.008707],[-0.926804,0.363757,0.093357],[0.083705,-0.042248,0.995595]]
2025-10-24T22:57:10.558Z,1761346630.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358344,0.931925,0.055719],[-0.933511,0.358451,0.008410],[-0.012135,-0.055028,0.998411]]
2025-10-24T22:57:10.962Z,1761346630.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337593,0.937222,0.087438],[-0.941059,0.333984,0.053495],[0.020933,-0.100344,0.994733]]
2025-10-24T22:57:11.366Z,1761346631.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335024,0.937924,0.089764],[-0.938432,0.323641,0.120834],[0.084282,-0.124719,0.988606]]
2025-10-24T22:57:11.770Z,1761346631.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336667,0.935736,0.105134],[-0.940736,0.329399,0.080700],[0.040883,-0.126072,0.991178]]
2025-10-24T22:57:12.178Z,1761346632.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340396,0.934995,0.099572],[-0.939867,0.335184,0.065592],[0.027954,-0.115912,0.992866]]
2025-10-24T22:57:12.582Z,1761346632.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367385,0.923908,0.106874],[-0.930068,0.364776,0.043730],[0.001417,-0.115466,0.993310]]
2025-10-24T22:57:12.991Z,1761346632.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394242,0.915891,0.075610],[-0.918559,0.395281,0.001330],[-0.028670,-0.069977,0.997137]]
2025-10-24T22:57:13.386Z,1761346633.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373047,0.927597,-0.019996],[-0.927356,0.373453,0.023328],[0.029106,0.009841,0.999528]]
2025-10-24T22:57:13.684Z,1761346633.684 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:57:13.791Z,1761346633.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335243,0.941425,-0.036474],[-0.941292,0.336328,0.029212],[0.039768,0.024539,0.998908]]
2025-10-24T22:57:13.802Z,1761346633.802 [NAL9602](INFO): SBD MO Status=1, MOMSN=2560, MT Status=0, MTMSN=0
2025-10-24T22:57:13.864Z,1761346633.864 [NAL9602](INFO): Sent 332 bytes from file Logs/20251024T220733/Express0013.lzma
2025-10-24T22:57:13.864Z,1761346633.864 [NAL9602](INFO): Packets left to send: 3
2025-10-24T22:57:14.201Z,1761346634.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330477,0.942822,0.043266],[-0.943624,0.330983,-0.004909],[-0.018949,-0.039205,0.999052]]
2025-10-24T22:57:14.618Z,1761346634.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347501,0.930488,0.115911],[-0.936499,0.350602,-0.006876],[-0.047037,-0.106161,0.993236]]
2025-10-24T22:57:14.688Z,1761346634.688 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:57:15.009Z,1761346635.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370281,0.921613,0.116281],[-0.928917,0.367085,0.048594],[0.002100,-0.126009,0.992027]]
2025-10-24T22:57:17.135Z,1761346637.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322278,0.946625,0.006104],[-0.940859,0.319589,0.112462],[0.104508,-0.041987,0.993637]]
2025-10-24T22:57:17.510Z,1761346637.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323386,0.945875,-0.027229],[-0.937679,0.324187,0.125142],[0.127196,-0.014937,0.991765]]
2025-10-24T22:57:17.948Z,1761346637.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325561,0.944591,-0.041920],[-0.939286,0.328180,0.100196],[0.108402,0.006755,0.994084]]
2025-10-24T22:57:18.318Z,1761346638.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344302,0.938228,-0.034417],[-0.937518,0.345538,0.040787],[0.050160,0.018223,0.998575]]
2025-10-24T22:57:18.727Z,1761346638.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303695,0.952462,0.024213],[-0.951824,0.304428,-0.036821],[-0.042442,-0.011864,0.999029]]
2025-10-24T22:57:19.126Z,1761346639.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281804,0.955474,0.087500],[-0.959136,0.282946,-0.000675],[-0.025402,-0.083734,0.996164]]
2025-10-24T22:57:19.159Z,1761346639.159 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:57:19.159Z,1761346639.159 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:57:19.159Z,1761346639.159 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:57:19.160Z,1761346639.160 [marl:UpdateRudder:A] Stopped
2025-10-24T22:57:19.160Z,1761346639.160 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:57:19.160Z,1761346639.160 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:57:19.160Z,1761346639.160 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:57:19.160Z,1761346639.160 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:57:19.161Z,1761346639.161 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:57:19.161Z,1761346639.161 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:57:19.161Z,1761346639.161 [marl:UpdateCommandMode] Stopped
2025-10-24T22:57:19.161Z,1761346639.161 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:57:19.161Z,1761346639.161 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:57:19.161Z,1761346639.161 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:57:19.161Z,1761346639.161 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:57:19.162Z,1761346639.162 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:57:19.162Z,1761346639.162 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:57:19.162Z,1761346639.162 [marl:UpdateSpeed] Stopped
2025-10-24T22:57:19.162Z,1761346639.162 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:57:19.534Z,1761346639.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275415,0.956162,0.099500],[-0.960169,0.268531,0.077251],[0.047145,-0.116812,0.992034]]
2025-10-24T22:57:19.585Z,1761346639.585 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:57:19.585Z,1761346639.585 [marl:UpdateRudder:B] Stopped
2025-10-24T22:57:19.585Z,1761346639.585 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:57:19.585Z,1761346639.585 [marl:UpdateRudder] Stopped
2025-10-24T22:57:19.585Z,1761346639.585 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:57:19.959Z,1761346639.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243030,0.966823,0.078672],[-0.969831,0.240586,0.039336],[0.019103,-0.085858,0.996124]]
2025-10-24T22:57:20.341Z,1761346640.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279645,0.957345,0.072721],[-0.955739,0.284788,-0.073886],[-0.091445,-0.048840,0.994612]]
2025-10-24T22:57:20.754Z,1761346640.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343367,0.939185,0.005536],[-0.934461,0.342220,-0.098329],[-0.094244,0.028590,0.995139]]
2025-10-24T22:57:21.147Z,1761346641.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298790,0.948643,-0.103930],[-0.954314,0.296675,-0.035616],[-0.002953,0.109823,0.993947]]
2025-10-24T22:57:21.551Z,1761346641.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253895,0.959537,-0.121760],[-0.964121,0.261153,0.047640],[0.077511,0.105296,0.991416]]
2025-10-24T22:57:21.974Z,1761346641.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262849,0.963589,-0.049058],[-0.963317,0.264948,0.042701],[0.054144,0.036034,0.997883]]
2025-10-24T22:57:22.359Z,1761346642.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263081,0.963728,0.044918],[-0.963409,0.259948,0.065356],[0.051309,-0.060468,0.996851]]
2025-10-24T22:57:22.766Z,1761346642.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266107,0.957084,0.114789],[-0.955384,0.246034,0.163430],[0.128174,-0.153157,0.979854]]
2025-10-24T22:57:23.167Z,1761346643.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267013,0.948859,0.168438],[-0.955803,0.238430,0.172023],[0.123064,-0.206926,0.970586]]
2025-10-24T22:57:23.576Z,1761346643.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275265,0.946634,0.167673],[-0.960902,0.265482,0.078657],[0.029945,-0.182768,0.982700]]
2025-10-24T22:57:23.980Z,1761346643.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274522,0.958170,0.080917],[-0.961089,0.270718,0.054949],[0.030745,-0.092854,0.995205]]
2025-10-24T22:57:24.378Z,1761346644.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239931,0.970774,0.005486],[-0.964793,0.237818,0.112329],[0.107741,-0.032244,0.993656]]
2025-10-24T22:57:24.787Z,1761346644.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262617,0.964893,-0.003749],[-0.957829,0.261160,0.119833],[0.116605,-0.027879,0.992787]]
2025-10-24T22:57:24.791Z,1761346644.791 [NAL9602](INFO): SBD MO Status=1, MOMSN=2561, MT Status=0, MTMSN=0
2025-10-24T22:57:24.836Z,1761346644.836 [NAL9602](INFO): Sent 332 bytes from file Logs/20251024T220733/Express0013.lzma
2025-10-24T22:57:24.836Z,1761346644.836 [NAL9602](INFO): Packets left to send: 2
2025-10-24T22:57:25.188Z,1761346645.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321736,0.946779,-0.009790],[-0.944751,0.321697,0.062909],[0.062710,-0.010991,0.997971]]
2025-10-24T22:57:25.642Z,1761346645.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340571,0.938644,-0.054407],[-0.939399,0.342119,0.021984],[0.039249,0.043623,0.998277]]
2025-10-24T22:57:26.043Z,1761346646.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260221,0.963438,-0.063812],[-0.965247,0.261225,0.007775],[0.024160,0.059571,0.997932]]
2025-10-24T22:57:28.195Z,1761346648.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245589,0.967477,0.060611],[-0.968792,0.242795,0.049925],[0.033585,-0.070980,0.996912]]
2025-10-24T22:57:28.568Z,1761346648.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278084,0.960556,-0.000886],[-0.953894,0.276264,0.117319],[0.112936,-0.031780,0.993094]]
2025-10-24T22:57:28.969Z,1761346648.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288870,0.957309,-0.010623],[-0.951549,0.288318,0.106901],[0.105400,-0.020772,0.994213]]
2025-10-24T22:57:29.367Z,1761346649.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253083,0.967208,0.021378],[-0.967157,0.252407,0.029980],[0.023601,-0.028264,0.999322]]
2025-10-24T22:57:29.771Z,1761346649.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280542,0.957165,0.071635],[-0.959833,0.280083,0.016577],[-0.004197,-0.073408,0.997293]]
2025-10-24T22:57:30.177Z,1761346650.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299185,0.951500,0.071672],[-0.953771,0.295969,0.052177],[0.028434,-0.083969,0.996063]]
2025-10-24T22:57:30.583Z,1761346650.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236780,0.971080,0.030634],[-0.970688,0.235110,0.049879],[0.041235,-0.041546,0.998285]]
2025-10-24T22:57:30.986Z,1761346650.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220135,0.974760,0.037206],[-0.975007,0.218697,0.039147],[0.030022,-0.044893,0.998541]]
2025-10-24T22:57:31.390Z,1761346651.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259846,0.965626,0.006763],[-0.963700,0.258870,0.065328],[0.061332,-0.023493,0.997841]]
2025-10-24T22:57:31.796Z,1761346651.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246247,0.968988,-0.020590],[-0.967710,0.246992,0.050322],[0.053847,0.007534,0.998521]]
2025-10-24T22:57:32.199Z,1761346652.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221895,0.975023,-0.009649],[-0.975027,0.221968,0.007204],[0.009166,0.007809,0.999927]]
2025-10-24T22:57:32.603Z,1761346652.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263497,0.964463,-0.019513],[-0.964504,0.263765,0.012658],[0.017355,0.015485,0.999729]]
2025-10-24T22:57:33.006Z,1761346653.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257598,0.964772,-0.053454],[-0.963778,0.260501,0.057189],[0.069099,0.036786,0.996931]]
2025-10-24T22:57:33.412Z,1761346653.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242334,0.970048,-0.016753],[-0.969919,0.242640,0.019578],[0.023056,0.011504,0.999668]]
2025-10-24T22:57:33.814Z,1761346653.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236714,0.969796,0.058834],[-0.971579,0.236348,0.013200],[-0.001104,-0.060287,0.998181]]
2025-10-24T22:57:33.855Z,1761346653.855 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:57:33.855Z,1761346653.855 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:57:33.855Z,1761346653.855 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:57:33.856Z,1761346653.856 [marl:UpdateRudder:A] Stopped
2025-10-24T22:57:33.856Z,1761346653.856 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:57:33.856Z,1761346653.856 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:57:33.856Z,1761346653.856 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:57:33.856Z,1761346653.856 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:57:33.856Z,1761346653.856 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:57:33.857Z,1761346653.857 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:57:33.857Z,1761346653.857 [marl:UpdateCommandMode] Stopped
2025-10-24T22:57:33.857Z,1761346653.857 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:57:33.857Z,1761346653.857 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:57:33.857Z,1761346653.857 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:57:33.857Z,1761346653.857 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:57:33.857Z,1761346653.857 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:57:33.857Z,1761346653.857 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:57:33.858Z,1761346653.858 [marl:UpdateSpeed] Stopped
2025-10-24T22:57:33.858Z,1761346653.858 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:57:34.218Z,1761346654.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249025,0.963500,0.098258],[-0.968491,0.248088,0.021837],[-0.003337,-0.100600,0.994921]]
2025-10-24T22:57:34.272Z,1761346654.272 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:57:34.273Z,1761346654.273 [marl:UpdateRudder:B] Stopped
2025-10-24T22:57:34.273Z,1761346654.273 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:57:34.273Z,1761346654.273 [marl:UpdateRudder] Stopped
2025-10-24T22:57:34.273Z,1761346654.273 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:57:34.622Z,1761346654.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226105,0.965804,0.126887],[-0.968549,0.236790,-0.076436],[-0.103868,-0.105614,0.988968]]
2025-10-24T22:57:35.027Z,1761346655.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221293,0.968291,0.115937],[-0.972415,0.228084,-0.048847],[-0.073742,-0.101929,0.992055]]
2025-10-24T22:57:35.434Z,1761346655.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238427,0.968015,0.078103],[-0.969666,0.232830,0.074416],[0.053852,-0.093476,0.994164]]
2025-10-24T22:57:35.835Z,1761346655.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205131,0.977947,0.039240],[-0.977081,0.202291,0.066264],[0.056865,-0.051933,0.997030]]
2025-10-24T22:57:36.241Z,1761346656.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190569,0.981150,0.032067],[-0.981235,0.189405,0.036116],[0.029362,-0.038347,0.998833]]
2025-10-24T22:57:36.246Z,1761346656.246 [NAL9602](INFO): SBD MO Status=1, MOMSN=2562, MT Status=0, MTMSN=0
2025-10-24T22:57:36.304Z,1761346656.304 [NAL9602](INFO): Sent 332 bytes from file Logs/20251024T220733/Express0013.lzma
2025-10-24T22:57:36.304Z,1761346656.304 [NAL9602](INFO): Packets left to send: 1
2025-10-24T22:57:36.642Z,1761346656.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218311,0.975623,0.022346],[-0.975617,0.217665,0.028164],[0.022613,-0.027950,0.999354]]
2025-10-24T22:57:37.253Z,1761346657.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268479,0.962849,-0.029014],[-0.963262,0.268562,-0.001061],[0.006770,0.028233,0.999578]]
2025-10-24T22:57:39.475Z,1761346659.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186214,0.973359,0.133782],[-0.982188,0.180940,0.050665],[0.025108,-0.140833,0.989715]]
2025-10-24T22:57:39.840Z,1761346659.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215972,0.976117,0.023474],[-0.972383,0.212843,0.095758],[0.088474,-0.043507,0.995128]]
2025-10-24T22:57:40.244Z,1761346660.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254534,0.966608,-0.029693],[-0.965533,0.255738,0.048416],[0.054393,0.016346,0.998386]]
2025-10-24T22:57:40.647Z,1761346660.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254554,0.966834,-0.020834],[-0.966531,0.255068,0.027533],[0.031934,0.013128,0.999404]]
2025-10-24T22:57:41.050Z,1761346661.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248924,0.966775,0.058162],[-0.966684,0.244304,0.076398],[0.059651,-0.075242,0.995380]]
2025-10-24T22:57:41.461Z,1761346661.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268067,0.951066,0.153667],[-0.963369,0.265909,0.034815],[-0.007750,-0.157370,0.987509]]
2025-10-24T22:57:41.859Z,1761346661.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287568,0.940889,0.178979],[-0.952740,0.300130,-0.047001],[-0.097940,-0.157005,0.982729]]
2025-10-24T22:57:42.262Z,1761346662.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273290,0.956318,0.103770],[-0.959458,0.278728,-0.041845],[-0.068941,-0.088127,0.993721]]
2025-10-24T22:57:42.632Z,1761346662.632 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002926
2025-10-24T22:57:42.670Z,1761346662.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217894,0.975879,0.013474],[-0.975482,0.217326,0.034711],[0.030945,-0.020707,0.999307]]
2025-10-24T22:57:43.070Z,1761346663.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214317,0.976756,-0.004018],[-0.975899,0.214298,0.041209],[0.041113,-0.004911,0.999142]]
2025-10-24T22:57:43.478Z,1761346663.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248413,0.968624,0.007624],[-0.968103,0.247998,0.035689],[0.032679,-0.016246,0.999334]]
2025-10-24T22:57:43.882Z,1761346663.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272084,0.961788,0.030572],[-0.959846,0.269005,0.079574],[0.068309,-0.050995,0.996360]]
2025-10-24T22:57:44.282Z,1761346664.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255534,0.965485,0.050400],[-0.963725,0.250220,0.092866],[0.077049,-0.072303,0.994402]]
2025-10-24T22:57:44.689Z,1761346664.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234517,0.968154,0.087638],[-0.969824,0.226830,0.089385],[0.066660,-0.105955,0.992134]]
2025-10-24T22:57:45.093Z,1761346665.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248013,0.962942,0.105979],[-0.968271,0.242937,0.058593],[0.030675,-0.117148,0.992641]]
2025-10-24T22:57:45.494Z,1761346665.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244373,0.966853,0.074004],[-0.969429,0.245339,-0.004116],[-0.022135,-0.070736,0.997249]]
2025-10-24T22:57:45.943Z,1761346665.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253245,0.967215,0.019000],[-0.967402,0.253205,0.004555],[-0.000405,-0.019534,0.999809]]
2025-10-24T22:57:46.303Z,1761346666.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245345,0.969345,-0.013291],[-0.968932,0.245636,0.028865],[0.031245,0.005796,0.999495]]
2025-10-24T22:57:46.708Z,1761346666.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233777,0.972290,-0.000377],[-0.972034,0.233706,-0.023071],[-0.022344,0.005760,0.999734]]
2025-10-24T22:57:46.797Z,1761346666.797 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:57:46.797Z,1761346666.797 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:57:47.112Z,1761346667.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243516,0.969880,0.005738],[-0.969896,0.243517,0.000479],[-0.000933,-0.005682,0.999983]]
2025-10-24T22:57:47.514Z,1761346667.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228200,0.973340,0.023090],[-0.967233,0.223930,0.119645],[0.111285,-0.049636,0.992548]]
2025-10-24T22:57:47.522Z,1761346667.522 [NAL9602](INFO): SBD MO Status=1, MOMSN=2563, MT Status=0, MTMSN=0
2025-10-24T22:57:47.581Z,1761346667.581 [NAL9602](INFO): Sent 23 bytes from file Logs/20251024T220733/Express0013.lzma
2025-10-24T22:57:47.581Z,1761346667.581 [NAL9602](INFO): Packets left to send: 0
2025-10-24T22:57:47.968Z,1761346667.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230655,0.969226,0.086022],[-0.967067,0.218565,0.130424],[0.107609,-0.113272,0.987719]]
2025-10-24T22:57:48.325Z,1761346668.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235784,0.962336,0.135338],[-0.969931,0.224390,0.094248],[0.060330,-0.153490,0.986307]]
2025-10-24T22:57:48.726Z,1761346668.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242367,0.960811,0.134534],[-0.965972,0.226075,0.125649],[0.090310,-0.160409,0.982910]]
2025-10-24T22:57:48.739Z,1761346668.739 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225745.00,A,3646.42561,N,12151.83962,W,0.369,119.51,241025,,,A*7D
2025-10-24T22:57:48.741Z,1761346668.741 [NAL9602](INFO): GPS fix at 20251024T225745: (36.773760, -121.863994)
2025-10-24T22:57:48.802Z,1761346668.802 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:57:48.802Z,1761346668.802 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:57:48.802Z,1761346668.802 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:57:48.802Z,1761346668.802 [marl:UpdateRudder:A] Stopped
2025-10-24T22:57:48.802Z,1761346668.802 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:57:48.802Z,1761346668.802 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:57:48.803Z,1761346668.803 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:57:48.803Z,1761346668.803 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:57:48.803Z,1761346668.803 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:57:48.803Z,1761346668.803 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:57:48.803Z,1761346668.803 [marl:UpdateCommandMode] Stopped
2025-10-24T22:57:48.803Z,1761346668.803 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:57:48.803Z,1761346668.803 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:57:48.803Z,1761346668.803 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:57:48.812Z,1761346668.812 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:57:48.812Z,1761346668.812 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:57:48.812Z,1761346668.812 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:57:48.812Z,1761346668.812 [marl:UpdateSpeed] Stopped
2025-10-24T22:57:48.812Z,1761346668.812 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:57:48.814Z,1761346668.814 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:57:48.815Z,1761346668.815 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761346688.00. Resetting abort timer.
2025-10-24T22:57:48.861Z,1761346668.861 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:57:48.861Z,1761346668.861 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:57:49.113Z,1761346669.113 [DAT](INFO): DAT read: user:10>

2025-10-24T22:57:49.114Z,1761346669.114 [DAT](INFO): DAT read: Tx time:22:57:48.0175

2025-10-24T22:57:49.114Z,1761346669.114 [DAT](INFO): Ping request sent.
2025-10-24T22:57:49.114Z,1761346669.114 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:57:49.114Z,1761346669.114 [DAT](INFO): publishing transmit ping time
2025-10-24T22:57:49.115Z,1761346669.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000949
2025-10-24T22:57:49.131Z,1761346669.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258972,0.958434,0.119740],[-0.964865,0.251008,0.077650],[0.044367,-0.135642,0.989764]]
2025-10-24T22:57:49.232Z,1761346669.232 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:57:49.233Z,1761346669.233 [marl:UpdateRudder:B] Stopped
2025-10-24T22:57:49.233Z,1761346669.233 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:57:49.233Z,1761346669.233 [marl:UpdateRudder] Stopped
2025-10-24T22:57:49.233Z,1761346669.233 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:57:49.365Z,1761346669.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250838
2025-10-24T22:57:49.536Z,1761346669.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248525,0.963604,0.098505],[-0.968625,0.247277,0.024882],[-0.000382,-0.101598,0.994825]]
2025-10-24T22:57:49.617Z,1761346669.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502839
2025-10-24T22:57:49.869Z,1761346669.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754941
2025-10-24T22:57:49.960Z,1761346669.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244823,0.963388,0.109296],[-0.968156,0.236827,0.081161],[0.052306,-0.125685,0.990690]]
2025-10-24T22:57:50.121Z,1761346670.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006758
2025-10-24T22:57:50.344Z,1761346670.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271147,0.954128,0.126957],[-0.959066,0.256617,0.119747],[0.081675,-0.154229,0.984654]]
2025-10-24T22:57:50.373Z,1761346670.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258831
2025-10-24T22:57:50.625Z,1761346670.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510777
2025-10-24T22:57:50.747Z,1761346670.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278087,0.954073,0.111409],[-0.959595,0.270745,0.076651],[0.042967,-0.128223,0.990814]]
2025-10-24T22:57:50.877Z,1761346670.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762947
2025-10-24T22:57:51.129Z,1761346671.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014851
2025-10-24T22:57:51.150Z,1761346671.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306903,0.951398,0.025539],[-0.950898,0.305393,0.050274],[0.040031,-0.039715,0.998409]]
2025-10-24T22:57:51.203Z,1761346671.203 [marl:NeedComms:D] Stopped
2025-10-24T22:57:51.203Z,1761346671.203 [marl:NeedComms:E] Running Loop=1
2025-10-24T22:57:51.381Z,1761346671.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266893
2025-10-24T22:57:51.560Z,1761346671.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305735,0.949710,-0.067655],[-0.950397,0.308680,0.038235],[0.057196,0.052609,0.996976]]
2025-10-24T22:57:51.633Z,1761346671.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518882
2025-10-24T22:57:51.885Z,1761346671.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771482
2025-10-24T22:57:51.967Z,1761346671.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307204,0.947434,-0.089410],[-0.950684,0.309754,0.015858],[0.042720,0.080129,0.995869]]
2025-10-24T22:57:51.971Z,1761346671.971 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225748.00,A,3646.42543,N,12151.83961,W,0.194,152.16,241025,,,A*7F
2025-10-24T22:57:51.974Z,1761346671.974 [NAL9602](INFO): GPS fix at 20251024T225748: (36.773757, -121.863994)
2025-10-24T22:57:52.046Z,1761346672.046 [marl:NeedComms:E] Stopped
2025-10-24T22:57:52.046Z,1761346672.046 [marl:NeedComms](INFO): Completed marl:NeedComms
2025-10-24T22:57:52.047Z,1761346672.047 [marl:NeedComms] Stopped
2025-10-24T22:57:52.047Z,1761346672.047 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms
2025-10-24T22:57:52.047Z,1761346672.047 [marl:NeedComms:B.GoToSurface] Stopped
2025-10-24T22:57:52.047Z,1761346672.047 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-24T22:57:52.052Z,1761346672.052 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761346688.00. Resetting abort timer.
2025-10-24T22:57:52.137Z,1761346672.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022863
2025-10-24T22:57:52.362Z,1761346672.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330093,0.943309,-0.034741],[-0.943840,0.329274,-0.027294],[-0.014307,0.041799,0.999024]]
2025-10-24T22:57:52.389Z,1761346672.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274722
2025-10-24T22:57:52.641Z,1761346672.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527426
2025-10-24T22:57:52.766Z,1761346672.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321172,0.946872,0.016806],[-0.945097,0.321599,-0.058015],[-0.060337,0.002749,0.998174]]
2025-10-24T22:57:52.896Z,1761346672.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781312
2025-10-24T22:57:53.145Z,1761346673.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030795
2025-10-24T22:57:53.176Z,1761346673.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304759,0.950251,0.064386],[-0.951895,0.306155,-0.012822],[-0.031897,-0.057381,0.997843]]
2025-10-24T22:57:53.400Z,1761346673.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286014
2025-10-24T22:57:53.576Z,1761346673.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329257,0.938652,0.102576],[-0.944200,0.326292,0.044940],[0.008713,-0.111649,0.993710]]
2025-10-24T22:57:53.650Z,1761346673.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535567
2025-10-24T22:57:53.905Z,1761346673.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790067
2025-10-24T22:57:53.978Z,1761346673.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332694,0.938983,0.087319],[-0.942422,0.327713,0.066664],[0.033981,-0.104470,0.993947]]
2025-10-24T22:57:54.153Z,1761346674.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038751
2025-10-24T22:57:54.385Z,1761346674.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329847,0.942646,0.051182],[-0.943964,0.328673,0.030107],[0.011558,-0.058245,0.998235]]
2025-10-24T22:57:54.405Z,1761346674.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291086
2025-10-24T22:57:54.657Z,1761346674.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543507
2025-10-24T22:57:54.912Z,1761346674.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797461
2025-10-24T22:57:54.969Z,1761346674.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338390,0.940036,-0.042716],[-0.932449,0.341076,0.119190],[0.126612,-0.000502,0.991952]]
2025-10-24T22:57:54.978Z,1761346674.978 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225751.00,A,3646.42528,N,12151.83984,W,0.505,185.39,241025,,,A*7A
2025-10-24T22:57:54.984Z,1761346674.984 [NAL9602](INFO): GPS fix at 20251024T225751: (36.773755, -121.863997)
2025-10-24T22:57:55.059Z,1761346675.059 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761346688.00. Resetting abort timer.
2025-10-24T22:57:55.161Z,1761346675.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046911
2025-10-24T22:57:55.413Z,1761346675.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299181
2025-10-24T22:57:55.433Z,1761346675.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328702,0.943179,-0.048666],[-0.932034,0.332278,0.144579],[0.152535,-0.002165,0.988296]]
2025-10-24T22:57:55.666Z,1761346675.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552391
2025-10-24T22:57:55.811Z,1761346675.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331335,0.943507,0.003233],[-0.939802,0.329727,0.089734],[0.083599,-0.032770,0.995961]]
2025-10-24T22:57:55.920Z,1761346675.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805671
2025-10-24T22:57:56.169Z,1761346676.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054795
2025-10-24T22:57:56.215Z,1761346676.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376036,0.925651,0.042038],[-0.926586,0.375929,0.010723],[-0.005878,-0.042984,0.999058]]
2025-10-24T22:57:56.421Z,1761346676.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307481
2025-10-24T22:57:56.619Z,1761346676.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351292,0.933525,0.071591],[-0.935009,0.353754,-0.024821],[-0.048496,-0.058219,0.997125]]
2025-10-24T22:57:56.674Z,1761346676.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559261
2025-10-24T22:57:56.925Z,1761346676.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810795
2025-10-24T22:57:57.023Z,1761346677.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316417,0.941561,0.115509],[-0.948163,0.317691,0.007700],[-0.029446,-0.111958,0.993277]]
2025-10-24T22:57:57.179Z,1761346677.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.064896
2025-10-24T22:57:57.429Z,1761346677.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314798
2025-10-24T22:57:57.437Z,1761346677.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328367,0.939148,0.100877],[-0.944214,0.323525,0.061568],[0.025186,-0.115466,0.992992]]
2025-10-24T22:57:57.681Z,1761346677.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567370
2025-10-24T22:57:57.831Z,1761346677.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363491,0.930618,0.042701],[-0.929035,0.358713,0.090663],[0.069055,-0.072626,0.994966]]
2025-10-24T22:57:57.839Z,1761346677.839 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225754.00,A,3646.42496,N,12151.83963,W,0.914,169.84,241025,,,A*7A
2025-10-24T22:57:57.841Z,1761346677.841 [NAL9602](INFO): GPS fix at 20251024T225754: (36.773749, -121.863994)
2025-10-24T22:57:57.938Z,1761346677.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823582
2025-10-24T22:57:57.972Z,1761346677.972 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761346688.00. Resetting abort timer.
2025-10-24T22:57:58.186Z,1761346678.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071715
2025-10-24T22:57:58.257Z,1761346678.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394643,0.918600,-0.020760],[-0.917515,0.395186,0.044666],[0.049234,0.001420,0.998786]]
2025-10-24T22:57:58.437Z,1761346678.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322926
2025-10-24T22:57:58.689Z,1761346678.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574861
2025-10-24T22:57:58.941Z,1761346678.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826914
2025-10-24T22:57:59.054Z,1761346679.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339727,0.938427,0.062773],[-0.935281,0.344118,-0.082656],[-0.099168,-0.030630,0.994599]]
2025-10-24T22:57:59.193Z,1761346679.193 [DAT](INFO): Reached modem response timeout
2025-10-24T22:57:59.459Z,1761346679.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369780,0.926931,0.063736],[-0.929072,0.368200,0.035413],[0.009358,-0.072310,0.997338]]
2025-10-24T22:57:59.862Z,1761346679.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378660,0.925173,0.025894],[-0.920999,0.373890,0.109395],[0.091528,-0.065272,0.993661]]
2025-10-24T22:58:00.268Z,1761346680.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371767,0.926569,0.057091],[-0.927921,0.369086,0.052326],[0.027412,-0.072429,0.996997]]
2025-10-24T22:58:00.681Z,1761346680.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359807,0.927393,0.102381],[-0.933027,0.357585,0.039929],[0.000420,-0.109891,0.993944]]
2025-10-24T22:58:01.078Z,1761346681.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366921,0.924294,0.105117],[-0.929758,0.360697,0.073806],[0.030304,-0.124814,0.991717]]
2025-10-24T22:58:01.083Z,1761346681.083 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225757.00,A,3646.42484,N,12151.83875,W,1.361,80.18,241025,,,A*46
2025-10-24T22:58:01.085Z,1761346681.085 [NAL9602](INFO): GPS fix at 20251024T225757: (36.773747, -121.863979)
2025-10-24T22:58:01.140Z,1761346681.140 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761346688.00. Resetting abort timer.
2025-10-24T22:58:01.461Z,1761346681.461 [DAT](INFO): DAT read: Response Not Received

2025-10-24T22:58:01.461Z,1761346681.461 [DAT](INFO): response not received
2025-10-24T22:58:01.461Z,1761346681.461 [DAT](ERROR): No response from remote modem.
2025-10-24T22:58:02.074Z,1761346682.074 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:58:02.074Z,1761346682.074 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:58:02.074Z,1761346682.074 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:58:02.075Z,1761346682.075 [marl:UpdateRudder:A] Stopped
2025-10-24T22:58:02.075Z,1761346682.075 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:58:02.075Z,1761346682.075 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:58:02.075Z,1761346682.075 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:58:02.075Z,1761346682.075 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:58:02.075Z,1761346682.075 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:58:02.075Z,1761346682.075 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:58:02.075Z,1761346682.075 [marl:UpdateCommandMode] Stopped
2025-10-24T22:58:02.083Z,1761346682.083 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:58:02.096Z,1761346682.096 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:58:02.096Z,1761346682.096 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:58:02.096Z,1761346682.096 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:58:02.096Z,1761346682.096 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:58:02.096Z,1761346682.096 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:58:02.097Z,1761346682.097 [marl:UpdateSpeed] Stopped
2025-10-24T22:58:02.097Z,1761346682.097 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:58:02.236Z,1761346682.236 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:58:02.382Z,1761346682.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347165,0.937778,0.006937],[-0.931105,0.343793,0.121856],[0.111889,-0.048763,0.992524]]
2025-10-24T22:58:02.439Z,1761346682.439 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:58:02.439Z,1761346682.439 [marl:UpdateRudder:B] Stopped
2025-10-24T22:58:02.439Z,1761346682.439 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:58:02.439Z,1761346682.439 [marl:UpdateRudder] Stopped
2025-10-24T22:58:02.439Z,1761346682.439 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:58:02.780Z,1761346682.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363172,0.931596,0.015314],[-0.927438,0.359878,0.101718],[0.089249,-0.051144,0.994695]]
2025-10-24T22:58:03.183Z,1761346683.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304705,0.951964,0.030320],[-0.949318,0.300972,0.090621],[0.077142,-0.056396,0.995424]]
2025-10-24T22:58:03.587Z,1761346683.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266172,0.957401,0.111966],[-0.956443,0.247873,0.154192],[0.119870,-0.148131,0.981676]]
2025-10-24T22:58:04.015Z,1761346684.015 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225800.00,A,3646.42488,N,12151.83843,W,0.622,49.06,241025,,,A*4B
2025-10-24T22:58:04.018Z,1761346684.018 [NAL9602](INFO): GPS fix at 20251024T225800: (36.773748, -121.863974)
2025-10-24T22:58:04.121Z,1761346684.121 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761346688.00. Resetting abort timer.
2025-10-24T22:58:04.403Z,1761346684.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318627,0.923402,0.214023],[-0.947581,0.304629,0.096393],[0.023812,-0.233517,0.972061]]
2025-10-24T22:58:04.799Z,1761346684.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306901,0.939883,0.149773],[-0.951304,0.307706,0.018348],[-0.028841,-0.148111,0.988550]]
2025-10-24T22:58:05.609Z,1761346685.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305065,0.951710,-0.034398],[-0.951595,0.306051,0.028286],[0.037448,0.024103,0.999008]]
2025-10-24T22:58:06.013Z,1761346686.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255011,0.966819,-0.015219],[-0.965608,0.255453,0.048419],[0.050700,0.002348,0.998711]]
2025-10-24T22:58:06.419Z,1761346686.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275752,0.960508,0.037210],[-0.959872,0.273099,0.063745],[0.051066,-0.053294,0.997272]]
2025-10-24T22:58:06.827Z,1761346686.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253389,0.966379,0.043645],[-0.964555,0.248960,0.087473],[0.073666,-0.064263,0.995210]]
2025-10-24T22:58:06.845Z,1761346686.845 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225803.00,A,3646.42505,N,12151.83925,W,1.166,283.62,241025,,,A*7D
2025-10-24T22:58:06.847Z,1761346686.847 [NAL9602](INFO): GPS fix at 20251024T225803: (36.773751, -121.863987)
2025-10-24T22:58:06.941Z,1761346686.941 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761346688.00. Resetting abort timer.
2025-10-24T22:58:07.223Z,1761346687.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219120,0.971016,0.095468],[-0.975657,0.218954,0.012340],[-0.008921,-0.095848,0.995356]]
2025-10-24T22:58:07.636Z,1761346687.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205650,0.970689,0.124378],[-0.976618,0.211701,-0.037420],[-0.062654,-0.113775,0.991529]]
2025-10-24T22:58:08.034Z,1761346688.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169732,0.979848,0.105306],[-0.985387,0.170290,0.003731],[-0.014277,-0.104401,0.994433]]
2025-10-24T22:58:08.457Z,1761346688.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158034,0.983537,0.087635],[-0.986574,0.153569,0.055579],[0.041206,-0.095242,0.994601]]
2025-10-24T22:58:08.842Z,1761346688.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155103,0.984739,0.078948],[-0.987287,0.151701,0.047443],[0.034742,-0.085303,0.995749]]
2025-10-24T22:58:09.250Z,1761346689.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135149,0.987514,0.080939],[-0.990053,0.131368,0.050369],[0.039107,-0.086941,0.995446]]
2025-10-24T22:58:09.662Z,1761346689.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082846,0.993490,0.078189],[-0.993262,0.075936,0.087551],[0.081044,-0.084916,0.993087]]
2025-10-24T22:58:10.055Z,1761346690.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034337,0.990610,0.132333],[-0.991507,0.017146,0.128919],[0.125439,-0.135635,0.982786]]
2025-10-24T22:58:10.063Z,1761346690.063 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225806.00,A,3646.42499,N,12151.84034,W,0.447,271.77,241025,,,A*7C
2025-10-24T22:58:10.080Z,1761346690.080 [NAL9602](INFO): GPS fix at 20251024T225806: (36.773750, -121.864006)
2025-10-24T22:58:10.194Z,1761346690.194 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761346688.00. Resetting abort timer.
2025-10-24T22:58:10.458Z,1761346690.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040872,0.980250,0.193491],[-0.986295,0.008600,0.164769],[0.159851,-0.197573,0.967167]]
2025-10-24T22:58:11.266Z,1761346691.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065095,0.992841,0.100146],[-0.988889,0.050742,0.139729],[0.133647,-0.108129,0.985112]]
2025-10-24T22:58:11.681Z,1761346691.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013910,0.995679,0.091811],[-0.990571,0.001207,0.136992],[0.136290,-0.092851,0.986308]]
2025-10-24T22:58:12.075Z,1761346692.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000008,0.986696,0.162576],[-0.994026,-0.017737,0.107695],[0.109146,-0.161606,0.980801]]
2025-10-24T22:58:12.479Z,1761346692.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050867,0.982496,0.179207],[-0.987091,-0.076745,0.140574],[0.151866,-0.169743,0.973717]]
2025-10-24T22:58:12.892Z,1761346692.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083487,0.975839,0.201912],[-0.985151,-0.111327,0.130703],[0.150023,-0.188002,0.970643]]
2025-10-24T22:58:12.897Z,1761346692.897 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225809.00,A,3646.42496,N,12151.84080,W,0.641,270.62,241025,,,A*72
2025-10-24T22:58:12.899Z,1761346692.899 [NAL9602](INFO): GPS fix at 20251024T225809: (36.773749, -121.864013)
2025-10-24T22:58:12.949Z,1761346692.949 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761346688.00. Resetting abort timer.
2025-10-24T22:58:13.287Z,1761346693.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107550,0.976843,0.184963],[-0.988424,-0.125083,0.085866],[0.107013,-0.173587,0.978987]]
2025-10-24T22:58:13.701Z,1761346693.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089220,0.984492,0.151047],[-0.983152,-0.111340,0.144970],[0.159539,-0.135568,0.977839]]
2025-10-24T22:58:13.724Z,1761346693.724 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:58:14.094Z,1761346694.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093076,0.992923,0.073768],[-0.983174,-0.103353,0.150625],[0.157183,-0.058507,0.985835]]
2025-10-24T22:58:14.498Z,1761346694.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174877,0.981963,0.071885],[-0.969437,-0.184486,0.161732],[0.172076,-0.041404,0.984213]]
2025-10-24T22:58:14.902Z,1761346694.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194125,0.963696,0.183317],[-0.956774,-0.227254,0.181490],[0.216561,-0.140161,0.966155]]
2025-10-24T22:58:14.970Z,1761346694.970 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:58:14.970Z,1761346694.970 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:58:14.971Z,1761346694.971 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:58:14.971Z,1761346694.971 [marl:UpdateRudder:A] Stopped
2025-10-24T22:58:14.971Z,1761346694.971 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:58:14.971Z,1761346694.971 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:58:14.971Z,1761346694.971 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:58:14.971Z,1761346694.971 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:58:14.976Z,1761346694.976 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:58:14.977Z,1761346694.977 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:58:14.977Z,1761346694.977 [marl:UpdateCommandMode] Stopped
2025-10-24T22:58:14.977Z,1761346694.977 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:58:14.977Z,1761346694.977 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:58:14.977Z,1761346694.977 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:58:14.977Z,1761346694.977 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:58:14.977Z,1761346694.977 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:58:14.978Z,1761346694.978 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:58:14.978Z,1761346694.978 [marl:UpdateSpeed] Stopped
2025-10-24T22:58:14.978Z,1761346694.978 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:58:15.309Z,1761346695.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155335,0.958397,0.239470],[-0.973441,-0.189772,0.128060],[0.168177,-0.213218,0.962421]]
2025-10-24T22:58:15.339Z,1761346695.339 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:58:15.340Z,1761346695.339 [marl:UpdateRudder:B] Stopped
2025-10-24T22:58:15.340Z,1761346695.340 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:58:15.340Z,1761346695.340 [marl:UpdateRudder] Stopped
2025-10-24T22:58:15.340Z,1761346695.340 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:58:15.728Z,1761346695.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147392,0.967015,0.207743],[-0.978945,-0.172616,0.108951],[0.141217,-0.187310,0.972097]]
2025-10-24T22:58:16.121Z,1761346696.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181302,0.974427,0.132746],[-0.970918,-0.198819,0.133377],[0.156359,-0.104704,0.982135]]
2025-10-24T22:58:16.127Z,1761346696.127 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225812.00,A,3646.42564,N,12151.84166,W,0.836,331.66,241025,,,A*73
2025-10-24T22:58:16.129Z,1761346696.129 [NAL9602](INFO): GPS fix at 20251024T225812: (36.773761, -121.864028)
2025-10-24T22:58:16.254Z,1761346696.254 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761346688.00. Resetting abort timer.
2025-10-24T22:58:16.535Z,1761346696.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238658,0.966866,0.090626],[-0.958638,-0.249472,0.137032],[0.155101,-0.054174,0.986412]]
2025-10-24T22:58:16.933Z,1761346696.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281462,0.950267,0.133313],[-0.942411,-0.299906,0.148050],[0.180668,-0.083966,0.979953]]
2025-10-24T22:58:17.331Z,1761346697.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302255,0.927233,0.221089],[-0.919254,-0.344903,0.189775],[0.252221,-0.145877,0.956611]]
2025-10-24T22:58:17.738Z,1761346697.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284395,0.908461,0.306298],[-0.916245,-0.351584,0.192051],[0.282160,-0.226026,0.932361]]
2025-10-24T22:58:18.139Z,1761346698.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277520,0.915330,0.291809],[-0.937234,-0.324695,0.127146],[0.211129,-0.238208,0.947988]]
2025-10-24T22:58:18.545Z,1761346698.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313543,0.929606,0.193710],[-0.929603,-0.342111,0.137105],[0.193724,-0.137086,0.971431]]
2025-10-24T22:58:18.947Z,1761346698.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341784,0.930790,0.129667],[-0.913382,-0.361479,0.187259],[0.221171,-0.054433,0.973715]]
2025-10-24T22:58:18.955Z,1761346698.955 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225815.00,A,3646.42540,N,12151.84242,W,0.583,275.97,241025,,,A*7B
2025-10-24T22:58:18.965Z,1761346698.965 [NAL9602](INFO): GPS fix at 20251024T225815: (36.773757, -121.864040)
2025-10-24T22:58:19.036Z,1761346699.036 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761346688.00. Resetting abort timer.
2025-10-24T22:58:19.358Z,1761346699.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334713,0.936674,0.103001],[-0.909992,-0.349679,0.222801],[0.244709,-0.019156,0.969407]]
2025-10-24T22:58:19.760Z,1761346699.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394192,0.912592,0.108575],[-0.889292,-0.408575,0.205490],[0.231890,-0.015552,0.972618]]
2025-10-24T22:58:20.142Z,1761346700.142 [DAT](INFO): DAT read: user:11>22:58:18.4900 LVL= 32752, 28065, 29746, 32755, AGC= 80, IDX= 265, 0.03, 2.218,-1.854,-2.777,-2.902, PHS=-1.061, 1.093, 0.081, RAW= 298.0,  -1.2, CAL= 296.8,  -5.6, ROT= 213.2,   5.6

2025-10-24T22:58:20.156Z,1761346700.156 [DAT](INFO): DAT read: Rx Time:22:58:18.4900

2025-10-24T22:58:20.156Z,1761346700.156 [DAT](INFO): Rx dataTimestamp_ set to:1761346700.156038
2025-10-24T22:58:20.157Z,1761346700.157 [DAT](INFO): DAT read: $Low SNR acquisition

2025-10-24T22:58:20.157Z,1761346700.157 [DAT](INFO): Received low SNR in chirp
2025-10-24T22:58:20.166Z,1761346700.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436915,0.874792,0.209392],[-0.861760,-0.473807,0.181318],[0.257827,-0.101225,0.960874]]
2025-10-24T22:58:20.572Z,1761346700.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377203,0.847687,0.373021],[-0.870619,-0.461908,0.169301],[0.315816,-0.260898,0.912246]]
2025-10-24T22:58:20.971Z,1761346700.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331664,0.825052,0.457481],[-0.897323,-0.425587,0.116992],[0.291222,-0.371706,0.881490]]
2025-10-24T22:58:21.383Z,1761346701.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341200,0.854249,0.392226],[-0.906959,-0.408825,0.101431],[0.246999,-0.321124,0.914260]]
2025-10-24T22:58:21.778Z,1761346701.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375760,0.881707,0.285301],[-0.885886,-0.432134,0.168717],[0.272047,-0.189347,0.943471]]
2025-10-24T22:58:22.183Z,1761346702.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376087,0.893552,0.245200],[-0.877882,-0.428281,0.214238],[0.296447,-0.134685,0.945505]]
2025-10-24T22:58:22.188Z,1761346702.188 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225818.00,A,3646.42483,N,12151.84346,W,1.225,245.06,241025,,,A*7C
2025-10-24T22:58:22.190Z,1761346702.190 [NAL9602](INFO): GPS fix at 20251024T225818: (36.773747, -121.864058)
2025-10-24T22:58:22.246Z,1761346702.246 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761346688.00. Resetting abort timer.
2025-10-24T22:58:22.587Z,1761346702.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375285,0.893022,0.248340],[-0.870782,-0.431487,0.235708],[0.317647,-0.127792,0.939558]]
2025-10-24T22:58:22.992Z,1761346702.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376217,0.891521,0.252291],[-0.861933,-0.436655,0.257691],[0.339901,-0.120510,0.932708]]
2025-10-24T22:58:23.394Z,1761346703.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371897,0.879741,0.296223],[-0.863906,-0.444773,0.236312],[0.339646,-0.168025,0.925423]]
2025-10-24T22:58:23.802Z,1761346703.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370246,0.867954,0.331019],[-0.860633,-0.454618,0.229418],[0.349612,-0.199944,0.915311]]
2025-10-24T22:58:23.930Z,1761346703.930 [DAT](INFO): setting remote address to 10
2025-10-24T22:58:24.033Z,1761346704.033 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:58:24.177Z,1761346704.177 [DAT](INFO): DAT read: 

2025-10-24T22:58:24.177Z,1761346704.177 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:58:24.178Z,1761346704.178 [DAT](INFO): set remote address to 10
2025-10-24T22:58:24.178Z,1761346704.178 [DAT](INFO): entering online mode
2025-10-24T22:58:24.223Z,1761346704.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370513,0.863905,0.341157],[-0.857717,-0.459179,0.231248],[0.356428,-0.206936,0.911118]]
2025-10-24T22:58:24.429Z,1761346704.429 [DAT](INFO): DAT read: user:12>

2025-10-24T22:58:24.430Z,1761346704.430 [DAT](INFO): DAT read: 

2025-10-24T22:58:24.431Z,1761346704.431 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:58:24.431Z,1761346704.431 [DAT](INFO): commRate: 600
2025-10-24T22:58:24.431Z,1761346704.431 [DAT](INFO): online mode acknowledged
2025-10-24T22:58:24.432Z,1761346704.432 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:58:24.608Z,1761346704.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379339,0.858667,0.344663],[-0.855668,-0.467292,0.222418],[0.352042,-0.210545,0.911996]]
2025-10-24T22:58:25.027Z,1761346705.027 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225821.00,A,3646.42421,N,12151.84478,W,2.313,243.36,241025,,,A*76
2025-10-24T22:58:25.030Z,1761346705.030 [NAL9602](INFO): GPS fix at 20251024T225821: (36.773737, -121.864080)
2025-10-24T22:58:25.053Z,1761346705.053 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761346688.00. Resetting abort timer.
2025-10-24T22:58:25.835Z,1761346705.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358653,0.851523,0.382462],[-0.869404,-0.453884,0.195256],[0.339859,-0.262485,0.903105]]
2025-10-24T22:58:26.224Z,1761346706.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362853,0.863075,0.351339],[-0.868951,-0.449560,0.206929],[0.336543,-0.230211,0.913094]]
2025-10-24T22:58:26.626Z,1761346706.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370483,0.867752,0.331283],[-0.852067,-0.459494,0.250694],[0.369763,-0.189397,0.909617]]
2025-10-24T22:58:27.030Z,1761346707.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379871,0.855077,0.352905],[-0.842526,-0.477321,0.249629],[0.381901,-0.202505,0.901745]]
2025-10-24T22:58:27.434Z,1761346707.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391800,0.839400,0.376697],[-0.836627,-0.495400,0.233738],[0.382815,-0.223576,0.896363]]
2025-10-24T22:58:27.705Z,1761346707.705 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:58:26.6662

2025-10-24T22:58:27.705Z,1761346707.705 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:58:27.861Z,1761346707.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402605,0.827516,0.391313],[-0.826182,-0.512559,0.233895],[0.394123,-0.229128,0.890038]]
2025-10-24T22:58:27.876Z,1761346707.876 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225824.00,A,3646.42157,N,12151.84709,W,3.849,243.36,241025,,,A*77
2025-10-24T22:58:27.879Z,1761346707.879 [NAL9602](INFO): GPS fix at 20251024T225824: (36.773693, -121.864118)
2025-10-24T22:58:27.975Z,1761346707.975 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:58:27.975Z,1761346707.975 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:58:27.975Z,1761346707.975 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:58:27.975Z,1761346707.975 [marl:UpdateRudder:A] Stopped
2025-10-24T22:58:27.975Z,1761346707.975 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:58:27.975Z,1761346707.975 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:58:27.975Z,1761346707.975 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:58:27.976Z,1761346707.976 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:58:27.980Z,1761346707.980 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:58:27.980Z,1761346707.980 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:58:27.980Z,1761346707.980 [marl:UpdateCommandMode] Stopped
2025-10-24T22:58:27.980Z,1761346707.980 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:58:27.980Z,1761346707.980 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:58:27.981Z,1761346707.981 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:58:27.981Z,1761346707.981 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:58:27.981Z,1761346707.981 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:58:27.981Z,1761346707.981 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:58:27.981Z,1761346707.981 [marl:UpdateSpeed] Stopped
2025-10-24T22:58:27.981Z,1761346707.981 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:58:27.983Z,1761346707.983 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761346688.00. Resetting abort timer.
2025-10-24T22:58:28.347Z,1761346708.347 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:58:28.352Z,1761346708.352 [marl:UpdateRudder:B] Stopped
2025-10-24T22:58:28.353Z,1761346708.353 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:58:28.353Z,1761346708.353 [marl:UpdateRudder] Stopped
2025-10-24T22:58:28.353Z,1761346708.353 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:58:28.648Z,1761346708.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386971,0.813032,0.435008],[-0.823148,-0.517194,0.234389],[0.415549,-0.267374,0.869385]]
2025-10-24T22:58:29.051Z,1761346709.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365987,0.822276,0.435793],[-0.832001,-0.498905,0.242629],[0.416927,-0.273782,0.866727]]
2025-10-24T22:58:29.457Z,1761346709.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351587,0.842206,0.408749],[-0.844144,-0.473982,0.250523],[0.404732,-0.256962,0.877589]]
2025-10-24T22:58:29.878Z,1761346709.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343777,0.866131,0.362815],[-0.856079,-0.447854,0.257983],[0.385935,-0.221910,0.895439]]
2025-10-24T22:58:30.301Z,1761346710.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348963,0.880417,0.321079],[-0.856305,-0.438765,0.272447],[0.380745,-0.179867,0.907018]]
2025-10-24T22:58:30.762Z,1761346710.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355103,0.885947,0.298329],[-0.852722,-0.437760,0.285012],[0.383102,-0.153183,0.910916]]
2025-10-24T22:58:31.124Z,1761346711.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361461,0.885498,0.291958],[-0.850147,-0.441589,0.286791],[0.382878,-0.144544,0.912421]]
2025-10-24T22:58:31.129Z,1761346711.129 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225827.00,A,3646.41544,N,12151.85160,W,7.367,233.11,241025,,,A*78
2025-10-24T22:58:31.131Z,1761346711.131 [NAL9602](INFO): GPS fix at 20251024T225827: (36.773591, -121.864193)
2025-10-24T22:58:31.154Z,1761346711.154 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761346688.00. Resetting abort timer.
2025-10-24T22:58:31.527Z,1761346711.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364201,0.882949,0.296241],[-0.852223,-0.444243,0.276342],[0.375599,-0.151819,0.914263]]
2025-10-24T22:58:31.959Z,1761346711.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357666,0.881822,0.307351],[-0.859154,-0.439704,0.261754],[0.365964,-0.170442,0.914888]]
2025-10-24T22:58:32.345Z,1761346712.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345827,0.885429,0.310515],[-0.867869,-0.427638,0.252843],[0.356663,-0.182046,0.916325]]
2025-10-24T22:58:32.738Z,1761346712.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336368,0.892563,0.300312],[-0.876954,-0.413104,0.245554],[0.343232,-0.180763,0.921692]]
2025-10-24T22:58:33.142Z,1761346713.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335481,0.898732,0.282370],[-0.883389,-0.404244,0.237088],[0.327225,-0.169904,0.929546]]
2025-10-24T22:58:33.987Z,1761346713.987 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225830.00,A,3646.40451,N,12151.85800,W,11.721,209.99,241025,,,A*4D
2025-10-24T22:58:33.989Z,1761346713.989 [NAL9602](INFO): GPS fix at 20251024T225830: (36.773409, -121.864300)
2025-10-24T22:58:34.041Z,1761346714.041 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761346688.00. Resetting abort timer.
2025-10-24T22:58:34.361Z,1761346714.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367194,0.884469,0.287896],[-0.874441,-0.433755,0.217278],[0.317052,-0.171965,0.932688]]
2025-10-24T22:58:34.758Z,1761346714.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365320,0.880340,0.302561],[-0.874626,-0.435884,0.212212],[0.318700,-0.187102,0.929206]]
2025-10-24T22:58:35.164Z,1761346715.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357920,0.878493,0.316455],[-0.878178,-0.431871,0.205645],[0.317326,-0.204299,0.926049]]
2025-10-24T22:58:35.568Z,1761346715.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351043,0.879129,0.322337],[-0.884136,-0.424563,0.195064],[0.308339,-0.216514,0.926309]]
2025-10-24T22:58:35.970Z,1761346715.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349653,0.883933,0.310491],[-0.890654,-0.416430,0.182541],[0.290652,-0.212715,0.932885]]
2025-10-24T22:58:36.781Z,1761346716.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369850,0.889602,0.267992],[-0.891943,-0.420719,0.165630],[0.260094,-0.177775,0.949077]]
2025-10-24T22:58:37.184Z,1761346717.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381997,0.884521,0.267771],[-0.886987,-0.432257,0.162506],[0.259486,-0.175433,0.949679]]
2025-10-24T22:58:37.587Z,1761346717.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390021,0.875333,0.285789],[-0.881414,-0.444708,0.159197],[0.266443,-0.189809,0.944977]]
2025-10-24T22:58:37.789Z,1761346717.789 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:58:37.990Z,1761346717.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391027,0.865390,0.313366],[-0.878860,-0.452187,0.152089],[0.273317,-0.215933,0.937374]]
2025-10-24T22:58:38.042Z,1761346718.042 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:58:38.042Z,1761346718.042 [DAT](INFO): #Outgoing data=15
2025-10-24T22:58:38.042Z,1761346718.042 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:58:38.293Z,1761346718.293 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:58:38.395Z,1761346718.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382279,0.860475,0.336816],[-0.882970,-0.447624,0.141408],[0.272445,-0.243341,0.930892]]
2025-10-24T22:58:38.799Z,1761346718.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366622,0.864550,0.343718],[-0.893114,-0.430542,0.130309],[0.260644,-0.259205,0.929988]]
2025-10-24T22:58:39.621Z,1761346719.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357698,0.880704,0.310504],[-0.905763,-0.408121,0.114151],[0.227256,-0.240411,0.943693]]
2025-10-24T22:58:40.022Z,1761346720.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362990,0.888713,0.280049],[-0.907238,-0.405627,0.111291],[0.212501,-0.213674,0.953513]]
2025-10-24T22:58:40.435Z,1761346720.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370431,0.893736,0.253016],[-0.906438,-0.407309,0.111670],[0.202859,-0.187978,0.960996]]
2025-10-24T22:58:40.838Z,1761346720.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378445,0.893308,0.242447],[-0.903582,-0.413356,0.112592],[0.200796,-0.176461,0.963609]]
2025-10-24T22:58:40.875Z,1761346720.875 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:58:40.875Z,1761346720.875 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:58:40.875Z,1761346720.875 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:58:40.875Z,1761346720.875 [marl:UpdateRudder:A] Stopped
2025-10-24T22:58:40.875Z,1761346720.875 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:58:40.875Z,1761346720.875 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:58:40.876Z,1761346720.876 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:58:40.876Z,1761346720.876 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:58:40.876Z,1761346720.876 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:58:40.876Z,1761346720.876 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:58:40.876Z,1761346720.876 [marl:UpdateCommandMode] Stopped
2025-10-24T22:58:40.876Z,1761346720.876 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:58:40.877Z,1761346720.877 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:58:40.877Z,1761346720.877 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:58:40.877Z,1761346720.877 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:58:40.877Z,1761346720.877 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:58:40.877Z,1761346720.877 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:58:40.877Z,1761346720.877 [marl:UpdateSpeed] Stopped
2025-10-24T22:58:40.877Z,1761346720.877 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:58:41.234Z,1761346721.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383141,0.890211,0.246429],[-0.900421,-0.419457,0.115315],[0.206021,-0.177708,0.962276]]
2025-10-24T22:58:41.262Z,1761346721.262 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:58:41.262Z,1761346721.262 [marl:UpdateRudder:B] Stopped
2025-10-24T22:58:41.262Z,1761346721.262 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:58:41.262Z,1761346721.262 [marl:UpdateRudder] Stopped
2025-10-24T22:58:41.262Z,1761346721.262 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:58:41.569Z,1761346721.569 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:58:40.5161

2025-10-24T22:58:41.569Z,1761346721.569 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:58:41.640Z,1761346721.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379755,0.887195,0.262052],[-0.899824,-0.420003,0.117959],[0.214715,-0.191005,0.957818]]
2025-10-24T22:58:42.042Z,1761346722.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368629,0.887348,0.276994],[-0.903033,-0.412535,0.119777],[0.220554,-0.205981,0.953377]]
2025-10-24T22:58:42.449Z,1761346722.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353725,0.891745,0.282257],[-0.909836,-0.398037,0.117322],[0.216970,-0.215308,0.952138]]
2025-10-24T22:58:42.851Z,1761346722.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339595,0.901253,0.269106],[-0.918524,-0.379356,0.111367],[0.202457,-0.209361,0.956650]]
2025-10-24T22:58:43.256Z,1761346723.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330288,0.913767,0.236517],[-0.926381,-0.361850,0.104321],[0.180908,-0.184649,0.966011]]
2025-10-24T22:58:43.671Z,1761346723.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332478,0.920727,0.204254],[-0.929405,-0.356659,0.094875],[0.160203,-0.158290,0.974310]]
2025-10-24T22:58:44.062Z,1761346724.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347737,0.918879,0.186388],[-0.926174,-0.367577,0.084199],[0.145880,-0.143349,0.978862]]
2025-10-24T22:58:44.470Z,1761346724.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367175,0.909564,0.194619],[-0.920105,-0.385839,0.067341],[0.136342,-0.154344,0.978565]]
2025-10-24T22:58:44.872Z,1761346724.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388694,0.892477,0.228913],[-0.911873,-0.408201,0.043119],[0.131925,-0.191980,0.972491]]
2025-10-24T22:58:45.294Z,1761346725.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410858,0.870188,0.271972],[-0.901978,-0.431416,0.017754],[0.132783,-0.238019,0.962141]]
2025-10-24T22:58:45.683Z,1761346725.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428015,0.848492,0.311231],[-0.893426,-0.449192,-0.004061],[0.136356,-0.279800,0.950326]]
2025-10-24T22:58:46.082Z,1761346726.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438791,0.830555,0.342988],[-0.887907,-0.459427,-0.023403],[0.138141,-0.314810,0.939048]]
2025-10-24T22:58:46.495Z,1761346726.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450142,0.814680,0.365606],[-0.882254,-0.468962,-0.041263],[0.137839,-0.341132,0.929855]]
2025-10-24T22:58:46.899Z,1761346726.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462081,0.801040,0.380547],[-0.876372,-0.478181,-0.057581],[0.135846,-0.360108,0.922967]]
2025-10-24T22:58:47.149Z,1761346727.149 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:58:47.149Z,1761346727.149 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:58:47.295Z,1761346727.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476170,0.787709,0.390866],[-0.869117,-0.489202,-0.072911],[0.133780,-0.374427,0.917555]]
2025-10-24T22:58:47.698Z,1761346727.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495455,0.773732,0.394795],[-0.858585,-0.505152,-0.087483],[0.131743,-0.382309,0.914595]]
2025-10-24T22:58:48.105Z,1761346728.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516098,0.760781,0.393517],[-0.846812,-0.522215,-0.101003],[0.128659,-0.385362,0.913752]]
2025-10-24T22:58:48.910Z,1761346728.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558932,0.734058,0.385686],[-0.819903,-0.558741,-0.124769],[0.123911,-0.385962,0.914155]]
2025-10-24T22:58:48.970Z,1761346728.970 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:58:49.130Z,1761346729.130 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:58:49.184Z,1761346729.184 [DAT](INFO): entering command mode
2025-10-24T22:58:49.325Z,1761346729.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579415,0.716598,0.388286],[-0.805445,-0.576301,-0.138328],[0.124644,-0.392893,0.911098]]
2025-10-24T22:58:49.381Z,1761346729.381 [DAT](INFO): DAT read: 

2025-10-24T22:58:49.381Z,1761346729.381 [DAT](INFO): DAT read: user:13>

2025-10-24T22:58:49.382Z,1761346729.382 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:58:49.382Z,1761346729.382 [DAT](INFO): setting remote address to 0
2025-10-24T22:58:49.633Z,1761346729.633 [DAT](INFO): DAT read: user:13>

2025-10-24T22:58:49.634Z,1761346729.634 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T22:58:49.634Z,1761346729.634 [DAT](INFO): set remote address to 0
2025-10-24T22:58:49.634Z,1761346729.634 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:58:49.635Z,1761346729.635 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T22:58:49.718Z,1761346729.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596192,0.698022,0.396637],[-0.792651,-0.590239,-0.152716],[0.127512,-0.405443,0.905183]]
2025-10-24T22:58:49.888Z,1761346729.888 [DAT](INFO): DAT read: user:14>

2025-10-24T22:58:49.890Z,1761346729.890 [DAT](INFO): DAT read: Tx time:22:58:48.7671

2025-10-24T22:58:49.891Z,1761346729.891 [DAT](INFO): Ping request sent.
2025-10-24T22:58:49.892Z,1761346729.892 [DAT](INFO): transmitted an acoustic signal
2025-10-24T22:58:49.893Z,1761346729.893 [DAT](INFO): publishing transmit ping time
2025-10-24T22:58:49.909Z,1761346729.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003652
2025-10-24T22:58:50.122Z,1761346730.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606924,0.683963,0.404769],[-0.783929,-0.598988,-0.163304],[0.130758,-0.416423,0.899719]]
2025-10-24T22:58:50.138Z,1761346730.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246212
2025-10-24T22:58:50.389Z,1761346730.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497959
2025-10-24T22:58:50.529Z,1761346730.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612096,0.675706,0.410804],[-0.779659,-0.602495,-0.170681],[0.132177,-0.424760,0.895605]]
2025-10-24T22:58:50.641Z,1761346730.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749477
2025-10-24T22:58:50.893Z,1761346730.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001481
2025-10-24T22:58:50.939Z,1761346730.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614121,0.674224,0.410216],[-0.778421,-0.603130,-0.174056],[0.130061,-0.426212,0.895225]]
2025-10-24T22:58:51.147Z,1761346731.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255233
2025-10-24T22:58:51.335Z,1761346731.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614822,0.679753,0.399913],[-0.778829,-0.603143,-0.172171],[0.124171,-0.417318,0.900237]]
2025-10-24T22:58:51.397Z,1761346731.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505591
2025-10-24T22:58:51.649Z,1761346731.649 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:58:51.650Z,1761346731.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758178
2025-10-24T22:58:51.738Z,1761346731.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615421,0.689201,0.382439],[-0.779854,-0.602843,-0.168547],[0.114388,-0.401974,0.908478]]
2025-10-24T22:58:51.922Z,1761346731.922 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:58:51.922Z,1761346731.922 [DAT](INFO): #Outgoing data=16
2025-10-24T22:58:51.923Z,1761346731.923 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:58:51.925Z,1761346731.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.032972
2025-10-24T22:58:52.154Z,1761346732.154 [DAT](INFO): setting remote address to 10
2025-10-24T22:58:52.160Z,1761346732.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268249
2025-10-24T22:58:52.213Z,1761346732.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634995,0.692359,0.342666],[-0.765522,-0.623507,-0.158791],[0.103714,-0.363150,0.925940]]
2025-10-24T22:58:52.404Z,1761346732.404 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:58:52.405Z,1761346732.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513607
2025-10-24T22:58:52.615Z,1761346732.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644361,0.688910,0.331966],[-0.757871,-0.633256,-0.156901],[0.102128,-0.352688,0.930151]]
2025-10-24T22:58:52.657Z,1761346732.657 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:58:52.658Z,1761346732.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766412
2025-10-24T22:58:52.909Z,1761346732.909 [DAT](INFO): DAT read: Rx Time:22:58:51.3172

2025-10-24T22:58:52.909Z,1761346732.909 [DAT](INFO): Rx dataTimestamp_ set to:1761346732.908941
2025-10-24T22:58:52.909Z,1761346732.909 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:58:52.910Z,1761346732.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018591
2025-10-24T22:58:53.073Z,1761346733.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651640,0.683873,0.328150],[-0.751916,-0.639382,-0.160665],[0.099939,-0.351437,0.930862]]
2025-10-24T22:58:53.160Z,1761346733.160 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T22:58:53.161Z,1761346733.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269629
2025-10-24T22:58:53.421Z,1761346733.421 [DAT](INFO): DAT read: 22:58:51.3172 LVL= 27264, 21201, 32754, 32755, AGC= 57, IDX= 131,-0.19, 1.666, 1.145,-0.394, 1.137, PHS= 0.631, 0.053,-1.574, RAW=  44.6,   9.0, CAL=  42.7,   9.5, ROT= 107.3,  -9.5

2025-10-24T22:58:53.423Z,1761346733.423 [DAT](INFO): got valid direction response:
 22:58:51.3172 LVL= 27264, 21201, 32754, 32755, AGC= 57, IDX= 131,-0.19, 1.666, 1.145,-0.394, 1.137, PHS= 0.631, 0.053,-1.574, RAW=  44.6,   9.0, CAL=  42.7,   9.5, ROT= 107.3,  -9.5

2025-10-24T22:58:53.425Z,1761346733.425 [DAT](INFO): DAT read: Bearing 164.6,  51.3 (Local)

2025-10-24T22:58:53.426Z,1761346733.426 [DAT](INFO): Local bearing/azimuth received:
 Bearing 164.6,  51.3 (Local)

2025-10-24T22:58:53.427Z,1761346733.427 [DAT](INFO): DAT read: Range 11 to 20 : 109.4 m  (Round-trip  145.9 ms) speed -1.1 m/s

2025-10-24T22:58:53.428Z,1761346733.428 [DAT](INFO): DAT read: user:15>

2025-10-24T22:58:53.429Z,1761346733.429 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T22:58:53.429Z,1761346733.429 [DAT](INFO): set remote address to 10
2025-10-24T22:58:53.430Z,1761346733.430 [DAT](INFO): entering online mode
2025-10-24T22:58:53.491Z,1761346733.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659128,0.678425,0.324484],[-0.745770,-0.645223,-0.165872],[0.096833,-0.351321,0.931234]]
2025-10-24T22:58:53.665Z,1761346733.665 [DAT](INFO): DAT read: user:16>

2025-10-24T22:58:53.666Z,1761346733.666 [DAT](INFO): DAT read: 

2025-10-24T22:58:53.668Z,1761346733.668 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T22:58:53.668Z,1761346733.668 [DAT](INFO): commRate: 600
2025-10-24T22:58:53.668Z,1761346733.668 [DAT](INFO): online mode acknowledged
2025-10-24T22:58:53.669Z,1761346733.669 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:58:53.670Z,1761346733.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778170
2025-10-24T22:58:53.884Z,1761346733.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667172,0.673276,0.318719],[-0.739101,-0.651624,-0.170635],[0.092800,-0.349408,0.932364]]
2025-10-24T22:58:53.920Z,1761346733.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027858
2025-10-24T22:58:53.993Z,1761346733.993 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:58:53.993Z,1761346733.993 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:58:53.993Z,1761346733.993 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:58:53.993Z,1761346733.993 [marl:UpdateRudder:A] Stopped
2025-10-24T22:58:53.993Z,1761346733.993 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:58:53.994Z,1761346733.994 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:58:53.994Z,1761346733.994 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:58:53.994Z,1761346733.994 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:58:53.994Z,1761346733.994 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:58:53.994Z,1761346733.994 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:58:53.994Z,1761346733.994 [marl:UpdateCommandMode] Stopped
2025-10-24T22:58:53.994Z,1761346733.994 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:58:53.994Z,1761346733.994 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:58:53.995Z,1761346733.995 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:58:53.995Z,1761346733.995 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:58:53.995Z,1761346733.995 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:58:53.995Z,1761346733.995 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:58:53.995Z,1761346733.995 [marl:UpdateSpeed] Stopped
2025-10-24T22:58:53.995Z,1761346733.995 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:58:54.153Z,1761346734.153 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:58:54.169Z,1761346734.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.277546
2025-10-24T22:58:54.287Z,1761346734.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676237,0.667804,0.311033],[-0.731413,-0.659039,-0.175223],[0.087968,-0.345986,0.934107]]
2025-10-24T22:58:54.407Z,1761346734.407 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:58:54.407Z,1761346734.407 [marl:UpdateRudder:B] Stopped
2025-10-24T22:58:54.412Z,1761346734.412 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:58:54.412Z,1761346734.412 [marl:UpdateRudder] Stopped
2025-10-24T22:58:54.412Z,1761346734.412 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:58:54.421Z,1761346734.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.529514
2025-10-24T22:58:54.674Z,1761346734.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.782787
2025-10-24T22:58:54.694Z,1761346734.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687948,0.660341,0.301129],[-0.720995,-0.669296,-0.179469],[0.083034,-0.340578,0.936543]]
2025-10-24T22:58:54.926Z,1761346734.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.034188
2025-10-24T22:58:55.094Z,1761346735.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703157,0.647344,0.294137],[-0.706659,-0.682056,-0.188237],[0.078763,-0.340215,0.937043]]
2025-10-24T22:58:55.164Z,1761346735.164 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:58:55.190Z,1761346735.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298329
2025-10-24T22:58:55.441Z,1761346735.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.549508
2025-10-24T22:58:55.504Z,1761346735.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720907,0.631720,0.284997],[-0.688995,-0.697621,-0.196496],[0.074689,-0.338016,0.938172]]
2025-10-24T22:58:55.693Z,1761346735.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.801594
2025-10-24T22:58:55.947Z,1761346735.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.055622
2025-10-24T22:58:55.957Z,1761346735.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739290,0.613040,0.278627],[-0.669609,-0.713032,-0.207869],[0.071238,-0.340246,0.937634]]
2025-10-24T22:58:56.197Z,1761346736.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.305820
2025-10-24T22:58:56.311Z,1761346736.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757029,0.591811,0.276888],[-0.649669,-0.726903,-0.222579],[0.069546,-0.348385,0.934768]]
2025-10-24T22:58:56.449Z,1761346736.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.557519
2025-10-24T22:58:56.702Z,1761346736.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810417
2025-10-24T22:58:56.712Z,1761346736.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772264,0.571226,0.278045],[-0.631507,-0.737992,-0.237838],[0.069335,-0.359261,0.930658]]
2025-10-24T22:58:56.954Z,1761346736.954 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:58:55.9160

2025-10-24T22:58:56.954Z,1761346736.954 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:58:56.955Z,1761346736.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063230
2025-10-24T22:58:57.118Z,1761346737.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783621,0.553336,0.282415],[-0.617319,-0.744554,-0.254080],[0.069682,-0.373443,0.925032]]
2025-10-24T22:58:57.205Z,1761346737.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.313572
2025-10-24T22:58:57.457Z,1761346737.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.565469
2025-10-24T22:58:57.518Z,1761346737.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791062,0.539518,0.288343],[-0.607751,-0.746848,-0.269922],[0.069720,-0.388766,0.918695]]
2025-10-24T22:58:57.574Z,1761346737.574 [marl:SendObservationData] Running Loop=1
2025-10-24T22:58:57.575Z,1761346737.575 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T22:58:57.575Z,1761346737.575 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T22:58:57.575Z,1761346737.575 [marl:SendObservationData:A] Running Loop=1
2025-10-24T22:58:57.597Z,1761346737.597 [marl:SendObservationData:A](INFO): Got test_good :  41da3f006000000040514000000000004042630c70ca8712c05e77462cba82f640165347600000004057e66660000000 n/a str  and temp var is  nan n/a str 
2025-10-24T22:58:57.597Z,1761346737.597 [marl:SendObservationData:A] Stopped
2025-10-24T22:58:57.597Z,1761346737.597 [marl:SendObservationData:B] Running Loop=1
2025-10-24T22:58:57.709Z,1761346737.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.817478
2025-10-24T22:58:57.961Z,1761346737.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.069627
2025-10-24T22:58:57.965Z,1761346737.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796694,0.529394,0.291583],[-0.600442,-0.748301,-0.281985],[0.068910,-0.399735,0.914037]]
2025-10-24T22:58:58.038Z,1761346738.039 [marl:SendObservationData:B] Stopped
2025-10-24T22:58:58.039Z,1761346738.039 [marl:SendObservationData:C] Running Loop=1
2025-10-24T22:58:58.214Z,1761346738.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322967
2025-10-24T22:58:58.329Z,1761346738.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802935,0.521131,0.289340],[-0.592389,-0.751494,-0.290398],[0.066102,-0.404572,0.912114]]
2025-10-24T22:58:58.387Z,1761346738.387 [marl:SendObservationData:C] Stopped
2025-10-24T22:58:58.387Z,1761346738.387 [marl:SendObservationData:E] Running Loop=1
2025-10-24T22:58:58.465Z,1761346738.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.573438
2025-10-24T22:58:58.717Z,1761346738.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.825517
2025-10-24T22:58:58.739Z,1761346738.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810725,0.513928,0.280362],[-0.582182,-0.758121,-0.293797],[0.061558,-0.401410,0.913827]]
2025-10-24T22:58:58.764Z,1761346738.764 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.008587 min 
2025-10-24T22:58:58.764Z,1761346738.764 [marl:SendObservationData:E] Stopped
2025-10-24T22:58:58.765Z,1761346738.765 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T22:58:58.765Z,1761346738.765 [marl:SendObservationData] Stopped
2025-10-24T22:58:58.765Z,1761346738.765 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T22:58:58.765Z,1761346738.765 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T22:58:58.970Z,1761346738.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078110
2025-10-24T22:58:59.135Z,1761346739.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820776,0.505368,0.266329],[-0.568565,-0.767853,-0.295187],[0.055323,-0.393708,0.917569]]
2025-10-24T22:58:59.221Z,1761346739.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.329577
2025-10-24T22:58:59.473Z,1761346739.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.581580
2025-10-24T22:58:59.538Z,1761346739.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832086,0.494530,0.251144],[-0.552470,-0.779065,-0.296370],[0.049094,-0.385354,0.921462]]
2025-10-24T22:58:59.729Z,1761346739.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.837105
2025-10-24T22:58:59.966Z,1761346739.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844408,0.481082,0.235658],[-0.533870,-0.792053,-0.296032],[0.044238,-0.375783,0.925651]]
2025-10-24T22:58:59.977Z,1761346739.977 [DAT](INFO): Reached modem response timeout
2025-10-24T22:59:00.348Z,1761346740.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857184,0.464156,0.223147],[-0.513382,-0.804527,-0.298624],[0.040920,-0.370535,0.927917]]
2025-10-24T22:59:00.750Z,1761346740.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869797,0.444663,0.213841],[-0.491864,-0.815686,-0.304508],[0.039024,-0.370041,0.928195]]
2025-10-24T22:59:01.154Z,1761346741.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881453,0.424255,0.207482],[-0.470756,-0.824471,-0.314065],[0.037819,-0.374506,0.926453]]
2025-10-24T22:59:01.558Z,1761346741.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890803,0.406550,0.202946],[-0.452967,-0.829835,-0.325874],[0.035927,-0.382218,0.923374]]
2025-10-24T22:59:01.975Z,1761346741.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896927,0.394842,0.199053],[-0.440987,-0.831783,-0.337145],[0.032450,-0.390174,0.920169]]
2025-10-24T22:59:02.367Z,1761346742.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901299,0.387559,0.193542],[-0.432291,-0.833555,-0.343963],[0.028022,-0.393680,0.918820]]
2025-10-24T22:59:02.497Z,1761346742.497 [DAT](INFO): DAT read: Rx Time:22:59:00.9864

2025-10-24T22:59:02.497Z,1761346742.497 [DAT](INFO): Rx dataTimestamp_ set to:1761346742.497061
2025-10-24T22:59:02.780Z,1761346742.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905619,0.380643,0.186989],[-0.423425,-0.836281,-0.348346],[0.023780,-0.394645,0.918526]]
2025-10-24T22:59:03.033Z,1761346743.033 [DAT](INFO): DAT read: 22:59:00.9864 LVL= 19504, 18017, 17122, 27299, AGC= 83, IDX= 119, 0.06,-1.296, 0.723,-0.521,-0.438, PHS=-0.756, 1.205,-0.128, RAW= 311.7,  -3.7, CAL= 310.6,  -7.1, ROT= 199.4,   7.1

2025-10-24T22:59:03.044Z,1761346743.044 [DAT](INFO): got valid direction response:
 22:59:00.9864 LVL= 19504, 18017, 17122, 27299, AGC= 83, IDX= 119, 0.06,-1.296, 0.723,-0.521,-0.438, PHS=-0.756, 1.205,-0.128, RAW= 311.7,  -3.7, CAL= 310.6,  -7.1, ROT= 199.4,   7.1

2025-10-24T22:59:03.045Z,1761346743.045 [DAT](INFO): DAT read: $Error in header

2025-10-24T22:59:03.045Z,1761346743.045 [DAT](INFO): Received a bad header
2025-10-24T22:59:03.056Z,1761346743.056 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-24T22:59:03.057Z,1761346743.057 [DAT](INFO): direction in FSK: [-0.935990,-0.329614,-0.123601]
2025-10-24T22:59:03.178Z,1761346743.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910672,0.371891,0.179925],[-0.412585,-0.841048,-0.349875],[0.021210,-0.392856,0.919356]]
2025-10-24T22:59:03.224Z,1761346743.224 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761346688.00. Resetting abort timer.
2025-10-24T22:59:03.578Z,1761346743.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916502,0.360885,0.172586],[-0.399503,-0.847860,-0.348612],[0.020520,-0.388452,0.921240]]
2025-10-24T22:59:03.982Z,1761346743.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922863,0.348268,0.164419],[-0.384632,-0.855131,-0.347576],[0.019551,-0.384006,0.923124]]
2025-10-24T22:59:04.389Z,1761346744.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928889,0.335610,0.156626],[-0.369900,-0.861738,-0.347248],[0.018431,-0.380491,0.924601]]
2025-10-24T22:59:04.797Z,1761346744.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934112,0.323476,0.150992],[-0.356589,-0.865340,-0.352181],[0.016737,-0.382818,0.923672]]
2025-10-24T22:59:05.194Z,1761346745.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938518,0.313183,0.145258],[-0.344935,-0.868039,-0.357112],[0.014248,-0.385260,0.922698]]
2025-10-24T22:59:05.599Z,1761346745.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942664,0.303277,0.139310],[-0.333546,-0.870450,-0.362027],[0.011468,-0.387736,0.921699]]
2025-10-24T22:59:06.012Z,1761346746.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946895,0.292929,0.132596],[-0.321424,-0.873490,-0.365654],[0.008710,-0.388855,0.921258]]
2025-10-24T22:59:06.408Z,1761346746.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951962,0.279927,0.124135],[-0.306143,-0.878934,-0.365721],[0.006731,-0.386156,0.922409]]
2025-10-24T22:59:06.866Z,1761346746.866 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:59:06.866Z,1761346746.866 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:59:06.866Z,1761346746.866 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:59:06.867Z,1761346746.867 [marl:UpdateRudder:A] Stopped
2025-10-24T22:59:06.867Z,1761346746.867 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:59:06.867Z,1761346746.867 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:59:06.867Z,1761346746.867 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:59:06.867Z,1761346746.867 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:59:06.867Z,1761346746.867 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:59:06.867Z,1761346746.867 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:59:06.867Z,1761346746.867 [marl:UpdateCommandMode] Stopped
2025-10-24T22:59:06.868Z,1761346746.868 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:59:06.868Z,1761346746.868 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:59:06.868Z,1761346746.868 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:59:06.868Z,1761346746.868 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:59:06.868Z,1761346746.868 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:59:06.869Z,1761346746.869 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:59:06.869Z,1761346746.869 [marl:UpdateSpeed] Stopped
2025-10-24T22:59:06.869Z,1761346746.869 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:59:07.057Z,1761346747.057 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:59:07.215Z,1761346747.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963870,0.245199,0.104074],[-0.266345,-0.892708,-0.363500],[0.003778,-0.378087,0.925762]]
2025-10-24T22:59:07.281Z,1761346747.281 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-24T22:59:07.281Z,1761346747.281 [marl:UpdateRudder:B] Stopped
2025-10-24T22:59:07.281Z,1761346747.281 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:59:07.281Z,1761346747.281 [marl:UpdateRudder] Stopped
2025-10-24T22:59:07.281Z,1761346747.281 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:59:07.309Z,1761346747.309 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:59:07.309Z,1761346747.309 [DAT](INFO): #Outgoing data=17
2025-10-24T22:59:07.310Z,1761346747.310 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:59:07.561Z,1761346747.561 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:59:07.618Z,1761346747.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969433,0.226276,0.094862],[-0.245340,-0.898423,-0.364204],[0.002815,-0.376345,0.926475]]
2025-10-24T22:59:08.028Z,1761346748.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974380,0.207717,0.086244],[-0.224898,-0.903759,-0.364199],[0.002294,-0.374264,0.927319]]
2025-10-24T22:59:08.427Z,1761346748.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979048,0.188163,0.077849],[-0.203625,-0.907535,-0.367309],[0.001537,-0.375465,0.926835]]
2025-10-24T22:59:08.831Z,1761346748.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983543,0.167027,0.068885],[-0.180673,-0.910361,-0.372290],[0.000527,-0.378608,0.925557]]
2025-10-24T22:59:09.235Z,1761346749.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988099,0.141998,0.059134],[-0.153817,-0.910562,-0.383690],[-0.000638,-0.388219,0.921567]]
2025-10-24T22:59:09.640Z,1761346749.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992329,0.114128,0.047520],[-0.123607,-0.909329,-0.397293],[-0.002131,-0.400119,0.916461]]
2025-10-24T22:59:10.042Z,1761346750.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995744,0.085271,0.034959],[-0.092101,-0.907271,-0.410337],[-0.003273,-0.411811,0.911263]]
2025-10-24T22:59:10.446Z,1761346750.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998112,0.056701,0.023613],[-0.061355,-0.902565,-0.426161],[-0.002851,-0.426805,0.904339]]
2025-10-24T22:59:10.841Z,1761346750.841 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:59:09.7659

2025-10-24T22:59:10.842Z,1761346750.842 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:59:10.853Z,1761346750.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999492,0.028811,0.013646],[-0.031876,-0.897196,-0.440481],[-0.000447,-0.440693,0.897658]]
2025-10-24T22:59:11.264Z,1761346751.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999983,0.002074,0.005445],[-0.004308,-0.892372,-0.451280],[0.003923,-0.451296,0.892366]]
2025-10-24T22:59:11.663Z,1761346751.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999693,-0.024720,-0.001670],[0.022723,-0.887877,-0.459519],[0.009877,-0.459416,0.888166]]
2025-10-24T22:59:12.062Z,1761346752.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998603,-0.052056,-0.009054],[0.050252,-0.882762,-0.467125],[0.016324,-0.466927,0.884145]]
2025-10-24T22:59:12.467Z,1761346752.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996551,-0.081099,-0.017576],[0.079858,-0.879693,-0.468789],[0.022557,-0.468575,0.883135]]
2025-10-24T22:59:12.873Z,1761346752.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993109,-0.113683,-0.028468],[0.113907,-0.879233,-0.462573],[0.027557,-0.462628,0.886124]]
2025-10-24T22:59:13.276Z,1761346753.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988238,-0.147134,-0.041688],[0.149864,-0.877493,-0.455573],[0.030449,-0.456462,0.889222]]
2025-10-24T22:59:13.682Z,1761346753.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981981,-0.180291,-0.056641],[0.186405,-0.874782,-0.447224],[0.031082,-0.449723,0.892627]]
2025-10-24T22:59:14.082Z,1761346754.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974398,-0.212754,-0.072690],[0.222781,-0.870131,-0.439592],[0.030275,-0.444532,0.895251]]
2025-10-24T22:59:14.489Z,1761346754.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965472,-0.244904,-0.088804],[0.258897,-0.864180,-0.431469],[0.028926,-0.439563,0.897746]]
2025-10-24T22:59:14.890Z,1761346754.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955368,-0.276104,-0.105061],[0.294106,-0.855483,-0.426204],[0.027798,-0.438081,0.898506]]
2025-10-24T22:59:15.294Z,1761346755.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944592,-0.305766,-0.119390],[0.327042,-0.845507,-0.422092],[0.028117,-0.437750,0.898657]]
2025-10-24T22:59:15.699Z,1761346755.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933679,-0.332794,-0.132254],[0.356834,-0.833432,-0.421973],[0.030205,-0.441181,0.896910]]
2025-10-24T22:59:16.104Z,1761346756.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922234,-0.358384,-0.145066],[0.385216,-0.819659,-0.423991],[0.033047,-0.446901,0.893973]]
2025-10-24T22:59:16.506Z,1761346756.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909997,-0.383893,-0.156625],[0.413005,-0.806054,-0.423915],[0.036490,-0.450449,0.892056]]
2025-10-24T22:59:16.911Z,1761346756.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896371,-0.410121,-0.168286],[0.441591,-0.792720,-0.420229],[0.038941,-0.450994,0.891677]]
2025-10-24T22:59:17.314Z,1761346757.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881942,-0.435358,-0.180670],[0.469650,-0.779043,-0.415356],[0.040079,-0.451172,0.891537]]
2025-10-24T22:59:17.722Z,1761346757.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866434,-0.461184,-0.191316],[0.497662,-0.766756,-0.405485],[0.040310,-0.446536,0.893857]]
2025-10-24T22:59:18.123Z,1761346758.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850175,-0.486552,-0.201170],[0.524986,-0.754453,-0.393942],[0.039900,-0.440531,0.896851]]
2025-10-24T22:59:18.526Z,1761346758.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832904,-0.511492,-0.211297],[0.552032,-0.740883,-0.382560],[0.039130,-0.435279,0.899445]]
2025-10-24T22:59:18.932Z,1761346758.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815179,-0.535303,-0.221212],[0.577907,-0.726086,-0.372590],[0.038830,-0.431567,0.901245]]
2025-10-24T22:59:19.339Z,1761346759.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797266,-0.555807,-0.235467],[0.602350,-0.707180,-0.370231],[0.039259,-0.437006,0.898602]]
2025-10-24T22:59:19.748Z,1761346759.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779048,-0.575130,-0.249620],[0.625680,-0.687697,-0.368235],[0.040120,-0.443055,0.895596]]
2025-10-24T22:59:19.782Z,1761346759.782 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:59:19.783Z,1761346759.783 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:59:19.783Z,1761346759.783 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:59:19.783Z,1761346759.783 [marl:UpdateRudder:A] Stopped
2025-10-24T22:59:19.783Z,1761346759.783 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:59:19.783Z,1761346759.783 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:59:19.784Z,1761346759.784 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:59:19.785Z,1761346759.785 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:59:19.786Z,1761346759.786 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:59:19.787Z,1761346759.787 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:59:19.787Z,1761346759.787 [marl:UpdateCommandMode] Stopped
2025-10-24T22:59:19.788Z,1761346759.788 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:59:19.788Z,1761346759.788 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:59:19.789Z,1761346759.789 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:59:19.789Z,1761346759.789 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:59:19.789Z,1761346759.789 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:59:19.790Z,1761346759.790 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:59:19.790Z,1761346759.790 [marl:UpdateSpeed] Stopped
2025-10-24T22:59:19.790Z,1761346759.790 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:59:20.142Z,1761346760.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759586,-0.595329,-0.261940],[0.649092,-0.668268,-0.363453],[0.041328,-0.446096,0.894030]]
2025-10-24T22:59:20.215Z,1761346760.215 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:59:20.215Z,1761346760.215 [marl:UpdateRudder:B] Stopped
2025-10-24T22:59:20.215Z,1761346760.215 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:59:20.215Z,1761346760.215 [marl:UpdateRudder] Stopped
2025-10-24T22:59:20.215Z,1761346760.215 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:59:20.547Z,1761346760.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738889,-0.615835,-0.273479],[0.672417,-0.647631,-0.358372],[0.043584,-0.448689,0.892625]]
2025-10-24T22:59:20.920Z,1761346760.920 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-24T22:59:20.921Z,1761346760.921 [DAT](ERROR): Ack receipt timeout failure.
2025-10-24T22:59:20.950Z,1761346760.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716891,-0.636698,-0.284048],[0.695589,-0.625634,-0.353183],[0.047161,-0.450774,0.891391]]
2025-10-24T22:59:21.172Z,1761346761.172 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:59:21.354Z,1761346761.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693524,-0.658866,-0.291411],[0.718540,-0.603275,-0.346064],[0.052208,-0.449394,0.891807]]
2025-10-24T22:59:21.425Z,1761346761.425 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:59:21.426Z,1761346761.426 [DAT](INFO): #Outgoing data=18
2025-10-24T22:59:21.426Z,1761346761.426 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:59:21.677Z,1761346761.677 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:59:21.765Z,1761346761.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667957,-0.682438,-0.296835],[0.741930,-0.579531,-0.337169],[0.058072,-0.445446,0.893423]]
2025-10-24T22:59:22.562Z,1761346762.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608869,-0.732516,-0.304464],[0.790250,-0.526635,-0.313305],[0.069160,-0.431365,0.899523]]
2025-10-24T22:59:22.968Z,1761346762.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578631,-0.755930,-0.306196],[0.812305,-0.500486,-0.299457],[0.073122,-0.422000,0.903642]]
2025-10-24T22:59:23.285Z,1761346763.285 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.255367
2025-10-24T22:59:23.370Z,1761346763.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550308,-0.776236,-0.307600],[0.831700,-0.477074,-0.284034],[0.073730,-0.412137,0.908134]]
2025-10-24T22:59:23.693Z,1761346763.693 [DAT](INFO): DAT read: Rx Time:22:59:22.1958

2025-10-24T22:59:23.693Z,1761346763.693 [DAT](INFO): Rx dataTimestamp_ set to:1761346763.693063
2025-10-24T22:59:23.774Z,1761346763.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524012,-0.793281,-0.310028],[0.848849,-0.456606,-0.266395],[0.069765,-0.402761,0.912643]]
2025-10-24T22:59:24.183Z,1761346764.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499267,-0.810377,-0.306628],[0.864289,-0.440829,-0.242226],[0.061124,-0.385951,0.920492]]
2025-10-24T22:59:24.288Z,1761346764.288 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:59:24.453Z,1761346764.453 [DAT](INFO): DAT read: 22:59:22.1958 LVL= 32752, 30705, 29922, 32755, AGC= 83, IDX=  25, 0.18,-0.049, 0.789, 1.581, 0.803, PHS=-0.750, 0.032, 0.735, RAW= 241.7,  -0.3, CAL= 237.7,  -0.3, ROT= 272.3,   0.3

2025-10-24T22:59:24.454Z,1761346764.454 [DAT](INFO): got valid direction response:
 22:59:22.1958 LVL= 32752, 30705, 29922, 32755, AGC= 83, IDX=  25, 0.18,-0.049, 0.789, 1.581, 0.803, PHS=-0.750, 0.032, 0.735, RAW= 241.7,  -0.3, CAL= 237.7,  -0.3, ROT= 272.3,   0.3

2025-10-24T22:59:24.455Z,1761346764.455 [DAT](INFO): DAT read: 

2025-10-24T22:59:24.455Z,1761346764.455 [DAT](INFO): DAT read: $Packet for address 10

2025-10-24T22:59:24.456Z,1761346764.456 [DAT](INFO): received a packet notification
2025-10-24T22:59:24.468Z,1761346764.468 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-24T22:59:24.469Z,1761346764.469 [DAT](INFO): direction in FSK: [0.040131,-0.999181,-0.005236]
2025-10-24T22:59:24.600Z,1761346764.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451751,-0.835314,-0.313324],[0.891542,-0.409790,-0.192936],[0.032765,-0.366500,0.929841]]
2025-10-24T22:59:24.664Z,1761346764.664 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761346816.00. Resetting abort timer.
2025-10-24T22:59:24.953Z,1761346764.953 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:59:23.9159

2025-10-24T22:59:24.953Z,1761346764.953 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:59:25.396Z,1761346765.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431397,-0.843035,-0.321229],[0.901982,-0.395920,-0.172269],[0.018048,-0.364059,0.931201]]
2025-10-24T22:59:25.805Z,1761346765.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400417,-0.852797,-0.335266],[0.916333,-0.372898,-0.145880],[-0.000614,-0.365628,0.930761]]
2025-10-24T22:59:26.203Z,1761346766.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386039,-0.856896,-0.341618],[0.922472,-0.360334,-0.138579],[-0.004349,-0.368630,0.929566]]
2025-10-24T22:59:26.607Z,1761346766.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370616,-0.861536,-0.346986],[0.928768,-0.346102,-0.132677],[-0.005786,-0.371441,0.928438]]
2025-10-24T22:59:27.010Z,1761346767.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353464,-0.866870,-0.351568],[0.935421,-0.330419,-0.125743],[-0.007162,-0.373310,0.927679]]
2025-10-24T22:59:27.180Z,1761346767.180 [Radio_Surface](INFO): Powering down
2025-10-24T22:59:27.414Z,1761346767.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334571,-0.873382,-0.353929],[0.942329,-0.313589,-0.116952],[-0.008844,-0.372646,0.927931]]
2025-10-24T22:59:27.817Z,1761346767.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314845,-0.879801,-0.356123],[0.949066,-0.296612,-0.106279],[-0.012126,-0.371446,0.928375]]
2025-10-24T22:59:28.225Z,1761346768.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295164,-0.885145,-0.359717],[0.955281,-0.280398,-0.093884],[-0.017763,-0.371343,0.928326]]
2025-10-24T22:59:28.623Z,1761346768.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276434,-0.889665,-0.363429],[0.960711,-0.265611,-0.080534],[-0.024882,-0.371412,0.928135]]
2025-10-24T22:59:29.028Z,1761346769.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257884,-0.893854,-0.366771],[0.965621,-0.251304,-0.066497],[-0.032733,-0.371310,0.927932]]
2025-10-24T22:59:29.430Z,1761346769.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240738,-0.896318,-0.372369],[0.969824,-0.237385,-0.055591],[-0.038567,-0.374515,0.926418]]
2025-10-24T22:59:29.837Z,1761346769.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224221,-0.899378,-0.375292],[0.973700,-0.222720,-0.048001],[-0.040414,-0.376185,0.925663]]
2025-10-24T22:59:30.240Z,1761346770.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205217,-0.902326,-0.379069],[0.977957,-0.204310,-0.043104],[-0.038553,-0.379558,0.924364]]
2025-10-24T22:59:30.645Z,1761346770.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184165,-0.905656,-0.381930],[0.982356,-0.182469,-0.041005],[-0.032554,-0.382743,0.923281]]
2025-10-24T22:59:31.046Z,1761346771.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162132,-0.909756,-0.382174],[0.986503,-0.158430,-0.041372],[-0.022910,-0.383724,0.923164]]
2025-10-24T22:59:31.450Z,1761346771.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139196,-0.913679,-0.381858],[0.990191,-0.133120,-0.042431],[-0.012065,-0.384018,0.923247]]
2025-10-24T22:59:31.858Z,1761346771.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115500,-0.917775,-0.379933],[0.993304,-0.107703,-0.041797],[-0.002560,-0.382217,0.924069]]
2025-10-24T22:59:32.259Z,1761346772.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090766,-0.922120,-0.376108],[0.995866,-0.082710,-0.037549],[0.003517,-0.377961,0.925815]]
2025-10-24T22:59:32.698Z,1761346772.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065107,-0.926264,-0.371209],[0.997865,-0.058493,-0.029062],[0.005206,-0.372308,0.928094]]
2025-10-24T22:59:32.749Z,1761346772.749 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:59:32.749Z,1761346772.749 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:59:32.750Z,1761346772.750 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:59:32.750Z,1761346772.750 [marl:UpdateRudder:A] Stopped
2025-10-24T22:59:32.750Z,1761346772.750 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:59:32.750Z,1761346772.750 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:59:32.750Z,1761346772.750 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:59:32.750Z,1761346772.750 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:59:32.751Z,1761346772.751 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:59:32.751Z,1761346772.751 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:59:32.751Z,1761346772.751 [marl:UpdateCommandMode] Stopped
2025-10-24T22:59:32.751Z,1761346772.751 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:59:32.751Z,1761346772.751 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:59:32.751Z,1761346772.751 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:59:32.751Z,1761346772.751 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:59:32.751Z,1761346772.751 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:59:32.752Z,1761346772.752 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:59:32.752Z,1761346772.752 [marl:UpdateSpeed] Stopped
2025-10-24T22:59:32.752Z,1761346772.752 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:59:33.066Z,1761346773.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039240,-0.929156,-0.367599],[0.999228,-0.035731,-0.016352],[0.002059,-0.367956,0.929841]]
2025-10-24T22:59:33.110Z,1761346773.110 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:59:33.110Z,1761346773.110 [marl:UpdateRudder:B] Stopped
2025-10-24T22:59:33.110Z,1761346773.110 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:59:33.110Z,1761346773.110 [marl:UpdateRudder] Stopped
2025-10-24T22:59:33.110Z,1761346773.110 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:59:33.470Z,1761346773.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013380,-0.929228,-0.369265],[0.999894,-0.014533,0.000342],[-0.005684,-0.369221,0.929324]]
2025-10-24T22:59:33.882Z,1761346773.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011805,-0.926561,-0.375958],[0.999789,0.004606,0.020041],[-0.016838,-0.376115,0.926420]]
2025-10-24T22:59:34.278Z,1761346774.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036245,-0.923482,-0.381926],[0.998890,0.021970,0.041672],[-0.030092,-0.383012,0.923253]]
2025-10-24T22:59:34.687Z,1761346774.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059979,-0.920255,-0.386696],[0.997208,0.037981,0.064288],[-0.044474,-0.389472,0.919964]]
2025-10-24T22:59:35.041Z,1761346775.041 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:59:35.089Z,1761346775.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081993,-0.917986,-0.388045],[0.994903,0.052461,0.086116],[-0.058696,-0.393128,0.917608]]
2025-10-24T22:59:35.293Z,1761346775.293 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:59:35.293Z,1761346775.293 [DAT](INFO): #Outgoing data=18
2025-10-24T22:59:35.293Z,1761346775.293 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:59:35.491Z,1761346775.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100740,-0.916060,-0.388182],[0.992353,0.064549,0.105205],[-0.071317,-0.395812,0.915558]]
2025-10-24T22:59:35.545Z,1761346775.545 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:59:35.943Z,1761346775.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114192,-0.914823,-0.387374],[0.990227,0.073387,0.118592],[-0.080062,-0.397131,0.914263]]
2025-10-24T22:59:36.298Z,1761346776.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123023,-0.913924,-0.386792],[0.988841,0.079890,0.125744],[-0.084020,-0.397945,0.913554]]
2025-10-24T22:59:36.301Z,1761346776.301 [DAT](INFO): DAT read: Rx Time:22:59:34.6437

2025-10-24T22:59:36.301Z,1761346776.301 [DAT](INFO): Rx dataTimestamp_ set to:1761346776.301089
2025-10-24T22:59:36.710Z,1761346776.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131198,-0.911871,-0.388944],[0.987791,0.087000,0.129232],[-0.084005,-0.401150,0.912152]]
2025-10-24T22:59:36.813Z,1761346776.813 [DAT](INFO): DAT read: 22:59:34.6437 LVL= 28128, 28257, 16994, 29427, AGC= 73, IDX= 420, 0.10,-0.135,-0.655, 1.462, 0.142, PHS=-0.174,-0.751, 1.276, RAW= 194.0,  -3.9, CAL= 194.1,  -6.4, ROT= 315.9,   6.4

2025-10-24T22:59:36.815Z,1761346776.815 [DAT](INFO): got valid direction response:
 22:59:34.6437 LVL= 28128, 28257, 16994, 29427, AGC= 73, IDX= 420, 0.10,-0.135,-0.655, 1.462, 0.142, PHS=-0.174,-0.751, 1.276, RAW= 194.0,  -3.9, CAL= 194.1,  -6.4, ROT= 315.9,   6.4

2025-10-24T22:59:36.815Z,1761346776.815 [DAT](INFO): DAT read: 

2025-10-24T22:59:36.816Z,1761346776.816 [DAT](INFO): DAT read: $Packet for address 10

2025-10-24T22:59:36.817Z,1761346776.817 [DAT](INFO): received a packet notification
2025-10-24T22:59:36.828Z,1761346776.828 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-24T22:59:36.829Z,1761346776.829 [DAT](INFO): direction in FSK: [0.713651,-0.691576,-0.111469]
2025-10-24T22:59:37.107Z,1761346777.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141359,-0.909762,-0.390322],[0.986795,0.097998,0.128963],[-0.079075,-0.403398,0.911602]]
2025-10-24T22:59:37.165Z,1761346777.165 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761346816.00. Resetting abort timer.
2025-10-24T22:59:37.510Z,1761346777.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153751,-0.908948,-0.387522],[0.985671,0.113547,0.124741],[-0.069381,-0.401148,0.913382]]
2025-10-24T22:59:37.957Z,1761346777.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168304,-0.909559,-0.379968],[0.984134,0.133083,0.117342],[-0.056162,-0.393689,0.917526]]
2025-10-24T22:59:38.322Z,1761346778.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185144,-0.908927,-0.373595],[0.981818,0.154883,0.109744],[-0.041886,-0.387121,0.921077]]
2025-10-24T22:59:38.722Z,1761346778.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205162,-0.906048,-0.370117],[0.978280,0.178396,0.105562],[-0.029616,-0.383735,0.922968]]
2025-10-24T22:59:38.822Z,1761346778.822 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:59:37.7658

2025-10-24T22:59:38.822Z,1761346778.822 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:59:39.130Z,1761346779.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228349,-0.901456,-0.367741],[0.973358,0.203336,0.105962],[-0.020745,-0.382140,0.923871]]
2025-10-24T22:59:39.530Z,1761346779.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252673,-0.895323,-0.366815],[0.967433,0.227851,0.110258],[-0.015137,-0.382728,0.923737]]
2025-10-24T22:59:39.964Z,1761346779.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276868,-0.889136,-0.364393],[0.960832,0.251384,0.116656],[-0.012121,-0.382418,0.923910]]
2025-10-24T22:59:40.340Z,1761346780.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300298,-0.881541,-0.364288],[0.953778,0.272972,0.125674],[-0.011347,-0.385189,0.922768]]
2025-10-24T22:59:40.742Z,1761346780.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323872,-0.873328,-0.363874],[0.946031,0.294257,0.135789],[-0.011516,-0.388215,0.921497]]
2025-10-24T22:59:41.148Z,1761346781.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346869,-0.864416,-0.363960],[0.937838,0.314733,0.146298],[-0.011912,-0.392081,0.919853]]
2025-10-24T22:59:41.552Z,1761346781.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369232,-0.855305,-0.363485],[0.929270,0.335069,0.155521],[-0.011225,-0.395199,0.918527]]
2025-10-24T22:59:41.970Z,1761346781.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391275,-0.845917,-0.362394],[0.920227,0.355680,0.163320],[-0.009259,-0.397387,0.917604]]
2025-10-24T22:59:42.360Z,1761346782.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413258,-0.836335,-0.360224],[0.910587,0.376517,0.170486],[-0.006953,-0.398470,0.917155]]
2025-10-24T22:59:42.762Z,1761346782.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435009,-0.825379,-0.359885],[0.900412,0.396492,0.179032],[-0.005078,-0.401925,0.915659]]
2025-10-24T22:59:43.175Z,1761346783.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455408,-0.815071,-0.358138],[0.890276,0.415345,0.186807],[-0.003510,-0.403915,0.914790]]
2025-10-24T22:59:43.572Z,1761346783.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473008,-0.805817,-0.356261],[0.881056,0.431700,0.193329],[-0.001990,-0.405332,0.914167]]
2025-10-24T22:59:43.974Z,1761346783.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488301,-0.797918,-0.353398],[0.872675,0.445976,0.198857],[-0.001064,-0.405503,0.914093]]
2025-10-24T22:59:44.380Z,1761346784.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501755,-0.790089,-0.352140],[0.865010,0.458499,0.203805],[0.000432,-0.406864,0.913489]]
2025-10-24T22:59:44.783Z,1761346784.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513672,-0.782396,-0.352133],[0.857981,0.469933,0.207441],[0.003178,-0.408680,0.912672]]
2025-10-24T22:59:45.198Z,1761346785.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524145,-0.775068,-0.352905],[0.851589,0.481029,0.208345],[0.008276,-0.409733,0.912168]]
2025-10-24T22:59:45.233Z,1761346785.233 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:59:45.234Z,1761346785.234 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:59:45.234Z,1761346785.234 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:59:45.234Z,1761346785.234 [marl:UpdateRudder:A] Stopped
2025-10-24T22:59:45.234Z,1761346785.234 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:59:45.234Z,1761346785.234 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:59:45.234Z,1761346785.234 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:59:45.234Z,1761346785.234 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:59:45.235Z,1761346785.235 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:59:45.235Z,1761346785.235 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:59:45.235Z,1761346785.235 [marl:UpdateCommandMode] Stopped
2025-10-24T22:59:45.235Z,1761346785.235 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:59:45.235Z,1761346785.235 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:59:45.235Z,1761346785.235 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:59:45.235Z,1761346785.235 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:59:45.235Z,1761346785.235 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:59:45.235Z,1761346785.235 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:59:45.252Z,1761346785.252 [marl:UpdateSpeed] Stopped
2025-10-24T22:59:45.252Z,1761346785.252 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:59:45.590Z,1761346785.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534537,-0.767576,-0.353690],[0.845010,0.492873,0.207446],[0.015093,-0.409759,0.912069]]
2025-10-24T22:59:45.638Z,1761346785.638 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T22:59:45.639Z,1761346785.639 [marl:UpdateRudder:B] Stopped
2025-10-24T22:59:45.639Z,1761346785.639 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:59:45.639Z,1761346785.639 [marl:UpdateRudder] Stopped
2025-10-24T22:59:45.639Z,1761346785.639 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:59:45.994Z,1761346785.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549378,-0.757931,-0.351744],[0.835305,0.508845,0.208187],[0.021192,-0.408187,0.912652]]
2025-10-24T22:59:46.401Z,1761346786.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567919,-0.745017,-0.349882],[0.822652,0.527562,0.211947],[0.026681,-0.408200,0.912502]]
2025-10-24T22:59:46.802Z,1761346786.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588621,-0.730274,-0.346735],[0.807817,0.547748,0.217724],[0.030925,-0.408256,0.912344]]
2025-10-24T22:59:47.206Z,1761346787.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610101,-0.714679,-0.342069],[0.791634,0.567852,0.225523],[0.033068,-0.408385,0.912211]]
2025-10-24T22:59:47.337Z,1761346787.337 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T22:59:47.337Z,1761346787.337 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T22:59:47.610Z,1761346787.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630862,-0.699271,-0.336205],[0.775188,0.586540,0.234637],[0.033123,-0.408646,0.912092]]
2025-10-24T22:59:48.021Z,1761346788.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648802,-0.685314,-0.330757],[0.760262,0.602346,0.243271],[0.032514,-0.409297,0.911822]]
2025-10-24T22:59:48.427Z,1761346788.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663405,-0.673805,-0.325392],[0.747576,0.615447,0.249712],[0.032004,-0.408915,0.912011]]
2025-10-24T22:59:48.822Z,1761346788.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674886,-0.664073,-0.321768],[0.737207,0.625949,0.254389],[0.032477,-0.408894,0.912004]]
2025-10-24T22:59:48.909Z,1761346788.909 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T22:59:49.162Z,1761346789.162 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T22:59:49.162Z,1761346789.162 [DAT](INFO): #Outgoing data=19
2025-10-24T22:59:49.162Z,1761346789.162 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T22:59:49.234Z,1761346789.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684737,-0.654438,-0.320698],[0.727997,0.634739,0.259089],[0.034002,-0.410875,0.911058]]
2025-10-24T22:59:49.282Z,1761346789.282 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T22:59:49.413Z,1761346789.413 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T22:59:49.413Z,1761346789.413 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:49.464Z,1761346789.464 [DAT](INFO): entering command mode
2025-10-24T22:59:49.632Z,1761346789.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693682,-0.645164,-0.320265],[0.719328,0.643387,0.261956],[0.037050,-0.412089,0.910390]]
2025-10-24T22:59:49.665Z,1761346789.665 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:49.666Z,1761346789.666 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:49.921Z,1761346789.921 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:49.922Z,1761346789.922 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:50.035Z,1761346790.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702611,-0.635593,-0.319937],[0.710359,0.652778,0.263194],[0.041563,-0.412193,0.910148]]
2025-10-24T22:59:50.170Z,1761346790.170 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:50.170Z,1761346790.170 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:50.421Z,1761346790.421 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:50.421Z,1761346790.421 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:50.438Z,1761346790.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712376,-0.623787,-0.321576],[0.700223,0.662452,0.266168],[0.046997,-0.414787,0.908704]]
2025-10-24T22:59:50.674Z,1761346790.674 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:50.675Z,1761346790.675 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:50.843Z,1761346790.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723972,-0.609975,-0.322171],[0.687828,0.673857,0.269832],[0.052507,-0.416949,0.907412]]
2025-10-24T22:59:50.928Z,1761346790.928 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:50.929Z,1761346790.929 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:51.177Z,1761346791.177 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:51.177Z,1761346791.177 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:51.248Z,1761346791.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737316,-0.594592,-0.320665],[0.673134,0.686731,0.274392],[0.057059,-0.418164,0.906578]]
2025-10-24T22:59:51.429Z,1761346791.429 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:51.429Z,1761346791.429 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:51.657Z,1761346791.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752455,-0.577788,-0.316183],[0.655862,0.701368,0.279157],[0.060467,-0.417426,0.906697]]
2025-10-24T22:59:51.681Z,1761346791.681 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:51.681Z,1761346791.681 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:51.935Z,1761346791.935 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:51.935Z,1761346791.935 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:52.054Z,1761346792.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768223,-0.560870,-0.308641],[0.637170,0.716594,0.283736],[0.062032,-0.414630,0.907874]]
2025-10-24T22:59:52.185Z,1761346792.185 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:52.185Z,1761346792.185 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:52.437Z,1761346792.437 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:52.437Z,1761346792.437 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:52.458Z,1761346792.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782979,-0.544509,-0.300756],[0.618872,0.730677,0.288285],[0.062782,-0.411850,0.909086]]
2025-10-24T22:59:52.689Z,1761346792.689 [DAT](INFO): DAT read: Forwarding Delay UpTx time:22:59:51.6658

2025-10-24T22:59:52.689Z,1761346792.689 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T22:59:52.690Z,1761346792.690 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:52.690Z,1761346792.690 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:52.862Z,1761346792.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795657,-0.530229,-0.292894],[0.602418,0.743260,0.290959],[0.063422,-0.407948,0.910800]]
2025-10-24T22:59:52.941Z,1761346792.941 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:52.941Z,1761346792.941 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:53.193Z,1761346793.193 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:53.193Z,1761346793.193 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:53.266Z,1761346793.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806677,-0.517207,-0.285951],[0.587513,0.754233,0.293191],[0.064034,-0.404510,0.912289]]
2025-10-24T22:59:53.445Z,1761346793.445 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:53.445Z,1761346793.445 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:53.679Z,1761346793.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817238,-0.502970,-0.281324],[0.572667,0.763478,0.298585],[0.064605,-0.405120,0.911978]]
2025-10-24T22:59:53.697Z,1761346793.697 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:53.697Z,1761346793.697 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:53.951Z,1761346793.951 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:53.951Z,1761346793.951 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:54.080Z,1761346794.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827875,-0.487632,-0.277196],[0.556992,0.773014,0.303659],[0.066203,-0.405788,0.911566]]
2025-10-24T22:59:54.201Z,1761346794.201 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:54.201Z,1761346794.201 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:54.416Z,1761346794.416 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T22:59:54.453Z,1761346794.453 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:54.453Z,1761346794.453 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:54.479Z,1761346794.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838615,-0.471595,-0.272625],[0.540421,0.783081,0.307781],[0.068339,-0.405442,0.911563]]
2025-10-24T22:59:54.705Z,1761346794.705 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:54.705Z,1761346794.705 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:54.882Z,1761346794.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850126,-0.453274,-0.268010],[0.521811,0.793493,0.313180],[0.070708,-0.406092,0.911092]]
2025-10-24T22:59:54.973Z,1761346794.973 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:54.973Z,1761346794.973 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:55.225Z,1761346795.225 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:55.225Z,1761346795.225 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:55.286Z,1761346795.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861735,-0.433330,-0.263891],[0.501968,0.803800,0.319271],[0.073766,-0.407591,0.910180]]
2025-10-24T22:59:55.420Z,1761346795.420 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-24T22:59:55.420Z,1761346795.420 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T22:59:55.478Z,1761346795.478 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:55.478Z,1761346795.478 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:55.693Z,1761346795.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873173,-0.412412,-0.259778],[0.481301,0.813677,0.326005],[0.076927,-0.409690,0.908975]]
2025-10-24T22:59:55.730Z,1761346795.730 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:55.730Z,1761346795.730 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:55.981Z,1761346795.981 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:55.981Z,1761346795.981 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:56.094Z,1761346796.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883553,-0.392677,-0.255221],[0.461437,0.823079,0.331084],[0.080058,-0.410299,0.908430]]
2025-10-24T22:59:56.234Z,1761346796.234 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:56.234Z,1761346796.234 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:56.484Z,1761346796.484 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:56.485Z,1761346796.485 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:56.500Z,1761346796.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892813,-0.374677,-0.250003],[0.442810,0.831751,0.334828],[0.082488,-0.409643,0.908509]]
2025-10-24T22:59:56.737Z,1761346796.737 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:56.737Z,1761346796.737 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:56.902Z,1761346796.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900569,-0.359197,-0.244851],[0.426379,0.839619,0.336512],[0.084707,-0.407452,0.909290]]
2025-10-24T22:59:56.989Z,1761346796.989 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:56.989Z,1761346796.989 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:57.241Z,1761346797.241 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:57.241Z,1761346797.241 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:57.308Z,1761346797.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907004,-0.345689,-0.240506],[0.412096,0.846189,0.337848],[0.086723,-0.405541,0.909954]]
2025-10-24T22:59:57.493Z,1761346797.493 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:57.493Z,1761346797.493 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:57.714Z,1761346797.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912672,-0.332764,-0.237273],[0.398893,0.851667,0.339922],[0.088964,-0.404884,0.910030]]
2025-10-24T22:59:57.745Z,1761346797.745 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:57.745Z,1761346797.745 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:57.997Z,1761346797.997 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:57.997Z,1761346797.997 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:58.114Z,1761346798.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918450,-0.318653,-0.234329],[0.384741,0.857195,0.342331],[0.091781,-0.404570,0.909890]]
2025-10-24T22:59:58.209Z,1761346798.209 [marl:UpdateRudder] Running Loop=1
2025-10-24T22:59:58.209Z,1761346798.209 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T22:59:58.209Z,1761346798.209 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T22:59:58.210Z,1761346798.210 [marl:UpdateRudder:A] Stopped
2025-10-24T22:59:58.210Z,1761346798.210 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T22:59:58.210Z,1761346798.210 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T22:59:58.210Z,1761346798.210 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T22:59:58.210Z,1761346798.210 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T22:59:58.210Z,1761346798.210 [marl:UpdateCommandMode:A] Stopped
2025-10-24T22:59:58.210Z,1761346798.210 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T22:59:58.210Z,1761346798.210 [marl:UpdateCommandMode] Stopped
2025-10-24T22:59:58.210Z,1761346798.210 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T22:59:58.211Z,1761346798.211 [marl:UpdateSpeed] Running Loop=1
2025-10-24T22:59:58.211Z,1761346798.211 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T22:59:58.211Z,1761346798.211 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T22:59:58.211Z,1761346798.211 [marl:UpdateSpeed:A] Stopped
2025-10-24T22:59:58.211Z,1761346798.211 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T22:59:58.211Z,1761346798.211 [marl:UpdateSpeed] Stopped
2025-10-24T22:59:58.211Z,1761346798.211 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T22:59:58.249Z,1761346798.249 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:58.249Z,1761346798.249 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:58.501Z,1761346798.501 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:58.501Z,1761346798.501 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:58.518Z,1761346798.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924386,-0.302946,-0.231808],[0.369395,0.862528,0.345822],[0.095176,-0.405302,0.909215]]
2025-10-24T22:59:58.543Z,1761346798.543 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T22:59:58.543Z,1761346798.543 [marl:UpdateRudder:B] Stopped
2025-10-24T22:59:58.543Z,1761346798.543 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T22:59:58.543Z,1761346798.543 [marl:UpdateRudder] Stopped
2025-10-24T22:59:58.543Z,1761346798.543 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T22:59:58.753Z,1761346798.753 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:58.753Z,1761346798.753 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:58.923Z,1761346798.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931069,-0.284274,-0.228691],[0.351108,0.868521,0.349849],[0.099170,-0.406029,0.908463]]
2025-10-24T22:59:59.005Z,1761346799.005 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:59.005Z,1761346799.005 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:59.257Z,1761346799.257 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:59.257Z,1761346799.257 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:59.327Z,1761346799.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937825,-0.264160,-0.225175],[0.331376,0.874453,0.354290],[0.103315,-0.406879,0.907621]]
2025-10-24T22:59:59.509Z,1761346799.509 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:59.509Z,1761346799.509 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T22:59:59.730Z,1761346799.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944586,-0.243079,-0.220613],[0.310300,0.880460,0.358473],[0.107104,-0.407065,0.907098]]
2025-10-24T22:59:59.761Z,1761346799.761 [DAT](DEBUG): Acoustic response timeout
2025-10-24T22:59:59.761Z,1761346799.761 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:00:00.013Z,1761346800.013 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:00:00.013Z,1761346800.013 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:00:00.155Z,1761346800.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950940,-0.221860,-0.215619],[0.288874,0.886236,0.362129],[0.110747,-0.406650,0.906847]]
2025-10-24T23:00:00.265Z,1761346800.265 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:00:00.265Z,1761346800.265 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:00:00.517Z,1761346800.517 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:00:00.517Z,1761346800.517 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:00:00.769Z,1761346800.769 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:00:00.769Z,1761346800.769 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:00:00.943Z,1761346800.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961435,-0.182133,-0.206083],[0.248695,0.895690,0.368632],[0.117447,-0.405668,0.906444]]
2025-10-24T23:00:01.022Z,1761346801.022 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:00:01.022Z,1761346801.022 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:00:01.273Z,1761346801.273 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:00:01.273Z,1761346801.273 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:00:01.347Z,1761346801.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965418,-0.165813,-0.201184],[0.231587,0.899834,0.369683],[0.119734,-0.403490,0.907116]]
2025-10-24T23:00:01.525Z,1761346801.525 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:00:01.525Z,1761346801.525 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:00:01.750Z,1761346801.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968338,-0.155371,-0.195401],[0.218718,0.905352,0.364007],[0.120351,-0.395219,0.910669]]
2025-10-24T23:00:01.777Z,1761346801.777 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:00:01.777Z,1761346801.777 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:00:02.029Z,1761346802.029 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:00:02.029Z,1761346802.029 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:00:02.162Z,1761346802.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969969,-0.152786,-0.189254],[0.211961,0.912612,0.349589],[0.119303,-0.379205,0.917590]]
2025-10-24T23:00:02.281Z,1761346802.281 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:00:02.281Z,1761346802.281 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:00:02.533Z,1761346802.533 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:00:02.533Z,1761346802.533 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:00:02.558Z,1761346802.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970704,-0.155589,-0.183098],[0.209837,0.920169,0.330540],[0.117053,-0.359278,0.925861]]
2025-10-24T23:00:02.784Z,1761346802.784 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:00:02.785Z,1761346802.785 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:00:02.785Z,1761346802.785 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:00:02.962Z,1761346802.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971004,-0.161262,-0.176479],[0.210362,0.927072,0.310297],[0.113570,-0.338425,0.934115]]
2025-10-24T23:00:03.038Z,1761346803.038 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:00:03.038Z,1761346803.038 [DAT](INFO): #Outgoing data=20
2025-10-24T23:00:03.038Z,1761346803.038 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:00:03.038Z,1761346803.038 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:00:03.039Z,1761346803.039 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:00:03.288Z,1761346803.288 [DAT](INFO): entering online mode
2025-10-24T23:00:03.366Z,1761346803.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971180,-0.167209,-0.169857],[0.211631,0.932773,0.291798],[0.109647,-0.319336,0.941277]]
2025-10-24T23:00:03.540Z,1761346803.540 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:03.771Z,1761346803.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971281,-0.173046,-0.163302],[0.213117,0.937909,0.273692],[0.105801,-0.300635,0.947853]]
2025-10-24T23:00:03.792Z,1761346803.792 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:04.045Z,1761346804.045 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:04.174Z,1761346804.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971197,-0.178720,-0.157592],[0.215112,0.942088,0.257287],[0.102483,-0.283776,0.953398]]
2025-10-24T23:00:04.301Z,1761346804.301 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:04.552Z,1761346804.552 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:04.579Z,1761346804.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971070,-0.183470,-0.152847],[0.216851,0.945552,0.242708],[0.099996,-0.268831,0.957983]]
2025-10-24T23:00:04.804Z,1761346804.804 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:04.982Z,1761346804.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970960,-0.187473,-0.148632],[0.218167,0.948788,0.228481],[0.098186,-0.254273,0.962136]]
2025-10-24T23:00:05.057Z,1761346805.057 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:05.308Z,1761346805.308 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:05.387Z,1761346805.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971044,-0.189630,-0.145308],[0.218384,0.951184,0.218076],[0.096861,-0.243494,0.965054]]
2025-10-24T23:00:05.560Z,1761346805.560 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:05.813Z,1761346805.813 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:06.064Z,1761346806.064 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:06.194Z,1761346806.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972122,-0.187890,-0.140272],[0.214658,0.953849,0.209985],[0.094344,-0.234241,0.967590]]
2025-10-24T23:00:06.317Z,1761346806.317 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:06.569Z,1761346806.569 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:00:05.5157

2025-10-24T23:00:06.569Z,1761346806.569 [DAT](DEBUG): Re-entering command mode due to unexpected online mode.
2025-10-24T23:00:06.570Z,1761346806.570 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:06.601Z,1761346806.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973064,-0.184960,-0.137612],[0.211216,0.954472,0.210642],[0.092386,-0.234034,0.967829]]
2025-10-24T23:00:06.821Z,1761346806.821 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:07.004Z,1761346807.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974184,-0.181346,-0.134456],[0.206959,0.955321,0.211021],[0.090181,-0.233400,0.968190]]
2025-10-24T23:00:07.073Z,1761346807.073 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:07.325Z,1761346807.325 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:07.406Z,1761346807.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975218,-0.177865,-0.131579],[0.202770,0.956454,0.209951],[0.088506,-0.231428,0.968818]]
2025-10-24T23:00:07.576Z,1761346807.576 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:07.811Z,1761346807.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976136,-0.174246,-0.129601],[0.198583,0.957755,0.208016],[0.087880,-0.228789,0.969501]]
2025-10-24T23:00:07.829Z,1761346807.829 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:08.080Z,1761346808.080 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:08.217Z,1761346808.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976917,-0.170568,-0.128606],[0.194443,0.959316,0.204706],[0.088457,-0.224988,0.970338]]
2025-10-24T23:00:08.333Z,1761346808.333 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:08.584Z,1761346808.584 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:08.633Z,1761346808.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977451,-0.167458,-0.128634],[0.191211,0.960391,0.202702],[0.089595,-0.222728,0.970755]]
2025-10-24T23:00:08.836Z,1761346808.836 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:09.022Z,1761346809.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977761,-0.165231,-0.129161],[0.189062,0.960995,0.201852],[0.090771,-0.221783,0.970862]]
2025-10-24T23:00:09.089Z,1761346809.089 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:09.341Z,1761346809.341 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:09.426Z,1761346809.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977867,-0.163971,-0.129958],[0.187821,0.961640,0.199931],[0.092190,-0.219914,0.971153]]
2025-10-24T23:00:09.593Z,1761346809.593 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:09.830Z,1761346809.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977671,-0.164076,-0.131295],[0.188089,0.961872,0.198557],[0.093710,-0.218818,0.971255]]
2025-10-24T23:00:09.845Z,1761346809.845 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:10.097Z,1761346810.097 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:10.247Z,1761346810.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976695,-0.164883,-0.137407],[0.190398,0.961104,0.200070],[0.099074,-0.221570,0.970099]]
2025-10-24T23:00:10.349Z,1761346810.349 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:10.601Z,1761346810.601 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:10.852Z,1761346810.852 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:11.049Z,1761346811.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975697,-0.164963,-0.144234],[0.192683,0.959347,0.206218],[0.104352,-0.228997,0.967818]]
2025-10-24T23:00:11.081Z,1761346811.081 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:00:11.081Z,1761346811.081 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:00:11.082Z,1761346811.082 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:00:11.082Z,1761346811.082 [marl:UpdateRudder:A] Stopped
2025-10-24T23:00:11.082Z,1761346811.082 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:00:11.082Z,1761346811.082 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:00:11.082Z,1761346811.082 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:00:11.082Z,1761346811.082 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:00:11.083Z,1761346811.083 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:00:11.083Z,1761346811.083 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:00:11.083Z,1761346811.083 [marl:UpdateCommandMode] Stopped
2025-10-24T23:00:11.083Z,1761346811.083 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:00:11.083Z,1761346811.083 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:00:11.083Z,1761346811.083 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:00:11.083Z,1761346811.083 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:00:11.083Z,1761346811.083 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:00:11.084Z,1761346811.084 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:00:11.084Z,1761346811.084 [marl:UpdateSpeed] Stopped
2025-10-24T23:00:11.084Z,1761346811.084 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:00:11.106Z,1761346811.106 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:11.357Z,1761346811.357 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:11.451Z,1761346811.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975105,-0.165758,-0.147291],[0.195013,0.957212,0.213811],[0.105548,-0.237212,0.965707]]
2025-10-24T23:00:11.494Z,1761346811.494 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:00:11.495Z,1761346811.495 [marl:UpdateRudder:B] Stopped
2025-10-24T23:00:11.495Z,1761346811.495 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:00:11.495Z,1761346811.495 [marl:UpdateRudder] Stopped
2025-10-24T23:00:11.495Z,1761346811.495 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:00:11.609Z,1761346811.609 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:11.857Z,1761346811.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974388,-0.167602,-0.149928],[0.198245,0.954937,0.220894],[0.106149,-0.244959,0.963705]]
2025-10-24T23:00:11.861Z,1761346811.861 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:12.113Z,1761346812.113 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:12.263Z,1761346812.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973354,-0.170732,-0.153080],[0.202689,0.952771,0.226152],[0.107239,-0.251153,0.961988]]
2025-10-24T23:00:12.365Z,1761346812.365 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:12.616Z,1761346812.616 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:12.665Z,1761346812.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972364,-0.172609,-0.157208],[0.205818,0.951615,0.228185],[0.110215,-0.254235,0.960842]]
2025-10-24T23:00:12.868Z,1761346812.868 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:13.064Z,1761346813.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971418,-0.173523,-0.161976],[0.208037,0.950959,0.228907],[0.114311,-0.256062,0.959878]]
2025-10-24T23:00:13.121Z,1761346813.121 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:13.372Z,1761346813.372 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:13.466Z,1761346813.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970598,-0.173094,-0.167267],[0.209313,0.950072,0.231410],[0.118861,-0.259617,0.958369]]
2025-10-24T23:00:13.625Z,1761346813.625 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:13.875Z,1761346813.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970057,-0.171521,-0.171962],[0.209323,0.949496,0.233756],[0.123183,-0.262752,0.956968]]
2025-10-24T23:00:13.877Z,1761346813.877 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:14.128Z,1761346814.128 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:14.289Z,1761346814.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969528,-0.170323,-0.176084],[0.209128,0.949783,0.232761],[0.127598,-0.262492,0.956461]]
2025-10-24T23:00:14.381Z,1761346814.381 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:14.632Z,1761346814.632 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:14.683Z,1761346814.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969018,-0.169247,-0.179889],[0.208854,0.950276,0.230988],[0.131850,-0.261402,0.956182]]
2025-10-24T23:00:14.884Z,1761346814.884 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:15.082Z,1761346815.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968490,-0.168262,-0.183618],[0.208566,0.950891,0.228706],[0.136119,-0.259796,0.956022]]
2025-10-24T23:00:15.137Z,1761346815.137 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:15.388Z,1761346815.388 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:15.486Z,1761346815.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968067,-0.167183,-0.186804],[0.207927,0.951735,0.225759],[0.140045,-0.257392,0.956105]]
2025-10-24T23:00:15.641Z,1761346815.641 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:15.895Z,1761346815.895 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:15.922Z,1761346815.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967608,-0.166136,-0.190087],[0.207342,0.952527,0.222938],[0.144025,-0.255130,0.956120]]
2025-10-24T23:00:16.144Z,1761346816.144 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:16.294Z,1761346816.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967204,-0.164754,-0.193318],[0.206470,0.953262,0.220592],[0.147939,-0.253272,0.956016]]
2025-10-24T23:00:16.397Z,1761346816.397 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:16.651Z,1761346816.651 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:16.698Z,1761346816.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966797,-0.163143,-0.196693],[0.205476,0.953895,0.218778],[0.151932,-0.251929,0.955745]]
2025-10-24T23:00:16.900Z,1761346816.900 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:17.111Z,1761346817.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966398,-0.161727,-0.199797],[0.204267,0.955020,0.214971],[0.156043,-0.248559,0.955965]]
2025-10-24T23:00:17.152Z,1761346817.152 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:17.404Z,1761346817.404 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:17.507Z,1761346817.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965890,-0.160672,-0.203081],[0.203403,0.956091,0.210991],[0.160264,-0.245102,0.956159]]
2025-10-24T23:00:17.657Z,1761346817.657 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:17.910Z,1761346817.910 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:17.954Z,1761346817.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965451,-0.159802,-0.205836],[0.202463,0.957284,0.206438],[0.164054,-0.240980,0.956564]]
2025-10-24T23:00:18.160Z,1761346818.160 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:18.314Z,1761346818.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964956,-0.159943,-0.208032],[0.201989,0.958799,0.199762],[0.167511,-0.234782,0.957506]]
2025-10-24T23:00:18.416Z,1761346818.416 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:00:18.416Z,1761346818.416 [DAT](FAULT): failed to enter online mode
2025-10-24T23:00:18.417Z,1761346818.417 [DAT](FAULT): Failure returning to online mode
2025-10-24T23:00:18.417Z,1761346818.417 [DAT] Communications Fault, FailCount= 1
2025-10-24T23:00:18.417Z,1761346818.417 [DAT](ERROR): Communications Fault
2025-10-24T23:00:18.418Z,1761346818.418 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:00:18.463Z,1761346818.463 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:00:18.472Z,1761346818.472 [DAT](INFO): entering command mode
2025-10-24T23:00:18.719Z,1761346818.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964349,-0.160518,-0.210394],[0.202229,0.959799,0.194655],[0.170690,-0.230263,0.958042]]
2025-10-24T23:00:18.876Z,1761346818.876 [DAT](INFO): Powering down
2025-10-24T23:00:19.125Z,1761346819.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963891,-0.159930,-0.212925],[0.202050,0.960059,0.193551],[0.173466,-0.229583,0.957706]]
2025-10-24T23:00:19.527Z,1761346819.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963336,-0.159057,-0.216067],[0.202009,0.959984,0.193969],[0.176569,-0.230504,0.956918]]
2025-10-24T23:00:19.956Z,1761346819.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962914,-0.157328,-0.219188],[0.201402,0.959715,0.195917],[0.179535,-0.232796,0.955810]]
2025-10-24T23:00:20.105Z,1761346820.105 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:00:20.105Z,1761346820.105 [DAT] No Fault, FailCount= 1
2025-10-24T23:00:20.343Z,1761346820.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962571,-0.155154,-0.222226],[0.200656,0.959136,0.199489],[0.182193,-0.236613,0.954369]]
2025-10-24T23:00:20.740Z,1761346820.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962384,-0.152075,-0.225146],[0.199072,0.958641,0.203415],[0.184900,-0.240583,0.952854]]
2025-10-24T23:00:21.142Z,1761346821.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962362,-0.149109,-0.227214],[0.197111,0.958531,0.205827],[0.187101,-0.242866,0.951845]]
2025-10-24T23:00:21.546Z,1761346821.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962366,-0.146552,-0.228852],[0.195065,0.958858,0.206253],[0.189210,-0.243132,0.951360]]
2025-10-24T23:00:21.925Z,1761346821.925 [DAT](INFO): Powering up
2025-10-24T23:00:21.925Z,1761346821.925 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:00:21.967Z,1761346821.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962294,-0.144398,-0.230521],[0.193483,0.959029,0.206949],[0.191193,-0.243748,0.950806]]
2025-10-24T23:00:22.365Z,1761346822.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962123,-0.142138,-0.232628],[0.192032,0.959041,0.208241],[0.193500,-0.245026,0.950011]]
2025-10-24T23:00:22.758Z,1761346822.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961759,-0.140624,-0.235043],[0.191188,0.959164,0.208449],[0.196132,-0.245415,0.949370]]
2025-10-24T23:00:23.162Z,1761346823.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961323,-0.140071,-0.237146],[0.190910,0.959498,0.207165],[0.198523,-0.244426,0.949128]]
2025-10-24T23:00:23.569Z,1761346823.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960746,-0.140131,-0.239439],[0.190918,0.960147,0.204129],[0.201292,-0.241829,0.949210]]
2025-10-24T23:00:23.971Z,1761346823.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959983,-0.141222,-0.241845],[0.191646,0.960957,0.199585],[0.204217,-0.237947,0.949567]]
2025-10-24T23:00:24.037Z,1761346824.037 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:00:24.037Z,1761346824.037 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:00:24.037Z,1761346824.037 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:00:24.038Z,1761346824.038 [marl:UpdateRudder:A] Stopped
2025-10-24T23:00:24.038Z,1761346824.038 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:00:24.038Z,1761346824.038 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:00:24.038Z,1761346824.038 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:00:24.038Z,1761346824.038 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:00:24.038Z,1761346824.038 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:00:24.039Z,1761346824.039 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:00:24.039Z,1761346824.039 [marl:UpdateCommandMode] Stopped
2025-10-24T23:00:24.039Z,1761346824.039 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:00:24.039Z,1761346824.039 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:00:24.039Z,1761346824.039 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:00:24.039Z,1761346824.039 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:00:24.039Z,1761346824.039 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:00:24.039Z,1761346824.039 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:00:24.039Z,1761346824.039 [marl:UpdateSpeed] Stopped
2025-10-24T23:00:24.040Z,1761346824.040 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:00:24.378Z,1761346824.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959134,-0.143202,-0.244039],[0.192999,0.961799,0.194148],[0.206914,-0.233313,0.950132]]
2025-10-24T23:00:24.419Z,1761346824.419 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:00:24.419Z,1761346824.419 [marl:UpdateRudder:B] Stopped
2025-10-24T23:00:24.419Z,1761346824.419 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:00:24.419Z,1761346824.419 [marl:UpdateRudder] Stopped
2025-10-24T23:00:24.419Z,1761346824.419 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:00:24.778Z,1761346824.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958347,-0.144976,-0.246077],[0.194333,0.962391,0.189838],[0.209300,-0.229751,0.950478]]
2025-10-24T23:00:25.182Z,1761346825.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957719,-0.145888,-0.247973],[0.195571,0.962263,0.189213],[0.211011,-0.229709,0.950109]]
2025-10-24T23:00:25.540Z,1761346825.540 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:00:25.597Z,1761346825.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957160,-0.146800,-0.249588],[0.197077,0.961783,0.190088],[0.212145,-0.231133,0.949512]]
2025-10-24T23:00:25.990Z,1761346825.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956558,-0.148011,-0.251177],[0.199010,0.961095,0.191548],[0.213054,-0.233213,0.948799]]
2025-10-24T23:00:26.398Z,1761346826.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955883,-0.148776,-0.253285],[0.201097,0.959953,0.195066],[0.214121,-0.237395,0.947521]]
2025-10-24T23:00:26.545Z,1761346826.545 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:00:26.800Z,1761346826.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955246,-0.148757,-0.255687],[0.202559,0.958857,0.198904],[0.215579,-0.241794,0.946077]]
2025-10-24T23:00:27.202Z,1761346827.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954324,-0.153018,-0.256617],[0.205784,0.959328,0.193244],[0.216610,-0.237225,0.946998]]
2025-10-24T23:00:27.606Z,1761346827.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952471,-0.166596,-0.255038],[0.214273,0.961480,0.172171],[0.216531,-0.218635,0.951479]]
2025-10-24T23:00:28.013Z,1761346828.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949369,-0.189186,-0.250812],[0.228410,0.963794,0.137587],[0.215702,-0.187909,0.958208]]
2025-10-24T23:00:28.414Z,1761346828.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945309,-0.216159,-0.244268],[0.245780,0.964384,0.097751],[0.214438,-0.152441,0.964768]]
2025-10-24T23:00:28.818Z,1761346828.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940586,-0.243687,-0.236462],[0.264323,0.962604,0.059394],[0.213145,-0.118367,0.969824]]
2025-10-24T23:00:29.222Z,1761346829.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935463,-0.270166,-0.227859],[0.283100,0.958752,0.025486],[0.211574,-0.088348,0.973361]]
2025-10-24T23:00:29.628Z,1761346829.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930064,-0.294131,-0.220154],[0.301216,0.953555,-0.001456],[0.210357,-0.064960,0.975464]]
2025-10-24T23:00:30.030Z,1761346830.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924513,-0.315153,-0.214370],[0.318242,0.947779,-0.020884],[0.209757,-0.048914,0.976529]]
2025-10-24T23:00:30.434Z,1761346830.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918878,-0.333709,-0.210478],[0.333753,0.941957,-0.036397],[0.210407,-0.036803,0.976921]]
2025-10-24T23:00:30.838Z,1761346830.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913179,-0.350293,-0.208326],[0.347718,0.936260,-0.050094],[0.212595,-0.026694,0.976776]]
2025-10-24T23:00:31.648Z,1761346831.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903394,-0.375034,-0.207915],[0.368799,0.926907,-0.069505],[0.218784,-0.013888,0.975674]]
2025-10-24T23:00:32.058Z,1761346832.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898704,-0.386407,-0.207416],[0.378501,0.922292,-0.078201],[0.221516,-0.008227,0.975122]]
2025-10-24T23:00:32.461Z,1761346832.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893787,-0.398062,-0.206622],[0.388756,0.917351,-0.085651],[0.223639,-0.003772,0.974665]]
2025-10-24T23:00:32.858Z,1761346832.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888564,-0.409493,-0.206808],[0.399540,0.912309,-0.089780],[0.225437,-0.002852,0.974254]]
2025-10-24T23:00:33.262Z,1761346833.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883401,-0.420459,-0.206921],[0.410320,0.907304,-0.091858],[0.226363,-0.003757,0.974036]]
2025-10-24T23:00:33.671Z,1761346833.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878032,-0.431676,-0.206678],[0.421560,0.902012,-0.093065],[0.226599,-0.005413,0.973973]]
2025-10-24T23:00:34.024Z,1761346834.024 [DAT](INFO): DAT read: 

2025-10-24T23:00:34.025Z,1761346834.025 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:00:34.089Z,1761346834.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872558,-0.442506,-0.206958],[0.432661,0.896728,-0.093187],[0.226821,-0.008231,0.973902]]
2025-10-24T23:00:34.475Z,1761346834.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866438,-0.454158,-0.207426],[0.444467,0.890856,-0.093943],[0.227452,-0.010798,0.973730]]
2025-10-24T23:00:34.878Z,1761346834.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860441,-0.465031,-0.208295],[0.455542,0.885190,-0.094451],[0.228303,-0.013618,0.973495]]
2025-10-24T23:00:35.282Z,1761346835.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854380,-0.475720,-0.209105],[0.466264,0.879456,-0.095683],[0.229417,-0.015748,0.973201]]
2025-10-24T23:00:35.689Z,1761346835.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847631,-0.487817,-0.208702],[0.477767,0.872813,-0.099676],[0.230781,-0.015222,0.972887]]
2025-10-24T23:00:35.789Z,1761346835.789 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:00:35.790Z,1761346835.790 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:00:35.791Z,1761346835.791 [DAT](INFO): DAT read: Oct 24 2025 23:00:29 

2025-10-24T23:00:36.090Z,1761346836.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840197,-0.500937,-0.207680],[0.490003,0.865377,-0.104974],[0.232307,-0.013565,0.972548]]
2025-10-24T23:00:36.494Z,1761346836.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832224,-0.514151,-0.207489],[0.502681,0.857590,-0.108862],[0.233912,-0.013703,0.972161]]
2025-10-24T23:00:36.797Z,1761346836.797 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:00:36.798Z,1761346836.798 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:00:36.799Z,1761346836.799 [DAT](INFO): commRate: 600
2025-10-24T23:00:36.898Z,1761346836.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823934,-0.527673,-0.206626],[0.515421,0.849352,-0.113765],[0.235528,-0.012765,0.971784]]
2025-10-24T23:00:36.962Z,1761346836.962 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:00:36.962Z,1761346836.962 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:00:36.962Z,1761346836.962 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:00:36.963Z,1761346836.963 [marl:UpdateRudder:A] Stopped
2025-10-24T23:00:36.963Z,1761346836.963 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:00:36.963Z,1761346836.963 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:00:36.963Z,1761346836.963 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:00:36.963Z,1761346836.963 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:00:36.963Z,1761346836.963 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:00:36.963Z,1761346836.963 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:00:36.963Z,1761346836.963 [marl:UpdateCommandMode] Stopped
2025-10-24T23:00:36.963Z,1761346836.963 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:00:36.964Z,1761346836.964 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:00:36.964Z,1761346836.964 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:00:36.964Z,1761346836.964 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:00:36.964Z,1761346836.964 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:00:36.964Z,1761346836.964 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:00:36.964Z,1761346836.964 [marl:UpdateSpeed] Stopped
2025-10-24T23:00:36.965Z,1761346836.965 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:00:37.305Z,1761346837.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814886,-0.541816,-0.205905],[0.528734,0.840412,-0.118942],[0.237490,-0.011945,0.971316]]
2025-10-24T23:00:37.366Z,1761346837.366 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:00:37.366Z,1761346837.366 [marl:UpdateRudder:B] Stopped
2025-10-24T23:00:37.366Z,1761346837.366 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:00:37.366Z,1761346837.366 [marl:UpdateRudder] Stopped
2025-10-24T23:00:37.366Z,1761346837.366 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:00:37.736Z,1761346837.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805817,-0.555464,-0.205228],[0.541763,0.831455,-0.123189],[0.239065,-0.011917,0.970930]]
2025-10-24T23:00:38.110Z,1761346838.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796983,-0.568405,-0.204287],[0.554211,0.822659,-0.126817],[0.240142,-0.012147,0.970662]]
2025-10-24T23:00:38.518Z,1761346838.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788587,-0.580564,-0.202672],[0.565937,0.814124,-0.130064],[0.240510,-0.012133,0.970571]]
2025-10-24T23:00:38.864Z,1761346838.864 [DAT](INFO): entering command mode
2025-10-24T23:00:38.924Z,1761346838.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780599,-0.591874,-0.200874],[0.576910,0.805938,-0.132812],[0.240500,-0.012213,0.970572]]
2025-10-24T23:00:39.065Z,1761346839.065 [DAT](INFO): DAT read: 

2025-10-24T23:00:39.065Z,1761346839.065 [DAT](INFO): DAT read: user:1>

2025-10-24T23:00:39.065Z,1761346839.065 [DAT](INFO): setting verbose to 3
2025-10-24T23:00:39.317Z,1761346839.317 [DAT](INFO): DAT read: user:1>

2025-10-24T23:00:39.318Z,1761346839.318 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:00:39.318Z,1761346839.318 [DAT](INFO): set verbose to 3
2025-10-24T23:00:39.318Z,1761346839.318 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:00:39.569Z,1761346839.569 [DAT](INFO): DAT read: user:2>

2025-10-24T23:00:39.570Z,1761346839.570 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:00:39.570Z,1761346839.570 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:00:39.570Z,1761346839.570 [DAT](INFO): setting transmit power to 8
2025-10-24T23:00:39.726Z,1761346839.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764029,-0.614513,-0.196551],[0.598756,0.788820,-0.138759],[0.240313,-0.011670,0.970625]]
2025-10-24T23:00:39.826Z,1761346839.826 [DAT](INFO): DAT read: user:3>

2025-10-24T23:00:39.827Z,1761346839.827 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:00:39.827Z,1761346839.827 [DAT](INFO): set transmit power to 8
2025-10-24T23:00:39.828Z,1761346839.828 [DAT](INFO): setting local address to 11
2025-10-24T23:00:40.077Z,1761346840.077 [DAT](INFO): DAT read: user:4>

2025-10-24T23:00:40.078Z,1761346840.078 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:00:40.078Z,1761346840.078 [DAT](INFO): set local address to 11
2025-10-24T23:00:40.079Z,1761346840.079 [DAT](INFO): Setting time to: 23:0:40 And date to:10/24/2025
2025-10-24T23:00:40.329Z,1761346840.329 [DAT](INFO): DAT read: user:5>

2025-10-24T23:00:40.330Z,1761346840.330 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:00:40  

2025-10-24T23:00:40.330Z,1761346840.330 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:00:40  

2025-10-24T23:00:40.331Z,1761346840.331 [DAT](INFO): setting remote address to 10
2025-10-24T23:00:40.331Z,1761346840.331 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:00:40.331Z,1761346840.331 [DAT](INFO): setting remote address to 0
2025-10-24T23:00:40.581Z,1761346840.581 [DAT](INFO): DAT read: user:6>

2025-10-24T23:00:40.582Z,1761346840.582 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:00:40.582Z,1761346840.582 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:00:40.582Z,1761346840.582 [DAT] Communications Fault, FailCount= 2
2025-10-24T23:00:40.583Z,1761346840.583 [DAT](ERROR): Communications Fault
2025-10-24T23:00:40.583Z,1761346840.583 [DAT](INFO): DAT read: user:7>

2025-10-24T23:00:40.593Z,1761346840.593 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:00:40.593Z,1761346840.593 [DAT](INFO): set remote address to 0
2025-10-24T23:00:40.593Z,1761346840.593 [DAT](INFO): setting remote address to 10
2025-10-24T23:00:40.595Z,1761346840.595 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:00:40.596Z,1761346840.596 [DAT](INFO): setting remote address to 0
2025-10-24T23:00:40.995Z,1761346840.995 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:00:41.004Z,1761346841.004 [DAT](INFO): Powering down
2025-10-24T23:00:41.053Z,1761346841.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746404,-0.629964,-0.214540],[0.621497,0.775113,-0.113758],[0.237956,-0.048427,0.970068]]
2025-10-24T23:00:41.435Z,1761346841.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743697,-0.626985,-0.231958],[0.625043,0.775218,-0.091427],[0.237141,-0.076990,0.968420]]
2025-10-24T23:00:41.830Z,1761346841.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741543,-0.622199,-0.250962],[0.627948,0.775375,-0.066895],[0.236212,-0.107986,0.965683]]
2025-10-24T23:00:42.017Z,1761346842.017 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:00:42.017Z,1761346842.017 [DAT] No Fault, FailCount= 2
2025-10-24T23:00:42.235Z,1761346842.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739958,-0.616429,-0.269215],[0.630324,0.775172,-0.042437],[0.234847,-0.138291,0.962145]]
2025-10-24T23:00:42.638Z,1761346842.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738563,-0.611172,-0.284595],[0.632527,0.774248,-0.021216],[0.233314,-0.164345,0.958413]]
2025-10-24T23:00:43.047Z,1761346843.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737735,-0.607050,-0.295360],[0.634195,0.773157,-0.005001],[0.231395,-0.183626,0.955373]]
2025-10-24T23:00:43.446Z,1761346843.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737778,-0.603623,-0.302198],[0.634954,0.772518,0.007100],[0.229167,-0.197120,0.953219]]
2025-10-24T23:00:43.850Z,1761346843.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738269,-0.602237,-0.303759],[0.635263,0.772186,0.013024],[0.226715,-0.202582,0.952660]]
2025-10-24T23:00:44.056Z,1761346844.056 [DAT](INFO): Powering up
2025-10-24T23:00:44.056Z,1761346844.056 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:00:44.254Z,1761346844.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738869,-0.602018,-0.302732],[0.635499,0.771937,0.015959],[0.224083,-0.204178,0.952942]]
2025-10-24T23:00:44.665Z,1761346844.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739109,-0.603442,-0.299291],[0.636215,0.771348,0.015933],[0.221243,-0.202190,0.954029]]
2025-10-24T23:00:45.062Z,1761346845.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738724,-0.606714,-0.293573],[0.637879,0.770014,0.013756],[0.217709,-0.197425,0.955838]]
2025-10-24T23:00:45.466Z,1761346845.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737877,-0.610034,-0.288784],[0.640139,0.768149,0.012972],[0.213916,-0.194434,0.957306]]
2025-10-24T23:00:45.874Z,1761346845.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735425,-0.615143,-0.284164],[0.643915,0.765026,0.010385],[0.211004,-0.190615,0.958719]]
2025-10-24T23:00:46.275Z,1761346846.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732083,-0.620775,-0.280523],[0.648507,0.761166,0.008014],[0.208550,-0.187788,0.959814]]
2025-10-24T23:00:46.689Z,1761346846.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726656,-0.629238,-0.275735],[0.655923,0.754803,0.006093],[0.204291,-0.185289,0.961214]]
2025-10-24T23:00:47.105Z,1761346847.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724822,-0.631864,-0.274556],[0.658407,0.752637,0.006058],[0.202813,-0.185161,0.961552]]
2025-10-24T23:00:47.493Z,1761346847.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723946,-0.633462,-0.273181],[0.659662,0.751542,0.005441],[0.201860,-0.184146,0.961947]]
2025-10-24T23:00:47.624Z,1761346847.624 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:00:47.624Z,1761346847.624 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:00:47.921Z,1761346847.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723767,-0.634612,-0.270976],[0.660128,0.751143,0.004038],[0.200979,-0.181801,0.962578]]
2025-10-24T23:00:48.302Z,1761346848.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724393,-0.634893,-0.268636],[0.659962,0.751288,0.004037],[0.199260,-0.180214,0.963233]]
2025-10-24T23:00:48.701Z,1761346848.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725983,-0.634197,-0.265975],[0.659070,0.752060,0.005711],[0.196407,-0.179442,0.963963]]
2025-10-24T23:00:49.103Z,1761346849.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728159,-0.633031,-0.262787],[0.657736,0.753204,0.008124],[0.192789,-0.178760,0.964820]]
2025-10-24T23:00:49.513Z,1761346849.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730899,-0.630878,-0.260345],[0.655923,0.754723,0.012579],[0.188552,-0.179960,0.965434]]
2025-10-24T23:00:49.556Z,1761346849.556 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:00:49.951Z,1761346849.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733802,-0.628297,-0.258414],[0.654023,0.756249,0.018478],[0.183815,-0.182568,0.965858]]
2025-10-24T23:00:50.038Z,1761346850.038 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:00:50.038Z,1761346850.038 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:00:50.085Z,1761346850.085 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:00:50.086Z,1761346850.086 [marl:UpdateRudder:A] Stopped
2025-10-24T23:00:50.086Z,1761346850.086 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:00:50.086Z,1761346850.086 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:00:50.086Z,1761346850.086 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:00:50.086Z,1761346850.086 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:00:50.086Z,1761346850.086 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:00:50.087Z,1761346850.087 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:00:50.087Z,1761346850.087 [marl:UpdateCommandMode] Stopped
2025-10-24T23:00:50.087Z,1761346850.087 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:00:50.087Z,1761346850.087 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:00:50.087Z,1761346850.087 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:00:50.087Z,1761346850.087 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:00:50.087Z,1761346850.087 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:00:50.087Z,1761346850.087 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:00:50.087Z,1761346850.087 [marl:UpdateSpeed] Stopped
2025-10-24T23:00:50.088Z,1761346850.088 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:00:50.314Z,1761346850.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735629,-0.627186,-0.255907],[0.653366,0.756671,0.023688],[0.178781,-0.184626,0.966411]]
2025-10-24T23:00:50.349Z,1761346850.349 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:00:50.349Z,1761346850.349 [marl:UpdateRudder:B] Stopped
2025-10-24T23:00:50.349Z,1761346850.349 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:00:50.350Z,1761346850.350 [marl:UpdateRudder] Stopped
2025-10-24T23:00:50.350Z,1761346850.350 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:00:50.718Z,1761346850.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736589,-0.626676,-0.254391],[0.653637,0.756225,0.029692],[0.173769,-0.188150,0.966646]]
2025-10-24T23:00:51.125Z,1761346851.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736419,-0.627102,-0.253831],[0.655074,0.754708,0.035966],[0.169014,-0.192764,0.966580]]
2025-10-24T23:00:51.528Z,1761346851.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735414,-0.628534,-0.253202],[0.657361,0.752434,0.041479],[0.164446,-0.196949,0.966524]]
2025-10-24T23:00:51.958Z,1761346851.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733277,-0.631509,-0.251995],[0.660787,0.749207,0.045272],[0.160207,-0.199712,0.966669]]
2025-10-24T23:00:52.335Z,1761346852.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730310,-0.635753,-0.249931],[0.665143,0.745165,0.048090],[0.155667,-0.201361,0.967069]]
2025-10-24T23:00:52.755Z,1761346852.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726792,-0.640643,-0.247687],[0.670182,0.740411,0.051451],[0.150429,-0.203390,0.967473]]
2025-10-24T23:00:53.149Z,1761346853.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722878,-0.647029,-0.242487],[0.675674,0.735357,0.052095],[0.144608,-0.201501,0.968755]]
2025-10-24T23:00:53.546Z,1761346853.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718116,-0.654175,-0.237411],[0.681975,0.729466,0.052813],[0.138634,-0.199834,0.969972]]
2025-10-24T23:00:53.961Z,1761346853.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712842,-0.661718,-0.232350],[0.688669,0.723103,0.053462],[0.132636,-0.198122,0.971162]]
2025-10-24T23:00:54.354Z,1761346854.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707475,-0.669347,-0.226834],[0.695256,0.716780,0.053348],[0.126881,-0.195450,0.972471]]
2025-10-24T23:00:54.760Z,1761346854.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702045,-0.676898,-0.221228],[0.701737,0.710456,0.053090],[0.121236,-0.192515,0.973776]]
2025-10-24T23:00:55.167Z,1761346855.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696093,-0.684237,-0.217425],[0.708462,0.703713,0.053577],[0.116346,-0.191332,0.974606]]
2025-10-24T23:00:55.566Z,1761346855.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690356,-0.691143,-0.213847],[0.714737,0.697336,0.053609],[0.112072,-0.189853,0.975395]]
2025-10-24T23:00:55.977Z,1761346855.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685631,-0.696934,-0.210220],[0.719820,0.692126,0.053110],[0.108484,-0.187735,0.976210]]
2025-10-24T23:00:56.161Z,1761346856.161 [DAT](INFO): DAT read: 

2025-10-24T23:00:56.161Z,1761346856.161 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:00:56.374Z,1761346856.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681283,-0.701986,-0.207531],[0.724362,0.687398,0.052769],[0.105614,-0.186278,0.976804]]
2025-10-24T23:00:56.666Z,1761346856.666 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:00:56.778Z,1761346856.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678637,-0.705205,-0.205274],[0.727200,0.684377,0.052995],[0.103113,-0.185239,0.977269]]
2025-10-24T23:00:57.186Z,1761346857.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678142,-0.706344,-0.202981],[0.728009,0.683443,0.053934],[0.100630,-0.184347,0.977696]]
2025-10-24T23:00:57.588Z,1761346857.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679537,-0.705384,-0.201652],[0.727107,0.684148,0.057073],[0.097701,-0.185406,0.977793]]
2025-10-24T23:00:57.668Z,1761346857.668 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:00:57.928Z,1761346857.928 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:00:57.932Z,1761346857.932 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:00:57.934Z,1761346857.934 [DAT](INFO): DAT read: Oct 24 2025 23:00:52 

2025-10-24T23:00:57.999Z,1761346857.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682100,-0.703368,-0.200033],[0.725127,0.685933,0.060719],[0.094501,-0.186466,0.977906]]
2025-10-24T23:00:58.395Z,1761346858.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685114,-0.701169,-0.197434],[0.722745,0.688131,0.064154],[0.090878,-0.186647,0.978215]]
2025-10-24T23:00:58.452Z,1761346858.452 [marl:SendObservationData] Running Loop=1
2025-10-24T23:00:58.452Z,1761346858.452 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:00:58.452Z,1761346858.452 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:00:58.453Z,1761346858.453 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:00:58.454Z,1761346858.454 [marl:SendObservationData:A](INFO): Got test_good :  41da3f01400000004051400000000000404262f63832fb0dc05e77535118aa2a401d8caf800000004071c66660000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:00:58.454Z,1761346858.454 [marl:SendObservationData:A] Stopped
2025-10-24T23:00:58.454Z,1761346858.454 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:00:58.801Z,1761346858.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688850,-0.698606,-0.193480],[0.719730,0.690954,0.067611],[0.086452,-0.185827,0.978772]]
2025-10-24T23:00:58.853Z,1761346858.853 [marl:SendObservationData:B] Stopped
2025-10-24T23:00:58.854Z,1761346858.854 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:00:58.933Z,1761346858.933 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:00:58.934Z,1761346858.934 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:00:58.934Z,1761346858.934 [DAT](INFO): commRate: 600
2025-10-24T23:00:59.203Z,1761346859.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692928,-0.695555,-0.189877],[0.716408,0.693902,0.072530],[0.081308,-0.186287,0.979125]]
2025-10-24T23:00:59.229Z,1761346859.229 [marl:SendObservationData:C] Stopped
2025-10-24T23:00:59.229Z,1761346859.229 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:00:59.606Z,1761346859.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696889,-0.692335,-0.187129],[0.713136,0.696622,0.078454],[0.076042,-0.188123,0.979197]]
2025-10-24T23:00:59.663Z,1761346859.663 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.007764 min 
2025-10-24T23:00:59.663Z,1761346859.663 [marl:SendObservationData:E] Stopped
2025-10-24T23:00:59.681Z,1761346859.681 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:00:59.681Z,1761346859.681 [marl:SendObservationData] Stopped
2025-10-24T23:00:59.681Z,1761346859.681 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:00:59.681Z,1761346859.681 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:01:00.010Z,1761346860.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700574,-0.689192,-0.184958],[0.710121,0.698842,0.085727],[0.070174,-0.191400,0.979000]]
2025-10-24T23:01:00.416Z,1761346860.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703615,-0.686753,-0.182473],[0.707642,0.700541,0.092115],[0.064570,-0.193939,0.978886]]
2025-10-24T23:01:00.820Z,1761346860.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706376,-0.684536,-0.180120],[0.705367,0.701979,0.098406],[0.059078,-0.196562,0.978710]]
2025-10-24T23:01:00.000Z,1761346861.000 [DAT](INFO): entering command mode
2025-10-24T23:01:01.200Z,1761346861.200 [DAT](INFO): DAT read: 

2025-10-24T23:01:01.201Z,1761346861.201 [DAT](INFO): DAT read: user:1>

2025-10-24T23:01:01.201Z,1761346861.201 [DAT](INFO): setting verbose to 3
2025-10-24T23:01:01.223Z,1761346861.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708523,-0.682800,-0.178269],[0.703652,0.702741,0.105021],[0.053569,-0.199849,0.978361]]
2025-10-24T23:01:01.453Z,1761346861.453 [DAT](INFO): DAT read: user:1>

2025-10-24T23:01:01.455Z,1761346861.455 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:01:01.455Z,1761346861.455 [DAT](INFO): set verbose to 3
2025-10-24T23:01:01.455Z,1761346861.455 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:01:01.626Z,1761346861.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710556,-0.681296,-0.175917],[0.702000,0.703452,0.111136],[0.048032,-0.202462,0.978111]]
2025-10-24T23:01:01.705Z,1761346861.705 [DAT](INFO): DAT read: user:2>

2025-10-24T23:01:01.706Z,1761346861.706 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:01:01.706Z,1761346861.706 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:01:01.706Z,1761346861.706 [DAT](INFO): setting transmit power to 8
2025-10-24T23:01:01.957Z,1761346861.957 [DAT](INFO): DAT read: user:3>

2025-10-24T23:01:01.959Z,1761346861.959 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:01:01.959Z,1761346861.959 [DAT](INFO): set transmit power to 8
2025-10-24T23:01:01.960Z,1761346861.960 [DAT](INFO): setting local address to 11
2025-10-24T23:01:02.034Z,1761346862.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711224,-0.681249,-0.173379],[0.701661,0.702994,0.116071],[0.042811,-0.204205,0.977992]]
2025-10-24T23:01:02.209Z,1761346862.209 [DAT](INFO): DAT read: user:4>

2025-10-24T23:01:02.210Z,1761346862.210 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:01:02.210Z,1761346862.210 [DAT](INFO): set local address to 11
2025-10-24T23:01:02.211Z,1761346862.211 [DAT](INFO): Setting time to: 23:1:2 And date to:10/24/2025
2025-10-24T23:01:02.434Z,1761346862.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710725,-0.682711,-0.169632],[0.702468,0.701637,0.119352],[0.037537,-0.203987,0.978254]]
2025-10-24T23:01:02.468Z,1761346862.468 [DAT](INFO): DAT read: user:5>

2025-10-24T23:01:02.470Z,1761346862.470 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:01:02  

2025-10-24T23:01:02.470Z,1761346862.470 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:01:02  

2025-10-24T23:01:02.471Z,1761346862.471 [DAT](INFO): setting remote address to 10
2025-10-24T23:01:02.473Z,1761346862.473 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:01:02.474Z,1761346862.474 [DAT](INFO): setting remote address to 0
2025-10-24T23:01:02.721Z,1761346862.721 [DAT](INFO): DAT read: user:6>

2025-10-24T23:01:02.722Z,1761346862.722 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:01:02.722Z,1761346862.722 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:01:02.722Z,1761346862.722 [DAT] Communications Fault, FailCount= 3
2025-10-24T23:01:02.722Z,1761346862.722 [DAT](ERROR): Communications Fault
2025-10-24T23:01:02.723Z,1761346862.723 [DAT](INFO): DAT read: user:7>

2025-10-24T23:01:02.727Z,1761346862.727 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:01:02.730Z,1761346862.730 [DAT](INFO): set remote address to 0
2025-10-24T23:01:02.731Z,1761346862.731 [DAT](INFO): setting remote address to 10
2025-10-24T23:01:02.742Z,1761346862.742 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:01:02.742Z,1761346862.742 [DAT](INFO): setting remote address to 0
2025-10-24T23:01:02.839Z,1761346862.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708945,-0.685429,-0.166085],[0.704534,0.699004,0.122577],[0.032076,-0.203913,0.978464]]
2025-10-24T23:01:02.895Z,1761346862.895 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:01:02.895Z,1761346862.895 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:01:02.895Z,1761346862.895 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:01:02.895Z,1761346862.895 [marl:UpdateRudder:A] Stopped
2025-10-24T23:01:02.900Z,1761346862.900 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:01:02.900Z,1761346862.900 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:01:02.900Z,1761346862.900 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:01:02.900Z,1761346862.900 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:01:02.900Z,1761346862.900 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:01:02.901Z,1761346862.901 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:01:02.901Z,1761346862.901 [marl:UpdateCommandMode] Stopped
2025-10-24T23:01:02.901Z,1761346862.901 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:01:02.901Z,1761346862.901 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:01:02.901Z,1761346862.901 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:01:02.901Z,1761346862.901 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:01:02.901Z,1761346862.901 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:01:02.901Z,1761346862.901 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:01:02.901Z,1761346862.901 [marl:UpdateSpeed] Stopped
2025-10-24T23:01:02.902Z,1761346862.902 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:01:03.136Z,1761346863.136 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:01:03.156Z,1761346863.156 [DAT](INFO): Powering down
2025-10-24T23:01:03.243Z,1761346863.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706428,-0.688926,-0.162296],[0.707285,0.695736,0.125299],[0.026593,-0.203304,0.978755]]
2025-10-24T23:01:03.267Z,1761346863.267 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:01:03.267Z,1761346863.267 [marl:UpdateRudder:B] Stopped
2025-10-24T23:01:03.267Z,1761346863.267 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:01:03.267Z,1761346863.267 [marl:UpdateRudder] Stopped
2025-10-24T23:01:03.267Z,1761346863.267 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:01:03.647Z,1761346863.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703105,-0.693244,-0.158293],[0.710777,0.691727,0.127710],[0.020961,-0.202304,0.979098]]
2025-10-24T23:01:04.051Z,1761346864.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699052,-0.697669,-0.156793],[0.714891,0.686782,0.131384],[0.016020,-0.203934,0.978853]]
2025-10-24T23:01:04.339Z,1761346864.339 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:01:04.339Z,1761346864.339 [DAT] No Fault, FailCount= 3
2025-10-24T23:01:04.461Z,1761346864.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693717,-0.703241,-0.155592],[0.720156,0.680707,0.134217],[0.011526,-0.205159,0.978661]]
2025-10-24T23:01:04.860Z,1761346864.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687459,-0.709485,-0.155021],[0.726182,0.673863,0.136266],[0.007784,-0.206251,0.978468]]
2025-10-24T23:01:05.263Z,1761346865.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680545,-0.716135,-0.154948],[0.732688,0.666625,0.137037],[0.005155,-0.206789,0.978372]]
2025-10-24T23:01:05.671Z,1761346865.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673626,-0.722599,-0.155175],[0.739064,0.659655,0.136529],[0.003706,-0.206654,0.978407]]
2025-10-24T23:01:06.070Z,1761346866.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666091,-0.729172,-0.156941],[0.745863,0.652087,0.135908],[0.003239,-0.207584,0.978212]]
2025-10-24T23:01:06.200Z,1761346866.200 [DAT](INFO): Powering up
2025-10-24T23:01:06.200Z,1761346866.200 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:01:06.482Z,1761346866.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658456,-0.735624,-0.159037],[0.752610,0.644629,0.134285],[0.003737,-0.208114,0.978097]]
2025-10-24T23:01:06.878Z,1761346866.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651541,-0.741630,-0.159621],[0.758599,0.638250,0.131016],[0.004713,-0.206451,0.978446]]
2025-10-24T23:01:07.282Z,1761346867.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647111,-0.745499,-0.159622],[0.762380,0.634099,0.129207],[0.004892,-0.205304,0.978686]]
2025-10-24T23:01:07.689Z,1761346867.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645460,-0.746763,-0.160394],[0.763782,0.632240,0.130037],[0.004301,-0.206440,0.978450]]
2025-10-24T23:01:08.092Z,1761346868.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645290,-0.747210,-0.158991],[0.763932,0.631948,0.130572],[0.002909,-0.205716,0.978608]]
2025-10-24T23:01:08.504Z,1761346868.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646037,-0.746812,-0.157822],[0.763305,0.632316,0.132446],[0.000881,-0.206032,0.978545]]
2025-10-24T23:01:08.899Z,1761346868.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647077,-0.746397,-0.155512],[0.762424,0.633150,0.133534],[-0.001207,-0.204972,0.978767]]
2025-10-24T23:01:09.302Z,1761346869.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648281,-0.745918,-0.152770],[0.761393,0.634136,0.134731],[-0.003621,-0.203661,0.979035]]
2025-10-24T23:01:09.707Z,1761346869.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649570,-0.745303,-0.150278],[0.760276,0.635095,0.136509],[-0.006300,-0.202925,0.979174]]
2025-10-24T23:01:10.110Z,1761346870.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650820,-0.744867,-0.146990],[0.759184,0.636283,0.137052],[-0.008558,-0.200789,0.979597]]
2025-10-24T23:01:10.514Z,1761346870.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651816,-0.744502,-0.144404],[0.758297,0.637062,0.138335],[-0.010996,-0.199670,0.979801]]
2025-10-24T23:01:10.922Z,1761346870.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652066,-0.744401,-0.143796],[0.758041,0.636739,0.141202],[-0.013550,-0.201076,0.979482]]
2025-10-24T23:01:11.323Z,1761346871.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651433,-0.745010,-0.143510],[0.758545,0.635642,0.143419],[-0.015628,-0.202286,0.979202]]
2025-10-24T23:01:11.729Z,1761346871.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649433,-0.746674,-0.143929],[0.760213,0.633115,0.145747],[-0.017702,-0.204069,0.978796]]
2025-10-24T23:01:12.131Z,1761346872.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647088,-0.748330,-0.145876],[0.762176,0.630132,0.148398],[-0.019130,-0.207209,0.978110]]
2025-10-24T23:01:12.534Z,1761346872.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644209,-0.750338,-0.148281],[0.764583,0.626642,0.150776],[-0.020214,-0.210505,0.977384]]
2025-10-24T23:01:12.945Z,1761346872.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640768,-0.752762,-0.150881],[0.767440,0.622592,0.153017],[-0.021248,-0.213840,0.976638]]
2025-10-24T23:01:13.344Z,1761346873.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636959,-0.755548,-0.153071],[0.770585,0.618370,0.154326],[-0.021947,-0.216254,0.976090]]
2025-10-24T23:01:13.747Z,1761346873.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633393,-0.758385,-0.153834],[0.773497,0.614648,0.154631],[-0.022716,-0.216933,0.975922]]
2025-10-24T23:01:14.150Z,1761346874.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630455,-0.760647,-0.154735],[0.775874,0.611521,0.155116],[-0.023365,-0.217849,0.975703]]
2025-10-24T23:01:14.559Z,1761346874.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627992,-0.762510,-0.155581],[0.777866,0.609007,0.155033],[-0.023464,-0.218380,0.975582]]
2025-10-24T23:01:14.960Z,1761346874.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625498,-0.764396,-0.156366],[0.779872,0.606498,0.154788],[-0.023483,-0.218765,0.975495]]
2025-10-24T23:01:15.362Z,1761346875.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623243,-0.766179,-0.156646],[0.781675,0.604317,0.154225],[-0.023500,-0.218566,0.975539]]
2025-10-24T23:01:15.766Z,1761346875.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620804,-0.767980,-0.157505],[0.783618,0.601898,0.153823],[-0.023331,-0.218918,0.975464]]
2025-10-24T23:01:15.819Z,1761346875.819 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:01:15.819Z,1761346875.819 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:01:15.819Z,1761346875.819 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:01:15.819Z,1761346875.819 [marl:UpdateRudder:A] Stopped
2025-10-24T23:01:15.819Z,1761346875.819 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:01:15.819Z,1761346875.819 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:01:15.819Z,1761346875.819 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:01:15.819Z,1761346875.819 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:01:15.820Z,1761346875.820 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:01:15.820Z,1761346875.820 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:01:15.820Z,1761346875.820 [marl:UpdateCommandMode] Stopped
2025-10-24T23:01:15.820Z,1761346875.820 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:01:15.820Z,1761346875.820 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:01:15.820Z,1761346875.820 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:01:15.821Z,1761346875.821 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:01:15.821Z,1761346875.821 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:01:15.821Z,1761346875.821 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:01:15.821Z,1761346875.821 [marl:UpdateSpeed] Stopped
2025-10-24T23:01:15.821Z,1761346875.821 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:01:16.245Z,1761346876.245 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:01:16.245Z,1761346876.245 [marl:UpdateRudder:B] Stopped
2025-10-24T23:01:16.246Z,1761346876.246 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:01:16.246Z,1761346876.246 [marl:UpdateRudder] Stopped
2025-10-24T23:01:16.246Z,1761346876.246 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:01:16.574Z,1761346876.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615620,-0.771709,-0.159613],[0.787734,0.596954,0.152058],[-0.022063,-0.219343,0.975398]]
2025-10-24T23:01:16.978Z,1761346876.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613556,-0.772958,-0.161510],[0.789365,0.594862,0.151795],[-0.021255,-0.220625,0.975127]]
2025-10-24T23:01:17.383Z,1761346877.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611895,-0.774161,-0.162048],[0.790675,0.593429,0.150582],[-0.020411,-0.220268,0.975226]]
2025-10-24T23:01:17.795Z,1761346877.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610689,-0.775173,-0.161756],[0.791620,0.592483,0.149341],[-0.019927,-0.219250,0.975465]]
2025-10-24T23:01:18.191Z,1761346878.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609577,-0.775946,-0.162245],[0.792490,0.591491,0.148653],[-0.019380,-0.219193,0.975489]]
2025-10-24T23:01:18.297Z,1761346878.297 [DAT](INFO): DAT read: 

2025-10-24T23:01:18.297Z,1761346878.297 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:01:18.595Z,1761346878.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609125,-0.776179,-0.162827],[0.792842,0.591013,0.148678],[-0.019168,-0.219659,0.975388]]
2025-10-24T23:01:18.998Z,1761346878.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608883,-0.776300,-0.163159],[0.793023,0.590661,0.149110],[-0.019382,-0.220180,0.975267]]
2025-10-24T23:01:19.413Z,1761346879.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607752,-0.777184,-0.163166],[0.793886,0.589547,0.148926],[-0.019549,-0.220046,0.975294]]
2025-10-24T23:01:19.811Z,1761346879.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606306,-0.778279,-0.163321],[0.794986,0.588095,0.148803],[-0.019762,-0.220058,0.975287]]
2025-10-24T23:01:20.061Z,1761346880.061 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:01:20.062Z,1761346880.062 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:01:20.063Z,1761346880.063 [DAT](INFO): DAT read: Oct 24 2025 23:01:14 

2025-10-24T23:01:20.614Z,1761346880.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601087,-0.781987,-0.164897],[0.798935,0.582822,0.148397],[-0.019939,-0.220941,0.975083]]
2025-10-24T23:01:21.020Z,1761346881.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597427,-0.784494,-0.166285],[0.801687,0.579235,0.147599],[-0.019472,-0.221488,0.974969]]
2025-10-24T23:01:21.069Z,1761346881.069 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:01:21.070Z,1761346881.070 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:01:21.071Z,1761346881.071 [DAT](INFO): commRate: 600
2025-10-24T23:01:21.425Z,1761346881.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593082,-0.787512,-0.167567],[0.804925,0.575104,0.146120],[-0.018703,-0.221540,0.974972]]
2025-10-24T23:01:21.832Z,1761346881.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588579,-0.790802,-0.167948],[0.808245,0.571047,0.143685],[-0.017721,-0.220313,0.975268]]
2025-10-24T23:01:22.231Z,1761346882.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584229,-0.793754,-0.169208],[0.811415,0.566957,0.142006],[-0.016785,-0.220262,0.975296]]
2025-10-24T23:01:22.636Z,1761346882.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579407,-0.797224,-0.169473],[0.814885,0.562600,0.139443],[-0.015822,-0.218895,0.975620]]
2025-10-24T23:01:23.038Z,1761346883.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574500,-0.800340,-0.171482],[0.818370,0.557851,0.138104],[-0.014868,-0.219677,0.975459]]
2025-10-24T23:01:23.140Z,1761346883.140 [DAT](INFO): entering command mode
2025-10-24T23:01:23.336Z,1761346883.336 [DAT](INFO): DAT read: 

2025-10-24T23:01:23.337Z,1761346883.337 [DAT](INFO): DAT read: user:1>

2025-10-24T23:01:23.337Z,1761346883.337 [DAT](INFO): setting verbose to 3
2025-10-24T23:01:23.442Z,1761346883.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569860,-0.803415,-0.172583],[0.821619,0.553433,0.136577],[-0.014215,-0.219627,0.975480]]
2025-10-24T23:01:23.589Z,1761346883.589 [DAT](INFO): DAT read: user:1>

2025-10-24T23:01:23.589Z,1761346883.589 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:01:23.590Z,1761346883.590 [DAT](INFO): set verbose to 3
2025-10-24T23:01:23.590Z,1761346883.590 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:01:23.841Z,1761346883.841 [DAT](INFO): DAT read: user:2>

2025-10-24T23:01:23.842Z,1761346883.842 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:01:23.842Z,1761346883.842 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:01:23.842Z,1761346883.842 [DAT](INFO): setting transmit power to 8
2025-10-24T23:01:23.855Z,1761346883.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565214,-0.806594,-0.173030],[0.824831,0.549078,0.134790],[-0.013714,-0.218905,0.975650]]
2025-10-24T23:01:24.093Z,1761346884.093 [DAT](INFO): DAT read: user:3>

2025-10-24T23:01:24.094Z,1761346884.094 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:01:24.094Z,1761346884.094 [DAT](INFO): set transmit power to 8
2025-10-24T23:01:24.094Z,1761346884.094 [DAT](INFO): setting local address to 11
2025-10-24T23:01:24.251Z,1761346884.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559771,-0.810261,-0.173590],[0.828544,0.543977,0.132675],[-0.013073,-0.218094,0.975840]]
2025-10-24T23:01:24.345Z,1761346884.345 [DAT](INFO): DAT read: user:4>

2025-10-24T23:01:24.346Z,1761346884.346 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:01:24.347Z,1761346884.347 [DAT](INFO): set local address to 11
2025-10-24T23:01:24.348Z,1761346884.348 [DAT](INFO): Setting time to: 23:1:24 And date to:10/24/2025
2025-10-24T23:01:24.597Z,1761346884.597 [DAT](INFO): DAT read: user:5>

2025-10-24T23:01:24.597Z,1761346884.597 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:01:24  

2025-10-24T23:01:24.598Z,1761346884.598 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:01:24  

2025-10-24T23:01:24.598Z,1761346884.598 [DAT](INFO): setting remote address to 10
2025-10-24T23:01:24.599Z,1761346884.599 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:01:24.599Z,1761346884.599 [DAT](INFO): setting remote address to 0
2025-10-24T23:01:24.663Z,1761346884.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554890,-0.813529,-0.173976],[0.831830,0.539422,0.130702],[-0.012483,-0.217243,0.976038]]
2025-10-24T23:01:24.849Z,1761346884.849 [DAT](INFO): DAT read: user:6>

2025-10-24T23:01:24.850Z,1761346884.850 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:01:24.850Z,1761346884.850 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:01:24.850Z,1761346884.850 [DAT] Communications Fault, FailCount= 4
2025-10-24T23:01:24.851Z,1761346884.851 [DAT](ERROR): Communications Fault
2025-10-24T23:01:24.851Z,1761346884.851 [DAT](INFO): DAT read: user:7>

2025-10-24T23:01:24.853Z,1761346884.853 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:01:24.853Z,1761346884.853 [DAT](INFO): set remote address to 0
2025-10-24T23:01:24.853Z,1761346884.853 [DAT](INFO): setting remote address to 10
2025-10-24T23:01:24.854Z,1761346884.854 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:01:24.854Z,1761346884.854 [DAT](INFO): setting remote address to 0
2025-10-24T23:01:25.060Z,1761346885.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549896,-0.816857,-0.174237],[0.835145,0.534707,0.128924],[-0.012146,-0.216408,0.976227]]
2025-10-24T23:01:25.224Z,1761346885.224 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:01:25.256Z,1761346885.256 [DAT](INFO): Powering down
2025-10-24T23:01:25.462Z,1761346885.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545144,-0.819920,-0.174784],[0.838262,0.530229,0.127176],[-0.011599,-0.215844,0.976359]]
2025-10-24T23:01:25.876Z,1761346885.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540442,-0.822902,-0.175369],[0.841313,0.525866,0.125134],[-0.010752,-0.215168,0.976518]]
2025-10-24T23:01:26.271Z,1761346886.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536305,-0.825427,-0.176203],[0.843965,0.521974,0.123555],[-0.010012,-0.214972,0.976569]]
2025-10-24T23:01:26.424Z,1761346886.424 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:01:26.424Z,1761346886.424 [DAT] No Fault, FailCount= 4
2025-10-24T23:01:26.679Z,1761346886.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533025,-0.827736,-0.175320],[0.846047,0.519121,0.121318],[-0.009407,-0.212994,0.977008]]
2025-10-24T23:01:27.078Z,1761346887.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529753,-0.829719,-0.175864],[0.848108,0.516092,0.119841],[-0.008672,-0.212638,0.977093]]
2025-10-24T23:01:27.482Z,1761346887.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527155,-0.831355,-0.175946],[0.849731,0.513735,0.118469],[-0.008100,-0.211958,0.977245]]
2025-10-24T23:01:27.792Z,1761346887.792 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:01:27.930Z,1761346887.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525046,-0.832688,-0.175946],[0.851039,0.511821,0.117353],[-0.007666,-0.211353,0.977380]]
2025-10-24T23:01:28.290Z,1761346888.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523336,-0.833832,-0.175625],[0.852092,0.510219,0.116688],[-0.007691,-0.210716,0.977517]]
2025-10-24T23:01:28.304Z,1761346888.304 [DAT](INFO): Powering up
2025-10-24T23:01:28.305Z,1761346888.305 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:01:28.695Z,1761346888.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522041,-0.834286,-0.177313],[0.852886,0.508745,0.117318],[-0.007670,-0.212472,0.977137]]
2025-10-24T23:01:28.741Z,1761346888.741 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:01:28.741Z,1761346888.741 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:01:28.741Z,1761346888.741 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:01:28.741Z,1761346888.741 [marl:UpdateRudder:A] Stopped
2025-10-24T23:01:28.741Z,1761346888.741 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:01:28.742Z,1761346888.742 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:01:28.742Z,1761346888.742 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:01:28.742Z,1761346888.742 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:01:28.742Z,1761346888.742 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:01:28.742Z,1761346888.742 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:01:28.742Z,1761346888.742 [marl:UpdateCommandMode] Stopped
2025-10-24T23:01:28.742Z,1761346888.742 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:01:28.742Z,1761346888.742 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:01:28.743Z,1761346888.743 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:01:28.743Z,1761346888.743 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:01:28.743Z,1761346888.743 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:01:28.743Z,1761346888.743 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:01:28.743Z,1761346888.743 [marl:UpdateSpeed] Stopped
2025-10-24T23:01:28.743Z,1761346888.743 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:01:28.796Z,1761346888.796 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:01:29.098Z,1761346889.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521137,-0.834785,-0.177624],[0.853439,0.507849,0.117179],[-0.007613,-0.212658,0.977097]]
2025-10-24T23:01:29.141Z,1761346889.141 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:01:29.141Z,1761346889.141 [marl:UpdateRudder:B] Stopped
2025-10-24T23:01:29.141Z,1761346889.141 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:01:29.141Z,1761346889.141 [marl:UpdateRudder] Stopped
2025-10-24T23:01:29.141Z,1761346889.141 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:01:29.504Z,1761346889.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520204,-0.834994,-0.179370],[0.854012,0.506826,0.117433],[-0.007146,-0.214273,0.976748]]
2025-10-24T23:01:29.961Z,1761346889.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519163,-0.834258,-0.185697],[0.854653,0.505172,0.119875],[-0.006197,-0.220941,0.975267]]
2025-10-24T23:01:30.715Z,1761346890.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518852,-0.833883,-0.188230],[0.854846,0.504666,0.120627],[-0.005595,-0.223495,0.974689]]
2025-10-24T23:01:31.118Z,1761346891.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518192,-0.834004,-0.189508],[0.855251,0.504088,0.120170],[-0.004693,-0.224348,0.974498]]
2025-10-24T23:01:31.523Z,1761346891.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517534,-0.834218,-0.190367],[0.855655,0.503611,0.119293],[-0.003645,-0.224627,0.974438]]
2025-10-24T23:01:32.741Z,1761346892.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488778,-0.860913,-0.141157],[0.872396,0.481476,0.084299],[-0.004610,-0.164348,0.986392]]
2025-10-24T23:01:33.143Z,1761346893.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474250,-0.872520,-0.117459],[0.880366,0.469014,0.070576],[-0.006489,-0.136877,0.990567]]
2025-10-24T23:01:33.549Z,1761346893.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458425,-0.883816,-0.093361],[0.888691,0.454849,0.057801],[-0.008620,-0.109466,0.993953]]
2025-10-24T23:01:33.968Z,1761346893.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442144,-0.894074,-0.071700],[0.896873,0.439683,0.047945],[-0.011341,-0.085505,0.996273]]
2025-10-24T23:01:34.361Z,1761346894.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425218,-0.903494,-0.053747],[0.904983,0.423502,0.040633],[-0.013950,-0.065918,0.997728]]
2025-10-24T23:01:34.754Z,1761346894.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407614,-0.912273,-0.040114],[0.913012,0.406381,0.035549],[-0.016129,-0.051114,0.998563]]
2025-10-24T23:01:35.159Z,1761346895.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389883,-0.920430,-0.028281],[0.920674,0.388993,0.032304],[-0.018732,-0.038633,0.999078]]
2025-10-24T23:01:35.562Z,1761346895.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370806,-0.928499,-0.019801],[0.928472,0.370143,0.030549],[-0.021036,-0.029713,0.999337]]
2025-10-24T23:01:35.966Z,1761346895.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350799,-0.936332,-0.014947],[0.936178,0.350266,0.029755],[-0.022625,-0.024431,0.999445]]
2025-10-24T23:01:36.375Z,1761346896.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331076,-0.943529,-0.011876],[0.943313,0.330635,0.028983],[-0.023420,-0.020799,0.999509]]
2025-10-24T23:01:36.775Z,1761346896.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310261,-0.950604,-0.009518],[0.950365,0.309906,0.027652],[-0.023336,-0.017625,0.999572]]
2025-10-24T23:01:37.178Z,1761346897.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288882,-0.957332,-0.007903],[0.957114,0.288607,0.025281],[-0.021922,-0.014867,0.999649]]
2025-10-24T23:01:37.583Z,1761346897.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267110,-0.963638,-0.007314],[0.963471,0.266895,0.022135],[-0.019378,-0.012959,0.999728]]
2025-10-24T23:01:37.986Z,1761346897.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245480,-0.969363,-0.008615],[0.969268,0.245289,0.018797],[-0.016108,-0.012965,0.999786]]
2025-10-24T23:01:38.392Z,1761346898.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224882,-0.974339,-0.009530],[0.974304,0.224726,0.015171],[-0.012640,-0.012697,0.999839]]
2025-10-24T23:01:38.794Z,1761346898.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206046,-0.978504,-0.008633],[0.978498,0.205945,0.011331],[-0.009310,-0.010782,0.999899]]
2025-10-24T23:01:39.198Z,1761346899.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189511,-0.981806,-0.011973],[0.981857,0.189412,0.008981],[-0.006550,-0.013457,0.999888]]
2025-10-24T23:01:39.602Z,1761346899.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175078,-0.984454,-0.014073],[0.984543,0.174989,0.007290],[-0.004714,-0.015132,0.999874]]
2025-10-24T23:01:40.014Z,1761346900.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161162,-0.986811,-0.015213],[0.986922,0.161088,0.005979],[-0.003450,-0.015977,0.999866]]
2025-10-24T23:01:40.401Z,1761346900.401 [DAT](INFO): DAT read: 

2025-10-24T23:01:40.401Z,1761346900.401 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:01:40.427Z,1761346900.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148854,-0.988722,-0.016470],[0.988855,0.148786,0.005267],[-0.002757,-0.017071,0.999850]]
2025-10-24T23:01:40.815Z,1761346900.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137078,-0.990393,-0.018214],[0.990557,0.137005,0.005231],[-0.002685,-0.018760,0.999820]]
2025-10-24T23:01:41.219Z,1761346901.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125146,-0.991931,-0.020274],[0.992133,0.125051,0.005866],[-0.003283,-0.020849,0.999777]]
2025-10-24T23:01:41.627Z,1761346901.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112952,-0.993360,-0.021856],[0.993591,0.112827,0.006842],[-0.004330,-0.022488,0.999738]]
2025-10-24T23:01:41.686Z,1761346901.686 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:01:41.686Z,1761346901.686 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:01:41.686Z,1761346901.686 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:01:41.687Z,1761346901.687 [marl:UpdateRudder:A] Stopped
2025-10-24T23:01:41.687Z,1761346901.687 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:01:41.687Z,1761346901.687 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:01:41.687Z,1761346901.687 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:01:41.687Z,1761346901.687 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:01:41.687Z,1761346901.687 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:01:41.692Z,1761346901.692 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:01:41.692Z,1761346901.692 [marl:UpdateCommandMode] Stopped
2025-10-24T23:01:41.692Z,1761346901.692 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:01:41.692Z,1761346901.692 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:01:41.692Z,1761346901.692 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:01:41.692Z,1761346901.692 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:01:41.693Z,1761346901.693 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:01:41.693Z,1761346901.693 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:01:41.693Z,1761346901.693 [marl:UpdateSpeed] Stopped
2025-10-24T23:01:41.693Z,1761346901.693 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:01:42.033Z,1761346902.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099798,-0.994744,-0.022886],[0.994993,0.099644,0.007786],[-0.005465,-0.023549,0.999708]]
2025-10-24T23:01:42.092Z,1761346902.092 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:01:42.092Z,1761346902.092 [marl:UpdateRudder:B] Stopped
2025-10-24T23:01:42.092Z,1761346902.092 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:01:42.092Z,1761346902.092 [marl:UpdateRudder] Stopped
2025-10-24T23:01:42.092Z,1761346902.092 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:01:42.165Z,1761346902.165 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:01:42.166Z,1761346902.166 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:01:42.167Z,1761346902.167 [DAT](INFO): DAT read: Oct 24 2025 23:01:36 

2025-10-24T23:01:42.431Z,1761346902.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086252,-0.995987,-0.023891],[0.996251,0.086065,0.008758],[-0.006667,-0.024557,0.999676]]
2025-10-24T23:01:42.843Z,1761346902.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072003,-0.997082,-0.025380],[0.997376,0.071787,0.009326],[-0.007477,-0.025985,0.999634]]
2025-10-24T23:01:43.173Z,1761346903.173 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:01:43.174Z,1761346903.174 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:01:43.175Z,1761346903.175 [DAT](INFO): commRate: 600
2025-10-24T23:01:43.240Z,1761346903.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056674,-0.998061,-0.025731],[0.998362,0.056450,0.009353],[-0.007882,-0.026219,0.999625]]
2025-10-24T23:01:43.643Z,1761346903.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040833,-0.998812,-0.026611],[0.999132,0.040596,0.009358],[-0.008267,-0.026970,0.999602]]
2025-10-24T23:01:44.046Z,1761346904.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025233,-0.999348,-0.025830],[0.999643,0.024997,0.009410],[-0.008758,-0.026058,0.999622]]
2025-10-24T23:01:44.451Z,1761346904.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010510,-0.999552,-0.028012],[0.999903,0.010251,0.009378],[-0.009087,-0.028108,0.999564]]
2025-10-24T23:01:44.857Z,1761346904.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000883,-0.999349,-0.036066],[0.999955,-0.001224,0.009444],[-0.009482,-0.036056,0.999305]]
2025-10-24T23:01:45.240Z,1761346905.240 [DAT](INFO): entering command mode
2025-10-24T23:01:45.259Z,1761346905.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007176,-0.998639,-0.051667],[0.999928,-0.007661,0.009194],[-0.009577,-0.051597,0.998622]]
2025-10-24T23:01:45.441Z,1761346905.441 [DAT](INFO): DAT read: 

2025-10-24T23:01:45.441Z,1761346905.441 [DAT](INFO): DAT read: user:1>

2025-10-24T23:01:45.441Z,1761346905.441 [DAT](INFO): setting verbose to 3
2025-10-24T23:01:45.667Z,1761346905.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009752,-0.997078,-0.075759],[0.999910,-0.010420,0.008420],[-0.009185,-0.075670,0.997091]]
2025-10-24T23:01:45.693Z,1761346905.693 [DAT](INFO): DAT read: user:1>

2025-10-24T23:01:45.693Z,1761346905.693 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:01:45.694Z,1761346905.694 [DAT](INFO): set verbose to 3
2025-10-24T23:01:45.694Z,1761346905.694 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:01:45.949Z,1761346905.949 [DAT](INFO): DAT read: user:2>

2025-10-24T23:01:45.952Z,1761346905.952 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:01:45.952Z,1761346905.952 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:01:45.953Z,1761346905.953 [DAT](INFO): setting transmit power to 8
2025-10-24T23:01:46.073Z,1761346906.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009866,-0.994530,-0.103983],[0.999913,-0.010721,0.007666],[-0.008739,-0.103898,0.994550]]
2025-10-24T23:01:46.197Z,1761346906.197 [DAT](INFO): DAT read: user:3>

2025-10-24T23:01:46.198Z,1761346906.198 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:01:46.199Z,1761346906.199 [DAT](INFO): set transmit power to 8
2025-10-24T23:01:46.199Z,1761346906.199 [DAT](INFO): setting local address to 11
2025-10-24T23:01:46.449Z,1761346906.449 [DAT](INFO): DAT read: user:4>

2025-10-24T23:01:46.450Z,1761346906.450 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:01:46.450Z,1761346906.450 [DAT](INFO): set local address to 11
2025-10-24T23:01:46.451Z,1761346906.451 [DAT](INFO): Setting time to: 23:1:46 And date to:10/24/2025
2025-10-24T23:01:46.473Z,1761346906.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008089,-0.991019,-0.133474],[0.999932,-0.009136,0.007233],[-0.008387,-0.133407,0.991026]]
2025-10-24T23:01:46.701Z,1761346906.701 [DAT](INFO): DAT read: user:5>

2025-10-24T23:01:46.701Z,1761346906.701 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:01:46  

2025-10-24T23:01:46.702Z,1761346906.702 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:01:46  

2025-10-24T23:01:46.702Z,1761346906.702 [DAT](INFO): setting remote address to 10
2025-10-24T23:01:46.703Z,1761346906.703 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:01:46.703Z,1761346906.703 [DAT](INFO): setting remote address to 0
2025-10-24T23:01:46.874Z,1761346906.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005874,-0.987141,-0.159742],[0.999950,-0.007086,0.007019],[-0.008061,-0.159693,0.987134]]
2025-10-24T23:01:46.953Z,1761346906.953 [DAT](INFO): DAT read: user:6>

2025-10-24T23:01:46.954Z,1761346906.954 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:01:46.954Z,1761346906.954 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:01:46.954Z,1761346906.954 [DAT] Communications Fault, FailCount= 5
2025-10-24T23:01:46.954Z,1761346906.954 [DAT](ERROR): Communications Fault
2025-10-24T23:01:46.955Z,1761346906.955 [DAT](INFO): DAT read: user:7>

2025-10-24T23:01:46.956Z,1761346906.956 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:01:46.957Z,1761346906.957 [DAT](INFO): set remote address to 0
2025-10-24T23:01:46.957Z,1761346906.957 [DAT](INFO): setting remote address to 10
2025-10-24T23:01:46.957Z,1761346906.957 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:01:46.957Z,1761346906.957 [DAT](INFO): setting remote address to 0
2025-10-24T23:01:47.015Z,1761346907.015 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:01:47.279Z,1761346907.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003210,-0.983275,-0.182098],[0.999961,-0.004648,0.007470],[-0.008192,-0.182067,0.983252]]
2025-10-24T23:01:47.361Z,1761346907.361 [DAT](INFO): Powering down
2025-10-24T23:01:47.691Z,1761346907.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001602,-0.980363,-0.197193],[0.999964,-0.003203,0.007797],[-0.008276,-0.197174,0.980334]]
2025-10-24T23:01:47.806Z,1761346907.806 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:01:47.806Z,1761346907.806 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:01:48.086Z,1761346908.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001038,-0.978178,-0.207765],[0.999964,-0.002768,0.008037],[-0.008437,-0.207749,0.978146]]
2025-10-24T23:01:48.490Z,1761346908.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001345,-0.976689,-0.214657],[0.999959,-0.003238,0.008465],[-0.008963,-0.214637,0.976653]]
2025-10-24T23:01:48.635Z,1761346908.635 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:01:48.635Z,1761346908.635 [DAT] No Fault, FailCount= 5
2025-10-24T23:01:48.895Z,1761346908.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003657,-0.975931,-0.218051],[0.999949,-0.005628,0.008418],[-0.009443,-0.218009,0.975901]]
2025-10-24T23:01:49.305Z,1761346909.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006398,-0.975526,-0.219791],[0.999924,-0.008555,0.008865],[-0.010529,-0.219717,0.975507]]
2025-10-24T23:01:49.702Z,1761346909.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010356,-0.975062,-0.221692],[0.999878,-0.012692,0.009115],[-0.011701,-0.221571,0.975074]]
2025-10-24T23:01:49.751Z,1761346909.751 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:01:50.106Z,1761346910.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015642,-0.975205,-0.220749],[0.999797,-0.018060,0.008938],[-0.012703,-0.220565,0.975290]]
2025-10-24T23:01:50.408Z,1761346910.408 [DAT](INFO): Powering up
2025-10-24T23:01:50.408Z,1761346910.408 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:01:50.511Z,1761346910.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021291,-0.975492,-0.219001],[0.999681,-0.023740,0.008560],[-0.013549,-0.218749,0.975687]]
2025-10-24T23:01:50.918Z,1761346910.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027353,-0.975542,-0.218104],[0.999528,-0.029749,0.007709],[-0.014008,-0.217790,0.975895]]
2025-10-24T23:01:51.325Z,1761346911.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033088,-0.976041,-0.215055],[0.999349,-0.035409,0.006947],[-0.014395,-0.214685,0.976577]]
2025-10-24T23:01:51.722Z,1761346911.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038404,-0.976539,-0.211887],[0.999156,-0.040614,0.006088],[-0.014550,-0.211474,0.977275]]
2025-10-24T23:01:52.130Z,1761346912.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043265,-0.977168,-0.208015],[0.998957,-0.045353,0.005277],[-0.014591,-0.207570,0.978111]]
2025-10-24T23:01:52.531Z,1761346912.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047297,-0.977466,-0.205724],[0.998772,-0.049314,0.004682],[-0.014721,-0.205250,0.978599]]
2025-10-24T23:01:52.936Z,1761346912.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050857,-0.978024,-0.202193],[0.998599,-0.052766,0.004059],[-0.014639,-0.201703,0.979337]]
2025-10-24T23:01:53.339Z,1761346913.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054143,-0.978097,-0.200986],[0.998428,-0.055958,0.003356],[-0.014529,-0.200488,0.979588]]
2025-10-24T23:01:53.746Z,1761346913.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056488,-0.977891,-0.201341],[0.998294,-0.058306,0.003103],[-0.014774,-0.200822,0.979516]]
2025-10-24T23:01:54.148Z,1761346914.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058684,-0.977703,-0.201626],[0.998161,-0.060542,0.003055],[-0.015194,-0.201076,0.979458]]
2025-10-24T23:01:54.551Z,1761346914.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060903,-0.977174,-0.203525],[0.998023,-0.062792,0.002831],[-0.015546,-0.202950,0.979066]]
2025-10-24T23:01:54.598Z,1761346914.598 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:01:54.598Z,1761346914.598 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:01:54.598Z,1761346914.598 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:01:54.598Z,1761346914.598 [marl:UpdateRudder:A] Stopped
2025-10-24T23:01:54.598Z,1761346914.598 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:01:54.598Z,1761346914.598 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:01:54.598Z,1761346914.598 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:01:54.599Z,1761346914.599 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:01:54.599Z,1761346914.599 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:01:54.599Z,1761346914.599 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:01:54.599Z,1761346914.599 [marl:UpdateCommandMode] Stopped
2025-10-24T23:01:54.599Z,1761346914.599 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:01:54.599Z,1761346914.599 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:01:54.599Z,1761346914.599 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:01:54.599Z,1761346914.599 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:01:54.600Z,1761346914.600 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:01:54.600Z,1761346914.600 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:01:54.600Z,1761346914.600 [marl:UpdateSpeed] Stopped
2025-10-24T23:01:54.600Z,1761346914.600 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:01:54.955Z,1761346914.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062438,-0.976744,-0.205117],[0.997922,-0.064375,0.002779],[-0.015919,-0.204518,0.978733]]
2025-10-24T23:01:55.005Z,1761346915.005 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:01:55.005Z,1761346915.005 [marl:UpdateRudder:B] Stopped
2025-10-24T23:01:55.006Z,1761346915.006 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:01:55.006Z,1761346915.006 [marl:UpdateRudder] Stopped
2025-10-24T23:01:55.006Z,1761346915.006 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:01:55.359Z,1761346915.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064094,-0.976200,-0.207185],[0.997818,-0.065985,0.002222],[-0.015840,-0.206591,0.978299]]
2025-10-24T23:01:55.764Z,1761346915.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064949,-0.975594,-0.209757],[0.997764,-0.066808,0.001780],[-0.015750,-0.209172,0.977752]]
2025-10-24T23:01:56.166Z,1761346916.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065651,-0.975025,-0.212168],[0.997727,-0.067385,0.000944],[-0.015218,-0.211624,0.977233]]
2025-10-24T23:01:56.570Z,1761346916.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065576,-0.974770,-0.213360],[0.997736,-0.067247,0.000576],[-0.014909,-0.212839,0.976974]]
2025-10-24T23:01:56.976Z,1761346916.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065211,-0.974449,-0.214933],[0.997761,-0.066879,0.000490],[-0.014852,-0.214420,0.976629]]
2025-10-24T23:01:57.380Z,1761346917.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064471,-0.974026,-0.217063],[0.997803,-0.066244,0.000894],[-0.015250,-0.216528,0.976157]]
2025-10-24T23:01:57.816Z,1761346917.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064108,-0.973962,-0.217458],[0.997814,-0.066056,0.001691],[-0.016011,-0.216875,0.976068]]
2025-10-24T23:01:58.187Z,1761346918.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065019,-0.974312,-0.215614],[0.997740,-0.067146,0.002545],[-0.016958,-0.214961,0.976475]]
2025-10-24T23:01:58.591Z,1761346918.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066779,-0.974381,-0.214759],[0.997606,-0.069074,0.003190],[-0.017943,-0.214032,0.976662]]
2025-10-24T23:01:58.945Z,1761346918.945 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:01:58.995Z,1761346918.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069666,-0.974250,-0.214438],[0.997392,-0.072089,0.003490],[-0.018859,-0.213636,0.976731]]
2025-10-24T23:01:59.398Z,1761346919.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073780,-0.974149,-0.213518],[0.997092,-0.076157,0.002918],[-0.019103,-0.212681,0.976935]]
2025-10-24T23:01:59.804Z,1761346919.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078604,-0.974319,-0.211006],[0.996727,-0.080821,0.001889],[-0.018894,-0.210166,0.977483]]
2025-10-24T23:01:59.950Z,1761346919.950 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:02:00.214Z,1761346920.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083655,-0.973860,-0.211182],[0.996324,-0.085658,0.000338],[-0.018419,-0.210377,0.977447]]
2025-10-24T23:02:00.612Z,1761346920.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088015,-0.973863,-0.209392],[0.995967,-0.089708,-0.001415],[-0.017407,-0.208672,0.977831]]
2025-10-24T23:02:01.014Z,1761346921.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091462,-0.973749,-0.208442],[0.995681,-0.092779,-0.003475],[-0.015955,-0.207860,0.978028]]
2025-10-24T23:02:01.419Z,1761346921.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094211,-0.973746,-0.207229],[0.995449,-0.095135,-0.005523],[-0.014336,-0.206806,0.978277]]
2025-10-24T23:02:01.822Z,1761346921.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095360,-0.974079,-0.205125],[0.995355,-0.096041,-0.006657],[-0.013216,-0.204807,0.978713]]
2025-10-24T23:02:02.227Z,1761346922.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095957,-0.974042,-0.205025],[0.995308,-0.096454,-0.007591],[-0.012382,-0.204791,0.978727]]
2025-10-24T23:02:02.508Z,1761346922.508 [DAT](INFO): DAT read: 

2025-10-24T23:02:02.509Z,1761346922.509 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:02:02.631Z,1761346922.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095663,-0.974115,-0.204812],[0.995339,-0.096128,-0.007702],[-0.012185,-0.204594,0.978771]]
2025-10-24T23:02:03.034Z,1761346923.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095918,-0.974015,-0.205171],[0.995313,-0.096409,-0.007627],[-0.012351,-0.204940,0.978697]]
2025-10-24T23:02:03.438Z,1761346923.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096334,-0.973999,-0.205051],[0.995266,-0.096923,-0.007197],[-0.012864,-0.204774,0.978725]]
2025-10-24T23:02:03.844Z,1761346923.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098082,-0.973572,-0.206245],[0.995084,-0.098799,-0.006847],[-0.013711,-0.205903,0.978476]]
2025-10-24T23:02:04.247Z,1761346924.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100449,-0.972887,-0.208331],[0.994837,-0.101262,-0.006788],[-0.014492,-0.207937,0.978035]]
2025-10-24T23:02:04.274Z,1761346924.274 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:02:04.275Z,1761346924.275 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:02:04.277Z,1761346924.277 [DAT](INFO): DAT read: Oct 24 2025 23:01:58 

2025-10-24T23:02:04.654Z,1761346924.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103979,-0.972122,-0.210160],[0.994465,-0.104822,-0.007153],[-0.015076,-0.209741,0.977641]]
2025-10-24T23:02:05.055Z,1761346925.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107728,-0.971673,-0.210346],[0.994057,-0.108614,-0.007371],[-0.015684,-0.209890,0.977599]]
2025-10-24T23:02:05.281Z,1761346925.281 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:02:05.282Z,1761346925.282 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:02:05.283Z,1761346925.283 [DAT](INFO): commRate: 600
2025-10-24T23:02:05.862Z,1761346925.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114262,-0.970717,-0.211310],[0.993313,-0.115169,-0.008050],[-0.016522,-0.210817,0.977386]]
2025-10-24T23:02:06.273Z,1761346926.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.116822,-0.970401,-0.211363],[0.993011,-0.117726,-0.008347],[-0.016783,-0.210861,0.977372]]
2025-10-24T23:02:06.675Z,1761346926.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119090,-0.970055,-0.211684],[0.992739,-0.119973,-0.008714],[-0.016943,-0.211184,0.977299]]
2025-10-24T23:02:07.074Z,1761346927.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121294,-0.969872,-0.211270],[0.992464,-0.122226,-0.008691],[-0.017393,-0.210732,0.977389]]
2025-10-24T23:02:07.356Z,1761346927.356 [DAT](INFO): entering command mode
2025-10-24T23:02:07.478Z,1761346927.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124388,-0.969348,-0.211876],[0.992079,-0.125271,-0.009301],[-0.017526,-0.211355,0.977252]]
2025-10-24T23:02:07.522Z,1761346927.523 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:02:07.523Z,1761346927.523 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:02:07.523Z,1761346927.523 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:02:07.523Z,1761346927.523 [marl:UpdateRudder:A] Stopped
2025-10-24T23:02:07.523Z,1761346927.523 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:02:07.523Z,1761346927.523 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:02:07.523Z,1761346927.523 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:02:07.524Z,1761346927.524 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:02:07.524Z,1761346927.524 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:02:07.524Z,1761346927.524 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:02:07.524Z,1761346927.524 [marl:UpdateCommandMode] Stopped
2025-10-24T23:02:07.524Z,1761346927.524 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:02:07.524Z,1761346927.524 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:02:07.524Z,1761346927.524 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:02:07.525Z,1761346927.525 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:02:07.525Z,1761346927.525 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:02:07.525Z,1761346927.525 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:02:07.525Z,1761346927.525 [marl:UpdateSpeed] Stopped
2025-10-24T23:02:07.525Z,1761346927.525 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:02:07.557Z,1761346927.557 [DAT](INFO): DAT read: 

2025-10-24T23:02:07.557Z,1761346927.557 [DAT](INFO): DAT read: user:1>

2025-10-24T23:02:07.558Z,1761346927.558 [DAT](INFO): setting verbose to 3
2025-10-24T23:02:07.809Z,1761346927.809 [DAT](INFO): DAT read: user:1>

2025-10-24T23:02:07.810Z,1761346927.810 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:02:07.810Z,1761346927.810 [DAT](INFO): set verbose to 3
2025-10-24T23:02:07.810Z,1761346927.810 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:02:07.902Z,1761346927.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127898,-0.968778,-0.212396],[0.991629,-0.128741,-0.009917],[-0.017737,-0.211887,0.977133]]
2025-10-24T23:02:07.993Z,1761346927.993 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:02:07.993Z,1761346927.993 [marl:UpdateRudder:B] Stopped
2025-10-24T23:02:07.993Z,1761346927.993 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:02:07.993Z,1761346927.993 [marl:UpdateRudder] Stopped
2025-10-24T23:02:07.994Z,1761346927.994 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:02:08.061Z,1761346928.061 [DAT](INFO): DAT read: user:2>

2025-10-24T23:02:08.062Z,1761346928.062 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:02:08.062Z,1761346928.062 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:02:08.062Z,1761346928.062 [DAT](INFO): setting transmit power to 8
2025-10-24T23:02:08.287Z,1761346928.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132132,-0.968211,-0.212390],[0.991070,-0.132918,-0.010635],[-0.017933,-0.211898,0.977127]]
2025-10-24T23:02:08.313Z,1761346928.313 [DAT](INFO): DAT read: user:3>

2025-10-24T23:02:08.314Z,1761346928.314 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:02:08.314Z,1761346928.314 [DAT](INFO): set transmit power to 8
2025-10-24T23:02:08.314Z,1761346928.314 [DAT](INFO): setting local address to 11
2025-10-24T23:02:08.565Z,1761346928.565 [DAT](INFO): DAT read: user:4>

2025-10-24T23:02:08.566Z,1761346928.566 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:02:08.566Z,1761346928.566 [DAT](INFO): set local address to 11
2025-10-24T23:02:08.567Z,1761346928.567 [DAT](INFO): Setting time to: 23:2:8 And date to:10/24/2025
2025-10-24T23:02:08.691Z,1761346928.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136402,-0.967800,-0.211560],[0.990490,-0.137110,-0.011391],[-0.017982,-0.211102,0.977298]]
2025-10-24T23:02:08.817Z,1761346928.817 [DAT](INFO): DAT read: user:5>

2025-10-24T23:02:08.817Z,1761346928.817 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:02:08  

2025-10-24T23:02:08.818Z,1761346928.818 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:02:08  

2025-10-24T23:02:08.818Z,1761346928.818 [DAT](INFO): setting remote address to 10
2025-10-24T23:02:08.819Z,1761346928.819 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:02:08.819Z,1761346928.819 [DAT](INFO): setting remote address to 0
2025-10-24T23:02:09.069Z,1761346929.069 [DAT](INFO): DAT read: user:6>

2025-10-24T23:02:09.070Z,1761346929.070 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:02:09.070Z,1761346929.070 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:02:09.070Z,1761346929.070 [DAT] Communications Fault, FailCount= 6
2025-10-24T23:02:09.070Z,1761346929.070 [DAT](ERROR): Communications Fault
2025-10-24T23:02:09.071Z,1761346929.071 [DAT](INFO): DAT read: user:7>

2025-10-24T23:02:09.072Z,1761346929.072 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:02:09.073Z,1761346929.073 [DAT](INFO): set remote address to 0
2025-10-24T23:02:09.073Z,1761346929.073 [DAT](INFO): setting remote address to 10
2025-10-24T23:02:09.073Z,1761346929.073 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:02:09.073Z,1761346929.073 [DAT](INFO): setting remote address to 0
2025-10-24T23:02:09.104Z,1761346929.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141252,-0.967114,-0.211513],[0.989816,-0.141781,-0.012741],[-0.017667,-0.211159,0.977292]]
2025-10-24T23:02:09.287Z,1761346929.287 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:02:09.476Z,1761346929.476 [DAT](INFO): Powering down
2025-10-24T23:02:09.498Z,1761346929.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145466,-0.966883,-0.209706],[0.989211,-0.145855,-0.013696],[-0.017345,-0.209436,0.977668]]
2025-10-24T23:02:09.933Z,1761346929.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149709,-0.966530,-0.208342],[0.988594,-0.149826,-0.015310],[-0.016418,-0.208258,0.977936]]
2025-10-24T23:02:10.306Z,1761346930.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153184,-0.966487,-0.206005],[0.988073,-0.153105,-0.016425],[-0.015666,-0.206064,0.978413]]
2025-10-24T23:02:10.451Z,1761346930.451 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:02:10.451Z,1761346930.451 [DAT] No Fault, FailCount= 6
2025-10-24T23:02:10.715Z,1761346930.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156152,-0.966242,-0.204920],[0.987623,-0.155835,-0.017784],[-0.014750,-0.205160,0.978617]]
2025-10-24T23:02:11.114Z,1761346931.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158271,-0.966372,-0.202673],[0.987296,-0.157810,-0.018536],[-0.014071,-0.203032,0.979071]]
2025-10-24T23:02:11.520Z,1761346931.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159603,-0.966641,-0.200328],[0.987087,-0.159079,-0.018817],[-0.013678,-0.200745,0.979548]]
2025-10-24T23:02:11.951Z,1761346931.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160366,-0.966370,-0.201026],[0.986966,-0.159769,-0.019301],[-0.013465,-0.201501,0.979396]]
2025-10-24T23:02:12.328Z,1761346932.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160416,-0.966248,-0.201572],[0.986955,-0.159840,-0.019240],[-0.013628,-0.202029,0.979285]]
2025-10-24T23:02:12.524Z,1761346932.524 [DAT](INFO): Powering up
2025-10-24T23:02:12.524Z,1761346932.524 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:02:12.748Z,1761346932.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160330,-0.966292,-0.201431],[0.986967,-0.159795,-0.019026],[-0.013803,-0.201856,0.979318]]
2025-10-24T23:02:13.134Z,1761346933.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160510,-0.966056,-0.202417],[0.986932,-0.160032,-0.018834],[-0.014199,-0.202795,0.979118]]
2025-10-24T23:02:13.540Z,1761346933.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161016,-0.965559,-0.204375],[0.986843,-0.160586,-0.018797],[-0.014670,-0.204713,0.978712]]
2025-10-24T23:02:13.960Z,1761346933.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161777,-0.965466,-0.204212],[0.986712,-0.161422,-0.018511],[-0.015092,-0.204493,0.978752]]
2025-10-24T23:02:14.346Z,1761346934.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163117,-0.964908,-0.205781],[0.986485,-0.162792,-0.018625],[-0.015528,-0.206038,0.978421]]
2025-10-24T23:02:14.761Z,1761346934.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165092,-0.964654,-0.205396],[0.986151,-0.164801,-0.018648],[-0.015860,-0.205630,0.978501]]
2025-10-24T23:02:15.154Z,1761346935.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167043,-0.964451,-0.204771],[0.985815,-0.166814,-0.018507],[-0.016309,-0.204958,0.978635]]
2025-10-24T23:02:15.561Z,1761346935.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169211,-0.963965,-0.205280],[0.985437,-0.169027,-0.018566],[-0.016801,-0.205432,0.978527]]
2025-10-24T23:02:15.965Z,1761346935.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171723,-0.963463,-0.205549],[0.984988,-0.171644,-0.018352],[-0.017599,-0.205615,0.978475]]
2025-10-24T23:02:16.367Z,1761346936.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174449,-0.962998,-0.205434],[0.984490,-0.174527,-0.017886],[-0.018629,-0.205367,0.978508]]
2025-10-24T23:02:16.784Z,1761346936.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178062,-0.962296,-0.205621],[0.983822,-0.178280,-0.017621],[-0.019702,-0.205432,0.978473]]
2025-10-24T23:02:17.188Z,1761346937.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186983,-0.960381,-0.206652],[0.982100,-0.187616,-0.016711],[-0.022722,-0.206077,0.978272]]
2025-10-24T23:02:17.593Z,1761346937.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192365,-0.959410,-0.206221],[0.981023,-0.193208,-0.016238],[-0.024265,-0.205431,0.978371]]
2025-10-24T23:02:17.995Z,1761346937.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198667,-0.958115,-0.206268],[0.979744,-0.199553,-0.016715],[-0.025147,-0.205411,0.978353]]
2025-10-24T23:02:18.399Z,1761346938.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205586,-0.956967,-0.204814],[0.978305,-0.206433,-0.017459],[-0.025573,-0.203960,0.978645]]
2025-10-24T23:02:18.810Z,1761346938.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212266,-0.955679,-0.204011],[0.976887,-0.212899,-0.019100],[-0.025181,-0.203350,0.978782]]
2025-10-24T23:02:19.208Z,1761346939.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218612,-0.954496,-0.202846],[0.975518,-0.218873,-0.021429],[-0.023943,-0.202565,0.978976]]
2025-10-24T23:02:19.606Z,1761346939.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223866,-0.953580,-0.201416],[0.974366,-0.223689,-0.023941],[-0.022225,-0.201613,0.979213]]
2025-10-24T23:02:20.010Z,1761346940.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227494,-0.952786,-0.201108],[0.973566,-0.226864,-0.026493],[-0.020381,-0.201819,0.979211]]
2025-10-24T23:02:20.414Z,1761346940.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229742,-0.952507,-0.199872],[0.973073,-0.228739,-0.028420],[-0.018649,-0.201019,0.979410]]
2025-10-24T23:02:20.462Z,1761346940.462 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:02:20.463Z,1761346940.463 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:02:20.463Z,1761346940.463 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:02:20.463Z,1761346940.463 [marl:UpdateRudder:A] Stopped
2025-10-24T23:02:20.463Z,1761346940.463 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:02:20.463Z,1761346940.463 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:02:20.463Z,1761346940.463 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:02:20.463Z,1761346940.463 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:02:20.468Z,1761346940.468 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:02:20.468Z,1761346940.468 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:02:20.468Z,1761346940.468 [marl:UpdateCommandMode] Stopped
2025-10-24T23:02:20.469Z,1761346940.469 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:02:20.469Z,1761346940.469 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:02:20.469Z,1761346940.469 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:02:20.469Z,1761346940.469 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:02:20.469Z,1761346940.469 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:02:20.469Z,1761346940.469 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:02:20.469Z,1761346940.469 [marl:UpdateSpeed] Stopped
2025-10-24T23:02:20.469Z,1761346940.469 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:02:20.829Z,1761346940.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230250,-0.952659,-0.198558],[0.972977,-0.229011,-0.029505],[-0.017363,-0.199985,0.979645]]
2025-10-24T23:02:20.879Z,1761346940.879 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:02:20.879Z,1761346940.879 [marl:UpdateRudder:B] Stopped
2025-10-24T23:02:20.879Z,1761346940.879 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:02:20.879Z,1761346940.879 [marl:UpdateRudder] Stopped
2025-10-24T23:02:20.879Z,1761346940.879 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:02:21.229Z,1761346941.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229350,-0.953015,-0.197890],[0.973208,-0.227923,-0.030277],[-0.016249,-0.199532,0.979757]]
2025-10-24T23:02:21.626Z,1761346941.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227349,-0.953549,-0.197627],[0.973694,-0.225772,-0.030784],[-0.015265,-0.199426,0.979794]]
2025-10-24T23:02:22.030Z,1761346942.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224709,-0.953800,-0.199428],[0.974312,-0.223058,-0.031004],[-0.014912,-0.201272,0.979422]]
2025-10-24T23:02:22.434Z,1761346942.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221818,-0.954173,-0.200875],[0.974969,-0.220256,-0.030384],[-0.015252,-0.202587,0.979146]]
2025-10-24T23:02:22.846Z,1761346942.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219051,-0.954400,-0.202823],[0.975579,-0.217690,-0.029280],[-0.016208,-0.204284,0.978778]]
2025-10-24T23:02:23.244Z,1761346943.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217960,-0.954620,-0.202964],[0.975804,-0.216851,-0.027966],[-0.017316,-0.204149,0.978787]]
2025-10-24T23:02:23.652Z,1761346943.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221106,-0.955239,-0.196546],[0.975068,-0.220420,-0.025641],[-0.018829,-0.197315,0.980159]]
2025-10-24T23:02:24.051Z,1761346944.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229594,-0.957096,-0.176791],[0.973059,-0.229653,-0.020407],[-0.021069,-0.176713,0.984037]]
2025-10-24T23:02:24.454Z,1761346944.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242916,-0.958140,-0.151524],[0.969758,-0.243675,-0.013828],[-0.023673,-0.150300,0.988357]]
2025-10-24T23:02:24.624Z,1761346944.624 [DAT](INFO): DAT read: 

2025-10-24T23:02:24.625Z,1761346944.625 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:02:24.858Z,1761346944.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259043,-0.958103,-0.122212],[0.965502,-0.260338,-0.005535],[-0.026514,-0.119430,0.992489]]
2025-10-24T23:02:25.262Z,1761346945.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276874,-0.956272,-0.094259],[0.960466,-0.278382,0.002981],[-0.029091,-0.089708,0.995543]]
2025-10-24T23:02:25.671Z,1761346945.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296033,-0.952629,-0.069729],[0.954661,-0.297485,0.011217],[-0.031429,-0.063247,0.997503]]
2025-10-24T23:02:26.072Z,1761346946.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315900,-0.947371,-0.051913],[0.948197,-0.317167,0.018103],[-0.033615,-0.043506,0.998487]]
2025-10-24T23:02:26.393Z,1761346946.393 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:02:26.394Z,1761346946.394 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:02:26.395Z,1761346946.395 [DAT](INFO): DAT read: Oct 24 2025 23:02:20 

2025-10-24T23:02:26.474Z,1761346946.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335811,-0.941179,-0.037591],[0.941256,-0.336812,0.024373],[-0.035600,-0.027198,0.998996]]
2025-10-24T23:02:26.879Z,1761346946.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356168,-0.934016,-0.027536],[0.933684,-0.356903,0.029239],[-0.037137,-0.015296,0.999193]]
2025-10-24T23:02:27.287Z,1761346947.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376257,-0.926263,-0.021625],[0.925715,-0.376799,0.032763],[-0.038496,-0.007691,0.999229]]
2025-10-24T23:02:27.397Z,1761346947.397 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:02:27.398Z,1761346947.398 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:02:27.398Z,1761346947.398 [DAT](INFO): commRate: 600
2025-10-24T23:02:27.699Z,1761346947.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396067,-0.918076,-0.016341],[0.917381,-0.396403,0.035723],[-0.039274,-0.000842,0.999228]]
2025-10-24T23:02:28.090Z,1761346948.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415379,-0.909551,-0.013288],[0.908789,-0.415578,0.037382],[-0.039524,0.003451,0.999213]]
2025-10-24T23:02:28.494Z,1761346948.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433969,-0.900857,-0.011275],[0.900079,-0.434069,0.037966],[-0.039096,0.006327,0.999215]]
2025-10-24T23:02:28.906Z,1761346948.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451909,-0.892010,-0.009884],[0.891238,-0.451939,0.038026],[-0.038386,0.008376,0.999228]]
2025-10-24T23:02:29.302Z,1761346949.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469479,-0.882887,-0.010025],[0.882147,-0.469507,0.037152],[-0.037508,0.008598,0.999259]]
2025-10-24T23:02:29.468Z,1761346949.468 [DAT](INFO): entering command mode
2025-10-24T23:02:29.669Z,1761346949.669 [DAT](INFO): DAT read: 

2025-10-24T23:02:29.670Z,1761346949.670 [DAT](INFO): DAT read: user:1>

2025-10-24T23:02:29.671Z,1761346949.671 [DAT](INFO): setting verbose to 3
2025-10-24T23:02:29.723Z,1761346949.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486298,-0.873727,-0.010711],[0.873023,-0.486348,0.036015],[-0.036676,0.008162,0.999294]]
2025-10-24T23:02:29.923Z,1761346949.923 [DAT](INFO): DAT read: user:1>

2025-10-24T23:02:29.926Z,1761346949.926 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:02:29.927Z,1761346949.927 [DAT](INFO): set verbose to 3
2025-10-24T23:02:29.929Z,1761346949.929 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:02:30.068Z,1761346950.068 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:02:30.110Z,1761346950.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502772,-0.864341,-0.011593],[0.863685,-0.502853,0.034463],[-0.035617,0.007315,0.999339]]
2025-10-24T23:02:30.173Z,1761346950.173 [DAT](INFO): DAT read: user:2>

2025-10-24T23:02:30.175Z,1761346950.175 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:02:30.175Z,1761346950.175 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:02:30.175Z,1761346950.175 [DAT](INFO): setting transmit power to 8
2025-10-24T23:02:30.425Z,1761346950.425 [DAT](INFO): DAT read: user:3>

2025-10-24T23:02:30.425Z,1761346950.425 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:02:30.426Z,1761346950.426 [DAT](INFO): set transmit power to 8
2025-10-24T23:02:30.426Z,1761346950.426 [DAT](INFO): setting local address to 11
2025-10-24T23:02:30.516Z,1761346950.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518891,-0.854734,-0.013461],[0.854141,-0.519039,0.032290],[-0.034586,0.005257,0.999388]]
2025-10-24T23:02:30.677Z,1761346950.677 [DAT](INFO): DAT read: user:4>

2025-10-24T23:02:30.679Z,1761346950.679 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:02:30.680Z,1761346950.680 [DAT](INFO): set local address to 11
2025-10-24T23:02:30.682Z,1761346950.681 [DAT](INFO): Setting time to: 23:2:30 And date to:10/24/2025
2025-10-24T23:02:30.919Z,1761346950.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534231,-0.845207,-0.014904],[0.844676,-0.534427,0.030173],[-0.033468,0.003530,0.999434]]
2025-10-24T23:02:30.929Z,1761346950.929 [DAT](INFO): DAT read: user:5>

2025-10-24T23:02:30.930Z,1761346950.930 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:02:30  

2025-10-24T23:02:30.930Z,1761346950.930 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:02:30  

2025-10-24T23:02:30.931Z,1761346950.931 [DAT](INFO): setting remote address to 10
2025-10-24T23:02:30.931Z,1761346950.931 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:02:30.931Z,1761346950.931 [DAT](INFO): setting remote address to 0
2025-10-24T23:02:31.072Z,1761346951.072 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:02:31.181Z,1761346951.181 [DAT](INFO): DAT read: user:6>

2025-10-24T23:02:31.183Z,1761346951.183 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:02:31.184Z,1761346951.184 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:02:31.184Z,1761346951.184 [DAT] Communications Fault, FailCount= 7
2025-10-24T23:02:31.184Z,1761346951.184 [DAT](ERROR): Communications Fault
2025-10-24T23:02:31.185Z,1761346951.185 [DAT](INFO): DAT read: user:7>

2025-10-24T23:02:31.187Z,1761346951.187 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:02:31.187Z,1761346951.187 [DAT](INFO): set remote address to 0
2025-10-24T23:02:31.188Z,1761346951.188 [DAT](INFO): setting remote address to 10
2025-10-24T23:02:31.190Z,1761346951.190 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:02:31.191Z,1761346951.191 [DAT](INFO): setting remote address to 0
2025-10-24T23:02:31.322Z,1761346951.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549100,-0.835608,-0.015776],[0.835132,-0.549321,0.028298],[-0.032312,0.002363,0.999475]]
2025-10-24T23:02:31.447Z,1761346951.447 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:02:31.600Z,1761346951.600 [DAT](INFO): Powering down
2025-10-24T23:02:31.727Z,1761346951.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563341,-0.826041,-0.017404],[0.825653,-0.563609,0.025316],[-0.030721,-0.000108,0.999528]]
2025-10-24T23:02:32.130Z,1761346952.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575155,-0.817850,-0.017841],[0.817530,-0.575430,0.022914],[-0.029006,-0.001407,0.999578]]
2025-10-24T23:02:32.534Z,1761346952.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586906,-0.809471,-0.017252],[0.809210,-0.587157,0.020624],[-0.026824,-0.001856,0.999638]]
2025-10-24T23:02:32.611Z,1761346952.611 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:02:32.611Z,1761346952.611 [DAT] No Fault, FailCount= 7
2025-10-24T23:02:33.344Z,1761346953.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608085,-0.793731,-0.014944],[0.793518,-0.608269,0.018382],[-0.023680,-0.000680,0.999719]]
2025-10-24T23:02:33.406Z,1761346953.406 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:02:33.407Z,1761346953.407 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:02:33.407Z,1761346953.407 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:02:33.407Z,1761346953.407 [marl:UpdateRudder:A] Stopped
2025-10-24T23:02:33.407Z,1761346953.407 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:02:33.407Z,1761346953.407 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:02:33.407Z,1761346953.407 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:02:33.407Z,1761346953.407 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:02:33.413Z,1761346953.413 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:02:33.413Z,1761346953.413 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:02:33.413Z,1761346953.413 [marl:UpdateCommandMode] Stopped
2025-10-24T23:02:33.413Z,1761346953.413 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:02:33.413Z,1761346953.413 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:02:33.413Z,1761346953.413 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:02:33.413Z,1761346953.413 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:02:33.413Z,1761346953.413 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:02:33.414Z,1761346953.414 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:02:33.414Z,1761346953.414 [marl:UpdateSpeed] Stopped
2025-10-24T23:02:33.414Z,1761346953.414 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:02:33.746Z,1761346953.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617259,-0.786620,-0.014837],[0.786437,-0.617436,0.017026],[-0.022554,-0.001159,0.999745]]
2025-10-24T23:02:33.790Z,1761346953.790 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:02:33.790Z,1761346953.790 [marl:UpdateRudder:B] Stopped
2025-10-24T23:02:33.791Z,1761346953.791 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:02:33.791Z,1761346953.791 [marl:UpdateRudder] Stopped
2025-10-24T23:02:33.791Z,1761346953.791 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:02:34.154Z,1761346954.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625889,-0.779770,-0.014883],[0.779609,-0.626064,0.015899],[-0.021715,-0.001652,0.999763]]
2025-10-24T23:02:34.554Z,1761346954.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634418,-0.772853,-0.014529],[0.772701,-0.634583,0.015435],[-0.021149,-0.001434,0.999775]]
2025-10-24T23:02:34.648Z,1761346954.648 [DAT](INFO): Powering up
2025-10-24T23:02:34.649Z,1761346954.649 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:02:34.965Z,1761346954.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642645,-0.766013,-0.015244],[0.765863,-0.642823,0.015237],[-0.021471,-0.001883,0.999768]]
2025-10-24T23:02:35.363Z,1761346955.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650951,-0.758936,-0.016696],[0.758792,-0.651159,0.015067],[-0.022306,-0.002861,0.999747]]
2025-10-24T23:02:35.766Z,1761346955.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659320,-0.751678,-0.016655],[0.751502,-0.659528,0.016341],[-0.023267,-0.001742,0.999728]]
2025-10-24T23:02:36.178Z,1761346956.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667950,-0.744018,-0.016763],[0.743808,-0.668160,0.017680],[-0.024355,-0.000659,0.999703]]
2025-10-24T23:02:36.576Z,1761346956.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677758,-0.735077,-0.017473],[0.734835,-0.677983,0.018859],[-0.025709,-0.000057,0.999669]]
2025-10-24T23:02:36.979Z,1761346956.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688897,-0.724655,-0.017195],[0.724366,-0.689110,0.020542],[-0.026735,0.001696,0.999641]]
2025-10-24T23:02:37.383Z,1761346957.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701515,-0.712430,-0.017913],[0.712111,-0.701740,0.021425],[-0.027834,0.002274,0.999610]]
2025-10-24T23:02:37.786Z,1761346957.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714892,-0.698972,-0.019166],[0.698639,-0.715145,0.021707],[-0.028879,0.002128,0.999581]]
2025-10-24T23:02:38.191Z,1761346958.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728791,-0.684439,-0.020154],[0.684067,-0.729064,0.022739],[-0.030256,0.002785,0.999538]]
2025-10-24T23:02:38.594Z,1761346958.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742952,-0.669004,-0.021384],[0.668582,-0.743251,0.023997],[-0.031948,0.003532,0.999483]]
2025-10-24T23:02:39.002Z,1761346959.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756946,-0.653089,-0.022537],[0.652619,-0.757269,0.025138],[-0.033484,0.004320,0.999430]]
2025-10-24T23:02:39.404Z,1761346959.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770535,-0.636972,-0.023297],[0.636455,-0.770868,0.026208],[-0.034653,0.005366,0.999385]]
2025-10-24T23:02:39.806Z,1761346959.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783847,-0.620487,-0.024080],[0.619976,-0.784200,0.025707],[-0.034834,0.005222,0.999379]]
2025-10-24T23:02:40.218Z,1761346960.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796878,-0.603656,-0.024159],[0.603181,-0.797229,0.024445],[-0.034017,0.004907,0.999409]]
2025-10-24T23:02:40.615Z,1761346960.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809698,-0.586435,-0.021993],[0.586000,-0.809974,0.023378],[-0.031524,0.006041,0.999485]]
2025-10-24T23:02:41.019Z,1761346961.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821917,-0.569268,-0.019674],[0.568902,-0.822127,0.021402],[-0.028358,0.006398,0.999577]]
2025-10-24T23:02:41.424Z,1761346961.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832895,-0.553150,-0.017658],[0.552857,-0.833060,0.019002],[-0.025221,0.006064,0.999663]]
2025-10-24T23:02:41.826Z,1761346961.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842140,-0.539031,-0.015675],[0.538779,-0.842261,0.017729],[-0.022758,0.006485,0.999720]]
2025-10-24T23:02:42.230Z,1761346962.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850173,-0.526293,-0.014906],[0.526077,-0.850283,0.016188],[-0.021194,0.005921,0.999758]]
2025-10-24T23:02:42.642Z,1761346962.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857371,-0.514510,-0.013967],[0.514321,-0.857465,0.015104],[-0.019747,0.005766,0.999788]]
2025-10-24T23:02:43.442Z,1761346963.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869990,-0.492951,-0.010786],[0.492760,-0.870011,0.016403],[-0.017470,0.008956,0.999807]]
2025-10-24T23:02:43.846Z,1761346963.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875736,-0.482693,-0.009688],[0.482506,-0.875733,0.016722],[-0.016556,0.009969,0.999813]]
2025-10-24T23:02:44.251Z,1761346964.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881352,-0.472376,-0.008912],[0.472205,-0.881339,0.016244],[-0.015528,0.010109,0.999828]]
2025-10-24T23:02:44.662Z,1761346964.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886782,-0.462119,-0.007921],[0.461960,-0.886753,0.016186],[-0.014503,0.010694,0.999838]]
2025-10-24T23:02:45.066Z,1761346965.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891983,-0.452009,-0.007359],[0.451860,-0.891947,0.015939],[-0.013768,0.010892,0.999846]]
2025-10-24T23:02:45.462Z,1761346965.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897369,-0.441218,-0.007442],[0.441071,-0.897335,0.015672],[-0.013592,0.010781,0.999849]]
2025-10-24T23:02:45.866Z,1761346965.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903027,-0.429505,-0.008255],[0.429350,-0.903003,0.015643],[-0.014173,0.010581,0.999844]]
2025-10-24T23:02:46.271Z,1761346966.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909197,-0.416240,-0.010228],[0.416074,-0.909206,0.015049],[-0.015563,0.009427,0.999834]]
2025-10-24T23:02:46.339Z,1761346966.339 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:02:46.340Z,1761346966.340 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:02:46.340Z,1761346966.340 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:02:46.340Z,1761346966.340 [marl:UpdateRudder:A] Stopped
2025-10-24T23:02:46.340Z,1761346966.340 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:02:46.341Z,1761346966.341 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:02:46.341Z,1761346966.341 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:02:46.341Z,1761346966.341 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:02:46.341Z,1761346966.341 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:02:46.341Z,1761346966.341 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:02:46.341Z,1761346966.341 [marl:UpdateCommandMode] Stopped
2025-10-24T23:02:46.341Z,1761346966.341 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:02:46.341Z,1761346966.341 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:02:46.342Z,1761346966.342 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:02:46.342Z,1761346966.342 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:02:46.342Z,1761346966.342 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:02:46.342Z,1761346966.342 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:02:46.342Z,1761346966.342 [marl:UpdateSpeed] Stopped
2025-10-24T23:02:46.342Z,1761346966.342 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:02:46.681Z,1761346966.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916023,-0.400927,-0.012617],[0.400748,-0.916073,0.014510],[-0.017376,0.008236,0.999815]]
2025-10-24T23:02:46.705Z,1761346966.705 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:02:46.705Z,1761346966.705 [marl:UpdateRudder:B] Stopped
2025-10-24T23:02:46.705Z,1761346966.705 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:02:46.705Z,1761346966.705 [marl:UpdateRudder] Stopped
2025-10-24T23:02:46.705Z,1761346966.705 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:02:46.745Z,1761346966.745 [DAT](INFO): DAT read: 

2025-10-24T23:02:46.745Z,1761346966.745 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:02:47.078Z,1761346967.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923149,-0.384130,-0.015502],[0.383924,-0.923247,0.014731],[-0.019971,0.007647,0.999771]]
2025-10-24T23:02:47.483Z,1761346967.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930294,-0.366355,-0.018375],[0.366121,-0.930447,0.014941],[-0.022571,0.007172,0.999720]]
2025-10-24T23:02:47.922Z,1761346967.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937398,-0.347645,-0.020682],[0.347378,-0.937598,0.015445],[-0.024760,0.007294,0.999667]]
2025-10-24T23:02:48.103Z,1761346968.103 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:02:48.106Z,1761346968.106 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:02:48.290Z,1761346968.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944099,-0.328905,-0.022328],[0.328630,-0.944337,0.015148],[-0.026067,0.006964,0.999636]]
2025-10-24T23:02:48.511Z,1761346968.511 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:02:48.513Z,1761346968.513 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:02:48.514Z,1761346968.514 [DAT](INFO): DAT read: Oct 24 2025 23:02:42 

2025-10-24T23:02:48.695Z,1761346968.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950469,-0.310046,-0.021912],[0.309743,-0.950683,0.016157],[-0.025840,0.008570,0.999629]]
2025-10-24T23:02:49.098Z,1761346969.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956570,-0.290835,-0.019701],[0.290519,-0.956710,0.017450],[-0.023923,0.010969,0.999654]]
2025-10-24T23:02:49.504Z,1761346969.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962110,-0.272181,-0.016147],[0.271899,-0.962163,0.017691],[-0.020352,0.012630,0.999713]]
2025-10-24T23:02:49.517Z,1761346969.517 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:02:49.518Z,1761346969.518 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:02:49.519Z,1761346969.519 [DAT](INFO): commRate: 600
2025-10-24T23:02:49.957Z,1761346969.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966746,-0.255476,-0.011568],[0.255251,-0.966708,0.017937],[-0.015765,0.014388,0.999772]]
2025-10-24T23:02:50.006Z,1761346970.006 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:02:50.310Z,1761346970.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970232,-0.242068,-0.007215],[0.241894,-0.970110,0.019347],[-0.011683,0.017026,0.999787]]
2025-10-24T23:02:50.715Z,1761346970.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973143,-0.230158,-0.004590],[0.230047,-0.973023,0.017480],[-0.008489,0.015955,0.999837]]
2025-10-24T23:02:51.134Z,1761346971.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975789,-0.218702,-0.002436],[0.218638,-0.975677,0.015849],[-0.005843,0.014933,0.999871]]
2025-10-24T23:02:51.523Z,1761346971.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978257,-0.207392,-0.001337],[0.207350,-0.978156,0.014749],[-0.004367,0.014151,0.999890]]
2025-10-24T23:02:51.584Z,1761346971.584 [DAT](INFO): entering command mode
2025-10-24T23:02:51.784Z,1761346971.784 [DAT](INFO): DAT read: 

2025-10-24T23:02:51.785Z,1761346971.785 [DAT](INFO): DAT read: user:>

2025-10-24T23:02:51.785Z,1761346971.785 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:51.965Z,1761346971.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980770,-0.195160,-0.001399],[0.195126,-0.980692,0.013018],[-0.003912,0.012495,0.999914]]
2025-10-24T23:02:52.036Z,1761346972.036 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:52.288Z,1761346972.288 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:52.331Z,1761346972.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983397,-0.181459,-0.001660],[0.181430,-0.983340,0.011182],[-0.003661,0.010695,0.999936]]
2025-10-24T23:02:52.540Z,1761346972.540 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:52.734Z,1761346972.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986243,-0.165292,-0.002007],[0.165269,-0.986208,0.008895],[-0.003450,0.008441,0.999958]]
2025-10-24T23:02:52.792Z,1761346972.792 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:53.044Z,1761346973.044 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:53.142Z,1761346973.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988994,-0.147948,-0.001606],[0.147928,-0.988958,0.008919],[-0.002907,0.008584,0.999959]]
2025-10-24T23:02:53.296Z,1761346973.296 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:53.543Z,1761346973.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991547,-0.129746,-0.000854],[0.129732,-0.991503,0.009587],[-0.002091,0.009395,0.999954]]
2025-10-24T23:02:53.549Z,1761346973.549 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:53.800Z,1761346973.800 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:53.965Z,1761346973.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993786,-0.111304,0.000177],[0.111300,-0.993741,0.009547],[-0.000886,0.009507,0.999954]]
2025-10-24T23:02:54.052Z,1761346974.052 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:54.304Z,1761346974.304 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:54.351Z,1761346974.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995674,-0.092908,0.001507],[0.092918,-0.995622,0.010127],[0.000560,0.010224,0.999948]]
2025-10-24T23:02:54.556Z,1761346974.556 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:54.754Z,1761346974.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997152,-0.075352,0.003188],[0.075385,-0.997085,0.011779],[0.002291,0.011986,0.999926]]
2025-10-24T23:02:54.808Z,1761346974.808 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:55.060Z,1761346975.060 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:55.161Z,1761346975.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998254,-0.058854,0.005007],[0.058914,-0.998181,0.012793],[0.004245,0.013066,0.999906]]
2025-10-24T23:02:55.313Z,1761346975.313 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:55.564Z,1761346975.564 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:55.565Z,1761346975.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999034,-0.043466,0.006401],[0.043548,-0.998963,0.013303],[0.005817,0.013569,0.999891]]
2025-10-24T23:02:55.816Z,1761346975.816 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:55.966Z,1761346975.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999540,-0.029358,0.007576],[0.029462,-0.999467,0.014086],[0.007158,0.014303,0.999872]]
2025-10-24T23:02:56.068Z,1761346976.068 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:56.320Z,1761346976.320 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:56.371Z,1761346976.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999845,-0.015396,0.008552],[0.015509,-0.999791,0.013312],[0.008345,0.013443,0.999875]]
2025-10-24T23:02:56.572Z,1761346976.572 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:56.774Z,1761346976.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999950,-0.001786,0.009803],[0.001910,-0.999919,0.012594],[0.009779,0.012612,0.999873]]
2025-10-24T23:02:56.827Z,1761346976.827 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:57.077Z,1761346977.077 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:57.182Z,1761346977.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999877,0.011298,0.010878],[-0.011155,-0.999851,0.013161],[0.011025,0.013038,0.999854]]
2025-10-24T23:02:57.328Z,1761346977.328 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:57.581Z,1761346977.581 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:57.596Z,1761346977.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999622,0.024844,0.011747],[-0.024692,-0.999611,0.012963],[0.012065,0.012668,0.999847]]
2025-10-24T23:02:57.833Z,1761346977.833 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:57.986Z,1761346977.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999170,0.038717,0.012638],[-0.038542,-0.999162,0.013807],[0.013162,0.013308,0.999825]]
2025-10-24T23:02:58.085Z,1761346978.085 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:58.337Z,1761346978.337 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:58.390Z,1761346978.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998511,0.052863,0.013456],[-0.052668,-0.998507,0.014454],[0.014200,0.013724,0.999805]]
2025-10-24T23:02:58.589Z,1761346978.589 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:58.840Z,1761346978.840 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:59.092Z,1761346979.092 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:59.199Z,1761346979.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996346,0.084041,0.015245],[-0.083826,-0.996378,0.014255],[0.016387,0.012925,0.999782]]
2025-10-24T23:02:59.233Z,1761346979.233 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:02:59.233Z,1761346979.233 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:02:59.233Z,1761346979.233 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:02:59.233Z,1761346979.233 [marl:UpdateRudder:A] Stopped
2025-10-24T23:02:59.234Z,1761346979.234 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:02:59.234Z,1761346979.234 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:02:59.234Z,1761346979.234 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:02:59.234Z,1761346979.234 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:02:59.234Z,1761346979.234 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:02:59.234Z,1761346979.234 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:02:59.234Z,1761346979.234 [marl:UpdateCommandMode] Stopped
2025-10-24T23:02:59.234Z,1761346979.234 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:02:59.235Z,1761346979.235 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:02:59.235Z,1761346979.235 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:02:59.235Z,1761346979.235 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:02:59.235Z,1761346979.235 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:02:59.235Z,1761346979.235 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:02:59.235Z,1761346979.235 [marl:UpdateSpeed] Stopped
2025-10-24T23:02:59.235Z,1761346979.235 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:02:59.344Z,1761346979.344 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:59.601Z,1761346979.601 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:02:59.607Z,1761346979.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994700,0.101556,0.016095],[-0.101353,-0.994766,0.012944],[0.017325,0.011244,0.999787]]
2025-10-24T23:02:59.659Z,1761346979.659 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:02:59.659Z,1761346979.659 [marl:UpdateRudder:B] Stopped
2025-10-24T23:02:59.659Z,1761346979.659 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:02:59.659Z,1761346979.659 [marl:UpdateRudder] Stopped
2025-10-24T23:02:59.659Z,1761346979.659 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:02:59.661Z,1761346979.661 [marl:SendObservationData] Running Loop=1
2025-10-24T23:02:59.661Z,1761346979.661 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:02:59.661Z,1761346979.661 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:02:59.662Z,1761346979.662 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:02:59.664Z,1761346979.664 [marl:SendObservationData:A](INFO): Got test_good :  41da3f01400000004051400000000000404262f63832fb0dc05e77535118aa2a401d8caf800000004071c66660000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:02:59.664Z,1761346979.664 [marl:SendObservationData:A] Stopped
2025-10-24T23:02:59.664Z,1761346979.664 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:02:59.852Z,1761346979.852 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:03:00.006Z,1761346980.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992705,0.119375,0.016951],[-0.119174,-0.992796,0.012413],[0.018311,0.010302,0.999779]]
2025-10-24T23:03:00.074Z,1761346980.074 [marl:SendObservationData:B] Stopped
2025-10-24T23:03:00.075Z,1761346980.075 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:03:00.106Z,1761346980.106 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:03:00.356Z,1761346980.356 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:03:00.471Z,1761346980.471 [marl:SendObservationData:C] Stopped
2025-10-24T23:03:00.471Z,1761346980.471 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:03:00.608Z,1761346980.608 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:03:00.816Z,1761346980.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987383,0.157211,0.018939],[-0.157052,-0.987543,0.009653],[0.020221,0.006557,0.999774]]
2025-10-24T23:03:00.859Z,1761346980.859 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.014083 min 
2025-10-24T23:03:00.860Z,1761346980.860 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:03:00.861Z,1761346980.861 [marl:SendObservationData:E] Stopped
2025-10-24T23:03:00.862Z,1761346980.862 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:03:00.862Z,1761346980.862 [marl:SendObservationData] Stopped
2025-10-24T23:03:00.862Z,1761346980.862 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:03:00.862Z,1761346980.862 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:03:01.112Z,1761346981.112 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:03:01.200Z,1761346981.200 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:03:01.219Z,1761346981.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984011,0.176978,0.020014],[-0.176812,-0.984196,0.009827],[0.021437,0.006131,0.999751]]
2025-10-24T23:03:01.364Z,1761346981.364 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:03:01.616Z,1761346981.616 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:03:01.624Z,1761346981.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980619,0.194804,0.020915],[-0.194617,-0.980821,0.010659],[0.022590,0.006382,0.999724]]
2025-10-24T23:03:01.870Z,1761346981.870 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:03:02.027Z,1761346982.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977038,0.212008,0.021215],[-0.211769,-0.977234,0.012962],[0.023480,0.008172,0.999691]]
2025-10-24T23:03:02.121Z,1761346982.121 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:03:02.204Z,1761346982.204 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:03:02.372Z,1761346982.372 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:03:02.438Z,1761346982.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969831,0.242888,0.020821],[-0.242423,-0.969908,0.022561],[0.025674,0.016833,0.999529]]
2025-10-24T23:03:02.624Z,1761346982.624 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:03:02.863Z,1761346982.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966147,0.257118,0.021214],[-0.256583,-0.966199,0.025003],[0.026926,0.018714,0.999462]]
2025-10-24T23:03:02.876Z,1761346982.876 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:03:03.128Z,1761346983.128 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:03:03.243Z,1761346983.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962802,0.269382,0.021126],[-0.268747,-0.962783,0.028707],[0.028073,0.021961,0.999365]]
2025-10-24T23:03:03.380Z,1761346983.380 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:03:03.634Z,1761346983.634 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:03:03.651Z,1761346983.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959215,0.281897,0.020988],[-0.281207,-0.959155,0.030712],[0.028788,0.023558,0.999308]]
2025-10-24T23:03:03.886Z,1761346983.886 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:03:04.050Z,1761346984.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955475,0.294271,0.021732],[-0.293562,-0.955446,0.030741],[0.029809,0.022993,0.999291]]
2025-10-24T23:03:04.136Z,1761346984.136 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:03:04.388Z,1761346984.388 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:03:04.451Z,1761346984.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951342,0.307296,0.022737],[-0.306597,-0.951376,0.029699],[0.030758,0.021283,0.999300]]
2025-10-24T23:03:04.640Z,1761346984.640 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:03:04.854Z,1761346984.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946869,0.320723,0.023996],[-0.320081,-0.947002,0.027122],[0.031423,0.018001,0.999344]]
2025-10-24T23:03:04.892Z,1761346984.892 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:03:05.144Z,1761346985.144 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:03:05.262Z,1761346985.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941793,0.335309,0.024384],[-0.334685,-0.941960,0.026410],[0.031824,0.016711,0.999354]]
2025-10-24T23:03:05.397Z,1761346985.397 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:03:05.649Z,1761346985.649 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:03:05.673Z,1761346985.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936243,0.350460,0.025055],[-0.349833,-0.936445,0.026231],[0.032655,0.015794,0.999342]]
2025-10-24T23:03:05.902Z,1761346985.902 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:03:06.078Z,1761346986.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930502,0.365370,0.025888],[-0.364731,-0.930740,0.026338],[0.033718,0.015066,0.999318]]
2025-10-24T23:03:06.154Z,1761346986.154 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:03:06.404Z,1761346986.404 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:03:06.470Z,1761346986.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924674,0.379822,0.026696],[-0.379134,-0.924933,0.027492],[0.035134,0.015299,0.999265]]
2025-10-24T23:03:06.657Z,1761346986.657 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:03:06.657Z,1761346986.657 [DAT](FAULT): failed to enter command mode
2025-10-24T23:03:06.874Z,1761346986.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919089,0.393092,0.027438],[-0.392362,-0.919370,0.028479],[0.036421,0.015409,0.999218]]
2025-10-24T23:03:06.960Z,1761346986.960 [DAT](INFO): entering command mode
2025-10-24T23:03:07.161Z,1761346987.161 [DAT](INFO): DAT read: user:1>

2025-10-24T23:03:07.161Z,1761346987.161 [DAT](INFO): DAT read: Command '+++' not found

2025-10-24T23:03:07.162Z,1761346987.162 [DAT](INFO): DAT read: Error

2025-10-24T23:03:07.162Z,1761346987.162 [DAT](INFO): setting verbose to 3
2025-10-24T23:03:07.280Z,1761346987.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913451,0.405956,0.028413],[-0.405221,-0.913779,0.028337],[0.037467,0.014371,0.999195]]
2025-10-24T23:03:07.413Z,1761346987.413 [DAT](INFO): DAT read: user:2>

2025-10-24T23:03:07.414Z,1761346987.414 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:03:07.414Z,1761346987.414 [DAT](INFO): set verbose to 3
2025-10-24T23:03:07.415Z,1761346987.415 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:03:07.665Z,1761346987.665 [DAT](INFO): DAT read: user:3>

2025-10-24T23:03:07.666Z,1761346987.666 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:03:07.667Z,1761346987.667 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:03:07.667Z,1761346987.667 [DAT](INFO): setting transmit power to 8
2025-10-24T23:03:07.700Z,1761346987.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907406,0.419276,0.028685],[-0.418514,-0.907745,0.029078],[0.038230,0.014381,0.999165]]
2025-10-24T23:03:07.919Z,1761346987.919 [DAT](INFO): DAT read: user:4>

2025-10-24T23:03:07.922Z,1761346987.922 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:03:07.923Z,1761346987.923 [DAT](INFO): set transmit power to 8
2025-10-24T23:03:07.924Z,1761346987.924 [DAT](INFO): setting local address to 11
2025-10-24T23:03:08.087Z,1761346988.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901251,0.432344,0.028709],[-0.431520,-0.901578,0.030784],[0.039193,0.015356,0.999114]]
2025-10-24T23:03:08.169Z,1761346988.169 [DAT](INFO): DAT read: user:5>

2025-10-24T23:03:08.169Z,1761346988.169 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:03:08.170Z,1761346988.170 [DAT](INFO): set local address to 11
2025-10-24T23:03:08.171Z,1761346988.171 [DAT](INFO): Setting time to: 23:3:8 And date to:10/24/2025
2025-10-24T23:03:08.421Z,1761346988.421 [DAT](INFO): DAT read: user:6>

2025-10-24T23:03:08.422Z,1761346988.422 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:03:08  

2025-10-24T23:03:08.422Z,1761346988.422 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:03:08  

2025-10-24T23:03:08.423Z,1761346988.423 [DAT](INFO): setting remote address to 10
2025-10-24T23:03:08.423Z,1761346988.423 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:03:08.423Z,1761346988.423 [DAT](INFO): setting remote address to 0
2025-10-24T23:03:08.498Z,1761346988.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894812,0.445521,0.028686],[-0.444670,-0.895137,0.031610],[0.039761,0.015529,0.999089]]
2025-10-24T23:03:08.673Z,1761346988.673 [DAT](INFO): DAT read: user:7>

2025-10-24T23:03:08.675Z,1761346988.675 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:03:08.675Z,1761346988.675 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:03:08.675Z,1761346988.675 [DAT] Communications Fault, FailCount= 8
2025-10-24T23:03:08.676Z,1761346988.676 [DAT](ERROR): Communications Fault
2025-10-24T23:03:08.677Z,1761346988.677 [DAT](INFO): DAT read: user:8>

2025-10-24T23:03:08.678Z,1761346988.678 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:03:08.678Z,1761346988.678 [DAT](INFO): set remote address to 0
2025-10-24T23:03:08.679Z,1761346988.679 [DAT](INFO): setting remote address to 10
2025-10-24T23:03:08.679Z,1761346988.679 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:03:08.681Z,1761346988.681 [DAT](INFO): setting remote address to 0
2025-10-24T23:03:08.895Z,1761346988.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887828,0.459292,0.028485],[-0.458420,-0.888148,0.032322],[0.040144,0.015638,0.999072]]
2025-10-24T23:03:09.015Z,1761346989.015 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:03:09.016Z,1761346989.016 [CBIT](FAULT): Communications Fault in component: DAT
2025-10-24T23:03:09.084Z,1761346989.084 [DAT](INFO): Powering down
2025-10-24T23:03:09.298Z,1761346989.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880135,0.473870,0.028446],[-0.472987,-0.880461,0.032740],[0.040560,0.015362,0.999059]]
2025-10-24T23:03:09.702Z,1761346989.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871816,0.489009,0.028405],[-0.488125,-0.872153,0.032914],[0.040868,0.014830,0.999054]]
2025-10-24T23:03:10.108Z,1761346990.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863241,0.504004,0.028185],[-0.503141,-0.863588,0.032637],[0.040789,0.013993,0.999070]]
2025-10-24T23:03:10.510Z,1761346990.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854502,0.518658,0.028640],[-0.517851,-0.854899,0.031282],[0.040709,0.011899,0.999100]]
2025-10-24T23:03:10.915Z,1761346990.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845735,0.532869,0.027981],[-0.532056,-0.846113,0.031773],[0.040605,0.011984,0.999103]]
2025-10-24T23:03:11.318Z,1761346991.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836958,0.546578,0.027439],[-0.545728,-0.837313,0.032994],[0.041009,0.012641,0.999079]]
2025-10-24T23:03:11.723Z,1761346991.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828609,0.559138,0.027785],[-0.558259,-0.828981,0.033724],[0.041890,0.012433,0.999045]]
2025-10-24T23:03:12.128Z,1761346992.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820367,0.571149,0.028053],[-0.570203,-0.820744,0.035343],[0.043211,0.012998,0.998981]]
2025-10-24T23:03:12.170Z,1761346992.170 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:03:12.170Z,1761346992.170 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:03:12.171Z,1761346992.171 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:03:12.171Z,1761346992.171 [marl:UpdateRudder:A] Stopped
2025-10-24T23:03:12.171Z,1761346992.171 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:03:12.171Z,1761346992.171 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:03:12.171Z,1761346992.171 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:03:12.171Z,1761346992.171 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:03:12.171Z,1761346992.171 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:03:12.172Z,1761346992.172 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:03:12.172Z,1761346992.172 [marl:UpdateCommandMode] Stopped
2025-10-24T23:03:12.172Z,1761346992.172 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:03:12.172Z,1761346992.172 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:03:12.172Z,1761346992.172 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:03:12.172Z,1761346992.172 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:03:12.173Z,1761346992.173 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:03:12.173Z,1761346992.173 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:03:12.173Z,1761346992.173 [marl:UpdateSpeed] Stopped
2025-10-24T23:03:12.173Z,1761346992.173 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:03:12.534Z,1761346992.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812095,0.582837,0.028346],[-0.581841,-0.812483,0.036518],[0.044314,0.013163,0.998931]]
2025-10-24T23:03:12.610Z,1761346992.610 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:03:12.610Z,1761346992.610 [marl:UpdateRudder:B] Stopped
2025-10-24T23:03:12.610Z,1761346992.610 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:03:12.610Z,1761346992.610 [marl:UpdateRudder] Stopped
2025-10-24T23:03:12.610Z,1761346992.610 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:03:13.339Z,1761346993.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795850,0.604840,0.028144],[-0.603680,-0.796203,0.040382],[0.046833,0.015148,0.998788]]
2025-10-24T23:03:13.744Z,1761346993.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787407,0.615806,0.027811],[-0.614606,-0.787745,0.041440],[0.047427,0.015537,0.998754]]
2025-10-24T23:03:14.146Z,1761346994.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779294,0.626050,0.027620],[-0.624850,-0.779636,0.041592],[0.047572,0.015154,0.998753]]
2025-10-24T23:03:14.556Z,1761346994.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771269,0.635970,0.026208],[-0.634710,-0.771530,0.043403],[0.047823,0.016841,0.998714]]
2025-10-24T23:03:14.954Z,1761346994.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762727,0.646218,0.025473],[-0.644957,-0.762964,0.043768],[0.047719,0.016954,0.998717]]
2025-10-24T23:03:15.359Z,1761346995.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754103,0.656287,0.024825],[-0.655023,-0.754320,0.044124],[0.047685,0.017013,0.998718]]
2025-10-24T23:03:15.763Z,1761346995.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743987,0.667740,0.024619],[-0.666511,-0.744223,0.043547],[0.047400,0.015989,0.998748]]
2025-10-24T23:03:16.166Z,1761346996.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732861,0.679924,0.024875],[-0.678748,-0.733145,0.042411],[0.047074,0.014198,0.998791]]
2025-10-24T23:03:16.570Z,1761346996.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720890,0.692598,0.025019],[-0.691466,-0.721213,0.041553],[0.046824,0.012655,0.998823]]
2025-10-24T23:03:16.975Z,1761346996.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708405,0.705369,0.024831],[-0.704254,-0.708741,0.041382],[0.046788,0.011828,0.998835]]
2025-10-24T23:03:17.378Z,1761346997.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696065,0.717616,0.022821],[-0.716465,-0.696309,0.042786],[0.046594,0.013432,0.998824]]
2025-10-24T23:03:17.783Z,1761346997.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684728,0.728533,0.019669],[-0.727327,-0.684811,0.045042],[0.046284,0.016535,0.998791]]
2025-10-24T23:03:18.187Z,1761346998.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675100,0.737538,0.016658],[-0.736303,-0.675027,0.046853],[0.045800,0.019365,0.998763]]
2025-10-24T23:03:18.592Z,1761346998.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666574,0.745312,0.013772],[-0.744075,-0.666358,0.048165],[0.045075,0.021858,0.998744]]
2025-10-24T23:03:18.994Z,1761346998.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659207,0.751855,0.012638],[-0.750663,-0.658964,0.047655],[0.044158,0.021928,0.998784]]
2025-10-24T23:03:19.398Z,1761346999.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652738,0.757487,0.012083],[-0.756348,-0.652501,0.046694],[0.043254,0.021340,0.998836]]
2025-10-24T23:03:19.802Z,1761346999.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646429,0.762861,0.013153],[-0.761768,-0.646280,0.045080],[0.042890,0.019121,0.998897]]
2025-10-24T23:03:20.208Z,1761347000.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639341,0.768788,0.014422],[-0.767716,-0.639275,0.044034],[0.043072,0.017080,0.998926]]
2025-10-24T23:03:20.612Z,1761347000.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630795,0.775778,0.016306],[-0.774750,-0.630849,0.042325],[0.043122,0.014065,0.998971]]
2025-10-24T23:03:21.021Z,1761347001.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619608,0.784703,0.018072],[-0.783710,-0.619769,0.041043],[0.043407,0.011268,0.998994]]
2025-10-24T23:03:21.489Z,1761347001.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606606,0.794763,0.019513],[-0.793796,-0.606855,0.040197],[0.043788,0.008894,0.999001]]
2025-10-24T23:03:21.823Z,1761347001.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591511,0.806056,0.019684],[-0.805094,-0.591786,0.040162],[0.044022,0.007909,0.998999]]
2025-10-24T23:03:22.226Z,1761347002.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575007,0.817925,0.019152],[-0.816955,-0.575274,0.040543],[0.044179,0.007667,0.998994]]
2025-10-24T23:03:22.630Z,1761347002.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557112,0.830264,0.016989],[-0.829288,-0.557300,0.041210],[0.043683,0.008870,0.999006]]
2025-10-24T23:03:23.440Z,1761347003.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519823,0.854225,0.009164],[-0.853241,-0.519692,0.043592],[0.042000,0.014841,0.999007]]
2025-10-24T23:03:23.842Z,1761347003.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502392,0.864623,0.005390],[-0.863680,-0.502119,0.043965],[0.040720,0.017433,0.999018]]
2025-10-24T23:03:24.246Z,1761347004.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486990,0.873406,0.001550],[-0.872505,-0.486566,0.044589],[0.039698,0.020362,0.999004]]
2025-10-24T23:03:24.654Z,1761347004.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472432,0.881366,-0.001395],[-0.880513,-0.471904,0.044759],[0.038791,0.022374,0.998997]]
2025-10-24T23:03:25.065Z,1761347005.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460123,0.887845,-0.004226],[-0.887034,-0.459488,0.045176],[0.038167,0.024535,0.998970]]
2025-10-24T23:03:25.122Z,1761347005.122 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:03:25.123Z,1761347005.123 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:03:25.123Z,1761347005.123 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:03:25.123Z,1761347005.123 [marl:UpdateRudder:A] Stopped
2025-10-24T23:03:25.123Z,1761347005.123 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:03:25.123Z,1761347005.123 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:03:25.123Z,1761347005.123 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:03:25.123Z,1761347005.123 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:03:25.128Z,1761347005.128 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:03:25.128Z,1761347005.128 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:03:25.128Z,1761347005.128 [marl:UpdateCommandMode] Stopped
2025-10-24T23:03:25.128Z,1761347005.128 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:03:25.128Z,1761347005.128 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:03:25.129Z,1761347005.129 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:03:25.129Z,1761347005.129 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:03:25.129Z,1761347005.129 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:03:25.129Z,1761347005.129 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:03:25.129Z,1761347005.129 [marl:UpdateSpeed] Stopped
2025-10-24T23:03:25.129Z,1761347005.129 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:03:25.459Z,1761347005.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448217,0.893909,-0.005245],[-0.893155,-0.447580,0.044119],[0.037091,0.024460,0.999013]]
2025-10-24T23:03:25.513Z,1761347005.513 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:03:25.513Z,1761347005.513 [marl:UpdateRudder:B] Stopped
2025-10-24T23:03:25.513Z,1761347005.513 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:03:25.513Z,1761347005.513 [marl:UpdateRudder] Stopped
2025-10-24T23:03:25.513Z,1761347005.513 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:03:25.862Z,1761347005.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436630,0.899630,-0.004573],[-0.898916,-0.436068,0.042379],[0.036131,0.022615,0.999091]]
2025-10-24T23:03:26.268Z,1761347006.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424805,0.905276,-0.004058],[-0.904618,-0.424315,0.040295],[0.034756,0.020789,0.999180]]
2025-10-24T23:03:26.677Z,1761347006.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413130,0.910668,-0.002721],[-0.910057,-0.412739,0.037971],[0.033456,0.018164,0.999275]]
2025-10-24T23:03:27.075Z,1761347007.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400488,0.916301,-0.001628],[-0.915754,-0.400186,0.035295],[0.031689,0.015626,0.999376]]
2025-10-24T23:03:27.479Z,1761347007.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387726,0.921773,-0.001558],[-0.921293,-0.387468,0.032979],[0.029795,0.014222,0.999455]]
2025-10-24T23:03:27.950Z,1761347007.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375242,0.926925,-0.001876],[-0.926502,-0.375008,0.031042],[0.028070,0.013386,0.999516]]
2025-10-24T23:03:28.286Z,1761347008.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363196,0.931701,-0.004673],[-0.931336,-0.362902,0.030275],[0.026512,0.015348,0.999531]]
2025-10-24T23:03:28.691Z,1761347008.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351659,0.936101,-0.007159],[-0.935789,-0.351316,0.029583],[0.025177,0.017102,0.999537]]
2025-10-24T23:03:29.095Z,1761347009.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339461,0.940575,-0.009210],[-0.940313,-0.339084,0.028858],[0.024020,0.018456,0.999541]]
2025-10-24T23:03:29.506Z,1761347009.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326330,0.945181,-0.011923],[-0.944981,-0.325904,0.028246],[0.022812,0.020485,0.999530]]
2025-10-24T23:03:29.953Z,1761347009.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312522,0.949810,-0.013802],[-0.949662,-0.312075,0.027423],[0.021739,0.021677,0.999529]]
2025-10-24T23:03:30.306Z,1761347010.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297566,0.954594,-0.014306],[-0.954478,-0.297139,0.026075],[0.020640,0.021414,0.999558]]
2025-10-24T23:03:30.710Z,1761347010.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281480,0.959453,-0.014767],[-0.959372,-0.281080,0.024460],[0.019317,0.021052,0.999592]]
2025-10-24T23:03:31.120Z,1761347011.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264772,0.964194,-0.015003],[-0.964153,-0.264414,0.022246],[0.017483,0.020355,0.999640]]
2025-10-24T23:03:31.519Z,1761347011.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248617,0.968495,-0.014395],[-0.968479,-0.248322,0.019608],[0.015416,0.018816,0.999704]]
2025-10-24T23:03:31.959Z,1761347011.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233835,0.972144,-0.016040],[-0.972184,-0.233555,0.017596],[0.013360,0.019708,0.999717]]
2025-10-24T23:03:32.328Z,1761347012.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219654,0.975452,-0.015656],[-0.975509,-0.219421,0.015352],[0.011540,0.018645,0.999760]]
2025-10-24T23:03:32.344Z,1761347012.344 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:03:32.732Z,1761347012.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205754,0.978494,-0.014683],[-0.978552,-0.205565,0.013399],[0.010093,0.017125,0.999802]]
2025-10-24T23:03:33.348Z,1761347013.348 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:03:33.539Z,1761347013.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179482,0.983669,-0.013507],[-0.983732,-0.179354,0.010135],[0.007547,0.015106,0.999857]]
2025-10-24T23:03:33.973Z,1761347013.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166632,0.985922,-0.013871],[-0.985998,-0.166519,0.008955],[0.006519,0.015169,0.999864]]
2025-10-24T23:03:34.347Z,1761347014.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152188,0.988245,-0.014503],[-0.988337,-0.152090,0.007655],[0.005360,0.015499,0.999866]]
2025-10-24T23:03:34.750Z,1761347014.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137152,0.990438,-0.014912],[-0.990541,-0.137069,0.006464],[0.004358,0.015657,0.999868]]
2025-10-24T23:03:35.156Z,1761347015.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120822,0.992559,-0.015110],[-0.992668,-0.120754,0.005352],[0.003488,0.015646,0.999871]]
2025-10-24T23:03:35.558Z,1761347015.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103206,0.994521,-0.016641],[-0.994656,-0.103145,0.004497],[0.002756,0.017017,0.999851]]
2025-10-24T23:03:35.975Z,1761347015.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084509,0.996250,-0.018533],[-0.996421,-0.084456,0.003632],[0.002053,0.018773,0.999822]]
2025-10-24T23:03:36.371Z,1761347016.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063611,0.997782,-0.019617],[-0.997974,-0.063572,0.002597],[0.001344,0.019743,0.999804]]
2025-10-24T23:03:36.775Z,1761347016.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042143,0.998896,-0.020751],[-0.999112,-0.042127,0.001218],[0.000343,0.020784,0.999784]]
2025-10-24T23:03:37.178Z,1761347017.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020873,0.999554,-0.021348],[-0.999781,-0.020894,-0.000802],[-0.001248,0.021327,0.999772]]
2025-10-24T23:03:37.583Z,1761347017.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000751,0.999750,-0.022331],[-0.999994,-0.000824,-0.003287],[-0.003304,0.022328,0.999745]]
2025-10-24T23:03:37.990Z,1761347017.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016837,0.999575,-0.023790],[-0.999844,0.016706,-0.005704],[-0.005304,0.023882,0.999701]]
2025-10-24T23:03:38.005Z,1761347018.005 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,000501025.0, +14.1,   0.0,1504.0,  0
2025-10-24T23:03:38.053Z,1761347018.053 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:03:38.053Z,1761347018.053 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:03:38.053Z,1761347018.053 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:03:38.054Z,1761347018.054 [marl:UpdateRudder:A] Stopped
2025-10-24T23:03:38.054Z,1761347018.054 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:03:38.054Z,1761347018.054 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:03:38.054Z,1761347018.054 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:03:38.054Z,1761347018.054 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:03:38.054Z,1761347018.054 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:03:38.054Z,1761347018.054 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:03:38.054Z,1761347018.054 [marl:UpdateCommandMode] Stopped
2025-10-24T23:03:38.054Z,1761347018.054 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:03:38.055Z,1761347018.055 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:03:38.055Z,1761347018.055 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:03:38.055Z,1761347018.055 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:03:38.055Z,1761347018.055 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:03:38.055Z,1761347018.055 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:03:38.055Z,1761347018.055 [marl:UpdateSpeed] Stopped
2025-10-24T23:03:38.055Z,1761347018.055 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:03:38.390Z,1761347018.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032282,0.999170,-0.024854],[-0.999451,0.032086,-0.008226],[-0.007422,0.025106,0.999657]]
2025-10-24T23:03:38.425Z,1761347018.425 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:03:38.426Z,1761347018.426 [marl:UpdateRudder:B] Stopped
2025-10-24T23:03:38.426Z,1761347018.426 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:03:38.426Z,1761347018.426 [marl:UpdateRudder] Stopped
2025-10-24T23:03:38.426Z,1761347018.426 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:03:38.794Z,1761347018.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045497,0.998647,-0.025197],[-0.998923,0.045251,-0.010262],[-0.009108,0.025637,0.999630]]
2025-10-24T23:03:39.198Z,1761347019.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057356,0.998046,-0.024797],[-0.998301,0.057080,-0.011697],[-0.010259,0.025426,0.999624]]
2025-10-24T23:03:39.603Z,1761347019.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068447,0.997358,-0.024338],[-0.997598,0.068162,-0.012364],[-0.010672,0.025126,0.999627]]
2025-10-24T23:03:40.012Z,1761347020.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080269,0.996528,-0.022092],[-0.996712,0.079999,-0.012848],[-0.011036,0.023051,0.999673]]
2025-10-24T23:03:40.410Z,1761347020.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093122,0.995446,-0.020366],[-0.995591,0.092864,-0.013229],[-0.011277,0.021508,0.999705]]
2025-10-24T23:03:40.815Z,1761347020.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108095,0.993944,-0.019759],[-0.994072,0.107834,-0.013875],[-0.011661,0.021142,0.999708]]
2025-10-24T23:03:41.219Z,1761347021.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124876,0.992011,-0.017909],[-0.992095,0.124621,-0.014726],[-0.012376,0.019606,0.999731]]
2025-10-24T23:03:41.623Z,1761347021.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142845,0.989606,-0.016591],[-0.989653,0.142584,-0.016017],[-0.013485,0.018707,0.999734]]
2025-10-24T23:03:42.026Z,1761347022.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161420,0.986774,-0.014816],[-0.986776,0.161160,-0.017337],[-0.014720,0.017418,0.999740]]
2025-10-24T23:03:42.430Z,1761347022.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179924,0.983582,-0.013886],[-0.983550,0.179652,-0.018852],[-0.016047,0.017050,0.999726]]
2025-10-24T23:03:42.834Z,1761347022.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198038,0.980119,-0.012114],[-0.980035,0.197768,-0.020460],[-0.017657,0.015924,0.999717]]
2025-10-24T23:03:43.240Z,1761347023.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215158,0.976521,-0.010663],[-0.976388,0.214887,-0.022148],[-0.019336,0.015177,0.999698]]
2025-10-24T23:03:43.642Z,1761347023.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230899,0.972925,-0.010098],[-0.972756,0.230613,-0.023732],[-0.020761,0.015303,0.999667]]
2025-10-24T23:03:44.046Z,1761347024.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245567,0.969327,-0.010120],[-0.969124,0.245249,-0.025506],[-0.022242,0.016071,0.999623]]
2025-10-24T23:03:44.458Z,1761347024.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258661,0.965920,-0.009641],[-0.965681,0.258328,-0.026976],[-0.023566,0.016288,0.999590]]
2025-10-24T23:03:44.856Z,1761347024.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270788,0.962602,-0.008401],[-0.962321,0.270464,-0.028065],[-0.024743,0.015684,0.999571]]
2025-10-24T23:03:45.258Z,1761347025.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283095,0.959062,-0.007570],[-0.958745,0.282772,-0.029138],[-0.025805,0.015506,0.999547]]
2025-10-24T23:03:45.667Z,1761347025.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296104,0.955128,-0.007327],[-0.954779,0.295763,-0.030351],[-0.026822,0.015982,0.999512]]
2025-10-24T23:03:46.068Z,1761347026.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309277,0.950953,-0.006076],[-0.950565,0.308951,-0.031215],[-0.027807,0.015430,0.999494]]
2025-10-24T23:03:46.472Z,1761347026.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322136,0.946676,-0.005786],[-0.946257,0.321796,-0.032318],[-0.028732,0.015886,0.999461]]
2025-10-24T23:03:46.875Z,1761347026.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334691,0.942316,-0.004718],[-0.941855,0.334360,-0.033339],[-0.029838,0.015602,0.999433]]
2025-10-24T23:03:47.285Z,1761347027.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358083,0.933689,-0.001347],[-0.933099,0.357805,-0.036072],[-0.033198,0.014174,0.999348]]
2025-10-24T23:03:47.690Z,1761347027.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368765,0.929522,0.000196],[-0.928887,0.368521,-0.036886],[-0.034358,0.013421,0.999319]]
2025-10-24T23:03:48.098Z,1761347028.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380292,0.924866,0.001139],[-0.924200,0.380064,-0.037487],[-0.035103,0.013203,0.999296]]
2025-10-24T23:03:48.251Z,1761347028.251 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:03:48.251Z,1761347028.251 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:03:48.495Z,1761347028.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393678,0.919248,0.001162],[-0.918561,0.393432,-0.038180],[-0.035554,0.013963,0.999270]]
2025-10-24T23:03:48.898Z,1761347028.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408719,0.912659,0.001192],[-0.911976,0.408463,-0.038188],[-0.035340,0.014521,0.999270]]
2025-10-24T23:03:49.299Z,1761347029.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426054,0.904697,0.000692],[-0.904037,0.425772,-0.037886],[-0.034570,0.015516,0.999282]]
2025-10-24T23:03:49.704Z,1761347029.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444328,0.895864,-0.000312],[-0.895240,0.444005,-0.037496],[-0.033452,0.016940,0.999297]]
2025-10-24T23:03:50.106Z,1761347030.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463430,0.886133,-0.000076],[-0.885518,0.463105,-0.037293],[-0.033011,0.017350,0.999304]]
2025-10-24T23:03:50.163Z,1761347030.163 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:03:50.510Z,1761347030.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483140,0.875543,-0.000698],[-0.874882,0.482744,-0.039226],[-0.034007,0.019563,0.999230]]
2025-10-24T23:03:50.921Z,1761347030.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503051,0.864254,0.002204],[-0.863478,0.502705,-0.041150],[-0.036672,0.018797,0.999151]]
2025-10-24T23:03:50.966Z,1761347030.966 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:03:50.966Z,1761347030.966 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:03:50.966Z,1761347030.966 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:03:50.967Z,1761347030.967 [marl:UpdateRudder:A] Stopped
2025-10-24T23:03:50.967Z,1761347030.967 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:03:50.967Z,1761347030.967 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:03:50.967Z,1761347030.967 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:03:50.967Z,1761347030.967 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:03:50.968Z,1761347030.968 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:03:50.968Z,1761347030.968 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:03:50.968Z,1761347030.968 [marl:UpdateCommandMode] Stopped
2025-10-24T23:03:50.968Z,1761347030.968 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:03:50.968Z,1761347030.968 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:03:50.969Z,1761347030.969 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:03:50.969Z,1761347030.969 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:03:50.969Z,1761347030.969 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:03:50.969Z,1761347030.969 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:03:50.969Z,1761347030.969 [marl:UpdateSpeed] Stopped
2025-10-24T23:03:50.969Z,1761347030.969 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:03:51.319Z,1761347031.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521509,0.853219,0.006749],[-0.852306,0.521290,-0.042788],[-0.040025,0.016562,0.999061]]
2025-10-24T23:03:51.366Z,1761347031.366 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:03:51.366Z,1761347031.366 [marl:UpdateRudder:B] Stopped
2025-10-24T23:03:51.366Z,1761347031.366 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:03:51.366Z,1761347031.366 [marl:UpdateRudder] Stopped
2025-10-24T23:03:51.367Z,1761347031.367 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:03:51.722Z,1761347031.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536612,0.843754,0.011263],[-0.842764,0.536558,-0.043058],[-0.042373,0.013613,0.999009]]
2025-10-24T23:03:52.126Z,1761347032.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549951,0.835104,0.012467],[-0.834060,0.549919,-0.043961],[-0.043568,0.013778,0.998955]]
2025-10-24T23:03:52.530Z,1761347032.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562708,0.826542,0.013730],[-0.825489,0.562718,-0.043775],[-0.043908,0.013299,0.998947]]
2025-10-24T23:03:53.339Z,1761347033.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587293,0.809254,0.013928],[-0.808214,0.587286,-0.043426],[-0.043322,0.014247,0.998960]]
2025-10-24T23:03:53.742Z,1761347033.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597715,0.801522,0.017272],[-0.800564,0.597874,-0.040539],[-0.042820,0.010403,0.999029]]
2025-10-24T23:03:54.147Z,1761347034.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605271,0.795550,0.027350],[-0.794866,0.605886,-0.033016],[-0.042836,-0.001756,0.999081]]
2025-10-24T23:03:54.551Z,1761347034.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607608,0.792967,0.044911],[-0.793085,0.608800,-0.019452],[-0.042767,-0.023799,0.998802]]
2025-10-24T23:03:54.954Z,1761347034.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606659,0.791980,0.068795],[-0.793799,0.608178,-0.001448],[-0.042986,-0.053731,0.997630]]
2025-10-24T23:03:55.358Z,1761347035.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604118,0.790950,0.097161],[-0.795720,0.605344,0.019678],[-0.043252,-0.089201,0.995074]]
2025-10-24T23:03:55.762Z,1761347035.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600766,0.789767,0.123892],[-0.798254,0.601023,0.039517],[-0.043253,-0.122637,0.991509]]
2025-10-24T23:03:56.170Z,1761347036.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597814,0.788203,0.146134],[-0.800475,0.596749,0.055945],[-0.043109,-0.150422,0.987682]]
2025-10-24T23:03:56.570Z,1761347036.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595938,0.786398,0.162592],[-0.801905,0.593491,0.068677],[-0.042489,-0.171310,0.984300]]
2025-10-24T23:03:56.974Z,1761347036.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595619,0.784373,0.173199],[-0.802160,0.592124,0.076997],[-0.042161,-0.184794,0.981872]]
2025-10-24T23:03:57.378Z,1761347037.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596562,0.781983,0.180600],[-0.801470,0.592228,0.083138],[-0.041943,-0.194343,0.980037]]
2025-10-24T23:03:57.784Z,1761347037.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598419,0.779938,0.183280],[-0.800105,0.593634,0.086208],[-0.041564,-0.198232,0.979273]]
2025-10-24T23:03:58.190Z,1761347038.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601152,0.777334,0.185388],[-0.798055,0.596018,0.088717],[-0.041532,-0.201282,0.978652]]
2025-10-24T23:03:58.590Z,1761347038.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604138,0.774685,0.186765],[-0.795807,0.598678,0.090970],[-0.041340,-0.203587,0.978184]]
2025-10-24T23:03:58.997Z,1761347038.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607380,0.772032,0.187233],[-0.793363,0.601597,0.093043],[-0.040806,-0.205056,0.977899]]
2025-10-24T23:03:59.410Z,1761347039.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610086,0.769620,0.188358],[-0.791312,0.603906,0.095513],[-0.040242,-0.207322,0.977445]]
2025-10-24T23:03:59.802Z,1761347039.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612307,0.767898,0.188180],[-0.789620,0.605924,0.096730],[-0.039744,-0.207819,0.977360]]
2025-10-24T23:04:00.231Z,1761347040.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613419,0.767214,0.187349],[-0.788785,0.606944,0.097147],[-0.039178,-0.207370,0.977478]]
2025-10-24T23:04:00.613Z,1761347040.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613721,0.767224,0.186313],[-0.788571,0.607254,0.096946],[-0.038760,-0.206419,0.977696]]
2025-10-24T23:04:01.015Z,1761347041.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612954,0.768197,0.184826],[-0.789193,0.606569,0.096171],[-0.038232,-0.204812,0.978054]]
2025-10-24T23:04:01.419Z,1761347041.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611670,0.770044,0.181364],[-0.790215,0.605626,0.093688],[-0.037695,-0.200623,0.978943]]
2025-10-24T23:04:01.822Z,1761347041.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610038,0.772118,0.178010],[-0.791514,0.604253,0.091565],[-0.036864,-0.196755,0.979759]]
2025-10-24T23:04:02.233Z,1761347042.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608538,0.774151,0.174272],[-0.792719,0.602973,0.089558],[-0.035750,-0.192648,0.980617]]
2025-10-24T23:04:02.630Z,1761347042.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607536,0.775842,0.170203],[-0.793560,0.602072,0.088152],[-0.034082,-0.188622,0.981458]]
2025-10-24T23:04:03.438Z,1761347043.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608711,0.776501,0.162841],[-0.792799,0.603241,0.087005],[-0.030673,-0.182061,0.982809]]
2025-10-24T23:04:03.468Z,1761347043.468 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:04:03.843Z,1761347043.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610560,0.775802,0.159211],[-0.791433,0.605093,0.086586],[-0.029164,-0.178871,0.983440]]
2025-10-24T23:04:03.965Z,1761347043.965 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:04:03.965Z,1761347043.965 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:04:03.965Z,1761347043.965 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:04:03.966Z,1761347043.966 [marl:UpdateRudder:A] Stopped
2025-10-24T23:04:03.966Z,1761347043.966 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:04:03.966Z,1761347043.966 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:04:03.966Z,1761347043.966 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:04:03.966Z,1761347043.966 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:04:03.966Z,1761347043.966 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:04:03.967Z,1761347043.967 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:04:03.967Z,1761347043.967 [marl:UpdateCommandMode] Stopped
2025-10-24T23:04:03.967Z,1761347043.967 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:04:03.967Z,1761347043.967 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:04:03.967Z,1761347043.967 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:04:03.967Z,1761347043.967 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:04:03.967Z,1761347043.967 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:04:03.967Z,1761347043.967 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:04:03.967Z,1761347043.967 [marl:UpdateSpeed] Stopped
2025-10-24T23:04:04.004Z,1761347044.004 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:04:04.247Z,1761347044.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612969,0.774411,0.156708],[-0.789625,0.607354,0.087256],[-0.027605,-0.177226,0.983783]]
2025-10-24T23:04:04.309Z,1761347044.309 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:04:04.309Z,1761347044.309 [marl:UpdateRudder:B] Stopped
2025-10-24T23:04:04.309Z,1761347044.309 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:04:04.310Z,1761347044.310 [marl:UpdateRudder] Stopped
2025-10-24T23:04:04.310Z,1761347044.310 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:04:04.472Z,1761347044.472 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:04:04.654Z,1761347044.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616377,0.772143,0.154510],[-0.787012,0.610606,0.088159],[-0.026273,-0.175941,0.984050]]
2025-10-24T23:04:05.055Z,1761347045.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620135,0.769241,0.153950],[-0.784094,0.614041,0.090280],[-0.025084,-0.176697,0.983946]]
2025-10-24T23:04:05.458Z,1761347045.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624248,0.765913,0.153920],[-0.780865,0.617719,0.093127],[-0.023753,-0.178325,0.983685]]
2025-10-24T23:04:05.867Z,1761347045.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628662,0.762069,0.155035],[-0.777351,0.621575,0.096801],[-0.022597,-0.181371,0.983155]]
2025-10-24T23:04:06.270Z,1761347046.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633229,0.757993,0.156419],[-0.773664,0.625549,0.100659],[-0.021549,-0.184756,0.982548]]
2025-10-24T23:04:06.678Z,1761347046.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638455,0.753371,0.157504],[-0.769376,0.630260,0.104077],[-0.020860,-0.187629,0.982018]]
2025-10-24T23:04:07.074Z,1761347047.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645603,0.747974,0.154048],[-0.763391,0.637583,0.103549],[-0.020767,-0.184450,0.982622]]
2025-10-24T23:04:07.479Z,1761347047.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655967,0.741758,0.139648],[-0.754502,0.649498,0.094223],[-0.020810,-0.167172,0.985708]]
2025-10-24T23:04:07.950Z,1761347047.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668770,0.733826,0.119354],[-0.743177,0.664338,0.079643],[-0.020848,-0.141964,0.989652]]
2025-10-24T23:04:07.960Z,1761347047.960 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 694.41, 606.65, 629.87
2025-10-24T23:04:08.288Z,1761347048.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682561,0.724253,0.097812],[-0.730520,0.680025,0.062506],[-0.021244,-0.114117,0.993240]]
2025-10-24T23:04:08.692Z,1761347048.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695747,0.714125,0.077211],[-0.717967,0.694618,0.045048],[-0.021463,-0.086777,0.995997]]
2025-10-24T23:04:09.094Z,1761347049.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708432,0.703246,0.059747],[-0.705446,0.708158,0.029303],[-0.021703,-0.062908,0.997783]]
2025-10-24T23:04:09.499Z,1761347049.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719545,0.692827,0.047382],[-0.694107,0.719650,0.017892],[-0.021702,-0.045762,0.998717]]
2025-10-24T23:04:09.940Z,1761347049.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729672,0.682744,0.037930],[-0.683458,0.729934,0.009036],[-0.021518,-0.032517,0.999240]]
2025-10-24T23:04:10.306Z,1761347050.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739163,0.672812,0.031003],[-0.673187,0.739468,0.002320],[-0.021365,-0.022586,0.999517]]
2025-10-24T23:04:10.710Z,1761347050.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747451,0.663827,0.025524],[-0.663997,0.747732,-0.002333],[-0.020633,-0.015204,0.999671]]
2025-10-24T23:04:11.115Z,1761347051.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755166,0.655168,0.021921],[-0.655255,0.755397,-0.003908],[-0.019120,-0.011413,0.999752]]
2025-10-24T23:04:11.520Z,1761347051.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762757,0.646411,0.018844],[-0.646456,0.762938,-0.004385],[-0.017212,-0.008838,0.999813]]
2025-10-24T23:04:11.951Z,1761347051.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770243,0.637555,0.015780],[-0.637575,0.770376,-0.004396],[-0.014960,-0.006675,0.999866]]
2025-10-24T23:04:12.327Z,1761347052.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778254,0.627816,0.012959],[-0.627821,0.778346,-0.004192],[-0.012719,-0.004874,0.999907]]
2025-10-24T23:04:12.730Z,1761347052.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787223,0.616591,0.009731],[-0.616582,0.787279,-0.004325],[-0.010328,-0.002596,0.999943]]
2025-10-24T23:04:13.538Z,1761347053.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807798,0.589440,0.004776],[-0.589425,0.807812,-0.004196],[-0.006331,0.000574,0.999980]]
2025-10-24T23:04:13.957Z,1761347053.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818720,0.574186,0.002858],[-0.574175,0.818723,-0.003980],[-0.004625,0.001617,0.999988]]
2025-10-24T23:04:14.354Z,1761347054.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829948,0.557841,0.001024],[-0.557832,0.829943,-0.004137],[-0.003158,0.002862,0.999991]]
2025-10-24T23:04:14.752Z,1761347054.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840954,0.541106,-0.000254],[-0.541103,0.840949,-0.003523],[-0.001693,0.003100,0.999994]]
2025-10-24T23:04:15.154Z,1761347055.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851896,0.523709,-0.001041],[-0.523710,0.851894,-0.001859],[-0.000087,0.002129,0.999998]]
2025-10-24T23:04:15.558Z,1761347055.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862759,0.505611,-0.002098],[-0.505613,0.862760,-0.000877],[0.001366,0.001817,0.999997]]
2025-10-24T23:04:15.965Z,1761347055.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873321,0.487137,-0.002754],[-0.487135,0.873326,0.001356],[0.003066,0.000158,0.999995]]
2025-10-24T23:04:16.369Z,1761347056.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883351,0.468701,-0.003177],[-0.468689,0.883354,0.004033],[0.004696,-0.002074,0.999987]]
2025-10-24T23:04:16.770Z,1761347056.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892767,0.450504,-0.003777],[-0.450479,0.892767,0.005888],[0.006024,-0.003555,0.999976]]
2025-10-24T23:04:16.812Z,1761347056.812 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:04:16.812Z,1761347056.812 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:04:16.812Z,1761347056.812 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:04:16.813Z,1761347056.813 [marl:UpdateRudder:A] Stopped
2025-10-24T23:04:16.813Z,1761347056.813 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:04:16.813Z,1761347056.813 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:04:16.813Z,1761347056.813 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:04:16.813Z,1761347056.813 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:04:16.813Z,1761347056.813 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:04:16.813Z,1761347056.813 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:04:16.813Z,1761347056.813 [marl:UpdateCommandMode] Stopped
2025-10-24T23:04:16.814Z,1761347056.814 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:04:16.814Z,1761347056.814 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:04:16.814Z,1761347056.814 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:04:16.814Z,1761347056.814 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:04:16.814Z,1761347056.814 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:04:16.814Z,1761347056.814 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:04:16.814Z,1761347056.814 [marl:UpdateSpeed] Stopped
2025-10-24T23:04:16.814Z,1761347056.814 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:04:17.174Z,1761347057.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901341,0.433091,-0.004126],[-0.433054,0.901336,0.007569],[0.006997,-0.005035,0.999963]]
2025-10-24T23:04:17.225Z,1761347057.225 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:04:17.226Z,1761347057.226 [marl:UpdateRudder:B] Stopped
2025-10-24T23:04:17.226Z,1761347057.226 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:04:17.226Z,1761347057.226 [marl:UpdateRudder] Stopped
2025-10-24T23:04:17.226Z,1761347057.226 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:04:17.579Z,1761347057.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908500,0.417865,-0.004064],[-0.417804,0.908472,0.010871],[0.008235,-0.008179,0.999933]]
2025-10-24T23:04:17.982Z,1761347057.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914435,0.404719,-0.003487],[-0.404628,0.914358,0.015023],[0.009268,-0.012327,0.999881]]
2025-10-24T23:04:18.386Z,1761347058.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919480,0.393134,-0.001694],[-0.393016,0.919296,0.020826],[0.009745,-0.018483,0.999782]]
2025-10-24T23:04:18.790Z,1761347058.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924015,0.382356,0.000585],[-0.382234,0.923678,0.026765],[0.009694,-0.024955,0.999642]]
2025-10-24T23:04:19.195Z,1761347059.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928523,0.371266,0.002556],[-0.371166,0.928064,0.030534],[0.008964,-0.029300,0.999530]]
2025-10-24T23:04:19.598Z,1761347059.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933055,0.359722,0.002883],[-0.359634,0.932579,0.030964],[0.008450,-0.029928,0.999516]]
2025-10-24T23:04:20.002Z,1761347060.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937638,0.347607,0.002021],[-0.347507,0.937193,0.030130],[0.008579,-0.028953,0.999544]]
2025-10-24T23:04:20.406Z,1761347060.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942048,0.335478,-0.000795],[-0.335341,0.941726,0.026425],[0.009613,-0.024627,0.999650]]
2025-10-24T23:04:20.818Z,1761347060.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946185,0.323590,-0.004777],[-0.323421,0.946010,0.021545],[0.011491,-0.018841,0.999756]]
2025-10-24T23:04:21.216Z,1761347061.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950047,0.311974,-0.009056],[-0.311774,0.949975,0.018542],[0.014388,-0.014793,0.999787]]
2025-10-24T23:04:21.618Z,1761347061.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954060,0.299296,-0.013853],[-0.299116,0.954118,0.013693],[0.017316,-0.008920,0.999810]]
2025-10-24T23:04:22.022Z,1761347062.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958903,0.283184,-0.017663],[-0.283095,0.959063,0.007386],[0.019031,-0.002082,0.999817]]
2025-10-24T23:04:22.426Z,1761347062.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964129,0.264668,-0.020130],[-0.264661,0.964337,0.003080],[0.020227,0.002358,0.999793]]
2025-10-24T23:04:22.839Z,1761347062.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969252,0.245086,-0.021999],[-0.245153,0.969484,-0.000359],[0.021240,0.005742,0.999758]]
2025-10-24T23:04:23.638Z,1761347063.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978460,0.205019,-0.024148],[-0.205097,0.978741,-0.000795],[0.023471,0.005731,0.999708]]
2025-10-24T23:04:24.043Z,1761347064.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982451,0.184777,-0.025439],[-0.184869,0.982762,-0.001281],[0.024764,0.005962,0.999676]]
2025-10-24T23:04:24.448Z,1761347064.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986049,0.164336,-0.026475],[-0.164380,0.986397,0.000529],[0.026202,0.003830,0.999649]]
2025-10-24T23:04:24.854Z,1761347064.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989162,0.144147,-0.027936],[-0.144158,0.989553,0.001634],[0.027880,0.002411,0.999608]]
2025-10-24T23:04:25.255Z,1761347065.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991859,0.123958,-0.029169],[-0.123860,0.992286,0.005136],[0.029581,-0.001481,0.999561]]
2025-10-24T23:04:25.662Z,1761347065.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994071,0.104443,-0.030245],[-0.104223,0.994515,0.008747],[0.030993,-0.005543,0.999504]]
2025-10-24T23:04:26.064Z,1761347066.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995830,0.085738,-0.031175],[-0.085426,0.996281,0.011231],[0.032022,-0.008521,0.999451]]
2025-10-24T23:04:26.466Z,1761347066.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997141,0.068429,-0.032057],[-0.067977,0.997574,0.014982],[0.033004,-0.012761,0.999374]]
2025-10-24T23:04:26.873Z,1761347066.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998041,0.053168,-0.032973],[-0.052570,0.998442,0.018723],[0.033917,-0.016952,0.999281]]
2025-10-24T23:04:27.275Z,1761347067.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998685,0.038905,-0.033400],[-0.038133,0.998998,0.023443],[0.034278,-0.022138,0.999167]]
2025-10-24T23:04:27.683Z,1761347067.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999109,0.025770,-0.033423],[-0.024806,0.999273,0.028938],[0.034144,-0.028084,0.999022]]
2025-10-24T23:04:28.082Z,1761347068.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999352,0.012721,-0.033670],[-0.011665,0.999440,0.031372],[0.034050,-0.030959,0.998941]]
2025-10-24T23:04:28.487Z,1761347068.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999412,-0.000228,-0.034282],[0.001309,0.999502,0.031517],[0.034257,-0.031544,0.998915]]
2025-10-24T23:04:28.901Z,1761347068.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999308,-0.012912,-0.034869],[0.013920,0.999488,0.028801],[0.034480,-0.029266,0.998977]]
2025-10-24T23:04:29.301Z,1761347069.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999045,-0.025097,-0.035761],[0.025981,0.999363,0.024464],[0.035124,-0.025369,0.999061]]
2025-10-24T23:04:29.699Z,1761347069.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998644,-0.036722,-0.036913],[0.037512,0.999077,0.020951],[0.036110,-0.022307,0.999099]]
2025-10-24T23:04:29.756Z,1761347069.756 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:04:29.756Z,1761347069.756 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:04:29.756Z,1761347069.756 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:04:29.757Z,1761347069.757 [marl:UpdateRudder:A] Stopped
2025-10-24T23:04:29.757Z,1761347069.757 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:04:29.757Z,1761347069.757 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:04:29.757Z,1761347069.757 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:04:29.757Z,1761347069.757 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:04:29.757Z,1761347069.757 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:04:29.757Z,1761347069.757 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:04:29.757Z,1761347069.757 [marl:UpdateCommandMode] Stopped
2025-10-24T23:04:29.758Z,1761347069.758 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:04:29.758Z,1761347069.758 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:04:29.758Z,1761347069.758 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:04:29.758Z,1761347069.758 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:04:29.758Z,1761347069.758 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:04:29.758Z,1761347069.758 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:04:29.758Z,1761347069.758 [marl:UpdateSpeed] Stopped
2025-10-24T23:04:29.758Z,1761347069.758 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:04:30.103Z,1761347070.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998122,-0.048075,-0.037973],[0.048754,0.998664,0.017144],[0.037098,-0.018963,0.999132]]
2025-10-24T23:04:30.176Z,1761347070.176 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:04:30.176Z,1761347070.176 [marl:UpdateRudder:B] Stopped
2025-10-24T23:04:30.176Z,1761347070.176 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:04:30.176Z,1761347070.176 [marl:UpdateRudder] Stopped
2025-10-24T23:04:30.176Z,1761347070.176 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:04:30.507Z,1761347070.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997431,-0.060202,-0.038833],[0.060784,0.998053,0.013985],[0.037915,-0.016309,0.999148]]
2025-10-24T23:04:30.913Z,1761347070.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996397,-0.075148,-0.039329],[0.075555,0.997101,0.008961],[0.038541,-0.011900,0.999186]]
2025-10-24T23:04:31.321Z,1761347071.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994834,-0.093499,-0.039541],[0.093701,0.995595,0.003286],[0.039060,-0.006974,0.999213]]
2025-10-24T23:04:31.720Z,1761347071.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992783,-0.113151,-0.039735],[0.113184,0.993573,-0.001431],[0.039641,-0.003076,0.999209]]
2025-10-24T23:04:32.122Z,1761347072.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990164,-0.133969,-0.040332],[0.133856,0.990986,-0.005507],[0.040707,0.000054,0.999171]]
2025-10-24T23:04:32.531Z,1761347072.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987037,-0.155248,-0.040700],[0.155039,0.987874,-0.008256],[0.041488,0.001839,0.999137]]
2025-10-24T23:04:32.956Z,1761347072.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981040,-0.188514,-0.044973],[0.188826,0.982007,0.002769],[0.043642,-0.011208,0.998984]]
2025-10-24T23:04:33.350Z,1761347073.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978835,-0.198472,-0.049914],[0.199699,0.979634,0.020896],[0.044750,-0.030422,0.998535]]
2025-10-24T23:04:33.777Z,1761347073.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977423,-0.203470,-0.056958],[0.206290,0.977265,0.048957],[0.045702,-0.059602,0.997175]]
2025-10-24T23:04:34.177Z,1761347074.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976844,-0.203789,-0.065155],[0.208813,0.974441,0.082837],[0.046609,-0.094525,0.994431]]
2025-10-24T23:04:34.578Z,1761347074.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977298,-0.198844,-0.073143],[0.206466,0.971293,0.118161],[0.047547,-0.130580,0.990297]]
2025-10-24T23:04:34.592Z,1761347074.592 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:04:34.982Z,1761347074.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978135,-0.192084,-0.079720],[0.202241,0.967887,0.149311],[0.048479,-0.162169,0.985571]]
2025-10-24T23:04:35.386Z,1761347075.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979015,-0.185466,-0.084455],[0.197743,0.964756,0.173621],[0.049278,-0.186678,0.981184]]
2025-10-24T23:04:35.596Z,1761347075.596 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:04:35.796Z,1761347075.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979836,-0.179982,-0.086762],[0.193521,0.962914,0.188006],[0.049707,-0.201005,0.978328]]
2025-10-24T23:04:36.196Z,1761347076.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980475,-0.176000,-0.087710],[0.190142,0.962275,0.194612],[0.050150,-0.207489,0.976951]]
2025-10-24T23:04:36.598Z,1761347076.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980554,-0.175036,-0.088748],[0.189559,0.961817,0.197423],[0.050803,-0.210407,0.976293]]
2025-10-24T23:04:37.002Z,1761347077.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979902,-0.178322,-0.089404],[0.192806,0.961622,0.195214],[0.051162,-0.208529,0.976677]]
2025-10-24T23:04:37.411Z,1761347077.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978852,-0.183652,-0.090109],[0.198041,0.961113,0.192460],[0.051260,-0.206235,0.977159]]
2025-10-24T23:04:37.811Z,1761347077.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977437,-0.190527,-0.091200],[0.204858,0.960286,0.189430],[0.051486,-0.203839,0.977650]]
2025-10-24T23:04:38.214Z,1761347078.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975734,-0.198370,-0.092695],[0.212681,0.959287,0.185835],[0.052057,-0.201040,0.978199]]
2025-10-24T23:04:38.619Z,1761347078.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974027,-0.205726,-0.094598],[0.220196,0.957957,0.183936],[0.052781,-0.199989,0.978376]]
2025-10-24T23:04:39.030Z,1761347079.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972635,-0.211473,-0.096229],[0.226080,0.956923,0.182169],[0.053560,-0.198939,0.978547]]
2025-10-24T23:04:39.426Z,1761347079.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971654,-0.215268,-0.097719],[0.230097,0.956017,0.181896],[0.054265,-0.199225,0.978450]]
2025-10-24T23:04:39.830Z,1761347079.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970957,-0.217751,-0.099126],[0.232854,0.955245,0.182443],[0.054963,-0.200227,0.978207]]
2025-10-24T23:04:40.234Z,1761347080.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970618,-0.218609,-0.100552],[0.234057,0.954711,0.183697],[0.055840,-0.201835,0.977826]]
2025-10-24T23:04:40.639Z,1761347080.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970487,-0.218720,-0.101567],[0.234491,0.954209,0.185742],[0.056291,-0.204077,0.977335]]
2025-10-24T23:04:41.042Z,1761347081.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970423,-0.218892,-0.101807],[0.234738,0.954051,0.186240],[0.056362,-0.204630,0.977215]]
2025-10-24T23:04:41.446Z,1761347081.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970179,-0.220254,-0.101199],[0.235888,0.953984,0.185124],[0.055768,-0.203475,0.977491]]
2025-10-24T23:04:41.850Z,1761347081.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969818,-0.222186,-0.100432],[0.237595,0.953684,0.184488],[0.054790,-0.202782,0.977690]]
2025-10-24T23:04:42.266Z,1761347082.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969512,-0.223991,-0.099369],[0.239140,0.953341,0.184261],[0.053460,-0.202406,0.977841]]
2025-10-24T23:04:42.663Z,1761347082.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969138,-0.225957,-0.098564],[0.240912,0.952890,0.184291],[0.052279,-0.202348,0.977917]]
2025-10-24T23:04:42.715Z,1761347082.715 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:04:42.715Z,1761347082.715 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:04:42.715Z,1761347082.715 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:04:42.715Z,1761347082.715 [marl:UpdateRudder:A] Stopped
2025-10-24T23:04:42.715Z,1761347082.716 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:04:42.732Z,1761347082.732 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:04:42.732Z,1761347082.732 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:04:42.732Z,1761347082.732 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:04:42.732Z,1761347082.732 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:04:42.732Z,1761347082.732 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:04:42.733Z,1761347082.733 [marl:UpdateCommandMode] Stopped
2025-10-24T23:04:42.733Z,1761347082.733 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:04:42.733Z,1761347082.733 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:04:42.733Z,1761347082.733 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:04:42.733Z,1761347082.733 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:04:42.733Z,1761347082.733 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:04:42.733Z,1761347082.733 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:04:42.733Z,1761347082.733 [marl:UpdateSpeed] Stopped
2025-10-24T23:04:42.734Z,1761347082.734 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:04:43.122Z,1761347083.122 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-24T23:04:43.122Z,1761347083.122 [marl:UpdateRudder:B] Stopped
2025-10-24T23:04:43.122Z,1761347083.122 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:04:43.122Z,1761347083.122 [marl:UpdateRudder] Stopped
2025-10-24T23:04:43.123Z,1761347083.123 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:04:43.467Z,1761347083.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968477,-0.229644,-0.096524],[0.244139,0.952001,0.184637],[0.049490,-0.202382,0.978055]]
2025-10-24T23:04:43.876Z,1761347083.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968227,-0.231238,-0.095214],[0.245439,0.951671,0.184613],[0.047923,-0.202116,0.978188]]
2025-10-24T23:04:44.277Z,1761347084.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967877,-0.233227,-0.093912],[0.247145,0.951165,0.184947],[0.046192,-0.202216,0.978251]]
2025-10-24T23:04:44.682Z,1761347084.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967355,-0.235937,-0.092506],[0.249435,0.950937,0.183032],[0.044783,-0.200131,0.978745]]
2025-10-24T23:04:45.082Z,1761347085.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966765,-0.238964,-0.090888],[0.251993,0.950671,0.180898],[0.043176,-0.197789,0.979293]]
2025-10-24T23:04:45.488Z,1761347085.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966203,-0.241657,-0.089739],[0.254428,0.949951,0.181270],[0.041443,-0.197976,0.979330]]
2025-10-24T23:04:45.918Z,1761347085.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966273,-0.241014,-0.090715],[0.254271,0.948712,0.187864],[0.040785,-0.204594,0.977997]]
2025-10-24T23:04:46.294Z,1761347086.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967534,-0.234308,-0.094744],[0.249362,0.946070,0.206807],[0.041178,-0.223719,0.973783]]
2025-10-24T23:04:46.699Z,1761347086.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970181,-0.220462,-0.100719],[0.238565,0.942000,0.236056],[0.042836,-0.253045,0.966506]]
2025-10-24T23:04:47.105Z,1761347087.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974049,-0.198963,-0.107897],[0.221543,0.935703,0.274553],[0.046333,-0.291332,0.955499]]
2025-10-24T23:04:47.506Z,1761347087.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978898,-0.169840,-0.113635],[0.197807,0.927115,0.318324],[0.051288,-0.334084,0.941147]]
2025-10-24T23:04:47.971Z,1761347087.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983617,-0.137513,-0.116568],[0.170894,0.917122,0.360114],[0.057387,-0.374135,0.925597]]
2025-10-24T23:04:47.998Z,1761347087.998 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,     -126.38,     + 2.48,  64.15,  0.00
2025-10-24T23:04:48.259Z,1761347088.259 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:04:48.259Z,1761347088.259 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:04:48.330Z,1761347088.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987828,-0.102646,-0.116874],[0.141391,0.905726,0.399585],[0.064841,-0.411246,0.909215]]
2025-10-24T23:04:48.728Z,1761347088.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991109,-0.067854,-0.114450],[0.111151,0.895050,0.431893],[0.073133,-0.440774,0.894634]]
2025-10-24T23:04:49.157Z,1761347089.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993397,-0.032934,-0.109898],[0.080078,0.885015,0.458624],[0.082156,-0.464396,0.881809]]
2025-10-24T23:04:49.563Z,1761347089.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994609,0.001310,-0.103685],[0.048843,0.876126,0.479601],[0.091470,-0.482080,0.871339]]
2025-10-24T23:04:49.965Z,1761347089.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994816,0.034412,-0.095688],[0.017328,0.869867,0.492982],[0.100201,-0.492085,0.864761]]
2025-10-24T23:04:50.367Z,1761347090.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994074,0.065847,-0.086499],[-0.013775,0.865568,0.500601],[0.107833,-0.496443,0.861346]]
2025-10-24T23:04:50.416Z,1761347090.416 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:04:50.771Z,1761347090.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992413,0.095541,-0.077386],[-0.044311,0.865047,0.499731],[0.114687,-0.492510,0.862717]]
2025-10-24T23:04:51.176Z,1761347091.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989976,0.124077,-0.067466],[-0.074776,0.865723,0.494907],[0.119814,-0.484901,0.866323]]
2025-10-24T23:04:51.590Z,1761347091.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986706,0.151959,-0.057620],[-0.105204,0.867482,0.486217],[0.123869,-0.473691,0.871937]]
2025-10-24T23:04:51.982Z,1761347091.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982668,0.178822,-0.048848],[-0.135179,0.871574,0.471259],[0.126846,-0.456488,0.880641]]
2025-10-24T23:04:52.432Z,1761347092.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977777,0.205851,-0.039729],[-0.165309,0.873560,0.457783],[0.128941,-0.441041,0.888176]]
2025-10-24T23:04:52.823Z,1761347092.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971776,0.234013,-0.029808],[-0.196511,0.872920,0.446536],[0.130515,-0.428075,0.894269]]
2025-10-24T23:04:53.235Z,1761347093.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964840,0.262206,-0.018205],[-0.228181,0.869987,0.437100],[0.130448,-0.417578,0.899228]]
2025-10-24T23:04:53.630Z,1761347093.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956812,0.290662,-0.005208],[-0.260660,0.865705,0.427331],[0.128717,-0.407518,0.904080]]
2025-10-24T23:04:54.035Z,1761347094.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947606,0.319327,0.008530],[-0.293501,0.859806,0.417841],[0.126094,-0.398453,0.908480]]
2025-10-24T23:04:54.438Z,1761347094.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937509,0.347192,0.023125],[-0.325638,0.852002,0.409942],[0.122626,-0.391855,0.911818]]
2025-10-24T23:04:54.842Z,1761347094.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926575,0.374129,0.038556],[-0.356920,0.842341,0.403820],[0.118603,-0.387931,0.914026]]
2025-10-24T23:04:55.248Z,1761347095.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914952,0.399797,0.055008],[-0.386975,0.830476,0.400699],[0.114515,-0.387907,0.914557]]
2025-10-24T23:04:55.663Z,1761347095.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902689,0.424410,0.070911],[-0.415862,0.818166,0.397067],[0.110503,-0.387917,0.915046]]
2025-10-24T23:04:55.729Z,1761347095.729 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:04:55.729Z,1761347095.729 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:04:55.729Z,1761347095.729 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:04:55.730Z,1761347095.730 [marl:UpdateRudder:A] Stopped
2025-10-24T23:04:55.730Z,1761347095.730 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:04:55.730Z,1761347095.730 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:04:55.730Z,1761347095.730 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:04:55.730Z,1761347095.730 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:04:55.730Z,1761347095.730 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:04:55.731Z,1761347095.731 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:04:55.731Z,1761347095.731 [marl:UpdateCommandMode] Stopped
2025-10-24T23:04:55.731Z,1761347095.731 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:04:55.731Z,1761347095.731 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:04:55.731Z,1761347095.731 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:04:55.731Z,1761347095.731 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:04:55.731Z,1761347095.731 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:04:55.731Z,1761347095.731 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:04:55.731Z,1761347095.731 [marl:UpdateSpeed] Stopped
2025-10-24T23:04:55.732Z,1761347095.732 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:04:56.055Z,1761347096.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890138,0.447192,0.087598],[-0.443063,0.804387,0.395799],[0.106536,-0.391127,0.914150]]
2025-10-24T23:04:56.102Z,1761347096.102 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-24T23:04:56.102Z,1761347096.102 [marl:UpdateRudder:B] Stopped
2025-10-24T23:04:56.102Z,1761347096.102 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:04:56.103Z,1761347096.103 [marl:UpdateRudder] Stopped
2025-10-24T23:04:56.103Z,1761347096.103 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:04:56.459Z,1761347096.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877149,0.468805,0.104071],[-0.469074,0.790015,0.394773],[0.102854,-0.395091,0.912866]]
2025-10-24T23:04:56.862Z,1761347096.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863993,0.488975,0.120079],[-0.493620,0.775574,0.393476],[0.099270,-0.399235,0.911459]]
2025-10-24T23:04:57.267Z,1761347097.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850120,0.508659,0.136242],[-0.517769,0.760265,0.392318],[0.095976,-0.404060,0.909684]]
2025-10-24T23:04:57.687Z,1761347097.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835374,0.527876,0.153289],[-0.541817,0.743751,0.391495],[0.092652,-0.410099,0.907323]]
2025-10-24T23:04:58.074Z,1761347098.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819863,0.546896,0.169497],[-0.565544,0.727321,0.388798],[0.089353,-0.414619,0.905598]]
2025-10-24T23:04:58.525Z,1761347098.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803610,0.565496,0.185541],[-0.588944,0.710666,0.384835],[0.085765,-0.418531,0.904144]]
2025-10-24T23:04:58.932Z,1761347098.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786595,0.583765,0.201214],[-0.611993,0.693756,0.379694],[0.082059,-0.421807,0.902965]]
2025-10-24T23:04:59.331Z,1761347099.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769057,0.601369,0.216581],[-0.634373,0.676637,0.373809],[0.078251,-0.424874,0.901864]]
2025-10-24T23:04:59.734Z,1761347099.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750652,0.619441,0.229814],[-0.656491,0.660107,0.365073],[0.074439,-0.424914,0.902168]]
2025-10-24T23:05:00.138Z,1761347100.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731499,0.636821,0.243656],[-0.678180,0.642540,0.356671],[0.070577,-0.426147,0.901896]]
2025-10-24T23:05:00.543Z,1761347100.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711130,0.654392,0.257033],[-0.699888,0.624220,0.347140],[0.066721,-0.426755,0.901902]]
2025-10-24T23:05:00.606Z,1761347100.606 [marl:SendObservationData] Running Loop=1
2025-10-24T23:05:00.606Z,1761347100.606 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:05:00.606Z,1761347100.606 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:05:00.607Z,1761347100.607 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:05:00.609Z,1761347100.609 [marl:SendObservationData:A](INFO): Got test_good :  41da3f01400000004051400000000000404262f63832fb0dc05e77535118aa2a401d8caf800000004071c66660000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:05:00.609Z,1761347100.609 [marl:SendObservationData:A] Stopped
2025-10-24T23:05:00.609Z,1761347100.609 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:05:00.949Z,1761347100.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689829,0.672256,0.268714],[-0.721286,0.606235,0.335000],[0.062302,-0.424913,0.903088]]
2025-10-24T23:05:01.025Z,1761347101.025 [marl:SendObservationData:B] Stopped
2025-10-24T23:05:01.025Z,1761347101.025 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:05:01.351Z,1761347101.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667118,0.690597,0.279338],[-0.742726,0.587623,0.321026],[0.057554,-0.421633,0.904938]]
2025-10-24T23:05:01.408Z,1761347101.408 [marl:SendObservationData:C] Stopped
2025-10-24T23:05:01.409Z,1761347101.409 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:05:01.754Z,1761347101.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642641,0.709111,0.290127],[-0.764384,0.567578,0.305896],[0.052245,-0.418350,0.906782]]
2025-10-24T23:05:01.811Z,1761347101.811 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.009244 min 
2025-10-24T23:05:01.811Z,1761347101.811 [marl:SendObservationData:E] Stopped
2025-10-24T23:05:01.811Z,1761347101.811 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:05:01.811Z,1761347101.811 [marl:SendObservationData] Stopped
2025-10-24T23:05:01.811Z,1761347101.811 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:05:01.812Z,1761347101.812 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:05:02.162Z,1761347102.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616375,0.728523,0.298891],[-0.786060,0.546671,0.288548],[0.046819,-0.412800,0.909617]]
2025-10-24T23:05:02.570Z,1761347102.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561072,0.769643,0.304710],[-0.826993,0.505276,0.246531],[0.035778,-0.390315,0.919986]]
2025-10-24T23:05:02.982Z,1761347102.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531686,0.790668,0.303569],[-0.846387,0.483066,0.224225],[0.030644,-0.376154,0.926050]]
2025-10-24T23:05:03.375Z,1761347103.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501386,0.809478,0.305546],[-0.864848,0.458464,0.204571],[0.025514,-0.366820,0.929942]]
2025-10-24T23:05:03.782Z,1761347103.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470803,0.824526,0.313850],[-0.882004,0.431680,0.189003],[0.020355,-0.365800,0.930471]]
2025-10-24T23:05:04.190Z,1761347104.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439988,0.836845,0.325732],[-0.897878,0.403911,0.175130],[0.014990,-0.369523,0.929101]]
2025-10-24T23:05:04.583Z,1761347104.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409425,0.847128,0.338740],[-0.912292,0.376200,0.161852],[0.009675,-0.375296,0.926855]]
2025-10-24T23:05:04.986Z,1761347104.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378725,0.854778,0.354855],[-0.925498,0.347900,0.149728],[0.004531,-0.385123,0.922854]]
2025-10-24T23:05:05.390Z,1761347105.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348060,0.861514,0.369659],[-0.937472,0.319826,0.137321],[0.000078,-0.394341,0.918964]]
2025-10-24T23:05:05.716Z,1761347105.716 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:05:05.795Z,1761347105.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317116,0.867404,0.383469],[-0.948379,0.291670,0.124524],[-0.003834,-0.403162,0.915121]]
2025-10-24T23:05:06.212Z,1761347106.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286792,0.872208,0.396236],[-0.957966,0.264178,0.111850],[-0.007120,-0.411659,0.911310]]
2025-10-24T23:05:06.602Z,1761347106.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255767,0.877205,0.406319],[-0.966692,0.236191,0.098592],[-0.009484,-0.418002,0.908396]]
2025-10-24T23:05:06.721Z,1761347106.721 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:05:07.006Z,1761347107.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224821,0.882452,0.413200],[-0.974332,0.208605,0.084624],[-0.011519,-0.421619,0.906700]]
2025-10-24T23:05:07.411Z,1761347107.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193650,0.888143,0.416776],[-0.980984,0.180936,0.070231],[-0.013034,-0.422451,0.906292]]
2025-10-24T23:05:07.817Z,1761347107.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162873,0.893830,0.417780],[-0.986540,0.153785,0.055588],[-0.014562,-0.421211,0.906846]]
2025-10-24T23:05:08.222Z,1761347108.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132189,0.897475,0.420789],[-0.991091,0.126624,0.041279],[-0.016235,-0.422498,0.906219]]
2025-10-24T23:05:08.622Z,1761347108.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101200,0.900757,0.422370],[-0.994703,0.099309,0.026543],[-0.018037,-0.422818,0.906035]]
2025-10-24T23:05:08.678Z,1761347108.678 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:05:08.678Z,1761347108.678 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:05:08.678Z,1761347108.678 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:05:08.679Z,1761347108.679 [marl:UpdateRudder:A] Stopped
2025-10-24T23:05:08.679Z,1761347108.679 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:05:08.679Z,1761347108.679 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:05:08.679Z,1761347108.679 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:05:08.685Z,1761347108.685 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:05:08.685Z,1761347108.685 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:05:08.685Z,1761347108.685 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:05:08.686Z,1761347108.686 [marl:UpdateCommandMode] Stopped
2025-10-24T23:05:08.686Z,1761347108.686 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:05:08.686Z,1761347108.686 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:05:08.686Z,1761347108.686 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:05:08.686Z,1761347108.686 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:05:08.687Z,1761347108.687 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:05:08.687Z,1761347108.687 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:05:08.687Z,1761347108.687 [marl:UpdateSpeed] Stopped
2025-10-24T23:05:08.687Z,1761347108.687 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:05:09.027Z,1761347109.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070308,0.904740,0.420123],[-0.997321,0.072268,0.011272],[-0.020163,-0.419790,0.907397]]
2025-10-24T23:05:09.051Z,1761347109.051 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:05:09.051Z,1761347109.051 [marl:UpdateRudder:B] Stopped
2025-10-24T23:05:09.051Z,1761347109.051 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:05:09.051Z,1761347109.051 [marl:UpdateRudder] Stopped
2025-10-24T23:05:09.051Z,1761347109.051 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:05:09.432Z,1761347109.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039704,0.908324,0.416378],[-0.998958,0.045467,-0.003928],[-0.022499,-0.415788,0.909183]]
2025-10-24T23:05:09.834Z,1761347109.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009883,0.911319,0.411583],[-0.999633,0.019392,-0.018933],[-0.025236,-0.411245,0.911175]]
2025-10-24T23:05:10.304Z,1761347110.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019170,0.913722,0.405888],[-0.999414,-0.005993,-0.033711],[-0.028370,-0.406296,0.913301]]
2025-10-24T23:05:10.653Z,1761347110.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045800,0.917441,0.395227],[-0.998422,-0.029174,-0.047978],[-0.032487,-0.396800,0.917330]]
2025-10-24T23:05:11.046Z,1761347111.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070366,0.920584,0.384154],[-0.996829,-0.050545,-0.061465],[-0.037166,-0.387261,0.921221]]
2025-10-24T23:05:11.451Z,1761347111.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092524,0.922141,0.375626],[-0.994792,-0.069406,-0.074648],[-0.042766,-0.380577,0.923760]]
2025-10-24T23:05:11.854Z,1761347111.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112990,0.922059,0.370190],[-0.992405,-0.086493,-0.087469],[-0.048633,-0.377261,0.924829]]
2025-10-24T23:05:12.267Z,1761347112.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132326,0.920181,0.368452],[-0.989697,-0.102149,-0.100330],[-0.054685,-0.377932,0.924217]]
2025-10-24T23:05:12.674Z,1761347112.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151199,0.918788,0.364648],[-0.986618,-0.117498,-0.113042],[-0.061016,-0.376860,0.924258]]
2025-10-24T23:05:13.066Z,1761347113.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170493,0.917362,0.359694],[-0.983062,-0.133449,-0.125620],[-0.067238,-0.375019,0.924576]]
2025-10-24T23:05:13.470Z,1761347113.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190191,0.915279,0.355094],[-0.978994,-0.149750,-0.138365],[-0.073467,-0.373951,0.924534]]
2025-10-24T23:05:13.880Z,1761347113.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210658,0.913467,0.348141],[-0.974310,-0.167177,-0.150902],[-0.079643,-0.370986,0.925217]]
2025-10-24T23:05:14.279Z,1761347114.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232247,0.911602,0.339179],[-0.968879,-0.186118,-0.163199],[-0.085645,-0.366526,0.926458]]
2025-10-24T23:05:14.686Z,1761347114.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254813,0.909114,0.329517],[-0.962647,-0.206225,-0.175448],[-0.091548,-0.361915,0.927705]]
2025-10-24T23:05:15.086Z,1761347115.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278255,0.905752,0.319668],[-0.955546,-0.227256,-0.187845],[-0.097495,-0.357726,0.928723]]
2025-10-24T23:05:15.492Z,1761347115.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302398,0.901791,0.308754],[-0.947596,-0.249402,-0.199649],[-0.103038,-0.352948,0.929952]]
2025-10-24T23:05:15.931Z,1761347115.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326869,0.896524,0.299001],[-0.938851,-0.271805,-0.211376],[-0.108234,-0.349810,0.930548]]
2025-10-24T23:05:16.298Z,1761347116.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351010,0.889763,0.291743],[-0.929546,-0.293556,-0.223089],[-0.112853,-0.349495,0.930117]]
2025-10-24T23:05:16.703Z,1761347116.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374756,0.882721,0.283480],[-0.919653,-0.315196,-0.234287],[-0.117458,-0.348504,0.929919]]
2025-10-24T23:05:17.108Z,1761347117.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398046,0.874864,0.275996],[-0.909227,-0.336250,-0.245443],[-0.121926,-0.348640,0.929292]]
2025-10-24T23:05:17.510Z,1761347117.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419966,0.866085,0.271155],[-0.898675,-0.355210,-0.257311],[-0.126536,-0.351742,0.927505]]
2025-10-24T23:05:17.959Z,1761347117.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440558,0.856991,0.267346],[-0.888097,-0.372563,-0.269221],[-0.131117,-0.356037,0.925228]]
2025-10-24T23:05:18.318Z,1761347118.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459346,0.848847,0.261648],[-0.877826,-0.388801,-0.279740],[-0.135727,-0.358179,0.923735]]
2025-10-24T23:05:18.723Z,1761347118.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476531,0.841366,0.254994],[-0.867925,-0.404003,-0.288943],[-0.140088,-0.359006,0.922762]]
2025-10-24T23:05:19.133Z,1761347119.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492378,0.833726,0.249929],[-0.858274,-0.417352,-0.298636],[-0.144673,-0.361549,0.921060]]
2025-10-24T23:05:19.534Z,1761347119.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506377,0.826519,0.245861],[-0.849263,-0.428600,-0.308310],[-0.149449,-0.364922,0.918965]]
2025-10-24T23:05:19.954Z,1761347119.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519167,0.820155,0.240441],[-0.840690,-0.439369,-0.316535],[-0.153965,-0.366471,0.917602]]
2025-10-24T23:05:20.344Z,1761347120.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531834,0.813644,0.234812],[-0.831947,-0.450200,-0.324321],[-0.158170,-0.367836,0.916340]]
2025-10-24T23:05:20.744Z,1761347120.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544327,0.807001,0.229034],[-0.823048,-0.460986,-0.331788],[-0.162172,-0.369108,0.915128]]
2025-10-24T23:05:21.151Z,1761347121.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557307,0.800252,0.221373],[-0.813598,-0.473108,-0.337975],[-0.165732,-0.368465,0.914750]]
2025-10-24T23:05:21.555Z,1761347121.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570616,0.792679,0.214610],[-0.803632,-0.485202,-0.344609],[-0.169035,-0.369106,0.913886]]
2025-10-24T23:05:21.605Z,1761347121.605 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:05:21.605Z,1761347121.605 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:05:21.606Z,1761347121.606 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:05:21.606Z,1761347121.606 [marl:UpdateRudder:A] Stopped
2025-10-24T23:05:21.606Z,1761347121.606 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:05:21.606Z,1761347121.606 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:05:21.606Z,1761347121.606 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:05:21.606Z,1761347121.606 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:05:21.607Z,1761347121.607 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:05:21.607Z,1761347121.607 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:05:21.607Z,1761347121.607 [marl:UpdateCommandMode] Stopped
2025-10-24T23:05:21.607Z,1761347121.607 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:05:21.607Z,1761347121.607 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:05:21.607Z,1761347121.607 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:05:21.607Z,1761347121.607 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:05:21.610Z,1761347121.610 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:05:21.610Z,1761347121.610 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:05:21.610Z,1761347121.610 [marl:UpdateSpeed] Stopped
2025-10-24T23:05:21.610Z,1761347121.610 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:05:21.961Z,1761347121.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583820,0.785123,0.206727],[-0.793443,-0.497794,-0.350214],[-0.172054,-0.368488,0.913572]]
2025-10-24T23:05:22.024Z,1761347122.024 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:05:22.024Z,1761347122.024 [marl:UpdateRudder:B] Stopped
2025-10-24T23:05:22.024Z,1761347122.024 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:05:22.024Z,1761347122.024 [marl:UpdateRudder] Stopped
2025-10-24T23:05:22.024Z,1761347122.024 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:05:22.365Z,1761347122.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597227,0.777198,0.198201],[-0.782783,-0.510920,-0.355262],[-0.174844,-0.367321,0.913513]]
2025-10-24T23:05:22.762Z,1761347122.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610430,0.768722,0.190898],[-0.771979,-0.523469,-0.360596],[-0.177269,-0.367488,0.912978]]
2025-10-24T23:05:23.166Z,1761347123.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623324,0.759834,0.184716],[-0.761092,-0.535306,-0.366315],[-0.179459,-0.368919,0.911972]]
2025-10-24T23:05:23.570Z,1761347123.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635403,0.751255,0.178548],[-0.750504,-0.546426,-0.371703],[-0.181680,-0.370182,0.911020]]
2025-10-24T23:05:23.976Z,1761347123.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647666,0.741796,0.173976],[-0.739530,-0.557071,-0.377845],[-0.183367,-0.373378,0.909377]]
2025-10-24T23:05:24.378Z,1761347124.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659651,0.732600,0.167802],[-0.728636,-0.568641,-0.381756],[-0.184255,-0.374092,0.908903]]
2025-10-24T23:05:24.782Z,1761347124.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671726,0.723257,0.160259],[-0.717453,-0.581268,-0.383912],[-0.184513,-0.372862,0.909356]]
2025-10-24T23:05:25.187Z,1761347125.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684354,0.713104,0.152127],[-0.705425,-0.594728,-0.385582],[-0.184486,-0.371189,0.910046]]
2025-10-24T23:05:25.596Z,1761347125.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698123,0.701756,0.141998],[-0.691778,-0.609998,-0.386453],[-0.184577,-0.368022,0.911313]]
2025-10-24T23:05:25.994Z,1761347125.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712530,0.689288,0.131084],[-0.676822,-0.625973,-0.387388],[-0.184967,-0.364746,0.912550]]
2025-10-24T23:05:26.398Z,1761347126.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727683,0.675547,0.118805],[-0.660361,-0.643148,-0.387665],[-0.185477,-0.360551,0.914112]]
2025-10-24T23:05:26.803Z,1761347126.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743237,0.660273,0.107882],[-0.642634,-0.659727,-0.389593],[-0.186065,-0.358889,0.914647]]
2025-10-24T23:05:27.208Z,1761347127.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758724,0.643879,0.098786],[-0.624030,-0.674918,-0.393792],[-0.186882,-0.360425,0.913876]]
2025-10-24T23:05:27.618Z,1761347127.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773993,0.626520,0.091695],[-0.604769,-0.688552,-0.400188],[-0.187589,-0.365197,0.911834]]
2025-10-24T23:05:28.014Z,1761347128.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788417,0.609232,0.085053],[-0.585626,-0.701065,-0.406879],[-0.188256,-0.370599,0.909514]]
2025-10-24T23:05:28.421Z,1761347128.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801966,0.592298,0.077679],[-0.566850,-0.713501,-0.411821],[-0.188497,-0.374299,0.907948]]
2025-10-24T23:05:28.825Z,1761347128.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814451,0.575895,0.070807],[-0.548849,-0.725052,-0.416011],[-0.188240,-0.377683,0.906599]]
2025-10-24T23:05:29.226Z,1761347129.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826177,0.559679,0.064737],[-0.531470,-0.736041,-0.419265],[-0.187004,-0.380794,0.905553]]
2025-10-24T23:05:29.633Z,1761347129.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836770,0.544259,0.059983],[-0.515131,-0.745347,-0.423199],[-0.185622,-0.385020,0.904049]]
2025-10-24T23:05:30.035Z,1761347130.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846537,0.529538,0.054455],[-0.499454,-0.754695,-0.425420],[-0.184179,-0.387331,0.903356]]
2025-10-24T23:05:30.445Z,1761347130.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855397,0.515546,0.050090],[-0.484710,-0.762617,-0.428336],[-0.182628,-0.390677,0.902230]]
2025-10-24T23:05:30.843Z,1761347130.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863380,0.502416,0.046410],[-0.471216,-0.770031,-0.430125],[-0.180364,-0.393230,0.901576]]
2025-10-24T23:05:31.246Z,1761347131.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871079,0.489300,0.042509],[-0.457813,-0.777579,-0.431019],[-0.177843,-0.394913,0.901341]]
2025-10-24T23:05:31.653Z,1761347131.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878578,0.476087,0.037985],[-0.444357,-0.785682,-0.430407],[-0.175067,-0.395025,0.901835]]
2025-10-24T23:05:32.055Z,1761347132.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886017,0.462456,0.033293],[-0.430426,-0.793707,-0.429841],[-0.172357,-0.395177,0.902291]]
2025-10-24T23:05:32.458Z,1761347132.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893488,0.448099,0.029770],[-0.415993,-0.800850,-0.430800],[-0.169200,-0.397299,0.901956]]
2025-10-24T23:05:32.862Z,1761347132.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900701,0.433659,0.026015],[-0.401534,-0.808125,-0.430934],[-0.165855,-0.398589,0.902008]]
2025-10-24T23:05:33.266Z,1761347133.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908091,0.418238,0.021179],[-0.385966,-0.816256,-0.429834],[-0.162485,-0.398502,0.902660]]
2025-10-24T23:05:33.676Z,1761347133.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915317,0.402394,0.016539],[-0.369879,-0.823690,-0.429797],[-0.159325,-0.399517,0.902774]]
2025-10-24T23:05:34.077Z,1761347134.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922224,0.386435,0.013044],[-0.353836,-0.829865,-0.431422],[-0.155892,-0.402483,0.902056]]
2025-10-24T23:05:34.478Z,1761347134.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928752,0.370582,0.009378],[-0.337926,-0.835967,-0.432395],[-0.152398,-0.404756,0.901636]]
2025-10-24T23:05:34.518Z,1761347134.518 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:05:34.518Z,1761347134.518 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:05:34.518Z,1761347134.518 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:05:34.518Z,1761347134.518 [marl:UpdateRudder:A] Stopped
2025-10-24T23:05:34.519Z,1761347134.519 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:05:34.519Z,1761347134.519 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:05:34.519Z,1761347134.519 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:05:34.519Z,1761347134.519 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:05:34.519Z,1761347134.519 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:05:34.519Z,1761347134.519 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:05:34.519Z,1761347134.519 [marl:UpdateCommandMode] Stopped
2025-10-24T23:05:34.519Z,1761347134.519 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:05:34.519Z,1761347134.519 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:05:34.520Z,1761347134.520 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:05:34.520Z,1761347134.520 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:05:34.521Z,1761347134.521 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:05:34.521Z,1761347134.521 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:05:34.521Z,1761347134.521 [marl:UpdateSpeed] Stopped
2025-10-24T23:05:34.521Z,1761347134.521 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:05:34.883Z,1761347134.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935023,0.354539,0.005863],[-0.321985,-0.842012,-0.432830],[-0.148518,-0.406594,0.901456]]
2025-10-24T23:05:34.914Z,1761347134.914 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:05:34.914Z,1761347134.914 [marl:UpdateRudder:B] Stopped
2025-10-24T23:05:34.914Z,1761347134.914 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:05:34.914Z,1761347134.914 [marl:UpdateRudder] Stopped
2025-10-24T23:05:34.915Z,1761347134.915 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:05:35.286Z,1761347135.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940892,0.338698,0.002431],[-0.306365,-0.847968,-0.432540],[-0.144439,-0.407718,0.901612]]
2025-10-24T23:05:35.691Z,1761347135.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946579,0.322472,-0.000462],[-0.290522,-0.853414,-0.432761],[-0.139947,-0.409508,0.901509]]
2025-10-24T23:05:36.101Z,1761347136.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951993,0.306107,-0.002962],[-0.274691,-0.858480,-0.433079],[-0.135111,-0.411474,0.901351]]
2025-10-24T23:05:36.503Z,1761347136.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957158,0.289501,-0.006203],[-0.258589,-0.864204,-0.431605],[-0.130311,-0.411510,0.902041]]
2025-10-24T23:05:36.844Z,1761347136.844 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:05:36.904Z,1761347136.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962436,0.271296,-0.010785],[-0.240724,-0.871005,-0.428255],[-0.125578,-0.409571,0.903594]]
2025-10-24T23:05:37.307Z,1761347137.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967501,0.252362,-0.016004],[-0.221912,-0.877700,-0.424732],[-0.121233,-0.407377,0.905178]]
2025-10-24T23:05:37.710Z,1761347137.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972329,0.232560,-0.022204],[-0.201843,-0.884135,-0.421384],[-0.117628,-0.405242,0.906610]]
2025-10-24T23:05:37.848Z,1761347137.848 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:05:38.114Z,1761347138.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976871,0.211817,-0.029276],[-0.180633,-0.890711,-0.417139],[-0.114434,-0.402203,0.908371]]
2025-10-24T23:05:38.518Z,1761347138.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980930,0.190748,-0.037304],[-0.158714,-0.896914,-0.412741],[-0.112188,-0.398949,0.910084]]
2025-10-24T23:05:38.922Z,1761347138.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984444,0.169643,-0.045729],[-0.136414,-0.902020,-0.409575],[-0.110731,-0.396966,0.911129]]
2025-10-24T23:05:39.328Z,1761347139.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987420,0.148349,-0.054721],[-0.113609,-0.906323,-0.407027],[-0.109977,-0.395689,0.911776]]
2025-10-24T23:05:39.732Z,1761347139.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989841,0.126926,-0.064060],[-0.090305,-0.909286,-0.406256],[-0.109813,-0.396344,0.911511]]
2025-10-24T23:05:40.134Z,1761347140.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991729,0.105272,-0.073425],[-0.066692,-0.911441,-0.405989],[-0.109662,-0.397734,0.910923]]
2025-10-24T23:05:40.538Z,1761347140.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993042,0.083525,-0.083014],[-0.042941,-0.913231,-0.405174],[-0.109653,-0.398790,0.910463]]
2025-10-24T23:05:40.943Z,1761347140.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993789,0.062727,-0.091916],[-0.020187,-0.913908,-0.405419],[-0.109434,-0.401045,0.909498]]
2025-10-24T23:05:41.750Z,1761347141.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994116,0.025796,-0.105206],[0.019050,-0.914460,-0.404229],[-0.106635,-0.403854,0.908587]]
2025-10-24T23:05:42.154Z,1761347142.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994003,0.010352,-0.108866],[0.034931,-0.913300,-0.405788],[-0.103628,-0.407157,0.907460]]
2025-10-24T23:05:42.565Z,1761347142.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993821,-0.004370,-0.110910],[0.049184,-0.913106,-0.404744],[-0.099504,-0.407698,0.907679]]
2025-10-24T23:05:42.964Z,1761347142.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993530,-0.019271,-0.111927],[0.063171,-0.912759,-0.403585],[-0.094385,-0.408044,0.908070]]
2025-10-24T23:05:43.366Z,1761347143.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993142,-0.033714,-0.111946],[0.076396,-0.911959,-0.403107],[-0.088500,-0.408895,0.908280]]
2025-10-24T23:05:43.771Z,1761347143.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992560,-0.048571,-0.111645],[0.089807,-0.911235,-0.401978],[-0.082211,-0.409014,0.908818]]
2025-10-24T23:05:44.177Z,1761347144.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991683,-0.064182,-0.111558],[0.104050,-0.909965,-0.401418],[-0.075750,-0.409687,0.909076]]
2025-10-24T23:05:44.582Z,1761347144.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990483,-0.080344,-0.111754],[0.118893,-0.908508,-0.400596],[-0.069344,-0.410070,0.909414]]
2025-10-24T23:05:44.982Z,1761347144.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988899,-0.097583,-0.112057],[0.134767,-0.906655,-0.399769],[-0.062586,-0.410433,0.909741]]
2025-10-24T23:05:45.387Z,1761347145.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986796,-0.116533,-0.112488],[0.152203,-0.904682,-0.397976],[-0.055389,-0.409842,0.910473]]
2025-10-24T23:05:45.791Z,1761347145.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984039,-0.137046,-0.113512],[0.171298,-0.902304,-0.395607],[-0.048206,-0.408737,0.911378]]
2025-10-24T23:05:46.194Z,1761347146.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980549,-0.159068,-0.114983],[0.191978,-0.899189,-0.393198],[-0.040846,-0.407624,0.912236]]
2025-10-24T23:05:46.598Z,1761347146.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976278,-0.182054,-0.117209],[0.213890,-0.895032,-0.391368],[-0.033656,-0.407153,0.912739]]
2025-10-24T23:05:47.004Z,1761347147.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971426,-0.205007,-0.119595],[0.235848,-0.890237,-0.389684],[-0.026580,-0.406755,0.913150]]
2025-10-24T23:05:47.406Z,1761347147.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966085,-0.227213,-0.122693],[0.257437,-0.884541,-0.388991],[-0.020143,-0.407384,0.913035]]
2025-10-24T23:05:47.817Z,1761347147.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954422,-0.267990,-0.131377],[0.298318,-0.870196,-0.392130],[-0.009237,-0.413450,0.910480]]
2025-10-24T23:05:47.853Z,1761347147.853 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:05:47.853Z,1761347147.853 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:05:47.853Z,1761347147.853 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:05:47.854Z,1761347147.854 [marl:UpdateRudder:A] Stopped
2025-10-24T23:05:47.854Z,1761347147.854 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:05:47.854Z,1761347147.854 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:05:47.854Z,1761347147.854 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:05:47.854Z,1761347147.854 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:05:47.854Z,1761347147.854 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:05:47.855Z,1761347147.855 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:05:47.855Z,1761347147.855 [marl:UpdateCommandMode] Stopped
2025-10-24T23:05:47.855Z,1761347147.855 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:05:47.855Z,1761347147.855 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:05:47.855Z,1761347147.855 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:05:47.855Z,1761347147.855 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:05:47.855Z,1761347147.855 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:05:47.855Z,1761347147.855 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:05:47.855Z,1761347147.855 [marl:UpdateSpeed] Stopped
2025-10-24T23:05:47.856Z,1761347147.856 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:05:48.219Z,1761347148.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947981,-0.287116,-0.137467],[0.318278,-0.862541,-0.393347],[-0.005635,-0.416638,0.909055]]
2025-10-24T23:05:48.283Z,1761347148.283 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:05:48.283Z,1761347148.283 [marl:UpdateRudder:B] Stopped
2025-10-24T23:05:48.283Z,1761347148.283 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:05:48.283Z,1761347148.283 [marl:UpdateRudder] Stopped
2025-10-24T23:05:48.283Z,1761347148.283 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:05:48.376Z,1761347148.376 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:05:48.376Z,1761347148.376 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:05:48.629Z,1761347148.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941023,-0.305649,-0.145102],[0.338324,-0.854607,-0.393935],[-0.003599,-0.419793,0.907613]]
2025-10-24T23:05:49.028Z,1761347149.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933858,-0.323087,-0.153377],[0.357633,-0.847053,-0.393193],[-0.002883,-0.422039,0.906573]]
2025-10-24T23:05:49.430Z,1761347149.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925970,-0.340983,-0.162206],[0.377583,-0.839982,-0.389693],[-0.003371,-0.422091,0.906547]]
2025-10-24T23:05:49.832Z,1761347149.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917411,-0.359404,-0.170837],[0.397913,-0.833557,-0.383207],[-0.004676,-0.419537,0.907726]]
2025-10-24T23:05:50.234Z,1761347150.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908761,-0.376962,-0.179037],[0.417271,-0.827239,-0.376246],[-0.006276,-0.416624,0.909057]]
2025-10-24T23:05:50.639Z,1761347150.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900958,-0.392224,-0.185565],[0.433847,-0.821348,-0.370358],[-0.007151,-0.414184,0.910165]]
2025-10-24T23:05:50.691Z,1761347150.691 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:05:51.050Z,1761347151.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894498,-0.405257,-0.188787],[0.447032,-0.816446,-0.365482],[-0.006020,-0.411317,0.911472]]
2025-10-24T23:05:51.447Z,1761347151.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889038,-0.416424,-0.190269],[0.457824,-0.811280,-0.363623],[-0.002941,-0.410384,0.911908]]
2025-10-24T23:05:51.852Z,1761347151.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883043,-0.428283,-0.191855],[0.469291,-0.805450,-0.361961],[0.000492,-0.409663,0.912237]]
2025-10-24T23:05:52.254Z,1761347152.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876236,-0.441381,-0.193373],[0.481861,-0.798844,-0.360080],[0.004457,-0.408694,0.912661]]
2025-10-24T23:05:52.663Z,1761347152.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868587,-0.455274,-0.195657],[0.495465,-0.791204,-0.358484],[0.008404,-0.408316,0.912802]]
2025-10-24T23:05:53.065Z,1761347153.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860250,-0.469838,-0.198048],[0.509714,-0.782762,-0.357037],[0.012726,-0.408089,0.912854]]
2025-10-24T23:05:53.466Z,1761347153.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851020,-0.484968,-0.201422],[0.524848,-0.772864,-0.356672],[0.017303,-0.409251,0.912258]]
2025-10-24T23:05:53.874Z,1761347153.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840873,-0.500718,-0.205462],[0.540780,-0.761765,-0.356750],[0.022117,-0.411091,0.911326]]
2025-10-24T23:05:54.275Z,1761347154.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829943,-0.516999,-0.209538],[0.557172,-0.749750,-0.356980],[0.027457,-0.413021,0.910307]]
2025-10-24T23:05:54.688Z,1761347154.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817628,-0.534407,-0.214228],[0.574819,-0.736585,-0.356407],[0.032669,-0.414551,0.909440]]
2025-10-24T23:05:55.083Z,1761347155.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804123,-0.552604,-0.219125],[0.593270,-0.722659,-0.354676],[0.037643,-0.415203,0.908950]]
2025-10-24T23:05:55.486Z,1761347155.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789230,-0.571486,-0.224766],[0.612659,-0.707711,-0.351843],[0.042004,-0.415390,0.908673]]
2025-10-24T23:05:55.914Z,1761347155.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773747,-0.589952,-0.230807],[0.631840,-0.692368,-0.348432],[0.045755,-0.415431,0.908473]]
2025-10-24T23:05:56.294Z,1761347156.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757956,-0.608019,-0.236251],[0.650463,-0.677307,-0.343734],[0.048982,-0.414208,0.908863]]
2025-10-24T23:05:56.701Z,1761347156.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742139,-0.624978,-0.242139],[0.668275,-0.662296,-0.338781],[0.051363,-0.413238,0.909173]]
2025-10-24T23:05:57.103Z,1761347157.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726236,-0.640960,-0.248499],[0.685433,-0.647500,-0.333055],[0.052572,-0.412206,0.909573]]
2025-10-24T23:05:57.513Z,1761347157.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709943,-0.656568,-0.254754],[0.702273,-0.632854,-0.326050],[0.052852,-0.410383,0.910380]]
2025-10-24T23:05:57.947Z,1761347157.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693828,-0.671096,-0.261213],[0.718216,-0.618347,-0.319080],[0.052612,-0.408994,0.911019]]
2025-10-24T23:05:58.314Z,1761347158.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678530,-0.684306,-0.267062],[0.732672,-0.604333,-0.313006],[0.052798,-0.408053,0.911430]]
2025-10-24T23:05:58.722Z,1761347158.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663842,-0.696798,-0.271636],[0.745926,-0.590710,-0.307662],[0.053920,-0.406859,0.911898]]
2025-10-24T23:05:59.122Z,1761347159.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648985,-0.708701,-0.276698],[0.758764,-0.576324,-0.303525],[0.055641,-0.406932,0.911762]]
2025-10-24T23:05:59.531Z,1761347159.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633179,-0.721287,-0.280764],[0.771843,-0.561314,-0.298638],[0.057807,-0.405797,0.912133]]
2025-10-24T23:05:59.952Z,1761347159.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616753,-0.734071,-0.284175],[0.784828,-0.545708,-0.293679],[0.060505,-0.404156,0.912687]]
2025-10-24T23:06:00.337Z,1761347160.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599958,-0.746178,-0.288562],[0.797508,-0.529183,-0.289736],[0.063492,-0.403960,0.912570]]
2025-10-24T23:06:00.739Z,1761347160.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581957,-0.759135,-0.291615],[0.810479,-0.512005,-0.284561],[0.066712,-0.401950,0.913228]]
2025-10-24T23:06:00.777Z,1761347160.777 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:06:00.777Z,1761347160.777 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:06:00.777Z,1761347160.777 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:06:00.777Z,1761347160.777 [marl:UpdateRudder:A] Stopped
2025-10-24T23:06:00.777Z,1761347160.777 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:06:00.777Z,1761347160.777 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:06:00.778Z,1761347160.778 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:06:00.778Z,1761347160.778 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:06:00.778Z,1761347160.778 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:06:00.778Z,1761347160.778 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:06:00.778Z,1761347160.778 [marl:UpdateCommandMode] Stopped
2025-10-24T23:06:00.778Z,1761347160.778 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:06:00.778Z,1761347160.778 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:06:00.778Z,1761347160.778 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:06:00.778Z,1761347160.778 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:06:00.779Z,1761347160.779 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:06:00.779Z,1761347160.779 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:06:00.779Z,1761347160.779 [marl:UpdateSpeed] Stopped
2025-10-24T23:06:00.779Z,1761347160.779 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:06:01.146Z,1761347161.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562987,-0.771782,-0.295631],[0.823553,-0.493879,-0.279004],[0.069324,-0.400544,0.913651]]
2025-10-24T23:06:01.201Z,1761347161.201 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:06:01.201Z,1761347161.201 [marl:UpdateRudder:B] Stopped
2025-10-24T23:06:01.201Z,1761347161.201 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:06:01.202Z,1761347161.202 [marl:UpdateRudder] Stopped
2025-10-24T23:06:01.202Z,1761347161.202 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:06:01.546Z,1761347161.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543773,-0.783954,-0.299543],[0.836178,-0.475685,-0.273001],[0.071532,-0.398922,0.914191]]
2025-10-24T23:06:01.961Z,1761347161.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524595,-0.795225,-0.304001],[0.848212,-0.457565,-0.266777],[0.073047,-0.397807,0.914556]]
2025-10-24T23:06:02.355Z,1761347162.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505620,-0.805673,-0.308609],[0.859578,-0.439754,-0.260273],[0.073983,-0.396873,0.914887]]
2025-10-24T23:06:02.759Z,1761347162.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486901,-0.815114,-0.313873],[0.870289,-0.422149,-0.253748],[0.074332,-0.396710,0.914929]]
2025-10-24T23:06:03.167Z,1761347163.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469268,-0.823261,-0.319421],[0.879918,-0.405471,-0.247662],[0.074374,-0.397285,0.914677]]
2025-10-24T23:06:03.568Z,1761347163.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452348,-0.830948,-0.323893],[0.888761,-0.389845,-0.241093],[0.074068,-0.396921,0.914859]]
2025-10-24T23:06:03.971Z,1761347163.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436384,-0.837042,-0.330044],[0.896737,-0.374556,-0.235735],[0.073700,-0.398834,0.914057]]
2025-10-24T23:06:04.374Z,1761347164.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421868,-0.842628,-0.334671],[0.903663,-0.360808,-0.230673],[0.073620,-0.399744,0.913666]]
2025-10-24T23:06:04.778Z,1761347164.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407715,-0.847501,-0.339869],[0.910113,-0.347051,-0.226384],[0.073909,-0.401620,0.912819]]
2025-10-24T23:06:05.193Z,1761347165.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393925,-0.852229,-0.344279],[0.916083,-0.333498,-0.222645],[0.074929,-0.403093,0.912086]]
2025-10-24T23:06:05.586Z,1761347165.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379981,-0.856830,-0.348506],[0.921818,-0.319575,-0.219370],[0.076589,-0.404616,0.911274]]
2025-10-24T23:06:05.997Z,1761347165.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365512,-0.861670,-0.352031],[0.927473,-0.305170,-0.216021],[0.078710,-0.405458,0.910719]]
2025-10-24T23:06:06.394Z,1761347166.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350372,-0.866513,-0.355521],[0.933098,-0.290093,-0.212540],[0.081034,-0.406204,0.910182]]
2025-10-24T23:06:06.800Z,1761347166.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334424,-0.871457,-0.358780],[0.938733,-0.274378,-0.208558],[0.083308,-0.406546,0.909824]]
2025-10-24T23:06:07.206Z,1761347167.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317973,-0.876505,-0.361431],[0.944264,-0.258515,-0.203804],[0.085200,-0.406090,0.909853]]
2025-10-24T23:06:07.607Z,1761347167.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300640,-0.881340,-0.364493],[0.949829,-0.242116,-0.198002],[0.086258,-0.405733,0.909912]]
2025-10-24T23:06:07.969Z,1761347167.969 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:06:08.035Z,1761347168.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283985,-0.885261,-0.368327],[0.954916,-0.226457,-0.191972],[0.086535,-0.406238,0.909660]]
2025-10-24T23:06:08.415Z,1761347168.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267223,-0.889274,-0.371192],[0.959746,-0.211038,-0.185338],[0.086481,-0.405776,0.909872]]
2025-10-24T23:06:08.818Z,1761347168.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250690,-0.892927,-0.373948],[0.964201,-0.195817,-0.178810],[0.086439,-0.405386,0.910050]]
2025-10-24T23:06:08.973Z,1761347168.973 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:06:09.222Z,1761347169.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233704,-0.896126,-0.377281],[0.968441,-0.179965,-0.172437],[0.086628,-0.405673,0.909904]]
2025-10-24T23:06:09.626Z,1761347169.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216611,-0.899462,-0.379537],[0.972324,-0.163900,-0.166503],[0.087557,-0.405099,0.910071]]
2025-10-24T23:06:10.032Z,1761347170.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198874,-0.903015,-0.380805],[0.975939,-0.147034,-0.161013],[0.089405,-0.403664,0.910529]]
2025-10-24T23:06:10.434Z,1761347170.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179787,-0.906369,-0.382324],[0.979410,-0.128649,-0.155578],[0.091826,-0.402423,0.910837]]
2025-10-24T23:06:10.839Z,1761347170.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159163,-0.909027,-0.385146],[0.982729,-0.108579,-0.149846],[0.094395,-0.402344,0.910609]]
2025-10-24T23:06:11.242Z,1761347171.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137380,-0.911743,-0.387107],[0.985725,-0.087443,-0.143871],[0.097323,-0.401347,0.910741]]
2025-10-24T23:06:11.650Z,1761347171.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114527,-0.914261,-0.388601],[0.988358,-0.065424,-0.137363],[0.100162,-0.399808,0.911110]]
2025-10-24T23:06:12.050Z,1761347172.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090921,-0.916263,-0.390124],[0.990586,-0.042953,-0.129982],[0.102340,-0.398269,0.911542]]
2025-10-24T23:06:12.457Z,1761347172.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066891,-0.918180,-0.390475],[0.992354,-0.020537,-0.121706],[0.103729,-0.395630,0.912533]]
2025-10-24T23:06:12.859Z,1761347172.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042642,-0.919306,-0.391227],[0.993673,0.001700,-0.112300],[0.103903,-0.393540,0.913417]]
2025-10-24T23:06:13.270Z,1761347173.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018019,-0.919743,-0.392108],[0.994531,0.023866,-0.101682],[0.102879,-0.391795,0.914283]]
2025-10-24T23:06:13.671Z,1761347173.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006969,-0.919782,-0.392369],[0.994913,0.045810,-0.089717],[0.100495,-0.389748,0.915422]]
2025-10-24T23:06:13.705Z,1761347173.705 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:06:13.705Z,1761347173.705 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:06:13.705Z,1761347173.705 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:06:13.705Z,1761347173.705 [marl:UpdateRudder:A] Stopped
2025-10-24T23:06:13.705Z,1761347173.705 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:06:13.705Z,1761347173.705 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:06:13.706Z,1761347173.706 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:06:13.706Z,1761347173.706 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:06:13.706Z,1761347173.706 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:06:13.706Z,1761347173.706 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:06:13.706Z,1761347173.706 [marl:UpdateCommandMode] Stopped
2025-10-24T23:06:13.706Z,1761347173.706 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:06:13.706Z,1761347173.706 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:06:13.706Z,1761347173.706 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:06:13.707Z,1761347173.707 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:06:13.707Z,1761347173.707 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:06:13.707Z,1761347173.707 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:06:13.707Z,1761347173.707 [marl:UpdateSpeed] Stopped
2025-10-24T23:06:13.707Z,1761347173.707 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:06:14.070Z,1761347174.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032500,-0.918706,-0.393602],[0.994762,0.067918,-0.076389],[0.096912,-0.389058,0.916102]]
2025-10-24T23:06:14.126Z,1761347174.126 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:06:14.126Z,1761347174.126 [marl:UpdateRudder:B] Stopped
2025-10-24T23:06:14.127Z,1761347174.127 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:06:14.127Z,1761347174.127 [marl:UpdateRudder] Stopped
2025-10-24T23:06:14.127Z,1761347174.127 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:06:14.480Z,1761347174.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058184,-0.916878,-0.394903],[0.994002,0.089899,-0.062272],[0.092597,-0.388912,0.916610]]
2025-10-24T23:06:14.880Z,1761347174.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083402,-0.914121,-0.396771],[0.992593,0.111501,-0.048243],[0.088340,-0.389808,0.916649]]
2025-10-24T23:06:15.283Z,1761347175.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105877,-0.911329,-0.397832],[0.990733,0.130907,-0.036205],[0.085074,-0.390312,0.916744]]
2025-10-24T23:06:15.689Z,1761347175.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126394,-0.908111,-0.399198],[0.988528,0.148850,-0.025623],[0.082689,-0.391379,0.916507]]
2025-10-24T23:06:16.091Z,1761347176.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145794,-0.904410,-0.400982],[0.986029,0.165844,-0.015546],[0.080560,-0.393113,0.915954]]
2025-10-24T23:06:16.496Z,1761347176.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162783,-0.900750,-0.402681],[0.983492,0.180821,-0.006900],[0.079028,-0.394910,0.915315]]
2025-10-24T23:06:16.898Z,1761347176.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179507,-0.897264,-0.403354],[0.980678,0.195626,0.001265],[0.077771,-0.395788,0.915043]]
2025-10-24T23:06:17.303Z,1761347177.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195716,-0.893745,-0.403628],[0.977673,0.209930,0.009221],[0.076493,-0.396420,0.914877]]
2025-10-24T23:06:17.706Z,1761347177.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211369,-0.889657,-0.404764],[0.974456,0.223966,0.016596],[0.075888,-0.397932,0.914271]]
2025-10-24T23:06:18.112Z,1761347178.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226876,-0.885640,-0.405178],[0.970977,0.238026,0.023413],[0.075708,-0.398730,0.913938]]
2025-10-24T23:06:18.514Z,1761347178.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242442,-0.881561,-0.405059],[0.967191,0.252296,0.029807],[0.075918,-0.398996,0.913804]]
2025-10-24T23:06:19.325Z,1761347179.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275137,-0.870736,-0.407576],[0.958291,0.282474,0.043429],[0.077315,-0.402526,0.912138]]
2025-10-24T23:06:19.728Z,1761347179.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294272,-0.864004,-0.408535],[0.952569,0.299849,0.051999],[0.077571,-0.404459,0.911260]]
2025-10-24T23:06:20.130Z,1761347180.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314599,-0.857072,-0.407989],[0.946089,0.318023,0.061449],[0.077084,-0.405326,0.910916]]
2025-10-24T23:06:20.535Z,1761347180.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334840,-0.850354,-0.405932],[0.939209,0.335916,0.071041],[0.075949,-0.405043,0.911138]]
2025-10-24T23:06:20.946Z,1761347180.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355410,-0.843539,-0.402648],[0.931780,0.353824,0.081210],[0.073962,-0.404042,0.911745]]
2025-10-24T23:06:21.349Z,1761347181.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374982,-0.836007,-0.400601],[0.924269,0.370496,0.091978],[0.071527,-0.404753,0.911624]]
2025-10-24T23:06:21.746Z,1761347181.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393687,-0.828284,-0.398693],[0.916650,0.386292,0.102620],[0.069013,-0.405862,0.911325]]
2025-10-24T23:06:22.150Z,1761347182.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411793,-0.821904,-0.393573],[0.908864,0.401834,0.111782],[0.066277,-0.403736,0.912472]]
2025-10-24T23:06:22.554Z,1761347182.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428616,-0.816564,-0.386667],[0.901249,0.416522,0.119412],[0.063548,-0.399665,0.914456]]
2025-10-24T23:06:22.962Z,1761347182.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444028,-0.811261,-0.380388],[0.893909,0.430160,0.126052],[0.061366,-0.396002,0.916197]]
2025-10-24T23:06:23.363Z,1761347183.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459212,-0.805158,-0.375293],[0.886346,0.443487,0.133080],[0.059287,-0.393752,0.917303]]
2025-10-24T23:06:23.766Z,1761347183.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474268,-0.798180,-0.371454],[0.878505,0.456598,0.140526],[0.057440,-0.392971,0.917755]]
2025-10-24T23:06:24.171Z,1761347184.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489246,-0.790477,-0.368490],[0.870362,0.469534,0.148348],[0.055753,-0.393298,0.917719]]
2025-10-24T23:06:24.575Z,1761347184.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504346,-0.782690,-0.364735],[0.861822,0.482592,0.156102],[0.053839,-0.393066,0.917933]]
2025-10-24T23:06:24.978Z,1761347184.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519630,-0.774409,-0.360936],[0.852824,0.495696,0.164243],[0.051723,-0.393161,0.918014]]
2025-10-24T23:06:25.382Z,1761347185.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534945,-0.766098,-0.356269],[0.843417,0.509082,0.171707],[0.049825,-0.392337,0.918471]]
2025-10-24T23:06:25.786Z,1761347185.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550410,-0.756886,-0.352380],[0.833520,0.522367,0.179936],[0.047881,-0.392754,0.918396]]
2025-10-24T23:06:26.192Z,1761347186.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565566,-0.747627,-0.348122],[0.823430,0.535363,0.188016],[0.045806,-0.392989,0.918401]]
2025-10-24T23:06:26.594Z,1761347186.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580658,-0.737765,-0.344296],[0.812961,0.548240,0.196286],[0.043944,-0.393874,0.918113]]
2025-10-24T23:06:26.633Z,1761347186.633 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:06:26.633Z,1761347186.633 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:06:26.633Z,1761347186.633 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:06:26.634Z,1761347186.634 [marl:UpdateRudder:A] Stopped
2025-10-24T23:06:26.634Z,1761347186.634 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:06:26.634Z,1761347186.634 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:06:26.634Z,1761347186.634 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:06:26.634Z,1761347186.634 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:06:26.634Z,1761347186.634 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:06:26.634Z,1761347186.634 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:06:26.635Z,1761347186.635 [marl:UpdateCommandMode] Stopped
2025-10-24T23:06:26.635Z,1761347186.635 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:06:26.635Z,1761347186.635 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:06:26.635Z,1761347186.635 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:06:26.635Z,1761347186.635 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:06:26.635Z,1761347186.635 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:06:26.635Z,1761347186.635 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:06:26.635Z,1761347186.635 [marl:UpdateSpeed] Stopped
2025-10-24T23:06:26.636Z,1761347186.636 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:06:26.805Z,1761347186.805 [CTD_Seabird](ERROR): Failed to parse device response: 97
2025-10-24T23:06:27.041Z,1761347187.041 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:06:27.041Z,1761347187.041 [marl:UpdateRudder:B] Stopped
2025-10-24T23:06:27.042Z,1761347187.042 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:06:27.042Z,1761347187.042 [marl:UpdateRudder] Stopped
2025-10-24T23:06:27.042Z,1761347187.042 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:06:27.403Z,1761347187.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610682,-0.716909,-0.336316],[0.790789,0.574355,0.211589],[0.041475,-0.395169,0.917672]]
2025-10-24T23:06:27.813Z,1761347187.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625823,-0.705797,-0.331958],[0.778896,0.587809,0.218635],[0.040817,-0.395388,0.917607]]
2025-10-24T23:06:28.210Z,1761347188.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640993,-0.694284,-0.327257],[0.766487,0.601405,0.225411],[0.040315,-0.395325,0.917656]]
2025-10-24T23:06:28.614Z,1761347188.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656689,-0.681908,-0.322120],[0.753105,0.615544,0.232247],[0.039908,-0.395105,0.917769]]
2025-10-24T23:06:29.018Z,1761347189.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672707,-0.668704,-0.316701],[0.738841,0.630082,0.238980],[0.039740,-0.394756,0.917926]]
2025-10-24T23:06:29.432Z,1761347189.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689147,-0.654249,-0.311504],[0.723533,0.644833,0.246353],[0.039692,-0.395157,0.917756]]
2025-10-24T23:06:29.830Z,1761347189.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706264,-0.638469,-0.305856],[0.706856,0.659954,0.254588],[0.039305,-0.396003,0.917408]]
2025-10-24T23:06:30.230Z,1761347190.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723715,-0.621939,-0.299046],[0.689019,0.675449,0.262718],[0.038596,-0.396181,0.917361]]
2025-10-24T23:06:30.635Z,1761347190.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741115,-0.605200,-0.290657],[0.670354,0.690947,0.270587],[0.037069,-0.395379,0.917770]]
2025-10-24T23:06:31.442Z,1761347191.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775311,-0.569939,-0.272144],[0.630823,0.719892,0.289513],[0.030909,-0.396137,0.917671]]
2025-10-24T23:06:31.846Z,1761347191.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791448,-0.552864,-0.260673],[0.610657,0.733752,0.297836],[0.026606,-0.394903,0.918337]]
2025-10-24T23:06:32.250Z,1761347192.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806629,-0.536040,-0.249020],[0.590658,0.746541,0.306267],[0.021732,-0.394130,0.918798]]
2025-10-24T23:06:32.664Z,1761347192.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820588,-0.519518,-0.238194],[0.571277,0.757773,0.315315],[0.016685,-0.394818,0.918608]]
2025-10-24T23:06:33.062Z,1761347193.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833355,-0.503484,-0.228088],[0.552615,0.767639,0.324572],[0.011672,-0.396528,0.917948]]
2025-10-24T23:06:33.469Z,1761347193.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854392,-0.476014,-0.208385],[0.519623,0.784458,0.338552],[0.002314,-0.397538,0.917583]]
2025-10-24T23:06:33.874Z,1761347193.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863458,-0.463397,-0.199257],[0.504416,0.791558,0.344964],[-0.002132,-0.398370,0.917222]]
2025-10-24T23:06:34.276Z,1761347194.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871852,-0.450882,-0.191259],[0.489728,0.797472,0.352426],[-0.006379,-0.400928,0.916087]]
2025-10-24T23:06:34.685Z,1761347194.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879794,-0.438392,-0.183782],[0.475243,0.802795,0.360090],[-0.010322,-0.404146,0.914636]]
2025-10-24T23:06:35.080Z,1761347195.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887390,-0.425839,-0.176633],[0.460814,0.807902,0.367349],[-0.013730,-0.407377,0.913157]]
2025-10-24T23:06:35.486Z,1761347195.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894536,-0.413492,-0.169792],[0.446681,0.812664,0.374236],[-0.016759,-0.410611,0.911657]]
2025-10-24T23:06:35.952Z,1761347195.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900898,-0.402005,-0.163628],[0.433604,0.816908,0.380327],[-0.019224,-0.413586,0.910262]]
2025-10-24T23:06:36.290Z,1761347196.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906853,-0.390964,-0.157369],[0.420911,0.821355,0.384981],[-0.021258,-0.415359,0.909409]]
2025-10-24T23:06:36.695Z,1761347196.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913030,-0.379151,-0.150403],[0.407260,0.826852,0.387886],[-0.022707,-0.415404,0.909353]]
2025-10-24T23:06:37.098Z,1761347197.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919288,-0.366529,-0.143406],[0.392870,0.832596,0.390431],[-0.023705,-0.415258,0.909395]]
2025-10-24T23:06:37.504Z,1761347197.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925902,-0.352859,-0.134895],[0.376972,0.839920,0.390418],[-0.024462,-0.412340,0.910702]]
2025-10-24T23:06:38.311Z,1761347198.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941091,-0.318260,-0.114275],[0.337127,0.856710,0.390377],[-0.026341,-0.405905,0.913536]]
2025-10-24T23:06:38.714Z,1761347198.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948898,-0.298646,-0.101994],[0.314318,0.865480,0.390063],[-0.028217,-0.402189,0.915122]]
2025-10-24T23:06:39.120Z,1761347199.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956206,-0.278729,-0.089330],[0.291104,0.873877,0.389354],[-0.030461,-0.398307,0.916746]]
2025-10-24T23:06:39.124Z,1761347199.124 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:06:39.522Z,1761347199.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962926,-0.258525,-0.077060],[0.267740,0.880938,0.390210],[-0.032994,-0.396375,0.917496]]
2025-10-24T23:06:39.567Z,1761347199.567 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:06:39.567Z,1761347199.567 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:06:39.567Z,1761347199.567 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:06:39.568Z,1761347199.568 [marl:UpdateRudder:A] Stopped
2025-10-24T23:06:39.568Z,1761347199.568 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:06:39.568Z,1761347199.568 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:06:39.568Z,1761347199.568 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:06:39.568Z,1761347199.568 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:06:39.569Z,1761347199.569 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:06:39.569Z,1761347199.569 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:06:39.569Z,1761347199.569 [marl:UpdateCommandMode] Stopped
2025-10-24T23:06:39.569Z,1761347199.569 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:06:39.569Z,1761347199.569 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:06:39.569Z,1761347199.569 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:06:39.569Z,1761347199.569 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:06:39.570Z,1761347199.570 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:06:39.570Z,1761347199.570 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:06:39.570Z,1761347199.570 [marl:UpdateSpeed] Stopped
2025-10-24T23:06:39.570Z,1761347199.570 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:06:39.956Z,1761347199.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969004,-0.238307,-0.065124],[0.244460,0.886909,0.391959],[-0.035648,-0.395730,0.917675]]
2025-10-24T23:06:40.043Z,1761347200.043 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:06:40.043Z,1761347200.043 [marl:UpdateRudder:B] Stopped
2025-10-24T23:06:40.043Z,1761347200.043 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:06:40.043Z,1761347200.043 [marl:UpdateRudder] Stopped
2025-10-24T23:06:40.048Z,1761347200.048 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:06:40.128Z,1761347200.128 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:06:40.331Z,1761347200.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974523,-0.217839,-0.053391],[0.220988,0.891906,0.394549],[-0.038329,-0.396296,0.917322]]
2025-10-24T23:06:40.736Z,1761347200.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979344,-0.197866,-0.041641],[0.197945,0.896156,0.397143],[-0.041265,-0.397182,0.916812]]
2025-10-24T23:06:41.143Z,1761347201.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983475,-0.178546,-0.029965],[0.175605,0.900519,0.397778],[-0.044038,-0.396467,0.916992]]
2025-10-24T23:06:41.542Z,1761347201.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987041,-0.159369,-0.018768],[0.153550,0.904017,0.398968],[-0.046617,-0.396679,0.916773]]
2025-10-24T23:06:41.957Z,1761347201.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990138,-0.139860,-0.008153],[0.131374,0.906696,0.400804],[-0.048664,-0.397922,0.916128]]
2025-10-24T23:06:42.352Z,1761347202.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992636,-0.121108,0.002403],[0.109914,0.908871,0.402334],[-0.050910,-0.399107,0.915490]]
2025-10-24T23:06:42.754Z,1761347202.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994666,-0.102382,0.012528],[0.088638,0.910547,0.403791],[-0.052748,-0.400527,0.914765]]
2025-10-24T23:06:43.158Z,1761347203.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996208,-0.084123,0.022207],[0.067956,0.911713,0.405169],[-0.054331,-0.402123,0.913972]]
2025-10-24T23:06:43.562Z,1761347203.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997374,-0.064945,0.032050],[0.046395,0.912776,0.405818],[-0.055610,-0.403265,0.913392]]
2025-10-24T23:06:43.968Z,1761347203.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998067,-0.045974,0.041821],[0.025103,0.913775,0.405445],[-0.056855,-0.403612,0.913162]]
2025-10-24T23:06:44.379Z,1761347204.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998300,-0.026798,0.051756],[0.003552,0.914352,0.404904],[-0.058174,-0.404032,0.912893]]
2025-10-24T23:06:44.775Z,1761347204.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998062,-0.007033,0.061822],[-0.018546,0.914803,0.403474],[-0.059393,-0.403839,0.912900]]
2025-10-24T23:06:45.178Z,1761347205.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997322,0.012838,0.071993],[-0.040732,0.915140,0.401074],[-0.060735,-0.402933,0.913212]]
2025-10-24T23:06:45.583Z,1761347205.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996070,0.032685,0.082316],[-0.062918,0.915261,0.397918],[-0.062335,-0.401533,0.913721]]
2025-10-24T23:06:45.987Z,1761347205.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994379,0.051601,0.092454],[-0.084207,0.914762,0.395119],[-0.064185,-0.400683,0.913966]]
2025-10-24T23:06:46.391Z,1761347206.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992250,0.070065,0.102622],[-0.105089,0.913877,0.392155],[-0.066307,-0.399901,0.914157]]
2025-10-24T23:06:46.794Z,1761347206.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989801,0.087641,0.112307],[-0.124876,0.913176,0.387965],[-0.068555,-0.398032,0.914806]]
2025-10-24T23:06:47.200Z,1761347207.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987141,0.104091,0.121320],[-0.143469,0.911606,0.385217],[-0.070499,-0.397669,0.914817]]
2025-10-24T23:06:47.602Z,1761347207.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984347,0.119464,0.129577],[-0.160750,0.910001,0.382174],[-0.072259,-0.397021,0.914961]]
2025-10-24T23:06:48.006Z,1761347208.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981459,0.133694,0.137346],[-0.176880,0.907781,0.380325],[-0.073833,-0.397567,0.914598]]
2025-10-24T23:06:48.410Z,1761347208.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978412,0.147537,0.144719],[-0.192556,0.905101,0.379097],[-0.075054,-0.398780,0.913970]]
2025-10-24T23:06:48.559Z,1761347208.559 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:06:48.560Z,1761347208.560 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:06:48.816Z,1761347208.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975226,0.160756,0.151959],[-0.207688,0.901877,0.378791],[-0.076156,-0.400967,0.912922]]
2025-10-24T23:06:49.218Z,1761347209.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971775,0.174102,0.159189],[-0.222947,0.898369,0.378455],[-0.077121,-0.403264,0.911828]]
2025-10-24T23:06:49.622Z,1761347209.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968031,0.187761,0.166319],[-0.238420,0.894759,0.377575],[-0.077921,-0.405158,0.910920]]
2025-10-24T23:06:50.027Z,1761347210.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963887,0.201617,0.173990],[-0.254337,0.890633,0.376942],[-0.078964,-0.407582,0.909748]]
2025-10-24T23:06:50.432Z,1761347210.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959066,0.216653,0.182355],[-0.271586,0.886088,0.375618],[-0.080204,-0.409768,0.908657]]
2025-10-24T23:06:50.838Z,1761347210.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953326,0.233475,0.191468],[-0.290787,0.880697,0.373919],[-0.081324,-0.412143,0.907483]]
2025-10-24T23:06:50.882Z,1761347210.882 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:06:51.239Z,1761347211.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946598,0.251950,0.201179],[-0.311696,0.874684,0.371179],[-0.082450,-0.414064,0.906506]]
2025-10-24T23:06:51.643Z,1761347211.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938983,0.272077,0.210441],[-0.333710,0.868872,0.365650],[-0.083361,-0.413566,0.906650]]
2025-10-24T23:06:52.054Z,1761347212.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930660,0.292563,0.219726],[-0.356050,0.862457,0.359716],[-0.084265,-0.413007,0.906821]]
2025-10-24T23:06:52.450Z,1761347212.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921489,0.313819,0.228858],[-0.378948,0.855637,0.352538],[-0.085186,-0.411585,0.907382]]
2025-10-24T23:06:52.498Z,1761347212.498 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:06:52.498Z,1761347212.498 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:06:52.498Z,1761347212.498 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:06:52.499Z,1761347212.499 [marl:UpdateRudder:A] Stopped
2025-10-24T23:06:52.499Z,1761347212.499 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:06:52.499Z,1761347212.499 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:06:52.499Z,1761347212.499 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:06:52.499Z,1761347212.499 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:06:52.500Z,1761347212.500 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:06:52.500Z,1761347212.500 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:06:52.500Z,1761347212.500 [marl:UpdateCommandMode] Stopped
2025-10-24T23:06:52.500Z,1761347212.500 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:06:52.500Z,1761347212.500 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:06:52.500Z,1761347212.500 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:06:52.500Z,1761347212.500 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:06:52.501Z,1761347212.501 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:06:52.501Z,1761347212.501 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:06:52.501Z,1761347212.501 [marl:UpdateSpeed] Stopped
2025-10-24T23:06:52.501Z,1761347212.501 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:06:52.859Z,1761347212.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911626,0.335963,0.236786],[-0.401946,0.849091,0.342760],[-0.085897,-0.407644,0.909092]]
2025-10-24T23:06:52.907Z,1761347212.907 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:06:52.907Z,1761347212.907 [marl:UpdateRudder:B] Stopped
2025-10-24T23:06:52.907Z,1761347212.907 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:06:52.907Z,1761347212.907 [marl:UpdateRudder] Stopped
2025-10-24T23:06:52.911Z,1761347212.911 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:06:53.259Z,1761347213.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901127,0.357973,0.244594],[-0.424836,0.841646,0.333386],[-0.086519,-0.404335,0.910510]]
2025-10-24T23:06:53.670Z,1761347213.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890003,0.379700,0.252433],[-0.447547,0.833319,0.324470],[-0.087156,-0.401755,0.911590]]
2025-10-24T23:06:54.070Z,1761347214.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878395,0.401758,0.258868],[-0.469868,0.825022,0.313946],[-0.087442,-0.397402,0.913469]]
2025-10-24T23:06:54.471Z,1761347214.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866247,0.423402,0.265230],[-0.491888,0.815756,0.304282],[-0.087529,-0.394047,0.914913]]
2025-10-24T23:06:54.875Z,1761347214.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853733,0.445216,0.270041],[-0.513355,0.806504,0.293288],[-0.087213,-0.389017,0.917093]]
2025-10-24T23:06:55.278Z,1761347215.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841684,0.465559,0.273538],[-0.532981,0.797543,0.282587],[-0.086598,-0.383640,0.919414]]
2025-10-24T23:06:55.686Z,1761347215.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831824,0.481913,0.275369],[-0.548174,0.791088,0.271449],[-0.087027,-0.376748,0.922219]]
2025-10-24T23:06:56.090Z,1761347216.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825610,0.494616,0.271521],[-0.557221,0.790400,0.254505],[-0.088728,-0.361419,0.928172]]
2025-10-24T23:06:56.492Z,1761347216.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823278,0.502348,0.264311],[-0.560137,0.794406,0.234873],[-0.091983,-0.341416,0.935401]]
2025-10-24T23:06:56.894Z,1761347216.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823636,0.506016,0.256072],[-0.558936,0.800717,0.215504],[-0.095992,-0.320625,0.942330]]
2025-10-24T23:06:57.298Z,1761347217.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825057,0.507317,0.248818],[-0.556020,0.807328,0.197645],[-0.100609,-0.301417,0.948170]]
2025-10-24T23:06:57.702Z,1761347217.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826942,0.506584,0.244008],[-0.552248,0.813354,0.182967],[-0.105777,-0.286056,0.952357]]
2025-10-24T23:06:58.114Z,1761347218.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828907,0.505004,0.240592],[-0.548152,0.819060,0.169324],[-0.111550,-0.272234,0.955743]]
2025-10-24T23:06:58.510Z,1761347218.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830922,0.502596,0.238674],[-0.543795,0.824350,0.157269],[-0.117708,-0.260468,0.958280]]
2025-10-24T23:06:58.914Z,1761347218.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832528,0.499766,0.239021],[-0.539907,0.828611,0.148004],[-0.124088,-0.252266,0.959669]]
2025-10-24T23:06:59.327Z,1761347219.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833260,0.498094,0.239960],[-0.537386,0.831684,0.139711],[-0.129982,-0.245366,0.960677]]
2025-10-24T23:06:59.723Z,1761347219.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833169,0.496949,0.242635],[-0.536261,0.833196,0.134936],[-0.135106,-0.242540,0.960688]]
2025-10-24T23:07:00.138Z,1761347220.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832499,0.497110,0.244598],[-0.536406,0.833675,0.131355],[-0.138617,-0.240557,0.960686]]
2025-10-24T23:07:00.530Z,1761347220.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831287,0.498474,0.245936],[-0.537813,0.833087,0.129321],[-0.140423,-0.239770,0.960620]]
2025-10-24T23:07:00.935Z,1761347220.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829635,0.500536,0.247322],[-0.540156,0.831645,0.128834],[-0.141198,-0.240478,0.960330]]
2025-10-24T23:07:01.342Z,1761347221.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827453,0.503484,0.248647],[-0.543430,0.829524,0.128738],[-0.141441,-0.241647,0.960001]]
2025-10-24T23:07:01.743Z,1761347221.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824853,0.507142,0.249850],[-0.547433,0.826854,0.128957],[-0.141190,-0.243146,0.959659]]
2025-10-24T23:07:01.769Z,1761347221.769 [marl:SendObservationData] Running Loop=1
2025-10-24T23:07:01.769Z,1761347221.769 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:07:01.769Z,1761347221.769 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:07:01.770Z,1761347221.770 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:07:01.771Z,1761347221.771 [marl:SendObservationData:A](INFO): Got test_good :  41da3f01400000004051400000000000404262f63832fb0dc05e77535118aa2a401d8caf800000004071c66660000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:07:01.771Z,1761347221.771 [marl:SendObservationData:A] Stopped
2025-10-24T23:07:01.771Z,1761347221.771 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:07:02.150Z,1761347222.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821631,0.511633,0.251306],[-0.552318,0.823586,0.129037],[-0.140953,-0.244822,0.959268]]
2025-10-24T23:07:02.206Z,1761347222.206 [marl:SendObservationData:B] Stopped
2025-10-24T23:07:02.207Z,1761347222.207 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:07:02.550Z,1761347222.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817930,0.516677,0.253051],[-0.557749,0.819997,0.128536],[-0.141090,-0.246273,0.958876]]
2025-10-24T23:07:02.600Z,1761347222.600 [marl:SendObservationData:C] Stopped
2025-10-24T23:07:02.600Z,1761347222.600 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:07:02.963Z,1761347222.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813907,0.521983,0.255126],[-0.563394,0.816352,0.127108],[-0.141925,-0.247191,0.958517]]
2025-10-24T23:07:03.010Z,1761347223.010 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.013300 min 
2025-10-24T23:07:03.010Z,1761347223.010 [marl:SendObservationData:E] Stopped
2025-10-24T23:07:03.011Z,1761347223.011 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:07:03.011Z,1761347223.011 [marl:SendObservationData] Stopped
2025-10-24T23:07:03.011Z,1761347223.011 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:07:03.011Z,1761347223.011 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:07:03.359Z,1761347223.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809845,0.527501,0.256699],[-0.568953,0.812888,0.124521],[-0.142982,-0.246892,0.958436]]
2025-10-24T23:07:03.762Z,1761347223.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806065,0.533354,0.256501],[-0.574080,0.809981,0.119843],[-0.143842,-0.243853,0.959085]]
2025-10-24T23:07:04.573Z,1761347224.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799724,0.544708,0.252457],[-0.582668,0.805544,0.107688],[-0.144706,-0.233219,0.961597]]
2025-10-24T23:07:04.975Z,1761347224.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797812,0.549252,0.248632],[-0.585382,0.804391,0.101403],[-0.144302,-0.226445,0.963275]]
2025-10-24T23:07:05.378Z,1761347225.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797092,0.552242,0.244281],[-0.586593,0.804159,0.096112],[-0.143364,-0.219903,0.964930]]
2025-10-24T23:07:05.422Z,1761347225.422 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:07:05.422Z,1761347225.422 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:07:05.422Z,1761347225.422 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:07:05.422Z,1761347225.422 [marl:UpdateRudder:A] Stopped
2025-10-24T23:07:05.422Z,1761347225.422 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:07:05.422Z,1761347225.422 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:07:05.423Z,1761347225.423 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:07:05.423Z,1761347225.423 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:07:05.423Z,1761347225.423 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:07:05.423Z,1761347225.423 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:07:05.423Z,1761347225.423 [marl:UpdateCommandMode] Stopped
2025-10-24T23:07:05.423Z,1761347225.423 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:07:05.423Z,1761347225.423 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:07:05.423Z,1761347225.423 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:07:05.424Z,1761347225.424 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:07:05.424Z,1761347225.424 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:07:05.424Z,1761347225.424 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:07:05.424Z,1761347225.424 [marl:UpdateSpeed] Stopped
2025-10-24T23:07:05.424Z,1761347225.424 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:07:05.783Z,1761347225.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797876,0.553480,0.238859],[-0.585896,0.805235,0.091229],[-0.141844,-0.212736,0.966760]]
2025-10-24T23:07:05.849Z,1761347225.849 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:07:05.849Z,1761347225.849 [marl:UpdateRudder:B] Stopped
2025-10-24T23:07:05.849Z,1761347225.849 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:07:05.850Z,1761347225.850 [marl:UpdateRudder] Stopped
2025-10-24T23:07:05.850Z,1761347225.850 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:07:06.196Z,1761347226.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800098,0.552383,0.233915],[-0.583368,0.807327,0.088914],[-0.139731,-0.207598,0.968183]]
2025-10-24T23:07:06.590Z,1761347226.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803028,0.550052,0.229323],[-0.580032,0.809727,0.088909],[-0.136785,-0.204411,0.969281]]
2025-10-24T23:07:06.994Z,1761347226.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806357,0.546806,0.225368],[-0.576242,0.812173,0.091210],[-0.133164,-0.203414,0.969995]]
2025-10-24T23:07:07.398Z,1761347227.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809749,0.543186,0.221938],[-0.572422,0.814405,0.095275],[-0.128995,-0.204191,0.970395]]
2025-10-24T23:07:07.812Z,1761347227.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813146,0.538943,0.219851],[-0.568663,0.816152,0.102554],[-0.124161,-0.208412,0.970128]]
2025-10-24T23:07:08.207Z,1761347228.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816787,0.533675,0.219204],[-0.564442,0.817824,0.112115],[-0.119437,-0.215302,0.969216]]
2025-10-24T23:07:08.610Z,1761347228.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822260,0.526214,0.216767],[-0.557312,0.821677,0.119379],[-0.115293,-0.218967,0.968897]]
2025-10-24T23:07:09.014Z,1761347229.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830238,0.517711,0.206591],[-0.546182,0.829590,0.116042],[-0.111309,-0.209179,0.971522]]
2025-10-24T23:07:09.419Z,1761347229.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840421,0.507714,0.189521],[-0.531307,0.840831,0.103522],[-0.106795,-0.187695,0.976404]]
2025-10-24T23:07:09.824Z,1761347229.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851176,0.496123,0.171354],[-0.514851,0.852682,0.088669],[-0.102120,-0.163695,0.981211]]
2025-10-24T23:07:10.226Z,1761347230.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861565,0.483586,0.154434],[-0.498168,0.863919,0.073980],[-0.097643,-0.140673,0.985229]]
2025-10-24T23:07:10.256Z,1761347230.256 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:07:10.630Z,1761347230.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870767,0.471379,0.139883],[-0.482615,0.873793,0.059746],[-0.094066,-0.119535,0.988364]]
2025-10-24T23:07:11.039Z,1761347231.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878649,0.459880,0.128400],[-0.468639,0.882110,0.047544],[-0.091398,-0.101947,0.990582]]
2025-10-24T23:07:11.260Z,1761347231.260 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:07:11.440Z,1761347231.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885455,0.449043,0.119705],[-0.455979,0.889213,0.037205],[-0.089736,-0.087527,0.992112]]
2025-10-24T23:07:11.842Z,1761347231.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891639,0.438481,0.112752],[-0.443948,0.895623,0.027737],[-0.088822,-0.074787,0.993236]]
2025-10-24T23:07:12.246Z,1761347232.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897617,0.427851,0.105954],[-0.431892,0.901755,0.017519],[-0.088049,-0.061486,0.994217]]
2025-10-24T23:07:12.653Z,1761347232.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903499,0.417136,0.098427],[-0.419800,0.907589,0.007121],[-0.086361,-0.047754,0.995119]]
2025-10-24T23:07:13.081Z,1761347233.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909307,0.406301,0.089888],[-0.407665,0.913125,-0.003461],[-0.083485,-0.033497,0.995946]]
2025-10-24T23:07:13.458Z,1761347233.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914904,0.395790,0.079383],[-0.395919,0.918166,-0.014773],[-0.078733,-0.017914,0.996735]]
2025-10-24T23:07:13.862Z,1761347233.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920089,0.385634,0.068724],[-0.384941,0.922640,-0.023599],[-0.072508,-0.004741,0.997357]]
2025-10-24T23:07:14.277Z,1761347234.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924709,0.376348,0.057232],[-0.375049,0.926440,-0.032368],[-0.065204,0.008466,0.997836]]
2025-10-24T23:07:14.678Z,1761347234.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929223,0.366668,0.045822],[-0.365074,0.930135,-0.039612],[-0.057145,0.020080,0.998164]]
2025-10-24T23:07:15.074Z,1761347235.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934292,0.354694,0.035933],[-0.353103,0.934552,-0.043933],[-0.049164,0.028358,0.998388]]
2025-10-24T23:07:15.478Z,1761347235.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940374,0.338907,0.028967],[-0.337431,0.940220,-0.046110],[-0.042863,0.033586,0.998516]]
2025-10-24T23:07:15.893Z,1761347235.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946495,0.321950,0.022271],[-0.320697,0.946035,-0.046595],[-0.036070,0.036960,0.998666]]
2025-10-24T23:07:16.301Z,1761347236.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952013,0.305630,0.016206],[-0.304678,0.951412,-0.044563],[-0.029038,0.037487,0.998875]]
2025-10-24T23:07:16.691Z,1761347236.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957220,0.289164,0.010663],[-0.288510,0.956582,-0.041389],[-0.022168,0.036542,0.999086]]
2025-10-24T23:07:17.094Z,1761347237.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962259,0.272091,0.004895],[-0.271730,0.961652,-0.037251],[-0.014843,0.034515,0.999294]]
2025-10-24T23:07:17.499Z,1761347237.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967178,0.254094,-0.001513],[-0.254002,0.966631,-0.033283],[-0.006995,0.032575,0.999445]]
2025-10-24T23:07:17.941Z,1761347237.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976550,0.214719,-0.015683],[-0.215087,0.976202,-0.027706],[0.009361,0.030430,0.999493]]
2025-10-24T23:07:18.366Z,1761347238.366 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:07:18.367Z,1761347238.367 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:07:18.367Z,1761347238.367 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:07:18.367Z,1761347238.367 [marl:UpdateRudder:A] Stopped
2025-10-24T23:07:18.367Z,1761347238.367 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:07:18.367Z,1761347238.367 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:07:18.367Z,1761347238.367 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:07:18.368Z,1761347238.368 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:07:18.368Z,1761347238.368 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:07:18.368Z,1761347238.368 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:07:18.368Z,1761347238.368 [marl:UpdateCommandMode] Stopped
2025-10-24T23:07:18.368Z,1761347238.368 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:07:18.369Z,1761347238.369 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:07:18.369Z,1761347238.369 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:07:18.369Z,1761347238.369 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:07:18.369Z,1761347238.369 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:07:18.369Z,1761347238.369 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:07:18.369Z,1761347238.369 [marl:UpdateSpeed] Stopped
2025-10-24T23:07:18.369Z,1761347238.369 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:07:18.718Z,1761347238.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984169,0.174686,-0.029939],[-0.175324,0.984304,-0.020193],[0.025942,0.025122,0.999348]]
2025-10-24T23:07:18.802Z,1761347238.802 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:07:18.803Z,1761347238.803 [marl:UpdateRudder:B] Stopped
2025-10-24T23:07:18.803Z,1761347238.803 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:07:18.803Z,1761347238.803 [marl:UpdateRudder] Stopped
2025-10-24T23:07:18.803Z,1761347238.803 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:07:19.119Z,1761347239.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987162,0.155495,-0.036510],[-0.156118,0.987626,-0.014888],[0.033743,0.020397,0.999222]]
2025-10-24T23:07:19.523Z,1761347239.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989559,0.137643,-0.042760],[-0.138166,0.990363,-0.009522],[0.041037,0.015331,0.999040]]
2025-10-24T23:07:19.951Z,1761347239.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991329,0.121856,-0.049177],[-0.122175,0.992502,-0.003517],[0.048379,0.009495,0.998784]]
2025-10-24T23:07:20.338Z,1761347240.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992602,0.108070,-0.055328],[-0.108087,0.994138,0.002705],[0.055296,0.003295,0.998465]]
2025-10-24T23:07:20.731Z,1761347240.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993492,0.096306,-0.060809],[-0.095958,0.995348,0.008635],[0.061358,-0.002744,0.998112]]
2025-10-24T23:07:21.135Z,1761347241.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994154,0.085619,-0.065779],[-0.084893,0.996295,0.013761],[0.066713,-0.008096,0.997739]]
2025-10-24T23:07:21.539Z,1761347241.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994688,0.075170,-0.070317],[-0.074034,0.997082,0.018626],[0.071511,-0.013321,0.997351]]
2025-10-24T23:07:21.957Z,1761347241.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995103,0.064494,-0.074900],[-0.063019,0.997772,0.021894],[0.076145,-0.017067,0.996951]]
2025-10-24T23:07:22.346Z,1761347242.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995332,0.053944,-0.080027],[-0.052391,0.998398,0.021392],[0.081052,-0.017099,0.996563]]
2025-10-24T23:07:22.757Z,1761347242.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995444,0.042517,-0.085339],[-0.041020,0.998973,0.019222],[0.086068,-0.015634,0.996167]]
2025-10-24T23:07:23.155Z,1761347243.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995465,0.030428,-0.090134],[-0.028950,0.999425,0.017660],[0.090619,-0.014971,0.995773]]
2025-10-24T23:07:23.560Z,1761347243.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995349,0.016776,-0.094862],[-0.015498,0.999779,0.014184],[0.095079,-0.012648,0.995389]]
2025-10-24T23:07:23.963Z,1761347243.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995023,0.002885,-0.099603],[-0.001978,0.999956,0.009209],[0.099625,-0.008966,0.994985]]
2025-10-24T23:07:24.367Z,1761347244.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994539,-0.011495,-0.103729],[0.011939,0.999922,0.003661],[0.103678,-0.004879,0.994599]]
2025-10-24T23:07:24.771Z,1761347244.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993890,-0.025352,-0.107425],[0.025481,0.999675,-0.000175],[0.107394,-0.002564,0.994213]]
2025-10-24T23:07:25.177Z,1761347245.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993056,-0.040357,-0.110504],[0.040018,0.999185,-0.005281],[0.110627,0.000822,0.993862]]
2025-10-24T23:07:25.578Z,1761347245.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992004,-0.055389,-0.113399],[0.054730,0.998461,-0.008922],[0.113719,0.002645,0.993509]]
2025-10-24T23:07:25.982Z,1761347245.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990706,-0.071002,-0.116015],[0.069916,0.997463,-0.013409],[0.116673,0.005173,0.993157]]
2025-10-24T23:07:26.386Z,1761347246.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989103,-0.087716,-0.118243],[0.086000,0.996103,-0.019552],[0.119497,0.009170,0.992792]]
2025-10-24T23:07:26.792Z,1761347246.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987139,-0.105059,-0.120497],[0.102736,0.994386,-0.025347],[0.122483,0.012642,0.992390]]
2025-10-24T23:07:27.194Z,1761347247.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984825,-0.122818,-0.122622],[0.119997,0.992316,-0.030155],[0.125383,0.014983,0.991995]]
2025-10-24T23:07:27.598Z,1761347247.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982164,-0.140958,-0.124435],[0.137742,0.989880,-0.034127],[0.127986,0.016378,0.991641]]
2025-10-24T23:07:28.003Z,1761347248.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979138,-0.159276,-0.126172],[0.155685,0.987080,-0.037896],[0.130578,0.017462,0.991284]]
2025-10-24T23:07:28.410Z,1761347248.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975799,-0.177348,-0.127924],[0.173505,0.983993,-0.040670],[0.133090,0.017491,0.990950]]
2025-10-24T23:07:28.810Z,1761347248.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972120,-0.195417,-0.129593],[0.191449,0.980581,-0.042519],[0.135386,0.016523,0.990655]]
2025-10-24T23:07:29.219Z,1761347249.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968320,-0.212394,-0.131325],[0.208349,0.977066,-0.043971],[0.137652,0.015216,0.990364]]
2025-10-24T23:07:29.618Z,1761347249.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964367,-0.229105,-0.132316],[0.225233,0.973323,-0.043730],[0.138805,0.012369,0.990242]]
2025-10-24T23:07:30.426Z,1761347250.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956188,-0.260668,-0.133255],[0.257372,0.965413,-0.041691],[0.139514,0.005569,0.990205]]
2025-10-24T23:07:30.830Z,1761347250.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952062,-0.275169,-0.133642],[0.272004,0.961390,-0.041751],[0.139970,0.003399,0.990150]]
2025-10-24T23:07:31.239Z,1761347251.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947703,-0.289678,-0.133965],[0.286656,0.957124,-0.041747],[0.140315,0.001162,0.990106]]
2025-10-24T23:07:31.289Z,1761347251.289 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:07:31.289Z,1761347251.289 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:07:31.290Z,1761347251.290 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:07:31.290Z,1761347251.290 [marl:UpdateRudder:A] Stopped
2025-10-24T23:07:31.290Z,1761347251.290 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:07:31.290Z,1761347251.290 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:07:31.290Z,1761347251.290 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:07:31.290Z,1761347251.290 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:07:31.291Z,1761347251.291 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:07:31.291Z,1761347251.291 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:07:31.291Z,1761347251.291 [marl:UpdateCommandMode] Stopped
2025-10-24T23:07:31.291Z,1761347251.291 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:07:31.291Z,1761347251.291 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:07:31.291Z,1761347251.291 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:07:31.291Z,1761347251.291 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:07:31.292Z,1761347251.292 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:07:31.292Z,1761347251.292 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:07:31.292Z,1761347251.292 [marl:UpdateSpeed] Stopped
2025-10-24T23:07:31.292Z,1761347251.292 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:07:31.640Z,1761347251.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943359,-0.303710,-0.133544],[0.300697,0.952765,-0.042674],[0.140197,0.000100,0.990124]]
2025-10-24T23:07:31.677Z,1761347251.677 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:07:31.677Z,1761347251.677 [marl:UpdateRudder:B] Stopped
2025-10-24T23:07:31.678Z,1761347251.678 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:07:31.678Z,1761347251.678 [marl:UpdateRudder] Stopped
2025-10-24T23:07:31.678Z,1761347251.678 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:07:32.042Z,1761347252.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938765,-0.317779,-0.133181],[0.314782,0.948164,-0.043550],[0.140117,-0.001040,0.990134]]
2025-10-24T23:07:32.447Z,1761347252.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934118,-0.331256,-0.133016],[0.328370,0.943537,-0.043726],[0.139990,-0.002834,0.990149]]
2025-10-24T23:07:32.850Z,1761347252.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929322,-0.344445,-0.133109],[0.341787,0.938791,-0.043056],[0.139792,-0.005482,0.990166]]
2025-10-24T23:07:33.256Z,1761347253.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924303,-0.357975,-0.132352],[0.355215,0.933714,-0.044726],[0.139590,-0.005673,0.990193]]
2025-10-24T23:07:33.664Z,1761347253.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919125,-0.371071,-0.132342],[0.368482,0.928571,-0.044464],[0.139389,-0.007898,0.990206]]
2025-10-24T23:07:34.063Z,1761347254.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913957,-0.383316,-0.133235],[0.381197,0.923535,-0.042096],[0.139184,-0.012315,0.990190]]
2025-10-24T23:07:34.475Z,1761347254.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909987,-0.391768,-0.135799],[0.390909,0.919799,-0.034066],[0.138254,-0.022085,0.990151]]
2025-10-24T23:07:34.870Z,1761347254.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907533,-0.395882,-0.140218],[0.397176,0.917528,-0.019843],[0.136509,-0.037683,0.989922]]
2025-10-24T23:07:35.275Z,1761347255.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906423,-0.395945,-0.147054],[0.400586,0.916257,0.002128],[0.133897,-0.060837,0.989126]]
2025-10-24T23:07:35.683Z,1761347255.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906010,-0.393721,-0.155337],[0.402496,0.914979,0.028447],[0.130929,-0.088296,0.987452]]
2025-10-24T23:07:36.092Z,1761347256.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906253,-0.389773,-0.163651],[0.402972,0.913509,0.055809],[0.127744,-0.116524,0.984938]]
2025-10-24T23:07:36.486Z,1761347256.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906449,-0.386144,-0.171007],[0.403475,0.911433,0.080613],[0.124733,-0.142068,0.981966]]
2025-10-24T23:07:36.891Z,1761347256.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906285,-0.383654,-0.177364],[0.404807,0.908565,0.103158],[0.121570,-0.165289,0.978724]]
2025-10-24T23:07:37.295Z,1761347257.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906117,-0.381787,-0.182183],[0.406005,0.905812,0.121094],[0.118792,-0.183692,0.975780]]
2025-10-24T23:07:37.709Z,1761347257.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905677,-0.381389,-0.185180],[0.407781,0.903153,0.134274],[0.116036,-0.197122,0.973488]]
2025-10-24T23:07:38.115Z,1761347258.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904971,-0.382859,-0.185597],[0.410137,0.901040,0.141116],[0.113203,-0.203826,0.972440]]
2025-10-24T23:07:38.510Z,1761347258.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904176,-0.385539,-0.183919],[0.412679,0.899569,0.143082],[0.110284,-0.205270,0.972472]]
2025-10-24T23:07:38.915Z,1761347258.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903095,-0.389324,-0.181233],[0.415824,0.898201,0.142567],[0.107279,-0.204113,0.973051]]
2025-10-24T23:07:39.320Z,1761347259.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901831,-0.393509,-0.178470],[0.419351,0.896649,0.142008],[0.104144,-0.202909,0.973644]]
2025-10-24T23:07:39.723Z,1761347259.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900683,-0.397745,-0.174841],[0.422720,0.895207,0.141113],[0.100391,-0.201007,0.974432]]
2025-10-24T23:07:40.127Z,1761347260.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899266,-0.402687,-0.170776],[0.426553,0.893778,0.138614],[0.096817,-0.197496,0.975511]]
2025-10-24T23:07:40.535Z,1761347260.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897800,-0.407609,-0.166766],[0.430369,0.892383,0.135774],[0.093477,-0.193669,0.976604]]
2025-10-24T23:07:40.935Z,1761347260.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896622,-0.411743,-0.162901],[0.433565,0.891089,0.134096],[0.089946,-0.190862,0.977487]]
2025-10-24T23:07:41.339Z,1761347261.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895484,-0.415356,-0.159965],[0.436593,0.889599,0.134163],[0.086579,-0.189980,0.977963]]
2025-10-24T23:07:41.380Z,1761347261.380 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:07:41.742Z,1761347261.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894498,-0.418215,-0.158019],[0.439117,0.888251,0.134859],[0.083960,-0.190020,0.978184]]
2025-10-24T23:07:42.146Z,1761347262.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894064,-0.419917,-0.155946],[0.440475,0.887457,0.135653],[0.081433,-0.189973,0.978406]]
2025-10-24T23:07:42.384Z,1761347262.384 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:07:42.557Z,1761347262.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893750,-0.421355,-0.153852],[0.441418,0.887142,0.134645],[0.079755,-0.188252,0.978877]]
2025-10-24T23:07:42.954Z,1761347262.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893830,-0.422002,-0.151599],[0.441640,0.887014,0.134758],[0.077602,-0.187403,0.979213]]
2025-10-24T23:07:43.358Z,1761347263.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894106,-0.422306,-0.149103],[0.441456,0.887132,0.134586],[0.075438,-0.186156,0.979620]]
2025-10-24T23:07:43.763Z,1761347263.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894340,-0.422673,-0.146642],[0.441394,0.887087,0.135083],[0.072988,-0.185537,0.979923]]
2025-10-24T23:07:44.179Z,1761347264.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894675,-0.422595,-0.144808],[0.441135,0.886874,0.137311],[0.070399,-0.186728,0.979886]]
2025-10-24T23:07:44.241Z,1761347264.241 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:07:44.241Z,1761347264.241 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:07:44.241Z,1761347264.241 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:07:44.241Z,1761347264.241 [marl:UpdateRudder:A] Stopped
2025-10-24T23:07:44.241Z,1761347264.241 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:07:44.242Z,1761347264.242 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:07:44.242Z,1761347264.242 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:07:44.242Z,1761347264.242 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:07:44.242Z,1761347264.242 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:07:44.242Z,1761347264.242 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:07:44.242Z,1761347264.242 [marl:UpdateCommandMode] Stopped
2025-10-24T23:07:44.242Z,1761347264.242 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:07:44.242Z,1761347264.242 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:07:44.243Z,1761347264.243 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:07:44.243Z,1761347264.243 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:07:44.243Z,1761347264.243 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:07:44.243Z,1761347264.243 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:07:44.243Z,1761347264.243 [marl:UpdateSpeed] Stopped
2025-10-24T23:07:44.243Z,1761347264.243 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:07:44.574Z,1761347264.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894770,-0.423055,-0.142870],[0.441399,0.886350,0.139820],[0.067481,-0.188170,0.979815]]
2025-10-24T23:07:44.623Z,1761347264.623 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:07:44.623Z,1761347264.623 [marl:UpdateRudder:B] Stopped
2025-10-24T23:07:44.623Z,1761347264.623 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:07:44.623Z,1761347264.623 [marl:UpdateRudder] Stopped
2025-10-24T23:07:44.623Z,1761347264.623 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:07:44.974Z,1761347264.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894200,-0.424963,-0.140759],[0.442975,0.885356,0.141130],[0.064647,-0.188551,0.979933]]
2025-10-24T23:07:45.378Z,1761347265.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892955,-0.428386,-0.138263],[0.445884,0.883910,0.141034],[0.061795,-0.187587,0.980302]]
2025-10-24T23:07:45.782Z,1761347265.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891133,-0.432805,-0.136245],[0.449867,0.881914,0.140882],[0.059182,-0.186837,0.980607]]
2025-10-24T23:07:46.195Z,1761347266.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888835,-0.438035,-0.134526],[0.454733,0.879375,0.141130],[0.056479,-0.186615,0.980808]]
2025-10-24T23:07:46.598Z,1761347266.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886218,-0.443750,-0.133053],[0.460116,0.876553,0.141241],[0.053952,-0.186390,0.980993]]
2025-10-24T23:07:46.995Z,1761347266.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883177,-0.449934,-0.132510],[0.466216,0.873057,0.142877],[0.051404,-0.187964,0.980830]]
2025-10-24T23:07:47.399Z,1761347267.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880068,-0.456067,-0.132223],[0.472281,0.869602,0.144024],[0.049297,-0.189197,0.980701]]
2025-10-24T23:07:47.802Z,1761347267.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877170,-0.461483,-0.132687],[0.477809,0.866281,0.145796],[0.047662,-0.191287,0.980376]]
2025-10-24T23:07:48.207Z,1761347268.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874566,-0.466366,-0.132805],[0.482693,0.863427,0.146633],[0.046283,-0.192345,0.980235]]
2025-10-24T23:07:48.610Z,1761347268.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872468,-0.470196,-0.133103],[0.486588,0.861028,0.147862],[0.045081,-0.193771,0.980010]]
2025-10-24T23:07:48.792Z,1761347268.792 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:07:48.792Z,1761347268.792 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:07:49.014Z,1761347269.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871104,-0.472601,-0.133516],[0.489096,0.859402,0.149042],[0.044307,-0.195133,0.979775]]
2025-10-24T23:07:49.419Z,1761347269.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870765,-0.473374,-0.132984],[0.489805,0.858800,0.150178],[0.043116,-0.195906,0.979674]]
2025-10-24T23:07:49.824Z,1761347269.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870782,-0.473631,-0.131959],[0.489895,0.858590,0.151085],[0.041740,-0.196208,0.979674]]
2025-10-24T23:07:50.228Z,1761347270.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870815,-0.473794,-0.131147],[0.489924,0.858454,0.151762],[0.040679,-0.196409,0.979678]]
2025-10-24T23:07:50.630Z,1761347270.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871119,-0.473419,-0.130485],[0.489489,0.858412,0.153393],[0.039391,-0.197494,0.979512]]
2025-10-24T23:07:51.035Z,1761347271.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871700,-0.472934,-0.128341],[0.488592,0.858901,0.153513],[0.037631,-0.196523,0.979777]]
2025-10-24T23:07:51.061Z,1761347271.061 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:07:51.439Z,1761347271.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872314,-0.472487,-0.125797],[0.487635,0.859520,0.153093],[0.035791,-0.194888,0.980172]]
2025-10-24T23:07:51.842Z,1761347271.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873044,-0.471646,-0.123870],[0.486448,0.860099,0.153617],[0.034087,-0.194371,0.980336]]
2025-10-24T23:07:52.246Z,1761347272.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874059,-0.470162,-0.122349],[0.484746,0.860757,0.155302],[0.032295,-0.195051,0.980261]]
2025-10-24T23:07:52.668Z,1761347272.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874977,-0.468731,-0.121271],[0.483195,0.861238,0.157455],[0.030639,-0.196367,0.980052]]
2025-10-24T23:07:53.056Z,1761347273.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875746,-0.467561,-0.120237],[0.481906,0.861545,0.159709],[0.028915,-0.197808,0.979814]]
2025-10-24T23:07:53.458Z,1761347273.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876483,-0.466297,-0.119771],[0.480668,0.861600,0.163106],[0.027139,-0.200529,0.979312]]
2025-10-24T23:07:53.863Z,1761347273.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877199,-0.465400,-0.118001],[0.479454,0.862111,0.163979],[0.025414,-0.200418,0.979381]]
2025-10-24T23:07:54.266Z,1761347274.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877153,-0.465874,-0.116464],[0.479614,0.861998,0.164106],[0.023939,-0.199804,0.979544]]
2025-10-24T23:07:54.683Z,1761347274.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876599,-0.467238,-0.115168],[0.480692,0.861422,0.163976],[0.022592,-0.199101,0.979719]]
2025-10-24T23:07:55.074Z,1761347275.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875565,-0.469478,-0.113915],[0.482644,0.860323,0.164007],[0.021006,-0.198579,0.979860]]
2025-10-24T23:07:55.478Z,1761347275.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874117,-0.472373,-0.113064],[0.485338,0.858620,0.164979],[0.019147,-0.199085,0.979795]]
2025-10-24T23:07:55.894Z,1761347275.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871997,-0.476523,-0.112017],[0.489198,0.856508,0.164558],[0.017528,-0.198293,0.979986]]
2025-10-24T23:07:56.288Z,1761347276.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869575,-0.481196,-0.110858],[0.493544,0.854165,0.163755],[0.015893,-0.197111,0.980252]]
2025-10-24T23:07:56.691Z,1761347276.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866602,-0.486711,-0.110061],[0.498793,0.851262,0.162968],[0.014373,-0.196126,0.980473]]
2025-10-24T23:07:57.095Z,1761347277.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863284,-0.492514,-0.110324],[0.504554,0.847723,0.163678],[0.012910,-0.196965,0.980325]]
2025-10-24T23:07:57.147Z,1761347277.147 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:07:57.147Z,1761347277.147 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:07:57.147Z,1761347277.147 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:07:57.157Z,1761347277.157 [marl:UpdateRudder:A] Stopped
2025-10-24T23:07:57.157Z,1761347277.157 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:07:57.157Z,1761347277.157 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:07:57.157Z,1761347277.157 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:07:57.157Z,1761347277.157 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:07:57.158Z,1761347277.158 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:07:57.158Z,1761347277.158 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:07:57.158Z,1761347277.158 [marl:UpdateCommandMode] Stopped
2025-10-24T23:07:57.158Z,1761347277.158 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:07:57.158Z,1761347277.158 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:07:57.158Z,1761347277.158 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:07:57.158Z,1761347277.158 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:07:57.159Z,1761347277.159 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:07:57.159Z,1761347277.159 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:07:57.159Z,1761347277.159 [marl:UpdateSpeed] Stopped
2025-10-24T23:07:57.159Z,1761347277.159 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:07:57.498Z,1761347277.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859605,-0.498933,-0.110203],[0.510833,0.843956,0.163668],[0.011347,-0.196985,0.980341]]
2025-10-24T23:07:57.549Z,1761347277.549 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:07:57.549Z,1761347277.549 [marl:UpdateRudder:B] Stopped
2025-10-24T23:07:57.549Z,1761347277.549 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:07:57.549Z,1761347277.549 [marl:UpdateRudder] Stopped
2025-10-24T23:07:57.549Z,1761347277.549 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:07:57.934Z,1761347277.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855560,-0.505698,-0.110846],[0.517606,0.839721,0.164175],[0.010057,-0.197836,0.980184]]
2025-10-24T23:07:58.307Z,1761347278.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851249,-0.512518,-0.112699],[0.524686,0.834929,0.166127],[0.008952,-0.200547,0.979643]]
2025-10-24T23:07:58.710Z,1761347278.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846897,-0.519528,-0.113387],[0.531695,0.830585,0.165618],[0.008134,-0.200549,0.979650]]
2025-10-24T23:07:59.119Z,1761347279.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842840,-0.525790,-0.114741],[0.538112,0.826339,0.166129],[0.007466,-0.201763,0.979406]]
2025-10-24T23:07:59.518Z,1761347279.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839528,-0.530661,-0.116584],[0.543273,0.822639,0.167690],[0.006920,-0.204118,0.978922]]
2025-10-24T23:07:59.949Z,1761347279.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836773,-0.534793,-0.117510],[0.547515,0.819675,0.168407],[0.006257,-0.205256,0.978688]]
2025-10-24T23:08:00.327Z,1761347280.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834461,-0.538562,-0.116725],[0.551037,0.817676,0.166625],[0.005705,-0.203363,0.979087]]
2025-10-24T23:08:00.738Z,1761347280.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832648,-0.541340,-0.116826],[0.553778,0.815849,0.166491],[0.005184,-0.203324,0.979098]]
2025-10-24T23:08:01.141Z,1761347281.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831317,-0.543627,-0.115676],[0.555778,0.814850,0.164712],[0.004717,-0.201218,0.979535]]
2025-10-24T23:08:01.538Z,1761347281.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830145,-0.545600,-0.114803],[0.557530,0.813953,0.163218],[0.004393,-0.199501,0.979888]]
2025-10-24T23:08:01.955Z,1761347281.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829348,-0.547081,-0.113514],[0.558719,0.813477,0.161517],[0.003978,-0.197376,0.980320]]
2025-10-24T23:08:02.347Z,1761347282.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829006,-0.547871,-0.112189],[0.559227,0.813452,0.159878],[0.003668,-0.195279,0.980741]]
2025-10-24T23:08:02.751Z,1761347282.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829100,-0.547741,-0.112135],[0.559090,0.813516,0.160033],[0.003567,-0.195377,0.980722]]
2025-10-24T23:08:03.155Z,1761347283.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829901,-0.546617,-0.111686],[0.557899,0.814383,0.159781],[0.003616,-0.194912,0.980814]]
2025-10-24T23:08:03.565Z,1761347283.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832855,-0.541866,-0.112843],[0.553479,0.816711,0.163229],[0.003712,-0.198402,0.980114]]
2025-10-24T23:08:03.971Z,1761347283.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834994,-0.538582,-0.112757],[0.550247,0.818569,0.164840],[0.003520,-0.199684,0.979854]]
2025-10-24T23:08:04.371Z,1761347284.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837338,-0.535004,-0.112408],[0.546678,0.820504,0.167081],[0.002842,-0.201354,0.979514]]
2025-10-24T23:08:04.775Z,1761347284.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839861,-0.531446,-0.110452],[0.542799,0.822897,0.167957],[0.001630,-0.201014,0.979587]]
2025-10-24T23:08:05.179Z,1761347285.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842413,-0.527688,-0.109017],[0.538832,0.825000,0.170395],[0.000024,-0.202285,0.979327]]
2025-10-24T23:08:05.581Z,1761347285.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844663,-0.524489,-0.107032],[0.535294,0.826811,0.172752],[-0.002112,-0.203211,0.979133]]
2025-10-24T23:08:05.982Z,1761347285.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846211,-0.522252,-0.105731],[0.532832,0.827858,0.175333],[-0.004037,-0.204705,0.978815]]
2025-10-24T23:08:06.386Z,1761347286.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846384,-0.522251,-0.104347],[0.532536,0.827607,0.177403],[-0.006290,-0.205720,0.978591]]
2025-10-24T23:08:06.792Z,1761347286.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844944,-0.524914,-0.102634],[0.534786,0.826084,0.177731],[-0.008509,-0.205060,0.978712]]
2025-10-24T23:08:07.197Z,1761347287.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842219,-0.529408,-0.101954],[0.539035,0.823207,0.178246],[-0.010436,-0.205079,0.978690]]
2025-10-24T23:08:07.610Z,1761347287.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838515,-0.535315,-0.101633],[0.544745,0.819482,0.178050],[-0.012027,-0.204662,0.978759]]
2025-10-24T23:08:08.002Z,1761347288.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834420,-0.541914,-0.100365],[0.550967,0.815801,0.175797],[-0.013389,-0.201986,0.979297]]
2025-10-24T23:08:08.406Z,1761347288.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830046,-0.548528,-0.100702],[0.557513,0.811528,0.174935],[-0.014234,-0.201347,0.979417]]
2025-10-24T23:08:08.811Z,1761347288.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825550,-0.555237,-0.100888],[0.564138,0.807329,0.173115],[-0.014670,-0.199830,0.979721]]
2025-10-24T23:08:08.875Z,1761347288.875 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:08:08.875Z,1761347288.875 [DAT] No Fault, FailCount= 8
2025-10-24T23:08:09.040Z,1761347289.040 [DAT](INFO): Powering up
2025-10-24T23:08:09.040Z,1761347289.040 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:08:09.219Z,1761347289.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821152,-0.561651,-0.101277],[0.570519,0.803273,0.171055],[-0.014720,-0.198242,0.980043]]
2025-10-24T23:08:09.621Z,1761347289.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816898,-0.567667,-0.102136],[0.576598,0.799255,0.169486],[-0.014579,-0.197344,0.980226]]
2025-10-24T23:08:10.022Z,1761347290.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812824,-0.573238,-0.103517],[0.582335,0.795303,0.168457],[-0.014239,-0.197208,0.980258]]
2025-10-24T23:08:10.102Z,1761347290.102 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:08:10.102Z,1761347290.102 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:08:10.102Z,1761347290.102 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:08:10.103Z,1761347290.103 [marl:UpdateRudder:A] Stopped
2025-10-24T23:08:10.103Z,1761347290.103 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:08:10.103Z,1761347290.103 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:08:10.103Z,1761347290.103 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:08:10.120Z,1761347290.120 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:08:10.120Z,1761347290.120 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:08:10.120Z,1761347290.120 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:08:10.120Z,1761347290.120 [marl:UpdateCommandMode] Stopped
2025-10-24T23:08:10.120Z,1761347290.120 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:08:10.121Z,1761347290.121 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:08:10.121Z,1761347290.121 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:08:10.121Z,1761347290.121 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:08:10.121Z,1761347290.121 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:08:10.121Z,1761347290.121 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:08:10.121Z,1761347290.121 [marl:UpdateSpeed] Stopped
2025-10-24T23:08:10.121Z,1761347290.121 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:08:10.428Z,1761347290.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809533,-0.577548,-0.105329],[0.586904,0.791848,0.168882],[-0.014133,-0.198533,0.979992]]
2025-10-24T23:08:10.470Z,1761347290.470 [marl:UpdateRudder:B](INFO): Updating rudder angle  -13.750987 arcdeg 
2025-10-24T23:08:10.470Z,1761347290.470 [marl:UpdateRudder:B] Stopped
2025-10-24T23:08:10.471Z,1761347290.471 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:08:10.471Z,1761347290.471 [marl:UpdateRudder] Stopped
2025-10-24T23:08:10.471Z,1761347290.471 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:08:10.830Z,1761347290.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807084,-0.580675,-0.106921],[0.590270,0.789209,0.169502],[-0.014042,-0.199915,0.979713]]
2025-10-24T23:08:11.238Z,1761347291.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805260,-0.583020,-0.107908],[0.592743,0.787098,0.170684],[-0.014578,-0.201407,0.979399]]
2025-10-24T23:08:11.638Z,1761347291.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803826,-0.584778,-0.109077],[0.594670,0.785261,0.172431],[-0.015180,-0.203470,0.978964]]
2025-10-24T23:08:12.044Z,1761347292.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802104,-0.586894,-0.110387],[0.596977,0.783124,0.174173],[-0.015774,-0.205603,0.978508]]
2025-10-24T23:08:12.446Z,1761347292.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800304,-0.589222,-0.111045],[0.599369,0.781088,0.175093],[-0.016432,-0.206685,0.978270]]
2025-10-24T23:08:12.513Z,1761347292.513 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:08:12.850Z,1761347292.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798133,-0.592267,-0.110470],[0.602230,0.778976,0.174684],[-0.017407,-0.205949,0.978408]]
2025-10-24T23:08:13.259Z,1761347293.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794086,-0.598668,-0.104995],[0.607504,0.776326,0.168097],[-0.019124,-0.197268,0.980163]]
2025-10-24T23:08:13.516Z,1761347293.516 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:08:13.665Z,1761347293.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786288,-0.611133,-0.090924],[0.617495,0.772216,0.149604],[-0.021215,-0.173777,0.984556]]
2025-10-24T23:08:14.062Z,1761347294.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773956,-0.629585,-0.067936],[0.632792,0.764911,0.120357],[-0.023810,-0.136140,0.990403]]
2025-10-24T23:08:14.467Z,1761347294.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756540,-0.653061,-0.034032],[0.653419,0.752812,0.079487],[-0.026290,-0.082372,0.996255]]
2025-10-24T23:08:14.872Z,1761347294.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734331,-0.678731,0.009074],[0.678203,0.734184,0.031849],[-0.028279,-0.017234,0.999451]]
2025-10-24T23:08:15.274Z,1761347295.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710011,-0.702191,0.053026],[0.703552,0.710559,-0.010968],[-0.029977,0.045093,0.998533]]
2025-10-24T23:08:15.682Z,1761347295.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685935,-0.722189,0.089090],[0.727008,0.685357,-0.041785],[-0.030882,0.093431,0.995147]]
2025-10-24T23:08:16.090Z,1761347296.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662522,-0.739843,0.117033],[0.748413,0.660239,-0.062942],[-0.030703,0.129290,0.991131]]
2025-10-24T23:08:16.488Z,1761347296.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640328,-0.756010,0.135756],[0.767518,0.636657,-0.074726],[-0.029937,0.152044,0.987920]]
2025-10-24T23:08:16.892Z,1761347296.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619633,-0.770941,0.147326],[0.784377,0.615016,-0.080670],[-0.028417,0.165545,0.985793]]
2025-10-24T23:08:17.295Z,1761347297.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599644,-0.785195,0.154582],[0.799820,0.594480,-0.082962],[-0.026754,0.173385,0.984491]]
2025-10-24T23:08:17.699Z,1761347297.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580298,-0.798928,0.158014],[0.814011,0.575023,-0.082065],[-0.025298,0.176248,0.984021]]
2025-10-24T23:08:18.131Z,1761347298.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560912,-0.812828,0.157126],[0.827529,0.555982,-0.077979],[-0.023976,0.173766,0.984495]]
2025-10-24T23:08:18.506Z,1761347298.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541577,-0.826333,0.154496],[0.840338,0.537171,-0.072659],[-0.022950,0.169179,0.985318]]
2025-10-24T23:08:18.912Z,1761347298.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521439,-0.839530,0.152614],[0.852992,0.517567,-0.067299],[-0.022488,0.165271,0.985992]]
2025-10-24T23:08:19.314Z,1761347299.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499732,-0.852747,0.151956],[0.865882,0.496414,-0.061822],[-0.022715,0.162471,0.986452]]
2025-10-24T23:08:19.718Z,1761347299.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476078,-0.866135,0.152185],[0.879099,0.473281,-0.056470],[-0.023116,0.160670,0.986737]]
2025-10-24T23:08:20.122Z,1761347300.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449699,-0.879891,0.153503],[0.892877,0.447340,-0.051562],[-0.023299,0.160246,0.986802]]
2025-10-24T23:08:20.529Z,1761347300.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420798,-0.893798,0.155091],[0.906859,0.418833,-0.046760],[-0.023163,0.160322,0.986793]]
2025-10-24T23:08:20.935Z,1761347300.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389428,-0.907699,0.156296],[0.920773,0.387875,-0.041594],[-0.022868,0.160111,0.986834]]
2025-10-24T23:08:21.144Z,1761347301.144 [DAT](INFO): DAT read: 

2025-10-24T23:08:21.145Z,1761347301.145 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:08:21.335Z,1761347301.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356416,-0.920908,0.157782],[0.934058,0.355247,-0.036525],[-0.022416,0.160396,0.986798]]
2025-10-24T23:08:21.738Z,1761347301.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322265,-0.932919,0.160645],[0.946399,0.321413,-0.031987],[-0.021792,0.162343,0.986494]]
2025-10-24T23:08:22.144Z,1761347302.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286570,-0.944044,0.163277],[0.957831,0.286030,-0.027322],[-0.020909,0.164222,0.986202]]
2025-10-24T23:08:22.554Z,1761347302.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249683,-0.954106,0.165351],[0.968133,0.249389,-0.022880],[-0.019406,0.165794,0.985969]]
2025-10-24T23:08:22.909Z,1761347302.909 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:08:22.910Z,1761347302.910 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:08:22.911Z,1761347302.911 [DAT](INFO): DAT read: Oct 24 2025 23:08:17 

2025-10-24T23:08:22.955Z,1761347302.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211356,-0.962833,0.168171],[0.977262,0.211155,-0.019288],[-0.016939,0.168424,0.985569]]
2025-10-24T23:08:22.991Z,1761347302.991 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:08:22.991Z,1761347302.991 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:08:22.991Z,1761347302.991 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:08:22.991Z,1761347302.991 [marl:UpdateRudder:A] Stopped
2025-10-24T23:08:22.996Z,1761347302.996 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:08:22.996Z,1761347302.996 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:08:22.996Z,1761347302.996 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:08:22.996Z,1761347302.996 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:08:22.996Z,1761347302.996 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:08:22.997Z,1761347302.997 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:08:22.997Z,1761347302.997 [marl:UpdateCommandMode] Stopped
2025-10-24T23:08:22.997Z,1761347302.997 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:08:22.997Z,1761347302.997 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:08:22.997Z,1761347302.997 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:08:22.997Z,1761347302.997 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:08:22.997Z,1761347302.997 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:08:22.997Z,1761347302.997 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:08:22.997Z,1761347302.997 [marl:UpdateSpeed] Stopped
2025-10-24T23:08:22.998Z,1761347302.998 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:08:23.355Z,1761347303.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172652,-0.969939,0.171495],[0.984890,0.172387,-0.016548],[-0.013513,0.171761,0.985046]]
2025-10-24T23:08:23.383Z,1761347303.383 [marl:UpdateRudder:B](INFO): Updating rudder angle  -13.750987 arcdeg 
2025-10-24T23:08:23.383Z,1761347303.383 [marl:UpdateRudder:B] Stopped
2025-10-24T23:08:23.383Z,1761347303.383 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:08:23.384Z,1761347303.384 [marl:UpdateRudder] Stopped
2025-10-24T23:08:23.384Z,1761347303.384 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:08:23.761Z,1761347303.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133440,-0.975648,0.174084],[0.991018,0.132925,-0.014671],[-0.008826,0.174479,0.984621]]
2025-10-24T23:08:23.921Z,1761347303.921 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:08:23.930Z,1761347303.930 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:08:23.931Z,1761347303.931 [DAT](INFO): commRate: 600
2025-10-24T23:08:24.162Z,1761347304.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094439,-0.980114,0.174524],[0.995526,0.093527,-0.013459],[-0.003132,0.175014,0.984561]]
2025-10-24T23:08:24.571Z,1761347304.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056915,-0.983336,0.172662],[0.998375,0.055548,-0.012739],[0.002936,0.173106,0.984899]]
2025-10-24T23:08:24.971Z,1761347304.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023058,-0.985139,0.170204],[0.999698,0.021278,-0.012271],[0.008467,0.170436,0.985332]]
2025-10-24T23:08:25.380Z,1761347305.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007909,-0.986042,0.166309],[0.999882,-0.009993,-0.011700],[0.013198,0.166196,0.986004]]
2025-10-24T23:08:25.778Z,1761347305.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036402,-0.986343,0.160629],[0.999194,-0.038645,-0.010862],[0.016921,0.160104,0.986955]]
2025-10-24T23:08:25.992Z,1761347305.992 [DAT](INFO): entering command mode
2025-10-24T23:08:26.183Z,1761347306.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063260,-0.985742,0.155918],[0.997806,-0.065531,-0.009462],[0.019545,0.154977,0.987725]]
2025-10-24T23:08:26.188Z,1761347306.188 [DAT](INFO): DAT read: 

2025-10-24T23:08:26.189Z,1761347306.189 [DAT](INFO): DAT read: user:1>

2025-10-24T23:08:26.189Z,1761347306.189 [DAT](INFO): setting verbose to 3
2025-10-24T23:08:26.441Z,1761347306.441 [DAT](INFO): DAT read: user:1>

2025-10-24T23:08:26.442Z,1761347306.442 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:08:26.442Z,1761347306.442 [DAT](INFO): set verbose to 3
2025-10-24T23:08:26.442Z,1761347306.442 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:08:26.587Z,1761347306.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089109,-0.984388,0.151788],[0.995808,-0.091210,-0.006923],[0.020659,0.150534,0.988389]]
2025-10-24T23:08:26.693Z,1761347306.693 [DAT](INFO): DAT read: user:2>

2025-10-24T23:08:26.694Z,1761347306.694 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:08:26.694Z,1761347306.694 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:08:26.694Z,1761347306.694 [DAT](INFO): setting transmit power to 8
2025-10-24T23:08:26.945Z,1761347306.945 [DAT](INFO): DAT read: user:3>

2025-10-24T23:08:26.946Z,1761347306.946 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:08:26.946Z,1761347306.946 [DAT](INFO): set transmit power to 8
2025-10-24T23:08:26.946Z,1761347306.946 [DAT](INFO): setting local address to 11
2025-10-24T23:08:26.990Z,1761347306.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114542,-0.982455,0.147184],[0.993206,-0.116316,-0.003473],[0.020532,0.145786,0.989103]]
2025-10-24T23:08:27.197Z,1761347307.197 [DAT](INFO): DAT read: user:4>

2025-10-24T23:08:27.198Z,1761347307.198 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:08:27.198Z,1761347307.198 [DAT](INFO): set local address to 11
2025-10-24T23:08:27.199Z,1761347307.199 [DAT](INFO): Setting time to: 23:8:27 And date to:10/24/2025
2025-10-24T23:08:27.398Z,1761347307.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140296,-0.979754,0.142826],[0.989921,-0.141616,0.000934],[0.019312,0.141517,0.989747]]
2025-10-24T23:08:27.449Z,1761347307.449 [DAT](INFO): DAT read: user:5>

2025-10-24T23:08:27.450Z,1761347307.450 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:08:27  

2025-10-24T23:08:27.450Z,1761347307.450 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:08:27  

2025-10-24T23:08:27.451Z,1761347307.451 [DAT](INFO): setting remote address to 10
2025-10-24T23:08:27.451Z,1761347307.451 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:08:27.451Z,1761347307.451 [DAT](INFO): setting remote address to 0
2025-10-24T23:08:27.701Z,1761347307.701 [DAT](INFO): DAT read: user:6>

2025-10-24T23:08:27.702Z,1761347307.702 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:08:27.702Z,1761347307.702 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:08:27.702Z,1761347307.702 [DAT] Communications Fault, FailCount= 1
2025-10-24T23:08:27.702Z,1761347307.702 [DAT](ERROR): Communications Fault
2025-10-24T23:08:27.703Z,1761347307.703 [DAT](INFO): DAT read: user:7>

2025-10-24T23:08:27.704Z,1761347307.704 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:08:27.705Z,1761347307.705 [DAT](INFO): set remote address to 0
2025-10-24T23:08:27.705Z,1761347307.705 [DAT](INFO): setting remote address to 10
2025-10-24T23:08:27.705Z,1761347307.705 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:08:27.705Z,1761347307.705 [DAT](INFO): setting remote address to 0
2025-10-24T23:08:27.798Z,1761347307.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166717,-0.976088,0.139493],[0.985843,-0.167572,0.005678],[0.017833,0.138465,0.990207]]
2025-10-24T23:08:27.949Z,1761347307.949 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:08:28.109Z,1761347308.109 [DAT](INFO): Powering down
2025-10-24T23:08:28.205Z,1761347308.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195348,-0.971002,0.137820],[0.980584,-0.195838,0.010130],[0.017154,0.137123,0.990405]]
2025-10-24T23:08:28.606Z,1761347308.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225328,-0.964479,0.137870],[0.974136,-0.225482,0.014709],[0.016901,0.137618,0.990341]]
2025-10-24T23:08:29.010Z,1761347309.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256224,-0.956526,0.139313],[0.966455,-0.256151,0.018760],[0.017741,0.139447,0.990071]]
2025-10-24T23:08:29.087Z,1761347309.087 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:08:29.087Z,1761347309.087 [DAT] No Fault, FailCount= 1
2025-10-24T23:08:29.419Z,1761347309.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286205,-0.947537,0.142337],[0.957981,-0.285915,0.022931],[0.018968,0.142919,0.989553]]
2025-10-24T23:08:29.821Z,1761347309.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315642,-0.937650,0.145539],[0.948651,-0.315190,0.026769],[0.020773,0.146515,0.988990]]
2025-10-24T23:08:30.227Z,1761347310.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343796,-0.927442,0.147159],[0.938773,-0.343221,0.030093],[0.022598,0.148495,0.988655]]
2025-10-24T23:08:30.626Z,1761347310.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370772,-0.916681,0.149077],[0.928406,-0.370039,0.033667],[0.024303,0.150886,0.988252]]
2025-10-24T23:08:31.037Z,1761347311.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396991,-0.905535,0.149684],[0.917470,-0.396043,0.037392],[0.025421,0.152175,0.988027]]
2025-10-24T23:08:31.156Z,1761347311.156 [DAT](INFO): Powering up
2025-10-24T23:08:31.157Z,1761347311.157 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:08:31.438Z,1761347311.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422515,-0.894005,0.149117],[0.905984,-0.421299,0.041235],[0.025959,0.152520,0.987959]]
2025-10-24T23:08:31.840Z,1761347311.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447882,-0.882070,0.146130],[0.893726,-0.446357,0.044933],[0.025592,0.150725,0.988244]]
2025-10-24T23:08:32.242Z,1761347312.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473239,-0.869181,0.143424],[0.880590,-0.471295,0.049422],[0.024638,0.149686,0.988427]]
2025-10-24T23:08:32.647Z,1761347312.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499346,-0.855015,0.140009],[0.866083,-0.496990,0.053862],[0.023530,0.148155,0.988684]]
2025-10-24T23:08:33.052Z,1761347313.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526231,-0.839149,0.137510],[0.850037,-0.523448,0.058647],[0.022765,0.147750,0.988763]]
2025-10-24T23:08:33.483Z,1761347313.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553537,-0.821667,0.135869],[0.832522,-0.550319,0.063683],[0.022445,0.148365,0.988678]]
2025-10-24T23:08:33.858Z,1761347313.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580775,-0.802789,0.135015],[0.813754,-0.577092,0.069066],[0.022470,0.149981,0.988434]]
2025-10-24T23:08:34.262Z,1761347314.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607597,-0.782776,0.134488],[0.793931,-0.603353,0.075093],[0.022363,0.152401,0.988066]]
2025-10-24T23:08:34.672Z,1761347314.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633700,-0.761923,0.133781],[0.773257,-0.628880,0.081137],[0.022312,0.154863,0.987684]]
2025-10-24T23:08:35.072Z,1761347315.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658856,-0.740582,0.132085],[0.751935,-0.653565,0.086296],[0.022417,0.156176,0.987475]]
2025-10-24T23:08:35.475Z,1761347315.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683398,-0.718163,0.131182],[0.729693,-0.677534,0.092169],[0.022687,0.158711,0.987064]]
2025-10-24T23:08:35.892Z,1761347315.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707562,-0.694745,0.129169],[0.706275,-0.701235,0.097184],[0.023059,0.159993,0.986849]]
2025-10-24T23:08:35.985Z,1761347315.985 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:08:35.985Z,1761347315.985 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:08:35.986Z,1761347315.986 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:08:35.986Z,1761347315.986 [marl:UpdateRudder:A] Stopped
2025-10-24T23:08:35.986Z,1761347315.986 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:08:35.986Z,1761347315.986 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:08:35.986Z,1761347315.986 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:08:35.986Z,1761347315.986 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:08:35.987Z,1761347315.987 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:08:35.987Z,1761347315.987 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:08:35.987Z,1761347315.987 [marl:UpdateCommandMode] Stopped
2025-10-24T23:08:35.987Z,1761347315.987 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:08:35.987Z,1761347315.987 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:08:35.987Z,1761347315.987 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:08:35.987Z,1761347315.987 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:08:35.987Z,1761347315.987 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:08:35.992Z,1761347315.992 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:08:35.992Z,1761347315.992 [marl:UpdateSpeed] Stopped
2025-10-24T23:08:35.992Z,1761347315.992 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:08:36.283Z,1761347316.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730801,-0.670638,0.127179],[0.682175,-0.724066,0.101808],[0.023809,0.161160,0.986641]]
2025-10-24T23:08:36.354Z,1761347316.354 [marl:UpdateRudder:B](INFO): Updating rudder angle  -13.750987 arcdeg 
2025-10-24T23:08:36.354Z,1761347316.354 [marl:UpdateRudder:B] Stopped
2025-10-24T23:08:36.354Z,1761347316.354 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:08:36.354Z,1761347316.354 [marl:UpdateRudder] Stopped
2025-10-24T23:08:36.354Z,1761347316.354 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:08:36.691Z,1761347316.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752744,-0.646240,0.125498],[0.657841,-0.745624,0.106252],[0.024910,0.162539,0.986388]]
2025-10-24T23:08:36.694Z,1761347316.694 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-10-24T23:08:36.694Z,1761347316.694 [NAL9602] Data Fault, FailCount= 1
2025-10-24T23:08:36.694Z,1761347316.694 [NAL9602](ERROR): Data Fault
2025-10-24T23:08:36.717Z,1761347316.717 [marl:NeedComms] Running Loop=1
2025-10-24T23:08:36.717Z,1761347316.717 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms
2025-10-24T23:08:36.717Z,1761347316.717 [marl:NeedComms:B.GoToSurface] Running Loop=1
2025-10-24T23:08:36.717Z,1761347316.717 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-24T23:08:36.718Z,1761347316.718 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-24T23:08:36.718Z,1761347316.718 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-24T23:08:36.718Z,1761347316.718 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-24T23:08:36.719Z,1761347316.719 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-24T23:08:36.719Z,1761347316.719 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-24T23:08:36.719Z,1761347316.719 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-24T23:08:36.720Z,1761347316.720 [marl:NeedComms:A] Running Loop=1
2025-10-24T23:08:36.721Z,1761347316.721 [marl:NeedComms:A](ERROR): caught uninitialized data element exception.
2025-10-24T23:08:36.722Z,1761347316.722 [marl:NeedComms:A](INFO): last time_fix was:  nan second since 1970/01/01T00:00:00Z 
2025-10-24T23:08:36.722Z,1761347316.722 [marl:NeedComms:A] Stopped
2025-10-24T23:08:36.840Z,1761347316.840 [CBIT](ERROR): Data Fault in component: NAL9602
2025-10-24T23:08:37.090Z,1761347317.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773681,-0.621476,0.123229],[0.633019,-0.766392,0.109227],[0.026560,0.162513,0.986349]]
2025-10-24T23:08:37.097Z,1761347317.097 [NAL9602](INFO): Powering down
2025-10-24T23:08:37.501Z,1761347317.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793733,-0.596170,0.120703],[0.607608,-0.786337,0.111742],[0.028296,0.162034,0.986379]]
2025-10-24T23:08:37.942Z,1761347317.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812429,-0.570871,0.118596],[0.582287,-0.804859,0.114649],[0.030003,0.162201,0.986301]]
2025-10-24T23:08:38.148Z,1761347318.148 [CBIT](INFO): Clearing failed state for component NAL9602
2025-10-24T23:08:38.149Z,1761347318.149 [NAL9602] No Fault, FailCount= 1
2025-10-24T23:08:38.303Z,1761347318.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829934,-0.546043,0.114223],[0.557036,-0.822283,0.116457],[0.030333,0.160278,0.986606]]
2025-10-24T23:08:38.707Z,1761347318.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846809,-0.521546,0.104425],[0.531248,-0.839011,0.117626],[0.026266,0.155083,0.987552]]
2025-10-24T23:08:39.125Z,1761347319.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863063,-0.497117,0.089425],[0.504822,-0.854798,0.120314],[0.016630,0.148982,0.988700]]
2025-10-24T23:08:39.531Z,1761347319.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878256,-0.472937,0.070693],[0.478185,-0.869362,0.124693],[0.002486,0.143316,0.989674]]
2025-10-24T23:08:39.953Z,1761347319.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892543,-0.448416,0.047862],[0.450701,-0.883370,0.128552],[-0.015365,0.136310,0.990547]]
2025-10-24T23:08:40.340Z,1761347320.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905992,-0.422632,0.023698],[0.421797,-0.896660,0.134493],[-0.035592,0.131846,0.990631]]
2025-10-24T23:08:40.739Z,1761347320.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918038,-0.396491,-0.001022],[0.392368,-0.908855,0.141526],[-0.057042,0.129525,0.989934]]
2025-10-24T23:08:41.553Z,1761347321.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938067,-0.342566,-0.051753],[0.331037,-0.930333,0.157779],[-0.102197,0.130875,0.986117]]
2025-10-24T23:08:41.959Z,1761347321.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946236,-0.314051,-0.077525],[0.298467,-0.940034,0.165087],[-0.124721,0.133072,0.983228]]
2025-10-24T23:08:42.359Z,1761347322.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952769,-0.285946,-0.102307],[0.265945,-0.948231,0.173582],[-0.146646,0.138175,0.979491]]
2025-10-24T23:08:42.758Z,1761347322.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957830,-0.257962,-0.126556],[0.233184,-0.955212,0.182197],[-0.167888,0.145003,0.975083]]
2025-10-24T23:08:43.168Z,1761347323.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961515,-0.230389,-0.149698],[0.200381,-0.960794,0.191632],[-0.187979,0.154260,0.969983]]
2025-10-24T23:08:43.269Z,1761347323.269 [DAT](INFO): DAT read: 

2025-10-24T23:08:43.270Z,1761347323.270 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:08:43.567Z,1761347323.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963705,-0.203668,-0.172606],[0.168240,-0.965307,0.199695],[-0.207289,0.163408,0.964536]]
2025-10-24T23:08:43.664Z,1761347323.664 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:08:43.976Z,1761347323.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964822,-0.176702,-0.194664],[0.136053,-0.969171,0.205417],[-0.224960,0.171707,0.959119]]
2025-10-24T23:08:44.378Z,1761347324.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964884,-0.150048,-0.215602],[0.104276,-0.972147,0.209899],[-0.241091,0.180046,0.953655]]
2025-10-24T23:08:44.669Z,1761347324.669 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:08:44.781Z,1761347324.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964098,-0.123204,-0.235234],[0.072942,-0.974647,0.211522],[-0.255330,0.186770,0.948643]]
2025-10-24T23:08:45.033Z,1761347325.033 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:08:45.034Z,1761347325.034 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:08:45.035Z,1761347325.035 [DAT](INFO): DAT read: Oct 24 2025 23:08:39 

2025-10-24T23:08:45.182Z,1761347325.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962431,-0.096123,-0.253942],[0.042091,-0.976752,0.210200],[-0.268244,0.191614,0.944102]]
2025-10-24T23:08:45.587Z,1761347325.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959821,-0.066991,-0.272500],[0.010451,-0.978946,0.203852],[-0.280419,0.192813,0.940313]]
2025-10-24T23:08:45.000Z,1761347326.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956254,-0.037593,-0.290111],[-0.020769,-0.980482,0.195509],[-0.291798,0.192982,0.936809]]
2025-10-24T23:08:46.041Z,1761347326.041 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:08:46.042Z,1761347326.042 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:08:46.043Z,1761347326.043 [DAT](INFO): commRate: 600
2025-10-24T23:08:46.395Z,1761347326.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951743,-0.006427,-0.306828],[-0.052609,-0.981564,0.183749],[-0.302353,0.191024,0.933859]]
2025-10-24T23:08:46.800Z,1761347326.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946087,0.026050,-0.322864],[-0.084843,-0.981890,0.169390],[-0.312604,0.187650,0.931164]]
2025-10-24T23:08:47.203Z,1761347327.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939366,0.058996,-0.337804],[-0.117126,-0.981046,0.154368],[-0.322294,0.184573,0.928471]]
2025-10-24T23:08:47.616Z,1761347327.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922619,0.124611,-0.365029],[-0.182273,-0.974895,0.127896],[-0.339927,0.184534,0.922170]]
2025-10-24T23:08:48.015Z,1761347328.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913070,0.155192,-0.377118],[-0.214690,-0.969162,0.120972],[-0.346715,0.191419,0.918231]]
2025-10-24T23:08:48.108Z,1761347328.108 [DAT](INFO): entering command mode
2025-10-24T23:08:48.312Z,1761347328.312 [DAT](INFO): DAT read: 

2025-10-24T23:08:48.313Z,1761347328.313 [DAT](INFO): DAT read: user:1>

2025-10-24T23:08:48.314Z,1761347328.314 [DAT](INFO): setting verbose to 3
2025-10-24T23:08:48.419Z,1761347328.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902855,0.184652,-0.388274],[-0.246581,-0.962180,0.115791],[-0.352208,0.200283,0.914241]]
2025-10-24T23:08:48.561Z,1761347328.561 [DAT](INFO): DAT read: user:1>

2025-10-24T23:08:48.561Z,1761347328.561 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:08:48.562Z,1761347328.562 [DAT](INFO): set verbose to 3
2025-10-24T23:08:48.562Z,1761347328.562 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:08:48.813Z,1761347328.813 [DAT](INFO): DAT read: user:2>

2025-10-24T23:08:48.814Z,1761347328.814 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:08:48.814Z,1761347328.814 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:08:48.815Z,1761347328.815 [DAT](INFO): setting transmit power to 8
2025-10-24T23:08:48.833Z,1761347328.833 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:08:48.834Z,1761347328.834 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:08:48.921Z,1761347328.921 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:08:48.921Z,1761347328.921 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:08:48.921Z,1761347328.921 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:08:48.922Z,1761347328.922 [marl:UpdateRudder:A] Stopped
2025-10-24T23:08:48.922Z,1761347328.922 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:08:48.922Z,1761347328.922 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:08:48.922Z,1761347328.922 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:08:48.922Z,1761347328.922 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:08:48.922Z,1761347328.922 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:08:48.922Z,1761347328.922 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:08:48.923Z,1761347328.923 [marl:UpdateCommandMode] Stopped
2025-10-24T23:08:48.923Z,1761347328.923 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:08:48.923Z,1761347328.923 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:08:48.923Z,1761347328.923 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:08:48.923Z,1761347328.923 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:08:48.923Z,1761347328.923 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:08:48.923Z,1761347328.923 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:08:48.923Z,1761347328.923 [marl:UpdateSpeed] Stopped
2025-10-24T23:08:48.924Z,1761347328.924 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:08:49.065Z,1761347329.065 [DAT](INFO): DAT read: user:3>

2025-10-24T23:08:49.066Z,1761347329.066 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:08:49.066Z,1761347329.066 [DAT](INFO): set transmit power to 8
2025-10-24T23:08:49.066Z,1761347329.066 [DAT](INFO): setting local address to 11
2025-10-24T23:08:49.317Z,1761347329.317 [DAT](INFO): DAT read: user:4>

2025-10-24T23:08:49.318Z,1761347329.318 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:08:49.318Z,1761347329.318 [DAT](INFO): set local address to 11
2025-10-24T23:08:49.319Z,1761347329.319 [DAT](INFO): Setting time to: 23:8:49 And date to:10/24/2025
2025-10-24T23:08:49.322Z,1761347329.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881329,0.239486,-0.407314],[-0.306058,-0.946098,0.105963],[-0.359982,0.218050,0.907120]]
2025-10-24T23:08:49.352Z,1761347329.352 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:08:49.352Z,1761347329.352 [marl:UpdateRudder:B] Stopped
2025-10-24T23:08:49.352Z,1761347329.352 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:08:49.352Z,1761347329.352 [marl:UpdateRudder] Stopped
2025-10-24T23:08:49.352Z,1761347329.352 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:08:49.569Z,1761347329.569 [DAT](INFO): DAT read: user:5>

2025-10-24T23:08:49.570Z,1761347329.570 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:08:49  

2025-10-24T23:08:49.570Z,1761347329.570 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:08:49  

2025-10-24T23:08:49.571Z,1761347329.571 [DAT](INFO): setting remote address to 10
2025-10-24T23:08:49.571Z,1761347329.571 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:08:49.571Z,1761347329.571 [DAT](INFO): setting remote address to 0
2025-10-24T23:08:49.714Z,1761347329.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869833,0.266776,-0.414996],[-0.334698,-0.937097,0.099125],[-0.362447,0.225121,0.904407]]
2025-10-24T23:08:49.821Z,1761347329.821 [DAT](INFO): DAT read: user:6>

2025-10-24T23:08:49.822Z,1761347329.822 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:08:49.823Z,1761347329.823 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:08:49.823Z,1761347329.823 [DAT] Communications Fault, FailCount= 2
2025-10-24T23:08:49.823Z,1761347329.823 [DAT](ERROR): Communications Fault
2025-10-24T23:08:49.824Z,1761347329.824 [DAT](INFO): DAT read: user:7>

2025-10-24T23:08:49.825Z,1761347329.825 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:08:49.825Z,1761347329.825 [DAT](INFO): set remote address to 0
2025-10-24T23:08:49.825Z,1761347329.825 [DAT](INFO): setting remote address to 10
2025-10-24T23:08:49.825Z,1761347329.825 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:08:49.826Z,1761347329.826 [DAT](INFO): setting remote address to 0
2025-10-24T23:08:49.872Z,1761347329.872 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:08:50.118Z,1761347330.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858117,0.294918,-0.420308],[-0.361806,-0.928145,0.087423],[-0.364324,0.227089,0.903160]]
2025-10-24T23:08:50.228Z,1761347330.228 [DAT](INFO): Powering down
2025-10-24T23:08:50.522Z,1761347330.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846284,0.325514,-0.421716],[-0.387161,-0.919564,0.067147],[-0.365937,0.220097,0.904239]]
2025-10-24T23:08:50.926Z,1761347330.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833292,0.359927,-0.419614],[-0.412749,-0.910006,0.039094],[-0.367780,0.205772,0.906860]]
2025-10-24T23:08:51.127Z,1761347331.127 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:08:51.127Z,1761347331.127 [DAT] No Fault, FailCount= 2
2025-10-24T23:08:51.333Z,1761347331.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820164,0.395143,-0.413756],[-0.437275,-0.899293,0.007947],[-0.368948,0.187443,0.910353]]
2025-10-24T23:08:51.358Z,1761347331.358 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:08:51.736Z,1761347331.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807064,0.429321,-0.405378],[-0.459842,-0.887660,-0.024592],[-0.370396,0.166562,0.913818]]
2025-10-24T23:08:52.138Z,1761347332.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795162,0.460687,-0.394316],[-0.478793,-0.876013,-0.057949],[-0.372122,0.142717,0.917146]]
2025-10-24T23:08:52.561Z,1761347332.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785319,0.486917,-0.382343],[-0.493322,-0.865311,-0.088716],[-0.374043,0.118948,0.919752]]
2025-10-24T23:08:52.970Z,1761347332.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777265,0.508539,-0.370468],[-0.504474,-0.855593,-0.116048],[-0.375985,0.096692,0.921567]]
2025-10-24T23:08:53.280Z,1761347333.280 [DAT](INFO): Powering up
2025-10-24T23:08:53.280Z,1761347333.280 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:08:53.367Z,1761347333.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770442,0.526228,-0.359865],[-0.513450,-0.846788,-0.138995],[-0.377872,0.077685,0.922593]]
2025-10-24T23:08:53.771Z,1761347333.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764229,0.541337,-0.350584],[-0.521253,-0.838547,-0.158534],[-0.379802,0.061587,0.923016]]
2025-10-24T23:08:54.175Z,1761347334.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758226,0.554879,-0.342349],[-0.528549,-0.830554,-0.175545],[-0.381745,0.047845,0.923028]]
2025-10-24T23:08:54.578Z,1761347334.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751988,0.567702,-0.335005],[-0.535933,-0.822440,-0.190703],[-0.383784,0.036134,0.922716]]
2025-10-24T23:08:54.982Z,1761347334.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745415,0.579725,-0.329053],[-0.543536,-0.814358,-0.203445],[-0.385909,0.027201,0.922136]]
2025-10-24T23:08:55.387Z,1761347335.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738176,0.592017,-0.323439],[-0.551895,-0.805685,-0.215137],[-0.387954,0.019696,0.921468]]
2025-10-24T23:08:55.790Z,1761347335.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730273,0.603994,-0.319207],[-0.561041,-0.796841,-0.224225],[-0.389788,0.015343,0.920777]]
2025-10-24T23:08:56.196Z,1761347336.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721507,0.616861,-0.314499],[-0.571513,-0.786980,-0.232456],[-0.390897,0.012021,0.920356]]
2025-10-24T23:08:56.599Z,1761347336.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712421,0.629546,-0.310047],[-0.582580,-0.776893,-0.238826],[-0.391225,0.010482,0.920235]]
2025-10-24T23:08:57.002Z,1761347337.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702764,0.642737,-0.304978],[-0.594402,-0.766030,-0.244711],[-0.390907,0.009305,0.920383]]
2025-10-24T23:08:57.410Z,1761347337.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692519,0.656767,-0.298453],[-0.606991,-0.754057,-0.250918],[-0.389846,0.007393,0.920851]]
2025-10-24T23:08:57.812Z,1761347337.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681471,0.671671,-0.290613],[-0.620571,-0.740831,-0.257022],[-0.387929,0.005193,0.921675]]
2025-10-24T23:08:58.214Z,1761347338.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669837,0.686632,-0.282587],[-0.634940,-0.726992,-0.261406],[-0.384929,0.004326,0.922936]]
2025-10-24T23:08:58.618Z,1761347338.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657392,0.701478,-0.275253],[-0.650026,-0.712670,-0.263757],[-0.381184,0.005530,0.924482]]
2025-10-24T23:08:59.023Z,1761347339.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643791,0.716914,-0.267521],[-0.665756,-0.697129,-0.266047],[-0.377229,0.006825,0.926095]]
2025-10-24T23:08:59.451Z,1761347339.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629458,0.731635,-0.261710],[-0.681435,-0.681615,-0.266549],[-0.373402,0.010557,0.927610]]
2025-10-24T23:08:59.835Z,1761347339.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615719,0.744247,-0.258817],[-0.695890,-0.667681,-0.264461],[-0.369631,0.017274,0.929018]]
2025-10-24T23:09:00.238Z,1761347340.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603622,0.754263,-0.258319],[-0.708119,-0.656082,-0.261005],[-0.366345,0.025373,0.930133]]
2025-10-24T23:09:00.644Z,1761347340.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593822,0.762249,-0.257589],[-0.717763,-0.646523,-0.258503],[-0.363581,0.031383,0.931034]]
2025-10-24T23:09:01.046Z,1761347341.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585831,0.769563,-0.254116],[-0.725316,-0.637746,-0.259224],[-0.361550,0.032453,0.931788]]
2025-10-24T23:09:01.454Z,1761347341.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579368,0.777106,-0.245843],[-0.731583,-0.628782,-0.263477],[-0.359331,0.027205,0.932814]]
2025-10-24T23:09:01.498Z,1761347341.498 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:09:01.498Z,1761347341.498 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:09:01.498Z,1761347341.498 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:09:01.498Z,1761347341.498 [marl:UpdateRudder:A] Stopped
2025-10-24T23:09:01.498Z,1761347341.498 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:09:01.498Z,1761347341.498 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:09:01.498Z,1761347341.498 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:09:01.499Z,1761347341.499 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:09:01.499Z,1761347341.499 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:09:01.499Z,1761347341.499 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:09:01.499Z,1761347341.499 [marl:UpdateCommandMode] Stopped
2025-10-24T23:09:01.499Z,1761347341.499 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:09:01.499Z,1761347341.499 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:09:01.499Z,1761347341.499 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:09:01.499Z,1761347341.499 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:09:01.512Z,1761347341.512 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:09:01.512Z,1761347341.512 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:09:01.512Z,1761347341.512 [marl:UpdateSpeed] Stopped
2025-10-24T23:09:01.512Z,1761347341.512 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:09:01.854Z,1761347341.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574255,0.784273,-0.234834],[-0.737180,-0.620124,-0.268348],[-0.356085,0.019015,0.934260]]
2025-10-24T23:09:01.952Z,1761347341.952 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:09:01.952Z,1761347341.952 [marl:UpdateRudder:B] Stopped
2025-10-24T23:09:01.952Z,1761347341.952 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:09:01.952Z,1761347341.952 [marl:UpdateRudder] Stopped
2025-10-24T23:09:01.952Z,1761347341.952 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:09:02.260Z,1761347342.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570109,0.789922,-0.225829],[-0.742804,-0.613040,-0.269117],[-0.351024,0.014320,0.936257]]
2025-10-24T23:09:02.673Z,1761347342.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566719,0.794670,-0.217553],[-0.748462,-0.606935,-0.267272],[-0.344434,0.011362,0.938742]]
2025-10-24T23:09:02.704Z,1761347342.704 [marl:SendObservationData] Running Loop=1
2025-10-24T23:09:02.704Z,1761347342.704 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:09:02.704Z,1761347342.704 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:09:02.705Z,1761347342.705 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:09:02.706Z,1761347342.706 [marl:SendObservationData:A](INFO): Got test_good :  41da3f01400000004051400000000000404262f63832fb0dc05e77535118aa2a401d8caf800000004071c66660000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:09:02.706Z,1761347342.706 [marl:SendObservationData:A] Stopped
2025-10-24T23:09:02.706Z,1761347342.706 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:09:03.066Z,1761347343.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560131,0.802412,-0.205882],[-0.756300,-0.596744,-0.268155],[-0.338030,0.005507,0.941119]]
2025-10-24T23:09:03.110Z,1761347343.110 [marl:SendObservationData:B] Stopped
2025-10-24T23:09:03.110Z,1761347343.110 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:09:03.476Z,1761347343.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549992,0.812250,-0.194318],[-0.766330,-0.583309,-0.269236],[-0.332034,0.000835,0.943267]]
2025-10-24T23:09:03.502Z,1761347343.502 [marl:SendObservationData:C] Stopped
2025-10-24T23:09:03.502Z,1761347343.502 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:09:03.889Z,1761347343.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538745,0.821061,-0.188713],[-0.776507,-0.570834,-0.266808],[-0.326790,0.002796,0.945093]]
2025-10-24T23:09:03.982Z,1761347343.982 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.008454 min 
2025-10-24T23:09:03.982Z,1761347343.982 [marl:SendObservationData:E] Stopped
2025-10-24T23:09:03.983Z,1761347343.983 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:09:03.983Z,1761347343.983 [marl:SendObservationData] Stopped
2025-10-24T23:09:03.983Z,1761347343.983 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:09:03.983Z,1761347343.983 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:09:04.278Z,1761347344.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527603,0.828477,-0.187777],[-0.785859,-0.559949,-0.262457],[-0.322585,0.009093,0.946497]]
2025-10-24T23:09:04.686Z,1761347344.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517880,0.834072,-0.190064],[-0.793786,-0.551364,-0.256712],[-0.318911,0.017924,0.947615]]
2025-10-24T23:09:05.087Z,1761347345.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508692,0.839411,-0.191369],[-0.800974,-0.542926,-0.252332],[-0.315709,0.024922,0.948529]]
2025-10-24T23:09:05.392Z,1761347345.392 [DAT](INFO): DAT read: 

2025-10-24T23:09:05.393Z,1761347345.393 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:09:05.492Z,1761347345.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499627,0.845387,-0.188927],[-0.807849,-0.533450,-0.250623],[-0.312656,0.027406,0.949471]]
2025-10-24T23:09:05.943Z,1761347345.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489684,0.852151,-0.184520],[-0.814995,-0.522559,-0.250430],[-0.309826,0.027751,0.950388]]
2025-10-24T23:09:06.299Z,1761347346.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478621,0.859925,-0.177344],[-0.822860,-0.509770,-0.251069],[-0.306306,0.025763,0.951585]]
2025-10-24T23:09:06.702Z,1761347346.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466143,0.868735,-0.167363],[-0.831602,-0.494805,-0.252203],[-0.301910,0.021617,0.953091]]
2025-10-24T23:09:07.126Z,1761347347.126 [NAL9602](INFO): Powering up NAL9602
2025-10-24T23:09:07.157Z,1761347347.157 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:09:07.158Z,1761347347.158 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:09:07.159Z,1761347347.159 [DAT](INFO): DAT read: Oct 24 2025 23:09:01 

2025-10-24T23:09:07.511Z,1761347347.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436656,0.888622,-0.140295],[-0.851600,-0.458560,-0.253969],[-0.290016,0.008579,0.956983]]
2025-10-24T23:09:07.950Z,1761347347.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418986,0.899273,-0.125538],[-0.862369,-0.437386,-0.254977],[-0.284202,0.001428,0.958763]]
2025-10-24T23:09:08.165Z,1761347348.165 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:09:08.166Z,1761347348.166 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:09:08.167Z,1761347348.167 [DAT](INFO): commRate: 600
2025-10-24T23:09:08.724Z,1761347348.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379215,0.918490,-0.112129],[-0.882327,-0.395439,-0.255200],[-0.278739,0.002159,0.960365]]
2025-10-24T23:09:09.126Z,1761347349.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360565,0.926579,-0.106981],[-0.890044,-0.376094,-0.257633],[-0.278952,0.002324,0.960302]]
2025-10-24T23:09:09.531Z,1761347349.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346541,0.932180,-0.104641],[-0.895407,-0.361975,-0.259269],[-0.279563,0.003849,0.960120]]
2025-10-24T23:09:09.955Z,1761347349.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337806,0.935332,-0.105077],[-0.898679,-0.353705,-0.259364],[-0.279758,0.006816,0.960046]]
2025-10-24T23:09:10.232Z,1761347350.232 [DAT](INFO): entering command mode
2025-10-24T23:09:10.341Z,1761347350.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330260,0.937807,-0.106989],[-0.901409,-0.346986,-0.258963],[-0.279981,0.010916,0.959943]]
2025-10-24T23:09:10.436Z,1761347350.436 [DAT](INFO): DAT read: 

2025-10-24T23:09:10.436Z,1761347350.436 [DAT](INFO): DAT read: user:1>

2025-10-24T23:09:10.437Z,1761347350.437 [DAT](INFO): setting verbose to 3
2025-10-24T23:09:10.685Z,1761347350.685 [DAT](INFO): DAT read: user:1>

2025-10-24T23:09:10.686Z,1761347350.686 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:09:10.686Z,1761347350.686 [DAT](INFO): set verbose to 3
2025-10-24T23:09:10.686Z,1761347350.686 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:09:10.751Z,1761347350.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322281,0.940871,-0.104388],[-0.904238,-0.338601,-0.260197],[-0.280158,0.010535,0.959896]]
2025-10-24T23:09:10.937Z,1761347350.937 [DAT](INFO): DAT read: user:2>

2025-10-24T23:09:10.938Z,1761347350.938 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:09:10.938Z,1761347350.938 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:09:10.938Z,1761347350.938 [DAT](INFO): setting transmit power to 8
2025-10-24T23:09:11.146Z,1761347351.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310997,0.945584,-0.095664],[-0.907982,-0.325343,-0.264048],[-0.280803,0.004743,0.959754]]
2025-10-24T23:09:11.189Z,1761347351.189 [DAT](INFO): DAT read: user:3>

2025-10-24T23:09:11.190Z,1761347351.190 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:09:11.190Z,1761347351.190 [DAT](INFO): set transmit power to 8
2025-10-24T23:09:11.190Z,1761347351.190 [DAT](INFO): setting local address to 11
2025-10-24T23:09:11.441Z,1761347351.441 [DAT](INFO): DAT read: user:4>

2025-10-24T23:09:11.442Z,1761347351.442 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:09:11.442Z,1761347351.442 [DAT](INFO): set local address to 11
2025-10-24T23:09:11.443Z,1761347351.443 [DAT](INFO): Setting time to: 23:9:11 And date to:10/24/2025
2025-10-24T23:09:11.551Z,1761347351.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297513,0.950790,-0.086515],[-0.912299,-0.309836,-0.267790],[-0.281417,-0.000743,0.959585]]
2025-10-24T23:09:11.693Z,1761347351.693 [DAT](INFO): DAT read: user:5>

2025-10-24T23:09:11.694Z,1761347351.694 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:09:11  

2025-10-24T23:09:11.694Z,1761347351.694 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:09:11  

2025-10-24T23:09:11.695Z,1761347351.695 [DAT](INFO): setting remote address to 10
2025-10-24T23:09:11.695Z,1761347351.695 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:09:11.697Z,1761347351.697 [DAT](INFO): setting remote address to 0
2025-10-24T23:09:11.947Z,1761347351.947 [DAT](INFO): DAT read: user:6>

2025-10-24T23:09:11.948Z,1761347351.948 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:09:11.948Z,1761347351.948 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:09:11.948Z,1761347351.948 [DAT] Communications Fault, FailCount= 3
2025-10-24T23:09:11.948Z,1761347351.948 [DAT](ERROR): Communications Fault
2025-10-24T23:09:11.949Z,1761347351.949 [DAT](INFO): DAT read: user:7>

2025-10-24T23:09:11.950Z,1761347351.950 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:09:11.950Z,1761347351.950 [DAT](INFO): set remote address to 0
2025-10-24T23:09:11.951Z,1761347351.951 [DAT](INFO): setting remote address to 10
2025-10-24T23:09:11.951Z,1761347351.951 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:09:11.951Z,1761347351.951 [DAT](INFO): setting remote address to 0
2025-10-24T23:09:11.993Z,1761347351.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282164,0.955861,-0.081930],[-0.916836,-0.293816,-0.270341],[-0.282481,-0.001165,0.959272]]
2025-10-24T23:09:12.187Z,1761347352.187 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:09:12.356Z,1761347352.356 [DAT](INFO): Powering down
2025-10-24T23:09:12.361Z,1761347352.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267127,0.960064,-0.083189],[-0.921089,-0.279748,-0.270807],[-0.283264,0.004284,0.959032]]
2025-10-24T23:09:12.767Z,1761347352.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253352,0.963044,-0.091425],[-0.924676,-0.268854,-0.269615],[-0.284231,0.016231,0.958619]]
2025-10-24T23:09:13.177Z,1761347353.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241396,0.965255,-0.100055],[-0.927270,-0.259837,-0.269547],[-0.286179,0.027710,0.957775]]
2025-10-24T23:09:13.299Z,1761347353.299 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:09:13.299Z,1761347353.299 [DAT] No Fault, FailCount= 3
2025-10-24T23:09:13.570Z,1761347353.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231328,0.967165,-0.105260],[-0.928778,-0.251751,-0.272015],[-0.289582,0.034838,0.956519]]
2025-10-24T23:09:13.974Z,1761347353.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223488,0.969078,-0.104595],[-0.929454,-0.244199,-0.276554],[-0.293544,0.035410,0.955289]]
2025-10-24T23:09:14.380Z,1761347354.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215081,0.971583,-0.098825],[-0.930350,-0.234616,-0.281788],[-0.296966,0.031335,0.954374]]
2025-10-24T23:09:14.418Z,1761347354.418 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:09:14.418Z,1761347354.418 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:09:14.419Z,1761347354.419 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:09:14.419Z,1761347354.419 [marl:UpdateRudder:A] Stopped
2025-10-24T23:09:14.419Z,1761347354.419 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:09:14.419Z,1761347354.419 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:09:14.419Z,1761347354.419 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:09:14.419Z,1761347354.419 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:09:14.437Z,1761347354.437 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:09:14.437Z,1761347354.437 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:09:14.438Z,1761347354.438 [marl:UpdateCommandMode] Stopped
2025-10-24T23:09:14.438Z,1761347354.438 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:09:14.439Z,1761347354.439 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:09:14.439Z,1761347354.439 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:09:14.460Z,1761347354.460 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:09:14.461Z,1761347354.461 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:09:14.461Z,1761347354.461 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:09:14.461Z,1761347354.461 [marl:UpdateSpeed] Stopped
2025-10-24T23:09:14.461Z,1761347354.461 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:09:14.786Z,1761347354.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202883,0.974961,-0.091050],[-0.932480,-0.220745,-0.285926],[-0.298865,0.026893,0.953916]]
2025-10-24T23:09:14.788Z,1761347354.788 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:09:14.845Z,1761347354.845 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:09:14.846Z,1761347354.846 [marl:UpdateRudder:B] Stopped
2025-10-24T23:09:14.846Z,1761347354.846 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:09:14.846Z,1761347354.846 [marl:UpdateRudder] Stopped
2025-10-24T23:09:14.846Z,1761347354.846 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:09:15.188Z,1761347355.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186915,0.978834,-0.083344],[-0.936022,-0.203206,-0.287349],[-0.298203,0.024302,0.954193]]
2025-10-24T23:09:15.404Z,1761347355.404 [DAT](INFO): Powering up
2025-10-24T23:09:15.405Z,1761347355.405 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:09:15.590Z,1761347355.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166997,0.982893,-0.077668],[-0.940055,-0.182484,-0.288090],[-0.297335,0.024902,0.954448]]
2025-10-24T23:09:15.792Z,1761347355.792 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:09:15.994Z,1761347355.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143330,0.987090,-0.071477],[-0.943090,-0.158124,-0.292538],[-0.300064,0.025479,0.953579]]
2025-10-24T23:09:16.409Z,1761347356.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119092,0.990563,-0.067834],[-0.943940,-0.134143,-0.301633],[-0.307886,0.028109,0.951008]]
2025-10-24T23:09:16.814Z,1761347356.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103898,0.992073,-0.070679],[-0.942876,-0.120863,-0.310447],[-0.316528,0.034387,0.947960]]
2025-10-24T23:09:17.206Z,1761347357.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094330,0.992721,-0.074884],[-0.940649,-0.113509,-0.319837],[-0.326009,0.040269,0.944509]]
2025-10-24T23:09:17.610Z,1761347357.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087040,0.993780,-0.069459],[-0.938320,-0.105204,-0.329374],[-0.334632,0.036507,0.941641]]
2025-10-24T23:09:18.014Z,1761347358.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082737,0.995522,-0.045731],[-0.937070,-0.093334,-0.336436],[-0.339198,0.015018,0.940595]]
2025-10-24T23:09:18.018Z,1761347358.018 [NAL9602](INFO): NAL9602 initialized
2025-10-24T23:09:18.421Z,1761347358.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080598,0.996684,-0.011137],[-0.937344,-0.079589,-0.339194],[-0.338955,-0.016899,0.940651]]
2025-10-24T23:09:18.826Z,1761347358.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078633,0.996484,0.028915],[-0.938552,-0.064222,-0.339111],[-0.336062,-0.053804,0.940302]]
2025-10-24T23:09:19.226Z,1761347359.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075377,0.994539,0.072182],[-0.939265,-0.046509,-0.340025],[-0.334811,-0.093428,0.937642]]
2025-10-24T23:09:20.037Z,1761347360.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070804,0.986726,0.146143],[-0.934824,-0.014528,-0.354814],[-0.347981,-0.161740,0.923444]]
2025-10-24T23:09:20.438Z,1761347360.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075975,0.982095,0.172387],[-0.929934,-0.007406,-0.367651],[-0.359792,-0.188241,0.913846]]
2025-10-24T23:09:20.852Z,1761347360.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090032,0.978375,0.186218],[-0.920904,-0.010580,-0.389646],[-0.379249,-0.206570,0.901942]]
2025-10-24T23:09:21.251Z,1761347361.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088981,0.978265,0.187298],[-0.917910,-0.007536,-0.396717],[-0.386683,-0.207223,0.898629]]
2025-10-24T23:09:21.707Z,1761347361.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084224,0.978608,0.187703],[-0.916015,-0.001896,-0.401139],[-0.392202,-0.205725,0.896579]]
2025-10-24T23:09:22.102Z,1761347362.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079159,0.979347,0.186047],[-0.914599,0.002889,-0.404352],[-0.396539,-0.202167,0.895481]]
2025-10-24T23:09:22.510Z,1761347362.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076414,0.979686,0.185409],[-0.913164,0.005905,-0.407551],[-0.400366,-0.200452,0.894162]]
2025-10-24T23:09:22.915Z,1761347362.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076926,0.979506,0.186145],[-0.911222,0.006707,-0.411861],[-0.404669,-0.201303,0.892031]]
2025-10-24T23:09:23.316Z,1761347363.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080324,0.979580,0.184315],[-0.908610,0.004075,-0.417627],[-0.409850,-0.201015,0.889728]]
2025-10-24T23:09:23.718Z,1761347363.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084918,0.979797,0.181071],[-0.905453,-0.000034,-0.424447],[-0.415866,-0.199995,0.887163]]
2025-10-24T23:09:24.122Z,1761347364.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088168,0.980460,0.175854],[-0.902110,-0.003731,-0.431490],[-0.422403,-0.196683,0.884812]]
2025-10-24T23:09:24.538Z,1761347364.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088545,0.981185,0.171569],[-0.899261,-0.004671,-0.437387],[-0.428356,-0.193014,0.882755]]
2025-10-24T23:09:24.930Z,1761347364.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087012,0.981464,0.170754],[-0.897512,-0.002848,-0.440980],[-0.432320,-0.191624,0.881124]]
2025-10-24T23:09:25.335Z,1761347365.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083181,0.980846,0.176130],[-0.896676,0.003448,-0.442675],[-0.434803,-0.194753,0.879214]]
2025-10-24T23:09:25.739Z,1761347365.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078053,0.979950,0.183317],[-0.896223,0.011571,-0.443452],[-0.436682,-0.198906,0.877351]]
2025-10-24T23:09:26.142Z,1761347366.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075198,0.979045,0.189251],[-0.896177,0.016872,-0.443376],[-0.437278,-0.202944,0.876129]]
2025-10-24T23:09:26.546Z,1761347366.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075758,0.978629,0.191172],[-0.895829,0.017397,-0.444058],[-0.437894,-0.204898,0.875366]]
2025-10-24T23:09:26.950Z,1761347366.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080255,0.979095,0.186901],[-0.894634,0.011928,-0.446641],[-0.439533,-0.203053,0.874974]]
2025-10-24T23:09:27.358Z,1761347367.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088051,0.979497,0.181200],[-0.892933,0.003011,-0.450180],[-0.441495,-0.201438,0.874360]]
2025-10-24T23:09:27.475Z,1761347367.475 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:09:27.475Z,1761347367.475 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:09:27.475Z,1761347367.475 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:09:27.475Z,1761347367.475 [marl:UpdateRudder:A] Stopped
2025-10-24T23:09:27.475Z,1761347367.475 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:09:27.475Z,1761347367.475 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:09:27.479Z,1761347367.479 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:09:27.479Z,1761347367.479 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:09:27.479Z,1761347367.479 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:09:27.479Z,1761347367.479 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:09:27.480Z,1761347367.480 [marl:UpdateCommandMode] Stopped
2025-10-24T23:09:27.480Z,1761347367.480 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:09:27.480Z,1761347367.480 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:09:27.480Z,1761347367.480 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:09:27.480Z,1761347367.480 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:09:27.480Z,1761347367.480 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:09:27.481Z,1761347367.481 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:09:27.481Z,1761347367.481 [marl:UpdateSpeed] Stopped
2025-10-24T23:09:27.481Z,1761347367.481 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:09:27.505Z,1761347367.505 [DAT](INFO): DAT read: 

2025-10-24T23:09:27.506Z,1761347367.506 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:09:27.761Z,1761347367.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096028,0.979197,0.178750],[-0.890922,-0.004470,-0.454134],[-0.443887,-0.202862,0.872818]]
2025-10-24T23:09:27.802Z,1761347367.802 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:09:27.803Z,1761347367.803 [marl:UpdateRudder:B] Stopped
2025-10-24T23:09:27.803Z,1761347367.803 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:09:27.803Z,1761347367.803 [marl:UpdateRudder] Stopped
2025-10-24T23:09:27.803Z,1761347367.803 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:09:28.201Z,1761347368.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097941,0.978384,0.182131],[-0.889108,-0.003804,-0.457682],[-0.447096,-0.206760,0.870262]]
2025-10-24T23:09:28.567Z,1761347368.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093051,0.978245,0.185411],[-0.890592,0.001487,-0.454800],[-0.445182,-0.207445,0.871080]]
2025-10-24T23:09:28.971Z,1761347368.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083283,0.979513,0.183351],[-0.896167,0.006851,-0.443665],[-0.435832,-0.201263,0.877236]]
2025-10-24T23:09:29.269Z,1761347369.269 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:09:29.270Z,1761347369.270 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:09:29.271Z,1761347369.271 [DAT](INFO): DAT read: Oct 24 2025 23:09:23 

2025-10-24T23:09:29.385Z,1761347369.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070862,0.980679,0.182341],[-0.900212,0.015864,-0.435164],[-0.429648,-0.194982,0.881694]]
2025-10-24T23:09:29.780Z,1761347369.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066142,0.982030,0.176757],[-0.899310,0.018075,-0.436938],[-0.432281,-0.187860,0.881954]]
2025-10-24T23:09:30.186Z,1761347370.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071164,0.983371,0.167081],[-0.895533,0.010778,-0.444864],[-0.439267,-0.181285,0.879875]]
2025-10-24T23:09:30.277Z,1761347370.277 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:09:30.278Z,1761347370.278 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:09:30.279Z,1761347370.279 [DAT](INFO): commRate: 600
2025-10-24T23:09:30.590Z,1761347370.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078041,0.984169,0.159127],[-0.893934,0.001582,-0.448196],[-0.441352,-0.177227,0.879658]]
2025-10-24T23:09:30.993Z,1761347370.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076524,0.984910,0.155229],[-0.897134,-0.000080,-0.441758],[-0.435080,-0.173066,0.883603]]
2025-10-24T23:09:31.395Z,1761347371.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072677,0.984678,0.158515],[-0.902580,0.002687,-0.430513],[-0.424343,-0.174361,0.888556]]
2025-10-24T23:09:31.799Z,1761347371.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065794,0.983152,0.170537],[-0.901970,0.014496,-0.431556],[-0.426757,-0.182213,0.885820]]
2025-10-24T23:09:32.202Z,1761347372.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065136,0.979710,0.189539],[-0.899855,0.024428,-0.435505],[-0.431299,-0.198925,0.880006]]
2025-10-24T23:09:32.344Z,1761347372.344 [DAT](INFO): entering command mode
2025-10-24T23:09:32.544Z,1761347372.544 [DAT](INFO): DAT read: 

2025-10-24T23:09:32.545Z,1761347372.545 [DAT](INFO): DAT read: user:1>

2025-10-24T23:09:32.545Z,1761347372.545 [DAT](INFO): setting verbose to 3
2025-10-24T23:09:32.612Z,1761347372.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067645,0.976006,0.206972],[-0.904147,0.027740,-0.426319],[-0.421831,-0.215972,0.880576]]
2025-10-24T23:09:32.797Z,1761347372.797 [DAT](INFO): DAT read: user:1>

2025-10-24T23:09:32.798Z,1761347372.798 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:09:32.798Z,1761347372.798 [DAT](INFO): set verbose to 3
2025-10-24T23:09:32.798Z,1761347372.798 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:09:33.010Z,1761347373.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065568,0.972738,0.222443],[-0.914091,0.030848,-0.404334],[-0.400173,-0.229844,0.887149]]
2025-10-24T23:09:33.049Z,1761347373.049 [DAT](INFO): DAT read: user:2>

2025-10-24T23:09:33.050Z,1761347373.050 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:09:33.050Z,1761347373.050 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:09:33.050Z,1761347373.050 [DAT](INFO): setting transmit power to 8
2025-10-24T23:09:33.301Z,1761347373.301 [DAT](INFO): DAT read: user:3>

2025-10-24T23:09:33.301Z,1761347373.301 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:09:33.302Z,1761347373.302 [DAT](INFO): set transmit power to 8
2025-10-24T23:09:33.302Z,1761347373.302 [DAT](INFO): setting local address to 11
2025-10-24T23:09:33.414Z,1761347373.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054866,0.971772,0.229452],[-0.923841,0.037779,-0.380907],[-0.378823,-0.232876,0.895691]]
2025-10-24T23:09:33.553Z,1761347373.553 [DAT](INFO): DAT read: user:4>

2025-10-24T23:09:33.553Z,1761347373.553 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:09:33.554Z,1761347373.554 [DAT](INFO): set local address to 11
2025-10-24T23:09:33.555Z,1761347373.555 [DAT](INFO): Setting time to: 23:9:33 And date to:10/24/2025
2025-10-24T23:09:33.805Z,1761347373.805 [DAT](INFO): DAT read: user:5>

2025-10-24T23:09:33.805Z,1761347373.805 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:09:33  

2025-10-24T23:09:33.806Z,1761347373.806 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:09:33  

2025-10-24T23:09:33.806Z,1761347373.806 [DAT](INFO): setting remote address to 10
2025-10-24T23:09:33.807Z,1761347373.807 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:09:33.807Z,1761347373.807 [DAT](INFO): setting remote address to 0
2025-10-24T23:09:33.830Z,1761347373.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044117,0.973728,0.223400],[-0.928244,0.042719,-0.369510],[-0.369345,-0.223672,0.901973]]
2025-10-24T23:09:34.061Z,1761347374.061 [DAT](INFO): DAT read: user:6>

2025-10-24T23:09:34.063Z,1761347374.063 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:09:34.063Z,1761347374.063 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:09:34.063Z,1761347374.063 [DAT] Communications Fault, FailCount= 4
2025-10-24T23:09:34.063Z,1761347374.063 [DAT](ERROR): Communications Fault
2025-10-24T23:09:34.067Z,1761347374.067 [DAT](INFO): DAT read: user:7>

2025-10-24T23:09:34.089Z,1761347374.089 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:09:34.089Z,1761347374.089 [DAT](INFO): set remote address to 0
2025-10-24T23:09:34.089Z,1761347374.089 [DAT](INFO): setting remote address to 10
2025-10-24T23:09:34.091Z,1761347374.091 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:09:34.096Z,1761347374.096 [DAT](INFO): setting remote address to 0
2025-10-24T23:09:34.108Z,1761347374.108 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:09:34.228Z,1761347374.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040842,0.976935,0.209595],[-0.936354,0.035779,-0.349228],[-0.348672,-0.210518,0.913296]]
2025-10-24T23:09:34.502Z,1761347374.502 [DAT](INFO): Powering down
2025-10-24T23:09:34.631Z,1761347374.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046166,0.977376,0.206409],[-0.933204,0.031517,-0.357963],[-0.356370,-0.209147,0.910636]]
2025-10-24T23:09:34.690Z,1761347374.690 [marl:NeedComms:C] Running Loop=1
2025-10-24T23:09:35.035Z,1761347375.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051289,0.973215,0.224104],[-0.930614,0.034853,-0.364338],[-0.362390,-0.227241,0.903900]]
2025-10-24T23:09:35.064Z,1761347375.064 [Radio_Surface](INFO): Powering up
2025-10-24T23:09:35.472Z,1761347375.472 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:09:35.472Z,1761347375.472 [DAT] No Fault, FailCount= 4
2025-10-24T23:09:35.511Z,1761347375.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051937,0.973913,0.220897],[-0.942261,0.025485,-0.333908],[-0.330827,-0.225485,0.916357]]
2025-10-24T23:09:35.939Z,1761347375.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027913,0.975300,0.219113],[-0.940461,0.048660,-0.336400],[-0.338753,-0.215457,0.915873]]
2025-10-24T23:09:36.309Z,1761347376.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030035,0.977560,0.208503],[-0.965707,0.025439,-0.258384],[-0.257891,-0.209113,0.943273]]
2025-10-24T23:09:36.711Z,1761347376.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028282,0.983485,0.178766],[-0.987003,0.000827,-0.160701],[-0.158194,-0.180988,0.970679]]
2025-10-24T23:09:37.114Z,1761347377.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000645,0.991020,0.133713],[-0.995713,0.011731,-0.091748],[-0.092493,-0.133199,0.986764]]
2025-10-24T23:09:37.519Z,1761347377.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005367,0.994652,0.103141],[-0.995117,0.015478,-0.097485],[-0.098560,-0.102114,0.989878]]
2025-10-24T23:09:37.556Z,1761347377.556 [DAT](INFO): Powering up
2025-10-24T23:09:37.556Z,1761347377.556 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:09:37.965Z,1761347377.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019163,0.998118,0.058250],[-0.994382,-0.012961,-0.105053],[-0.104100,-0.059936,0.992759]]
2025-10-24T23:09:38.329Z,1761347378.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018504,0.996191,0.085211],[-0.999424,-0.016004,-0.029921],[-0.028443,-0.085716,0.995914]]
2025-10-24T23:09:38.733Z,1761347378.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003260,0.994028,0.109078],[-0.999961,-0.002340,-0.008560],[-0.008254,-0.109102,0.993996]]
2025-10-24T23:09:39.134Z,1761347379.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015804,0.990714,0.135041],[-0.999265,-0.010934,-0.036729],[-0.034911,-0.135522,0.990159]]
2025-10-24T23:09:39.539Z,1761347379.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039647,0.989003,0.142486],[-0.998928,0.035823,0.029302],[0.023875,-0.143495,0.989363]]
2025-10-24T23:09:39.956Z,1761347379.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001837,0.994850,0.101341],[-0.999034,-0.002624,0.043870],[0.043910,-0.101324,0.993884]]
2025-10-24T23:09:40.316Z,1761347380.316 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-10-24T23:09:40.317Z,1761347380.317 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-10-24T23:09:40.369Z,1761347380.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004875,0.993914,0.110046],[-0.999412,0.001109,0.034261],[0.033931,-0.110149,0.993336]]
2025-10-24T23:09:40.408Z,1761347380.408 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:09:40.408Z,1761347380.408 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:09:40.408Z,1761347380.408 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:09:40.409Z,1761347380.409 [marl:UpdateRudder:A] Stopped
2025-10-24T23:09:40.409Z,1761347380.409 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:09:40.409Z,1761347380.409 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:09:40.409Z,1761347380.409 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:09:40.409Z,1761347380.409 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:09:40.409Z,1761347380.409 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:09:40.409Z,1761347380.409 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:09:40.410Z,1761347380.410 [marl:UpdateCommandMode] Stopped
2025-10-24T23:09:40.410Z,1761347380.410 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:09:40.410Z,1761347380.410 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:09:40.410Z,1761347380.410 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:09:40.410Z,1761347380.410 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:09:40.410Z,1761347380.410 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:09:40.410Z,1761347380.410 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:09:40.410Z,1761347380.410 [marl:UpdateSpeed] Stopped
2025-10-24T23:09:40.410Z,1761347380.410 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:09:40.750Z,1761347380.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027179,0.994267,0.103418],[-0.998856,0.031084,-0.036338],[-0.039344,-0.102312,0.993974]]
2025-10-24T23:09:40.789Z,1761347380.789 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:09:40.789Z,1761347380.789 [marl:UpdateRudder:B] Stopped
2025-10-24T23:09:40.789Z,1761347380.789 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:09:40.789Z,1761347380.789 [marl:UpdateRudder] Stopped
2025-10-24T23:09:40.789Z,1761347380.789 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:09:41.154Z,1761347381.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032535,0.989985,0.137376],[-0.999307,-0.029733,-0.022400],[-0.018091,-0.138009,0.990266]]
2025-10-24T23:09:41.577Z,1761347381.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023734,0.974835,0.221662],[-0.996955,-0.039554,0.067202],[0.074279,-0.219392,0.972805]]
2025-10-24T23:09:41.962Z,1761347381.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043468,0.960890,0.273497],[-0.995203,0.017632,0.096226],[0.087640,-0.276368,0.957048]]
2025-10-24T23:09:42.369Z,1761347382.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083083,0.969436,0.230849],[-0.996244,0.075129,0.043050],[0.024391,-0.233559,0.972037]]
2025-10-24T23:09:42.771Z,1761347382.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052616,0.986699,0.153811],[-0.998471,0.049368,0.024864],[0.016940,-0.154884,0.987787]]
2025-10-24T23:09:43.208Z,1761347383.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076255,0.992497,0.095574],[-0.995678,0.070700,0.060228],[0.053019,-0.099754,0.993599]]
2025-10-24T23:09:43.578Z,1761347383.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103562,0.993119,0.054674],[-0.994622,0.103338,0.006927],[0.001230,-0.055097,0.998480]]
2025-10-24T23:09:43.982Z,1761347383.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116992,0.992398,0.038202],[-0.992876,0.116000,0.027243],[0.022605,-0.041117,0.998899]]
2025-10-24T23:09:44.388Z,1761347384.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121159,0.992092,0.032772],[-0.986365,0.116624,0.116112],[0.111371,-0.046394,0.992695]]
2025-10-24T23:09:44.790Z,1761347384.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124472,0.991404,0.040306],[-0.979209,0.116181,0.166287],[0.160175,-0.060166,0.985253]]
2025-10-24T23:09:45.194Z,1761347385.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139241,0.988783,0.054042],[-0.984188,0.132148,0.117943],[0.109479,-0.069610,0.991549]]
2025-10-24T23:09:45.598Z,1761347385.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150327,0.986195,0.069441],[-0.988400,0.151454,-0.011235],[-0.021597,-0.066947,0.997523]]
2025-10-24T23:09:45.914Z,1761347385.914 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:09:46.005Z,1761347386.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145264,0.986479,0.075885],[-0.989369,0.145361,0.004272],[-0.006817,-0.075698,0.997107]]
2025-10-24T23:09:46.407Z,1761347386.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144734,0.987200,0.067000],[-0.987602,0.139970,0.071064],[0.060777,-0.076455,0.995219]]
2025-10-24T23:09:46.810Z,1761347386.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157712,0.984827,0.072404],[-0.983836,0.150409,0.097181],[0.084816,-0.086561,0.992630]]
2025-10-24T23:09:46.916Z,1761347386.916 [DataOverHttps](INFO): Radio surface powered ON.
2025-10-24T23:09:46.916Z,1761347386.916 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:09:47.214Z,1761347387.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150137,0.986071,0.071572],[-0.984822,0.142783,0.098687],[0.087093,-0.085302,0.992541]]
2025-10-24T23:09:47.628Z,1761347387.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169114,0.982060,0.083423],[-0.984088,0.163569,0.069392],[0.054502,-0.093831,0.994095]]
2025-10-24T23:09:48.024Z,1761347388.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168649,0.984454,0.049076],[-0.983800,0.165049,0.069982],[0.060794,-0.060083,0.996340]]
2025-10-24T23:09:48.426Z,1761347388.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126786,0.991871,0.010818],[-0.991635,0.126475,0.025751],[0.024174,-0.013992,0.999610]]
2025-10-24T23:09:48.838Z,1761347388.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167883,0.984032,0.059122],[-0.983314,0.171420,-0.060899],[-0.070061,-0.047912,0.996391]]
2025-10-24T23:09:48.925Z,1761347388.925 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:09:48.926Z,1761347388.926 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:09:49.235Z,1761347389.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207791,0.973881,0.091538],[-0.975968,0.212692,-0.047410],[-0.065642,-0.079487,0.994672]]
2025-10-24T23:09:49.653Z,1761347389.653 [DAT](INFO): DAT read: 

2025-10-24T23:09:49.654Z,1761347389.654 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:09:49.661Z,1761347389.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159100,0.984376,0.075444],[-0.987188,0.157682,0.024423],[0.012146,-0.078363,0.996851]]
2025-10-24T23:09:50.043Z,1761347390.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144999,0.985127,0.092197],[-0.989067,0.141785,0.040541],[0.026866,-0.097068,0.994915]]
2025-10-24T23:09:50.446Z,1761347390.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176926,0.979516,0.096151],[-0.983725,0.172878,0.048981],[0.031355,-0.103252,0.994161]]
2025-10-24T23:09:50.856Z,1761347390.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171227,0.980643,0.094977],[-0.984081,0.165574,0.064575],[0.047599,-0.104522,0.993383]]
2025-10-24T23:09:51.254Z,1761347391.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127442,0.987878,0.088631],[-0.986988,0.117477,0.109789],[0.098046,-0.101470,0.989995]]
2025-10-24T23:09:51.417Z,1761347391.417 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:09:51.418Z,1761347391.418 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:09:51.419Z,1761347391.419 [DAT](INFO): DAT read: Oct 24 2025 23:09:45 

2025-10-24T23:09:51.663Z,1761347391.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129958,0.988163,0.081517],[-0.989589,0.124138,0.072827],[0.061846,-0.090132,0.994008]]
2025-10-24T23:09:51.725Z,1761347391.725 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:09:52.078Z,1761347392.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140506,0.988477,0.056311],[-0.989892,0.139144,0.027440],[0.019288,-0.059598,0.998036]]
2025-10-24T23:09:52.425Z,1761347392.425 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:09:52.426Z,1761347392.426 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:09:52.427Z,1761347392.427 [DAT](INFO): commRate: 600
2025-10-24T23:09:52.467Z,1761347392.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087697,0.994728,0.053149],[-0.996118,0.087163,0.012280],[0.007583,-0.054020,0.998511]]
2025-10-24T23:09:52.870Z,1761347392.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083404,0.992584,0.088434],[-0.994074,0.076663,0.077067],[0.069716,-0.094338,0.993096]]
2025-10-24T23:09:53.274Z,1761347393.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100323,0.989621,0.102883],[-0.984442,0.083738,0.154476],[0.144257,-0.116780,0.982625]]
2025-10-24T23:09:53.330Z,1761347393.330 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:09:53.330Z,1761347393.330 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:09:53.331Z,1761347393.331 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:09:53.331Z,1761347393.331 [marl:UpdateRudder:A] Stopped
2025-10-24T23:09:53.331Z,1761347393.331 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:09:53.331Z,1761347393.331 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:09:53.331Z,1761347393.331 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:09:53.336Z,1761347393.336 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:09:53.336Z,1761347393.336 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:09:53.337Z,1761347393.337 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:09:53.337Z,1761347393.337 [marl:UpdateCommandMode] Stopped
2025-10-24T23:09:53.337Z,1761347393.337 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:09:53.337Z,1761347393.337 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:09:53.337Z,1761347393.337 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:09:53.337Z,1761347393.337 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:09:53.338Z,1761347393.338 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:09:53.338Z,1761347393.338 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:09:53.338Z,1761347393.338 [marl:UpdateSpeed] Stopped
2025-10-24T23:09:53.338Z,1761347393.338 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:09:53.693Z,1761347393.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152284,0.987273,0.045843],[-0.987873,0.150629,0.037643],[0.030258,-0.051020,0.998239]]
2025-10-24T23:09:53.744Z,1761347393.744 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:09:53.744Z,1761347393.744 [marl:UpdateRudder:B] Stopped
2025-10-24T23:09:53.744Z,1761347393.744 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:09:53.744Z,1761347393.744 [marl:UpdateRudder] Stopped
2025-10-24T23:09:53.745Z,1761347393.745 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:09:54.088Z,1761347394.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102989,0.994643,0.008850],[-0.993792,0.103269,-0.041391],[-0.042083,-0.004532,0.999104]]
2025-10-24T23:09:54.491Z,1761347394.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090557,0.995515,0.027359],[-0.995106,0.091542,-0.037199],[-0.039537,-0.023857,0.998933]]
2025-10-24T23:09:54.496Z,1761347394.496 [DAT](INFO): entering command mode
2025-10-24T23:09:54.696Z,1761347394.696 [DAT](INFO): DAT read: 

2025-10-24T23:09:54.697Z,1761347394.697 [DAT](INFO): DAT read: user:1>

2025-10-24T23:09:54.697Z,1761347394.697 [DAT](INFO): setting verbose to 3
2025-10-24T23:09:54.895Z,1761347394.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112288,0.992972,0.037390],[-0.993161,0.113362,-0.027945],[-0.031987,-0.033997,0.998910]]
2025-10-24T23:09:54.949Z,1761347394.949 [DAT](INFO): DAT read: user:1>

2025-10-24T23:09:54.949Z,1761347394.949 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:09:54.950Z,1761347394.950 [DAT](INFO): set verbose to 3
2025-10-24T23:09:54.950Z,1761347394.950 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:09:55.201Z,1761347395.201 [DAT](INFO): DAT read: user:2>

2025-10-24T23:09:55.202Z,1761347395.202 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:09:55.202Z,1761347395.202 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:09:55.202Z,1761347395.202 [DAT](INFO): setting transmit power to 8
2025-10-24T23:09:55.299Z,1761347395.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086655,0.993856,0.068855],[-0.994104,0.090785,-0.059299],[-0.065185,-0.063311,0.995863]]
2025-10-24T23:09:55.453Z,1761347395.453 [DAT](INFO): DAT read: user:3>

2025-10-24T23:09:55.454Z,1761347395.454 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:09:55.454Z,1761347395.454 [DAT](INFO): set transmit power to 8
2025-10-24T23:09:55.454Z,1761347395.454 [DAT](INFO): setting local address to 11
2025-10-24T23:09:55.705Z,1761347395.705 [DAT](INFO): DAT read: user:4>

2025-10-24T23:09:55.706Z,1761347395.706 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:09:55.706Z,1761347395.706 [DAT](INFO): set local address to 11
2025-10-24T23:09:55.707Z,1761347395.707 [DAT](INFO): Setting time to: 23:9:55 And date to:10/24/2025
2025-10-24T23:09:55.738Z,1761347395.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071924,0.990036,0.121062],[-0.996369,0.076861,-0.036611],[-0.045551,-0.117989,0.991970]]
2025-10-24T23:09:55.957Z,1761347395.957 [DAT](INFO): DAT read: user:5>

2025-10-24T23:09:55.957Z,1761347395.957 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:09:55  

2025-10-24T23:09:55.958Z,1761347395.958 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:09:55  

2025-10-24T23:09:55.959Z,1761347395.959 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:09:55.959Z,1761347395.959 [DAT](INFO): setting remote address to 0
2025-10-24T23:09:56.106Z,1761347396.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072303,0.988961,0.129335],[-0.997217,0.069317,0.027444],[0.018176,-0.130960,0.991221]]
2025-10-24T23:09:56.209Z,1761347396.209 [DAT](INFO): DAT read: user:6>

2025-10-24T23:09:56.210Z,1761347396.210 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:09:56.210Z,1761347396.210 [DAT](INFO): set remote address to 0
2025-10-24T23:09:56.210Z,1761347396.210 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:09:56.211Z,1761347396.211 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T23:09:56.461Z,1761347396.461 [DAT](INFO): DAT read: user:7>

2025-10-24T23:09:56.461Z,1761347396.461 [DAT](INFO): DAT read: Tx time:23:09:55.6871

2025-10-24T23:09:56.462Z,1761347396.462 [DAT](INFO): Ping request sent.
2025-10-24T23:09:56.462Z,1761347396.462 [DAT](INFO): transmitted an acoustic signal
2025-10-24T23:09:56.462Z,1761347396.462 [DAT](INFO): publishing transmit ping time
2025-10-24T23:09:56.463Z,1761347396.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000952
2025-10-24T23:09:56.510Z,1761347396.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034712,0.995281,0.090612],[-0.996319,0.027352,0.081240],[0.078378,-0.093098,0.992567]]
2025-10-24T23:09:56.713Z,1761347396.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251653
2025-10-24T23:09:56.914Z,1761347396.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037229,0.997836,0.054200],[-0.997146,0.033529,0.067638],[0.065674,-0.056564,0.996237]]
2025-10-24T23:09:56.965Z,1761347396.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503138
2025-10-24T23:09:57.217Z,1761347397.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754954
2025-10-24T23:09:57.338Z,1761347397.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097526,0.995196,0.008548],[-0.993763,0.096912,0.055170],[0.054076,-0.013875,0.998440]]
2025-10-24T23:09:57.470Z,1761347397.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007913
2025-10-24T23:09:57.721Z,1761347397.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259153
2025-10-24T23:09:57.724Z,1761347397.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122841,0.992005,-0.028901],[-0.991341,0.124016,0.043157],[0.046396,0.023349,0.998650]]
2025-10-24T23:09:57.973Z,1761347397.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510983
2025-10-24T23:09:58.126Z,1761347398.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048893,0.998773,0.007855],[-0.996646,0.048269,0.066076],[0.065615,-0.011059,0.997784]]
2025-10-24T23:09:58.226Z,1761347398.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763783
2025-10-24T23:09:58.477Z,1761347398.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015061
2025-10-24T23:09:58.538Z,1761347398.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024732,0.995850,0.087585],[-0.998221,0.019846,0.056215],[0.054244,-0.088820,0.994570]]
2025-10-24T23:09:58.729Z,1761347398.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267164
2025-10-24T23:09:58.935Z,1761347398.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078613,0.990742,0.110677],[-0.996828,0.076737,0.021119],[0.012431,-0.111986,0.993632]]
2025-10-24T23:09:58.981Z,1761347398.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519061
2025-10-24T23:09:59.233Z,1761347399.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771068
2025-10-24T23:09:59.342Z,1761347399.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047265,0.997487,0.052775],[-0.994879,0.051735,-0.086825],[-0.089337,-0.048401,0.994825]]
2025-10-24T23:09:59.485Z,1761347399.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023064
2025-10-24T23:09:59.737Z,1761347399.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275101
2025-10-24T23:09:59.744Z,1761347399.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009147,0.999241,0.037865],[-0.993838,-0.004901,-0.110732],[-0.110462,-0.038644,0.993129]]
2025-10-24T23:09:59.989Z,1761347399.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527661
2025-10-24T23:10:00.148Z,1761347400.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015947,0.995847,0.089630],[-0.996939,-0.022699,0.074818],[0.076541,-0.088162,0.993161]]
2025-10-24T23:10:00.241Z,1761347400.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779133
2025-10-24T23:10:00.493Z,1761347400.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031725
2025-10-24T23:10:00.550Z,1761347400.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000956,0.993305,0.115518],[-0.990369,-0.015053,0.137633],[0.138451,-0.114537,0.983724]]
2025-10-24T23:10:00.745Z,1761347400.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283027
2025-10-24T23:10:00.954Z,1761347400.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053381,0.993346,0.102047],[-0.989951,0.039243,0.135853],[0.130944,-0.108274,0.985459]]
2025-10-24T23:10:00.997Z,1761347400.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535091
2025-10-24T23:10:01.249Z,1761347401.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787646
2025-10-24T23:10:01.358Z,1761347401.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051830,0.995412,0.080424],[-0.993425,0.043159,0.106038],[0.102081,-0.085392,0.991104]]
2025-10-24T23:10:01.501Z,1761347401.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039032
2025-10-24T23:10:01.753Z,1761347401.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291070
2025-10-24T23:10:01.769Z,1761347401.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035958,0.996766,0.071870],[-0.999185,0.034538,0.020908],[0.018358,-0.072563,0.997195]]
2025-10-24T23:10:02.005Z,1761347402.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543641
2025-10-24T23:10:02.167Z,1761347402.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008038,0.999443,0.032401],[-0.999681,0.008807,-0.023675],[-0.023947,-0.032201,0.999195]]
2025-10-24T23:10:02.257Z,1761347402.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795195
2025-10-24T23:10:02.509Z,1761347402.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047031
2025-10-24T23:10:02.575Z,1761347402.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049448,0.998256,0.032250],[-0.998706,-0.049034,-0.013516],[-0.011911,-0.032877,0.999388]]
2025-10-24T23:10:02.761Z,1761347402.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299016
2025-10-24T23:10:02.976Z,1761347402.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087030,0.992796,0.082354],[-0.996205,-0.086649,-0.008200],[-0.001005,-0.082755,0.996569]]
2025-10-24T23:10:03.013Z,1761347403.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551184
2025-10-24T23:10:03.265Z,1761347403.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802977
2025-10-24T23:10:03.378Z,1761347403.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093635,0.987711,0.125136],[-0.995138,-0.096703,0.018661],[0.030533,-0.122781,0.991964]]
2025-10-24T23:10:03.517Z,1761347403.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055003
2025-10-24T23:10:03.769Z,1761347403.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307016
2025-10-24T23:10:03.784Z,1761347403.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101703,0.985361,0.136822],[-0.990100,-0.113633,0.082395],[0.096736,-0.127088,0.987163]]
2025-10-24T23:10:04.021Z,1761347404.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559148
2025-10-24T23:10:04.191Z,1761347404.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105838,0.987378,0.117827],[-0.990002,-0.115740,0.080623],[0.093242,-0.108116,0.989756]]
2025-10-24T23:10:04.276Z,1761347404.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814088
2025-10-24T23:10:04.525Z,1761347404.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063087
2025-10-24T23:10:04.591Z,1761347404.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085110,0.992674,0.085755],[-0.994427,-0.090003,0.054902],[0.062218,-0.080604,0.994802]]
2025-10-24T23:10:04.777Z,1761347404.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314985
2025-10-24T23:10:04.994Z,1761347404.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063090,0.997271,0.038334],[-0.996753,-0.064889,0.047669],[0.050026,-0.035202,0.998127]]
2025-10-24T23:10:05.029Z,1761347405.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567518
2025-10-24T23:10:05.281Z,1761347405.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819096
2025-10-24T23:10:05.398Z,1761347405.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078778,0.996891,0.001532],[-0.991185,-0.078492,0.106732],[0.106520,0.006889,0.994287]]
2025-10-24T23:10:05.533Z,1761347405.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071012
2025-10-24T23:10:05.785Z,1761347405.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323461
2025-10-24T23:10:05.822Z,1761347405.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110522,0.993198,0.036653],[-0.982417,-0.114757,0.147270],[0.150475,-0.019732,0.988417]]
2025-10-24T23:10:06.037Z,1761347406.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575048
2025-10-24T23:10:06.225Z,1761347406.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118914,0.987193,0.106346],[-0.985548,-0.130368,0.108163],[0.120642,-0.091947,0.988429]]
2025-10-24T23:10:06.290Z,1761347406.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.828055
2025-10-24T23:10:06.301Z,1761347406.301 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:10:06.301Z,1761347406.301 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:10:06.301Z,1761347406.301 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:10:06.302Z,1761347406.302 [marl:UpdateRudder:A] Stopped
2025-10-24T23:10:06.302Z,1761347406.302 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:10:06.302Z,1761347406.302 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:10:06.302Z,1761347406.302 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:10:06.302Z,1761347406.302 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:10:06.303Z,1761347406.303 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:10:06.303Z,1761347406.303 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:10:06.303Z,1761347406.303 [marl:UpdateCommandMode] Stopped
2025-10-24T23:10:06.303Z,1761347406.303 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:10:06.303Z,1761347406.303 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:10:06.304Z,1761347406.304 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:10:06.304Z,1761347406.304 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:10:06.305Z,1761347406.305 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:10:06.305Z,1761347406.305 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:10:06.305Z,1761347406.305 [marl:UpdateSpeed] Stopped
2025-10-24T23:10:06.305Z,1761347406.305 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:10:06.541Z,1761347406.541 [DAT](INFO): Reached modem response timeout
2025-10-24T23:10:06.614Z,1761347406.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134588,0.981187,0.138415],[-0.987077,-0.145015,0.068189],[0.086978,-0.127448,0.988024]]
2025-10-24T23:10:06.675Z,1761347406.675 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:10:06.675Z,1761347406.675 [marl:UpdateRudder:B] Stopped
2025-10-24T23:10:06.675Z,1761347406.675 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:10:06.675Z,1761347406.675 [marl:UpdateRudder] Stopped
2025-10-24T23:10:06.675Z,1761347406.675 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:10:07.021Z,1761347407.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156436,0.979454,0.127273],[-0.982077,-0.167967,0.085513],[0.105134,-0.111615,0.988175]]
2025-10-24T23:10:07.423Z,1761347407.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163917,0.979230,0.119327],[-0.973556,-0.180094,0.140552],[0.159123,-0.093133,0.982856]]
2025-10-24T23:10:07.828Z,1761347407.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174381,0.980269,0.093080],[-0.962982,-0.189509,0.191710],[0.205567,-0.056203,0.977028]]
2025-10-24T23:10:08.234Z,1761347408.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181489,0.978418,0.098791],[-0.958901,-0.198355,0.202890],[0.218107,-0.057909,0.974205]]
2025-10-24T23:10:08.635Z,1761347408.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211090,0.970581,0.115820],[-0.947670,-0.232246,0.219050],[0.239504,-0.063520,0.968815]]
2025-10-24T23:10:08.809Z,1761347408.809 [DAT](INFO): DAT read: Response Not Received

2025-10-24T23:10:08.810Z,1761347408.810 [DAT](INFO): response not received
2025-10-24T23:10:08.810Z,1761347408.810 [DAT](ERROR): No response from remote modem.
2025-10-24T23:10:08.811Z,1761347408.811 [DAT](INFO): Failure count cleared after critical for DAT
2025-10-24T23:10:09.041Z,1761347409.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230235,0.964586,0.128707],[-0.932780,-0.256441,0.253297],[0.277333,-0.061738,0.958788]]
2025-10-24T23:10:09.443Z,1761347409.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203865,0.973736,0.101374],[-0.943544,-0.223040,0.244903],[0.261082,-0.045724,0.964233]]
2025-10-24T23:10:09.847Z,1761347409.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166274,0.985265,0.040083],[-0.965331,-0.170936,0.197273],[0.201218,-0.005892,0.979529]]
2025-10-24T23:10:10.260Z,1761347410.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191943,0.981398,-0.003934],[-0.962578,-0.187477,0.195695],[0.191317,0.041349,0.980657]]
2025-10-24T23:10:10.658Z,1761347410.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217924,0.974030,0.061440],[-0.955353,-0.225768,0.190602],[0.199523,-0.017160,0.979743]]
2025-10-24T23:10:11.058Z,1761347411.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227053,0.965180,0.129899],[-0.962583,-0.242673,0.120600],[0.147924,-0.097656,0.984166]]
2025-10-24T23:10:11.470Z,1761347411.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232777,0.956958,0.173337],[-0.967106,-0.246570,0.062520],[0.102569,-0.153082,0.982876]]
2025-10-24T23:10:11.870Z,1761347411.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213249,0.963636,0.161031],[-0.969216,-0.229419,0.089373],[0.123066,-0.137015,0.982895]]
2025-10-24T23:10:12.277Z,1761347412.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206292,0.971706,0.115024],[-0.971492,-0.217430,0.094485],[0.116821,-0.092253,0.988859]]
2025-10-24T23:10:12.679Z,1761347412.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238506,0.966447,0.095367],[-0.966837,-0.245536,0.070266],[0.091325,-0.075445,0.992959]]
2025-10-24T23:10:13.080Z,1761347413.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246297,0.964208,0.098183],[-0.968111,-0.249545,0.022100],[0.045810,-0.089609,0.994923]]
2025-10-24T23:10:13.482Z,1761347413.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250457,0.964540,0.083274],[-0.967930,-0.247740,-0.041670],[-0.019562,-0.091040,0.995655]]
2025-10-24T23:10:13.915Z,1761347413.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262022,0.961606,0.081595],[-0.965040,-0.260505,-0.028909],[-0.006543,-0.086317,0.996246]]
2025-10-24T23:10:14.299Z,1761347414.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274366,0.958496,0.077516],[-0.960777,-0.276617,0.019763],[0.040385,-0.069054,0.996795]]
2025-10-24T23:10:14.697Z,1761347414.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269045,0.960333,0.073316],[-0.959843,-0.273631,0.061868],[0.079476,-0.053727,0.995388]]
2025-10-24T23:10:15.099Z,1761347415.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231091,0.971391,0.054742],[-0.969264,-0.234736,0.073661],[0.084403,-0.036037,0.995780]]
2025-10-24T23:10:15.503Z,1761347415.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222783,0.973041,0.059661],[-0.970238,-0.227267,0.083593],[0.094898,-0.039263,0.994712]]
2025-10-24T23:10:15.946Z,1761347415.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255889,0.965350,0.051181],[-0.965678,-0.257700,0.032503],[0.044567,-0.041107,0.998160]]
2025-10-24T23:10:16.315Z,1761347416.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287671,0.952868,0.096372],[-0.957711,-0.286825,-0.022822],[0.005895,-0.098862,0.995084]]
2025-10-24T23:10:16.714Z,1761347416.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296911,0.941149,0.161502],[-0.954609,-0.296757,-0.025640],[0.023796,-0.161784,0.986539]]
2025-10-24T23:10:17.048Z,1761347417.048 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:10:17.118Z,1761347417.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298372,0.936267,0.185413],[-0.952091,-0.305614,0.011105],[0.067062,-0.173217,0.982598]]
2025-10-24T23:10:17.522Z,1761347417.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294761,0.943566,0.150993],[-0.952059,-0.303522,0.038171],[0.081847,-0.132503,0.987798]]
2025-10-24T23:10:17.954Z,1761347417.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316172,0.943921,0.095128],[-0.940536,-0.324999,0.098835],[0.124209,-0.058222,0.990546]]
2025-10-24T23:10:18.052Z,1761347418.052 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:10:18.341Z,1761347418.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302626,0.951798,0.049981],[-0.942363,-0.306655,0.133847],[0.142723,-0.006595,0.989741]]
2025-10-24T23:10:18.739Z,1761347418.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248875,0.968530,0.003238],[-0.963326,-0.247882,0.102752],[0.100321,0.022453,0.994702]]
2025-10-24T23:10:19.142Z,1761347419.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232197,0.972187,-0.030616],[-0.971608,-0.230360,0.053963],[0.045409,0.042277,0.998074]]
2025-10-24T23:10:19.191Z,1761347419.191 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:10:19.191Z,1761347419.191 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:10:19.191Z,1761347419.191 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:10:19.191Z,1761347419.191 [marl:UpdateRudder:A] Stopped
2025-10-24T23:10:19.191Z,1761347419.191 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:10:19.191Z,1761347419.191 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:10:19.192Z,1761347419.192 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:10:19.196Z,1761347419.196 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:10:19.196Z,1761347419.196 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:10:19.196Z,1761347419.196 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:10:19.196Z,1761347419.196 [marl:UpdateCommandMode] Stopped
2025-10-24T23:10:19.197Z,1761347419.197 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:10:19.197Z,1761347419.197 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:10:19.197Z,1761347419.197 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:10:19.197Z,1761347419.197 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:10:19.197Z,1761347419.197 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:10:19.197Z,1761347419.197 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:10:19.197Z,1761347419.197 [marl:UpdateSpeed] Stopped
2025-10-24T23:10:19.197Z,1761347419.197 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:10:19.546Z,1761347419.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282893,0.958787,0.026424],[-0.959119,-0.282550,-0.016019],[-0.007893,-0.029876,0.999522]]
2025-10-24T23:10:19.578Z,1761347419.578 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:10:19.578Z,1761347419.578 [marl:UpdateRudder:B] Stopped
2025-10-24T23:10:19.578Z,1761347419.578 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:10:19.578Z,1761347419.578 [marl:UpdateRudder] Stopped
2025-10-24T23:10:19.578Z,1761347419.578 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:10:19.959Z,1761347419.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320243,0.941029,0.109127],[-0.946908,-0.314509,-0.066703],[-0.028448,-0.124694,0.991787]]
2025-10-24T23:10:20.359Z,1761347420.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347768,0.927784,0.135183],[-0.936161,-0.335682,-0.104504],[-0.051579,-0.162896,0.985294]]
2025-10-24T23:10:20.767Z,1761347420.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376673,0.918308,0.121770],[-0.923872,-0.362806,-0.121786],[-0.067658,-0.158374,0.985058]]
2025-10-24T23:10:21.163Z,1761347421.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357461,0.925342,0.126349],[-0.933916,-0.354855,-0.043347],[0.004725,-0.133494,0.991038]]
2025-10-24T23:10:21.569Z,1761347421.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332408,0.939366,0.084241],[-0.938586,-0.338245,0.068165],[0.092526,-0.056409,0.994111]]
2025-10-24T23:10:21.971Z,1761347421.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339749,0.940397,0.014952],[-0.932409,-0.338860,0.125650],[0.123227,0.028748,0.991962]]
2025-10-24T23:10:22.375Z,1761347422.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314370,0.949268,-0.007862],[-0.938567,-0.309563,0.152524],[0.142353,0.055328,0.988268]]
2025-10-24T23:10:22.789Z,1761347422.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297138,0.954691,-0.016528],[-0.947336,-0.292595,0.130162],[0.119428,0.054334,0.991355]]
2025-10-24T23:10:23.183Z,1761347423.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345818,0.938007,0.023515],[-0.933184,-0.346437,0.095651],[0.097868,0.011134,0.995137]]
2025-10-24T23:10:23.586Z,1761347423.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358883,0.919035,0.163029],[-0.924408,-0.374131,0.074129],[0.129121,-0.124102,0.983833]]
2025-10-24T23:10:23.990Z,1761347423.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342095,0.902108,0.263006],[-0.926468,-0.370554,0.065927],[0.156931,-0.221113,0.962539]]
2025-10-24T23:10:24.396Z,1761347424.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327426,0.914343,0.238262],[-0.929857,-0.356591,0.090604],[0.167806,-0.191883,0.966965]]
2025-10-24T23:10:24.806Z,1761347424.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307124,0.944466,0.116869],[-0.937025,-0.321570,0.136298],[0.166310,-0.067649,0.983750]]
2025-10-24T23:10:25.203Z,1761347425.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351821,0.934895,0.046835],[-0.913566,-0.353838,0.200489],[0.204008,0.027749,0.978576]]
2025-10-24T23:10:25.606Z,1761347425.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365899,0.925995,0.093015],[-0.885405,-0.377151,0.271689],[0.286663,0.017055,0.957880]]
2025-10-24T23:10:26.011Z,1761347426.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311558,0.930942,0.190469],[-0.891174,-0.355827,0.281418],[0.329758,-0.082063,0.940492]]
2025-10-24T23:10:26.414Z,1761347426.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279910,0.934731,0.218925],[-0.905494,-0.332817,0.263274],[0.318953,-0.124542,0.939552]]
2025-10-24T23:10:26.818Z,1761347426.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269325,0.948527,0.166617],[-0.927643,-0.301992,0.219725],[0.258732,-0.095384,0.961228]]
2025-10-24T23:10:27.223Z,1761347427.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286491,0.951691,0.110483],[-0.933175,-0.303305,0.192848],[0.217041,-0.047851,0.974989]]
2025-10-24T23:10:27.629Z,1761347427.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348969,0.930715,0.109497],[-0.909989,-0.364459,0.197713],[0.223922,-0.030645,0.974125]]
2025-10-24T23:10:28.030Z,1761347428.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332776,0.909912,0.247628],[-0.901522,-0.384001,0.199503],[0.276620,-0.156853,0.948092]]
2025-10-24T23:10:28.435Z,1761347428.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275643,0.904360,0.325812],[-0.919802,-0.346609,0.183920],[0.279259,-0.248986,0.927373]]
2025-10-24T23:10:28.838Z,1761347428.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271606,0.923188,0.271945],[-0.939323,-0.315807,0.133934],[0.209529,-0.219067,0.952947]]
2025-10-24T23:10:29.247Z,1761347429.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290429,0.944120,0.155849],[-0.948090,-0.305960,0.086686],[0.129525,-0.122583,0.983970]]
2025-10-24T23:10:29.647Z,1761347429.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296156,0.953529,0.055443],[-0.944934,-0.300961,0.128542],[0.139255,-0.014321,0.990153]]
2025-10-24T23:10:30.050Z,1761347430.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249611,0.967947,0.027799],[-0.942336,-0.249415,0.223149],[0.222930,0.029504,0.974388]]
2025-10-24T23:10:30.460Z,1761347430.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169954,0.984866,0.033983],[-0.962130,-0.173291,0.210419],[0.213124,0.003065,0.977020]]
2025-10-24T23:10:30.858Z,1761347430.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148916,0.987559,0.050512],[-0.977665,-0.154701,0.142260],[0.148305,-0.028199,0.988540]]
2025-10-24T23:10:31.270Z,1761347431.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182570,0.979471,0.085473],[-0.974818,-0.191652,0.114015],[0.128056,-0.062504,0.989795]]
2025-10-24T23:10:31.671Z,1761347431.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203522,0.964238,0.169775],[-0.964904,-0.226930,0.132146],[0.165948,-0.136922,0.976583]]
2025-10-24T23:10:32.071Z,1761347432.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178657,0.957533,0.226301],[-0.963204,-0.217147,0.158384],[0.200798,-0.189678,0.961094]]
2025-10-24T23:10:32.156Z,1761347432.156 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:10:32.156Z,1761347432.156 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:10:32.157Z,1761347432.157 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:10:32.157Z,1761347432.157 [marl:UpdateRudder:A] Stopped
2025-10-24T23:10:32.157Z,1761347432.157 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:10:32.157Z,1761347432.157 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:10:32.157Z,1761347432.157 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:10:32.157Z,1761347432.157 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:10:32.158Z,1761347432.158 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:10:32.158Z,1761347432.158 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:10:32.158Z,1761347432.158 [marl:UpdateCommandMode] Stopped
2025-10-24T23:10:32.158Z,1761347432.158 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:10:32.158Z,1761347432.158 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:10:32.158Z,1761347432.158 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:10:32.158Z,1761347432.158 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:10:32.158Z,1761347432.158 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:10:32.159Z,1761347432.159 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:10:32.159Z,1761347432.159 [marl:UpdateSpeed] Stopped
2025-10-24T23:10:32.159Z,1761347432.159 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:10:32.474Z,1761347432.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146331,0.964864,0.218231],[-0.983629,-0.165372,0.071601],[0.105175,-0.204181,0.973267]]
2025-10-24T23:10:32.546Z,1761347432.546 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:10:32.547Z,1761347432.547 [marl:UpdateRudder:B] Stopped
2025-10-24T23:10:32.547Z,1761347432.547 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:10:32.547Z,1761347432.547 [marl:UpdateRudder] Stopped
2025-10-24T23:10:32.547Z,1761347432.547 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:10:32.878Z,1761347432.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162930,0.972300,0.167589],[-0.986471,-0.157413,-0.045783],[-0.018134,-0.172781,0.984793]]
2025-10-24T23:10:33.284Z,1761347433.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188554,0.962310,0.195979],[-0.981795,-0.189375,-0.014715],[0.022953,-0.195186,0.980498]]
2025-10-24T23:10:33.690Z,1761347433.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160071,0.960176,0.228998],[-0.975287,-0.189632,0.113383],[0.152293,-0.205189,0.966801]]
2025-10-24T23:10:34.092Z,1761347434.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081351,0.982568,0.167157],[-0.982750,-0.107025,0.150823],[0.166084,-0.152004,0.974326]]
2025-10-24T23:10:34.499Z,1761347434.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003717,0.996411,0.084566],[-0.996647,-0.003221,0.081756],[0.081735,-0.084586,0.993058]]
2025-10-24T23:10:34.903Z,1761347434.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034343,0.999013,0.028168],[-0.999409,0.034283,0.002607],[0.001638,-0.028241,0.999600]]
2025-10-24T23:10:35.305Z,1761347435.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055420,0.998302,0.017945],[-0.998463,0.055419,0.000520],[-0.000476,-0.017946,0.999839]]
2025-10-24T23:10:35.707Z,1761347435.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050287,0.997981,0.038787],[-0.998264,0.049032,0.032642],[0.030674,-0.040361,0.998714]]
2025-10-24T23:10:36.111Z,1761347436.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052329,0.993922,0.096856],[-0.998356,0.054339,-0.018232],[-0.023384,-0.095742,0.995131]]
2025-10-24T23:10:36.514Z,1761347436.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061876,0.992145,0.108718],[-0.997415,0.065454,-0.029650],[-0.036533,-0.106603,0.993630]]
2025-10-24T23:10:36.920Z,1761347436.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059794,0.994772,0.082789],[-0.997977,0.061369,-0.016604],[-0.021597,-0.081629,0.996429]]
2025-10-24T23:10:37.323Z,1761347437.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055963,0.997561,0.041727],[-0.998262,0.056678,-0.016153],[-0.018479,-0.040750,0.998998]]
2025-10-24T23:10:37.731Z,1761347437.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079644,0.996822,-0.001474],[-0.993488,0.079498,0.081619],[0.081477,-0.005036,0.996663]]
2025-10-24T23:10:38.149Z,1761347438.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069456,0.997414,-0.018448],[-0.989094,0.071261,0.128895],[0.129877,0.009294,0.991487]]
2025-10-24T23:10:38.547Z,1761347438.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085431,0.995688,0.036164],[-0.995593,0.083901,0.041898],[0.038683,-0.039584,0.998467]]
2025-10-24T23:10:38.943Z,1761347438.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137746,0.988048,0.069187],[-0.990015,0.135234,0.039784],[0.029952,-0.073976,0.996810]]
2025-10-24T23:10:39.348Z,1761347439.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128163,0.990484,0.050148],[-0.987910,0.123056,0.094291],[0.087223,-0.061627,0.994281]]
2025-10-24T23:10:39.762Z,1761347439.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104233,0.992070,0.070239],[-0.991454,0.098078,0.086015],[0.078444,-0.078604,0.993815]]
2025-10-24T23:10:40.153Z,1761347440.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127711,0.985599,0.110834],[-0.991429,0.123760,0.041859],[0.027539,-0.115230,0.992957]]
2025-10-24T23:10:40.555Z,1761347440.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096993,0.990033,0.102117],[-0.995078,0.094366,0.030254],[0.020316,-0.104549,0.994312]]
2025-10-24T23:10:40.958Z,1761347440.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081531,0.990873,0.107349],[-0.996603,0.079797,0.020354],[0.011602,-0.108644,0.994013]]
2025-10-24T23:10:41.366Z,1761347441.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107708,0.990165,0.089290],[-0.994158,0.107902,0.002662],[-0.006999,-0.089055,0.996002]]
2025-10-24T23:10:41.767Z,1761347441.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103953,0.994123,0.030206],[-0.994005,0.102810,0.037194],[0.033870,-0.033891,0.998851]]
2025-10-24T23:10:42.171Z,1761347442.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096863,0.995223,0.012227],[-0.992853,0.095757,0.071222],[0.069711,-0.019039,0.997386]]
2025-10-24T23:10:42.574Z,1761347442.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108426,0.993881,0.021084],[-0.993471,0.107575,0.037990],[0.035489,-0.025066,0.999056]]
2025-10-24T23:10:42.980Z,1761347442.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092110,0.994912,0.040803],[-0.994328,0.089713,0.057132],[0.053181,-0.045834,0.997532]]
2025-10-24T23:10:43.383Z,1761347443.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081722,0.993499,0.079254],[-0.989461,0.071338,0.126010],[0.119537,-0.088716,0.988858]]
2025-10-24T23:10:43.786Z,1761347443.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088150,0.991131,0.099444],[-0.989602,0.075746,0.122275],[0.113658,-0.109188,0.987502]]
2025-10-24T23:10:44.190Z,1761347444.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133671,0.985979,0.099885],[-0.987790,0.124419,0.093760],[0.080018,-0.111198,0.990572]]
2025-10-24T23:10:44.597Z,1761347444.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167465,0.985034,0.040796],[-0.980324,0.161992,0.112800],[0.104503,-0.058883,0.992780]]
2025-10-24T23:10:44.998Z,1761347444.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137949,0.990386,-0.010281],[-0.980511,0.138025,0.139816],[0.139890,-0.009207,0.990124]]
2025-10-24T23:10:45.036Z,1761347445.036 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:10:45.036Z,1761347445.036 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:10:45.036Z,1761347445.036 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:10:45.037Z,1761347445.037 [marl:UpdateRudder:A] Stopped
2025-10-24T23:10:45.037Z,1761347445.037 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:10:45.037Z,1761347445.037 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:10:45.037Z,1761347445.037 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:10:45.037Z,1761347445.037 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:10:45.037Z,1761347445.037 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:10:45.037Z,1761347445.037 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:10:45.037Z,1761347445.037 [marl:UpdateCommandMode] Stopped
2025-10-24T23:10:45.038Z,1761347445.038 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:10:45.038Z,1761347445.038 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:10:45.038Z,1761347445.038 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:10:45.038Z,1761347445.038 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:10:45.038Z,1761347445.038 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:10:45.038Z,1761347445.038 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:10:45.038Z,1761347445.038 [marl:UpdateSpeed] Stopped
2025-10-24T23:10:45.038Z,1761347445.038 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:10:45.404Z,1761347445.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086282,0.996264,0.003617],[-0.992196,0.085601,0.090658],[0.090010,-0.011411,0.995875]]
2025-10-24T23:10:45.446Z,1761347445.446 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:10:45.446Z,1761347445.446 [marl:UpdateRudder:B] Stopped
2025-10-24T23:10:45.447Z,1761347445.447 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:10:45.447Z,1761347445.447 [marl:UpdateRudder] Stopped
2025-10-24T23:10:45.447Z,1761347445.447 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:10:45.806Z,1761347445.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104178,0.994205,0.026537],[-0.994477,0.103790,0.015620],[0.012775,-0.028018,0.999526]]
2025-10-24T23:10:46.212Z,1761347446.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094240,0.995548,0.001900],[-0.992709,0.094115,-0.075310],[-0.075154,0.005211,0.997158]]
2025-10-24T23:10:46.615Z,1761347446.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108971,0.993751,0.024182],[-0.985641,0.111174,-0.127089],[-0.128983,-0.009985,0.991597]]
2025-10-24T23:10:47.019Z,1761347447.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135356,0.989386,0.052864],[-0.989319,0.137875,-0.047309],[-0.054095,-0.045896,0.997480]]
2025-10-24T23:10:47.429Z,1761347447.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077268,0.995436,0.056008],[-0.992712,0.071603,0.096933],[0.092480,-0.063089,0.993714]]
2025-10-24T23:10:47.828Z,1761347447.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039827,0.998066,0.047723],[-0.990065,0.032971,0.136688],[0.134850,-0.052693,0.989464]]
2025-10-24T23:10:48.188Z,1761347448.188 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:10:48.267Z,1761347448.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070127,0.996976,0.033472],[-0.991584,0.066009,0.111372],[0.108826,-0.041001,0.993215]]
2025-10-24T23:10:48.634Z,1761347448.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076097,0.996900,0.019973],[-0.994734,0.074522,0.070366],[0.068660,-0.025223,0.997321]]
2025-10-24T23:10:49.042Z,1761347449.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057409,0.997517,0.040805],[-0.995811,0.054302,0.073570],[0.071171,-0.044857,0.996455]]
2025-10-24T23:10:49.122Z,1761347449.122 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:10:49.122Z,1761347449.122 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:10:49.193Z,1761347449.193 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:10:49.446Z,1761347449.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030115,0.995451,0.090385],[-0.988616,0.016328,0.149571],[0.147415,-0.093860,0.984611]]
2025-10-24T23:10:49.846Z,1761347449.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018265,0.994400,0.104088],[-0.990873,-0.031909,0.130968],[0.133556,-0.100745,0.985907]]
2025-10-24T23:10:50.251Z,1761347450.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009842,0.997015,0.076578],[-0.997806,0.004778,0.066036],[0.065473,-0.077060,0.994874]]
2025-10-24T23:10:50.658Z,1761347450.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036989,0.999198,0.015328],[-0.996333,0.035690,0.077755],[0.077145,-0.018148,0.996855]]
2025-10-24T23:10:51.059Z,1761347451.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017617,0.999204,-0.035800],[-0.996478,0.020483,0.081312],[0.081980,0.034241,0.996046]]
2025-10-24T23:10:51.463Z,1761347451.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028219,0.999372,-0.021435],[-0.995943,-0.026276,0.086070],[0.085452,0.023777,0.996058]]
2025-10-24T23:10:51.870Z,1761347451.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046646,0.996977,0.062130],[-0.991169,-0.053924,0.121148],[0.124132,-0.055930,0.990688]]
2025-10-24T23:10:51.975Z,1761347451.975 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:10:52.209Z,1761347452.209 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:10:52.210Z,1761347452.210 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T23:10:52.285Z,1761347452.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037699,0.994545,0.097262],[-0.993000,-0.048187,0.107840],[0.111939,-0.092515,0.989399]]
2025-10-24T23:10:52.461Z,1761347452.461 [DAT](INFO): DAT read: user:8>

2025-10-24T23:10:52.461Z,1761347452.461 [DAT](INFO): DAT read: Tx time:23:10:51.6874

2025-10-24T23:10:52.462Z,1761347452.462 [DAT](INFO): Ping request sent.
2025-10-24T23:10:52.462Z,1761347452.462 [DAT](INFO): transmitted an acoustic signal
2025-10-24T23:10:52.462Z,1761347452.462 [DAT](INFO): publishing transmit ping time
2025-10-24T23:10:52.463Z,1761347452.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000940
2025-10-24T23:10:52.678Z,1761347452.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.035906,0.992885,0.113537],[-0.997444,-0.042628,0.057338],[0.061770,-0.111188,0.991878]]
2025-10-24T23:10:52.713Z,1761347452.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251490
2025-10-24T23:10:52.965Z,1761347452.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503016
2025-10-24T23:10:53.078Z,1761347453.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026039,0.995289,0.093385],[-0.998742,-0.029906,0.040251],[0.042854,-0.092220,0.994816]]
2025-10-24T23:10:53.217Z,1761347453.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755221
2025-10-24T23:10:53.469Z,1761347453.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006937
2025-10-24T23:10:53.484Z,1761347453.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070579,0.995207,0.067688],[-0.997501,-0.070638,-0.001514],[0.003274,-0.067626,0.997705]]
2025-10-24T23:10:53.723Z,1761347453.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260553
2025-10-24T23:10:53.947Z,1761347453.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090553,0.994360,0.055217],[-0.995357,-0.088548,-0.037740],[-0.032638,-0.058378,0.997761]]
2025-10-24T23:10:53.973Z,1761347453.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511038
2025-10-24T23:10:54.225Z,1761347454.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763382
2025-10-24T23:10:54.290Z,1761347454.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088041,0.993848,0.067199],[-0.996086,-0.088368,0.001899],[0.007826,-0.066768,0.997738]]
2025-10-24T23:10:54.477Z,1761347454.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015012
2025-10-24T23:10:54.695Z,1761347454.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105010,0.990524,0.088517],[-0.994333,-0.106062,0.007256],[0.016576,-0.087253,0.996048]]
2025-10-24T23:10:54.730Z,1761347454.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267665
2025-10-24T23:10:54.981Z,1761347454.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519621
2025-10-24T23:10:55.098Z,1761347455.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118898,0.991068,0.060399],[-0.992757,-0.119714,0.010059],[0.017200,-0.058766,0.998124]]
2025-10-24T23:10:55.233Z,1761347455.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771026
2025-10-24T23:10:55.485Z,1761347455.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022942
2025-10-24T23:10:55.509Z,1761347455.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120690,0.991620,0.046091],[-0.988707,-0.124231,0.083811],[0.088835,-0.035455,0.995415]]
2025-10-24T23:10:55.737Z,1761347455.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274970
2025-10-24T23:10:55.950Z,1761347455.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122739,0.992425,0.005189],[-0.989746,-0.122790,0.072979],[0.073063,0.003821,0.997320]]
2025-10-24T23:10:55.989Z,1761347455.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527098
2025-10-24T23:10:56.241Z,1761347456.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778940
2025-10-24T23:10:56.311Z,1761347456.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138791,0.990115,-0.020258],[-0.990321,-0.138778,0.002041],[-0.000790,0.020345,0.999793]]
2025-10-24T23:10:56.493Z,1761347456.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031547
2025-10-24T23:10:56.722Z,1761347456.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174104,0.984419,0.024623],[-0.984704,-0.173873,-0.011259],[-0.006802,-0.026206,0.999633]]
2025-10-24T23:10:56.745Z,1761347456.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283144
2025-10-24T23:10:56.997Z,1761347456.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534938
2025-10-24T23:10:57.120Z,1761347457.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184517,0.978865,0.088190],[-0.982455,-0.186178,0.010928],[0.027116,-0.084626,0.996044]]
2025-10-24T23:10:57.249Z,1761347457.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786949
2025-10-24T23:10:57.501Z,1761347457.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039053
2025-10-24T23:10:57.522Z,1761347457.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169851,0.974929,0.143751],[-0.985376,-0.166003,-0.038444],[-0.013617,-0.148178,0.988867]]
2025-10-24T23:10:57.754Z,1761347457.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292163
2025-10-24T23:10:57.956Z,1761347457.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213273,0.961250,0.174681],[-0.974480,-0.196481,-0.108554],[-0.070026,-0.193374,0.978623]]
2025-10-24T23:10:58.005Z,1761347458.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542871
2025-10-24T23:10:58.014Z,1761347458.014 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:10:58.014Z,1761347458.014 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:10:58.014Z,1761347458.014 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:10:58.014Z,1761347458.014 [marl:UpdateRudder:A] Stopped
2025-10-24T23:10:58.014Z,1761347458.014 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:10:58.014Z,1761347458.014 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:10:58.014Z,1761347458.014 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:10:58.015Z,1761347458.015 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:10:58.015Z,1761347458.015 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:10:58.015Z,1761347458.015 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:10:58.015Z,1761347458.015 [marl:UpdateCommandMode] Stopped
2025-10-24T23:10:58.015Z,1761347458.015 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:10:58.015Z,1761347458.015 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:10:58.015Z,1761347458.015 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:10:58.015Z,1761347458.015 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:10:58.020Z,1761347458.020 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:10:58.020Z,1761347458.020 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:10:58.020Z,1761347458.020 [marl:UpdateSpeed] Stopped
2025-10-24T23:10:58.020Z,1761347458.020 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:10:58.257Z,1761347458.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795087
2025-10-24T23:10:58.331Z,1761347458.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251812,0.949804,0.185643],[-0.966420,-0.236637,-0.100181],[-0.051222,-0.204636,0.977497]]
2025-10-24T23:10:58.391Z,1761347458.391 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:10:58.391Z,1761347458.391 [marl:UpdateRudder:B] Stopped
2025-10-24T23:10:58.391Z,1761347458.391 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:10:58.391Z,1761347458.391 [marl:UpdateRudder] Stopped
2025-10-24T23:10:58.391Z,1761347458.391 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:10:58.509Z,1761347458.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046927
2025-10-24T23:10:58.737Z,1761347458.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246195,0.956972,0.153601],[-0.969213,-0.243707,-0.035118],[0.003827,-0.157518,0.987509]]
2025-10-24T23:10:58.761Z,1761347458.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298869
2025-10-24T23:10:59.013Z,1761347459.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551011
2025-10-24T23:10:59.138Z,1761347459.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243842,0.967346,0.069153],[-0.969400,-0.245202,0.011788],[0.028360,-0.064162,0.997536]]
2025-10-24T23:10:59.265Z,1761347459.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802947
2025-10-24T23:10:59.517Z,1761347459.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054910
2025-10-24T23:10:59.543Z,1761347459.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222958,0.974738,0.013216],[-0.969182,-0.223104,0.104457],[0.104767,0.010481,0.994442]]
2025-10-24T23:10:59.769Z,1761347459.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307006
2025-10-24T23:10:59.963Z,1761347459.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208187,0.978079,0.004490],[-0.973216,-0.207605,0.098743],[0.097510,0.016187,0.995103]]
2025-10-24T23:11:00.021Z,1761347460.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559024
2025-10-24T23:11:00.273Z,1761347460.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810952
2025-10-24T23:11:00.352Z,1761347460.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190475,0.981661,0.007852],[-0.981296,-0.190619,0.026867],[0.027871,-0.002587,0.999608]]
2025-10-24T23:11:00.525Z,1761347460.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063019
2025-10-24T23:11:00.754Z,1761347460.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197024,0.978994,0.052461],[-0.978235,-0.199861,0.055790],[0.065103,-0.040327,0.997063]]
2025-10-24T23:11:00.777Z,1761347460.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315054
2025-10-24T23:11:01.029Z,1761347461.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566950
2025-10-24T23:11:01.162Z,1761347461.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213109,0.967630,0.135190],[-0.962168,-0.231890,0.143037],[0.169756,-0.099593,0.980441]]
2025-10-24T23:11:01.281Z,1761347461.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818961
2025-10-24T23:11:01.533Z,1761347461.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070991
2025-10-24T23:11:01.563Z,1761347461.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212995,0.957103,0.196433],[-0.963470,-0.239153,0.120547],[0.162354,-0.163582,0.973079]]
2025-10-24T23:11:01.785Z,1761347461.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323615
2025-10-24T23:11:01.970Z,1761347461.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210741,0.956027,0.203960],[-0.969232,-0.231499,0.083653],[0.127191,-0.180055,0.975399]]
2025-10-24T23:11:01.984Z,1761347461.984 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231058.00,A,3646.49448,N,12151.79745,W,2.022,201.26,241025,,,A*78
2025-10-24T23:11:01.986Z,1761347461.986 [NAL9602](INFO): GPS fix at 20251024T231058: (36.774908, -121.863291)
2025-10-24T23:11:02.034Z,1761347462.034 [UniversalFixResidualReporter](INFO): Fix residual: 5.5 %DT, over the last 609.4 m. Residual distance 33.2 m at bearing -138.2 degrees. Fix at (36.7749, -121.8633) with 189.4 m made good.
2025-10-24T23:11:02.037Z,1761347462.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575150
2025-10-24T23:11:02.051Z,1761347462.051 [marl:NeedComms:C] Stopped
2025-10-24T23:11:02.051Z,1761347462.051 [marl:NeedComms:D] Running Loop=1
2025-10-24T23:11:02.057Z,1761347462.057 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761347456.00. Resetting abort timer.
2025-10-24T23:11:02.289Z,1761347462.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826930
2025-10-24T23:11:02.370Z,1761347462.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179428,0.966743,0.182246],[-0.968673,-0.205948,0.138775],[0.171693,-0.151637,0.973410]]
2025-10-24T23:11:02.540Z,1761347462.540 [DAT](INFO): Reached modem response timeout
2025-10-24T23:11:02.859Z,1761347462.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155191,0.982605,0.101992],[-0.966765,-0.172296,0.188892],[0.203180,-0.069288,0.976687]]
2025-10-24T23:11:03.259Z,1761347463.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164461,0.984599,0.059305],[-0.965017,-0.173054,0.196961],[0.204191,-0.024837,0.978616]]
2025-10-24T23:11:03.666Z,1761347463.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179325,0.980481,0.080620],[-0.968239,-0.190410,0.162044],[0.174232,-0.049001,0.983485]]
2025-10-24T23:11:03.728Z,1761347463.728 [marl:SendObservationData] Running Loop=1
2025-10-24T23:11:03.728Z,1761347463.728 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:11:03.728Z,1761347463.728 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:11:03.729Z,1761347463.729 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:11:03.730Z,1761347463.730 [marl:SendObservationData:A](INFO): Got test_good :  41da3f01400000004051400000000000404262f63832fb0dc05e77535118aa2a401d8caf800000004071c66660000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:11:03.731Z,1761347463.731 [marl:SendObservationData:A] Stopped
2025-10-24T23:11:03.731Z,1761347463.731 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:11:04.067Z,1761347464.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184174,0.973440,0.135996],[-0.968996,-0.203009,0.140835],[0.164703,-0.105842,0.980648]]
2025-10-24T23:11:04.145Z,1761347464.145 [marl:SendObservationData:B] Stopped
2025-10-24T23:11:04.145Z,1761347464.145 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:11:04.472Z,1761347464.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185520,0.969718,0.158838],[-0.963502,-0.211262,0.164416],[0.192994,-0.122538,0.973518]]
2025-10-24T23:11:04.503Z,1761347464.503 [marl:SendObservationData:C] Stopped
2025-10-24T23:11:04.503Z,1761347464.503 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:11:04.809Z,1761347464.809 [DAT](INFO): DAT read: Response Not Received

2025-10-24T23:11:04.809Z,1761347464.809 [DAT](INFO): response not received
2025-10-24T23:11:04.809Z,1761347464.809 [DAT](ERROR): No response from remote modem.
2025-10-24T23:11:04.887Z,1761347464.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213392,0.959342,0.184735],[-0.960880,-0.240265,0.137778],[0.176562,-0.148107,0.973083]]
2025-10-24T23:11:04.919Z,1761347464.919 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.010709 min 
2025-10-24T23:11:04.919Z,1761347464.919 [marl:SendObservationData:E] Stopped
2025-10-24T23:11:04.920Z,1761347464.920 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:11:04.920Z,1761347464.920 [marl:SendObservationData] Stopped
2025-10-24T23:11:04.921Z,1761347464.921 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:11:04.921Z,1761347464.921 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:11:05.290Z,1761347465.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207390,0.956338,0.205931],[-0.961596,-0.237977,0.136748],[0.179784,-0.169662,0.968965]]
2025-10-24T23:11:05.703Z,1761347465.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133491,0.978425,0.157684],[-0.965118,-0.164501,0.203684],[0.225229,-0.124994,0.966255]]
2025-10-24T23:11:06.099Z,1761347466.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123338,0.992316,0.009838],[-0.974135,-0.122957,0.189584],[0.189337,0.013799,0.981815]]
2025-10-24T23:11:06.503Z,1761347466.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165391,0.984192,-0.063341],[-0.978294,-0.155591,0.136867],[0.124848,0.084603,0.988562]]
2025-10-24T23:11:06.906Z,1761347466.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167348,0.985733,-0.018038],[-0.974963,-0.162747,0.151529],[0.146432,0.042945,0.988288]]
2025-10-24T23:11:07.310Z,1761347467.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164214,0.984882,0.055153],[-0.976735,-0.170164,0.130508],[0.137920,-0.032439,0.989912]]
2025-10-24T23:11:07.729Z,1761347467.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166923,0.982009,0.088292],[-0.984171,-0.171356,0.045218],[0.059533,-0.079347,0.995068]]
2025-10-24T23:11:08.118Z,1761347468.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187590,0.973229,0.132799],[-0.980944,-0.192585,0.025706],[0.050593,-0.125447,0.990810]]
2025-10-24T23:11:08.522Z,1761347468.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183501,0.960173,0.210700],[-0.975184,-0.204817,0.084066],[0.123873,-0.190045,0.973930]]
2025-10-24T23:11:08.929Z,1761347468.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107785,0.957778,0.266541],[-0.990360,-0.126904,0.055527],[0.087008,-0.257986,0.962223]]
2025-10-24T23:11:09.335Z,1761347469.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039129,0.968355,0.246490],[-0.999142,-0.034569,-0.022799],[-0.013556,-0.247171,0.968877]]
2025-10-24T23:11:09.737Z,1761347469.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058844,0.987665,0.145101],[-0.994902,-0.046098,-0.089692],[-0.081897,-0.149639,0.985343]]
2025-10-24T23:11:10.139Z,1761347470.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090170,0.993101,0.074967],[-0.990274,-0.081396,-0.112840],[-0.105960,-0.084412,0.990781]]
2025-10-24T23:11:12.286Z,1761347472.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048683,0.990911,0.125400],[-0.997945,-0.053492,0.035269],[0.041657,-0.123425,0.991479]]
2025-10-24T23:11:12.655Z,1761347472.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009120,0.997514,0.069880],[-0.999767,-0.007728,-0.020170],[-0.019580,-0.070048,0.997351]]
2025-10-24T23:11:12.702Z,1761347472.702 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:11:12.702Z,1761347472.702 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:11:12.702Z,1761347472.702 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:11:12.702Z,1761347472.702 [marl:UpdateRudder:A] Stopped
2025-10-24T23:11:12.702Z,1761347472.702 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:11:12.702Z,1761347472.702 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:11:12.702Z,1761347472.702 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:11:12.703Z,1761347472.703 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:11:12.703Z,1761347472.703 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:11:12.703Z,1761347472.703 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:11:12.703Z,1761347472.703 [marl:UpdateCommandMode] Stopped
2025-10-24T23:11:12.703Z,1761347472.703 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:11:12.703Z,1761347472.703 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:11:12.703Z,1761347472.703 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:11:12.703Z,1761347472.703 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:11:12.704Z,1761347472.704 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:11:12.704Z,1761347472.704 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:11:12.704Z,1761347472.704 [marl:UpdateSpeed] Stopped
2025-10-24T23:11:12.704Z,1761347472.704 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:11:13.054Z,1761347473.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000478,0.998820,0.048572],[-0.999549,0.001936,-0.029957],[-0.030016,-0.048535,0.998370]]
2025-10-24T23:11:13.106Z,1761347473.106 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:11:13.107Z,1761347473.107 [marl:UpdateRudder:B] Stopped
2025-10-24T23:11:13.107Z,1761347473.107 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:11:13.107Z,1761347473.107 [marl:UpdateRudder] Stopped
2025-10-24T23:11:13.107Z,1761347473.107 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:11:13.459Z,1761347473.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009169,0.999250,0.037623],[-0.998032,0.011479,-0.061646],[-0.062032,-0.036984,0.997389]]
2025-10-24T23:11:13.868Z,1761347473.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032981,0.998106,0.051935],[-0.997650,0.036000,-0.058305],[-0.060064,-0.049890,0.996947]]
2025-10-24T23:11:14.266Z,1761347474.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027923,0.993319,0.111975],[-0.999504,0.026110,0.017620],[0.014579,-0.112411,0.993555]]
2025-10-24T23:11:14.679Z,1761347474.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025445,0.985116,0.170000],[-0.996141,0.010697,0.087113],[0.083998,-0.171560,0.981586]]
2025-10-24T23:11:15.074Z,1761347475.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076562,0.983516,0.163812],[-0.993201,0.060780,0.099280],[0.087687,-0.170300,0.981483]]
2025-10-24T23:11:15.480Z,1761347475.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133767,0.988199,0.074625],[-0.987002,0.126079,0.099660],[0.089075,-0.086986,0.992219]]
2025-10-24T23:11:15.910Z,1761347475.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123623,0.992320,0.004322],[-0.991206,0.123275,0.048110],[0.047208,-0.010232,0.998833]]
2025-10-24T23:11:16.291Z,1761347476.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106343,0.993917,0.028630],[-0.994329,0.106278,0.003796],[0.000730,-0.028872,0.999583]]
2025-10-24T23:11:16.694Z,1761347476.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117244,0.990880,0.066411],[-0.992562,0.114710,0.040785],[0.032795,-0.070699,0.996958]]
2025-10-24T23:11:17.094Z,1761347477.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150208,0.986839,0.059888],[-0.984684,0.143906,0.098431],[0.088517,-0.073756,0.993340]]
2025-10-24T23:11:17.498Z,1761347477.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171892,0.985097,-0.006109],[-0.977443,0.171323,0.123507],[0.122713,-0.015258,0.992325]]
2025-10-24T23:11:17.940Z,1761347477.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154413,0.987486,-0.032073],[-0.983360,0.156750,0.091830],[0.095709,0.017360,0.995258]]
2025-10-24T23:11:17.979Z,1761347477.979 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for bottom velocity. Device response is::BS,   -93,  -317,.00
2025-10-24T23:11:18.310Z,1761347478.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151667,0.988281,0.017233],[-0.988322,0.151368,0.017544],[0.014730,-0.019693,0.999698]]
2025-10-24T23:11:18.711Z,1761347478.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207362,0.976514,0.058492],[-0.977064,0.209698,-0.037060],[-0.048455,-0.049466,0.997600]]
2025-10-24T23:11:19.114Z,1761347479.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221901,0.974850,0.020689],[-0.975010,0.222071,-0.006300],[-0.010736,-0.018774,0.999766]]
2025-10-24T23:11:19.316Z,1761347479.316 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:11:19.520Z,1761347479.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138247,0.990381,-0.005763],[-0.990110,0.138345,0.023283],[0.023856,0.002487,0.999712]]
2025-10-24T23:11:19.953Z,1761347479.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121714,0.992114,0.029918],[-0.991589,0.120203,0.047977],[0.044003,-0.035506,0.998400]]
2025-10-24T23:11:19.957Z,1761347479.957 [NAL9602](INFO): SBD MO Status=1, MOMSN=2564, MT Status=0, MTMSN=0
2025-10-24T23:11:20.004Z,1761347480.004 [NAL9602](INFO): Sent 84 bytes from file Logs/20251024T220733/Courier0015.lzma
2025-10-24T23:11:20.005Z,1761347480.005 [NAL9602](INFO): Packets left to send: 0
2025-10-24T23:11:20.320Z,1761347480.320 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:11:20.332Z,1761347480.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228988,0.972994,0.029120],[-0.966784,0.223833,0.123402],[0.113551,-0.056410,0.991929]]
2025-10-24T23:11:20.753Z,1761347480.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203803,0.978994,-0.005907],[-0.975134,0.203529,0.087690],[0.087051,-0.012111,0.996130]]
2025-10-24T23:11:21.161Z,1761347481.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119379,0.992103,0.038480],[-0.992764,0.118774,0.017663],[0.012953,-0.040310,0.999103]]
2025-10-24T23:11:23.325Z,1761347483.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113941,0.993417,0.011848],[-0.989526,0.112415,0.090565],[0.088637,-0.022043,0.995820]]
2025-10-24T23:11:23.712Z,1761347483.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108416,0.992854,0.049870],[-0.991034,0.104004,0.083875],[0.078089,-0.058516,0.995228]]
2025-10-24T23:11:24.514Z,1761347484.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109945,0.989539,0.093409],[-0.993799,0.107875,0.026944],[0.016586,-0.095792,0.995263]]
2025-10-24T23:11:24.919Z,1761347484.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138738,0.986835,0.083113],[-0.990037,0.136171,0.035823],[0.024034,-0.087255,0.995896]]
2025-10-24T23:11:25.325Z,1761347485.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157986,0.986859,0.033915],[-0.984091,0.154530,0.087666],[0.081273,-0.047225,0.995572]]
2025-10-24T23:11:25.727Z,1761347485.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115680,0.993276,-0.004568],[-0.991271,0.115737,0.063137],[0.063241,-0.002775,0.997994]]
2025-10-24T23:11:26.130Z,1761347486.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055891,0.997885,0.033196],[-0.998200,0.055123,0.023618],[0.021738,-0.034457,0.999170]]
2025-10-24T23:11:26.534Z,1761347486.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021880,0.993604,0.110781],[-0.999598,0.019745,0.020327],[0.018009,-0.111181,0.993637]]
2025-10-24T23:11:26.945Z,1761347486.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042378,0.989911,0.135206],[-0.998891,0.044760,-0.014625],[-0.020529,-0.134436,0.990710]]
2025-10-24T23:11:27.343Z,1761347487.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070240,0.990014,0.122220],[-0.995269,0.077798,-0.058199],[-0.067127,-0.117554,0.990795]]
2025-10-24T23:11:27.377Z,1761347487.377 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:11:27.377Z,1761347487.377 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:11:27.377Z,1761347487.377 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:11:27.378Z,1761347487.378 [marl:UpdateRudder:A] Stopped
2025-10-24T23:11:27.378Z,1761347487.378 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:11:27.378Z,1761347487.378 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:11:27.378Z,1761347487.378 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:11:27.378Z,1761347487.378 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:11:27.378Z,1761347487.378 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:11:27.378Z,1761347487.378 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:11:27.378Z,1761347487.378 [marl:UpdateCommandMode] Stopped
2025-10-24T23:11:27.379Z,1761347487.379 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:11:27.379Z,1761347487.379 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:11:27.379Z,1761347487.379 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:11:27.379Z,1761347487.379 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:11:27.379Z,1761347487.379 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:11:27.379Z,1761347487.379 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:11:27.379Z,1761347487.379 [marl:UpdateSpeed] Stopped
2025-10-24T23:11:27.379Z,1761347487.379 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:11:27.746Z,1761347487.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055790,0.993681,0.097392],[-0.998402,0.054640,0.014436],[0.009024,-0.098042,0.995141]]
2025-10-24T23:11:27.809Z,1761347487.809 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:11:27.809Z,1761347487.809 [marl:UpdateRudder:B] Stopped
2025-10-24T23:11:27.809Z,1761347487.809 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:11:27.809Z,1761347487.809 [marl:UpdateRudder] Stopped
2025-10-24T23:11:27.809Z,1761347487.809 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:11:28.157Z,1761347488.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047789,0.995659,0.079875],[-0.993013,0.038719,0.111471],[0.107894,-0.084644,0.990552]]
2025-10-24T23:11:28.556Z,1761347488.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041930,0.995981,0.079148],[-0.994040,0.033608,0.103702],[0.100625,-0.083025,0.991454]]
2025-10-24T23:11:28.958Z,1761347488.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053252,0.993876,0.096828],[-0.995812,0.045638,0.079213],[0.074308,-0.100641,0.992144]]
2025-10-24T23:11:29.363Z,1761347489.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082378,0.989679,0.117258],[-0.995498,0.076181,0.056398],[0.046883,-0.121376,0.991499]]
2025-10-24T23:11:29.769Z,1761347489.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033639,0.991620,0.124729],[-0.999243,0.035808,-0.015185],[-0.019524,-0.124123,0.992075]]
2025-10-24T23:11:30.175Z,1761347490.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035859,0.988629,0.146036],[-0.999130,0.038578,-0.015832],[-0.021285,-0.145341,0.989153]]
2025-10-24T23:11:30.575Z,1761347490.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068011,0.990661,0.118176],[-0.997389,0.070394,-0.016101],[-0.024270,-0.116773,0.992862]]
2025-10-24T23:11:30.579Z,1761347490.579 [NAL9602](INFO): SBD MO Status=1, MOMSN=2565, MT Status=0, MTMSN=0
2025-10-24T23:11:30.633Z,1761347490.633 [NAL9602](INFO): Sent 332 bytes from file Logs/20251024T220733/Express0016.lzma
2025-10-24T23:11:30.633Z,1761347490.633 [NAL9602](INFO): Packets left to send: 2
2025-10-24T23:11:30.978Z,1761347490.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025559,0.995883,0.086966],[-0.997063,0.031679,-0.069730],[-0.072197,-0.084928,0.993768]]
2025-10-24T23:11:31.441Z,1761347491.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010950,0.993810,0.110556],[-0.997431,-0.018682,0.069154],[0.070791,-0.109515,0.991461]]
2025-10-24T23:11:31.823Z,1761347491.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001378,0.990997,0.133879],[-0.999159,-0.006850,0.040423],[0.040977,-0.133710,0.990173]]
2025-10-24T23:11:34.029Z,1761347494.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036602,0.988267,0.148283],[-0.998360,0.029626,0.048983],[0.044015,-0.149833,0.987731]]
2025-10-24T23:11:34.422Z,1761347494.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079030,0.988563,0.128443],[-0.993687,0.067828,0.089364],[0.079630,-0.134695,0.987682]]
2025-10-24T23:11:34.827Z,1761347494.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120757,0.989823,0.075292],[-0.990707,0.115388,0.072007],[0.062586,-0.083287,0.994558]]
2025-10-24T23:11:35.230Z,1761347495.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095830,0.995032,0.026968],[-0.995391,0.095691,0.006375],[0.003763,-0.027455,0.999616]]
2025-10-24T23:11:35.641Z,1761347495.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036654,0.996940,0.069041],[-0.998528,0.039301,-0.037379],[-0.039978,-0.067570,0.996913]]
2025-10-24T23:11:36.038Z,1761347496.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031639,0.992306,0.119699],[-0.999460,0.032476,-0.005049],[-0.008898,-0.119474,0.992797]]
2025-10-24T23:11:36.444Z,1761347496.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062286,0.988804,0.135598],[-0.994115,0.049400,0.096406],[0.088628,-0.140805,0.986062]]
2025-10-24T23:11:36.846Z,1761347496.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080189,0.991135,0.105926],[-0.989371,0.066210,0.129467],[0.121306,-0.115182,0.985910]]
2025-10-24T23:11:37.250Z,1761347497.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115346,0.989560,0.086410],[-0.992959,0.112504,0.037088],[0.026980,-0.090080,0.995569]]
2025-10-24T23:11:37.659Z,1761347497.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162735,0.986194,0.030636],[-0.986578,0.163064,-0.008561],[-0.013438,-0.028832,0.999494]]
2025-10-24T23:11:38.060Z,1761347498.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143828,0.988458,-0.047592],[-0.989464,0.142835,-0.023646],[-0.016575,0.050492,0.998587]]
2025-10-24T23:11:38.462Z,1761347498.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053541,0.998496,-0.011836],[-0.998304,0.053252,-0.023520],[-0.022854,0.013075,0.999653]]
2025-10-24T23:11:38.866Z,1761347498.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002951,0.993592,0.112990],[-0.999884,0.001244,0.015181],[0.014943,-0.113022,0.993480]]
2025-10-24T23:11:39.270Z,1761347499.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035448,0.980398,0.193815],[-0.991591,0.010352,0.128994],[0.124459,-0.196758,0.972521]]
2025-10-24T23:11:39.681Z,1761347499.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105833,0.983814,0.144598],[-0.977205,0.075986,0.198236],[0.184040,-0.162282,0.969430]]
2025-10-24T23:11:40.092Z,1761347500.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132918,0.989894,0.049433],[-0.985096,0.126451,0.116599],[0.109170,-0.064194,0.991948]]
2025-10-24T23:11:40.482Z,1761347500.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120664,0.992679,-0.005385],[-0.986993,0.120550,0.106363],[0.106233,-0.007519,0.994313]]
2025-10-24T23:11:40.886Z,1761347500.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125260,0.991995,0.016024],[-0.987659,0.123150,0.096771],[0.094023,-0.027947,0.995178]]
2025-10-24T23:11:41.291Z,1761347501.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081535,0.995206,0.054001],[-0.996100,0.079536,0.038186],[0.033708,-0.056904,0.997810]]
2025-10-24T23:11:41.695Z,1761347501.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103359,0.991122,0.083632],[-0.994636,0.102657,0.012659],[0.003961,-0.084492,0.996416]]
2025-10-24T23:11:42.102Z,1761347502.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157183,0.986868,0.037205],[-0.987373,0.157791,-0.014006],[-0.019693,-0.034534,0.999210]]
2025-10-24T23:11:42.189Z,1761347502.189 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:11:42.189Z,1761347502.189 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:11:42.189Z,1761347502.189 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:11:42.189Z,1761347502.189 [marl:UpdateRudder:A] Stopped
2025-10-24T23:11:42.189Z,1761347502.189 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:11:42.190Z,1761347502.190 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:11:42.190Z,1761347502.190 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:11:42.190Z,1761347502.190 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:11:42.190Z,1761347502.190 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:11:42.190Z,1761347502.190 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:11:42.190Z,1761347502.190 [marl:UpdateCommandMode] Stopped
2025-10-24T23:11:42.190Z,1761347502.190 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:11:42.190Z,1761347502.190 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:11:42.191Z,1761347502.191 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:11:42.191Z,1761347502.191 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:11:42.191Z,1761347502.191 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:11:42.191Z,1761347502.191 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:11:42.191Z,1761347502.191 [marl:UpdateSpeed] Stopped
2025-10-24T23:11:42.191Z,1761347502.191 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:11:42.504Z,1761347502.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107666,0.993628,-0.033325],[-0.993410,0.106197,-0.043104],[-0.039290,0.037746,0.998515]]
2025-10-24T23:11:42.513Z,1761347502.513 [NAL9602](INFO): SBD MO Status=1, MOMSN=2566, MT Status=0, MTMSN=0
2025-10-24T23:11:42.568Z,1761347502.568 [NAL9602](INFO): Sent 332 bytes from file Logs/20251024T220733/Express0016.lzma
2025-10-24T23:11:42.568Z,1761347502.568 [NAL9602](INFO): Packets left to send: 1
2025-10-24T23:11:42.627Z,1761347502.627 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:11:42.627Z,1761347502.627 [marl:UpdateRudder:B] Stopped
2025-10-24T23:11:42.627Z,1761347502.627 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:11:42.627Z,1761347502.627 [marl:UpdateRudder] Stopped
2025-10-24T23:11:42.632Z,1761347502.632 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:11:42.906Z,1761347502.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117974,0.992620,-0.028078],[-0.993014,0.117986,-0.001232],[0.002090,0.028027,0.999605]]
2025-10-24T23:11:43.362Z,1761347503.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126216,0.992001,0.001930],[-0.990084,0.125851,0.062414],[0.061672,-0.009788,0.998048]]
2025-10-24T23:11:43.762Z,1761347503.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112645,0.991912,0.058487],[-0.991681,0.108538,0.069203],[0.062295,-0.065796,0.995887]]
2025-10-24T23:11:45.954Z,1761347505.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149199,0.987591,-0.049027],[-0.983808,0.153242,0.092940],[0.099299,0.034366,0.994464]]
2025-10-24T23:11:46.291Z,1761347506.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083868,0.984686,0.152841],[-0.993689,0.071179,0.086688],[0.074481,-0.159147,0.984441]]
2025-10-24T23:11:46.695Z,1761347506.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114994,0.965619,0.233143],[-0.991287,0.096372,0.089786],[0.064231,-0.241436,0.968289]]
2025-10-24T23:11:47.113Z,1761347507.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162131,0.965790,0.202392],[-0.983250,0.140809,0.115728],[0.083271,-0.217765,0.972442]]
2025-10-24T23:11:47.504Z,1761347507.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159668,0.984474,0.072915],[-0.980182,0.149331,0.130170],[0.117261,-0.092254,0.988807]]
2025-10-24T23:11:47.943Z,1761347507.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133692,0.990415,-0.034693],[-0.985534,0.136549,0.100384],[0.104160,0.020770,0.994344]]
2025-10-24T23:11:48.317Z,1761347508.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121825,0.990487,-0.063987],[-0.987807,0.127286,0.089636],[0.096928,0.052287,0.993917]]
2025-10-24T23:11:48.715Z,1761347508.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093406,0.995606,-0.006631],[-0.990852,0.093608,0.097214],[0.097408,-0.002510,0.995241]]
2025-10-24T23:11:49.135Z,1761347509.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071074,0.994071,0.082283],[-0.994298,0.064032,0.085270],[0.079496,-0.087874,0.992954]]
2025-10-24T23:11:49.200Z,1761347509.200 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:11:49.201Z,1761347509.201 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:11:49.522Z,1761347509.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106493,0.982120,0.155237],[-0.992533,0.095661,0.075674],[0.059471,-0.162137,0.984975]]
2025-10-24T23:11:49.949Z,1761347509.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135544,0.980327,0.143482],[-0.990276,0.129471,0.050898],[0.031320,-0.148986,0.988343]]
2025-10-24T23:11:50.331Z,1761347510.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115330,0.986678,0.114738],[-0.993315,0.113983,0.018262],[0.004941,-0.116077,0.993228]]
2025-10-24T23:11:50.456Z,1761347510.456 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:11:50.736Z,1761347510.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090917,0.992863,0.077186],[-0.995724,0.089356,0.023449],[0.016385,-0.078988,0.996741]]
2025-10-24T23:11:51.141Z,1761347511.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109635,0.992391,0.056034],[-0.992085,0.105782,0.067652],[0.061210,-0.063008,0.996134]]
2025-10-24T23:11:51.461Z,1761347511.461 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:11:51.542Z,1761347511.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170053,0.985253,0.018930],[-0.983182,0.168335,0.070834],[0.066602,-0.030657,0.997309]]
2025-10-24T23:11:51.957Z,1761347511.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156400,0.987672,-0.006594],[-0.987469,0.156504,0.020297],[0.021079,0.003337,0.999772]]
2025-10-24T23:11:52.012Z,1761347512.012 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:11:52.201Z,1761347512.201 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:11:52.201Z,1761347512.201 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T23:11:52.352Z,1761347512.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111393,0.993688,0.013255],[-0.993573,0.111630,-0.018720],[-0.020082,-0.011085,0.999737]]
2025-10-24T23:11:52.453Z,1761347512.453 [DAT](INFO): DAT read: user:9>

2025-10-24T23:11:52.453Z,1761347512.453 [DAT](INFO): DAT read: Tx time:23:11:51.6874

2025-10-24T23:11:52.454Z,1761347512.454 [DAT](INFO): Ping request sent.
2025-10-24T23:11:52.454Z,1761347512.454 [DAT](INFO): transmitted an acoustic signal
2025-10-24T23:11:52.454Z,1761347512.454 [DAT](INFO): publishing transmit ping time
2025-10-24T23:11:52.455Z,1761347512.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000936
2025-10-24T23:11:52.705Z,1761347512.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251042
2025-10-24T23:11:52.754Z,1761347512.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111694,0.993515,0.021253],[-0.992569,0.110497,0.050970],[0.048291,-0.026788,0.998474]]
2025-10-24T23:11:52.957Z,1761347512.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502984
2025-10-24T23:11:53.158Z,1761347513.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119116,0.992277,0.034605],[-0.989280,0.115646,0.089171],[0.084480,-0.044855,0.995415]]
2025-10-24T23:11:53.209Z,1761347513.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755092
2025-10-24T23:11:53.461Z,1761347513.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007046
2025-10-24T23:11:53.563Z,1761347513.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096892,0.991016,0.092193],[-0.992650,0.089471,0.081494],[0.072513,-0.099411,0.992401]]
2025-10-24T23:11:53.713Z,1761347513.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259012
2025-10-24T23:11:53.966Z,1761347513.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512560
2025-10-24T23:11:53.970Z,1761347513.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068589,0.979154,0.191190],[-0.995444,0.054446,0.078279],[0.066237,-0.195688,0.978427]]
2025-10-24T23:11:54.217Z,1761347514.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763101
2025-10-24T23:11:54.370Z,1761347514.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129585,0.958185,0.255126],[-0.989824,0.109749,0.090568],[0.058781,-0.264267,0.962657]]
2025-10-24T23:11:54.378Z,1761347514.378 [NAL9602](INFO): SBD MO Status=1, MOMSN=2567, MT Status=0, MTMSN=0
2025-10-24T23:11:54.428Z,1761347514.428 [NAL9602](INFO): Sent 143 bytes from file Logs/20251024T220733/Express0016.lzma
2025-10-24T23:11:54.428Z,1761347514.428 [NAL9602](INFO): Packets left to send: 0
2025-10-24T23:11:54.469Z,1761347514.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015057
2025-10-24T23:11:54.721Z,1761347514.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266962
2025-10-24T23:11:54.774Z,1761347514.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186951,0.963332,0.192460],[-0.979120,0.166801,0.116193],[0.079830,-0.210164,0.974401]]
2025-10-24T23:11:54.973Z,1761347514.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519123
2025-10-24T23:11:55.179Z,1761347515.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144037,0.986252,0.081000],[-0.985174,0.135206,0.105604],[0.093201,-0.095010,0.991104]]
2025-10-24T23:11:55.225Z,1761347515.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771066
2025-10-24T23:11:55.477Z,1761347515.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022914
2025-10-24T23:11:55.583Z,1761347515.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128758,0.990867,0.040042],[-0.986167,0.123688,0.110341],[0.104381,-0.053695,0.993087]]
2025-10-24T23:11:55.729Z,1761347515.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274989
2025-10-24T23:11:55.985Z,1761347515.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531071
2025-10-24T23:11:55.988Z,1761347515.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118763,0.992881,0.009090],[-0.992062,0.118274,0.042711],[0.041332,-0.014090,0.999046]]
2025-10-24T23:11:56.237Z,1761347516.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783599
2025-10-24T23:11:56.390Z,1761347516.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126437,0.990749,-0.049294],[-0.990220,0.123103,-0.065644],[-0.058969,0.057112,0.996625]]
2025-10-24T23:11:56.489Z,1761347516.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035022
2025-10-24T23:11:56.741Z,1761347516.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287103
2025-10-24T23:11:56.794Z,1761347516.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126172,0.989949,-0.063885],[-0.991986,0.125475,-0.014810],[-0.006646,0.065242,0.997847]]
2025-10-24T23:11:56.817Z,1761347516.817 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:11:56.817Z,1761347516.817 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:11:56.817Z,1761347516.817 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:11:56.818Z,1761347516.818 [marl:UpdateRudder:A] Stopped
2025-10-24T23:11:56.818Z,1761347516.818 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:11:56.818Z,1761347516.818 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:11:56.818Z,1761347516.818 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:11:56.818Z,1761347516.818 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:11:56.818Z,1761347516.818 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:11:56.818Z,1761347516.818 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:11:56.818Z,1761347516.818 [marl:UpdateCommandMode] Stopped
2025-10-24T23:11:56.819Z,1761347516.819 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:11:56.819Z,1761347516.819 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:11:56.819Z,1761347516.819 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:11:56.819Z,1761347516.819 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:11:56.819Z,1761347516.819 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:11:56.819Z,1761347516.819 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:11:56.819Z,1761347516.819 [marl:UpdateSpeed] Stopped
2025-10-24T23:11:56.819Z,1761347516.819 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:11:56.993Z,1761347516.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538963
2025-10-24T23:11:57.202Z,1761347517.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092418,0.995615,-0.014509],[-0.995384,0.092755,0.024646],[0.025883,0.012164,0.999591]]
2025-10-24T23:11:57.245Z,1761347517.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791163
2025-10-24T23:11:57.249Z,1761347517.249 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:11:57.249Z,1761347517.249 [marl:UpdateRudder:B] Stopped
2025-10-24T23:11:57.249Z,1761347517.249 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:11:57.250Z,1761347517.250 [marl:UpdateRudder] Stopped
2025-10-24T23:11:57.250Z,1761347517.250 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:11:57.497Z,1761347517.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042944
2025-10-24T23:11:57.613Z,1761347517.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064635,0.995609,0.067710],[-0.996860,0.067528,-0.041350],[-0.045741,-0.064824,0.996848]]
2025-10-24T23:11:57.749Z,1761347517.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294966
2025-10-24T23:11:58.001Z,1761347518.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547038
2025-10-24T23:11:58.008Z,1761347518.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016561,0.986010,0.165863],[-0.998836,0.023830,-0.041929],[-0.045295,-0.164976,0.985257]]
2025-10-24T23:11:58.253Z,1761347518.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798946
2025-10-24T23:11:58.411Z,1761347518.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004953,0.966268,0.257491],[-0.996827,-0.025227,0.075492],[0.079442,-0.256300,0.963327]]
2025-10-24T23:11:58.521Z,1761347518.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.067497
2025-10-24T23:11:58.757Z,1761347518.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303057
2025-10-24T23:11:58.820Z,1761347518.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077067,0.960077,0.268910],[-0.986439,0.034222,0.160523],[0.144912,-0.277634,0.949695]]
2025-10-24T23:11:59.009Z,1761347519.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554926
2025-10-24T23:11:59.218Z,1761347519.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151936,0.970509,0.187157],[-0.987007,0.138962,0.080668],[0.052281,-0.196982,0.979012]]
2025-10-24T23:11:59.261Z,1761347519.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807051
2025-10-24T23:11:59.513Z,1761347519.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058995
2025-10-24T23:11:59.624Z,1761347519.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154305,0.984342,0.085214],[-0.988011,0.154157,0.008359],[-0.004909,-0.085482,0.996328]]
2025-10-24T23:11:59.765Z,1761347519.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310946
2025-10-24T23:12:00.021Z,1761347520.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567094
2025-10-24T23:12:00.028Z,1761347520.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157329,0.986884,0.036167],[-0.986587,0.155456,0.049803],[0.043527,-0.043517,0.998104]]
2025-10-24T23:12:00.273Z,1761347520.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818987
2025-10-24T23:12:00.432Z,1761347520.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150288,0.988448,0.019603],[-0.980559,0.146499,0.130544],[0.126164,-0.038841,0.991249]]
2025-10-24T23:12:00.525Z,1761347520.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070993
2025-10-24T23:12:00.777Z,1761347520.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.323597
2025-10-24T23:12:00.834Z,1761347520.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144749,0.987584,0.061038],[-0.979679,0.134388,0.148889],[0.138838,-0.081349,0.986968]]
2025-10-24T23:12:01.029Z,1761347521.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.575025
2025-10-24T23:12:01.238Z,1761347521.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181150,0.980634,0.074448],[-0.974037,0.168448,0.151255],[0.135785,-0.099915,0.985687]]
2025-10-24T23:12:01.281Z,1761347521.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827076
2025-10-24T23:12:01.533Z,1761347521.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078970
2025-10-24T23:12:01.643Z,1761347521.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204176,0.976823,0.064258],[-0.971739,0.194294,0.134067],[0.118474,-0.089815,0.988887]]
2025-10-24T23:12:01.785Z,1761347521.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.331015
2025-10-24T23:12:02.042Z,1761347522.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.588188
2025-10-24T23:12:02.049Z,1761347522.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210810,0.974393,0.078213],[-0.977527,0.210127,0.016956],[0.000087,-0.080030,0.996792]]
2025-10-24T23:12:02.293Z,1761347522.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.838965
2025-10-24T23:12:02.450Z,1761347522.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209749,0.973090,0.095402],[-0.975386,0.215030,-0.048822],[-0.068023,-0.082814,0.994241]]
2025-10-24T23:12:02.545Z,1761347522.545 [DAT](INFO): Reached modem response timeout
2025-10-24T23:12:02.854Z,1761347522.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230467,0.969526,0.083092],[-0.972988,0.230779,0.005961],[-0.013397,-0.082221,0.996524]]
2025-10-24T23:12:03.260Z,1761347523.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212288,0.975349,0.060242],[-0.975649,0.208066,0.069408],[0.055163,-0.073509,0.995768]]
2025-10-24T23:12:03.667Z,1761347523.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218214,0.974768,0.047013],[-0.975172,0.215935,0.049117],[0.037726,-0.056564,0.997686]]
2025-10-24T23:12:04.084Z,1761347524.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236601,0.971294,0.024664],[-0.971591,0.236378,0.011653],[0.005489,-0.026720,0.999628]]
2025-10-24T23:12:04.475Z,1761347524.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231973,0.972635,0.012997],[-0.972333,0.231481,0.031402],[0.027534,-0.019922,0.999422]]
2025-10-24T23:12:04.829Z,1761347524.829 [DAT](INFO): DAT read: Response Not Received

2025-10-24T23:12:04.829Z,1761347524.829 [DAT](INFO): response not received
2025-10-24T23:12:04.829Z,1761347524.829 [DAT](ERROR): No response from remote modem.
2025-10-24T23:12:04.892Z,1761347524.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205847,0.978481,0.014194],[-0.974092,0.203492,0.098674],[0.093662,-0.034138,0.995019]]
2025-10-24T23:12:05.284Z,1761347525.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197028,0.979715,0.036583],[-0.974473,0.191605,0.117001],[0.107618,-0.058701,0.992458]]
2025-10-24T23:12:05.689Z,1761347525.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250596,0.967973,0.015157],[-0.964854,0.248447,0.085617],[0.079109,-0.036080,0.996213]]
2025-10-24T23:12:06.107Z,1761347526.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268835,0.962210,-0.043359],[-0.961254,0.270874,0.051163],[0.060974,0.027925,0.997749]]
2025-10-24T23:12:06.496Z,1761347526.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256856,0.965970,-0.030441],[-0.964926,0.258092,0.048016],[0.054238,0.017040,0.998383]]
2025-10-24T23:12:06.898Z,1761347526.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234137,0.971766,0.029162],[-0.970211,0.231632,0.070979],[0.062220,-0.044912,0.997051]]
2025-10-24T23:12:07.302Z,1761347527.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235645,0.968516,0.080299],[-0.967083,0.225525,0.117852],[0.096032,-0.105427,0.989779]]
2025-10-24T23:12:07.709Z,1761347527.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256342,0.964434,0.064468],[-0.952105,0.240438,0.188905],[0.166686,-0.109805,0.979877]]
2025-10-24T23:12:08.116Z,1761347528.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214745,0.976135,0.032335],[-0.959912,0.204837,0.191340],[0.180150,-0.072128,0.980991]]
2025-10-24T23:12:08.514Z,1761347528.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224804,0.973947,0.029840],[-0.963605,0.217661,0.155205],[0.144667,-0.063644,0.987431]]
2025-10-24T23:12:08.918Z,1761347528.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259456,0.964652,-0.046149],[-0.951334,0.263517,0.159759],[0.166272,0.002452,0.986077]]
2025-10-24T23:12:09.324Z,1761347529.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224985,0.962374,-0.152373],[-0.956294,0.248073,0.154798],[0.186773,0.110886,0.976125]]
2025-10-24T23:12:09.728Z,1761347529.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205962,0.972375,-0.109845],[-0.957806,0.223315,0.180938],[0.200470,0.067944,0.977341]]
2025-10-24T23:12:09.755Z,1761347529.755 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:12:09.755Z,1761347529.755 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:12:09.755Z,1761347529.755 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:12:09.756Z,1761347529.756 [marl:UpdateRudder:A] Stopped
2025-10-24T23:12:09.756Z,1761347529.756 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:12:09.756Z,1761347529.756 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:12:09.756Z,1761347529.756 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:12:09.756Z,1761347529.756 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:12:09.756Z,1761347529.756 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:12:09.757Z,1761347529.757 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:12:09.757Z,1761347529.757 [marl:UpdateCommandMode] Stopped
2025-10-24T23:12:09.757Z,1761347529.757 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:12:09.757Z,1761347529.757 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:12:09.757Z,1761347529.757 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:12:09.757Z,1761347529.757 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:12:09.757Z,1761347529.757 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:12:09.757Z,1761347529.757 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:12:09.757Z,1761347529.757 [marl:UpdateSpeed] Stopped
2025-10-24T23:12:09.758Z,1761347529.758 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:12:10.131Z,1761347530.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240269,0.970675,0.007882],[-0.956632,0.235400,0.171585],[0.164697,-0.048766,0.985138]]
2025-10-24T23:12:10.186Z,1761347530.186 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:12:10.186Z,1761347530.186 [marl:UpdateRudder:B] Stopped
2025-10-24T23:12:10.186Z,1761347530.186 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:12:10.186Z,1761347530.186 [marl:UpdateRudder] Stopped
2025-10-24T23:12:10.186Z,1761347530.186 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:12:10.534Z,1761347530.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217583,0.973341,0.072559],[-0.971671,0.208981,0.110372],[0.092266,-0.094519,0.991238]]
2025-10-24T23:12:10.940Z,1761347530.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185098,0.977343,0.102659],[-0.982211,0.180627,0.051337],[0.031631,-0.110335,0.993391]]
2025-10-24T23:12:11.342Z,1761347531.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168898,0.978369,0.119443],[-0.985495,0.165600,0.037089],[0.016507,-0.123975,0.992148]]
2025-10-24T23:12:11.746Z,1761347531.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165634,0.980683,0.104050],[-0.984889,0.159081,0.068464],[0.050589,-0.113818,0.992213]]
2025-10-24T23:12:12.151Z,1761347532.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186730,0.978613,0.086300],[-0.976760,0.175529,0.122998],[0.105220,-0.107262,0.988647]]
2025-10-24T23:12:12.562Z,1761347532.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199296,0.978822,0.046781],[-0.971270,0.190971,0.142000],[0.130059,-0.073737,0.988761]]
2025-10-24T23:12:12.958Z,1761347532.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197041,0.979976,0.028650],[-0.978558,0.194800,0.066912],[0.059991,-0.041220,0.997347]]
2025-10-24T23:12:13.362Z,1761347533.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169011,0.984904,0.037409],[-0.985431,0.169590,-0.012877],[-0.019027,-0.034687,0.999217]]
2025-10-24T23:12:13.768Z,1761347533.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162765,0.984583,0.064062],[-0.986073,0.160075,0.045123],[0.034173,-0.070514,0.996925]]
2025-10-24T23:12:14.171Z,1761347534.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169555,0.981149,0.092722],[-0.985402,0.167325,0.031381],[0.015275,-0.096689,0.995197]]
2025-10-24T23:12:14.581Z,1761347534.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185525,0.978501,0.090090],[-0.981165,0.189487,-0.037551],[-0.053814,-0.081427,0.995225]]
2025-10-24T23:12:14.978Z,1761347534.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204725,0.976442,0.068186],[-0.978243,0.206497,-0.019975],[-0.033585,-0.062613,0.997473]]
2025-10-24T23:12:15.384Z,1761347535.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208238,0.977074,0.044304],[-0.978078,0.208003,0.009906],[0.000464,-0.045396,0.998969]]
2025-10-24T23:12:15.787Z,1761347535.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186359,0.980610,0.060619],[-0.981571,0.188487,-0.031479],[-0.042294,-0.053636,0.997665]]
2025-10-24T23:12:16.191Z,1761347536.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163296,0.984684,0.061085],[-0.986500,0.163746,-0.002397],[-0.012363,-0.059869,0.998130]]
2025-10-24T23:12:16.597Z,1761347536.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152524,0.987265,0.045206],[-0.983143,0.146902,0.108858],[0.100831,-0.061047,0.993029]]
2025-10-24T23:12:16.602Z,1761347536.602 [NAL9602](INFO): SBD MO Status=2, MOMSN=2568, MT Status=2, MTMSN=0
2025-10-24T23:12:16.603Z,1761347536.603 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-24T23:12:16.998Z,1761347536.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178627,0.983451,0.030262],[-0.980076,0.175130,0.093701],[0.086850,-0.046397,0.995140]]
2025-10-24T23:12:17.402Z,1761347537.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232021,0.972706,-0.003087],[-0.970631,0.231732,0.064615],[0.063566,-0.011995,0.997905]]
2025-10-24T23:12:17.806Z,1761347537.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238451,0.967235,-0.087169],[-0.964478,0.246363,0.095325],[0.113677,0.061342,0.991622]]
2025-10-24T23:12:17.815Z,1761347537.815 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231217.00,A,3646.49362,N,12151.79231,W,0.933,125.19,241025,,,A*7A
2025-10-24T23:12:17.817Z,1761347537.817 [NAL9602](INFO): GPS fix at 20251024T231217: (36.774894, -121.863205)
2025-10-24T23:12:17.870Z,1761347537.870 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761347584.00. Resetting abort timer.
2025-10-24T23:12:18.210Z,1761347538.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158414,0.977308,-0.140621],[-0.984544,0.167123,0.052372],[0.074685,0.130151,0.988677]]
2025-10-24T23:12:18.615Z,1761347538.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135575,0.984367,-0.112429],[-0.990399,0.137740,0.011683],[0.026986,0.109765,0.993591]]
2025-10-24T23:12:19.020Z,1761347539.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170053,0.982619,-0.074448],[-0.983621,0.173837,0.047647],[0.059761,0.065126,0.996086]]
2025-10-24T23:12:19.423Z,1761347539.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179992,0.982575,-0.046353],[-0.980471,0.183003,0.072010],[0.079238,0.032487,0.996326]]
2025-10-24T23:12:19.788Z,1761347539.788 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002713
2025-10-24T23:12:19.827Z,1761347539.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130951,0.990747,0.035680],[-0.991168,0.130077,0.025813],[0.020934,-0.038745,0.999030]]
2025-10-24T23:12:20.231Z,1761347540.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078185,0.987469,0.137088],[-0.996503,0.081472,-0.018527],[-0.029464,-0.135160,0.990386]]
2025-10-24T23:12:20.636Z,1761347540.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065251,0.979771,0.189188],[-0.997845,0.062753,0.019171],[0.006911,-0.190031,0.981754]]
2025-10-24T23:12:21.041Z,1761347541.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078277,0.986152,0.146207],[-0.994678,0.067400,0.077927],[0.066993,-0.151529,0.986180]]
2025-10-24T23:12:21.065Z,1761347541.065 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231220.00,A,3646.49352,N,12151.79252,W,0.622,116.12,241025,,,A*7C
2025-10-24T23:12:21.068Z,1761347541.068 [NAL9602](INFO): GPS fix at 20251024T231220: (36.774892, -121.863209)
2025-10-24T23:12:21.091Z,1761347541.091 [marl:NeedComms:D] Stopped
2025-10-24T23:12:21.092Z,1761347541.092 [marl:NeedComms:E] Running Loop=1
2025-10-24T23:12:21.093Z,1761347541.093 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761347584.00. Resetting abort timer.
2025-10-24T23:12:21.448Z,1761347541.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081470,0.996658,-0.005914],[-0.993862,0.081684,0.074604],[0.074838,-0.000200,0.997196]]
2025-10-24T23:12:21.851Z,1761347541.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071812,0.996799,-0.035133],[-0.997418,0.071779,-0.002211],[0.000318,0.035201,0.999380]]
2025-10-24T23:12:22.261Z,1761347542.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077873,0.996957,-0.003427],[-0.996888,0.077824,-0.012540],[-0.012235,0.004393,0.999915]]
2025-10-24T23:12:22.663Z,1761347542.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059410,0.996763,0.054159],[-0.997584,0.057326,0.039246],[0.036015,-0.056360,0.997761]]
2025-10-24T23:12:22.705Z,1761347542.705 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:12:22.705Z,1761347542.705 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:12:22.705Z,1761347542.705 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:12:22.705Z,1761347542.705 [marl:UpdateRudder:A] Stopped
2025-10-24T23:12:22.705Z,1761347542.705 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:12:22.706Z,1761347542.706 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:12:22.706Z,1761347542.706 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:12:22.706Z,1761347542.706 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:12:22.706Z,1761347542.706 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:12:22.706Z,1761347542.706 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:12:22.706Z,1761347542.706 [marl:UpdateCommandMode] Stopped
2025-10-24T23:12:22.706Z,1761347542.706 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:12:22.706Z,1761347542.706 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:12:22.707Z,1761347542.707 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:12:22.707Z,1761347542.707 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:12:22.707Z,1761347542.707 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:12:22.707Z,1761347542.707 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:12:22.707Z,1761347542.707 [marl:UpdateSpeed] Stopped
2025-10-24T23:12:22.707Z,1761347542.707 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:12:23.065Z,1761347543.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005233,0.994410,0.105460],[-0.999334,-0.001391,-0.036471],[-0.036120,-0.105581,0.993755]]
2025-10-24T23:12:23.133Z,1761347543.133 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:12:23.133Z,1761347543.133 [marl:UpdateRudder:B] Stopped
2025-10-24T23:12:23.133Z,1761347543.133 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:12:23.133Z,1761347543.133 [marl:UpdateRudder] Stopped
2025-10-24T23:12:23.134Z,1761347543.134 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:12:23.463Z,1761347543.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019653,0.992640,0.119493],[-0.985249,0.001093,-0.171123],[-0.169995,-0.121093,0.977977]]
2025-10-24T23:12:23.875Z,1761347543.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040255,0.996280,0.076199],[-0.993904,-0.032092,-0.105474],[-0.102636,-0.079981,0.991498]]
2025-10-24T23:12:23.900Z,1761347543.900 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231223.00,A,3646.49324,N,12151.79324,W,0.875,222.55,241025,,,A*75
2025-10-24T23:12:23.911Z,1761347543.911 [NAL9602](INFO): GPS fix at 20251024T231223: (36.774887, -121.863221)
2025-10-24T23:12:24.063Z,1761347544.063 [marl:NeedComms:E] Stopped
2025-10-24T23:12:24.072Z,1761347544.072 [marl:NeedComms](INFO): Completed marl:NeedComms
2025-10-24T23:12:24.073Z,1761347544.073 [marl:NeedComms] Stopped
2025-10-24T23:12:24.073Z,1761347544.073 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms
2025-10-24T23:12:24.073Z,1761347544.073 [marl:NeedComms:B.GoToSurface] Stopped
2025-10-24T23:12:24.073Z,1761347544.073 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-24T23:12:24.074Z,1761347544.074 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761347584.00. Resetting abort timer.
2025-10-24T23:12:24.274Z,1761347544.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063575,0.997282,0.037250],[-0.995510,-0.065996,0.067850],[0.070124,-0.032770,0.997000]]
2025-10-24T23:12:24.679Z,1761347544.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060455,0.998153,0.005975],[-0.990999,-0.060736,0.119302],[0.119444,0.001291,0.992840]]
2025-10-24T23:12:25.483Z,1761347545.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032425,0.999389,-0.013024],[-0.999436,-0.032534,-0.008263],[-0.008682,0.012749,0.999881]]
2025-10-24T23:12:25.950Z,1761347545.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048871,0.997280,0.055172],[-0.998127,-0.050799,0.034097],[0.036807,-0.053402,0.997895]]
2025-10-24T23:12:26.325Z,1761347546.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073889,0.988107,0.134848],[-0.996208,-0.079361,0.035662],[0.045939,-0.131702,0.990224]]
2025-10-24T23:12:26.715Z,1761347546.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077947,0.982474,0.169321],[-0.996741,-0.073256,-0.033791],[-0.020795,-0.171403,0.984981]]
2025-10-24T23:12:27.135Z,1761347547.135 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231226.00,A,3646.49293,N,12151.79205,W,1.108,119.92,241025,,,A*7D
2025-10-24T23:12:27.137Z,1761347547.137 [NAL9602](INFO): GPS fix at 20251024T231226: (36.774882, -121.863201)
2025-10-24T23:12:27.191Z,1761347547.191 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761347584.00. Resetting abort timer.
2025-10-24T23:12:27.524Z,1761347547.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119596,0.988281,0.094853],[-0.992819,-0.118785,-0.014168],[-0.002735,-0.095866,0.995390]]
2025-10-24T23:12:27.951Z,1761347547.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131158,0.988741,0.072036],[-0.991152,-0.132277,0.010967],[0.020372,-0.069960,0.997342]]
2025-10-24T23:12:28.359Z,1761347548.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114560,0.991669,0.058898],[-0.992662,-0.116581,0.032106],[0.038705,-0.054788,0.997748]]
2025-10-24T23:12:28.734Z,1761347548.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097147,0.992624,0.072522],[-0.994187,-0.100181,0.039440],[0.046414,-0.068269,0.996587]]
2025-10-24T23:12:29.139Z,1761347549.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112836,0.988635,0.099342],[-0.992944,-0.115864,0.025243],[0.036467,-0.095792,0.994733]]
2025-10-24T23:12:29.558Z,1761347549.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119262,0.978641,0.167448],[-0.988177,-0.133365,0.075630],[0.096347,-0.156448,0.982976]]
2025-10-24T23:12:29.955Z,1761347549.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102919,0.972933,0.206903],[-0.985888,-0.127387,0.108616],[0.132033,-0.192805,0.972314]]
2025-10-24T23:12:29.969Z,1761347549.969 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231229.00,A,3646.49299,N,12151.79097,W,0.972,83.96,241025,,,A*43
2025-10-24T23:12:29.971Z,1761347549.971 [NAL9602](INFO): GPS fix at 20251024T231229: (36.774883, -121.863183)
2025-10-24T23:12:30.035Z,1761347550.035 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761347584.00. Resetting abort timer.
2025-10-24T23:12:30.351Z,1761347550.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104308,0.970667,0.216622],[-0.987920,-0.126224,0.089895],[0.114600,-0.204629,0.972108]]
2025-10-24T23:12:30.754Z,1761347550.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102310,0.979564,0.173170],[-0.984916,-0.124172,0.120507],[0.139547,-0.158229,0.977492]]
2025-10-24T23:12:30.756Z,1761347550.756 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:12:31.158Z,1761347551.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066562,0.991157,0.114792],[-0.996241,-0.072411,0.047551],[0.055443,-0.111195,0.992251]]
2025-10-24T23:12:31.567Z,1761347551.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061200,0.992276,0.107902],[-0.997338,-0.056500,-0.046093],[-0.039640,-0.110435,0.993092]]
2025-10-24T23:12:31.967Z,1761347551.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068969,0.984030,0.164099],[-0.997136,-0.062878,-0.042034],[-0.031045,-0.166528,0.985548]]
2025-10-24T23:12:32.372Z,1761347552.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082515,0.969496,0.230800],[-0.996239,-0.074094,-0.044932],[-0.026460,-0.233640,0.971963]]
2025-10-24T23:12:32.780Z,1761347552.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088516,0.964245,0.249793],[-0.994666,-0.072234,-0.073633],[-0.052957,-0.254978,0.965496]]
2025-10-24T23:12:32.785Z,1761347552.785 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231232.00,A,3646.49274,N,12151.79160,W,1.361,247.09,241025,,,A*76
2025-10-24T23:12:32.788Z,1761347552.788 [NAL9602](INFO): GPS fix at 20251024T231232: (36.774879, -121.863193)
2025-10-24T23:12:32.811Z,1761347552.811 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761347584.00. Resetting abort timer.
2025-10-24T23:12:33.178Z,1761347553.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084135,0.978541,0.188091],[-0.996437,-0.083725,-0.010139],[0.005826,-0.188274,0.982099]]
2025-10-24T23:12:33.584Z,1761347553.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077758,0.990586,0.112662],[-0.996190,-0.081674,0.030569],[0.039483,-0.109856,0.993163]]
2025-10-24T23:12:33.000Z,1761347554.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060409,0.990949,0.119878],[-0.997903,-0.062755,0.015887],[0.023266,-0.118667,0.992662]]
2025-10-24T23:12:34.390Z,1761347554.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021861,0.981692,0.189216],[-0.996684,-0.036237,0.072852],[0.078375,-0.186996,0.979229]]
2025-10-24T23:12:34.795Z,1761347554.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031343,0.984970,0.169856],[-0.998803,-0.037251,0.031710],[0.037561,-0.168659,0.984959]]
2025-10-24T23:12:35.200Z,1761347555.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039907,0.992148,0.118530],[-0.998470,-0.035051,-0.042776],[-0.038285,-0.120056,0.992029]]
2025-10-24T23:12:35.603Z,1761347555.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028260,0.995106,0.094688],[-0.999555,-0.029041,0.006883],[0.009599,-0.094451,0.995483]]
2025-10-24T23:12:35.693Z,1761347555.693 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:12:35.693Z,1761347555.693 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:12:35.693Z,1761347555.693 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:12:35.693Z,1761347555.693 [marl:UpdateRudder:A] Stopped
2025-10-24T23:12:35.693Z,1761347555.693 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:12:35.693Z,1761347555.693 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:12:35.694Z,1761347555.694 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:12:35.694Z,1761347555.694 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:12:35.694Z,1761347555.694 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:12:35.694Z,1761347555.694 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:12:35.694Z,1761347555.694 [marl:UpdateCommandMode] Stopped
2025-10-24T23:12:35.694Z,1761347555.694 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:12:35.694Z,1761347555.694 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:12:35.694Z,1761347555.694 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:12:35.694Z,1761347555.694 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:12:35.695Z,1761347555.695 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:12:35.695Z,1761347555.695 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:12:35.695Z,1761347555.695 [marl:UpdateSpeed] Stopped
2025-10-24T23:12:35.695Z,1761347555.695 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:12:36.006Z,1761347556.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046651,0.996255,0.072798],[-0.998171,-0.049299,0.035002],[0.038459,-0.071031,0.996732]]
2025-10-24T23:12:36.042Z,1761347556.042 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231235.00,A,3646.49270,N,12151.79309,W,1.594,272.52,241025,,,A*7C
2025-10-24T23:12:36.049Z,1761347556.049 [NAL9602](INFO): GPS fix at 20251024T231235: (36.774878, -121.863218)
2025-10-24T23:12:36.162Z,1761347556.162 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:12:36.162Z,1761347556.162 [marl:UpdateRudder:B] Stopped
2025-10-24T23:12:36.162Z,1761347556.162 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:12:36.162Z,1761347556.162 [marl:UpdateRudder] Stopped
2025-10-24T23:12:36.162Z,1761347556.162 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:12:36.168Z,1761347556.168 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761347584.00. Resetting abort timer.
2025-10-24T23:12:36.467Z,1761347556.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054276,0.991105,0.121510],[-0.998379,-0.055956,0.010449],[0.017155,-0.120746,0.992535]]
2025-10-24T23:12:36.866Z,1761347556.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021368,0.983513,0.179573],[-0.998593,-0.029716,0.043924],[0.048536,-0.178382,0.982764]]
2025-10-24T23:12:37.266Z,1761347557.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051061,0.987446,0.149475],[-0.997066,-0.058950,0.048827],[0.057025,-0.146544,0.987559]]
2025-10-24T23:12:37.677Z,1761347557.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069863,0.982543,0.172420],[-0.994244,-0.082657,0.068170],[0.081232,-0.166665,0.982662]]
2025-10-24T23:12:38.076Z,1761347558.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040399,0.980417,0.192745],[-0.989767,-0.065688,0.126677],[0.136857,-0.185655,0.973038]]
2025-10-24T23:12:38.479Z,1761347558.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007436,0.990017,0.140753],[-0.992394,-0.024602,0.120620],[0.122879,-0.138785,0.982670]]
2025-10-24T23:12:38.884Z,1761347558.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001057,0.996294,0.086003],[-0.995999,-0.008733,0.088932],[0.089353,-0.085565,0.992318]]
2025-10-24T23:12:38.891Z,1761347558.891 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231238.00,A,3646.49258,N,12151.79295,W,1.166,193.92,241025,,,A*76
2025-10-24T23:12:38.893Z,1761347558.893 [NAL9602](INFO): GPS fix at 20251024T231238: (36.774876, -121.863216)
2025-10-24T23:12:38.940Z,1761347558.940 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761347584.00. Resetting abort timer.
2025-10-24T23:12:39.287Z,1761347559.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019085,0.996299,0.083805],[-0.999722,-0.020176,0.012187],[0.013832,-0.083549,0.996408]]
2025-10-24T23:12:39.693Z,1761347559.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007422,0.986229,0.165216],[-0.997377,0.019198,-0.069791],[-0.072001,-0.164265,0.983785]]
2025-10-24T23:12:40.094Z,1761347560.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011020,0.976965,0.213115],[-0.999939,-0.010624,-0.003003],[-0.000670,-0.213135,0.977023]]
2025-10-24T23:12:40.498Z,1761347560.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041609,0.962880,0.266703],[-0.996089,-0.060801,0.064109],[0.077945,-0.262993,0.961644]]
2025-10-24T23:12:40.903Z,1761347560.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007555,0.951698,0.306942],[-0.997410,-0.029127,0.065759],[0.071523,-0.305650,0.949454]]
2025-10-24T23:12:41.307Z,1761347561.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001353,0.973266,0.229679],[-0.995575,-0.022893,0.091144],[0.093966,-0.228539,0.968989]]
2025-10-24T23:12:41.710Z,1761347561.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009655,0.994389,0.105341],[-0.995528,-0.019459,0.092439],[0.093970,-0.103978,0.990130]]
2025-10-24T23:12:41.824Z,1761347561.824 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:12:42.114Z,1761347562.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009009,0.999163,0.039913],[-0.999844,0.008394,0.015556],[0.015208,-0.040047,0.999082]]
2025-10-24T23:12:42.119Z,1761347562.119 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231241.00,A,3646.49239,N,12151.79292,W,0.544,193.92,241025,,,A*7D
2025-10-24T23:12:42.122Z,1761347562.122 [NAL9602](INFO): GPS fix at 20251024T231241: (36.774873, -121.863215)
2025-10-24T23:12:42.179Z,1761347562.179 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761347584.00. Resetting abort timer.
2025-10-24T23:12:42.531Z,1761347562.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024311,0.997755,0.062408],[-0.998037,0.027828,-0.056107],[-0.057717,-0.060922,0.996472]]
2025-10-24T23:12:42.926Z,1761347562.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013568,0.991121,0.132270],[-0.998385,-0.006130,-0.056479],[-0.055166,-0.132823,0.989603]]
2025-10-24T23:12:43.327Z,1761347563.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038677,0.974415,0.221403],[-0.998712,-0.044975,0.023473],[0.032830,-0.220210,0.974900]]
2025-10-24T23:12:43.730Z,1761347563.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016099,0.962842,0.269586],[-0.995597,-0.040338,0.084614],[0.092344,-0.267037,0.959252]]
2025-10-24T23:12:44.134Z,1761347564.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004472,0.971553,0.236780],[-0.989191,-0.030406,0.143446],[0.146564,-0.234862,0.960915]]
2025-10-24T23:12:44.551Z,1761347564.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009108,0.985651,0.168547],[-0.992944,-0.011015,0.118072],[0.118234,-0.168433,0.978596]]
2025-10-24T23:12:44.942Z,1761347564.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033665,0.991040,0.129255],[-0.998893,0.029115,0.036938],[0.032843,-0.130356,0.990923]]
2025-10-24T23:12:44.951Z,1761347564.951 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231244.00,A,3646.49231,N,12151.79411,W,1.555,270.51,241025,,,A*7D
2025-10-24T23:12:44.965Z,1761347564.965 [NAL9602](INFO): GPS fix at 20251024T231244: (36.774872, -121.863235)
2025-10-24T23:12:45.060Z,1761347565.060 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761347584.00. Resetting abort timer.
2025-10-24T23:12:45.347Z,1761347565.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017442,0.997096,0.074128],[-0.999611,0.015777,0.022991],[0.021755,-0.074500,0.996984]]
2025-10-24T23:12:45.752Z,1761347565.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033838,0.991560,0.125154],[-0.998911,-0.037581,0.027664],[0.032134,-0.124082,0.991752]]
2025-10-24T23:12:46.157Z,1761347566.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025508,0.962140,0.271358],[-0.999317,-0.031801,0.018817],[0.026734,-0.270693,0.962295]]
2025-10-24T23:12:46.583Z,1761347566.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024313,0.944127,0.328685],[-0.999528,-0.029139,0.009766],[0.018798,-0.328292,0.944389]]
2025-10-24T23:12:46.963Z,1761347566.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067683,0.946336,0.316017],[-0.997004,-0.076041,0.014178],[0.037448,-0.314110,0.948648]]
2025-10-24T23:12:47.371Z,1761347567.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045439,0.966626,0.252131],[-0.989988,-0.077336,0.118080],[0.133638,-0.244241,0.960462]]
2025-10-24T23:12:47.772Z,1761347567.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023644,0.993299,0.113126],[-0.979341,-0.045745,0.196972],[0.200827,-0.106132,0.973861]]
2025-10-24T23:12:47.779Z,1761347567.779 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231247.00,A,3646.49234,N,12151.79568,W,1.263,257.60,241025,,,A*71
2025-10-24T23:12:47.781Z,1761347567.781 [NAL9602](INFO): GPS fix at 20251024T231247: (36.774872, -121.863261)
2025-10-24T23:12:47.865Z,1761347567.865 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761347584.00. Resetting abort timer.
2025-10-24T23:12:48.175Z,1761347568.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022292,0.998742,0.044912],[-0.992518,-0.027502,0.118957],[0.120043,-0.041925,0.991883]]
2025-10-24T23:12:48.578Z,1761347568.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065707,0.997128,0.037661],[-0.997837,-0.065734,-0.000526],[0.001951,-0.037614,0.999290]]
2025-10-24T23:12:48.655Z,1761347568.655 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:12:48.655Z,1761347568.655 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:12:48.655Z,1761347568.655 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:12:48.684Z,1761347568.684 [marl:UpdateRudder:A] Stopped
2025-10-24T23:12:48.684Z,1761347568.684 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:12:48.684Z,1761347568.684 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:12:48.684Z,1761347568.684 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:12:48.684Z,1761347568.684 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:12:48.685Z,1761347568.685 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:12:48.685Z,1761347568.685 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:12:48.685Z,1761347568.685 [marl:UpdateCommandMode] Stopped
2025-10-24T23:12:48.685Z,1761347568.685 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:12:48.685Z,1761347568.685 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:12:48.685Z,1761347568.685 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:12:48.685Z,1761347568.685 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:12:48.686Z,1761347568.686 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:12:48.686Z,1761347568.686 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:12:48.686Z,1761347568.686 [marl:UpdateSpeed] Stopped
2025-10-24T23:12:48.686Z,1761347568.686 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:12:48.983Z,1761347568.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077058,0.985942,0.148256],[-0.996937,-0.078184,0.001773],[0.013339,-0.147665,0.988947]]
2025-10-24T23:12:49.058Z,1761347569.058 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:12:49.058Z,1761347569.058 [marl:UpdateRudder:B] Stopped
2025-10-24T23:12:49.058Z,1761347569.058 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:12:49.058Z,1761347569.058 [marl:UpdateRudder] Stopped
2025-10-24T23:12:49.058Z,1761347569.058 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:12:49.225Z,1761347569.225 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:12:49.226Z,1761347569.226 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:12:49.391Z,1761347569.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077355,0.973982,0.213013],[-0.996473,-0.082502,0.015364],[0.032538,-0.211074,0.976928]]
2025-10-24T23:12:49.791Z,1761347569.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080515,0.968096,0.237291],[-0.996488,-0.072683,-0.041586],[-0.023012,-0.239806,0.970548]]
2025-10-24T23:12:50.194Z,1761347570.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081267,0.972075,0.220149],[-0.996665,-0.077615,-0.025206],[-0.007415,-0.221464,0.975140]]
2025-10-24T23:12:50.603Z,1761347570.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104763,0.977922,0.180816],[-0.985990,-0.125865,0.109457],[0.129799,-0.166816,0.977407]]
2025-10-24T23:12:51.015Z,1761347571.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080296,0.976627,0.199377],[-0.989644,-0.101987,0.101008],[0.118982,-0.189202,0.974703]]
2025-10-24T23:12:51.023Z,1761347571.023 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231250.00,A,3646.49221,N,12151.79657,W,0.933,256.59,241025,,,A*78
2025-10-24T23:12:51.025Z,1761347571.025 [NAL9602](INFO): GPS fix at 20251024T231250: (36.774870, -121.863276)
2025-10-24T23:12:51.048Z,1761347571.048 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761347584.00. Resetting abort timer.
2025-10-24T23:12:51.407Z,1761347571.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041420,0.983697,0.174999],[-0.998672,-0.046131,0.022938],[0.030637,-0.173817,0.984301]]
2025-10-24T23:12:51.810Z,1761347571.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034606,0.992214,0.119643],[-0.999346,-0.033103,-0.014524],[-0.010450,-0.120067,0.992711]]
2025-10-24T23:12:52.215Z,1761347572.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065671,0.986867,0.147582],[-0.996680,-0.057738,-0.057412],[-0.048137,-0.150862,0.987382]]
2025-10-24T23:12:52.259Z,1761347572.259 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:12:52.477Z,1761347572.477 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:12:52.477Z,1761347572.477 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T23:12:52.622Z,1761347572.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131323,0.967887,0.214357],[-0.985717,-0.104491,-0.132077],[-0.105437,-0.228640,0.967784]]
2025-10-24T23:12:52.733Z,1761347572.733 [DAT](INFO): DAT read: user:10>

2025-10-24T23:12:52.734Z,1761347572.734 [DAT](INFO): DAT read: Tx time:23:12:51.9372

2025-10-24T23:12:52.734Z,1761347572.734 [DAT](INFO): Ping request sent.
2025-10-24T23:12:52.734Z,1761347572.734 [DAT](INFO): transmitted an acoustic signal
2025-10-24T23:12:52.735Z,1761347572.735 [DAT](INFO): publishing transmit ping time
2025-10-24T23:12:52.735Z,1761347572.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000917
2025-10-24T23:12:52.816Z,1761347572.816 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:12:52.985Z,1761347572.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250318
2025-10-24T23:12:53.028Z,1761347573.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108471,0.945053,0.308398],[-0.994084,-0.104860,-0.028313],[0.005581,-0.309644,0.950836]]
2025-10-24T23:12:53.237Z,1761347573.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502510
2025-10-24T23:12:53.433Z,1761347573.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056314,0.923487,0.379474],[-0.995833,-0.079259,0.045103],[0.071729,-0.375353,0.924102]]
2025-10-24T23:12:53.490Z,1761347573.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755594
2025-10-24T23:12:53.741Z,1761347573.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006894
2025-10-24T23:12:53.833Z,1761347573.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026103,0.933974,0.356385],[-0.997035,-0.050139,0.058373],[0.072388,-0.353805,0.932514]]
2025-10-24T23:12:53.844Z,1761347573.844 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231253.00,A,3646.49193,N,12151.79764,W,1.341,219.25,241025,,,A*7E
2025-10-24T23:12:53.847Z,1761347573.847 [NAL9602](INFO): GPS fix at 20251024T231253: (36.774865, -121.863294)
2025-10-24T23:12:53.873Z,1761347573.873 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761347584.00. Resetting abort timer.
2025-10-24T23:12:53.994Z,1761347573.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259480
2025-10-24T23:12:54.234Z,1761347574.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001578,0.971918,0.235314],[-0.999373,-0.009856,0.034006],[0.035371,-0.235113,0.971324]]
2025-10-24T23:12:54.245Z,1761347574.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510287
2025-10-24T23:12:54.498Z,1761347574.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763880
2025-10-24T23:12:54.749Z,1761347574.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014433
2025-10-24T23:12:55.002Z,1761347575.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267403
2025-10-24T23:12:55.049Z,1761347575.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061916,0.995719,0.068624],[-0.993231,-0.068240,0.094000],[0.098281,-0.062340,0.993204]]
2025-10-24T23:12:55.253Z,1761347575.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518978
2025-10-24T23:12:55.446Z,1761347575.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047377,0.987413,0.150899],[-0.996628,-0.056859,0.059154],[0.066989,-0.147587,0.986778]]
2025-10-24T23:12:55.506Z,1761347575.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771403
2025-10-24T23:12:55.757Z,1761347575.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022280
2025-10-24T23:12:55.850Z,1761347575.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002136,0.975627,0.219426],[-0.998065,0.015715,-0.060154],[-0.062136,-0.218873,0.973773]]
2025-10-24T23:12:56.010Z,1761347576.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275311
2025-10-24T23:12:56.254Z,1761347576.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017528,0.974475,0.223810],[-0.999791,-0.014727,-0.014176],[-0.010518,-0.224012,0.974530]]
2025-10-24T23:12:56.261Z,1761347576.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526485
2025-10-24T23:12:56.513Z,1761347576.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778846
2025-10-24T23:12:56.684Z,1761347576.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043853,0.974645,0.219417],[-0.996635,-0.057904,0.058017],[0.069251,-0.216135,0.973905]]
2025-10-24T23:12:56.765Z,1761347576.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030703
2025-10-24T23:12:57.017Z,1761347577.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282360
2025-10-24T23:12:57.066Z,1761347577.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063810,0.976062,0.207923],[-0.989806,-0.088481,0.111599],[0.127325,-0.198682,0.971758]]
2025-10-24T23:12:57.086Z,1761347577.086 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231256.00,A,3646.49140,N,12151.79841,W,0.739,228.27,241025,,,A*77
2025-10-24T23:12:57.088Z,1761347577.088 [NAL9602](INFO): GPS fix at 20251024T231256: (36.774857, -121.863307)
2025-10-24T23:12:57.109Z,1761347577.109 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761347584.00. Resetting abort timer.
2025-10-24T23:12:57.269Z,1761347577.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534435
2025-10-24T23:12:57.470Z,1761347577.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078813,0.977277,0.196769],[-0.981592,-0.110524,0.155764],[0.173973,-0.180871,0.967998]]
2025-10-24T23:12:57.521Z,1761347577.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786458
2025-10-24T23:12:57.773Z,1761347577.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038376
2025-10-24T23:12:57.941Z,1761347577.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057187,0.981011,0.185330],[-0.951073,-0.109987,0.288727],[0.303629,-0.159751,0.939303]]
2025-10-24T23:12:57.955Z,1761347577.955 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050103011430,35.0,  0.0,1507.6,  0
2025-10-24T23:12:58.025Z,1761347578.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290370
2025-10-24T23:12:58.277Z,1761347578.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542524
2025-10-24T23:12:58.291Z,1761347578.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032752,0.986822,0.158462],[-0.968079,-0.070741,0.240454],[0.248495,-0.145528,0.957639]]
2025-10-24T23:12:58.529Z,1761347578.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794472
2025-10-24T23:12:58.700Z,1761347578.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051213,0.995178,0.083659],[-0.981029,-0.065813,0.182346],[0.186972,-0.072734,0.979669]]
2025-10-24T23:12:58.781Z,1761347578.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046436
2025-10-24T23:12:59.033Z,1761347579.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298690
2025-10-24T23:12:59.095Z,1761347579.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072714,0.989756,0.122863],[-0.986752,-0.089307,0.135443],[0.145028,-0.111387,0.983138]]
2025-10-24T23:12:59.285Z,1761347579.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550874
2025-10-24T23:12:59.509Z,1761347579.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056463,0.984235,0.167613],[-0.991951,-0.074360,0.102493],[0.113341,-0.160477,0.980511]]
2025-10-24T23:12:59.537Z,1761347579.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802394
2025-10-24T23:12:59.790Z,1761347579.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054766
2025-10-24T23:12:59.957Z,1761347579.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026249,0.984805,0.171669],[-0.992711,-0.045886,0.111442],[0.117626,-0.167493,0.978831]]
2025-10-24T23:12:59.966Z,1761347579.966 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231259.00,A,3646.49145,N,12151.79902,W,1.788,285.15,241025,,,A*76
2025-10-24T23:12:59.973Z,1761347579.973 [NAL9602](INFO): GPS fix at 20251024T231259: (36.774858, -121.863317)
2025-10-24T23:13:00.041Z,1761347580.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306458
2025-10-24T23:13:00.103Z,1761347580.103 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761347584.00. Resetting abort timer.
2025-10-24T23:13:00.293Z,1761347580.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558323
2025-10-24T23:13:00.307Z,1761347580.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028646,0.988387,0.149233],[-0.992738,-0.045581,0.111325],[0.116834,-0.144960,0.982515]]
2025-10-24T23:13:00.545Z,1761347580.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811001
2025-10-24T23:13:00.709Z,1761347580.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023795,0.988109,0.151902],[-0.993377,-0.040454,0.107542],[0.112408,-0.148337,0.982528]]
2025-10-24T23:13:00.797Z,1761347580.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062447
2025-10-24T23:13:01.049Z,1761347581.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314384
2025-10-24T23:13:01.112Z,1761347581.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034361,0.983339,0.178503],[-0.993906,-0.052342,0.097016],[0.104743,-0.174082,0.979145]]
2025-10-24T23:13:01.301Z,1761347581.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566714
2025-10-24T23:13:01.514Z,1761347581.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049666,0.977215,0.206360],[-0.994021,-0.068479,0.085044],[0.097238,-0.200902,0.974773]]
2025-10-24T23:13:01.553Z,1761347581.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818389
2025-10-24T23:13:01.577Z,1761347581.577 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:13:01.577Z,1761347581.577 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:13:01.577Z,1761347581.577 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:13:01.578Z,1761347581.578 [marl:UpdateRudder:A] Stopped
2025-10-24T23:13:01.578Z,1761347581.578 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:13:01.578Z,1761347581.578 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:13:01.578Z,1761347581.578 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:13:01.578Z,1761347581.578 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:13:01.578Z,1761347581.578 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:13:01.578Z,1761347581.578 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:13:01.578Z,1761347581.578 [marl:UpdateCommandMode] Stopped
2025-10-24T23:13:01.579Z,1761347581.579 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:13:01.579Z,1761347581.579 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:13:01.579Z,1761347581.579 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:13:01.579Z,1761347581.579 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:13:01.579Z,1761347581.579 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:13:01.579Z,1761347581.579 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:13:01.579Z,1761347581.579 [marl:UpdateSpeed] Stopped
2025-10-24T23:13:01.579Z,1761347581.579 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:13:01.805Z,1761347581.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070389
2025-10-24T23:13:01.957Z,1761347581.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057620,0.972407,0.226064],[-0.991767,-0.081693,0.098613],[0.114360,-0.218520,0.969108]]
2025-10-24T23:13:02.058Z,1761347582.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323046
2025-10-24T23:13:02.099Z,1761347582.099 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:13:02.099Z,1761347582.099 [marl:UpdateRudder:B] Stopped
2025-10-24T23:13:02.099Z,1761347582.099 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:13:02.099Z,1761347582.099 [marl:UpdateRudder] Stopped
2025-10-24T23:13:02.099Z,1761347582.099 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:13:02.309Z,1761347582.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574492
2025-10-24T23:13:02.412Z,1761347582.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071145,0.969266,0.235504],[-0.984416,-0.106296,0.140095],[0.160822,-0.221867,0.961723]]
2025-10-24T23:13:02.561Z,1761347582.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826358
2025-10-24T23:13:02.791Z,1761347582.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066035,0.964821,0.254480],[-0.973448,-0.118312,0.195962],[0.219176,-0.234782,0.947016]]
2025-10-24T23:13:02.812Z,1761347582.812 [DAT](INFO): Reached modem response timeout
2025-10-24T23:13:03.195Z,1761347583.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039598,0.960524,0.275365],[-0.966258,-0.107003,0.234299],[0.254514,-0.256796,0.932351]]
2025-10-24T23:13:03.203Z,1761347583.203 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231302.00,A,3646.49158,N,12151.80112,W,2.080,269.97,241025,,,A*7E
2025-10-24T23:13:03.205Z,1761347583.205 [NAL9602](INFO): GPS fix at 20251024T231302: (36.774860, -121.863352)
2025-10-24T23:13:03.281Z,1761347583.281 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761347584.00. Resetting abort timer.
2025-10-24T23:13:04.008Z,1761347584.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021448,0.949201,0.313938],[-0.977250,-0.086176,0.193792],[0.211002,-0.302639,0.929456]]
2025-10-24T23:13:04.409Z,1761347584.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040840,0.968180,0.246899],[-0.968799,-0.098828,0.227290],[0.244459,-0.229913,0.942008]]
2025-10-24T23:13:04.581Z,1761347584.581 [DAT](INFO): setting remote address to 10
2025-10-24T23:13:04.810Z,1761347584.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048539,0.965067,0.257470],[-0.959780,-0.116430,0.255471],[0.276524,-0.234714,0.931903]]
2025-10-24T23:13:04.848Z,1761347584.848 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T23:13:04.887Z,1761347584.887 [marl:SendObservationData] Running Loop=1
2025-10-24T23:13:04.888Z,1761347584.888 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:13:04.892Z,1761347584.892 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:13:04.893Z,1761347584.893 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:13:04.894Z,1761347584.894 [marl:SendObservationData:A](INFO): Got test_good :  41da3f01400000004051400000000000404262f63832fb0dc05e77535118aa2a401d8caf800000004071c66660000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:13:04.894Z,1761347584.894 [marl:SendObservationData:A] Stopped
2025-10-24T23:13:04.894Z,1761347584.894 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:13:05.085Z,1761347585.085 [DAT](INFO): DAT read: Response Not Received

2025-10-24T23:13:05.085Z,1761347585.085 [DAT](INFO): response not received
2025-10-24T23:13:05.086Z,1761347585.086 [DAT](INFO): DAT read: user:11>

2025-10-24T23:13:05.088Z,1761347585.088 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:13:05.090Z,1761347585.090 [DAT](INFO): set remote address to 10
2025-10-24T23:13:05.091Z,1761347585.091 [DAT](INFO): entering online mode
2025-10-24T23:13:05.244Z,1761347585.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047496,0.958319,0.281726],[-0.951030,-0.129627,0.280603],[0.305426,-0.254602,0.917547]]
2025-10-24T23:13:05.337Z,1761347585.337 [DAT](INFO): DAT read: user:12>

2025-10-24T23:13:05.337Z,1761347585.337 [DAT](INFO): DAT read: 

2025-10-24T23:13:05.338Z,1761347585.338 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:13:05.339Z,1761347585.339 [DAT](INFO): commRate: 600
2025-10-24T23:13:05.339Z,1761347585.339 [DAT](INFO): online mode acknowledged
2025-10-24T23:13:05.339Z,1761347585.339 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:13:05.405Z,1761347585.405 [marl:SendObservationData:B] Stopped
2025-10-24T23:13:05.405Z,1761347585.405 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:13:05.621Z,1761347585.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060446,0.958201,0.279637],[-0.945434,-0.144816,0.291861],[0.320158,-0.246736,0.914670]]
2025-10-24T23:13:05.697Z,1761347585.697 [marl:SendObservationData:C] Stopped
2025-10-24T23:13:05.697Z,1761347585.697 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:13:06.043Z,1761347586.043 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231305.00,A,3646.49155,N,12151.80383,W,3.052,269.00,241025,,,A*7E
2025-10-24T23:13:06.052Z,1761347586.052 [NAL9602](INFO): GPS fix at 20251024T231305: (36.774859, -121.863397)
2025-10-24T23:13:06.121Z,1761347586.121 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.015032 min 
2025-10-24T23:13:06.121Z,1761347586.121 [marl:SendObservationData:E] Stopped
2025-10-24T23:13:06.121Z,1761347586.121 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:13:06.121Z,1761347586.121 [marl:SendObservationData] Stopped
2025-10-24T23:13:06.121Z,1761347586.121 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:13:06.122Z,1761347586.122 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:13:06.122Z,1761347586.122 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761347584.00. Resetting abort timer.
2025-10-24T23:13:06.426Z,1761347586.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031647,0.955266,0.294052],[-0.910315,-0.149026,0.386158],[0.412705,-0.255459,0.874309]]
2025-10-24T23:13:06.830Z,1761347586.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000354,0.943889,0.330263],[-0.908120,-0.137981,0.395321],[0.418710,-0.300059,0.857116]]
2025-10-24T23:13:07.239Z,1761347587.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010292,0.950724,0.309866],[-0.916923,-0.114655,0.382238],[0.398930,-0.288058,0.870561]]
2025-10-24T23:13:07.638Z,1761347587.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018705,0.964955,0.261746],[-0.917477,-0.087475,0.388053],[0.397350,-0.247405,0.883688]]
2025-10-24T23:13:08.042Z,1761347588.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018745,0.976048,0.216748],[-0.907411,-0.074420,0.413602],[0.419826,-0.204432,0.884282]]
2025-10-24T23:13:08.449Z,1761347588.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013289,0.982944,0.183425],[-0.898936,-0.068588,0.432678],[0.437879,-0.170637,0.882692]]
2025-10-24T23:13:08.629Z,1761347588.629 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:13:07.8860

2025-10-24T23:13:08.629Z,1761347588.629 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:13:08.853Z,1761347588.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006126,0.984608,0.174671],[-0.889294,-0.074515,0.451224],[0.457294,-0.158098,0.875150]]
2025-10-24T23:13:08.863Z,1761347588.863 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231308.00,A,3646.49461,N,12151.80569,W,5.093,269.00,241025,,,A*78
2025-10-24T23:13:08.865Z,1761347588.865 [NAL9602](INFO): GPS fix at 20251024T231308: (36.774910, -121.863428)
2025-10-24T23:13:08.916Z,1761347588.916 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761347584.00. Resetting abort timer.
2025-10-24T23:13:09.258Z,1761347589.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011295,0.978902,0.204016],[-0.881691,-0.086495,0.463831],[0.471691,-0.185118,0.862113]]
2025-10-24T23:13:09.665Z,1761347589.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028122,0.968859,0.246009],[-0.883273,-0.091142,0.459915],[0.468014,-0.230227,0.853205]]
2025-10-24T23:13:10.518Z,1761347590.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052757,0.971679,0.230339],[-0.901208,-0.053032,0.430130],[0.430164,-0.230276,0.872887]]
2025-10-24T23:13:10.870Z,1761347590.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053040,0.981542,0.183745],[-0.907259,-0.029511,0.419535],[0.417214,-0.188957,0.888948]]
2025-10-24T23:13:11.277Z,1761347591.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051738,0.986809,0.153396],[-0.909490,-0.016885,0.415382],[0.412493,-0.161003,0.896620]]
2025-10-24T23:13:11.684Z,1761347591.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054466,0.987761,0.146159],[-0.911758,-0.010481,0.410594],[0.407100,-0.155625,0.900028]]
2025-10-24T23:13:12.499Z,1761347592.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065991,0.984493,0.162541],[-0.915697,-0.004965,0.401839],[0.396414,-0.175356,0.901169]]
2025-10-24T23:13:12.894Z,1761347592.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074255,0.984746,0.157360],[-0.914128,0.004147,0.405405],[0.398568,-0.173950,0.900492]]
2025-10-24T23:13:13.302Z,1761347593.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084720,0.985212,0.148932],[-0.913571,0.017138,0.406317],[0.397756,-0.170483,0.901513]]
2025-10-24T23:13:14.172Z,1761347594.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100066,0.986321,0.130989],[-0.921302,0.042132,0.386558],[0.375751,-0.159361,0.912916]]
2025-10-24T23:13:14.574Z,1761347594.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101661,0.986991,0.124556],[-0.924007,0.047289,0.379439],[0.368612,-0.153665,0.916794]]
2025-10-24T23:13:14.627Z,1761347594.627 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:13:14.627Z,1761347594.627 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:13:14.627Z,1761347594.627 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:13:14.627Z,1761347594.627 [marl:UpdateRudder:A] Stopped
2025-10-24T23:13:14.627Z,1761347594.627 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:13:14.627Z,1761347594.627 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:13:14.627Z,1761347594.627 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:13:14.628Z,1761347594.628 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:13:14.628Z,1761347594.628 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:13:14.628Z,1761347594.628 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:13:14.628Z,1761347594.628 [marl:UpdateCommandMode] Stopped
2025-10-24T23:13:14.628Z,1761347594.628 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:13:14.629Z,1761347594.629 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:13:14.629Z,1761347594.629 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:13:14.629Z,1761347594.629 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:13:14.629Z,1761347594.629 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:13:14.629Z,1761347594.629 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:13:14.629Z,1761347594.629 [marl:UpdateSpeed] Stopped
2025-10-24T23:13:14.629Z,1761347594.629 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:13:14.983Z,1761347594.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095813,0.988359,0.118182],[-0.923495,0.043957,0.381083],[0.371452,-0.145654,0.916956]]
2025-10-24T23:13:15.034Z,1761347595.034 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:13:15.034Z,1761347595.034 [marl:UpdateRudder:B] Stopped
2025-10-24T23:13:15.034Z,1761347595.034 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:13:15.034Z,1761347595.034 [marl:UpdateRudder] Stopped
2025-10-24T23:13:15.034Z,1761347595.034 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:13:15.392Z,1761347595.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094745,0.988649,0.116607],[-0.922792,0.043277,0.382860],[0.373468,-0.143878,0.916417]]
2025-10-24T23:13:15.786Z,1761347595.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096706,0.987380,0.125416],[-0.924635,0.042487,0.378477],[0.368372,-0.152565,0.917075]]
2025-10-24T23:13:16.190Z,1761347596.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095855,0.985570,0.139513],[-0.928885,0.038194,0.368393],[0.357749,-0.164904,0.919142]]
2025-10-24T23:13:16.594Z,1761347596.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091919,0.983901,0.153261],[-0.933145,0.031392,0.358128],[0.347552,-0.175934,0.921008]]
2025-10-24T23:13:17.000Z,1761347597.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089241,0.982491,0.163545],[-0.935579,0.026364,0.352132],[0.341655,-0.184433,0.921551]]
2025-10-24T23:13:17.403Z,1761347597.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092213,0.980764,0.172040],[-0.935932,0.026394,0.351190],[0.339894,-0.193403,0.920363]]
2025-10-24T23:13:17.806Z,1761347597.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099110,0.979715,0.174171],[-0.935207,0.031913,0.352660],[0.339948,-0.197838,0.919400]]
2025-10-24T23:13:18.210Z,1761347598.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103769,0.980602,0.166286],[-0.934171,0.038704,0.354721],[0.341405,-0.192149,0.920066]]
2025-10-24T23:13:18.616Z,1761347598.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102919,0.982669,0.154173],[-0.933132,0.041703,0.357107],[0.344488,-0.180617,0.921252]]
2025-10-24T23:13:18.717Z,1761347598.717 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:13:18.970Z,1761347598.970 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:13:18.971Z,1761347598.971 [DAT](INFO): #Outgoing data=21
2025-10-24T23:13:18.971Z,1761347598.971 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:13:19.018Z,1761347599.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100246,0.984849,0.141501],[-0.932316,0.043312,0.359042],[0.347473,-0.167916,0.922533]]
2025-10-24T23:13:19.221Z,1761347599.221 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:13:19.423Z,1761347599.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098900,0.985926,0.134793],[-0.931878,0.044252,0.360063],[0.349031,-0.161221,0.923139]]
2025-10-24T23:13:19.827Z,1761347599.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099950,0.985452,0.137453],[-0.932143,0.044419,0.359355],[0.348022,-0.164043,0.923022]]
2025-10-24T23:13:20.233Z,1761347600.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103147,0.983844,0.146331],[-0.932817,0.044613,0.357579],[0.345274,-0.173383,0.922347]]
2025-10-24T23:13:20.635Z,1761347600.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107136,0.982272,0.153832],[-0.933465,0.046108,0.355693],[0.342294,-0.181705,0.921856]]
2025-10-24T23:13:21.039Z,1761347601.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112305,0.980896,0.158843],[-0.933934,0.049605,0.353987],[0.339345,-0.188104,0.921663]]
2025-10-24T23:13:21.450Z,1761347601.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119606,0.979401,0.162692],[-0.934657,0.055812,0.351142],[0.334829,-0.194060,0.922079]]
2025-10-24T23:13:21.847Z,1761347601.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128977,0.978049,0.163663],[-0.936559,0.065899,0.344259],[0.325917,-0.197682,0.924500]]
2025-10-24T23:13:22.254Z,1761347602.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139420,0.976935,0.161738],[-0.939953,0.079178,0.331992],[0.311529,-0.198313,0.929313]]
2025-10-24T23:13:22.498Z,1761347602.498 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:13:21.7860

2025-10-24T23:13:22.498Z,1761347602.498 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:13:22.659Z,1761347602.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148052,0.976372,0.157414],[-0.944234,0.092216,0.316100],[0.294115,-0.195435,0.935576]]
2025-10-24T23:13:23.058Z,1761347603.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150819,0.977116,0.149990],[-0.948147,0.100040,0.301677],[0.279768,-0.187711,0.941538]]
2025-10-24T23:13:23.470Z,1761347603.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147497,0.978598,0.143493],[-0.950706,0.100267,0.293435],[0.272767,-0.179700,0.945149]]
2025-10-24T23:13:23.872Z,1761347603.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147359,0.979190,0.139542],[-0.951542,0.101848,0.290162],[0.269912,-0.175538,0.946749]]
2025-10-24T23:13:24.340Z,1761347604.340 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:13:24.680Z,1761347604.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158255,0.977133,0.142011],[-0.951204,0.112286,0.287407],[0.264889,-0.180565,0.947222]]
2025-10-24T23:13:25.080Z,1761347605.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164503,0.975460,0.146344],[-0.951984,0.118173,0.282421],[0.258197,-0.185776,0.948062]]
2025-10-24T23:13:25.482Z,1761347605.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171121,0.973800,0.149772],[-0.953707,0.125561,0.273272],[0.247307,-0.189602,0.950206]]
2025-10-24T23:13:25.952Z,1761347605.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184380,0.970709,0.154037],[-0.958925,0.143295,0.244803],[0.215560,-0.192847,0.957259]]
2025-10-24T23:13:26.697Z,1761347606.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189523,0.969477,0.155552],[-0.961755,0.151386,0.228277],[0.197761,-0.192866,0.961090]]
2025-10-24T23:13:27.098Z,1761347607.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190208,0.969267,0.156019],[-0.964695,0.155042,0.212896],[0.182164,-0.191006,0.964538]]
2025-10-24T23:13:27.502Z,1761347607.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188509,0.969478,0.156769],[-0.967562,0.156004,0.198711],[0.168189,-0.189143,0.967438]]
2025-10-24T23:13:27.551Z,1761347607.551 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:13:27.551Z,1761347607.551 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:13:27.551Z,1761347607.551 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:13:27.551Z,1761347607.551 [marl:UpdateRudder:A] Stopped
2025-10-24T23:13:27.551Z,1761347607.551 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:13:27.551Z,1761347607.551 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:13:27.551Z,1761347607.551 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:13:27.552Z,1761347607.552 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:13:27.552Z,1761347607.552 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:13:27.552Z,1761347607.552 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:13:27.552Z,1761347607.552 [marl:UpdateCommandMode] Stopped
2025-10-24T23:13:27.552Z,1761347607.552 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:13:27.552Z,1761347607.552 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:13:27.553Z,1761347607.553 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:13:27.553Z,1761347607.553 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:13:27.553Z,1761347607.553 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:13:27.553Z,1761347607.553 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:13:27.553Z,1761347607.553 [marl:UpdateSpeed] Stopped
2025-10-24T23:13:27.553Z,1761347607.553 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:13:27.970Z,1761347607.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182616,0.970929,0.154753],[-0.972535,0.155282,0.173389],[0.144318,-0.182166,0.972619]]
2025-10-24T23:13:28.062Z,1761347608.062 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:13:28.062Z,1761347608.062 [marl:UpdateRudder:B] Stopped
2025-10-24T23:13:28.062Z,1761347608.062 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:13:28.062Z,1761347608.062 [marl:UpdateRudder] Stopped
2025-10-24T23:13:28.062Z,1761347608.062 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:13:28.332Z,1761347608.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177542,0.972073,0.153470],[-0.974621,0.152072,0.164278],[0.136352,-0.178742,0.974402]]
2025-10-24T23:13:28.734Z,1761347608.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170726,0.973394,0.152832],[-0.976449,0.146376,0.158499],[0.131911,-0.176293,0.975459]]
2025-10-24T23:13:29.135Z,1761347609.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163234,0.974275,0.155379],[-0.977939,0.138976,0.155955],[0.130349,-0.177408,0.975467]]
2025-10-24T23:13:29.545Z,1761347609.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161192,0.973781,0.160525],[-0.978808,0.136922,0.152275],[0.126303,-0.181669,0.975215]]
2025-10-24T23:13:29.955Z,1761347609.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162960,0.972782,0.164740],[-0.979503,0.139475,0.145327],[0.118394,-0.185046,0.975572]]
2025-10-24T23:13:30.348Z,1761347610.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164007,0.971947,0.168583],[-0.980509,0.141878,0.135913],[0.108182,-0.187587,0.976272]]
2025-10-24T23:13:30.750Z,1761347610.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162397,0.971112,0.174838],[-0.981892,0.141529,0.125926],[0.097543,-0.192122,0.976511]]
2025-10-24T23:13:31.154Z,1761347611.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160996,0.971010,0.176691],[-0.983080,0.141926,0.115801],[0.087367,-0.192345,0.977430]]
2025-10-24T23:13:31.563Z,1761347611.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159525,0.971754,0.173916],[-0.983977,0.142309,0.107409],[0.079625,-0.188264,0.978885]]
2025-10-24T23:13:31.971Z,1761347611.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159100,0.972589,0.169582],[-0.984389,0.143183,0.102358],[0.075271,-0.183220,0.980186]]
2025-10-24T23:13:32.366Z,1761347612.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159814,0.972619,0.168739],[-0.984341,0.144134,0.101481],[0.074382,-0.182314,0.980423]]
2025-10-24T23:13:32.588Z,1761347612.588 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:13:32.770Z,1761347612.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161740,0.971454,0.173542],[-0.983973,0.145379,0.103252],[0.075076,-0.187461,0.979399]]
2025-10-24T23:13:32.842Z,1761347612.842 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:13:32.842Z,1761347612.842 [DAT](INFO): #Outgoing data=22
2025-10-24T23:13:32.842Z,1761347612.842 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:13:33.093Z,1761347613.093 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:13:33.174Z,1761347613.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164700,0.969764,0.180086],[-0.983416,0.147394,0.105679],[0.075941,-0.194505,0.977958]]
2025-10-24T23:13:33.585Z,1761347613.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168809,0.967132,0.190156],[-0.982731,0.150312,0.107922],[0.075792,-0.205090,0.975804]]
2025-10-24T23:13:33.982Z,1761347613.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174339,0.963686,0.202277],[-0.981951,0.154848,0.108603],[0.073337,-0.217559,0.973288]]
2025-10-24T23:13:34.387Z,1761347614.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181316,0.960542,0.210913],[-0.981101,0.161943,0.105903],[0.067568,-0.226129,0.971751]]
2025-10-24T23:13:34.790Z,1761347614.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189439,0.957736,0.216459],[-0.980208,0.171553,0.098804],[0.057494,-0.230892,0.971279]]
2025-10-24T23:13:35.195Z,1761347615.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197255,0.956591,0.214534],[-0.979349,0.182382,0.087244],[0.044329,-0.227313,0.972812]]
2025-10-24T23:13:35.606Z,1761347615.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202080,0.955892,0.213153],[-0.978886,0.190304,0.074610],[0.030755,-0.223730,0.974166]]
2025-10-24T23:13:36.002Z,1761347616.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201143,0.956676,0.210507],[-0.979366,0.192105,0.062755],[0.019597,-0.218786,0.975576]]
2025-10-24T23:13:36.377Z,1761347616.377 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:13:35.6359

2025-10-24T23:13:36.377Z,1761347616.377 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:13:36.414Z,1761347616.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196163,0.959412,0.202604],[-0.980517,0.189739,0.050851],[0.010345,-0.208632,0.977940]]
2025-10-24T23:13:36.811Z,1761347616.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190084,0.962489,0.193605],[-0.981767,0.186035,0.039057],[0.001575,-0.197499,0.980302]]
2025-10-24T23:13:37.216Z,1761347617.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183795,0.964740,0.188403],[-0.982948,0.181502,0.029501],[-0.005735,-0.190612,0.981649]]
2025-10-24T23:13:37.618Z,1761347617.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177565,0.966601,0.184806],[-0.984059,0.176296,0.023408],[-0.009954,-0.186017,0.982496]]
2025-10-24T23:13:38.466Z,1761347618.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173592,0.966487,0.189127],[-0.984778,0.172079,0.024525],[-0.008842,-0.190506,0.981646]]
2025-10-24T23:13:38.830Z,1761347618.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177112,0.964044,0.198117],[-0.984170,0.174784,0.029322],[-0.006360,-0.200174,0.979740]]
2025-10-24T23:13:39.234Z,1761347619.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183313,0.961048,0.206840],[-0.983038,0.180437,0.032851],[-0.005750,-0.209353,0.977823]]
2025-10-24T23:13:39.645Z,1761347619.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191477,0.958151,0.212798],[-0.981462,0.188753,0.033240],[-0.008317,-0.215218,0.976531]]
2025-10-24T23:13:40.054Z,1761347620.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200712,0.955639,0.215566],[-0.979550,0.198914,0.030232],[-0.013988,-0.217226,0.976021]]
2025-10-24T23:13:40.450Z,1761347620.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210182,0.954008,0.213758],[-0.977449,0.209619,0.025559],[-0.020424,-0.214310,0.976552]]
2025-10-24T23:13:40.485Z,1761347620.485 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:13:40.485Z,1761347620.485 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:13:40.485Z,1761347620.485 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:13:40.485Z,1761347620.485 [marl:UpdateRudder:A] Stopped
2025-10-24T23:13:40.486Z,1761347620.486 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:13:40.486Z,1761347620.486 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:13:40.486Z,1761347620.486 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:13:40.486Z,1761347620.486 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:13:40.486Z,1761347620.486 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:13:40.486Z,1761347620.486 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:13:40.486Z,1761347620.486 [marl:UpdateCommandMode] Stopped
2025-10-24T23:13:40.486Z,1761347620.486 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:13:40.487Z,1761347620.487 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:13:40.487Z,1761347620.487 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:13:40.487Z,1761347620.487 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:13:40.487Z,1761347620.487 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:13:40.487Z,1761347620.487 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:13:40.487Z,1761347620.487 [marl:UpdateSpeed] Stopped
2025-10-24T23:13:40.487Z,1761347620.487 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:13:40.854Z,1761347620.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219255,0.952106,0.213122],[-0.975324,0.219680,0.021989],[-0.025882,-0.212684,0.976778]]
2025-10-24T23:13:40.907Z,1761347620.907 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:13:40.907Z,1761347620.907 [marl:UpdateRudder:B] Stopped
2025-10-24T23:13:40.907Z,1761347620.907 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:13:40.907Z,1761347620.907 [marl:UpdateRudder] Stopped
2025-10-24T23:13:40.907Z,1761347620.907 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:13:41.259Z,1761347621.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227046,0.949790,0.215290],[-0.973417,0.228170,0.019959],[-0.030165,-0.214099,0.976346]]
2025-10-24T23:13:41.671Z,1761347621.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232835,0.947348,0.219816],[-0.971928,0.234533,0.018717],[-0.033822,-0.218003,0.975362]]
2025-10-24T23:13:42.067Z,1761347622.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235118,0.945971,0.223290],[-0.971212,0.237706,0.015612],[-0.038309,-0.220533,0.974627]]
2025-10-24T23:13:42.470Z,1761347622.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234787,0.945629,0.225078],[-0.971033,0.238742,0.009886],[-0.044387,-0.220879,0.974291]]
2025-10-24T23:13:42.875Z,1761347622.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231273,0.947367,0.221379],[-0.971629,0.236493,0.003006],[-0.049506,-0.215794,0.975183]]
2025-10-24T23:13:43.280Z,1761347623.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225005,0.951111,0.211566],[-0.973002,0.230782,-0.002693],[-0.051387,-0.205248,0.977360]]
2025-10-24T23:13:43.690Z,1761347623.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220371,0.953756,0.204415],[-0.974021,0.226373,-0.006158],[-0.052147,-0.197747,0.978865]]
2025-10-24T23:13:44.086Z,1761347624.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218880,0.954076,0.204527],[-0.974304,0.225113,-0.007430],[-0.053131,-0.197645,0.978833]]
2025-10-24T23:13:44.491Z,1761347624.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217487,0.952733,0.212132],[-0.974529,0.224137,-0.007520],[-0.054711,-0.205093,0.977212]]
2025-10-24T23:13:44.905Z,1761347624.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215329,0.951524,0.219624],[-0.974864,0.222628,-0.008739],[-0.057210,-0.212222,0.975546]]
2025-10-24T23:13:45.298Z,1761347625.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212617,0.951218,0.223557],[-0.975304,0.220593,-0.011032],[-0.059809,-0.215690,0.974628]]
2025-10-24T23:13:45.703Z,1761347625.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209769,0.951583,0.224693],[-0.975829,0.218156,-0.012880],[-0.061275,-0.216560,0.974344]]
2025-10-24T23:13:46.106Z,1761347626.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207790,0.952382,0.223141],[-0.976275,0.216125,-0.013326],[-0.060918,-0.215078,0.974695]]
2025-10-24T23:13:46.456Z,1761347626.456 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:13:46.513Z,1761347626.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208207,0.952862,0.220692],[-0.976237,0.216316,-0.012961],[-0.060090,-0.212749,0.975258]]
2025-10-24T23:13:46.709Z,1761347626.709 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:13:46.709Z,1761347626.709 [DAT](INFO): #Outgoing data=23
2025-10-24T23:13:46.709Z,1761347626.709 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:13:46.915Z,1761347626.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210539,0.952846,0.218537],[-0.975772,0.218440,-0.012363],[-0.059518,-0.210639,0.975750]]
2025-10-24T23:13:46.961Z,1761347626.961 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:13:47.318Z,1761347627.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213163,0.952132,0.219104],[-0.975165,0.221141,-0.012261],[-0.060127,-0.211049,0.975624]]
2025-10-24T23:13:47.724Z,1761347627.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214897,0.950049,0.226332],[-0.974658,0.223370,-0.012200],[-0.062146,-0.217974,0.973974]]
2025-10-24T23:13:48.530Z,1761347628.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212198,0.946729,0.242230],[-0.975171,0.221214,-0.010321],[-0.063356,-0.234026,0.970164]]
2025-10-24T23:13:48.934Z,1761347628.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212243,0.946106,0.244616],[-0.975274,0.220854,-0.007999],[-0.061592,-0.236870,0.969587]]
2025-10-24T23:13:49.339Z,1761347629.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215095,0.945510,0.244429],[-0.974847,0.222837,-0.004135],[-0.058377,-0.237391,0.969658]]
2025-10-24T23:13:49.492Z,1761347629.492 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:13:49.492Z,1761347629.492 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:13:49.743Z,1761347629.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220900,0.943655,0.246413],[-0.973768,0.227536,0.001583],[-0.054574,-0.240299,0.969164]]
2025-10-24T23:13:50.149Z,1761347630.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227982,0.941423,0.248491],[-0.972299,0.233641,0.006887],[-0.051574,-0.243178,0.968610]]
2025-10-24T23:13:50.237Z,1761347630.237 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:13:49.5359

2025-10-24T23:13:50.237Z,1761347630.237 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:13:50.550Z,1761347630.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234785,0.940066,0.247288],[-0.970755,0.239871,0.009803],[-0.050102,-0.242357,0.968893]]
2025-10-24T23:13:50.955Z,1761347630.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239639,0.938509,0.248544],[-0.969556,0.244617,0.011135],[-0.050348,-0.243645,0.968557]]
2025-10-24T23:13:51.361Z,1761347631.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241576,0.937723,0.249633],[-0.969046,0.246619,0.011372],[-0.050900,-0.244653,0.968274]]
2025-10-24T23:13:51.763Z,1761347631.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241024,0.939080,0.245021],[-0.969203,0.246046,0.010384],[-0.050535,-0.239978,0.969462]]
2025-10-24T23:13:52.166Z,1761347632.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240597,0.940878,0.238456],[-0.969419,0.245177,0.010728],[-0.048371,-0.233745,0.971094]]
2025-10-24T23:13:52.453Z,1761347632.453 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.639381
2025-10-24T23:13:52.570Z,1761347632.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243090,0.941499,0.233426],[-0.968965,0.246828,0.013525],[-0.044882,-0.229469,0.972281]]
2025-10-24T23:13:52.603Z,1761347632.603 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:13:52.757Z,1761347632.757 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:13:52.808Z,1761347632.808 [DAT](INFO): entering command mode
2025-10-24T23:13:52.976Z,1761347632.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249187,0.941091,0.228592],[-0.967600,0.251850,0.017936],[-0.040691,-0.225655,0.973357]]
2025-10-24T23:13:53.009Z,1761347633.009 [DAT](INFO): DAT read: 

2025-10-24T23:13:53.009Z,1761347633.009 [DAT](INFO): DAT read: user:13>

2025-10-24T23:13:53.010Z,1761347633.010 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:13:53.010Z,1761347633.010 [DAT](INFO): setting remote address to 0
2025-10-24T23:13:53.261Z,1761347633.261 [DAT](INFO): DAT read: user:13>

2025-10-24T23:13:53.262Z,1761347633.262 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:13:53.262Z,1761347633.262 [DAT](INFO): set remote address to 0
2025-10-24T23:13:53.262Z,1761347633.262 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:13:53.262Z,1761347633.262 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T23:13:53.385Z,1761347633.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257276,0.940644,0.221356],[-0.965645,0.258927,0.022039],[-0.036584,-0.219421,0.974944]]
2025-10-24T23:13:53.456Z,1761347633.456 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:13:53.466Z,1761347633.466 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:13:53.466Z,1761347633.466 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:13:53.467Z,1761347633.467 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:13:53.467Z,1761347633.467 [marl:UpdateRudder:A] Stopped
2025-10-24T23:13:53.467Z,1761347633.467 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:13:53.467Z,1761347633.467 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:13:53.467Z,1761347633.467 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:13:53.467Z,1761347633.467 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:13:53.472Z,1761347633.472 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:13:53.472Z,1761347633.472 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:13:53.472Z,1761347633.472 [marl:UpdateCommandMode] Stopped
2025-10-24T23:13:53.472Z,1761347633.472 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:13:53.472Z,1761347633.472 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:13:53.472Z,1761347633.472 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:13:53.473Z,1761347633.473 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:13:53.473Z,1761347633.473 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:13:53.473Z,1761347633.473 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:13:53.473Z,1761347633.473 [marl:UpdateSpeed] Stopped
2025-10-24T23:13:53.473Z,1761347633.473 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:13:53.513Z,1761347633.513 [DAT](INFO): DAT read: user:14>

2025-10-24T23:13:53.514Z,1761347633.514 [DAT](INFO): DAT read: Tx time:23:13:52.7371

2025-10-24T23:13:53.514Z,1761347633.514 [DAT](INFO): Ping request sent.
2025-10-24T23:13:53.514Z,1761347633.514 [DAT](INFO): transmitted an acoustic signal
2025-10-24T23:13:53.514Z,1761347633.514 [DAT](INFO): publishing transmit ping time
2025-10-24T23:13:53.515Z,1761347633.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000967
2025-10-24T23:13:53.765Z,1761347633.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250819
2025-10-24T23:13:53.786Z,1761347633.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264074,0.940358,0.214455],[-0.963933,0.264952,0.025182],[-0.033140,-0.213370,0.976409]]
2025-10-24T23:13:53.840Z,1761347633.840 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:13:53.841Z,1761347633.841 [marl:UpdateRudder:B] Stopped
2025-10-24T23:13:53.841Z,1761347633.841 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:13:53.841Z,1761347633.841 [marl:UpdateRudder] Stopped
2025-10-24T23:13:53.841Z,1761347633.841 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:13:54.017Z,1761347634.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502770
2025-10-24T23:13:54.187Z,1761347634.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267960,0.939038,0.215419],[-0.962940,0.268172,0.028810],[-0.030716,-0.215155,0.976097]]
2025-10-24T23:13:54.270Z,1761347634.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755585
2025-10-24T23:13:54.521Z,1761347634.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006851
2025-10-24T23:13:54.591Z,1761347634.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268808,0.938408,0.217102],[-0.962736,0.268712,0.030537],[-0.029682,-0.217220,0.975671]]
2025-10-24T23:13:54.773Z,1761347634.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258809
2025-10-24T23:13:54.995Z,1761347634.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266745,0.937909,0.221750],[-0.963314,0.266523,0.031497],[-0.029560,-0.222016,0.974595]]
2025-10-24T23:13:55.026Z,1761347635.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511795
2025-10-24T23:13:55.277Z,1761347635.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762861
2025-10-24T23:13:55.399Z,1761347635.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263311,0.937734,0.226545],[-0.964252,0.263070,0.031820],[-0.029758,-0.226825,0.973481]]
2025-10-24T23:13:55.529Z,1761347635.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014823
2025-10-24T23:13:55.781Z,1761347635.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266816
2025-10-24T23:13:55.805Z,1761347635.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259916,0.937746,0.230381],[-0.965170,0.259661,0.031977],[-0.029835,-0.230668,0.972575]]
2025-10-24T23:13:56.033Z,1761347636.033 [DAT](INFO): DAT read: Rx Time:23:13:54.8331

2025-10-24T23:13:56.033Z,1761347636.033 [DAT](INFO): Rx dataTimestamp_ set to:1761347636.033058
2025-10-24T23:13:56.034Z,1761347636.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519931
2025-10-24T23:13:56.206Z,1761347636.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256513,0.938464,0.231271],[-0.966098,0.256191,0.031956],[-0.029260,-0.231628,0.972364]]
2025-10-24T23:13:56.285Z,1761347636.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770890
2025-10-24T23:13:56.567Z,1761347636.567 [DAT](INFO): DAT read: 23:13:54.8331 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 345, 0.36,-0.112,-1.578, 0.311,-0.182, PHS= 0.172,-1.351, 0.449, RAW= 158.2,   8.7, CAL= 157.9,   9.2, ROT= 352.1,  -9.2

2025-10-24T23:13:56.568Z,1761347636.568 [DAT](INFO): got valid direction response:
 23:13:54.8331 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 345, 0.36,-0.112,-1.578, 0.311,-0.182, PHS= 0.172,-1.351, 0.449, RAW= 158.2,   8.7, CAL= 157.9,   9.2, ROT= 352.1,  -9.2

2025-10-24T23:13:56.569Z,1761347636.569 [DAT](INFO): DAT read: Bearing 254, -23 (Remote)

2025-10-24T23:13:56.570Z,1761347636.570 [DAT](INFO): Remote Bearing received:Bearing 254, -23 (Remote)

2025-10-24T23:13:56.570Z,1761347636.570 [DAT](INFO): DAT read: Bearing  94.0, -11.4 (Local)

2025-10-24T23:13:56.571Z,1761347636.571 [DAT](INFO): Local bearing/azimuth received:
 Bearing  94.0, -11.4 (Local)

2025-10-24T23:13:56.572Z,1761347636.572 [DAT](INFO): DAT read: Range 11 to 20 : 50.1 m  (Round-trip  66.8 ms) speed  2.0 m/s

2025-10-24T23:13:56.573Z,1761347636.573 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-24T23:13:56.574Z,1761347636.574 [DAT](INFO): direction in FSK: [0.977768,-0.135677,0.159881]
2025-10-24T23:13:56.574Z,1761347636.574 [DAT](INFO): publishing direction and range info
2025-10-24T23:13:56.628Z,1761347636.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250133,0.939935,0.232283],[-0.967846,0.249330,0.033303],[-0.026612,-0.233145,0.972078]]
2025-10-24T23:13:56.728Z,1761347636.728 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761347584.00. Resetting abort timer.
2025-10-24T23:13:57.014Z,1761347637.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240578,0.940510,0.239924],[-0.970363,0.238838,0.036757],[-0.022732,-0.241657,0.970096]]
2025-10-24T23:13:57.462Z,1761347637.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229313,0.939326,0.255112],[-0.973196,0.225963,0.042781],[-0.017461,-0.258085,0.965964]]
2025-10-24T23:13:57.950Z,1761347637.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216812,0.935995,0.277320],[-0.976157,0.210935,0.051234],[-0.010542,-0.281816,0.959410]]
2025-10-24T23:13:58.312Z,1761347638.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204022,0.930853,0.303130],[-0.978963,0.194823,0.060629],[-0.002620,-0.309123,0.951019]]
2025-10-24T23:13:59.119Z,1761347639.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182278,0.915424,0.358851],[-0.983193,0.165862,0.076302],[0.010329,-0.366728,0.930271]]
2025-10-24T23:13:59.524Z,1761347639.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171862,0.907892,0.382356],[-0.984985,0.151919,0.082007],[0.016366,-0.390709,0.920369]]
2025-10-24T23:13:59.956Z,1761347639.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150914,0.897049,0.415366],[-0.988068,0.123799,0.091628],[0.030773,-0.424237,0.905028]]
2025-10-24T23:14:00.317Z,1761347640.317 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-24T23:14:00.317Z,1761347640.317 [DAT](ERROR): Ack receipt timeout failure.
2025-10-24T23:14:00.569Z,1761347640.569 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:14:00.738Z,1761347640.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141226,0.894189,0.424831],[-0.989258,0.111112,0.094990],[0.037735,-0.433682,0.900275]]
2025-10-24T23:14:00.821Z,1761347640.821 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:14:00.821Z,1761347640.821 [DAT](INFO): #Outgoing data=24
2025-10-24T23:14:00.821Z,1761347640.821 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:14:01.072Z,1761347641.072 [DAT](INFO): setting remote address to 10
2025-10-24T23:14:01.140Z,1761347641.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131898,0.891426,0.433547],[-0.990315,0.099376,0.096956],[0.043345,-0.442136,0.895900]]
2025-10-24T23:14:01.325Z,1761347641.325 [DAT](INFO): DAT read: user:15>

2025-10-24T23:14:01.326Z,1761347641.326 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:14:01.327Z,1761347641.327 [DAT](INFO): set remote address to 10
2025-10-24T23:14:01.327Z,1761347641.327 [DAT](INFO): entering online mode
2025-10-24T23:14:01.577Z,1761347641.577 [DAT](INFO): DAT read: user:16>

2025-10-24T23:14:01.577Z,1761347641.577 [DAT](INFO): DAT read: 

2025-10-24T23:14:01.578Z,1761347641.578 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:14:01.579Z,1761347641.579 [DAT](INFO): commRate: 600
2025-10-24T23:14:01.579Z,1761347641.579 [DAT](INFO): online mode acknowledged
2025-10-24T23:14:01.579Z,1761347641.579 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:14:01.960Z,1761347641.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097466,0.899044,0.426874],[-0.993382,0.061691,0.096886],[0.060770,-0.433492,0.899106]]
2025-10-24T23:14:02.365Z,1761347642.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082359,0.904966,0.417436],[-0.994245,0.045818,0.096834],[0.068506,-0.423009,0.903532]]
2025-10-24T23:14:02.766Z,1761347642.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066993,0.909400,0.410492],[-0.994887,0.029720,0.096525],[0.075580,-0.414860,0.906741]]
2025-10-24T23:14:03.165Z,1761347643.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050760,0.911716,0.407673],[-0.995359,0.012767,0.095381],[0.081755,-0.410623,0.908133]]
2025-10-24T23:14:04.019Z,1761347644.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013802,0.913868,0.405778],[-0.995814,-0.024109,0.088166],[0.090355,-0.405296,0.909709]]
2025-10-24T23:14:04.457Z,1761347644.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006892,0.915505,0.402248],[-0.995478,-0.044394,0.083983],[0.094744,-0.399850,0.911671]]
2025-10-24T23:14:04.854Z,1761347644.854 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:14:04.1359

2025-10-24T23:14:04.855Z,1761347644.855 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:14:04.886Z,1761347644.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027190,0.916778,0.398471],[-0.994576,-0.064844,0.081324],[0.100395,-0.394098,0.913568]]
2025-10-24T23:14:05.278Z,1761347645.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045491,0.917255,0.395695],[-0.993198,-0.084028,0.080602],[0.107182,-0.389336,0.914838]]
2025-10-24T23:14:05.729Z,1761347645.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060220,0.916489,0.395501],[-0.991833,-0.099569,0.079712],[0.112435,-0.387471,0.915000]]
2025-10-24T23:14:06.145Z,1761347646.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073677,0.915088,0.396466],[-0.990561,-0.113227,0.077262],[0.115593,-0.387031,0.914793]]
2025-10-24T23:14:06.582Z,1761347646.582 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:14:06.582Z,1761347646.582 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:14:06.582Z,1761347646.582 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:14:06.582Z,1761347646.582 [marl:UpdateRudder:A] Stopped
2025-10-24T23:14:06.583Z,1761347646.583 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:14:06.583Z,1761347646.583 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:14:06.583Z,1761347646.583 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:14:06.583Z,1761347646.583 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:14:06.583Z,1761347646.583 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:14:06.583Z,1761347646.583 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:14:06.583Z,1761347646.583 [marl:UpdateCommandMode] Stopped
2025-10-24T23:14:06.583Z,1761347646.583 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:14:06.584Z,1761347646.584 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:14:06.584Z,1761347646.584 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:14:06.584Z,1761347646.584 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:14:06.584Z,1761347646.584 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:14:06.584Z,1761347646.584 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:14:06.584Z,1761347646.584 [marl:UpdateSpeed] Stopped
2025-10-24T23:14:06.585Z,1761347646.585 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:14:06.946Z,1761347646.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108987,0.914967,0.388532],[-0.986526,-0.147537,0.070710],[0.122020,-0.375591,0.918718]]
2025-10-24T23:14:06.986Z,1761347646.986 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:14:06.986Z,1761347646.986 [marl:UpdateRudder:B] Stopped
2025-10-24T23:14:06.986Z,1761347646.986 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:14:06.986Z,1761347646.986 [marl:UpdateRudder] Stopped
2025-10-24T23:14:06.986Z,1761347646.986 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:14:07.359Z,1761347647.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127464,0.912759,0.388103],[-0.983761,-0.166197,0.067776],[0.126365,-0.373161,0.919121]]
2025-10-24T23:14:07.762Z,1761347647.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144251,0.908655,0.391839],[-0.980723,-0.184024,0.065700],[0.131807,-0.374809,0.917685]]
2025-10-24T23:14:07.820Z,1761347647.820 [Radio_Surface](INFO): Powering down
2025-10-24T23:14:08.158Z,1761347648.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158328,0.902885,0.399663],[-0.977930,-0.199279,0.062784],[0.136331,-0.380902,0.914510]]
2025-10-24T23:14:08.562Z,1761347648.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167445,0.898043,0.406795],[-0.976271,-0.208513,0.058464],[0.137325,-0.387352,0.911647]]
2025-10-24T23:14:09.399Z,1761347649.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169191,0.907342,0.384843],[-0.977212,-0.205220,0.054228],[0.128181,-0.366898,0.921388]]
2025-10-24T23:14:09.803Z,1761347649.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166981,0.916831,0.362683],[-0.978428,-0.199467,0.053763],[0.121635,-0.345882,0.930360]]
2025-10-24T23:14:10.209Z,1761347650.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165026,0.925504,0.340893],[-0.979379,-0.194613,0.054247],[0.116549,-0.324911,0.938536]]
2025-10-24T23:14:10.610Z,1761347650.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161719,0.933500,0.320038],[-0.980499,-0.188691,0.054924],[0.111660,-0.304915,0.945811]]
2025-10-24T23:14:11.015Z,1761347651.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157267,0.940329,0.301742],[-0.981745,-0.181962,0.055372],[0.106974,-0.287525,0.951780]]
2025-10-24T23:14:11.421Z,1761347651.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152629,0.947052,0.282484],[-0.983027,-0.174924,0.055308],[0.101793,-0.269248,0.957676]]
2025-10-24T23:14:11.842Z,1761347651.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148548,0.952425,0.266119],[-0.984206,-0.168593,0.053999],[0.096296,-0.253894,0.962426]]
2025-10-24T23:14:12.226Z,1761347652.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144742,0.956873,0.251881],[-0.985322,-0.162670,0.051760],[0.090501,-0.240692,0.966373]]
2025-10-24T23:14:12.630Z,1761347652.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140918,0.959837,0.242601],[-0.986365,-0.157159,0.048848],[0.085013,-0.232409,0.968896]]
2025-10-24T23:14:13.036Z,1761347653.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136358,0.961565,0.238324],[-0.987407,-0.151397,0.045893],[0.080211,-0.229065,0.970101]]
2025-10-24T23:14:13.459Z,1761347653.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130855,0.963538,0.233393],[-0.988492,-0.144827,0.043692],[0.075901,-0.224990,0.971400]]
2025-10-24T23:14:13.847Z,1761347653.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124565,0.964116,0.234445],[-0.989621,-0.137786,0.040819],[0.071657,-0.226927,0.971272]]
2025-10-24T23:14:14.248Z,1761347654.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118473,0.964861,0.234538],[-0.990721,-0.130706,0.037260],[0.066606,-0.227947,0.971393]]
2025-10-24T23:14:14.655Z,1761347654.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114511,0.967076,0.227271],[-0.991557,-0.125278,0.033480],[0.060850,-0.221518,0.973256]]
2025-10-24T23:14:14.941Z,1761347654.941 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:14:15.054Z,1761347655.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114966,0.969896,0.214675],[-0.991868,-0.123958,0.028855],[0.054597,-0.209611,0.976259]]
2025-10-24T23:14:15.193Z,1761347655.193 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:14:15.194Z,1761347655.194 [DAT](INFO): #Outgoing data=24
2025-10-24T23:14:15.194Z,1761347655.194 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:14:15.445Z,1761347655.445 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:14:15.470Z,1761347655.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119334,0.972026,0.202299],[-0.991678,-0.126608,0.023355],[0.048314,-0.197829,0.979045]]
2025-10-24T23:14:15.874Z,1761347655.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126382,0.972432,0.195970],[-0.991037,-0.132394,0.017834],[0.043288,-0.191960,0.980448]]
2025-10-24T23:14:16.272Z,1761347656.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134706,0.971822,0.193432],[-0.990059,-0.139976,0.013781],[0.040468,-0.189653,0.981017]]
2025-10-24T23:14:16.679Z,1761347656.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142638,0.970440,0.194682],[-0.988962,-0.147706,0.011692],[0.040102,-0.190865,0.980797]]
2025-10-24T23:14:17.078Z,1761347657.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148362,0.967783,0.203435],[-0.988092,-0.153548,0.009860],[0.040780,-0.199549,0.979039]]
2025-10-24T23:14:17.483Z,1761347657.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148253,0.965064,0.216038],[-0.988179,-0.153179,0.006145],[0.039023,-0.212573,0.976366]]
2025-10-24T23:14:17.944Z,1761347657.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145270,0.962464,0.229258],[-0.988771,-0.149436,0.000823],[0.035052,-0.226564,0.973365]]
2025-10-24T23:14:18.290Z,1761347658.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144156,0.961018,0.235931],[-0.989099,-0.147169,-0.004885],[0.030027,-0.234064,0.971757]]
2025-10-24T23:14:18.695Z,1761347658.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146275,0.959424,0.241060],[-0.988913,-0.148121,-0.010545],[0.025589,-0.239930,0.970453]]
2025-10-24T23:14:18.721Z,1761347658.721 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:14:17.9858

2025-10-24T23:14:18.721Z,1761347658.721 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:14:19.098Z,1761347659.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149959,0.957929,0.244712],[-0.988436,-0.150885,-0.015071],[0.022486,-0.244143,0.969479]]
2025-10-24T23:14:19.122Z,1761347659.122 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:14:19.122Z,1761347659.122 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:14:19.123Z,1761347659.123 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:14:19.123Z,1761347659.123 [marl:UpdateRudder:A] Stopped
2025-10-24T23:14:19.123Z,1761347659.123 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:14:19.123Z,1761347659.123 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:14:19.123Z,1761347659.123 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:14:19.123Z,1761347659.123 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:14:19.124Z,1761347659.124 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:14:19.124Z,1761347659.124 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:14:19.124Z,1761347659.124 [marl:UpdateCommandMode] Stopped
2025-10-24T23:14:19.124Z,1761347659.124 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:14:19.124Z,1761347659.124 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:14:19.124Z,1761347659.124 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:14:19.125Z,1761347659.125 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:14:19.125Z,1761347659.125 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:14:19.125Z,1761347659.125 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:14:19.125Z,1761347659.125 [marl:UpdateSpeed] Stopped
2025-10-24T23:14:19.125Z,1761347659.125 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:14:19.504Z,1761347659.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154853,0.957986,0.241421],[-0.987698,-0.155502,-0.016483],[0.021751,-0.241004,0.970280]]
2025-10-24T23:14:19.531Z,1761347659.531 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:14:19.531Z,1761347659.531 [marl:UpdateRudder:B] Stopped
2025-10-24T23:14:19.532Z,1761347659.532 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:14:19.532Z,1761347659.532 [marl:UpdateRudder] Stopped
2025-10-24T23:14:19.532Z,1761347659.532 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:14:19.943Z,1761347659.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158094,0.958503,0.237231],[-0.987175,-0.158816,-0.016191],[0.022157,-0.236748,0.971318]]
2025-10-24T23:14:20.321Z,1761347660.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157221,0.958944,0.236025],[-0.987324,-0.157895,-0.016164],[0.021766,-0.235575,0.971612]]
2025-10-24T23:14:20.715Z,1761347660.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153890,0.958871,0.238506],[-0.987872,-0.154350,-0.016864],[0.020643,-0.238209,0.970995]]
2025-10-24T23:14:21.119Z,1761347661.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150549,0.958180,0.243362],[-0.988427,-0.150529,-0.018791],[0.018628,-0.243375,0.969754]]
2025-10-24T23:14:21.522Z,1761347661.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149922,0.958272,0.243390],[-0.988567,-0.149286,-0.021166],[0.016052,-0.243781,0.969698]]
2025-10-24T23:14:21.949Z,1761347661.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153587,0.956981,0.246168],[-0.988042,-0.152155,-0.024949],[0.013580,-0.247056,0.968906]]
2025-10-24T23:14:22.334Z,1761347662.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159626,0.954349,0.252462],[-0.987105,-0.157410,-0.029086],[0.011981,-0.253850,0.967169]]
2025-10-24T23:14:22.734Z,1761347662.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167882,0.951021,0.259565],[-0.985731,-0.165223,-0.032195],[0.012268,-0.261266,0.965189]]
2025-10-24T23:14:23.138Z,1761347663.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176606,0.944303,0.277674],[-0.984170,-0.173661,-0.035373],[0.014818,-0.279525,0.960024]]
2025-10-24T23:14:23.542Z,1761347663.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183326,0.935421,0.302290],[-0.982882,-0.180127,-0.038681],[0.018268,-0.304207,0.952431]]
2025-10-24T23:14:23.580Z,1761347663.580 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:14:23.957Z,1761347663.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188970,0.924743,0.330366],[-0.981749,-0.185263,-0.042981],[0.021458,-0.332458,0.942874]]
2025-10-24T23:14:24.351Z,1761347664.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196472,0.914839,0.352800],[-0.980189,-0.192446,-0.046833],[0.025050,-0.355012,0.934526]]
2025-10-24T23:14:24.585Z,1761347664.585 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-24T23:14:24.585Z,1761347664.585 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:14:24.755Z,1761347664.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207021,0.907145,0.366374],[-0.977906,-0.202984,-0.049981],[0.029028,-0.368626,0.929124]]
2025-10-24T23:14:25.158Z,1761347665.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221148,0.899673,0.376407],[-0.974623,-0.217609,-0.052495],[0.034681,-0.378464,0.924966]]
2025-10-24T23:14:25.562Z,1761347665.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237891,0.892691,0.382768],[-0.970403,-0.235299,-0.054345],[0.041552,-0.384367,0.922245]]
2025-10-24T23:14:25.966Z,1761347665.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255221,0.885834,0.387505],[-0.965698,-0.253377,-0.056814],[0.047857,-0.388713,0.920115]]
2025-10-24T23:14:26.372Z,1761347666.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273939,0.879448,0.389266],[-0.960268,-0.272554,-0.060005],[0.053325,-0.390237,0.919169]]
2025-10-24T23:14:26.795Z,1761347666.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311365,0.860758,0.402676],[-0.948224,-0.309348,-0.071944],[0.062641,-0.404228,0.912511]]
2025-10-24T23:14:27.589Z,1761347667.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347898,0.844142,0.407911],[-0.934823,-0.345393,-0.082522],[0.071229,-0.410033,0.909285]]
2025-10-24T23:14:27.992Z,1761347667.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363223,0.836324,0.410648],[-0.928644,-0.360653,-0.086892],[0.075431,-0.412907,0.907644]]
2025-10-24T23:14:28.396Z,1761347668.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375336,0.829094,0.414398],[-0.923452,-0.372957,-0.090222],[0.079750,-0.416540,0.905613]]
2025-10-24T23:14:28.807Z,1761347668.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384487,0.822526,0.419071],[-0.919297,-0.382491,-0.092703],[0.084040,-0.420893,0.903209]]
2025-10-24T23:14:28.813Z,1761347668.813 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:14:29.065Z,1761347669.065 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:14:29.066Z,1761347669.066 [DAT](INFO): #Outgoing data=25
2025-10-24T23:14:29.066Z,1761347669.066 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:14:29.198Z,1761347669.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390819,0.816115,0.425696],[-0.916220,-0.389293,-0.094829],[0.088329,-0.427092,0.899884]]
2025-10-24T23:14:29.317Z,1761347669.317 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:14:29.605Z,1761347669.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395866,0.812710,0.427542],[-0.913625,-0.395520,-0.094095],[0.092630,-0.427862,0.899085]]
2025-10-24T23:14:30.006Z,1761347670.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399781,0.814359,0.420708],[-0.911586,-0.401232,-0.089583],[0.095849,-0.419325,0.902762]]
2025-10-24T23:14:30.410Z,1761347670.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404797,0.816354,0.411954],[-0.909128,-0.407641,-0.085526],[0.098110,-0.409140,0.907182]]
2025-10-24T23:14:30.818Z,1761347670.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413037,0.817554,0.401256],[-0.905268,-0.416682,-0.082864],[0.099450,-0.397470,0.912210]]
2025-10-24T23:14:31.219Z,1761347671.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424887,0.815861,0.392227],[-0.899593,-0.428890,-0.082377],[0.101014,-0.387845,0.916173]]
2025-10-24T23:14:31.623Z,1761347671.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440317,0.810358,0.386576],[-0.891849,-0.444428,-0.084203],[0.103571,-0.381843,0.918405]]
2025-10-24T23:14:32.026Z,1761347672.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455952,0.802932,0.383938],[-0.883595,-0.460063,-0.087194],[0.106625,-0.379002,0.919233]]
2025-10-24T23:14:32.084Z,1761347672.084 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:14:32.084Z,1761347672.084 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:14:32.084Z,1761347672.084 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:14:32.085Z,1761347672.085 [marl:UpdateRudder:A] Stopped
2025-10-24T23:14:32.085Z,1761347672.085 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:14:32.085Z,1761347672.085 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:14:32.085Z,1761347672.085 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:14:32.085Z,1761347672.085 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:14:32.085Z,1761347672.085 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:14:32.085Z,1761347672.085 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:14:32.085Z,1761347672.085 [marl:UpdateCommandMode] Stopped
2025-10-24T23:14:32.085Z,1761347672.085 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:14:32.086Z,1761347672.086 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:14:32.086Z,1761347672.086 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:14:32.086Z,1761347672.086 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:14:32.086Z,1761347672.086 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:14:32.086Z,1761347672.086 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:14:32.086Z,1761347672.086 [marl:UpdateSpeed] Stopped
2025-10-24T23:14:32.086Z,1761347672.086 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:14:32.431Z,1761347672.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471284,0.795060,0.381799],[-0.875030,-0.475733,-0.089450],[0.110516,-0.376242,0.919907]]
2025-10-24T23:14:32.494Z,1761347672.494 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:14:32.494Z,1761347672.494 [marl:UpdateRudder:B] Stopped
2025-10-24T23:14:32.494Z,1761347672.494 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:14:32.494Z,1761347672.494 [marl:UpdateRudder] Stopped
2025-10-24T23:14:32.494Z,1761347672.494 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:14:32.593Z,1761347672.593 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:14:31.8858

2025-10-24T23:14:32.593Z,1761347672.593 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:14:32.840Z,1761347672.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486060,0.785670,0.382712],[-0.866274,-0.490971,-0.092287],[0.115393,-0.376390,0.919247]]
2025-10-24T23:14:33.239Z,1761347673.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499551,0.775440,0.386188],[-0.857848,-0.504876,-0.095906],[0.120607,-0.379201,0.917421]]
2025-10-24T23:14:33.643Z,1761347673.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510530,0.766187,0.390278],[-0.850769,-0.515931,-0.100038],[0.124708,-0.383108,0.915246]]
2025-10-24T23:14:34.047Z,1761347674.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520128,0.758803,0.392026],[-0.844371,-0.525886,-0.102382],[0.128473,-0.384267,0.914239]]
2025-10-24T23:14:34.455Z,1761347674.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531263,0.752263,0.389693],[-0.836878,-0.537581,-0.103159],[0.131889,-0.380930,0.915149]]
2025-10-24T23:14:34.859Z,1761347674.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543331,0.743467,0.389934],[-0.828610,-0.549549,-0.106781],[0.134900,-0.381120,0.914631]]
2025-10-24T23:14:35.262Z,1761347675.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556170,0.733306,0.391073],[-0.819660,-0.561711,-0.112420],[0.137232,-0.383071,0.913468]]
2025-10-24T23:14:35.668Z,1761347675.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570018,0.722200,0.391800],[-0.809616,-0.574962,-0.118067],[0.140002,-0.384508,0.912444]]
2025-10-24T23:14:36.066Z,1761347676.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584185,0.709872,0.393458],[-0.798973,-0.588235,-0.124984],[0.142723,-0.387377,0.910807]]
2025-10-24T23:14:36.475Z,1761347676.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598486,0.698313,0.392648],[-0.787838,-0.601937,-0.130320],[0.145345,-0.387338,0.910409]]
2025-10-24T23:14:36.874Z,1761347676.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613192,0.686289,0.391156],[-0.776036,-0.615842,-0.136041],[0.147526,-0.386970,0.910214]]
2025-10-24T23:14:37.286Z,1761347677.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627885,0.672848,0.391197],[-0.763857,-0.629132,-0.143927],[0.149273,-0.389188,0.908983]]
2025-10-24T23:14:37.687Z,1761347677.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642496,0.661464,0.386865],[-0.751307,-0.643105,-0.148166],[0.150789,-0.385850,0.910155]]
2025-10-24T23:14:38.088Z,1761347678.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656922,0.649385,0.383083],[-0.738417,-0.656776,-0.152922],[0.152295,-0.383333,0.910968]]
2025-10-24T23:14:38.493Z,1761347678.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669919,0.637675,0.380235],[-0.726373,-0.668895,-0.157991],[0.153590,-0.382034,0.911296]]
2025-10-24T23:14:38.898Z,1761347678.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680358,0.626239,0.380706],[-0.716361,-0.677924,-0.165060],[0.154722,-0.385023,0.909845]]
2025-10-24T23:14:39.298Z,1761347679.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688661,0.616213,0.382136],[-0.708051,-0.685071,-0.171294],[0.156237,-0.388535,0.908092]]
2025-10-24T23:14:39.704Z,1761347679.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695529,0.607192,0.384133],[-0.700968,-0.690818,-0.177243],[0.157745,-0.392542,0.906105]]
2025-10-24T23:14:40.106Z,1761347680.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701555,0.599534,0.385200],[-0.694663,-0.695927,-0.182015],[0.158947,-0.395278,0.904705]]
2025-10-24T23:14:40.513Z,1761347680.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707517,0.593063,0.384312],[-0.688352,-0.701442,-0.184800],[0.159974,-0.395292,0.904518]]
2025-10-24T23:14:40.916Z,1761347680.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714334,0.587600,0.380069],[-0.681042,-0.708639,-0.184426],[0.160963,-0.390584,0.906386]]
2025-10-24T23:14:41.320Z,1761347681.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724052,0.578566,0.375513],[-0.670323,-0.718526,-0.185437],[0.162529,-0.385981,0.908077]]
2025-10-24T23:14:41.722Z,1761347681.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736043,0.565644,0.371870],[-0.656696,-0.729969,-0.189460],[0.164287,-0.383656,0.908745]]
2025-10-24T23:14:42.126Z,1761347682.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748561,0.551206,0.368548],[-0.641990,-0.741522,-0.194920],[0.165845,-0.382514,0.908944]]
2025-10-24T23:14:42.533Z,1761347682.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760543,0.536753,0.365336],[-0.627427,-0.752333,-0.200826],[0.167060,-0.381958,0.908955]]
2025-10-24T23:14:42.674Z,1761347682.674 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:14:42.925Z,1761347682.925 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:14:42.925Z,1761347682.925 [DAT](INFO): #Outgoing data=26
2025-10-24T23:14:42.925Z,1761347682.925 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:14:42.947Z,1761347682.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771076,0.522927,0.363304],[-0.614055,-0.761636,-0.206997],[0.168461,-0.382699,0.908385]]
2025-10-24T23:14:43.177Z,1761347683.177 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:14:43.339Z,1761347683.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779520,0.509989,0.363676],[-0.602882,-0.768396,-0.214712],[0.169946,-0.386626,0.906443]]
2025-10-24T23:14:43.750Z,1761347683.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785724,0.499188,0.365307],[-0.594507,-0.772540,-0.223032],[0.170880,-0.392419,0.903774]]
2025-10-24T23:14:44.147Z,1761347684.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790542,0.489691,0.367757],[-0.587920,-0.774967,-0.231895],[0.171442,-0.399535,0.900544]]
2025-10-24T23:14:44.586Z,1761347684.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794804,0.483291,0.367037],[-0.582009,-0.778358,-0.235423],[0.171908,-0.400734,0.899922]]
2025-10-24T23:14:44.986Z,1761347684.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799306,0.478689,0.363272],[-0.575737,-0.783214,-0.234740],[0.172152,-0.396778,0.901627]]
2025-10-24T23:14:45.042Z,1761347685.042 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:14:45.042Z,1761347685.042 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:14:45.042Z,1761347685.042 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:14:45.043Z,1761347685.043 [marl:UpdateRudder:A] Stopped
2025-10-24T23:14:45.043Z,1761347685.043 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:14:45.043Z,1761347685.043 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:14:45.043Z,1761347685.043 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:14:45.043Z,1761347685.043 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:14:45.043Z,1761347685.043 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:14:45.043Z,1761347685.043 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:14:45.043Z,1761347685.043 [marl:UpdateCommandMode] Stopped
2025-10-24T23:14:45.043Z,1761347685.043 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:14:45.044Z,1761347685.044 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:14:45.044Z,1761347685.044 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:14:45.044Z,1761347685.044 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:14:45.044Z,1761347685.044 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:14:45.044Z,1761347685.044 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:14:45.044Z,1761347685.044 [marl:UpdateSpeed] Stopped
2025-10-24T23:14:45.045Z,1761347685.045 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:14:45.498Z,1761347685.498 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:14:45.498Z,1761347685.498 [marl:UpdateRudder:B] Stopped
2025-10-24T23:14:45.498Z,1761347685.498 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:14:45.498Z,1761347685.498 [marl:UpdateRudder] Stopped
2025-10-24T23:14:45.498Z,1761347685.498 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:14:45.869Z,1761347685.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810576,0.469717,0.349761],[-0.559983,-0.796480,-0.228122],[0.171425,-0.380770,0.908640]]
2025-10-24T23:14:46.270Z,1761347686.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817887,0.462438,0.342363],[-0.549175,-0.804930,-0.224712],[0.171663,-0.371806,0.912301]]
2025-10-24T23:14:46.454Z,1761347686.454 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:14:45.7357

2025-10-24T23:14:46.454Z,1761347686.454 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:14:46.679Z,1761347686.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826560,0.451610,0.335926],[-0.535739,-0.814255,-0.223546],[0.172574,-0.364743,0.914976]]
2025-10-24T23:14:47.071Z,1761347687.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835815,0.438134,0.330834],[-0.520870,-0.823277,-0.225629],[0.173513,-0.360906,0.916319]]
2025-10-24T23:14:47.477Z,1761347687.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845413,0.422822,0.326340],[-0.504858,-0.832038,-0.229852],[0.174341,-0.359075,0.916881]]
2025-10-24T23:14:47.944Z,1761347687.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855253,0.405680,0.322438],[-0.487844,-0.840164,-0.236923],[0.174786,-0.359929,0.916461]]
2025-10-24T23:14:48.282Z,1761347688.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864709,0.387705,0.319318],[-0.470765,-0.847222,-0.246159],[0.175096,-0.363179,0.915119]]
2025-10-24T23:14:48.690Z,1761347688.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874055,0.368798,0.316252],[-0.453198,-0.853481,-0.257257],[0.175039,-0.368182,0.913128]]
2025-10-24T23:14:49.090Z,1761347689.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882660,0.350104,0.313590],[-0.436431,-0.858168,-0.270326],[0.174471,-0.375466,0.910267]]
2025-10-24T23:14:49.495Z,1761347689.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890603,0.333504,0.309197],[-0.420295,-0.863281,-0.279461],[0.173722,-0.378842,0.909010]]
2025-10-24T23:14:49.773Z,1761347689.773 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:14:49.773Z,1761347689.773 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:14:49.948Z,1761347689.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898276,0.317899,0.303381],[-0.404013,-0.869015,-0.285633],[0.172841,-0.379147,0.909051]]
2025-10-24T23:14:50.302Z,1761347690.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905150,0.303339,0.297806],[-0.388633,-0.874367,-0.290597],[0.172243,-0.378771,0.909321]]
2025-10-24T23:14:50.706Z,1761347690.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911148,0.289688,0.293071],[-0.374557,-0.878716,-0.295913],[0.171803,-0.379392,0.909145]]
2025-10-24T23:14:51.117Z,1761347691.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916658,0.276521,0.288572],[-0.360981,-0.882730,-0.300800],[0.171553,-0.379900,0.908980]]
2025-10-24T23:14:51.616Z,1761347691.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926449,0.252184,0.279454],[-0.334822,-0.891331,-0.305653],[0.172005,-0.376740,0.910209]]
2025-10-24T23:14:52.434Z,1761347692.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937402,0.222397,0.267987],[-0.303170,-0.899811,-0.313734],[0.171364,-0.375340,0.910908]]
2025-10-24T23:14:52.840Z,1761347692.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943486,0.205005,0.260399],[-0.284452,-0.904113,-0.318851],[0.170064,-0.374903,0.911332]]
2025-10-24T23:14:52.869Z,1761347692.869 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:14:53.005Z,1761347693.005 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:14:53.056Z,1761347693.056 [DAT](INFO): entering command mode
2025-10-24T23:14:53.247Z,1761347693.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949572,0.185920,0.252481],[-0.264223,-0.908020,-0.325094],[0.168816,-0.375411,0.911355]]
2025-10-24T23:14:53.256Z,1761347693.256 [DAT](INFO): DAT read: 

2025-10-24T23:14:53.257Z,1761347693.257 [DAT](INFO): DAT read: user:17>

2025-10-24T23:14:53.257Z,1761347693.257 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:14:53.258Z,1761347693.258 [DAT](INFO): setting remote address to 0
2025-10-24T23:14:53.509Z,1761347693.509 [DAT](INFO): DAT read: user:17>

2025-10-24T23:14:53.510Z,1761347693.510 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:14:53.510Z,1761347693.510 [DAT](INFO): set remote address to 0
2025-10-24T23:14:53.510Z,1761347693.510 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:14:53.510Z,1761347693.510 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T23:14:53.649Z,1761347693.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955531,0.166214,0.243584],[-0.242955,-0.911882,-0.330823],[0.167133,-0.375291,0.911714]]
2025-10-24T23:14:53.761Z,1761347693.761 [DAT](INFO): DAT read: user:18>

2025-10-24T23:14:53.762Z,1761347693.762 [DAT](INFO): DAT read: Tx time:23:14:52.9869

2025-10-24T23:14:53.763Z,1761347693.763 [DAT](INFO): Ping request sent.
2025-10-24T23:14:53.763Z,1761347693.763 [DAT](INFO): transmitted an acoustic signal
2025-10-24T23:14:53.763Z,1761347693.763 [DAT](INFO): publishing transmit ping time
2025-10-24T23:14:53.765Z,1761347693.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001655
2025-10-24T23:14:54.013Z,1761347694.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250574
2025-10-24T23:14:54.053Z,1761347694.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960990,0.146428,0.234641],[-0.221734,-0.914970,-0.337141],[0.165322,-0.376017,0.911745]]
2025-10-24T23:14:54.266Z,1761347694.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502864
2025-10-24T23:14:54.456Z,1761347694.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965730,0.127669,0.225977],[-0.201313,-0.917996,-0.341696],[0.163822,-0.375478,0.912238]]
2025-10-24T23:14:54.517Z,1761347694.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753767
2025-10-24T23:14:54.705Z,1761347694.705 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:14:54.769Z,1761347694.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005907
2025-10-24T23:14:54.858Z,1761347694.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969649,0.110207,0.218255],[-0.182651,-0.919924,-0.346955],[0.162541,-0.376289,0.912133]]
2025-10-24T23:14:55.021Z,1761347695.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257920
2025-10-24T23:14:55.262Z,1761347695.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972783,0.094767,0.211453],[-0.166731,-0.919983,-0.354728],[0.160916,-0.380329,0.910744]]
2025-10-24T23:14:55.273Z,1761347695.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509989
2025-10-24T23:14:55.525Z,1761347695.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762332
2025-10-24T23:14:55.672Z,1761347695.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975456,0.081093,0.204718],[-0.152242,-0.920073,-0.360955],[0.159084,-0.383262,0.909836]]
2025-10-24T23:14:55.709Z,1761347695.709 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:14:55.777Z,1761347695.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014378
2025-10-24T23:14:56.029Z,1761347696.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265924
2025-10-24T23:14:56.076Z,1761347696.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977677,0.069209,0.198388],[-0.139467,-0.919956,-0.366375],[0.157152,-0.385865,0.909072]]
2025-10-24T23:14:56.281Z,1761347696.281 [DAT](INFO): DAT read: Rx Time:23:14:55.0575

2025-10-24T23:14:56.282Z,1761347696.282 [DAT](INFO): Rx dataTimestamp_ set to:1761347696.281504
2025-10-24T23:14:56.283Z,1761347696.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519545
2025-10-24T23:14:56.533Z,1761347696.533 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-24T23:14:56.533Z,1761347696.533 [DAT](ERROR): Ack receipt timeout failure.
2025-10-24T23:14:56.533Z,1761347696.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770159
2025-10-24T23:14:56.790Z,1761347696.790 [DAT](INFO): DAT read: 23:14:55.0575 LVL= 15952, 32753, 27506, 31683, AGC= 41, IDX=  53,-0.15, 2.742, 0.863, 1.300, 1.829, PHS= 1.015,-0.921,-0.573, RAW=  99.7,   5.4, CAL= 100.1,   4.7, ROT=  49.9,  -4.7

2025-10-24T23:14:56.792Z,1761347696.792 [DAT](INFO): got valid direction response:
 23:14:55.0575 LVL= 15952, 32753, 27506, 31683, AGC= 41, IDX=  53,-0.15, 2.742, 0.863, 1.300, 1.829, PHS= 1.015,-0.921,-0.573, RAW=  99.7,   5.4, CAL= 100.1,   4.7, ROT=  49.9,  -4.7

2025-10-24T23:14:56.793Z,1761347696.793 [DAT](INFO): DAT read: Bearing 204,  13 (Remote)

2025-10-24T23:14:56.793Z,1761347696.793 [DAT](INFO): Remote Bearing received:Bearing 204,  13 (Remote)

2025-10-24T23:14:56.794Z,1761347696.794 [DAT](INFO): DAT read: Bearing  24.8,  48.9 (Local)

2025-10-24T23:14:56.794Z,1761347696.794 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.8,  48.9 (Local)

2025-10-24T23:14:56.795Z,1761347696.795 [DAT](INFO): DAT read: Range 11 to 20 : 31.1 m  (Round-trip  41.5 ms) speed  0.0 m/s

2025-10-24T23:14:56.796Z,1761347696.796 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:14:56.796Z,1761347696.796 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-24T23:14:56.797Z,1761347696.797 [DAT](INFO): direction in FSK: [0.641958,0.762349,0.081939]
2025-10-24T23:14:56.797Z,1761347696.797 [DAT](INFO): publishing direction and range info
2025-10-24T23:14:56.879Z,1761347696.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981128,0.049855,0.186819],[-0.118178,-0.919337,-0.375304],[0.153039,-0.390299,0.907880]]
2025-10-24T23:14:56.968Z,1761347696.968 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761347712.00. Resetting abort timer.
2025-10-24T23:14:57.037Z,1761347697.037 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:14:57.037Z,1761347697.037 [DAT](INFO): #Outgoing data=27
2025-10-24T23:14:57.037Z,1761347697.037 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:14:57.285Z,1761347697.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982646,0.041087,0.180882],[-0.107711,-0.920298,-0.376098],[0.151013,-0.389055,0.908753]]
2025-10-24T23:14:57.289Z,1761347697.289 [DAT](INFO): setting remote address to 10
2025-10-24T23:14:57.541Z,1761347697.541 [DAT](INFO): DAT read: user:19>

2025-10-24T23:14:57.542Z,1761347697.542 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:14:57.542Z,1761347697.542 [DAT](INFO): set remote address to 10
2025-10-24T23:14:57.542Z,1761347697.542 [DAT](INFO): entering online mode
2025-10-24T23:14:57.697Z,1761347697.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984050,0.032142,0.174964],[-0.097115,-0.921109,-0.376996],[0.149043,-0.387974,0.909539]]
2025-10-24T23:14:57.793Z,1761347697.793 [DAT](INFO): DAT read: user:20>

2025-10-24T23:14:57.793Z,1761347697.793 [DAT](INFO): DAT read: 

2025-10-24T23:14:57.794Z,1761347697.794 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:14:57.795Z,1761347697.795 [DAT](INFO): commRate: 600
2025-10-24T23:14:57.795Z,1761347697.795 [DAT](INFO): online mode acknowledged
2025-10-24T23:14:57.795Z,1761347697.795 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:14:58.091Z,1761347698.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985433,0.022148,0.168613],[-0.085273,-0.922185,-0.377232],[0.147138,-0.386115,0.910640]]
2025-10-24T23:14:58.146Z,1761347698.146 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:14:58.146Z,1761347698.146 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:14:58.146Z,1761347698.146 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:14:58.147Z,1761347698.147 [marl:UpdateRudder:A] Stopped
2025-10-24T23:14:58.147Z,1761347698.147 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:14:58.147Z,1761347698.147 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:14:58.147Z,1761347698.147 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:14:58.147Z,1761347698.147 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:14:58.147Z,1761347698.147 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:14:58.147Z,1761347698.147 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:14:58.147Z,1761347698.147 [marl:UpdateCommandMode] Stopped
2025-10-24T23:14:58.148Z,1761347698.148 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:14:58.148Z,1761347698.148 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:14:58.148Z,1761347698.148 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:14:58.148Z,1761347698.148 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:14:58.148Z,1761347698.148 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:14:58.149Z,1761347698.149 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:14:58.149Z,1761347698.149 [marl:UpdateSpeed] Stopped
2025-10-24T23:14:58.149Z,1761347698.149 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:14:58.495Z,1761347698.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986680,0.011985,0.162231],[-0.073425,-0.922727,-0.378397],[0.145160,-0.385268,0.911316]]
2025-10-24T23:14:58.540Z,1761347698.540 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:14:58.540Z,1761347698.540 [marl:UpdateRudder:B] Stopped
2025-10-24T23:14:58.541Z,1761347698.541 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:14:58.541Z,1761347698.541 [marl:UpdateRudder] Stopped
2025-10-24T23:14:58.541Z,1761347698.541 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:14:58.899Z,1761347698.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987747,0.002014,0.156049],[-0.061630,-0.923679,-0.378178],[0.143377,-0.383162,0.912486]]
2025-10-24T23:14:59.305Z,1761347699.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988662,-0.008010,0.149943],[-0.049923,-0.924236,-0.378545],[0.141614,-0.381739,0.913357]]
2025-10-24T23:14:59.715Z,1761347699.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989534,-0.017905,0.143188],[-0.038060,-0.924753,-0.378659],[0.139193,-0.380146,0.914393]]
2025-10-24T23:15:00.110Z,1761347700.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990294,-0.024133,0.136878],[-0.029011,-0.927229,-0.373370],[0.135928,-0.373717,0.917529]]
2025-10-24T23:15:00.515Z,1761347700.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990968,-0.025428,0.131668],[-0.023970,-0.932458,-0.360481],[0.131941,-0.360381,0.923427]]
2025-10-24T23:15:00.931Z,1761347700.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991682,-0.024211,0.126417],[-0.020579,-0.939692,-0.341402],[0.127059,-0.341163,0.931377]]
2025-10-24T23:15:01.069Z,1761347701.069 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:15:00.3357

2025-10-24T23:15:01.069Z,1761347701.069 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:15:01.324Z,1761347701.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992488,-0.023135,0.120134],[-0.016608,-0.947391,-0.319648],[0.121208,-0.319242,0.939890]]
2025-10-24T23:15:01.730Z,1761347701.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993327,-0.021552,0.113304],[-0.013564,-0.953739,-0.300330],[0.114535,-0.299863,0.947082]]
2025-10-24T23:15:02.132Z,1761347702.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994181,-0.021025,0.105648],[-0.009622,-0.959513,-0.281499],[0.107289,-0.280877,0.953728]]
2025-10-24T23:15:02.534Z,1761347702.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994997,-0.021219,0.097622],[-0.005434,-0.964241,-0.264970],[0.099754,-0.264175,0.959302]]
2025-10-24T23:15:02.938Z,1761347702.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995725,-0.022938,0.089469],[-0.000385,-0.967631,-0.252370],[0.092362,-0.251326,0.963486]]
2025-10-24T23:15:03.345Z,1761347703.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996386,-0.025334,0.081081],[0.004856,-0.969919,-0.243379],[0.084808,-0.242106,0.966536]]
2025-10-24T23:15:03.753Z,1761347703.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996929,-0.028413,0.072981],[0.010348,-0.971489,-0.236859],[0.077630,-0.235376,0.968799]]
2025-10-24T23:15:04.151Z,1761347704.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997383,-0.031939,0.064864],[0.016169,-0.972946,-0.230467],[0.070470,-0.228815,0.970916]]
2025-10-24T23:15:04.554Z,1761347704.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997760,-0.035775,0.056532],[0.022154,-0.974018,-0.225385],[0.063126,-0.223628,0.972628]]
2025-10-24T23:15:04.963Z,1761347704.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998094,-0.038717,0.048058],[0.027132,-0.974722,-0.221766],[0.055430,-0.220039,0.973915]]
2025-10-24T23:15:05.366Z,1761347705.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998361,-0.041157,0.039770],[0.031529,-0.975444,-0.217981],[0.047764,-0.216369,0.975143]]
2025-10-24T23:15:05.766Z,1761347705.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998592,-0.042364,0.031913],[0.034473,-0.975674,-0.216497],[0.040308,-0.215092,0.975761]]
2025-10-24T23:15:05.809Z,1761347705.809 [marl:SendObservationData] Running Loop=1
2025-10-24T23:15:05.809Z,1761347705.809 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:15:05.809Z,1761347705.809 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:15:05.810Z,1761347705.810 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:15:05.811Z,1761347705.811 [marl:SendObservationData:A](INFO): Got test_good :  41da3f020000000040514000000000004042633160c13bc9c05e77495eea8f38401b309be000000040490cccc0000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:15:05.811Z,1761347705.811 [marl:SendObservationData:A] Stopped
2025-10-24T23:15:05.811Z,1761347705.811 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:15:06.174Z,1761347706.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998824,-0.041922,0.024339],[0.035680,-0.975676,-0.216293],[0.032814,-0.215171,0.976025]]
2025-10-24T23:15:06.266Z,1761347706.266 [marl:SendObservationData:B] Stopped
2025-10-24T23:15:06.266Z,1761347706.266 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:15:06.577Z,1761347706.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999033,-0.040378,0.017384],[0.035652,-0.975529,-0.216962],[0.025719,-0.216132,0.976025]]
2025-10-24T23:15:06.602Z,1761347706.602 [marl:SendObservationData:C] Stopped
2025-10-24T23:15:06.602Z,1761347706.602 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:15:06.979Z,1761347706.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999214,-0.037993,0.011301],[0.034613,-0.975261,-0.218331],[0.019316,-0.217768,0.975809]]
2025-10-24T23:15:07.015Z,1761347707.015 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.009489 min 
2025-10-24T23:15:07.015Z,1761347707.015 [marl:SendObservationData:E] Stopped
2025-10-24T23:15:07.015Z,1761347707.015 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:15:07.015Z,1761347707.015 [marl:SendObservationData] Stopped
2025-10-24T23:15:07.015Z,1761347707.015 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:15:07.016Z,1761347707.016 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:15:07.383Z,1761347707.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999352,-0.035466,0.006138],[0.033254,-0.975016,-0.219634],[0.013774,-0.219287,0.975563]]
2025-10-24T23:15:07.786Z,1761347707.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999458,-0.032885,0.001675],[0.031703,-0.974797,-0.220828],[0.008894,-0.220655,0.975311]]
2025-10-24T23:15:08.197Z,1761347708.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999515,-0.031061,-0.002144],[0.030763,-0.974605,-0.221809],[0.004800,-0.221767,0.975088]]
2025-10-24T23:15:08.596Z,1761347708.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999535,-0.029993,-0.005442],[0.030451,-0.974319,-0.223105],[0.001389,-0.223167,0.974779]]
2025-10-24T23:15:08.999Z,1761347708.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999530,-0.029348,-0.008843],[0.030582,-0.974275,-0.223277],[-0.002063,-0.223443,0.974715]]
2025-10-24T23:15:09.403Z,1761347709.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999493,-0.029157,-0.012808],[0.031282,-0.974270,-0.223205],[-0.005970,-0.223492,0.974687]]
2025-10-24T23:15:09.809Z,1761347709.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999433,-0.029008,-0.017089],[0.032088,-0.974347,-0.222753],[-0.010189,-0.223175,0.974725]]
2025-10-24T23:15:10.214Z,1761347710.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999358,-0.028319,-0.021954],[0.032509,-0.974247,-0.223127],[-0.015070,-0.223698,0.974542]]
2025-10-24T23:15:10.614Z,1761347710.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999238,-0.028181,-0.027018],[0.033494,-0.974367,-0.222457],[-0.020056,-0.223192,0.974568]]
2025-10-24T23:15:10.659Z,1761347710.659 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:15:10.659Z,1761347710.659 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:15:10.660Z,1761347710.660 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:15:10.661Z,1761347710.661 [marl:UpdateRudder:A] Stopped
2025-10-24T23:15:10.661Z,1761347710.661 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:15:10.661Z,1761347710.661 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:15:10.661Z,1761347710.661 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:15:10.661Z,1761347710.661 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:15:10.662Z,1761347710.662 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:15:10.662Z,1761347710.662 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:15:10.662Z,1761347710.662 [marl:UpdateCommandMode] Stopped
2025-10-24T23:15:10.663Z,1761347710.663 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:15:10.663Z,1761347710.663 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:15:10.663Z,1761347710.663 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:15:10.663Z,1761347710.663 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:15:10.663Z,1761347710.663 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:15:10.664Z,1761347710.664 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:15:10.664Z,1761347710.664 [marl:UpdateSpeed] Stopped
2025-10-24T23:15:10.664Z,1761347710.664 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:15:11.018Z,1761347711.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999102,-0.028219,-0.031603],[0.034519,-0.974666,-0.220985],[-0.024567,-0.221878,0.974765]]
2025-10-24T23:15:11.058Z,1761347711.058 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:15:11.058Z,1761347711.058 [marl:UpdateRudder:B] Stopped
2025-10-24T23:15:11.058Z,1761347711.058 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:15:11.058Z,1761347711.058 [marl:UpdateRudder] Stopped
2025-10-24T23:15:11.058Z,1761347711.058 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:15:11.148Z,1761347711.148 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:15:11.402Z,1761347711.402 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:15:11.402Z,1761347711.402 [DAT](INFO): #Outgoing data=27
2025-10-24T23:15:11.402Z,1761347711.402 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:15:11.423Z,1761347711.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998974,-0.028375,-0.035289],[0.035435,-0.975065,-0.219071],[-0.028193,-0.220097,0.975070]]
2025-10-24T23:15:11.654Z,1761347711.654 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:15:11.833Z,1761347711.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998827,-0.030133,-0.037901],[0.037630,-0.975675,-0.215971],[-0.030472,-0.217143,0.975664]]
2025-10-24T23:15:12.230Z,1761347712.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998673,-0.032444,-0.039989],[0.040331,-0.975633,-0.215670],[-0.032018,-0.216997,0.975647]]
2025-10-24T23:15:12.635Z,1761347712.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998564,-0.034854,-0.040684],[0.042822,-0.975624,-0.215230],[-0.032191,-0.216664,0.975715]]
2025-10-24T23:15:13.038Z,1761347713.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998457,-0.037767,-0.040718],[0.045677,-0.975491,-0.215248],[-0.031591,-0.216776,0.975710]]
2025-10-24T23:15:13.443Z,1761347713.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998356,-0.040511,-0.040546],[0.048357,-0.975100,-0.216431],[-0.030768,-0.218036,0.975456]]
2025-10-24T23:15:13.853Z,1761347713.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998242,-0.043327,-0.040448],[0.051186,-0.974232,-0.219664],[-0.029889,-0.221348,0.974737]]
2025-10-24T23:15:14.250Z,1761347714.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998191,-0.044705,-0.040190],[0.052583,-0.973326,-0.223320],[-0.029135,-0.225029,0.973916]]
2025-10-24T23:15:14.663Z,1761347714.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998184,-0.045287,-0.039713],[0.053162,-0.972346,-0.227414],[-0.028316,-0.229113,0.972988]]
2025-10-24T23:15:14.929Z,1761347714.929 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:15:14.2357

2025-10-24T23:15:14.929Z,1761347714.929 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:15:15.058Z,1761347715.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998255,-0.044568,-0.038730],[0.052385,-0.971146,-0.232661],[-0.027243,-0.234284,0.971786]]
2025-10-24T23:15:15.464Z,1761347715.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998351,-0.043256,-0.037730],[0.050999,-0.970105,-0.237269],[-0.026339,-0.238802,0.970711]]
2025-10-24T23:15:15.870Z,1761347715.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998444,-0.041782,-0.036931],[0.049428,-0.969707,-0.239219],[-0.025817,-0.240673,0.970263]]
2025-10-24T23:15:16.270Z,1761347716.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998523,-0.040707,-0.035968],[0.048174,-0.969554,-0.240091],[-0.025100,-0.241470,0.970084]]
2025-10-24T23:15:16.682Z,1761347716.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998611,-0.039576,-0.034779],[0.046761,-0.969903,-0.238959],[-0.024275,-0.240254,0.970407]]
2025-10-24T23:15:17.079Z,1761347717.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998720,-0.038033,-0.033345],[0.044939,-0.969764,-0.239871],[-0.023214,-0.241062,0.970232]]
2025-10-24T23:15:17.482Z,1761347717.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998871,-0.035370,-0.031714],[0.041983,-0.969644,-0.240891],[-0.022231,-0.241951,0.970034]]
2025-10-24T23:15:17.925Z,1761347717.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999010,-0.033117,-0.029694],[0.039323,-0.969579,-0.241600],[-0.020789,-0.242529,0.969921]]
2025-10-24T23:15:18.290Z,1761347718.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999181,-0.030592,-0.026493],[0.036125,-0.969312,-0.243163],[-0.018241,-0.243921,0.969624]]
2025-10-24T23:15:18.697Z,1761347718.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999359,-0.027980,-0.022327],[0.032580,-0.969355,-0.243496],[-0.014830,-0.244067,0.969645]]
2025-10-24T23:15:19.098Z,1761347719.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999514,-0.025576,-0.017799],[0.029154,-0.969212,-0.244494],[-0.010998,-0.244895,0.969487]]
2025-10-24T23:15:19.502Z,1761347719.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999633,-0.023623,-0.013283],[0.026169,-0.968829,-0.246344],[-0.007049,-0.246601,0.969091]]
2025-10-24T23:15:19.948Z,1761347719.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999699,-0.022836,-0.008963],[0.024344,-0.968591,-0.247466],[-0.003031,-0.247610,0.968855]]
2025-10-24T23:15:20.313Z,1761347720.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999706,-0.023794,-0.004597],[0.024191,-0.968580,-0.247522],[0.001436,-0.247561,0.968871]]
2025-10-24T23:15:20.714Z,1761347720.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999647,-0.026566,-0.000470],[0.025860,-0.968723,-0.246795],[0.006101,-0.246720,0.969068]]
2025-10-24T23:15:21.118Z,1761347721.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999521,-0.030758,0.003378],[0.028981,-0.968804,-0.246128],[0.010843,-0.245913,0.969231]]
2025-10-24T23:15:21.523Z,1761347721.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999336,-0.035757,0.006990],[0.032968,-0.969143,-0.244283],[0.015509,-0.243891,0.969679]]
2025-10-24T23:15:21.954Z,1761347721.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999126,-0.040407,0.010717],[0.036590,-0.969264,-0.243286],[0.020218,-0.242682,0.969895]]
2025-10-24T23:15:22.331Z,1761347722.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998902,-0.044735,0.013917],[0.039972,-0.968722,-0.244910],[0.024438,-0.244085,0.969446]]
2025-10-24T23:15:22.734Z,1761347722.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998664,-0.048785,0.017005],[0.043122,-0.968387,-0.245699],[0.028454,-0.244637,0.969197]]
2025-10-24T23:15:23.146Z,1761347723.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998434,-0.052449,0.019469],[0.045992,-0.967624,-0.248169],[0.031855,-0.246885,0.968521]]
2025-10-24T23:15:23.546Z,1761347723.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998219,-0.055783,0.021130],[0.048715,-0.966781,-0.250920],[0.034425,-0.249443,0.967777]]
2025-10-24T23:15:23.606Z,1761347723.606 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:15:23.607Z,1761347723.607 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:15:23.607Z,1761347723.607 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:15:23.607Z,1761347723.607 [marl:UpdateRudder:A] Stopped
2025-10-24T23:15:23.607Z,1761347723.607 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:15:23.607Z,1761347723.607 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:15:23.607Z,1761347723.607 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:15:23.607Z,1761347723.607 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:15:23.612Z,1761347723.612 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:15:23.612Z,1761347723.612 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:15:23.612Z,1761347723.612 [marl:UpdateCommandMode] Stopped
2025-10-24T23:15:23.613Z,1761347723.613 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:15:23.613Z,1761347723.613 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:15:23.613Z,1761347723.613 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:15:23.613Z,1761347723.613 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:15:23.614Z,1761347723.614 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:15:23.614Z,1761347723.614 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:15:23.614Z,1761347723.614 [marl:UpdateSpeed] Stopped
2025-10-24T23:15:23.614Z,1761347723.614 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:15:23.954Z,1761347723.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998026,-0.058709,0.022315],[0.051204,-0.966310,-0.252235],[0.036371,-0.250595,0.967409]]
2025-10-24T23:15:24.049Z,1761347724.049 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:15:24.049Z,1761347724.049 [marl:UpdateRudder:B] Stopped
2025-10-24T23:15:24.049Z,1761347724.049 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:15:24.049Z,1761347724.049 [marl:UpdateRudder] Stopped
2025-10-24T23:15:24.050Z,1761347724.050 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:15:24.350Z,1761347724.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997901,-0.060492,0.023111],[0.052737,-0.966275,-0.252054],[0.037579,-0.250306,0.967437]]
2025-10-24T23:15:24.755Z,1761347724.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997908,-0.060013,0.024025],[0.052047,-0.966324,-0.252011],[0.038340,-0.250233,0.967426]]
2025-10-24T23:15:25.024Z,1761347725.024 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:15:25.158Z,1761347725.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998064,-0.056408,0.026203],[0.048014,-0.966555,-0.251924],[0.039537,-0.250178,0.967392]]
2025-10-24T23:15:25.277Z,1761347725.277 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:15:25.277Z,1761347725.277 [DAT](INFO): #Outgoing data=28
2025-10-24T23:15:25.277Z,1761347725.277 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:15:25.529Z,1761347725.529 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:15:25.562Z,1761347725.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998284,-0.050566,0.029519],[0.041599,-0.967302,-0.250193],[0.041205,-0.248536,0.967746]]
2025-10-24T23:15:25.828Z,1761347725.828 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:15:25.966Z,1761347725.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998480,-0.043819,0.033439],[0.034122,-0.967809,-0.249360],[0.043289,-0.247840,0.967833]]
2025-10-24T23:15:26.372Z,1761347726.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998595,-0.037083,0.037859],[0.026642,-0.968841,-0.246246],[0.045811,-0.244891,0.968468]]
2025-10-24T23:15:26.775Z,1761347726.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998625,-0.030394,0.042711],[0.019096,-0.969695,-0.243573],[0.048820,-0.242422,0.968942]]
2025-10-24T23:15:26.832Z,1761347726.832 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:15:27.179Z,1761347727.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998542,-0.024166,0.048265],[0.011848,-0.970497,-0.240822],[0.052660,-0.239899,0.969369]]
2025-10-24T23:15:27.582Z,1761347727.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998351,-0.019334,0.054044],[0.005883,-0.971071,-0.238717],[0.057096,-0.238006,0.969584]]
2025-10-24T23:15:27.993Z,1761347727.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998089,-0.016681,0.059498],[0.002198,-0.971846,-0.235608],[0.061753,-0.235027,0.970025]]
2025-10-24T23:15:28.392Z,1761347728.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997795,-0.016405,0.064315],[0.000939,-0.972367,-0.233457],[0.066367,-0.232882,0.970238]]
2025-10-24T23:15:28.794Z,1761347728.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997532,-0.018568,0.067714],[0.002451,-0.973018,-0.230715],[0.070171,-0.229979,0.970662]]
2025-10-24T23:15:28.806Z,1761347728.806 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:15:28.0856

2025-10-24T23:15:28.806Z,1761347728.806 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:15:29.198Z,1761347729.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997298,-0.021949,0.070101],[0.005289,-0.973296,-0.229492],[0.073266,-0.228501,0.970783]]
2025-10-24T23:15:29.611Z,1761347729.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997056,-0.025603,0.072277],[0.008403,-0.973414,-0.228897],[0.076216,-0.227615,0.970764]]
2025-10-24T23:15:30.006Z,1761347730.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996829,-0.029677,0.073826],[0.012000,-0.973299,-0.229227],[0.078658,-0.227614,0.970569]]
2025-10-24T23:15:30.411Z,1761347730.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996577,-0.033760,0.075460],[0.015518,-0.972981,-0.230363],[0.081199,-0.228404,0.970174]]
2025-10-24T23:15:30.814Z,1761347730.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996333,-0.037619,0.076840],[0.018791,-0.972432,-0.232427],[0.083466,-0.230131,0.969574]]
2025-10-24T23:15:31.219Z,1761347731.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996094,-0.041062,0.078171],[0.021756,-0.972131,-0.233428],[0.085578,-0.230815,0.969227]]
2025-10-24T23:15:31.626Z,1761347731.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995864,-0.044103,0.079440],[0.024257,-0.971612,-0.235332],[0.087563,-0.232431,0.968663]]
2025-10-24T23:15:32.027Z,1761347732.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995671,-0.046088,0.080722],[0.025649,-0.970931,-0.237982],[0.089343,-0.234881,0.967909]]
2025-10-24T23:15:32.431Z,1761347732.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995517,-0.047168,0.081976],[0.026099,-0.970113,-0.241245],[0.090905,-0.238024,0.966996]]
2025-10-24T23:15:32.838Z,1761347732.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995391,-0.047176,0.083493],[0.025495,-0.969481,-0.243838],[0.092448,-0.240586,0.966215]]
2025-10-24T23:15:33.238Z,1761347733.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995233,-0.047423,0.085224],[0.025249,-0.969315,-0.244521],[0.094205,-0.241204,0.965891]]
2025-10-24T23:15:33.643Z,1761347733.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995057,-0.047481,0.087214],[0.024850,-0.969399,-0.244229],[0.096141,-0.240855,0.965788]]
2025-10-24T23:15:34.055Z,1761347734.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994823,-0.048517,0.089296],[0.025332,-0.969332,-0.244447],[0.098417,-0.240920,0.965542]]
2025-10-24T23:15:34.458Z,1761347734.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994251,-0.051278,0.093999],[0.026920,-0.969383,-0.244074],[0.103636,-0.240140,0.965190]]
2025-10-24T23:15:34.861Z,1761347734.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993842,-0.054660,0.096389],[0.029779,-0.969619,-0.242799],[0.106732,-0.238433,0.965276]]
2025-10-24T23:15:35.263Z,1761347735.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993438,-0.058969,0.098001],[0.033708,-0.969738,-0.241812],[0.109295,-0.236921,0.965362]]
2025-10-24T23:15:35.674Z,1761347735.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993008,-0.063845,0.099292],[0.038203,-0.969665,-0.241434],[0.111694,-0.235952,0.965324]]
2025-10-24T23:15:36.088Z,1761347736.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992574,-0.068931,0.100225],[0.042811,-0.969183,-0.242593],[0.113859,-0.236501,0.964937]]
2025-10-24T23:15:36.153Z,1761347736.153 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:15:36.153Z,1761347736.153 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:15:36.153Z,1761347736.153 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:15:36.154Z,1761347736.154 [marl:UpdateRudder:A] Stopped
2025-10-24T23:15:36.154Z,1761347736.154 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:15:36.154Z,1761347736.154 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:15:36.154Z,1761347736.154 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:15:36.154Z,1761347736.154 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:15:36.154Z,1761347736.154 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:15:36.155Z,1761347736.155 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:15:36.155Z,1761347736.155 [marl:UpdateCommandMode] Stopped
2025-10-24T23:15:36.155Z,1761347736.155 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:15:36.155Z,1761347736.155 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:15:36.155Z,1761347736.155 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:15:36.155Z,1761347736.155 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:15:36.155Z,1761347736.155 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:15:36.155Z,1761347736.155 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:15:36.155Z,1761347736.155 [marl:UpdateSpeed] Stopped
2025-10-24T23:15:36.156Z,1761347736.156 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:15:36.471Z,1761347736.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992238,-0.073606,0.100230],[0.047342,-0.968904,-0.242868],[0.114990,-0.236237,0.964867]]
2025-10-24T23:15:36.519Z,1761347736.519 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-24T23:15:36.519Z,1761347736.519 [marl:UpdateRudder:B] Stopped
2025-10-24T23:15:36.519Z,1761347736.519 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:15:36.519Z,1761347736.519 [marl:UpdateRudder] Stopped
2025-10-24T23:15:36.519Z,1761347736.519 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:15:36.876Z,1761347736.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992017,-0.077080,0.099806],[0.050844,-0.968745,-0.242793],[0.115401,-0.235780,0.964930]]
2025-10-24T23:15:37.279Z,1761347737.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991924,-0.079207,0.099064],[0.053112,-0.968651,-0.242682],[0.115181,-0.235460,0.965035]]
2025-10-24T23:15:37.686Z,1761347737.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991995,-0.077948,0.099347],[0.051653,-0.968387,-0.244045],[0.115229,-0.236960,0.964662]]
2025-10-24T23:15:38.095Z,1761347738.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992070,-0.075001,0.100857],[0.048267,-0.968254,-0.245263],[0.116050,-0.238450,0.964196]]
2025-10-24T23:15:38.539Z,1761347738.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992150,-0.070912,0.103005],[0.043519,-0.967985,-0.247208],[0.117237,-0.240785,0.963472]]
2025-10-24T23:15:38.885Z,1761347738.885 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:15:38.900Z,1761347738.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992068,-0.068133,0.105634],[0.039970,-0.967730,-0.248799],[0.119176,-0.242603,0.962778]]
2025-10-24T23:15:39.137Z,1761347739.137 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:15:39.137Z,1761347739.137 [DAT](INFO): #Outgoing data=29
2025-10-24T23:15:39.137Z,1761347739.137 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:15:39.298Z,1761347739.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991611,-0.071094,0.107949],[0.041319,-0.965679,-0.256429],[0.122475,-0.249818,0.960516]]
2025-10-24T23:15:39.389Z,1761347739.389 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:15:39.702Z,1761347739.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990600,-0.082514,0.109103],[0.049817,-0.960426,-0.274043],[0.127398,-0.266032,0.955509]]
2025-10-24T23:15:40.111Z,1761347740.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988838,-0.103136,0.107531],[0.066423,-0.951161,-0.301464],[0.133371,-0.290956,0.947395]]
2025-10-24T23:15:40.511Z,1761347740.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985932,-0.131779,0.102822],[0.090030,-0.936982,-0.337579],[0.140828,-0.323573,0.935664]]
2025-10-24T23:15:40.929Z,1761347740.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981765,-0.165266,0.093941],[0.118418,-0.918252,-0.377876],[0.148711,-0.359861,0.921078]]
2025-10-24T23:15:41.327Z,1761347741.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976403,-0.200006,0.081451],[0.148597,-0.895917,-0.418631],[0.156701,-0.396650,0.904496]]
2025-10-24T23:15:41.731Z,1761347741.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969680,-0.235321,0.065916],[0.180416,-0.871281,-0.456419],[0.164837,-0.430688,0.887320]]
2025-10-24T23:15:42.135Z,1761347742.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961827,-0.269187,0.049261],[0.211735,-0.846072,-0.489214],[0.173369,-0.460109,0.870772]]
2025-10-24T23:15:42.597Z,1761347742.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952723,-0.302100,0.032473],[0.242807,-0.821236,-0.516349],[0.182657,-0.484053,0.855763]]
2025-10-24T23:15:42.670Z,1761347742.670 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:15:41.9356

2025-10-24T23:15:42.670Z,1761347742.670 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:15:42.978Z,1761347742.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942688,-0.333247,0.016892],[0.272727,-0.798677,-0.536409],[0.192248,-0.501060,0.843789]]
2025-10-24T23:15:43.394Z,1761347743.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931630,-0.363394,0.003122],[0.302165,-0.779374,-0.548883],[0.201894,-0.510413,0.835893]]
2025-10-24T23:15:44.200Z,1761347744.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906485,-0.421880,-0.017361],[0.360872,-0.752741,-0.550593],[0.219216,-0.505370,0.834593]]
2025-10-24T23:15:44.605Z,1761347744.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892131,-0.451180,-0.023232],[0.390933,-0.745185,-0.540251],[0.226438,-0.491057,0.841183]]
2025-10-24T23:15:45.006Z,1761347745.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876632,-0.480291,-0.028926],[0.421304,-0.737150,-0.528311],[0.232420,-0.475321,0.848558]]
2025-10-24T23:15:45.413Z,1761347745.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859456,-0.510167,-0.032643],[0.452895,-0.730243,-0.511499],[0.237112,-0.454395,0.858664]]
2025-10-24T23:15:45.814Z,1761347745.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840743,-0.540087,-0.038172],[0.485248,-0.720347,-0.495615],[0.240178,-0.435208,0.867703]]
2025-10-24T23:15:46.220Z,1761347746.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821148,-0.568881,-0.045724],[0.516837,-0.707256,-0.482357],[0.242065,-0.419718,0.874781]]
2025-10-24T23:15:46.622Z,1761347746.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801134,-0.595734,-0.057312],[0.547117,-0.690193,-0.473599],[0.242583,-0.410772,0.878874]]
2025-10-24T23:15:47.087Z,1761347747.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780442,-0.621120,-0.071562],[0.576951,-0.671345,-0.465213],[0.240910,-0.404359,0.882301]]
2025-10-24T23:15:47.493Z,1761347747.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759555,-0.644522,-0.087562],[0.605532,-0.651519,-0.457005],[0.237502,-0.400142,0.885144]]
2025-10-24T23:15:47.934Z,1761347747.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738482,-0.666340,-0.103125],[0.632777,-0.632057,-0.447321],[0.232887,-0.395594,0.888408]]
2025-10-24T23:15:48.294Z,1761347748.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717008,-0.686877,-0.118741],[0.658815,-0.612107,-0.437366],[0.227734,-0.391823,0.891410]]
2025-10-24T23:15:48.699Z,1761347748.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695633,-0.705540,-0.135307],[0.683168,-0.591424,-0.428369],[0.222207,-0.390425,0.893416]]
2025-10-24T23:15:49.102Z,1761347749.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673450,-0.723729,-0.150606],[0.706653,-0.570450,-0.418603],[0.217042,-0.388334,0.895594]]
2025-10-24T23:15:49.144Z,1761347749.144 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:15:49.144Z,1761347749.144 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:15:49.144Z,1761347749.144 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:15:49.144Z,1761347749.144 [marl:UpdateRudder:A] Stopped
2025-10-24T23:15:49.145Z,1761347749.145 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:15:49.145Z,1761347749.145 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:15:49.145Z,1761347749.145 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:15:49.145Z,1761347749.145 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:15:49.145Z,1761347749.145 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:15:49.145Z,1761347749.145 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:15:49.145Z,1761347749.145 [marl:UpdateCommandMode] Stopped
2025-10-24T23:15:49.145Z,1761347749.145 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:15:49.146Z,1761347749.146 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:15:49.146Z,1761347749.146 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:15:49.146Z,1761347749.146 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:15:49.146Z,1761347749.146 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:15:49.146Z,1761347749.146 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:15:49.146Z,1761347749.146 [marl:UpdateSpeed] Stopped
2025-10-24T23:15:49.146Z,1761347749.146 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:15:49.506Z,1761347749.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650281,-0.740298,-0.170569],[0.729611,-0.546029,-0.411728],[0.211666,-0.392188,0.895202]]
2025-10-24T23:15:49.571Z,1761347749.571 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-24T23:15:49.571Z,1761347749.571 [marl:UpdateRudder:B] Stopped
2025-10-24T23:15:49.576Z,1761347749.576 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:15:49.576Z,1761347749.576 [marl:UpdateRudder] Stopped
2025-10-24T23:15:49.576Z,1761347749.576 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:15:49.784Z,1761347749.784 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:15:49.784Z,1761347749.784 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:15:49.944Z,1761347749.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625857,-0.756275,-0.190660],[0.752181,-0.520637,-0.403932],[0.206219,-0.396214,0.894700]]
2025-10-24T23:15:50.314Z,1761347750.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599824,-0.771962,-0.210444],[0.774487,-0.494104,-0.395007],[0.200950,-0.399921,0.894250]]
2025-10-24T23:15:50.719Z,1761347750.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573459,-0.786447,-0.229445],[0.795432,-0.467493,-0.385666],[0.196042,-0.403672,0.893653]]
2025-10-24T23:15:51.122Z,1761347751.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546193,-0.799869,-0.248763],[0.815551,-0.440008,-0.375859],[0.191181,-0.408171,0.892663]]
2025-10-24T23:15:51.531Z,1761347751.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518714,-0.812230,-0.266869],[0.834404,-0.412937,-0.365037],[0.186294,-0.412026,0.891924]]
2025-10-24T23:15:51.965Z,1761347751.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491923,-0.823280,-0.283235],[0.851526,-0.387163,-0.353564],[0.181424,-0.415108,0.891499]]
2025-10-24T23:15:52.367Z,1761347752.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465586,-0.834214,-0.295494],[0.867219,-0.363448,-0.340349],[0.176528,-0.414719,0.892662]]
2025-10-24T23:15:52.753Z,1761347752.753 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-24T23:15:52.753Z,1761347752.753 [DAT](ERROR): Ack receipt timeout failure.
2025-10-24T23:15:52.788Z,1761347752.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439952,-0.844000,-0.306767],[0.881531,-0.340730,-0.326814],[0.171306,-0.414207,0.893917]]
2025-10-24T23:15:53.004Z,1761347753.004 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:15:53.248Z,1761347753.248 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:15:53.259Z,1761347753.259 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:15:53.260Z,1761347753.260 [DAT](INFO): #Outgoing data=30
2025-10-24T23:15:53.260Z,1761347753.260 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:15:53.260Z,1761347753.260 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:15:53.312Z,1761347753.312 [DAT](INFO): entering command mode
2025-10-24T23:15:53.509Z,1761347753.509 [DAT](INFO): DAT read: 

2025-10-24T23:15:53.509Z,1761347753.509 [DAT](INFO): DAT read: user:21>

2025-10-24T23:15:53.510Z,1761347753.510 [DAT](INFO): entering online mode
2025-10-24T23:15:53.603Z,1761347753.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392411,-0.862083,-0.320666],[0.905643,-0.301225,-0.298454],[0.160699,-0.407526,0.898943]]
2025-10-24T23:15:53.761Z,1761347753.761 [DAT](INFO): DAT read: user:21>

2025-10-24T23:15:53.761Z,1761347753.761 [DAT](INFO): DAT read: 

2025-10-24T23:15:53.762Z,1761347753.762 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:15:53.763Z,1761347753.763 [DAT](INFO): commRate: 600
2025-10-24T23:15:53.763Z,1761347753.763 [DAT](INFO): online mode acknowledged
2025-10-24T23:15:53.763Z,1761347753.763 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:15:53.763Z,1761347753.763 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:15:54.006Z,1761347754.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368973,-0.869081,-0.329479],[0.916311,-0.280765,-0.285562],[0.155671,-0.407270,0.899943]]
2025-10-24T23:15:54.013Z,1761347754.013 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:15:54.265Z,1761347754.265 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:15:54.410Z,1761347754.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345505,-0.876593,-0.334979],[0.926200,-0.261128,-0.271968],[0.150932,-0.404224,0.902121]]
2025-10-24T23:15:54.519Z,1761347754.519 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:15:54.769Z,1761347754.769 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:15:54.814Z,1761347754.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321585,-0.883852,-0.339690],[0.935498,-0.241111,-0.258282],[0.146380,-0.400839,0.904379]]
2025-10-24T23:15:55.022Z,1761347755.022 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:15:55.222Z,1761347755.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297462,-0.890955,-0.343097],[0.944110,-0.221043,-0.244532],[0.142028,-0.396661,0.906911]]
2025-10-24T23:15:55.276Z,1761347755.276 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:15:55.526Z,1761347755.526 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:15:55.622Z,1761347755.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272985,-0.897495,-0.346385],[0.952070,-0.200396,-0.231092],[0.137990,-0.392867,0.909183]]
2025-10-24T23:15:55.777Z,1761347755.777 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:15:55.828Z,1761347755.828 [DAT](INFO): entering command mode
2025-10-24T23:15:56.030Z,1761347756.030 [DAT](INFO): DAT read: 

2025-10-24T23:15:56.031Z,1761347756.031 [DAT](INFO): DAT read: user:22>

2025-10-24T23:15:56.032Z,1761347756.032 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:15:56.032Z,1761347756.032 [DAT](INFO): setting remote address to 0
2025-10-24T23:15:56.045Z,1761347756.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247865,-0.903502,-0.349640],[0.959486,-0.179031,-0.217563],[0.133972,-0.389401,0.911273]]
2025-10-24T23:15:56.281Z,1761347756.281 [DAT](INFO): DAT read: user:22>

2025-10-24T23:15:56.282Z,1761347756.282 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:15:56.283Z,1761347756.283 [DAT](INFO): set remote address to 0
2025-10-24T23:15:56.283Z,1761347756.283 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:15:56.284Z,1761347756.284 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T23:15:56.430Z,1761347756.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221718,-0.909588,-0.351414],[0.966384,-0.156861,-0.203707],[0.130166,-0.384766,0.913790]]
2025-10-24T23:15:56.533Z,1761347756.533 [DAT](INFO): DAT read: user:23>

2025-10-24T23:15:56.535Z,1761347756.535 [DAT](INFO): DAT read: Tx time:23:15:55.7367

2025-10-24T23:15:56.535Z,1761347756.535 [DAT](INFO): Ping request sent.
2025-10-24T23:15:56.535Z,1761347756.535 [DAT](INFO): transmitted an acoustic signal
2025-10-24T23:15:56.537Z,1761347756.537 [DAT](INFO): publishing transmit ping time
2025-10-24T23:15:56.538Z,1761347756.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002640
2025-10-24T23:15:56.785Z,1761347756.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249493
2025-10-24T23:15:56.840Z,1761347756.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195310,-0.913753,-0.356244],[0.972565,-0.133646,-0.190408],[0.126375,-0.383659,0.914787]]
2025-10-24T23:15:56.960Z,1761347756.960 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:15:57.038Z,1761347757.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502778
2025-10-24T23:15:57.238Z,1761347757.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167929,-0.916708,-0.362555],[0.978146,-0.109211,-0.176926],[0.122594,-0.384343,0.915014]]
2025-10-24T23:15:57.289Z,1761347757.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753545
2025-10-24T23:15:57.541Z,1761347757.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005560
2025-10-24T23:15:57.642Z,1761347757.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139328,-0.919224,-0.368260],[0.983042,-0.083617,-0.163207],[0.119230,-0.384754,0.915286]]
2025-10-24T23:15:57.793Z,1761347757.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257537
2025-10-24T23:15:57.964Z,1761347757.964 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:15:58.045Z,1761347758.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509618
2025-10-24T23:15:58.098Z,1761347758.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079014,-0.920165,-0.383474],[0.990447,-0.028854,-0.134842],[0.113013,-0.390465,0.913655]]
2025-10-24T23:15:58.297Z,1761347758.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762081
2025-10-24T23:15:58.491Z,1761347758.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047737,-0.920022,-0.388949],[0.992805,-0.000895,-0.119735],[0.109811,-0.391867,0.913445]]
2025-10-24T23:15:58.549Z,1761347758.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013749
2025-10-24T23:15:58.801Z,1761347758.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265408
2025-10-24T23:15:58.906Z,1761347758.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015971,-0.919798,-0.392067],[0.994236,0.026969,-0.103770],[0.106021,-0.391464,0.914065]]
2025-10-24T23:15:59.053Z,1761347759.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517503
2025-10-24T23:15:59.305Z,1761347759.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769527
2025-10-24T23:15:59.308Z,1761347759.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015618,-0.919282,-0.393290],[0.994703,0.054251,-0.087306],[0.101595,-0.389843,0.915260]]
2025-10-24T23:15:59.557Z,1761347759.557 [DAT](INFO): DAT read: Rx Time:23:15:58.2367

2025-10-24T23:15:59.557Z,1761347759.557 [DAT](INFO): Rx dataTimestamp_ set to:1761347759.557020
2025-10-24T23:15:59.558Z,1761347759.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022571
2025-10-24T23:15:59.714Z,1761347759.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046836,-0.917468,-0.395042],[0.994194,0.081170,-0.070643],[0.096878,-0.389440,0.915943]]
2025-10-24T23:15:59.809Z,1761347759.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273380
2025-10-24T23:16:00.066Z,1761347760.066 [DAT](INFO): DAT read: 23:15:58.2367 LVL= 32752, 24993, 32754, 32755, AGC= 58, IDX=  98,-0.32, 1.635,-2.788, 1.997, 2.308, PHS=-0.571, 1.232,-0.356, RAW= 323.7,  -3.6, CAL= 322.8,  -6.8, ROT= 187.2,   6.8

2025-10-24T23:16:00.067Z,1761347760.067 [DAT](INFO): got valid direction response:
 23:15:58.2367 LVL= 32752, 24993, 32754, 32755, AGC= 58, IDX=  98,-0.32, 1.635,-2.788, 1.997, 2.308, PHS=-0.571, 1.232,-0.356, RAW= 323.7,  -3.6, CAL= 322.8,  -6.8, ROT= 187.2,   6.8

2025-10-24T23:16:00.068Z,1761347760.068 [DAT](INFO): DAT read: Bearing  73.2,  -9.6 (Local)

2025-10-24T23:16:00.068Z,1761347760.068 [DAT](INFO): Local bearing/azimuth received:
 Bearing  73.2,  -9.6 (Local)

2025-10-24T23:16:00.070Z,1761347760.070 [DAT](INFO): DAT read: Range 11 to 20 : 71.8 m  (Round-trip  95.8 ms) speed  0.2 m/s

2025-10-24T23:16:00.070Z,1761347760.070 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-24T23:16:00.071Z,1761347760.071 [DAT](INFO): direction in FSK: [-0.985136,-0.124451,-0.118404]
2025-10-24T23:16:00.072Z,1761347760.072 [DAT](INFO): publishing direction and range info
2025-10-24T23:16:00.131Z,1761347760.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077551,-0.915284,-0.395274],[0.992740,0.107453,-0.054042],[0.091937,-0.388213,0.916972]]
2025-10-24T23:16:00.263Z,1761347760.263 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761347712.00. Resetting abort timer.
2025-10-24T23:16:00.530Z,1761347760.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107438,-0.912903,-0.393783],[0.990421,0.132830,-0.037717],[0.086738,-0.385959,0.918429]]
2025-10-24T23:16:00.923Z,1761347760.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136687,-0.909604,-0.392349],[0.987261,0.157644,-0.021532],[0.081437,-0.384408,0.919564]]
2025-10-24T23:16:01.329Z,1761347761.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163522,-0.905375,-0.391862],[0.983555,0.180491,-0.006582],[0.076687,-0.384342,0.920000]]
2025-10-24T23:16:01.730Z,1761347761.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190772,-0.900426,-0.390947],[0.979006,0.203646,0.008695],[0.071786,-0.384398,0.920372]]
2025-10-24T23:16:02.136Z,1761347762.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218131,-0.895088,-0.388891],[0.973642,0.226807,0.024092],[0.066639,-0.383896,0.920969]]
2025-10-24T23:16:02.179Z,1761347762.179 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:16:02.179Z,1761347762.179 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:16:02.179Z,1761347762.179 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:16:02.179Z,1761347762.179 [marl:UpdateRudder:A] Stopped
2025-10-24T23:16:02.179Z,1761347762.179 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:16:02.179Z,1761347762.179 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:16:02.179Z,1761347762.179 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:16:02.180Z,1761347762.180 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:16:02.180Z,1761347762.180 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:16:02.180Z,1761347762.180 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:16:02.180Z,1761347762.180 [marl:UpdateCommandMode] Stopped
2025-10-24T23:16:02.180Z,1761347762.180 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:16:02.180Z,1761347762.180 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:16:02.181Z,1761347762.181 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:16:02.181Z,1761347762.181 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:16:02.181Z,1761347762.181 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:16:02.181Z,1761347762.181 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:16:02.181Z,1761347762.181 [marl:UpdateSpeed] Stopped
2025-10-24T23:16:02.181Z,1761347762.181 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:16:02.538Z,1761347762.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244679,-0.888282,-0.388700],[0.967639,0.249212,0.039593],[0.061699,-0.385809,0.920513]]
2025-10-24T23:16:02.595Z,1761347762.595 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-24T23:16:02.595Z,1761347762.595 [marl:UpdateRudder:B] Stopped
2025-10-24T23:16:02.596Z,1761347762.596 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:16:02.596Z,1761347762.596 [marl:UpdateRudder] Stopped
2025-10-24T23:16:02.596Z,1761347762.596 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:16:02.948Z,1761347762.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270983,-0.880902,-0.388046],[0.960945,0.271082,0.055670],[0.056152,-0.387976,0.919957]]
2025-10-24T23:16:03.373Z,1761347763.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296835,-0.873531,-0.385788],[0.953607,0.292410,0.071631],[0.050236,-0.389153,0.919802]]
2025-10-24T23:16:03.774Z,1761347763.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321907,-0.865910,-0.382852],[0.945749,0.312884,0.087539],[0.043987,-0.390261,0.919653]]
2025-10-24T23:16:03.841Z,1761347763.841 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-24T23:16:03.841Z,1761347763.841 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:16:04.093Z,1761347764.093 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:16:04.093Z,1761347764.093 [DAT](INFO): #Outgoing data=30
2025-10-24T23:16:04.093Z,1761347764.093 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:16:04.181Z,1761347764.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346296,-0.858039,-0.379274],[0.937370,0.332698,0.103195],[0.037638,-0.391256,0.919512]]
2025-10-24T23:16:04.344Z,1761347764.344 [DAT](INFO): setting remote address to 10
2025-10-24T23:16:04.582Z,1761347764.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370363,-0.850043,-0.374510],[0.928351,0.352423,0.118161],[0.031544,-0.391440,0.919663]]
2025-10-24T23:16:04.597Z,1761347764.597 [DAT](INFO): DAT read: user:24>

2025-10-24T23:16:04.598Z,1761347764.598 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:16:04.598Z,1761347764.598 [DAT](INFO): set remote address to 10
2025-10-24T23:16:04.598Z,1761347764.598 [DAT](INFO): entering online mode
2025-10-24T23:16:04.849Z,1761347764.849 [DAT](INFO): DAT read: user:25>

2025-10-24T23:16:04.849Z,1761347764.849 [DAT](INFO): DAT read: 

2025-10-24T23:16:04.850Z,1761347764.850 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:16:04.851Z,1761347764.851 [DAT](INFO): commRate: 600
2025-10-24T23:16:04.851Z,1761347764.851 [DAT](INFO): online mode acknowledged
2025-10-24T23:16:04.851Z,1761347764.851 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:16:04.992Z,1761347764.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393563,-0.841581,-0.369931],[0.918927,0.371574,0.132310],[0.026107,-0.392012,0.919589]]
2025-10-24T23:16:05.391Z,1761347765.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416486,-0.832534,-0.365275],[0.908890,0.390750,0.145716],[0.021418,-0.392684,0.919424]]
2025-10-24T23:16:05.802Z,1761347765.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439191,-0.822101,-0.362300],[0.898224,0.409665,0.159276],[0.017481,-0.395379,0.918352]]
2025-10-24T23:16:06.198Z,1761347766.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462486,-0.811601,-0.356946],[0.886513,0.429741,0.171516],[0.014192,-0.395761,0.918244]]
2025-10-24T23:16:06.602Z,1761347766.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486662,-0.799928,-0.351107],[0.873524,0.450544,0.184297],[0.010765,-0.396390,0.918019]]
2025-10-24T23:16:07.012Z,1761347767.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511191,-0.786633,-0.346254],[0.859431,0.471550,0.197531],[0.007891,-0.398558,0.917109]]
2025-10-24T23:16:07.412Z,1761347767.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537048,-0.771826,-0.340389],[0.843538,0.493648,0.211552],[0.004751,-0.400745,0.916177]]
2025-10-24T23:16:07.814Z,1761347767.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562635,-0.756529,-0.333325],[0.826703,0.515707,0.224962],[0.001708,-0.402132,0.915580]]
2025-10-24T23:16:08.125Z,1761347768.125 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:16:07.3855

2025-10-24T23:16:08.125Z,1761347768.125 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:16:08.218Z,1761347768.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587869,-0.740772,-0.325064],[0.808954,0.537497,0.238097],[-0.001655,-0.402932,0.915229]]
2025-10-24T23:16:08.623Z,1761347768.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612211,-0.725233,-0.315017],[0.790677,0.558843,0.250050],[-0.005300,-0.402160,0.915554]]
2025-10-24T23:16:09.029Z,1761347769.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635927,-0.708939,-0.304962],[0.771696,0.579509,0.262020],[-0.009028,-0.401964,0.915611]]
2025-10-24T23:16:09.431Z,1761347769.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659173,-0.692234,-0.293773],[0.751884,0.600088,0.273067],[-0.012736,-0.400882,0.916041]]
2025-10-24T23:16:09.834Z,1761347769.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681550,-0.675361,-0.281740],[0.731587,0.620211,0.283051],[-0.016423,-0.399031,0.916790]]
2025-10-24T23:16:10.243Z,1761347770.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703666,-0.656933,-0.270727],[0.710249,0.639585,0.294071],[-0.020032,-0.399211,0.916640]]
2025-10-24T23:16:10.643Z,1761347770.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725141,-0.638307,-0.258330],[0.688187,0.658778,0.303991],[-0.023858,-0.398216,0.916982]]
2025-10-24T23:16:11.048Z,1761347771.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746450,-0.618483,-0.245544],[0.664859,0.677722,0.314096],[-0.027852,-0.397709,0.917089]]
2025-10-24T23:16:11.450Z,1761347771.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766760,-0.598565,-0.231946],[0.641144,0.696162,0.322944],[-0.031831,-0.396331,0.917556]]
2025-10-24T23:16:11.865Z,1761347771.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786174,-0.577869,-0.219083],[0.616981,0.713496,0.332051],[-0.035567,-0.396221,0.917466]]
2025-10-24T23:16:12.264Z,1761347772.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805315,-0.556029,-0.205668],[0.591518,0.730398,0.341504],[-0.039667,-0.396675,0.917102]]
2025-10-24T23:16:12.671Z,1761347772.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823701,-0.533302,-0.192630],[0.565345,0.746284,0.351349],[-0.043618,-0.398309,0.916214]]
2025-10-24T23:16:13.066Z,1761347773.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841539,-0.509159,-0.180467],[0.538118,0.760864,0.362650],[-0.047336,-0.402297,0.914285]]
2025-10-24T23:16:13.481Z,1761347773.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858307,-0.485136,-0.167188],[0.510578,0.774935,0.372541],[-0.051173,-0.405117,0.912832]]
2025-10-24T23:16:13.892Z,1761347773.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874418,-0.460120,-0.153893],[0.482067,0.788116,0.382733],[-0.054818,-0.408856,0.910951]]
2025-10-24T23:16:14.278Z,1761347774.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889332,-0.435074,-0.140707],[0.453532,0.800061,0.392698],[-0.058279,-0.413054,0.908840]]
2025-10-24T23:16:14.687Z,1761347774.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902821,-0.410758,-0.127244],[0.425590,0.811168,0.401099],[-0.061538,-0.416274,0.907154]]
2025-10-24T23:16:14.741Z,1761347774.741 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:16:14.741Z,1761347774.741 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:16:14.742Z,1761347774.742 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:16:14.742Z,1761347774.742 [marl:UpdateRudder:A] Stopped
2025-10-24T23:16:14.742Z,1761347774.742 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:16:14.742Z,1761347774.742 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:16:14.745Z,1761347774.745 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:16:14.745Z,1761347774.745 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:16:14.747Z,1761347774.747 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:16:14.747Z,1761347774.747 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:16:14.747Z,1761347774.747 [marl:UpdateCommandMode] Stopped
2025-10-24T23:16:14.747Z,1761347774.747 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:16:14.748Z,1761347774.748 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:16:14.748Z,1761347774.748 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:16:14.748Z,1761347774.748 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:16:14.748Z,1761347774.748 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:16:14.748Z,1761347774.748 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:16:14.748Z,1761347774.748 [marl:UpdateSpeed] Stopped
2025-10-24T23:16:14.749Z,1761347774.749 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:16:15.088Z,1761347775.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914849,-0.387656,-0.113021],[0.398588,0.822147,0.406450],[-0.064643,-0.416889,0.906656]]
2025-10-24T23:16:15.130Z,1761347775.130 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-24T23:16:15.130Z,1761347775.130 [marl:UpdateRudder:B] Stopped
2025-10-24T23:16:15.131Z,1761347775.131 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:16:15.131Z,1761347775.131 [marl:UpdateRudder] Stopped
2025-10-24T23:16:15.131Z,1761347775.131 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:16:15.492Z,1761347775.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925447,-0.365711,-0.099013],[0.372821,0.832470,0.409875],[-0.067470,-0.416232,0.906752]]
2025-10-24T23:16:15.935Z,1761347775.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935200,-0.343660,-0.085432],[0.347189,0.842318,0.412262],[-0.069717,-0.415209,0.907051]]
2025-10-24T23:16:16.298Z,1761347776.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944073,-0.321755,-0.072114],[0.321856,0.851667,0.413608],[-0.071663,-0.413686,0.907595]]
2025-10-24T23:16:16.705Z,1761347776.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952171,-0.299794,-0.059104],[0.296642,0.860509,0.414159],[-0.073303,-0.411883,0.908284]]
2025-10-24T23:16:17.106Z,1761347777.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959583,-0.277529,-0.046666],[0.271340,0.868396,0.415045],[-0.074663,-0.410933,0.908603]]
2025-10-24T23:16:17.510Z,1761347777.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966512,-0.254344,-0.034123],[0.245123,0.875646,0.416124],[-0.075959,-0.410553,0.908667]]
2025-10-24T23:16:17.950Z,1761347777.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972714,-0.230986,-0.021751],[0.218821,0.882228,0.416884],[-0.077104,-0.410268,0.908700]]
2025-10-24T23:16:18.204Z,1761347778.204 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:16:18.325Z,1761347778.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978387,-0.206601,-0.008644],[0.191459,0.889303,0.415312],[-0.078117,-0.407991,0.909638]]
2025-10-24T23:16:18.458Z,1761347778.458 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:16:18.459Z,1761347778.459 [DAT](INFO): #Outgoing data=31
2025-10-24T23:16:18.459Z,1761347778.459 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:16:18.708Z,1761347778.708 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:16:18.738Z,1761347778.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983310,-0.181891,0.004221],[0.163873,0.895508,0.413777],[-0.079043,-0.406180,0.910368]]
2025-10-24T23:16:19.127Z,1761347779.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987388,-0.157383,0.017198],[0.136506,0.901328,0.411065],[-0.080196,-0.403533,0.911444]]
2025-10-24T23:16:19.530Z,1761347779.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990730,-0.132506,0.029939],[0.108867,0.906267,0.408447],[-0.081254,-0.401401,0.912291]]
2025-10-24T23:16:19.959Z,1761347779.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993273,-0.107780,0.042335],[0.081352,0.909685,0.407254],[-0.082405,-0.401071,0.912333]]
2025-10-24T23:16:20.340Z,1761347780.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995061,-0.082859,0.054669],[0.053328,0.910689,0.409635],[-0.083729,-0.404696,0.910610]]
2025-10-24T23:16:20.742Z,1761347780.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996124,-0.056363,0.067529],[0.023604,0.910854,0.412054],[-0.084734,-0.408863,0.908654]]
2025-10-24T23:16:21.147Z,1761347781.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996288,-0.028419,0.081254],[-0.007801,0.910237,0.414014],[-0.085726,-0.413111,0.906637]]
2025-10-24T23:16:21.550Z,1761347781.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995422,0.000368,0.095573],[-0.040069,0.909468,0.413839],[-0.086768,-0.415774,0.905319]]
2025-10-24T23:16:21.962Z,1761347781.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993412,0.030298,0.110524],[-0.073561,0.908100,0.412241],[-0.087876,-0.417655,0.904346]]
2025-10-24T23:16:21.985Z,1761347781.985 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:16:21.2854

2025-10-24T23:16:21.986Z,1761347781.986 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:16:22.360Z,1761347782.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990220,0.060720,0.125607],[-0.107319,0.906789,0.407696],[-0.089144,-0.417189,0.904437]]
2025-10-24T23:16:22.763Z,1761347782.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985835,0.092433,0.139948],[-0.141345,0.907049,0.396590],[-0.090282,-0.410753,0.907266]]
2025-10-24T23:16:23.166Z,1761347783.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980298,0.124843,0.153068],[-0.175073,0.907988,0.380666],[-0.091461,-0.399964,0.911956]]
2025-10-24T23:16:23.571Z,1761347783.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973739,0.156489,0.165356],[-0.207829,0.907514,0.365001],[-0.092944,-0.389781,0.916205]]
2025-10-24T23:16:23.976Z,1761347783.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966252,0.187144,0.177017],[-0.239538,0.905534,0.350187],[-0.094759,-0.380771,0.919801]]
2025-10-24T23:16:24.379Z,1761347784.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957879,0.216963,0.188137],[-0.270326,0.902328,0.335751],[-0.096915,-0.372467,0.922971]]
2025-10-24T23:16:25.186Z,1761347785.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938744,0.271420,0.212345],[-0.329279,0.888227,0.320358],[-0.101659,-0.370655,0.923191]]
2025-10-24T23:16:25.592Z,1761347785.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928253,0.296727,0.224276],[-0.357090,0.879669,0.314116],[-0.104082,-0.371665,0.922514]]
2025-10-24T23:16:25.995Z,1761347785.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917288,0.320013,0.237014],[-0.383754,0.869333,0.311437],[-0.106381,-0.376632,0.920235]]
2025-10-24T23:16:26.399Z,1761347786.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905870,0.342138,0.249681],[-0.409379,0.858483,0.308894],[-0.108662,-0.382032,0.917738]]
2025-10-24T23:16:26.802Z,1761347786.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894226,0.362636,0.262405],[-0.433807,0.846597,0.308358],[-0.110329,-0.389575,0.914363]]
2025-10-24T23:16:27.610Z,1761347787.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869441,0.401351,0.288079],[-0.481042,0.820605,0.308555],[-0.112560,-0.406849,0.906534]]
2025-10-24T23:16:27.655Z,1761347787.655 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:16:27.655Z,1761347787.655 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:16:27.655Z,1761347787.655 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:16:27.656Z,1761347787.656 [marl:UpdateRudder:A] Stopped
2025-10-24T23:16:27.657Z,1761347787.657 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:16:27.657Z,1761347787.657 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:16:27.657Z,1761347787.657 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:16:27.657Z,1761347787.657 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:16:27.657Z,1761347787.657 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:16:27.658Z,1761347787.658 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:16:27.658Z,1761347787.658 [marl:UpdateCommandMode] Stopped
2025-10-24T23:16:27.658Z,1761347787.658 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:16:27.658Z,1761347787.658 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:16:27.658Z,1761347787.658 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:16:27.658Z,1761347787.658 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:16:27.659Z,1761347787.659 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:16:27.659Z,1761347787.659 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:16:27.659Z,1761347787.659 [marl:UpdateSpeed] Stopped
2025-10-24T23:16:27.659Z,1761347787.659 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:16:28.014Z,1761347788.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855930,0.420944,0.300316],[-0.504575,0.806921,0.307054],[-0.113078,-0.414349,0.903066]]
2025-10-24T23:16:28.074Z,1761347788.074 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:16:28.074Z,1761347788.074 [marl:UpdateRudder:B] Stopped
2025-10-24T23:16:28.074Z,1761347788.074 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:16:28.075Z,1761347788.075 [marl:UpdateRudder] Stopped
2025-10-24T23:16:28.075Z,1761347788.075 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:16:28.092Z,1761347788.092 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:16:28.434Z,1761347788.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841903,0.441101,0.310853],[-0.527617,0.793730,0.302675],[-0.113223,-0.418835,0.900976]]
2025-10-24T23:16:28.822Z,1761347788.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827106,0.461490,0.320817],[-0.550509,0.780247,0.296909],[-0.113296,-0.422187,0.899401]]
2025-10-24T23:16:29.096Z,1761347789.096 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:16:29.226Z,1761347789.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810646,0.483532,0.330226],[-0.574482,0.765857,0.288849],[-0.113238,-0.423863,0.898619]]
2025-10-24T23:16:29.632Z,1761347789.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793346,0.506368,0.337927],[-0.598058,0.751962,0.277272],[-0.113707,-0.422073,0.899403]]
2025-10-24T23:16:30.035Z,1761347790.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776174,0.529485,0.342343],[-0.619852,0.740224,0.260486],[-0.115487,-0.414385,0.902745]]
2025-10-24T23:16:30.444Z,1761347790.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760221,0.551960,0.342644],[-0.638827,0.731049,0.239723],[-0.118172,-0.401133,0.908366]]
2025-10-24T23:16:30.842Z,1761347790.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744546,0.572643,0.343119],[-0.656437,0.721502,0.220286],[-0.121416,-0.389248,0.913096]]
2025-10-24T23:16:31.653Z,1761347791.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713616,0.609188,0.345893],[-0.688612,0.700715,0.186582],[-0.128709,-0.371334,0.919535]]
2025-10-24T23:16:32.054Z,1761347792.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697266,0.626401,0.348486],[-0.704452,0.688708,0.171550],[-0.132546,-0.365107,0.921482]]
2025-10-24T23:16:32.065Z,1761347792.065 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:16:32.317Z,1761347792.317 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:16:32.317Z,1761347792.317 [DAT](INFO): #Outgoing data=32
2025-10-24T23:16:32.317Z,1761347792.317 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:16:32.461Z,1761347792.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681123,0.641399,0.353098],[-0.719295,0.676229,0.159150],[-0.136696,-0.362383,0.921951]]
2025-10-24T23:16:32.569Z,1761347792.569 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:16:32.864Z,1761347792.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664305,0.655647,0.358922],[-0.734073,0.662747,0.147999],[-0.140840,-0.361791,0.921559]]
2025-10-24T23:16:33.266Z,1761347793.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647394,0.669885,0.363504],[-0.748247,0.649332,0.135991],[-0.144936,-0.360031,0.921613]]
2025-10-24T23:16:33.675Z,1761347793.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630375,0.682556,0.369791],[-0.761894,0.635297,0.126161],[-0.148815,-0.361270,0.920510]]
2025-10-24T23:16:34.075Z,1761347794.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613610,0.694009,0.376608],[-0.774680,0.621429,0.117029],[-0.152816,-0.363562,0.918951]]
2025-10-24T23:16:34.480Z,1761347794.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597678,0.704232,0.383195],[-0.786248,0.608341,0.108325],[-0.156827,-0.366030,0.917293]]
2025-10-24T23:16:35.287Z,1761347795.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567279,0.723065,0.394172],[-0.806957,0.583586,0.090821],[-0.164364,-0.369600,0.914538]]
2025-10-24T23:16:35.694Z,1761347795.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552685,0.730997,0.400228],[-0.816288,0.571625,0.083187],[-0.167970,-0.372677,0.912632]]
2025-10-24T23:16:35.845Z,1761347795.845 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:16:35.1354

2025-10-24T23:16:35.845Z,1761347795.845 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:16:36.095Z,1761347796.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538274,0.738530,0.405997],[-0.825188,0.559743,0.075839],[-0.171245,-0.375846,0.910722]]
2025-10-24T23:16:36.503Z,1761347796.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523522,0.745745,0.412055],[-0.833980,0.547500,0.068707],[-0.174362,-0.379615,0.908565]]
2025-10-24T23:16:36.911Z,1761347796.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507699,0.754020,0.416768],[-0.843112,0.534343,0.060325],[-0.177211,-0.382009,0.907009]]
2025-10-24T23:16:37.306Z,1761347797.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490822,0.762890,0.420824],[-0.852478,0.520257,0.051128],[-0.179932,-0.383838,0.905700]]
2025-10-24T23:16:37.710Z,1761347797.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472646,0.772888,0.423379],[-0.862204,0.504916,0.040798],[-0.182238,-0.384322,0.905034]]
2025-10-24T23:16:38.535Z,1761347798.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411048,0.808024,0.422062],[-0.891797,0.452430,0.002362],[-0.189045,-0.377364,0.906564]]
2025-10-24T23:16:39.334Z,1761347799.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367287,0.833227,0.413320],[-0.909880,0.414047,-0.026149],[-0.192922,-0.366467,0.910210]]
2025-10-24T23:16:39.737Z,1761347799.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344837,0.845559,0.407576],[-0.918321,0.393807,-0.040031],[-0.194355,-0.360481,0.912293]]
2025-10-24T23:16:40.144Z,1761347800.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322736,0.856898,0.401954],[-0.926050,0.373657,-0.053031],[-0.195635,-0.355115,0.914123]]
2025-10-24T23:16:40.545Z,1761347800.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301872,0.866514,0.397526],[-0.932735,0.354685,-0.064834],[-0.197176,-0.351215,0.915298]]
2025-10-24T23:16:40.601Z,1761347800.601 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:16:40.601Z,1761347800.601 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:16:40.601Z,1761347800.601 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:16:40.601Z,1761347800.601 [marl:UpdateRudder:A] Stopped
2025-10-24T23:16:40.601Z,1761347800.601 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:16:40.601Z,1761347800.601 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:16:40.602Z,1761347800.602 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:16:40.602Z,1761347800.602 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:16:40.602Z,1761347800.602 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:16:40.602Z,1761347800.602 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:16:40.602Z,1761347800.602 [marl:UpdateCommandMode] Stopped
2025-10-24T23:16:40.602Z,1761347800.602 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:16:40.602Z,1761347800.602 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:16:40.602Z,1761347800.602 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:16:40.602Z,1761347800.602 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:16:40.603Z,1761347800.603 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:16:40.603Z,1761347800.603 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:16:40.603Z,1761347800.603 [marl:UpdateSpeed] Stopped
2025-10-24T23:16:40.603Z,1761347800.603 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:16:40.942Z,1761347800.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282736,0.873849,0.395535],[-0.938360,0.337469,-0.074807],[-0.198850,-0.350004,0.915399]]
2025-10-24T23:16:40.966Z,1761347800.966 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:16:40.966Z,1761347800.966 [marl:UpdateRudder:B] Stopped
2025-10-24T23:16:40.967Z,1761347800.967 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:16:40.967Z,1761347800.967 [marl:UpdateRudder] Stopped
2025-10-24T23:16:40.967Z,1761347800.967 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:16:41.348Z,1761347801.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266217,0.878869,0.395875],[-0.942803,0.322895,-0.082834],[-0.200626,-0.351180,0.914561]]
2025-10-24T23:16:41.750Z,1761347801.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250882,0.882185,0.398508],[-0.946805,0.309337,-0.088722],[-0.201543,-0.355050,0.912864]]
2025-10-24T23:16:42.159Z,1761347802.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236463,0.884169,0.402902],[-0.950425,0.296656,-0.093208],[-0.201935,-0.360888,0.910485]]
2025-10-24T23:16:42.563Z,1761347802.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222909,0.884883,0.409015],[-0.953625,0.284990,-0.096846],[-0.202263,-0.368460,0.907374]]
2025-10-24T23:16:42.964Z,1761347802.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209961,0.884638,0.416331],[-0.956387,0.274277,-0.100479],[-0.203078,-0.377077,0.903644]]
2025-10-24T23:16:43.386Z,1761347803.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196596,0.884745,0.422583],[-0.958934,0.263367,-0.105281],[-0.204441,-0.384531,0.900188]]
2025-10-24T23:16:43.770Z,1761347803.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179836,0.886254,0.426865],[-0.962018,0.249050,-0.111783],[-0.205379,-0.390549,0.897380]]
2025-10-24T23:16:44.176Z,1761347804.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161314,0.889696,0.427105],[-0.965235,0.232422,-0.119592],[-0.205669,-0.392965,0.896258]]
2025-10-24T23:16:44.583Z,1761347804.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140495,0.894868,0.423641],[-0.968490,0.213087,-0.128921],[-0.205640,-0.392180,0.896609]]
2025-10-24T23:16:44.983Z,1761347804.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118822,0.900751,0.417767],[-0.971484,0.192412,-0.138551],[-0.205184,-0.389391,0.897928]]
2025-10-24T23:16:45.395Z,1761347805.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096595,0.907024,0.409849],[-0.974256,0.170436,-0.147569],[-0.203702,-0.385044,0.900137]]
2025-10-24T23:16:45.790Z,1761347805.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074706,0.912866,0.401365],[-0.976673,0.148235,-0.155357],[-0.201317,-0.380397,0.902646]]
2025-10-24T23:16:45.927Z,1761347805.927 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:16:46.177Z,1761347806.177 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:16:46.177Z,1761347806.177 [DAT](INFO): #Outgoing data=33
2025-10-24T23:16:46.177Z,1761347806.177 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:16:46.202Z,1761347806.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054309,0.917225,0.394650],[-0.978526,0.127592,-0.161885],[-0.198839,-0.377383,0.904458]]
2025-10-24T23:16:46.429Z,1761347806.429 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:16:46.602Z,1761347806.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035844,0.920725,0.388562],[-0.979787,0.108947,-0.167774],[-0.196806,-0.374694,0.906020]]
2025-10-24T23:16:47.002Z,1761347807.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017776,0.922807,0.384852],[-0.980726,0.090999,-0.172902],[-0.194576,-0.374361,0.906639]]
2025-10-24T23:16:47.406Z,1761347807.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000271,0.923772,0.382943],[-0.981288,0.073981,-0.177767],[-0.192547,-0.375729,0.906506]]
2025-10-24T23:16:47.812Z,1761347807.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016178,0.924064,0.381894],[-0.981502,0.058196,-0.182394],[-0.190769,-0.377781,0.906029]]
2025-10-24T23:16:48.215Z,1761347808.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032093,0.924178,0.380612],[-0.981447,0.042881,-0.186876],[-0.189028,-0.379548,0.905656]]
2025-10-24T23:16:48.619Z,1761347808.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047337,0.923103,0.381628],[-0.981165,0.028663,-0.191034],[-0.187282,-0.383483,0.904360]]
2025-10-24T23:16:49.023Z,1761347809.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061785,0.921992,0.382248],[-0.980807,0.014876,-0.194415],[-0.184935,-0.386923,0.903377]]
2025-10-24T23:16:49.431Z,1761347809.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075240,0.920207,0.384134],[-0.980466,0.001934,-0.196677],[-0.181726,-0.391428,0.902086]]
2025-10-24T23:16:49.714Z,1761347809.714 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:16:48.9853

2025-10-24T23:16:49.714Z,1761347809.714 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:16:49.830Z,1761347809.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087954,0.918094,0.386480],[-0.980097,-0.010442,-0.198244],[-0.177971,-0.396224,0.900740]]
2025-10-24T23:16:50.046Z,1761347810.046 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:16:50.046Z,1761347810.046 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:16:50.235Z,1761347810.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100171,0.915570,0.389484],[-0.979638,-0.022301,-0.199528],[-0.173996,-0.401540,0.899161]]
2025-10-24T23:16:50.642Z,1761347810.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113033,0.913729,0.390286],[-0.978993,-0.035334,-0.200808],[-0.169694,-0.404785,0.898528]]
2025-10-24T23:16:51.044Z,1761347811.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127060,0.912513,0.388812],[-0.978015,-0.049908,-0.202476],[-0.165357,-0.405991,0.898793]]
2025-10-24T23:16:51.446Z,1761347811.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142421,0.912523,0.383430],[-0.976512,-0.066260,-0.205024],[-0.161683,-0.403624,0.900526]]
2025-10-24T23:16:51.858Z,1761347811.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159666,0.913402,0.374438],[-0.974286,-0.084721,-0.208782],[-0.158979,-0.398145,0.903441]]
2025-10-24T23:16:52.255Z,1761347812.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178084,0.914445,0.363423],[-0.971400,-0.104423,-0.213254],[-0.157059,-0.391006,0.906888]]
2025-10-24T23:16:52.674Z,1761347812.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197789,0.915663,0.349916],[-0.967759,-0.125611,-0.218323],[-0.155957,-0.381816,0.910985]]
2025-10-24T23:16:53.466Z,1761347813.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240086,0.914543,0.325529],[-0.958271,-0.169678,-0.230056],[-0.155161,-0.367178,0.917118]]
2025-10-24T23:16:53.519Z,1761347813.519 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:16:53.519Z,1761347813.519 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:16:53.520Z,1761347813.520 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:16:53.520Z,1761347813.520 [marl:UpdateRudder:A] Stopped
2025-10-24T23:16:53.520Z,1761347813.520 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:16:53.520Z,1761347813.520 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:16:53.521Z,1761347813.521 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:16:53.521Z,1761347813.521 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:16:53.521Z,1761347813.521 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:16:53.521Z,1761347813.521 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:16:53.521Z,1761347813.521 [marl:UpdateCommandMode] Stopped
2025-10-24T23:16:53.521Z,1761347813.521 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:16:53.521Z,1761347813.521 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:16:53.522Z,1761347813.522 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:16:53.522Z,1761347813.522 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:16:53.522Z,1761347813.522 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:16:53.522Z,1761347813.522 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:16:53.522Z,1761347813.522 [marl:UpdateSpeed] Stopped
2025-10-24T23:16:53.522Z,1761347813.522 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:16:53.523Z,1761347813.523 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:16:53.745Z,1761347813.745 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:16:53.796Z,1761347813.796 [DAT](INFO): entering command mode
2025-10-24T23:16:53.885Z,1761347813.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262731,0.911346,0.316892],[-0.952457,-0.192453,-0.236194],[-0.154267,-0.363882,0.918581]]
2025-10-24T23:16:53.965Z,1761347813.965 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:16:53.966Z,1761347813.966 [marl:UpdateRudder:B] Stopped
2025-10-24T23:16:53.966Z,1761347813.966 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:16:53.966Z,1761347813.966 [marl:UpdateRudder] Stopped
2025-10-24T23:16:53.966Z,1761347813.966 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:16:53.996Z,1761347813.996 [DAT](INFO): DAT read: 

2025-10-24T23:16:53.997Z,1761347813.997 [DAT](INFO): DAT read: user:26>

2025-10-24T23:16:53.997Z,1761347813.997 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:16:53.998Z,1761347813.998 [DAT](INFO): setting remote address to 0
2025-10-24T23:16:54.249Z,1761347814.249 [DAT](INFO): DAT read: user:26>

2025-10-24T23:16:54.250Z,1761347814.250 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:16:54.250Z,1761347814.250 [DAT](INFO): set remote address to 0
2025-10-24T23:16:54.251Z,1761347814.251 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:16:54.251Z,1761347814.251 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T23:16:54.274Z,1761347814.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286245,0.906508,0.310335],[-0.946001,-0.215952,-0.241757],[-0.152137,-0.362779,0.919372]]
2025-10-24T23:16:54.501Z,1761347814.501 [DAT](INFO): DAT read: user:27>

2025-10-24T23:16:54.501Z,1761347814.501 [DAT](INFO): DAT read: Tx time:23:16:53.7365

2025-10-24T23:16:54.502Z,1761347814.502 [DAT](INFO): Ping request sent.
2025-10-24T23:16:54.502Z,1761347814.502 [DAT](INFO): transmitted an acoustic signal
2025-10-24T23:16:54.502Z,1761347814.502 [DAT](INFO): publishing transmit ping time
2025-10-24T23:16:54.503Z,1761347814.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000981
2025-10-24T23:16:54.682Z,1761347814.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310508,0.899010,0.308814],[-0.938867,-0.239227,-0.247585],[-0.148705,-0.366812,0.918333]]
2025-10-24T23:16:54.753Z,1761347814.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251547
2025-10-24T23:16:55.005Z,1761347815.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502903
2025-10-24T23:16:55.083Z,1761347815.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335528,0.890030,0.308655],[-0.931028,-0.263376,-0.252625],[-0.143552,-0.372129,0.917013]]
2025-10-24T23:16:55.257Z,1761347815.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755575
2025-10-24T23:16:55.488Z,1761347815.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360344,0.879161,0.311815],[-0.922707,-0.286847,-0.257547],[-0.136982,-0.380519,0.914572]]
2025-10-24T23:16:55.509Z,1761347815.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006975
2025-10-24T23:16:55.761Z,1761347815.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258898
2025-10-24T23:16:55.933Z,1761347815.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384581,0.867414,0.315739],[-0.913991,-0.309910,-0.261872],[-0.129300,-0.389294,0.911993]]
2025-10-24T23:16:56.013Z,1761347816.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511193
2025-10-24T23:16:56.265Z,1761347816.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762830
2025-10-24T23:16:56.294Z,1761347816.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405339,0.856569,0.319359],[-0.906009,-0.329845,-0.265236],[-0.121854,-0.396853,0.909758]]
2025-10-24T23:16:56.517Z,1761347816.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015546
2025-10-24T23:16:56.703Z,1761347816.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419076,0.848947,0.321970],[-0.900528,-0.343386,-0.266711],[-0.115864,-0.401715,0.908405]]
2025-10-24T23:16:56.769Z,1761347816.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267081
2025-10-24T23:16:57.021Z,1761347817.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518886
2025-10-24T23:16:57.104Z,1761347817.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425130,0.848573,0.314941],[-0.898188,-0.352491,-0.262693],[-0.111900,-0.394556,0.912033]]
2025-10-24T23:16:57.273Z,1761347817.273 [DAT](INFO): DAT read: Rx Time:23:16:55.8892

2025-10-24T23:16:57.273Z,1761347817.273 [DAT](INFO): Rx dataTimestamp_ set to:1761347817.272995
2025-10-24T23:16:57.274Z,1761347817.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771970
2025-10-24T23:16:57.506Z,1761347817.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424962,0.853069,0.302789],[-0.898525,-0.356944,-0.255427],[-0.109818,-0.380611,0.918191]]
2025-10-24T23:16:57.525Z,1761347817.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023038
2025-10-24T23:16:57.785Z,1761347817.785 [DAT](INFO): DAT read: 23:16:55.8892 LVL= 32624, 32753, 32754, 32755, AGC= 64, IDX= 335,-0.15,-0.321,-2.277,-1.132,-0.817, PHS= 0.598,-1.415,-0.360, RAW= 121.6,  13.4, CAL= 122.1,  14.7, ROT=  27.9, -14.7

2025-10-24T23:16:57.786Z,1761347817.786 [DAT](INFO): got valid direction response:
 23:16:55.8892 LVL= 32624, 32753, 32754, 32755, AGC= 64, IDX= 335,-0.15,-0.321,-2.277,-1.132,-0.817, PHS= 0.598,-1.415,-0.360, RAW= 121.6,  13.4, CAL= 122.1,  14.7, ROT=  27.9, -14.7

2025-10-24T23:16:57.787Z,1761347817.787 [DAT](INFO): DAT read: Bearing 244, -10 (Remote)

2025-10-24T23:16:57.787Z,1761347817.787 [DAT](INFO): Remote Bearing received:Bearing 244, -10 (Remote)

2025-10-24T23:16:57.798Z,1761347817.798 [DAT](INFO): DAT read: Bearing  71.1,  11.6 (Local)

2025-10-24T23:16:57.799Z,1761347817.799 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.1,  11.6 (Local)

2025-10-24T23:16:57.800Z,1761347817.800 [DAT](INFO): DAT read: Range 11 to 20 : 92.7 m  (Round-trip  123.6 ms) speed -0.1 m/s

2025-10-24T23:16:57.801Z,1761347817.801 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-24T23:16:57.802Z,1761347817.802 [DAT](INFO): direction in FSK: [0.854838,0.452613,0.253758]
2025-10-24T23:16:57.802Z,1761347817.802 [DAT](INFO): publishing direction and range info
2025-10-24T23:16:57.962Z,1761347817.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421300,0.859812,0.288494],[-0.900395,-0.358447,-0.246587],[-0.108609,-0.363646,0.925184]]
2025-10-24T23:16:58.082Z,1761347818.082 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761347840.00. Resetting abort timer.
2025-10-24T23:16:58.322Z,1761347818.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414946,0.868158,0.272251],[-0.903413,-0.357617,-0.236547],[-0.107999,-0.344110,0.932698]]
2025-10-24T23:16:58.718Z,1761347818.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406801,0.877032,0.255591],[-0.907075,-0.354633,-0.226827],[-0.108293,-0.324114,0.939799]]
2025-10-24T23:16:59.122Z,1761347819.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397581,0.886086,0.238287],[-0.910995,-0.350165,-0.217881],[-0.109622,-0.303704,0.946439]]
2025-10-24T23:16:59.216Z,1761347819.216 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:16:59.526Z,1761347819.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388506,0.894359,0.221775],[-0.914659,-0.345148,-0.210411],[-0.111637,-0.284594,0.952126]]
2025-10-24T23:16:59.793Z,1761347819.793 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-24T23:16:59.793Z,1761347819.793 [DAT](ERROR): Ack receipt timeout failure.
2025-10-24T23:16:59.949Z,1761347819.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380794,0.901833,0.204188],[-0.917601,-0.341324,-0.203732],[-0.114038,-0.264943,0.957497]]
2025-10-24T23:17:00.045Z,1761347820.045 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:17:00.220Z,1761347820.220 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:17:00.297Z,1761347820.297 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:17:00.297Z,1761347820.297 [DAT](INFO): #Outgoing data=34
2025-10-24T23:17:00.297Z,1761347820.297 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:17:00.353Z,1761347820.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375390,0.907603,0.187987],[-0.919613,-0.339385,-0.197814],[-0.115736,-0.247133,0.962045]]
2025-10-24T23:17:00.550Z,1761347820.550 [DAT](INFO): setting remote address to 10
2025-10-24T23:17:00.738Z,1761347820.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373289,0.910925,0.175703],[-0.920359,-0.339823,-0.193545],[-0.116597,-0.233958,0.965230]]
2025-10-24T23:17:00.801Z,1761347820.801 [DAT](INFO): DAT read: user:28>

2025-10-24T23:17:00.803Z,1761347820.803 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:17:00.803Z,1761347820.803 [DAT](INFO): set remote address to 10
2025-10-24T23:17:00.804Z,1761347820.804 [DAT](INFO): entering online mode
2025-10-24T23:17:01.053Z,1761347821.053 [DAT](INFO): DAT read: user:29>

2025-10-24T23:17:01.053Z,1761347821.053 [DAT](INFO): DAT read: 

2025-10-24T23:17:01.054Z,1761347821.054 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:17:01.055Z,1761347821.055 [DAT](INFO): commRate: 600
2025-10-24T23:17:01.055Z,1761347821.055 [DAT](INFO): online mode acknowledged
2025-10-24T23:17:01.055Z,1761347821.055 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:17:01.142Z,1761347821.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374380,0.912636,0.164121],[-0.919929,-0.343315,-0.189384],[-0.116494,-0.221882,0.968090]]
2025-10-24T23:17:01.548Z,1761347821.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378043,0.912771,0.154705],[-0.918595,-0.349040,-0.185351],[-0.115185,-0.212182,0.970418]]
2025-10-24T23:17:01.955Z,1761347821.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383612,0.911279,0.149707],[-0.916540,-0.355829,-0.182593],[-0.113123,-0.207257,0.971724]]
2025-10-24T23:17:02.354Z,1761347822.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390456,0.908471,0.149080],[-0.913997,-0.363139,-0.180942],[-0.110243,-0.206909,0.972129]]
2025-10-24T23:17:02.758Z,1761347822.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398372,0.904505,0.152217],[-0.910947,-0.370777,-0.180831],[-0.107124,-0.210700,0.971664]]
2025-10-24T23:17:03.164Z,1761347823.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406169,0.899887,0.158839],[-0.907908,-0.377703,-0.181778],[-0.103586,-0.218044,0.970426]]
2025-10-24T23:17:03.593Z,1761347823.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412950,0.894860,0.169406],[-0.905224,-0.382814,-0.184452],[-0.100208,-0.229520,0.968132]]
2025-10-24T23:17:03.970Z,1761347823.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417613,0.890277,0.181679],[-0.903410,-0.385439,-0.187849],[-0.097211,-0.242578,0.965249]]
2025-10-24T23:17:04.330Z,1761347824.330 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:17:03.6353

2025-10-24T23:17:04.330Z,1761347824.330 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:17:04.374Z,1761347824.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419984,0.886512,0.194191],[-0.902646,-0.385876,-0.190604],[-0.094039,-0.255336,0.962268]]
2025-10-24T23:17:04.782Z,1761347824.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419632,0.883663,0.207484],[-0.903132,-0.383578,-0.192927],[-0.090896,-0.268344,0.959025]]
2025-10-24T23:17:05.183Z,1761347825.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417292,0.882077,0.218650],[-0.904544,-0.379967,-0.193455],[-0.087562,-0.278506,0.956435]]
2025-10-24T23:17:05.586Z,1761347825.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413689,0.881581,0.227322],[-0.906508,-0.375749,-0.192499],[-0.084288,-0.285704,0.954604]]
2025-10-24T23:17:05.990Z,1761347825.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410089,0.881564,0.233822],[-0.908437,-0.372032,-0.190615],[-0.081050,-0.290581,0.953411]]
2025-10-24T23:17:06.394Z,1761347826.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407115,0.882159,0.236754],[-0.910111,-0.369894,-0.186752],[-0.077172,-0.291502,0.953452]]
2025-10-24T23:17:06.456Z,1761347826.456 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:17:06.457Z,1761347826.457 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:17:06.457Z,1761347826.457 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:17:06.457Z,1761347826.457 [marl:UpdateRudder:A] Stopped
2025-10-24T23:17:06.457Z,1761347826.457 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:17:06.457Z,1761347826.457 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:17:06.457Z,1761347826.457 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:17:06.457Z,1761347826.457 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:17:06.458Z,1761347826.458 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:17:06.458Z,1761347826.458 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:17:06.458Z,1761347826.458 [marl:UpdateCommandMode] Stopped
2025-10-24T23:17:06.458Z,1761347826.458 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:17:06.458Z,1761347826.458 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:17:06.458Z,1761347826.458 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:17:06.458Z,1761347826.458 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:17:06.458Z,1761347826.458 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:17:06.459Z,1761347826.459 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:17:06.459Z,1761347826.459 [marl:UpdateSpeed] Stopped
2025-10-24T23:17:06.459Z,1761347826.459 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:17:06.818Z,1761347826.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404237,0.883166,0.237928],[-0.911726,-0.368273,-0.182018],[-0.073129,-0.290504,0.954075]]
2025-10-24T23:17:06.842Z,1761347826.842 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:17:06.842Z,1761347826.842 [marl:UpdateRudder:B] Stopped
2025-10-24T23:17:06.842Z,1761347826.842 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:17:06.842Z,1761347826.842 [marl:UpdateRudder] Stopped
2025-10-24T23:17:06.842Z,1761347826.842 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:17:06.843Z,1761347826.843 [marl:SendObservationData] Running Loop=1
2025-10-24T23:17:06.843Z,1761347826.843 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:17:06.843Z,1761347826.843 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:17:06.844Z,1761347826.844 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:17:06.846Z,1761347826.846 [marl:SendObservationData:A](INFO): Got test_good :  41da3f022000000040514000000000004042632b79eebc0bc05e7750f7c55dbc4027f9c400000000403f1999a0000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:17:06.846Z,1761347826.846 [marl:SendObservationData:A] Stopped
2025-10-24T23:17:06.846Z,1761347826.846 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:17:07.202Z,1761347827.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401533,0.884203,0.238655],[-0.913283,-0.367100,-0.176497],[-0.068449,-0.288829,0.954931]]
2025-10-24T23:17:07.238Z,1761347827.238 [marl:SendObservationData:B] Stopped
2025-10-24T23:17:07.238Z,1761347827.238 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:17:07.607Z,1761347827.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398335,0.886126,0.236875],[-0.915025,-0.365959,-0.169715],[-0.063702,-0.284350,0.956602]]
2025-10-24T23:17:07.663Z,1761347827.663 [marl:SendObservationData:C] Stopped
2025-10-24T23:17:07.663Z,1761347827.663 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:17:08.010Z,1761347828.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394352,0.888504,0.234622],[-0.917055,-0.364065,-0.162685],[-0.059129,-0.279316,0.958377]]
2025-10-24T23:17:08.075Z,1761347828.075 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.010605 min 
2025-10-24T23:17:08.075Z,1761347828.075 [marl:SendObservationData:E] Stopped
2025-10-24T23:17:08.076Z,1761347828.076 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:17:08.076Z,1761347828.076 [marl:SendObservationData] Stopped
2025-10-24T23:17:08.076Z,1761347828.076 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:17:08.076Z,1761347828.076 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:17:08.417Z,1761347828.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390934,0.890859,0.231389],[-0.918806,-0.362841,-0.155373],[-0.054458,-0.273342,0.960374]]
2025-10-24T23:17:08.820Z,1761347828.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388344,0.892659,0.228799],[-0.920153,-0.362136,-0.148918],[-0.050077,-0.268361,0.962016]]
2025-10-24T23:17:09.222Z,1761347829.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387705,0.894036,0.224464],[-0.920674,-0.363638,-0.141870],[-0.045213,-0.261662,0.964100]]
2025-10-24T23:17:09.628Z,1761347829.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389203,0.894424,0.220288],[-0.920304,-0.367306,-0.134634],[-0.039506,-0.255132,0.966099]]
2025-10-24T23:17:10.033Z,1761347830.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392321,0.893502,0.218491],[-0.919225,-0.372244,-0.128294],[-0.033299,-0.251175,0.967369]]
2025-10-24T23:17:10.434Z,1761347830.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396336,0.892174,0.216664],[-0.917732,-0.378250,-0.121225],[-0.026200,-0.246885,0.968690]]
2025-10-24T23:17:10.838Z,1761347830.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400285,0.890471,0.216412],[-0.916194,-0.383991,-0.114624],[-0.018969,-0.244158,0.969550]]
2025-10-24T23:17:11.243Z,1761347831.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403484,0.888300,0.219370],[-0.914916,-0.388698,-0.108827],[-0.011402,-0.244615,0.969553]]
2025-10-24T23:17:11.651Z,1761347831.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404985,0.886569,0.223568],[-0.914313,-0.391549,-0.103538],[-0.004256,-0.246343,0.969173]]
2025-10-24T23:17:12.051Z,1761347832.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405233,0.884873,0.229752],[-0.914210,-0.392958,-0.099020],[0.002663,-0.250168,0.968199]]
2025-10-24T23:17:12.455Z,1761347832.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403816,0.883440,0.237625],[-0.914790,-0.392653,-0.094777],[0.009574,-0.255650,0.966722]]
2025-10-24T23:17:12.858Z,1761347832.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400589,0.882762,0.245478],[-0.916112,-0.390663,-0.090118],[0.016346,-0.260986,0.965204]]
2025-10-24T23:17:13.267Z,1761347833.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395892,0.882674,0.253289],[-0.917999,-0.387441,-0.084664],[0.023404,-0.266037,0.963679]]
2025-10-24T23:17:13.677Z,1761347833.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389543,0.883614,0.259773],[-0.920505,-0.382846,-0.078099],[0.030444,-0.269546,0.962506]]
2025-10-24T23:17:14.071Z,1761347834.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381859,0.885769,0.263813],[-0.923485,-0.377069,-0.070676],[0.036873,-0.270616,0.961981]]
2025-10-24T23:17:14.408Z,1761347834.408 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:17:14.475Z,1761347834.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373033,0.888621,0.266833],[-0.926835,-0.370130,-0.063090],[0.042700,-0.270845,0.961676]]
2025-10-24T23:17:14.662Z,1761347834.662 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:17:14.663Z,1761347834.663 [DAT](INFO): #Outgoing data=34
2025-10-24T23:17:14.663Z,1761347834.663 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:17:14.879Z,1761347834.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363989,0.892314,0.266998],[-0.930170,-0.362999,-0.054915],[0.047919,-0.268342,0.962131]]
2025-10-24T23:17:14.913Z,1761347834.913 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:17:15.291Z,1761347835.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355761,0.895927,0.265984],[-0.933085,-0.356580,-0.046941],[0.052789,-0.264886,0.962834]]
2025-10-24T23:17:15.689Z,1761347835.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349862,0.898834,0.263995],[-0.935012,-0.352452,-0.039128],[0.057876,-0.260528,0.963730]]
2025-10-24T23:17:16.090Z,1761347836.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345996,0.901294,0.260685],[-0.936111,-0.350308,-0.031305],[0.063105,-0.254861,0.964916]]
2025-10-24T23:17:16.496Z,1761347836.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343878,0.903142,0.257066],[-0.936537,-0.349743,-0.024069],[0.068170,-0.249029,0.966094]]
2025-10-24T23:17:16.898Z,1761347836.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343873,0.904602,0.251885],[-0.936149,-0.351204,-0.016742],[0.073318,-0.241559,0.967612]]
2025-10-24T23:17:17.303Z,1761347837.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344880,0.905392,0.247636],[-0.935362,-0.353550,-0.010042],[0.078460,-0.235093,0.968801]]
2025-10-24T23:17:17.707Z,1761347837.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347059,0.905740,0.243279],[-0.934092,-0.357016,-0.003375],[0.083797,-0.228416,0.969951]]
2025-10-24T23:17:18.111Z,1761347838.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350987,0.904889,0.240799],[-0.932076,-0.362253,0.002705],[0.089678,-0.223493,0.970571]]
2025-10-24T23:17:18.189Z,1761347838.189 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:17:17.4852

2025-10-24T23:17:18.189Z,1761347838.189 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:17:18.519Z,1761347838.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356125,0.903132,0.239849],[-0.929485,-0.368762,0.008458],[0.096086,-0.219924,0.970773]]
2025-10-24T23:17:18.919Z,1761347838.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360313,0.901097,0.241244],[-0.927200,-0.374329,0.013367],[0.102350,-0.218865,0.970372]]
2025-10-24T23:17:18.970Z,1761347838.970 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:17:18.970Z,1761347838.970 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:17:18.970Z,1761347838.970 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:17:18.971Z,1761347838.971 [marl:UpdateRudder:A] Stopped
2025-10-24T23:17:18.971Z,1761347838.971 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:17:18.971Z,1761347838.971 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:17:18.971Z,1761347838.971 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:17:18.971Z,1761347838.971 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:17:18.971Z,1761347838.971 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:17:18.971Z,1761347838.971 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:17:18.976Z,1761347838.976 [marl:UpdateCommandMode] Stopped
2025-10-24T23:17:18.976Z,1761347838.976 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:17:18.976Z,1761347838.976 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:17:18.976Z,1761347838.976 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:17:18.976Z,1761347838.976 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:17:18.977Z,1761347838.977 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:17:18.977Z,1761347838.977 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:17:18.977Z,1761347838.977 [marl:UpdateSpeed] Stopped
2025-10-24T23:17:18.977Z,1761347838.977 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:17:19.323Z,1761347839.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362328,0.899574,0.243895],[-0.925736,-0.377743,0.017992],[0.108315,-0.219263,0.969635]]
2025-10-24T23:17:19.376Z,1761347839.376 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-24T23:17:19.376Z,1761347839.376 [marl:UpdateRudder:B] Stopped
2025-10-24T23:17:19.377Z,1761347839.377 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:17:19.377Z,1761347839.377 [marl:UpdateRudder] Stopped
2025-10-24T23:17:19.377Z,1761347839.377 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:17:19.727Z,1761347839.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362746,0.897988,0.249063],[-0.924914,-0.379572,0.021451],[0.113800,-0.222581,0.968250]]
2025-10-24T23:17:20.131Z,1761347840.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361776,0.896667,0.255159],[-0.924664,-0.380003,0.024356],[0.118801,-0.227125,0.966592]]
2025-10-24T23:17:20.535Z,1761347840.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359570,0.895644,0.261785],[-0.924885,-0.379269,0.027235],[0.123679,-0.232328,0.964742]]
2025-10-24T23:17:20.939Z,1761347840.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355901,0.894809,0.269538],[-0.925702,-0.377096,0.029570],[0.128101,-0.238987,0.962536]]
2025-10-24T23:17:21.343Z,1761347841.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350693,0.894405,0.277586],[-0.927104,-0.373437,0.031973],[0.132257,-0.246138,0.960169]]
2025-10-24T23:17:21.777Z,1761347841.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344836,0.894417,0.284791],[-0.928698,-0.369186,0.034965],[0.136414,-0.252427,0.957952]]
2025-10-24T23:17:22.151Z,1761347842.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339567,0.894028,0.292248],[-0.930010,-0.365586,0.037787],[0.140625,-0.258962,0.955596]]
2025-10-24T23:17:22.563Z,1761347842.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337830,0.891014,0.303257],[-0.929960,-0.365653,0.038362],[0.145068,-0.269058,0.952136]]
2025-10-24T23:17:22.959Z,1761347842.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340285,0.883582,0.321697],[-0.928303,-0.370189,0.034828],[0.149862,-0.286781,0.946202]]
2025-10-24T23:17:23.778Z,1761347843.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378760,0.831014,0.407378],[-0.909274,-0.416182,0.003575],[0.172514,-0.369064,0.913253]]
2025-10-24T23:17:24.581Z,1761347844.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420026,0.780901,0.462356],[-0.886746,-0.461522,-0.026070],[0.193029,-0.420942,0.886311]]
2025-10-24T23:17:24.983Z,1761347844.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443088,0.754215,0.484595],[-0.872886,-0.486158,-0.041472],[0.204311,-0.441372,0.873755]]
2025-10-24T23:17:25.409Z,1761347845.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467477,0.727348,0.502424],[-0.857221,-0.511824,-0.056640],[0.215956,-0.457166,0.862764]]
2025-10-24T23:17:25.807Z,1761347845.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493035,0.701284,0.514896],[-0.839732,-0.538360,-0.070837],[0.227522,-0.467300,0.854321]]
2025-10-24T23:17:26.213Z,1761347846.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520159,0.676552,0.521260],[-0.820307,-0.565664,-0.084390],[0.237763,-0.471490,0.849215]]
2025-10-24T23:17:26.614Z,1761347846.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548843,0.651770,0.523418],[-0.798753,-0.593548,-0.098455],[0.246504,-0.472118,0.846369]]
2025-10-24T23:17:27.061Z,1761347847.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578631,0.627075,0.521501],[-0.775177,-0.621623,-0.112630],[0.253550,-0.469427,0.845784]]
2025-10-24T23:17:27.469Z,1761347847.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609281,0.601958,0.516162],[-0.749503,-0.649699,-0.127027],[0.258885,-0.464261,0.847019]]
2025-10-24T23:17:27.878Z,1761347847.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639953,0.573353,0.511593],[-0.722108,-0.676352,-0.145285],[0.262717,-0.462401,0.846856]]
2025-10-24T23:17:28.270Z,1761347848.270 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:17:28.290Z,1761347848.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669948,0.542453,0.506867],[-0.693357,-0.701216,-0.165992],[0.265380,-0.462646,0.845891]]
2025-10-24T23:17:28.521Z,1761347848.521 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:17:28.521Z,1761347848.521 [DAT](INFO): #Outgoing data=35
2025-10-24T23:17:28.521Z,1761347848.521 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:17:28.689Z,1761347848.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698563,0.509987,0.501920],[-0.663722,-0.723913,-0.188209],[0.267362,-0.464611,0.844188]]
2025-10-24T23:17:28.773Z,1761347848.773 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:17:29.090Z,1761347849.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725632,0.475527,0.497325],[-0.633496,-0.743823,-0.213094],[0.268590,-0.469682,0.840987]]
2025-10-24T23:17:29.500Z,1761347849.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750180,0.442234,0.491588],[-0.604185,-0.760523,-0.237837],[0.268684,-0.475431,0.837720]]
2025-10-24T23:17:29.964Z,1761347849.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771776,0.412452,0.483989],[-0.576858,-0.774379,-0.259946],[0.267575,-0.479813,0.835573]]
2025-10-24T23:17:30.340Z,1761347850.340 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:17:30.361Z,1761347850.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790543,0.387359,0.474336],[-0.551976,-0.786184,-0.277916],[0.265261,-0.481527,0.835325]]
2025-10-24T23:17:30.760Z,1761347850.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807465,0.368049,0.461020],[-0.528775,-0.798031,-0.289039],[0.261528,-0.477165,0.838997]]
2025-10-24T23:17:31.164Z,1761347851.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824034,0.351437,0.444365],[-0.505040,-0.811085,-0.295085],[0.256714,-0.467582,0.845852]]
2025-10-24T23:17:31.345Z,1761347851.345 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:17:31.579Z,1761347851.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840387,0.338141,0.423569],[-0.480455,-0.826458,-0.293480],[0.250824,-0.450142,0.857006]]
2025-10-24T23:17:32.005Z,1761347852.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856914,0.325051,0.400051],[-0.453955,-0.843546,-0.286976],[0.244179,-0.427519,0.870405]]
2025-10-24T23:17:32.049Z,1761347852.049 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:17:31.3352

2025-10-24T23:17:32.049Z,1761347852.049 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:17:32.081Z,1761347852.081 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:17:32.082Z,1761347852.082 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:17:32.082Z,1761347852.082 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:17:32.082Z,1761347852.082 [marl:UpdateRudder:A] Stopped
2025-10-24T23:17:32.082Z,1761347852.082 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:17:32.082Z,1761347852.082 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:17:32.082Z,1761347852.082 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:17:32.083Z,1761347852.083 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:17:32.083Z,1761347852.083 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:17:32.083Z,1761347852.083 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:17:32.083Z,1761347852.083 [marl:UpdateCommandMode] Stopped
2025-10-24T23:17:32.083Z,1761347852.083 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:17:32.083Z,1761347852.083 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:17:32.083Z,1761347852.083 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:17:32.083Z,1761347852.083 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:17:32.088Z,1761347852.088 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:17:32.088Z,1761347852.088 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:17:32.088Z,1761347852.088 [marl:UpdateSpeed] Stopped
2025-10-24T23:17:32.088Z,1761347852.088 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:17:32.398Z,1761347852.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873162,0.308155,0.377662],[-0.426175,-0.858679,-0.284683],[0.236565,-0.409524,0.881094]]
2025-10-24T23:17:32.442Z,1761347852.442 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:17:32.443Z,1761347852.443 [marl:UpdateRudder:B] Stopped
2025-10-24T23:17:32.443Z,1761347852.443 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:17:32.443Z,1761347852.443 [marl:UpdateRudder] Stopped
2025-10-24T23:17:32.443Z,1761347852.443 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:17:32.802Z,1761347852.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889233,0.287521,0.355803],[-0.396186,-0.872888,-0.284788],[0.228694,-0.394207,0.890112]]
2025-10-24T23:17:33.214Z,1761347853.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904839,0.263830,0.334156],[-0.364544,-0.885546,-0.287951],[0.219941,-0.382364,0.897454]]
2025-10-24T23:17:33.630Z,1761347853.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920302,0.236592,0.311557],[-0.329951,-0.897296,-0.293245],[0.210179,-0.372673,0.903847]]
2025-10-24T23:17:34.014Z,1761347854.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934670,0.207128,0.288946],[-0.294368,-0.906618,-0.302309],[0.199347,-0.367616,0.908361]]
2025-10-24T23:17:34.418Z,1761347854.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947388,0.178064,0.265987],[-0.259554,-0.913656,-0.312833],[0.187317,-0.365412,0.911804]]
2025-10-24T23:17:34.825Z,1761347854.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958348,0.149712,0.243218],[-0.225902,-0.918409,-0.324796],[0.174748,-0.366211,0.913976]]
2025-10-24T23:17:35.232Z,1761347855.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967652,0.123044,0.220251],[-0.193614,-0.921891,-0.335605],[0.161753,-0.367393,0.915892]]
2025-10-24T23:17:35.642Z,1761347855.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975427,0.097714,0.197470],[-0.162250,-0.924932,-0.343767],[0.149056,-0.367359,0.918058]]
2025-10-24T23:17:36.043Z,1761347856.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981802,0.073455,0.175127],[-0.131675,-0.927810,-0.349041],[0.136846,-0.365749,0.920598]]
2025-10-24T23:17:36.439Z,1761347856.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986884,0.049584,0.153625],[-0.101963,-0.929258,-0.355083],[0.125151,-0.366090,0.922125]]
2025-10-24T23:17:36.843Z,1761347856.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990746,0.026414,0.133131],[-0.073041,-0.930497,-0.358944],[0.114397,-0.365346,0.923816]]
2025-10-24T23:17:37.248Z,1761347857.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993511,0.004714,0.113640],[-0.045941,-0.930640,-0.363042],[0.104047,-0.365907,0.924817]]
2025-10-24T23:17:37.653Z,1761347857.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995383,-0.016650,0.094532],[-0.019329,-0.929901,-0.367302],[0.094021,-0.367434,0.925285]]
2025-10-24T23:17:38.054Z,1761347858.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996411,-0.036013,0.076605],[0.004973,-0.928324,-0.371740],[0.084502,-0.370025,0.925171]]
2025-10-24T23:17:38.458Z,1761347858.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996780,-0.053813,0.059449],[0.027680,-0.926713,-0.374749],[0.075259,-0.371897,0.925218]]
2025-10-24T23:17:38.865Z,1761347858.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996651,-0.069247,0.043500],[0.047861,-0.925248,-0.376331],[0.066308,-0.372989,0.925463]]
2025-10-24T23:17:39.266Z,1761347859.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996098,-0.083493,0.028604],[0.066529,-0.923306,-0.378259],[0.057992,-0.374880,0.925258]]
2025-10-24T23:17:39.695Z,1761347859.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995315,-0.095486,0.015209],[0.082617,-0.921584,-0.379285],[0.050233,-0.376251,0.925155]]
2025-10-24T23:17:40.075Z,1761347860.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994195,-0.107568,0.002482],[0.098647,-0.920469,-0.378162],[0.042963,-0.375722,0.925736]]
2025-10-24T23:17:40.479Z,1761347860.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992718,-0.120042,-0.010027],[0.114937,-0.918996,-0.377142],[0.036058,-0.375548,0.926101]]
2025-10-24T23:17:40.886Z,1761347860.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990929,-0.132575,-0.021971],[0.131144,-0.918346,-0.373420],[0.029329,-0.372915,0.927402]]
2025-10-24T23:17:41.304Z,1761347861.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988791,-0.145503,-0.033479],[0.147518,-0.917486,-0.369401],[0.023032,-0.370199,0.928667]]
2025-10-24T23:17:41.701Z,1761347861.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986245,-0.159215,-0.044393],[0.164374,-0.916559,-0.364554],[0.017354,-0.366837,0.930123]]
2025-10-24T23:17:42.101Z,1761347862.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983313,-0.173464,-0.054819],[0.181489,-0.914653,-0.361207],[0.012516,-0.365129,0.930873]]
2025-10-24T23:17:42.129Z,1761347862.129 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:17:42.381Z,1761347862.381 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:17:42.381Z,1761347862.381 [DAT](INFO): #Outgoing data=36
2025-10-24T23:17:42.381Z,1761347862.381 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:17:42.501Z,1761347862.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980000,-0.188217,-0.064611],[0.198804,-0.911651,-0.359679],[0.008796,-0.365330,0.930836]]
2025-10-24T23:17:42.633Z,1761347862.633 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:17:42.903Z,1761347862.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976295,-0.203594,-0.073469],[0.216347,-0.907748,-0.359427],[0.006486,-0.366802,0.930277]]
2025-10-24T23:17:43.307Z,1761347863.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972147,-0.219568,-0.081975],[0.234309,-0.902464,-0.361466],[0.005387,-0.370605,0.928775]]
2025-10-24T23:17:43.711Z,1761347863.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967269,-0.237054,-0.090533],[0.253704,-0.896352,-0.363577],[0.005038,-0.374645,0.927155]]
2025-10-24T23:17:44.121Z,1761347864.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961308,-0.256549,-0.100349],[0.275443,-0.889463,-0.364672],[0.004300,-0.378203,0.925713]]
2025-10-24T23:17:44.518Z,1761347864.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953845,-0.278816,-0.111537],[0.300286,-0.882316,-0.362418],[0.002637,-0.379184,0.925317]]
2025-10-24T23:17:44.567Z,1761347864.567 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:17:44.567Z,1761347864.567 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:17:44.567Z,1761347864.567 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:17:44.568Z,1761347864.568 [marl:UpdateRudder:A] Stopped
2025-10-24T23:17:44.568Z,1761347864.568 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:17:44.568Z,1761347864.568 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:17:44.568Z,1761347864.568 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:17:44.568Z,1761347864.568 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:17:44.569Z,1761347864.569 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:17:44.569Z,1761347864.569 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:17:44.569Z,1761347864.569 [marl:UpdateCommandMode] Stopped
2025-10-24T23:17:44.569Z,1761347864.569 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:17:44.569Z,1761347864.569 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:17:44.569Z,1761347864.569 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:17:44.569Z,1761347864.569 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:17:44.570Z,1761347864.570 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:17:44.570Z,1761347864.570 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:17:44.570Z,1761347864.570 [marl:UpdateSpeed] Stopped
2025-10-24T23:17:44.570Z,1761347864.570 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:17:44.922Z,1761347864.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945548,-0.301010,-0.123821],[0.325482,-0.874343,-0.359979],[0.000096,-0.380679,0.924707]]
2025-10-24T23:17:44.979Z,1761347864.979 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:17:44.979Z,1761347864.979 [marl:UpdateRudder:B] Stopped
2025-10-24T23:17:44.979Z,1761347864.979 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:17:44.979Z,1761347864.979 [marl:UpdateRudder] Stopped
2025-10-24T23:17:44.979Z,1761347864.979 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:17:45.327Z,1761347865.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936864,-0.322190,-0.135943],[0.349682,-0.866551,-0.356107],[-0.003068,-0.381160,0.924504]]
2025-10-24T23:17:45.733Z,1761347865.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927765,-0.342387,-0.148400],[0.373098,-0.858556,-0.351681],[-0.006999,-0.381645,0.924282]]
2025-10-24T23:17:45.917Z,1761347865.917 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:17:45.1851

2025-10-24T23:17:45.918Z,1761347865.918 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:17:46.134Z,1761347866.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917962,-0.362113,-0.161926],[0.396486,-0.849993,-0.346859],[-0.012034,-0.382604,0.923834]]
2025-10-24T23:17:46.539Z,1761347866.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907301,-0.382049,-0.175623],[0.420103,-0.841352,-0.340059],[-0.017841,-0.382316,0.923859]]
2025-10-24T23:17:46.942Z,1761347866.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896259,-0.401487,-0.188487],[0.442897,-0.832846,-0.331979],[-0.023695,-0.381019,0.924263]]
2025-10-24T23:17:47.348Z,1761347867.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885392,-0.419215,-0.200848],[0.463920,-0.824148,-0.324899],[-0.029326,-0.380840,0.924176]]
2025-10-24T23:17:47.750Z,1761347867.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875107,-0.435179,-0.211676],[0.482735,-0.815723,-0.318690],[-0.033982,-0.381071,0.923921]]
2025-10-24T23:17:48.158Z,1761347868.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864788,-0.450165,-0.222471],[0.500654,-0.807017,-0.313158],[-0.038565,-0.382196,0.923276]]
2025-10-24T23:17:48.558Z,1761347868.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854779,-0.464012,-0.232476],[0.517248,-0.798344,-0.308385],[-0.042502,-0.383849,0.922417]]
2025-10-24T23:17:49.368Z,1761347869.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834368,-0.491163,-0.250178],[0.548937,-0.781567,-0.296345],[-0.049977,-0.384593,0.921732]]
2025-10-24T23:17:49.771Z,1761347869.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824082,-0.503580,-0.259413],[0.563930,-0.772624,-0.291609],[-0.053580,-0.386600,0.920690]]
2025-10-24T23:17:50.191Z,1761347870.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813627,-0.516002,-0.267867],[0.578614,-0.763628,-0.286495],[-0.056719,-0.388091,0.919874]]
2025-10-24T23:17:50.520Z,1761347870.520 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:17:50.521Z,1761347870.521 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:17:50.598Z,1761347870.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803353,-0.526959,-0.277377],[0.592493,-0.754064,-0.283443],[-0.059797,-0.392049,0.917999]]
2025-10-24T23:17:50.982Z,1761347870.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793049,-0.537919,-0.285860],[0.606001,-0.744388,-0.280444],[-0.061934,-0.395638,0.916316]]
2025-10-24T23:17:51.386Z,1761347871.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782622,-0.548789,-0.293827],[0.619280,-0.734319,-0.277972],[-0.063214,-0.399508,0.914548]]
2025-10-24T23:17:51.790Z,1761347871.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771984,-0.559978,-0.300775],[0.632484,-0.723819,-0.275772],[-0.063280,-0.403127,0.912954]]
2025-10-24T23:17:52.202Z,1761347872.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760923,-0.571373,-0.307456],[0.645826,-0.712595,-0.274075],[-0.062493,-0.407113,0.911238]]
2025-10-24T23:17:52.598Z,1761347872.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749561,-0.583767,-0.312050],[0.659155,-0.701435,-0.271117],[-0.060613,-0.408908,0.910561]]
2025-10-24T23:17:53.007Z,1761347873.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737797,-0.596289,-0.316378],[0.672532,-0.689557,-0.268720],[-0.057926,-0.411036,0.909777]]
2025-10-24T23:17:53.413Z,1761347873.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709925,-0.625413,-0.323829],[0.702303,-0.663064,-0.259068],[-0.052694,-0.411345,0.909955]]
2025-10-24T23:17:53.825Z,1761347873.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693807,-0.640802,-0.328640],[0.718343,-0.648196,-0.252638],[-0.051132,-0.411358,0.910039]]
2025-10-24T23:17:53.950Z,1761347873.950 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:17:53.977Z,1761347873.977 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:17:54.028Z,1761347874.028 [DAT](INFO): entering command mode
2025-10-24T23:17:54.219Z,1761347874.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676545,-0.656095,-0.334404],[0.734669,-0.632480,-0.245421],[-0.050485,-0.411715,0.909913]]
2025-10-24T23:17:54.228Z,1761347874.228 [DAT](INFO): DAT read: 

2025-10-24T23:17:54.229Z,1761347874.229 [DAT](INFO): DAT read: user:30>

2025-10-24T23:17:54.229Z,1761347874.229 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:17:54.230Z,1761347874.230 [DAT](INFO): setting remote address to 0
2025-10-24T23:17:54.481Z,1761347874.481 [DAT](INFO): DAT read: user:30>

2025-10-24T23:17:54.482Z,1761347874.482 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:17:54.482Z,1761347874.482 [DAT](INFO): set remote address to 0
2025-10-24T23:17:54.482Z,1761347874.482 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:17:54.482Z,1761347874.482 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T23:17:54.622Z,1761347874.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658713,-0.670908,-0.340557],[0.750679,-0.616581,-0.237296],[-0.050777,-0.411959,0.909787]]
2025-10-24T23:17:54.733Z,1761347874.733 [DAT](INFO): DAT read: user:31>

2025-10-24T23:17:54.733Z,1761347874.733 [DAT](INFO): DAT read: Tx time:23:17:53.9363

2025-10-24T23:17:54.734Z,1761347874.734 [DAT](INFO): Ping request sent.
2025-10-24T23:17:54.734Z,1761347874.734 [DAT](INFO): transmitted an acoustic signal
2025-10-24T23:17:54.734Z,1761347874.734 [DAT](INFO): publishing transmit ping time
2025-10-24T23:17:54.735Z,1761347874.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000969
2025-10-24T23:17:54.985Z,1761347874.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250872
2025-10-24T23:17:55.033Z,1761347875.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640676,-0.684734,-0.347380],[0.766046,-0.600700,-0.228764],[-0.052028,-0.412673,0.909392]]
2025-10-24T23:17:55.237Z,1761347875.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502916
2025-10-24T23:17:55.439Z,1761347875.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622464,-0.698670,-0.352702],[0.780792,-0.585378,-0.218396],[-0.053878,-0.411330,0.909893]]
2025-10-24T23:17:55.489Z,1761347875.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754860
2025-10-24T23:17:55.745Z,1761347875.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010822
2025-10-24T23:17:55.830Z,1761347875.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604750,-0.710545,-0.359727],[0.794448,-0.569943,-0.209804],[-0.055949,-0.412663,0.909164]]
2025-10-24T23:17:55.993Z,1761347875.993 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-24T23:17:55.993Z,1761347875.993 [DAT](ERROR): Ack receipt timeout failure.
2025-10-24T23:17:55.994Z,1761347875.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259789
2025-10-24T23:17:56.241Z,1761347876.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587862,-0.721945,-0.364984],[0.806885,-0.555585,-0.200653],[-0.057918,-0.412456,0.909134]]
2025-10-24T23:17:56.245Z,1761347876.245 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:17:56.245Z,1761347876.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511172
2025-10-24T23:17:56.497Z,1761347876.497 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:17:56.497Z,1761347876.497 [DAT](INFO): #Outgoing data=37
2025-10-24T23:17:56.497Z,1761347876.497 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:17:56.498Z,1761347876.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763823
2025-10-24T23:17:56.650Z,1761347876.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571384,-0.732864,-0.369366],[0.818514,-0.541593,-0.191602],[-0.059628,-0.411810,0.909317]]
2025-10-24T23:17:56.749Z,1761347876.749 [DAT](INFO): setting remote address to 10
2025-10-24T23:17:56.749Z,1761347876.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015250
2025-10-24T23:17:57.000Z,1761347877.000 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T23:17:57.001Z,1761347877.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266975
2025-10-24T23:17:57.042Z,1761347877.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555455,-0.742425,-0.374532],[0.829331,-0.527462,-0.184378],[-0.060665,-0.413025,0.908697]]
2025-10-24T23:17:57.252Z,1761347877.252 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T23:17:57.253Z,1761347877.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518957
2025-10-24T23:17:57.446Z,1761347877.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540244,-0.751431,-0.378798],[0.839278,-0.513887,-0.177575],[-0.061223,-0.413851,0.908284]]
2025-10-24T23:17:57.487Z,1761347877.487 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:17:57.487Z,1761347877.487 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:17:57.487Z,1761347877.487 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:17:57.487Z,1761347877.487 [marl:UpdateRudder:A] Stopped
2025-10-24T23:17:57.487Z,1761347877.487 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:17:57.487Z,1761347877.487 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:17:57.492Z,1761347877.492 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:17:57.492Z,1761347877.492 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:17:57.492Z,1761347877.492 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:17:57.492Z,1761347877.492 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:17:57.492Z,1761347877.492 [marl:UpdateCommandMode] Stopped
2025-10-24T23:17:57.493Z,1761347877.493 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:17:57.493Z,1761347877.493 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:17:57.493Z,1761347877.493 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:17:57.493Z,1761347877.493 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:17:57.493Z,1761347877.493 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:17:57.493Z,1761347877.493 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:17:57.493Z,1761347877.493 [marl:UpdateSpeed] Stopped
2025-10-24T23:17:57.493Z,1761347877.493 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:17:57.504Z,1761347877.504 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T23:17:57.505Z,1761347877.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770960
2025-10-24T23:17:57.757Z,1761347877.757 [DAT](INFO): DAT read: Rx Time:23:17:56.4729

2025-10-24T23:17:57.757Z,1761347877.757 [DAT](INFO): Rx dataTimestamp_ set to:1761347877.757050
2025-10-24T23:17:57.758Z,1761347877.758 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T23:17:57.758Z,1761347877.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024081
2025-10-24T23:17:57.851Z,1761347877.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524356,-0.760826,-0.382354],[0.849284,-0.499668,-0.170437],[-0.061377,-0.414097,0.908161]]
2025-10-24T23:17:57.935Z,1761347877.935 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:17:57.935Z,1761347877.935 [marl:UpdateRudder:B] Stopped
2025-10-24T23:17:57.940Z,1761347877.940 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:17:57.940Z,1761347877.940 [marl:UpdateRudder] Stopped
2025-10-24T23:17:57.940Z,1761347877.940 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:17:58.009Z,1761347878.009 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T23:17:58.009Z,1761347878.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275470
2025-10-24T23:17:58.254Z,1761347878.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509574,-0.768843,-0.386283],[0.858267,-0.485980,-0.164925],[-0.060924,-0.415575,0.907516]]
2025-10-24T23:17:58.267Z,1761347878.267 [DAT](INFO): DAT read: 23:17:56.4728 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 137,-0.03, 1.269, 2.848, 1.034, 1.733, PHS=-0.361, 1.160,-0.743, RAW= 340.9,  -0.7, CAL= 340.5,  -3.6, ROT= 169.5,   3.6

2025-10-24T23:17:58.272Z,1761347878.272 [DAT](INFO): got valid direction response:
 23:17:56.4728 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 137,-0.03, 1.269, 2.848, 1.034, 1.733, PHS=-0.361, 1.160,-0.743, RAW= 340.9,  -0.7, CAL= 340.5,  -3.6, ROT= 169.5,   3.6

2025-10-24T23:17:58.273Z,1761347878.273 [DAT](INFO): DAT read: Bearing  99.5,  14.3 (Local)

2025-10-24T23:17:58.273Z,1761347878.273 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.5,  14.3 (Local)

2025-10-24T23:17:58.275Z,1761347878.275 [DAT](INFO): DAT read: Range 11 to 20 : 99.3 m  (Round-trip  132.5 ms) speed -1.2 m/s

2025-10-24T23:17:58.276Z,1761347878.276 [DAT](INFO): DAT read: user:32>

2025-10-24T23:17:58.277Z,1761347878.277 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:17:58.277Z,1761347878.277 [DAT](INFO): set remote address to 10
2025-10-24T23:17:58.278Z,1761347878.278 [DAT](INFO): entering online mode
2025-10-24T23:17:58.513Z,1761347878.513 [DAT](INFO): DAT read: user:33>

2025-10-24T23:17:58.513Z,1761347878.513 [DAT](INFO): DAT read: 

2025-10-24T23:17:58.514Z,1761347878.514 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:17:58.515Z,1761347878.515 [DAT](INFO): commRate: 600
2025-10-24T23:17:58.515Z,1761347878.515 [DAT](INFO): online mode acknowledged
2025-10-24T23:17:58.515Z,1761347878.515 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:17:58.516Z,1761347878.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781652
2025-10-24T23:17:58.765Z,1761347878.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031204
2025-10-24T23:17:59.017Z,1761347879.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282823
2025-10-24T23:17:59.063Z,1761347879.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477443,-0.785806,-0.393138],[0.876710,-0.455854,-0.153549],[-0.058554,-0.417978,0.906568]]
2025-10-24T23:17:59.269Z,1761347879.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535249
2025-10-24T23:17:59.467Z,1761347879.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458910,-0.795357,-0.395991],[0.886627,-0.438743,-0.146278],[-0.057395,-0.418225,0.906529]]
2025-10-24T23:17:59.521Z,1761347879.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787008
2025-10-24T23:17:59.773Z,1761347879.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038844
2025-10-24T23:17:59.882Z,1761347879.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440142,-0.804029,-0.399766],[0.896185,-0.421076,-0.139811],[-0.055920,-0.419801,0.905892]]
2025-10-24T23:18:00.026Z,1761347880.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291686
2025-10-24T23:18:00.277Z,1761347880.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542907
2025-10-24T23:18:00.529Z,1761347880.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794872
2025-10-24T23:18:00.692Z,1761347880.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405820,-0.824017,-0.395355],[0.912252,-0.391580,-0.120252],[-0.055723,-0.409464,0.910623]]
2025-10-24T23:18:00.781Z,1761347880.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046967
2025-10-24T23:18:01.033Z,1761347881.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298869
2025-10-24T23:18:01.082Z,1761347881.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393335,-0.836093,-0.382408],[0.917540,-0.383387,-0.105523],[-0.058383,-0.392380,0.917948]]
2025-10-24T23:18:01.285Z,1761347881.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550841
2025-10-24T23:18:01.472Z,1761347881.472 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:18:01.487Z,1761347881.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383499,-0.848677,-0.364247],[0.921421,-0.378312,-0.088675],[-0.062543,-0.369631,0.927071]]
2025-10-24T23:18:01.537Z,1761347881.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803012
2025-10-24T23:18:01.789Z,1761347881.789 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:18:01.0864

2025-10-24T23:18:01.789Z,1761347881.789 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:18:01.790Z,1761347881.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.056078
2025-10-24T23:18:01.929Z,1761347881.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375815,-0.859928,-0.345378],[0.924218,-0.375034,-0.071901],[-0.067699,-0.346226,0.935705]]
2025-10-24T23:18:02.042Z,1761347882.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308532
2025-10-24T23:18:02.293Z,1761347882.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558925
2025-10-24T23:18:02.296Z,1761347882.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369342,-0.868951,-0.329409],[0.926355,-0.372435,-0.056202],[-0.073847,-0.325907,0.942513]]
2025-10-24T23:18:02.476Z,1761347882.476 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:18:02.545Z,1761347882.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810865
2025-10-24T23:18:02.703Z,1761347882.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363861,-0.876920,-0.314034],[0.927946,-0.370500,-0.040583],[-0.080761,-0.306173,0.948544]]
2025-10-24T23:18:02.797Z,1761347882.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063402
2025-10-24T23:18:03.049Z,1761347883.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314924
2025-10-24T23:18:03.103Z,1761347883.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359345,-0.882850,-0.302403],[0.929017,-0.369095,-0.026397],[-0.088311,-0.290423,0.952815]]
2025-10-24T23:18:03.301Z,1761347883.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566865
2025-10-24T23:18:03.508Z,1761347883.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356091,-0.887522,-0.292411],[0.929472,-0.368667,-0.012916],[-0.096339,-0.276387,0.956205]]
2025-10-24T23:18:03.565Z,1761347883.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.831394
2025-10-24T23:18:03.819Z,1761347883.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.085009
2025-10-24T23:18:03.944Z,1761347883.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354530,-0.890678,-0.284607],[0.929214,-0.369542,-0.001024],[-0.104263,-0.264824,0.958644]]
2025-10-24T23:18:04.069Z,1761347884.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.334873
2025-10-24T23:18:04.321Z,1761347884.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.586972
2025-10-24T23:18:04.342Z,1761347884.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354093,-0.892909,-0.278085],[0.928482,-0.371248,0.009790],[-0.111980,-0.254731,0.960506]]
2025-10-24T23:18:04.573Z,1761347884.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.838925
2025-10-24T23:18:04.732Z,1761347884.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355532,-0.893306,-0.274958],[0.927116,-0.374368,0.017477],[-0.118547,-0.248704,0.961298]]
2025-10-24T23:18:04.825Z,1761347884.825 [DAT](INFO): Reached modem response timeout
2025-10-24T23:18:05.133Z,1761347885.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357556,-0.893429,-0.271916],[0.925624,-0.377694,0.023834],[-0.123995,-0.243170,0.962026]]
2025-10-24T23:18:05.526Z,1761347885.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360515,-0.892520,-0.270992],[0.924023,-0.381392,0.026849],[-0.127317,-0.240724,0.962207]]
2025-10-24T23:18:05.951Z,1761347885.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364028,-0.891228,-0.270547],[0.922468,-0.385101,0.027386],[-0.128595,-0.239601,0.962317]]
2025-10-24T23:18:06.335Z,1761347886.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367700,-0.889263,-0.272045],[0.921087,-0.388545,0.025123],[-0.128042,-0.241340,0.961956]]
2025-10-24T23:18:06.742Z,1761347886.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371057,-0.887371,-0.273660],[0.920009,-0.391311,0.021421],[-0.126094,-0.243822,0.961588]]
2025-10-24T23:18:07.142Z,1761347887.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373639,-0.885785,-0.275278],[0.919329,-0.393116,0.017142],[-0.123400,-0.246666,0.961212]]
2025-10-24T23:18:07.546Z,1761347887.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374624,-0.884933,-0.276679],[0.919271,-0.393393,0.013537],[-0.120823,-0.249271,0.960867]]
2025-10-24T23:18:07.959Z,1761347887.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373813,-0.884805,-0.278180],[0.919856,-0.392101,0.011068],[-0.118867,-0.251748,0.960465]]
2025-10-24T23:18:08.372Z,1761347888.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372640,-0.885066,-0.278921],[0.920545,-0.390525,0.009351],[-0.117202,-0.253274,0.960269]]
2025-10-24T23:18:09.162Z,1761347889.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368963,-0.886547,-0.279107],[0.922155,-0.386708,0.009292],[-0.116171,-0.253952,0.960215]]
2025-10-24T23:18:09.568Z,1761347889.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366946,-0.887199,-0.279692],[0.922939,-0.384820,0.009809],[-0.116334,-0.254540,0.960040]]
2025-10-24T23:18:09.985Z,1761347889.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366045,-0.887679,-0.279352],[0.923274,-0.384001,0.010417],[-0.116519,-0.254105,0.960132]]
2025-10-24T23:18:10.376Z,1761347890.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365066,-0.888182,-0.279032],[0.923688,-0.382997,0.010622],[-0.116303,-0.253861,0.960223]]
2025-10-24T23:18:10.409Z,1761347890.409 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:18:10.409Z,1761347890.409 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:18:10.410Z,1761347890.410 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:18:10.410Z,1761347890.410 [marl:UpdateRudder:A] Stopped
2025-10-24T23:18:10.410Z,1761347890.410 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:18:10.410Z,1761347890.410 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:18:10.410Z,1761347890.410 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:18:10.410Z,1761347890.410 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:18:10.411Z,1761347890.411 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:18:10.411Z,1761347890.411 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:18:10.411Z,1761347890.411 [marl:UpdateCommandMode] Stopped
2025-10-24T23:18:10.411Z,1761347890.411 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:18:10.411Z,1761347890.411 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:18:10.411Z,1761347890.411 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:18:10.411Z,1761347890.411 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:18:10.412Z,1761347890.412 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:18:10.412Z,1761347890.412 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:18:10.412Z,1761347890.412 [marl:UpdateSpeed] Stopped
2025-10-24T23:18:10.412Z,1761347890.412 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:18:10.779Z,1761347890.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364117,-0.888913,-0.277943],[0.924263,-0.381633,0.009710],[-0.114703,-0.253357,0.960549]]
2025-10-24T23:18:10.831Z,1761347890.831 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:18:10.831Z,1761347890.831 [marl:UpdateRudder:B] Stopped
2025-10-24T23:18:10.831Z,1761347890.831 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:18:10.831Z,1761347890.831 [marl:UpdateRudder] Stopped
2025-10-24T23:18:10.831Z,1761347890.831 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:18:11.182Z,1761347891.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363057,-0.889349,-0.277934],[0.924981,-0.379940,0.007479],[-0.112250,-0.254368,0.960571]]
2025-10-24T23:18:11.596Z,1761347891.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361852,-0.889985,-0.277469],[0.925834,-0.377900,0.004724],[-0.109060,-0.255181,0.960723]]
2025-10-24T23:18:11.883Z,1761347891.883 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:18:11.990Z,1761347891.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360117,-0.890471,-0.278167],[0.926923,-0.375249,0.001250],[-0.105495,-0.257389,0.960532]]
2025-10-24T23:18:12.133Z,1761347892.133 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:18:12.133Z,1761347892.133 [DAT](INFO): #Outgoing data=37
2025-10-24T23:18:12.133Z,1761347892.133 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:18:12.385Z,1761347892.385 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:18:12.406Z,1761347892.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357953,-0.891385,-0.278034],[0.928212,-0.372045,-0.002234],[-0.101450,-0.258874,0.960569]]
2025-10-24T23:18:12.799Z,1761347892.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355442,-0.892376,-0.278075],[0.929641,-0.368417,-0.005993],[-0.097100,-0.260640,0.960541]]
2025-10-24T23:18:13.204Z,1761347893.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351938,-0.893929,-0.277544],[0.931404,-0.363873,-0.009079],[-0.092875,-0.261701,0.960670]]
2025-10-24T23:18:13.611Z,1761347893.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347997,-0.895564,-0.277243],[0.933298,-0.358898,-0.012150],[-0.088621,-0.262979,0.960723]]
2025-10-24T23:18:14.010Z,1761347894.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343871,-0.897349,-0.276616],[0.935218,-0.353753,-0.015020],[-0.084375,-0.263861,0.960863]]
2025-10-24T23:18:14.416Z,1761347894.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339750,-0.899246,-0.275548],[0.937040,-0.348805,-0.017048],[-0.080783,-0.263992,0.961136]]
2025-10-24T23:18:14.819Z,1761347894.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335634,-0.901244,-0.274059],[0.938745,-0.344146,-0.017935],[-0.078153,-0.263291,0.961546]]
2025-10-24T23:18:15.223Z,1761347895.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331698,-0.903156,-0.272554],[0.940253,-0.340025,-0.017554],[-0.076821,-0.262093,0.961980]]
2025-10-24T23:18:15.626Z,1761347895.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328102,-0.905152,-0.270276],[0.941509,-0.336629,-0.015578],[-0.076883,-0.259578,0.962657]]
2025-10-24T23:18:15.666Z,1761347895.666 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:18:14.9350

2025-10-24T23:18:15.666Z,1761347895.666 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:18:16.030Z,1761347896.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325507,-0.906614,-0.268506],[0.942292,-0.334551,-0.012716],[-0.078301,-0.257151,0.963194]]
2025-10-24T23:18:16.437Z,1761347896.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324628,-0.907436,-0.266790],[0.942399,-0.334358,-0.009447],[-0.080631,-0.254490,0.963708]]
2025-10-24T23:18:16.840Z,1761347896.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325656,-0.907299,-0.266002],[0.941783,-0.336160,-0.006390],[-0.083622,-0.252597,0.963951]]
2025-10-24T23:18:17.242Z,1761347897.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328327,-0.906591,-0.265131],[0.940564,-0.339597,-0.003536],[-0.086832,-0.250533,0.964206]]
2025-10-24T23:18:17.648Z,1761347897.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331714,-0.905441,-0.264845],[0.939083,-0.343687,-0.001204],[-0.089933,-0.249111,0.964290]]
2025-10-24T23:18:18.050Z,1761347898.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335101,-0.904228,-0.264726],[0.937627,-0.347642,0.000559],[-0.092535,-0.248027,0.964324]]
2025-10-24T23:18:18.456Z,1761347898.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338324,-0.902974,-0.264904],[0.936357,-0.351048,0.000739],[-0.093661,-0.247795,0.964275]]
2025-10-24T23:18:19.270Z,1761347899.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345358,-0.900424,-0.264509],[0.934370,-0.356229,-0.007317],[-0.087637,-0.249677,0.964355]]
2025-10-24T23:18:19.672Z,1761347899.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348944,-0.899230,-0.263863],[0.933665,-0.357821,-0.015288],[-0.080668,-0.251694,0.964439]]
2025-10-24T23:18:20.081Z,1761347900.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352757,-0.898242,-0.262151],[0.932973,-0.359069,-0.025108],[-0.071577,-0.253437,0.964700]]
2025-10-24T23:18:20.476Z,1761347900.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356737,-0.897289,-0.260020],[0.932221,-0.360042,-0.036522],[-0.060847,-0.255425,0.964912]]
2025-10-24T23:18:20.879Z,1761347900.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360813,-0.896304,-0.257787],[0.931353,-0.360783,-0.049161],[-0.048942,-0.257828,0.964950]]
2025-10-24T23:18:21.282Z,1761347901.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364594,-0.895430,-0.255493],[0.930454,-0.361067,-0.062343],[-0.036427,-0.260454,0.964799]]
2025-10-24T23:18:21.691Z,1761347901.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367350,-0.894743,-0.253947],[0.929764,-0.360424,-0.075062],[-0.024367,-0.263685,0.964301]]
2025-10-24T23:18:22.090Z,1761347902.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367872,-0.895314,-0.251164],[0.929776,-0.358135,-0.085185],[-0.013684,-0.264863,0.964189]]
2025-10-24T23:18:22.503Z,1761347902.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364837,-0.896836,-0.250160],[0.931056,-0.352976,-0.092429],[-0.005407,-0.266634,0.963783]]
2025-10-24T23:18:22.899Z,1761347902.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360077,-0.898882,-0.249711],[0.932922,-0.346565,-0.097723],[0.001300,-0.268148,0.963377]]
2025-10-24T23:18:23.303Z,1761347903.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355831,-0.900989,-0.248201],[0.934520,-0.340889,-0.102312],[0.007573,-0.268355,0.963290]]
2025-10-24T23:18:23.370Z,1761347903.370 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:18:23.370Z,1761347903.370 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:18:23.370Z,1761347903.370 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:18:23.370Z,1761347903.370 [marl:UpdateRudder:A] Stopped
2025-10-24T23:18:23.370Z,1761347903.370 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:18:23.370Z,1761347903.370 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:18:23.370Z,1761347903.370 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:18:23.371Z,1761347903.371 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:18:23.371Z,1761347903.371 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:18:23.371Z,1761347903.371 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:18:23.371Z,1761347903.371 [marl:UpdateCommandMode] Stopped
2025-10-24T23:18:23.371Z,1761347903.371 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:18:23.371Z,1761347903.371 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:18:23.371Z,1761347903.371 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:18:23.371Z,1761347903.371 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:18:23.376Z,1761347903.376 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:18:23.376Z,1761347903.376 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:18:23.376Z,1761347903.376 [marl:UpdateSpeed] Stopped
2025-10-24T23:18:23.376Z,1761347903.376 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:18:23.707Z,1761347903.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352581,-0.902769,-0.246362],[0.935687,-0.336365,-0.106531],[0.013305,-0.268079,0.963305]]
2025-10-24T23:18:23.755Z,1761347903.755 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:18:23.755Z,1761347903.755 [marl:UpdateRudder:B] Stopped
2025-10-24T23:18:23.756Z,1761347903.756 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:18:23.756Z,1761347903.756 [marl:UpdateRudder] Stopped
2025-10-24T23:18:23.756Z,1761347903.756 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:18:24.114Z,1761347904.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350062,-0.904534,-0.243463],[0.936550,-0.332930,-0.109686],[0.018158,-0.266412,0.963688]]
2025-10-24T23:18:24.516Z,1761347904.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347661,-0.906379,-0.240018],[0.937373,-0.330117,-0.111149],[0.021510,-0.263629,0.964384]]
2025-10-24T23:18:24.924Z,1761347904.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345068,-0.908291,-0.236508],[0.938293,-0.327624,-0.110763],[0.023119,-0.260135,0.965295]]
2025-10-24T23:18:25.726Z,1761347905.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340466,-0.911638,-0.230216],[0.939978,-0.324041,-0.106952],[0.022903,-0.252811,0.967245]]
2025-10-24T23:18:25.761Z,1761347905.761 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:18:26.013Z,1761347906.013 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:18:26.013Z,1761347906.013 [DAT](INFO): #Outgoing data=38
2025-10-24T23:18:26.013Z,1761347906.013 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:18:26.131Z,1761347906.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340142,-0.912344,-0.227885],[0.940114,-0.324216,-0.105207],[0.022101,-0.250023,0.967988]]
2025-10-24T23:18:26.266Z,1761347906.266 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:18:26.545Z,1761347906.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342638,-0.912106,-0.225079],[0.939201,-0.326859,-0.105191],[0.022376,-0.247437,0.968646]]
2025-10-24T23:18:26.943Z,1761347906.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346812,-0.911288,-0.221983],[0.937633,-0.330853,-0.106676],[0.023769,-0.245135,0.969198]]
2025-10-24T23:18:27.343Z,1761347907.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351723,-0.910083,-0.219179],[0.935748,-0.335357,-0.109141],[0.025824,-0.243484,0.969561]]
2025-10-24T23:18:27.746Z,1761347907.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356643,-0.908945,-0.215928],[0.933815,-0.339848,-0.111773],[0.028213,-0.241500,0.969991]]
2025-10-24T23:18:28.152Z,1761347908.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361846,-0.907336,-0.214029],[0.931699,-0.344173,-0.116112],[0.031690,-0.241426,0.969902]]
2025-10-24T23:18:28.562Z,1761347908.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367092,-0.905609,-0.212406],[0.929518,-0.348494,-0.120617],[0.035210,-0.241713,0.969709]]
2025-10-24T23:18:29.362Z,1761347909.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377313,-0.902051,-0.209618],[0.925058,-0.356449,-0.131193],[0.043624,-0.243410,0.968942]]
2025-10-24T23:18:29.546Z,1761347909.546 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:18:28.8349

2025-10-24T23:18:29.547Z,1761347909.547 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:18:29.768Z,1761347909.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382084,-0.900513,-0.207576],[0.922855,-0.360025,-0.136822],[0.048477,-0.243840,0.968603]]
2025-10-24T23:18:30.170Z,1761347910.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386424,-0.898794,-0.206990],[0.920764,-0.362896,-0.143179],[0.053572,-0.245916,0.967809]]
2025-10-24T23:18:30.574Z,1761347910.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389668,-0.897924,-0.204675],[0.919088,-0.365010,-0.148473],[0.058609,-0.245970,0.967504]]
2025-10-24T23:18:30.982Z,1761347910.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391606,-0.897845,-0.201295],[0.917926,-0.366060,-0.153012],[0.063695,-0.244694,0.967506]]
2025-10-24T23:18:31.384Z,1761347911.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391678,-0.898230,-0.199426],[0.917562,-0.365218,-0.157148],[0.068321,-0.244537,0.967230]]
2025-10-24T23:18:31.786Z,1761347911.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390621,-0.899054,-0.197780],[0.917663,-0.363295,-0.160967],[0.072865,-0.244372,0.966940]]
2025-10-24T23:18:32.190Z,1761347912.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388310,-0.900151,-0.197338],[0.918294,-0.360045,-0.164631],[0.077142,-0.245142,0.966413]]
2025-10-24T23:18:32.594Z,1761347912.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385314,-0.901300,-0.197967],[0.919220,-0.356047,-0.168124],[0.081044,-0.246756,0.965683]]
2025-10-24T23:18:32.596Z,1761347912.596 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:18:33.043Z,1761347913.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381659,-0.902919,-0.197668],[0.920435,-0.351726,-0.170551],[0.084469,-0.247033,0.965319]]
2025-10-24T23:18:33.411Z,1761347913.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377865,-0.904632,-0.197129],[0.921735,-0.347478,-0.172230],[0.087307,-0.246781,0.965131]]
2025-10-24T23:18:33.600Z,1761347913.600 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:18:33.806Z,1761347913.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373927,-0.906307,-0.196942],[0.923141,-0.343233,-0.173211],[0.089385,-0.246574,0.964993]]
2025-10-24T23:18:34.210Z,1761347914.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370224,-0.907791,-0.197103],[0.924530,-0.339419,-0.173318],[0.090436,-0.246394,0.964941]]
2025-10-24T23:18:34.615Z,1761347914.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366814,-0.908841,-0.198637],[0.925921,-0.335990,-0.172573],[0.090101,-0.247224,0.964760]]
2025-10-24T23:18:35.027Z,1761347915.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364335,-0.909520,-0.200084],[0.927008,-0.333670,-0.171234],[0.088979,-0.247866,0.964700]]
2025-10-24T23:18:35.423Z,1761347915.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363609,-0.909633,-0.200890],[0.927341,-0.332969,-0.170791],[0.088467,-0.248394,0.964611]]
2025-10-24T23:18:35.831Z,1761347915.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364986,-0.908725,-0.202495],[0.926895,-0.334238,-0.170735],[0.087470,-0.250008,0.964285]]
2025-10-24T23:18:36.233Z,1761347916.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368045,-0.907508,-0.202416],[0.925734,-0.337289,-0.171034],[0.086942,-0.250331,0.964249]]
2025-10-24T23:18:36.317Z,1761347916.317 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:18:36.318Z,1761347916.318 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:18:36.318Z,1761347916.318 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:18:36.318Z,1761347916.318 [marl:UpdateRudder:A] Stopped
2025-10-24T23:18:36.318Z,1761347916.318 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:18:36.318Z,1761347916.318 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:18:36.318Z,1761347916.318 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:18:36.319Z,1761347916.319 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:18:36.319Z,1761347916.319 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:18:36.319Z,1761347916.319 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:18:36.319Z,1761347916.319 [marl:UpdateCommandMode] Stopped
2025-10-24T23:18:36.319Z,1761347916.319 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:18:36.319Z,1761347916.319 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:18:36.319Z,1761347916.319 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:18:36.319Z,1761347916.319 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:18:36.320Z,1761347916.320 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:18:36.320Z,1761347916.320 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:18:36.320Z,1761347916.320 [marl:UpdateSpeed] Stopped
2025-10-24T23:18:36.320Z,1761347916.320 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:18:36.664Z,1761347916.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375761,-0.904215,-0.202974],[0.922681,-0.344624,-0.172898],[0.086388,-0.252248,0.963799]]
2025-10-24T23:18:36.724Z,1761347916.724 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:18:36.724Z,1761347916.724 [marl:UpdateRudder:B] Stopped
2025-10-24T23:18:36.724Z,1761347916.724 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:18:36.724Z,1761347916.724 [marl:UpdateRudder] Stopped
2025-10-24T23:18:36.724Z,1761347916.724 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:18:37.443Z,1761347917.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379625,-0.902937,-0.201469],[0.921092,-0.348542,-0.173517],[0.086454,-0.251443,0.964003]]
2025-10-24T23:18:37.862Z,1761347917.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383162,-0.901977,-0.199057],[0.919573,-0.352193,-0.174198],[0.087016,-0.249794,0.964381]]
2025-10-24T23:18:38.261Z,1761347918.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387782,-0.901158,-0.193753],[0.917451,-0.357069,-0.175459],[0.088933,-0.245798,0.965233]]
2025-10-24T23:18:39.070Z,1761347919.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386205,-0.902617,-0.190074],[0.917827,-0.355517,-0.176636],[0.091860,-0.242673,0.965749]]
2025-10-24T23:18:39.469Z,1761347919.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379851,-0.904185,-0.195354],[0.920219,-0.347796,-0.179542],[0.094396,-0.247968,0.964158]]
2025-10-24T23:18:39.653Z,1761347919.653 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:18:39.897Z,1761347919.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369067,-0.905519,-0.209343],[0.924235,-0.333863,-0.185273],[0.097876,-0.261861,0.960130]]
2025-10-24T23:18:39.909Z,1761347919.909 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:18:39.910Z,1761347919.910 [DAT](INFO): #Outgoing data=39
2025-10-24T23:18:39.910Z,1761347919.910 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:18:40.157Z,1761347920.157 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:18:40.391Z,1761347920.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354546,-0.906110,-0.230786],[0.929534,-0.314811,-0.191992],[0.101311,-0.282594,0.953875]]
2025-10-24T23:18:40.794Z,1761347920.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338112,-0.905807,-0.255331],[0.935289,-0.293300,-0.198016],[0.104476,-0.305760,0.946359]]
2025-10-24T23:18:41.214Z,1761347921.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321154,-0.904832,-0.279534],[0.940950,-0.271491,-0.202253],[0.107114,-0.327982,0.938592]]
2025-10-24T23:18:41.621Z,1761347921.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304863,-0.903099,-0.302442],[0.946079,-0.250651,-0.205203],[0.109511,-0.348693,0.930817]]
2025-10-24T23:18:42.023Z,1761347922.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288610,-0.901470,-0.322577],[0.950925,-0.230631,-0.206278],[0.111557,-0.366281,0.923793]]
2025-10-24T23:18:42.428Z,1761347922.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273289,-0.899899,-0.339846],[0.955163,-0.212030,-0.206655],[0.113911,-0.381085,0.917496]]
2025-10-24T23:18:42.832Z,1761347922.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258626,-0.899366,-0.352496],[0.958928,-0.195030,-0.205962],[0.116488,-0.391285,0.912867]]
2025-10-24T23:18:43.234Z,1761347923.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244513,-0.899593,-0.361863],[0.962271,-0.179183,-0.204761],[0.119362,-0.398278,0.909466]]
2025-10-24T23:18:43.434Z,1761347923.434 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:18:42.7348

2025-10-24T23:18:43.434Z,1761347923.434 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:18:43.639Z,1761347923.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231218,-0.900274,-0.368843],[0.965179,-0.164584,-0.203327],[0.122344,-0.403013,0.906980]]
2025-10-24T23:18:44.057Z,1761347924.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217719,-0.902340,-0.371996],[0.968034,-0.151010,-0.200265],[0.124532,-0.403706,0.906374]]
2025-10-24T23:18:44.458Z,1761347924.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204203,-0.904842,-0.373581],[0.970820,-0.138168,-0.196005],[0.125736,-0.402704,0.906653]]
2025-10-24T23:18:44.872Z,1761347924.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190692,-0.907787,-0.373578],[0.973515,-0.125990,-0.190776],[0.126117,-0.400063,0.907769]]
2025-10-24T23:18:45.266Z,1761347925.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177610,-0.910307,-0.373893],[0.975981,-0.114231,-0.185504],[0.126156,-0.397860,0.908731]]
2025-10-24T23:18:45.677Z,1761347925.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164588,-0.912807,-0.373757],[0.978300,-0.102720,-0.179937],[0.125855,-0.395261,0.909906]]
2025-10-24T23:18:46.503Z,1761347926.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138231,-0.916696,-0.374913],[0.982445,-0.079033,-0.168986],[0.125278,-0.391690,0.911528]]
2025-10-24T23:18:46.929Z,1761347926.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124590,-0.918790,-0.374569],[0.984344,-0.067021,-0.163018],[0.124676,-0.389016,0.912756]]
2025-10-24T23:18:47.338Z,1761347927.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109845,-0.919726,-0.376880],[0.986267,-0.053806,-0.156150],[0.123337,-0.388856,0.913005]]
2025-10-24T23:18:47.738Z,1761347927.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094079,-0.920638,-0.378913],[0.988101,-0.039830,-0.148557],[0.121675,-0.388381,0.913431]]
2025-10-24T23:18:48.149Z,1761347928.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077486,-0.921389,-0.380838],[0.989766,-0.025181,-0.140458],[0.119827,-0.387824,0.913912]]
2025-10-24T23:18:48.546Z,1761347928.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060314,-0.922133,-0.382144],[0.991175,-0.010052,-0.132180],[0.118046,-0.386743,0.914601]]
2025-10-24T23:18:49.357Z,1761347929.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023068,-0.923015,-0.384072],[0.993178,0.022765,-0.114361],[0.114301,-0.384090,0.916193]]
2025-10-24T23:18:49.381Z,1761347929.381 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:18:49.381Z,1761347929.381 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:18:49.381Z,1761347929.381 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:18:49.382Z,1761347929.382 [marl:UpdateRudder:A] Stopped
2025-10-24T23:18:49.382Z,1761347929.382 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:18:49.382Z,1761347929.382 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:18:49.382Z,1761347929.382 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:18:49.382Z,1761347929.382 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:18:49.382Z,1761347929.382 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:18:49.382Z,1761347929.382 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:18:49.382Z,1761347929.382 [marl:UpdateCommandMode] Stopped
2025-10-24T23:18:49.382Z,1761347929.382 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:18:49.383Z,1761347929.383 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:18:49.383Z,1761347929.383 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:18:49.383Z,1761347929.383 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:18:49.383Z,1761347929.383 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:18:49.383Z,1761347929.383 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:18:49.383Z,1761347929.383 [marl:UpdateSpeed] Stopped
2025-10-24T23:18:49.383Z,1761347929.383 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:18:49.769Z,1761347929.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003397,-0.922646,-0.385634],[0.993695,0.040102,-0.104700],[0.112065,-0.383559,0.916692]]
2025-10-24T23:18:49.796Z,1761347929.796 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:18:49.797Z,1761347929.797 [marl:UpdateRudder:B] Stopped
2025-10-24T23:18:49.797Z,1761347929.797 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:18:49.797Z,1761347929.797 [marl:UpdateRudder] Stopped
2025-10-24T23:18:49.797Z,1761347929.797 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:18:50.166Z,1761347930.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016836,-0.922008,-0.386806],[0.993825,0.057866,-0.094677],[0.109676,-0.382823,0.917288]]
2025-10-24T23:18:50.611Z,1761347930.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037425,-0.920969,-0.387835],[0.993598,0.075692,-0.083862],[0.106590,-0.382213,0.917906]]
2025-10-24T23:18:50.781Z,1761347930.781 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:18:50.781Z,1761347930.781 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:18:51.049Z,1761347931.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058223,-0.919941,-0.387710],[0.993030,0.093236,-0.072102],[0.102479,-0.380809,0.918957]]
2025-10-24T23:18:51.455Z,1761347931.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077908,-0.918741,-0.387098],[0.992135,0.109606,-0.060461],[0.097976,-0.379343,0.920054]]
2025-10-24T23:18:51.855Z,1761347931.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096953,-0.917196,-0.386459],[0.990956,0.125148,-0.048413],[0.092769,-0.378271,0.921035]]
2025-10-24T23:18:52.259Z,1761347932.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115034,-0.915353,-0.385871],[0.989498,0.139817,-0.036686],[0.087532,-0.377599,0.921823]]
2025-10-24T23:18:52.679Z,1761347932.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147461,-0.911361,-0.384286],[0.986075,0.165669,-0.014511],[0.076889,-0.376795,0.923100]]
2025-10-24T23:18:53.483Z,1761347933.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173404,-0.907398,-0.382833],[0.982528,0.186073,0.004002],[0.067604,-0.376838,0.923809]]
2025-10-24T23:18:53.513Z,1761347933.513 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-24T23:18:53.513Z,1761347933.513 [DAT](ERROR): Ack receipt timeout failure.
2025-10-24T23:18:53.765Z,1761347933.765 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:18:53.915Z,1761347933.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186333,-0.905158,-0.382058],[0.980444,0.196375,0.012928],[0.063325,-0.376996,0.924048]]
2025-10-24T23:18:54.017Z,1761347934.017 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:18:54.017Z,1761347934.017 [DAT](INFO): #Outgoing data=40
2025-10-24T23:18:54.017Z,1761347934.017 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:18:54.019Z,1761347934.019 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:18:54.273Z,1761347934.273 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:18:54.274Z,1761347934.274 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:18:54.296Z,1761347934.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199526,-0.902965,-0.380583],[0.978087,0.207091,0.021437],[0.059459,-0.376520,0.924498]]
2025-10-24T23:18:54.328Z,1761347934.328 [DAT](INFO): entering command mode
2025-10-24T23:18:54.521Z,1761347934.521 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:18:54.521Z,1761347934.521 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:18:54.696Z,1761347934.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212780,-0.900754,-0.378637],[0.975484,0.218105,0.029328],[0.056166,-0.375595,0.925080]]
2025-10-24T23:18:54.773Z,1761347934.773 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:18:54.773Z,1761347934.773 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:18:55.025Z,1761347935.025 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:18:55.025Z,1761347935.025 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:18:55.103Z,1761347935.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226636,-0.897980,-0.377184],[0.972522,0.229818,0.037214],[0.053267,-0.375253,0.925391]]
2025-10-24T23:18:55.277Z,1761347935.277 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:18:55.277Z,1761347935.277 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:18:55.490Z,1761347935.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241151,-0.895309,-0.374523],[0.969176,0.242227,0.044989],[0.050440,-0.373828,0.926126]]
2025-10-24T23:18:55.529Z,1761347935.529 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:18:55.529Z,1761347935.529 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:18:55.781Z,1761347935.781 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:18:55.781Z,1761347935.781 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:18:55.951Z,1761347935.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256447,-0.891289,-0.373950],[0.965374,0.255335,0.053457],[0.047837,-0.374711,0.925907]]
2025-10-24T23:18:56.033Z,1761347936.033 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:18:56.033Z,1761347936.033 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:18:56.285Z,1761347936.285 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:18:56.285Z,1761347936.285 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:18:56.305Z,1761347936.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273434,-0.887097,-0.371876],[0.960835,0.270004,0.062401],[0.045053,-0.374374,0.926183]]
2025-10-24T23:18:56.537Z,1761347936.537 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:18:56.537Z,1761347936.537 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:18:56.713Z,1761347936.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291184,-0.882394,-0.369585],[0.955749,0.285236,0.071996],[0.041890,-0.374194,0.926404]]
2025-10-24T23:18:56.790Z,1761347936.790 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:18:56.790Z,1761347936.790 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:18:57.041Z,1761347937.041 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:18:57.041Z,1761347937.041 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:18:57.110Z,1761347937.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309474,-0.876967,-0.367635],[0.950126,0.300848,0.082160],[0.038551,-0.374726,0.926334]]
2025-10-24T23:18:57.293Z,1761347937.293 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:18:57.293Z,1761347937.293 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:18:57.514Z,1761347937.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327540,-0.871604,-0.364724],[0.944185,0.316280,0.092091],[0.035088,-0.374530,0.926551]]
2025-10-24T23:18:57.545Z,1761347937.545 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:18:56.8847

2025-10-24T23:18:57.545Z,1761347937.545 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:18:57.546Z,1761347937.546 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:18:57.546Z,1761347937.546 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:18:57.799Z,1761347937.799 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:18:57.799Z,1761347937.799 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:18:57.951Z,1761347937.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345411,-0.865671,-0.362360],[0.937925,0.331383,0.102386],[0.031447,-0.375231,0.926398]]
2025-10-24T23:18:58.054Z,1761347938.054 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:18:58.054Z,1761347938.054 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:18:58.305Z,1761347938.305 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:18:58.305Z,1761347938.305 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:18:58.327Z,1761347938.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362904,-0.859751,-0.359344],[0.931427,0.345981,0.112873],[0.027284,-0.375665,0.926354]]
2025-10-24T23:18:58.557Z,1761347938.557 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:18:58.557Z,1761347938.557 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:18:58.809Z,1761347938.809 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:18:58.809Z,1761347938.809 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:18:59.061Z,1761347939.061 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:18:59.061Z,1761347939.061 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:18:59.130Z,1761347939.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395172,-0.847589,-0.354165],[0.918404,0.372642,0.132934],[0.019304,-0.377798,0.925687]]
2025-10-24T23:18:59.313Z,1761347939.313 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:18:59.313Z,1761347939.313 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:18:59.534Z,1761347939.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409415,-0.841844,-0.351679],[0.912211,0.384398,0.141803],[0.015809,-0.378862,0.925318]]
2025-10-24T23:18:59.566Z,1761347939.566 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:18:59.566Z,1761347939.566 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:18:59.817Z,1761347939.817 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:18:59.817Z,1761347939.817 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:18:59.962Z,1761347939.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422952,-0.836396,-0.348646],[0.906065,0.395682,0.149937],[0.012546,-0.379313,0.925184]]
2025-10-24T23:19:00.069Z,1761347940.069 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:00.069Z,1761347940.069 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:00.321Z,1761347940.321 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:00.321Z,1761347940.321 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:00.347Z,1761347940.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436437,-0.831114,-0.344634],[0.899685,0.407158,0.157446],[0.009465,-0.378778,0.925439]]
2025-10-24T23:19:00.573Z,1761347940.573 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:00.573Z,1761347940.573 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:00.750Z,1761347940.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449413,-0.825770,-0.340783],[0.893299,0.418287,0.164476],[0.006725,-0.378339,0.925643]]
2025-10-24T23:19:00.825Z,1761347940.825 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:00.826Z,1761347940.826 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:01.080Z,1761347941.080 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:01.081Z,1761347941.081 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:01.154Z,1761347941.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462635,-0.819882,-0.337288],[0.886538,0.429734,0.171404],[0.004413,-0.378316,0.925666]]
2025-10-24T23:19:01.329Z,1761347941.329 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:01.329Z,1761347941.329 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:01.560Z,1761347941.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476677,-0.812970,-0.334453],[0.879076,0.441679,0.179290],[0.001963,-0.379473,0.925201]]
2025-10-24T23:19:01.581Z,1761347941.581 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:01.581Z,1761347941.581 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:01.833Z,1761347941.833 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:01.833Z,1761347941.833 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:01.962Z,1761347941.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490345,-0.806299,-0.330823],[0.871528,0.453508,0.186464],[-0.000315,-0.379754,0.925088]]
2025-10-24T23:19:02.085Z,1761347942.085 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:02.085Z,1761347942.085 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:02.337Z,1761347942.337 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:02.337Z,1761347942.337 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:02.367Z,1761347942.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504410,-0.799360,-0.326488],[0.863460,0.465706,0.193792],[-0.002862,-0.379659,0.925122]]
2025-10-24T23:19:02.410Z,1761347942.410 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:19:02.410Z,1761347942.410 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:19:02.411Z,1761347942.411 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:19:02.411Z,1761347942.411 [marl:UpdateRudder:A] Stopped
2025-10-24T23:19:02.411Z,1761347942.411 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:19:02.411Z,1761347942.411 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:19:02.411Z,1761347942.411 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:19:02.411Z,1761347942.411 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:19:02.412Z,1761347942.412 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:19:02.412Z,1761347942.412 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:19:02.413Z,1761347942.413 [marl:UpdateCommandMode] Stopped
2025-10-24T23:19:02.413Z,1761347942.413 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:19:02.413Z,1761347942.413 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:19:02.413Z,1761347942.413 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:19:02.413Z,1761347942.413 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:19:02.414Z,1761347942.414 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:19:02.414Z,1761347942.414 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:19:02.414Z,1761347942.414 [marl:UpdateSpeed] Stopped
2025-10-24T23:19:02.414Z,1761347942.414 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:19:02.589Z,1761347942.589 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:02.589Z,1761347942.589 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:02.770Z,1761347942.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518471,-0.792626,-0.320830],[0.855076,0.478083,0.200701],[-0.005697,-0.378391,0.925628]]
2025-10-24T23:19:02.821Z,1761347942.821 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:19:02.821Z,1761347942.821 [marl:UpdateRudder:B] Stopped
2025-10-24T23:19:02.821Z,1761347942.821 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:19:02.821Z,1761347942.821 [marl:UpdateRudder] Stopped
2025-10-24T23:19:02.822Z,1761347942.822 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:19:02.841Z,1761347942.841 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:02.841Z,1761347942.841 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:03.093Z,1761347943.093 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:03.093Z,1761347943.093 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:03.175Z,1761347943.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532841,-0.784963,-0.316091],[0.846172,0.490467,0.208411],[-0.008562,-0.378517,0.925555]]
2025-10-24T23:19:03.345Z,1761347943.345 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:03.345Z,1761347943.345 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:03.580Z,1761347943.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547257,-0.776837,-0.311504],[0.836885,0.502763,0.216454],[-0.011537,-0.379149,0.925264]]
2025-10-24T23:19:03.597Z,1761347943.597 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:03.597Z,1761347943.597 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:03.726Z,1761347943.726 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:19:03.849Z,1761347943.849 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:03.849Z,1761347943.849 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:03.982Z,1761347943.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561831,-0.768299,-0.306695],[0.827126,0.515254,0.224443],[-0.014414,-0.379775,0.924967]]
2025-10-24T23:19:04.101Z,1761347944.101 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:04.101Z,1761347944.101 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:04.353Z,1761347944.353 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:04.353Z,1761347944.353 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:04.386Z,1761347944.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576554,-0.758990,-0.302522],[0.816886,0.527847,0.232538],[-0.016809,-0.381197,0.924341]]
2025-10-24T23:19:04.605Z,1761347944.605 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:04.605Z,1761347944.605 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:04.728Z,1761347944.728 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:19:04.796Z,1761347944.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590993,-0.749682,-0.297832],[0.806450,0.540329,0.240172],[-0.019125,-0.382127,0.923912]]
2025-10-24T23:19:04.857Z,1761347944.857 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:04.857Z,1761347944.857 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:05.109Z,1761347945.109 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:05.109Z,1761347945.109 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:05.194Z,1761347945.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605228,-0.740092,-0.293195],[0.795768,0.552634,0.247687],[-0.021281,-0.383222,0.923411]]
2025-10-24T23:19:05.361Z,1761347945.361 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:05.362Z,1761347945.362 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:05.599Z,1761347945.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619829,-0.729866,-0.288283],[0.784396,0.565415,0.255008],[-0.023123,-0.384190,0.922965]]
2025-10-24T23:19:05.613Z,1761347945.613 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:05.613Z,1761347945.613 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:05.865Z,1761347945.865 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:05.866Z,1761347945.866 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:06.116Z,1761347946.116 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:06.117Z,1761347946.117 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:06.369Z,1761347946.369 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:06.369Z,1761347946.369 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:06.419Z,1761347946.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649433,-0.708149,-0.277059],[0.759923,0.591244,0.270086],[-0.027452,-0.385946,0.922113]]
2025-10-24T23:19:06.621Z,1761347946.621 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:06.621Z,1761347946.621 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:06.810Z,1761347946.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663975,-0.696932,-0.270967],[0.747151,0.603780,0.277877],[-0.030057,-0.386956,0.921608]]
2025-10-24T23:19:06.873Z,1761347946.873 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:06.873Z,1761347946.873 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:07.125Z,1761347947.125 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:07.125Z,1761347947.125 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:07.214Z,1761347947.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678282,-0.685497,-0.264628],[0.734066,0.616019,0.285776],[-0.032883,-0.388091,0.921034]]
2025-10-24T23:19:07.377Z,1761347947.377 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:07.377Z,1761347947.377 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:07.619Z,1761347947.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691600,-0.674695,-0.257829],[0.721385,0.627463,0.293077],[-0.035960,-0.388686,0.920668]]
2025-10-24T23:19:07.629Z,1761347947.629 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:19:07.629Z,1761347947.629 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:07.629Z,1761347947.629 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:07.889Z,1761347947.889 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:19:07.890Z,1761347947.890 [DAT](INFO): #Outgoing data=40
2025-10-24T23:19:07.891Z,1761347947.891 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:19:07.892Z,1761347947.892 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:07.892Z,1761347947.892 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:19:08.024Z,1761347948.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704392,-0.663861,-0.251236],[0.708742,0.638381,0.300257],[-0.038945,-0.389560,0.920177]]
2025-10-24T23:19:08.082Z,1761347948.082 [marl:SendObservationData] Running Loop=1
2025-10-24T23:19:08.082Z,1761347948.082 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:19:08.082Z,1761347948.082 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:19:08.083Z,1761347948.083 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:19:08.085Z,1761347948.085 [marl:SendObservationData:A](INFO): Got test_good :  41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:19:08.085Z,1761347948.085 [marl:SendObservationData:A] Stopped
2025-10-24T23:19:08.085Z,1761347948.085 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:19:08.133Z,1761347948.133 [DAT](INFO): entering online mode
2025-10-24T23:19:08.384Z,1761347948.384 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:08.435Z,1761347948.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715775,-0.654412,-0.243744],[0.697087,0.648741,0.305294],[-0.041662,-0.388433,0.920535]]
2025-10-24T23:19:08.496Z,1761347948.496 [marl:SendObservationData:B] Stopped
2025-10-24T23:19:08.496Z,1761347948.496 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:19:08.638Z,1761347948.638 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:08.830Z,1761347948.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726001,-0.645451,-0.237311],[0.686296,0.658030,0.309828],[-0.043820,-0.387801,0.920701]]
2025-10-24T23:19:08.880Z,1761347948.880 [marl:SendObservationData:C] Stopped
2025-10-24T23:19:08.880Z,1761347948.880 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:19:08.890Z,1761347948.890 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:09.140Z,1761347949.140 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:09.234Z,1761347949.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735732,-0.636528,-0.231368],[0.675727,0.666821,0.314234],[-0.045737,-0.387534,0.920720]]
2025-10-24T23:19:09.291Z,1761347949.291 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.013615 min 
2025-10-24T23:19:09.291Z,1761347949.291 [marl:SendObservationData:E] Stopped
2025-10-24T23:19:09.291Z,1761347949.291 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:19:09.292Z,1761347949.292 [marl:SendObservationData] Stopped
2025-10-24T23:19:09.292Z,1761347949.292 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:19:09.292Z,1761347949.292 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:19:09.393Z,1761347949.393 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:09.639Z,1761347949.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744872,-0.627864,-0.225725],[0.665560,0.675463,0.317458],[-0.046852,-0.386700,0.921015]]
2025-10-24T23:19:09.645Z,1761347949.645 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:09.899Z,1761347949.899 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:10.043Z,1761347950.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754070,-0.619196,-0.219033],[0.655055,0.684766,0.319371],[-0.047767,-0.384307,0.921969]]
2025-10-24T23:19:10.149Z,1761347950.149 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:10.401Z,1761347950.401 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:10.446Z,1761347950.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763047,-0.610211,-0.213076],[0.644515,0.693577,0.321795],[-0.048578,-0.382875,0.922522]]
2025-10-24T23:19:10.653Z,1761347950.653 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:10.855Z,1761347950.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772433,-0.600114,-0.207873],[0.633206,0.702476,0.324926],[-0.048967,-0.382610,0.922611]]
2025-10-24T23:19:10.905Z,1761347950.905 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:11.156Z,1761347951.156 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:11.256Z,1761347951.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782113,-0.589375,-0.202329],[0.621149,0.711463,0.328626],[-0.049734,-0.382699,0.922534]]
2025-10-24T23:19:11.411Z,1761347951.411 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:19:10.6846

2025-10-24T23:19:11.411Z,1761347951.411 [DAT](DEBUG): Re-entering command mode due to unexpected online mode.
2025-10-24T23:19:11.412Z,1761347951.412 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:11.662Z,1761347951.662 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:11.675Z,1761347951.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792124,-0.577964,-0.196207],[0.608241,0.720717,0.332580],[-0.050810,-0.382785,0.922439]]
2025-10-24T23:19:11.916Z,1761347951.916 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:12.165Z,1761347952.165 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:12.416Z,1761347952.416 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:12.467Z,1761347952.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811087,-0.555812,-0.182239],[0.582468,0.738947,0.338656],[-0.053564,-0.380828,0.923093]]
2025-10-24T23:19:12.669Z,1761347952.669 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:12.877Z,1761347952.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819666,-0.545403,-0.175165],[0.570163,0.747224,0.341423],[-0.055326,-0.379726,0.923443]]
2025-10-24T23:19:12.920Z,1761347952.920 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:13.174Z,1761347953.174 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:13.274Z,1761347953.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827844,-0.535089,-0.168388],[0.558040,0.754982,0.344373],[-0.057140,-0.379054,0.923609]]
2025-10-24T23:19:13.424Z,1761347953.424 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:13.678Z,1761347953.678 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:13.710Z,1761347953.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835893,-0.524231,-0.162679],[0.545770,0.762229,0.348055],[-0.058462,-0.379722,0.923252]]
2025-10-24T23:19:13.933Z,1761347953.933 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:14.181Z,1761347954.181 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:14.432Z,1761347954.432 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:14.489Z,1761347954.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852090,-0.501001,-0.151458],[0.519776,0.776024,0.357240],[-0.061443,-0.383125,0.921651]]
2025-10-24T23:19:14.685Z,1761347954.685 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:14.903Z,1761347954.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860342,-0.488640,-0.145062],[0.505830,0.783394,0.361150],[-0.062832,-0.384089,0.921156]]
2025-10-24T23:19:14.937Z,1761347954.937 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:15.188Z,1761347955.188 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:15.295Z,1761347955.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868862,-0.475236,-0.138672],[0.490918,0.790975,0.365181],[-0.063861,-0.385369,0.920550]]
2025-10-24T23:19:15.343Z,1761347955.343 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:19:15.343Z,1761347955.343 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:19:15.343Z,1761347955.343 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:19:15.343Z,1761347955.343 [marl:UpdateRudder:A] Stopped
2025-10-24T23:19:15.343Z,1761347955.343 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:19:15.343Z,1761347955.343 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:19:15.343Z,1761347955.343 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:19:15.343Z,1761347955.343 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:19:15.344Z,1761347955.344 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:19:15.344Z,1761347955.344 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:19:15.344Z,1761347955.344 [marl:UpdateCommandMode] Stopped
2025-10-24T23:19:15.344Z,1761347955.344 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:19:15.344Z,1761347955.344 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:19:15.345Z,1761347955.345 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:19:15.345Z,1761347955.345 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:19:15.345Z,1761347955.345 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:19:15.345Z,1761347955.345 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:19:15.345Z,1761347955.345 [marl:UpdateSpeed] Stopped
2025-10-24T23:19:15.345Z,1761347955.345 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:19:15.440Z,1761347955.440 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:15.693Z,1761347955.693 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:15.700Z,1761347955.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877554,-0.461040,-0.131685],[0.475087,0.799001,0.368632],[-0.064738,-0.386056,0.920201]]
2025-10-24T23:19:15.744Z,1761347955.744 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:19:15.744Z,1761347955.744 [marl:UpdateRudder:B] Stopped
2025-10-24T23:19:15.745Z,1761347955.745 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:19:15.745Z,1761347955.745 [marl:UpdateRudder] Stopped
2025-10-24T23:19:15.745Z,1761347955.745 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:19:15.944Z,1761347955.944 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:16.197Z,1761347956.197 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:16.448Z,1761347956.448 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:16.508Z,1761347956.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894006,-0.432457,-0.117191],[0.443072,0.814390,0.374776],[-0.066635,-0.386976,0.919679]]
2025-10-24T23:19:16.701Z,1761347956.701 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:16.911Z,1761347956.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901878,-0.417945,-0.109264],[0.426692,0.822355,0.376386],[-0.067455,-0.386076,0.919997]]
2025-10-24T23:19:16.953Z,1761347956.953 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:17.204Z,1761347957.204 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:17.314Z,1761347957.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908998,-0.404146,-0.101926],[0.411162,0.829386,0.378239],[-0.068328,-0.385726,0.920080]]
2025-10-24T23:19:17.456Z,1761347957.456 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:17.709Z,1761347957.709 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:17.719Z,1761347957.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915771,-0.390542,-0.094023],[0.395714,0.836807,0.378370],[-0.069090,-0.383707,0.920867]]
2025-10-24T23:19:17.961Z,1761347957.961 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:18.124Z,1761347958.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921405,-0.378702,-0.087168],[0.382248,0.842833,0.378840],[-0.069999,-0.382385,0.921348]]
2025-10-24T23:19:18.213Z,1761347958.213 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:18.464Z,1761347958.464 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:18.527Z,1761347958.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926765,-0.366939,-0.080394],[0.368914,0.848750,0.378849],[-0.070780,-0.380762,0.921960]]
2025-10-24T23:19:18.717Z,1761347958.717 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:18.930Z,1761347958.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932173,-0.354465,-0.073538],[0.354912,0.854801,0.378619],[-0.071347,-0.379038,0.922627]]
2025-10-24T23:19:18.968Z,1761347958.968 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:19.221Z,1761347959.221 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:19.335Z,1761347959.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937395,-0.341751,-0.067059],[0.340740,0.860156,0.379510],[-0.072017,-0.378601,0.922754]]
2025-10-24T23:19:19.473Z,1761347959.473 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:19.724Z,1761347959.724 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:19.977Z,1761347959.977 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:20.142Z,1761347960.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948140,-0.313332,-0.053410],[0.309315,0.870876,0.381966],[-0.073168,-0.378678,0.922632]]
2025-10-24T23:19:20.229Z,1761347960.229 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:20.480Z,1761347960.480 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:20.546Z,1761347960.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953478,-0.297889,-0.046282],[0.292254,0.875739,0.384276],[-0.073940,-0.379925,0.922057]]
2025-10-24T23:19:20.733Z,1761347960.733 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:20.952Z,1761347960.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958562,-0.282247,-0.038670],[0.274920,0.880890,0.385295],[-0.074684,-0.379961,0.921983]]
2025-10-24T23:19:21.003Z,1761347961.003 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:21.236Z,1761347961.236 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:21.361Z,1761347961.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963706,-0.265138,-0.031185],[0.256072,0.885025,0.388791],[-0.075484,-0.382666,0.920798]]
2025-10-24T23:19:21.488Z,1761347961.488 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:21.740Z,1761347961.740 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:21.758Z,1761347961.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968639,-0.247437,-0.022650],[0.236388,0.889613,0.390781],[-0.076545,-0.383880,0.920205]]
2025-10-24T23:19:21.992Z,1761347961.992 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:22.163Z,1761347962.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973175,-0.229643,-0.013949],[0.216565,0.893918,0.392442],[-0.077652,-0.384935,0.919671]]
2025-10-24T23:19:22.246Z,1761347962.246 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:22.498Z,1761347962.498 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:22.566Z,1761347962.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977151,-0.212498,-0.004592],[0.197196,0.898300,0.392646],[-0.079311,-0.384579,0.919678]]
2025-10-24T23:19:22.749Z,1761347962.749 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:22.971Z,1761347962.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980601,-0.195955,0.004862],[0.178392,0.902443,0.392139],[-0.081229,-0.383664,0.919893]]
2025-10-24T23:19:23.001Z,1761347963.001 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:23.252Z,1761347963.252 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:19:23.253Z,1761347963.253 [DAT](FAULT): failed to enter online mode
2025-10-24T23:19:23.253Z,1761347963.253 [DAT](FAULT): Failure returning to online mode
2025-10-24T23:19:23.253Z,1761347963.253 [DAT] Communications Fault, FailCount= 1
2025-10-24T23:19:23.253Z,1761347963.253 [DAT](ERROR): Communications Fault
2025-10-24T23:19:23.253Z,1761347963.253 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:23.308Z,1761347963.308 [DAT](INFO): entering command mode
2025-10-24T23:19:23.384Z,1761347963.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983437,-0.180743,0.013544],[0.161144,0.906107,0.391155],[-0.082971,-0.382493,0.920225]]
2025-10-24T23:19:23.664Z,1761347963.664 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:19:23.712Z,1761347963.712 [DAT](INFO): Powering down
2025-10-24T23:19:23.778Z,1761347963.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985852,-0.166208,0.021689],[0.144670,0.909079,0.390699],[-0.084654,-0.382034,0.920263]]
2025-10-24T23:19:24.182Z,1761347964.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987789,-0.152999,0.029403],[0.129696,0.912085,0.388947],[-0.086326,-0.380384,0.920791]]
2025-10-24T23:19:24.589Z,1761347964.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989340,-0.141125,0.035913],[0.116373,0.914455,0.387595],[-0.087540,-0.379284,0.921130]]
2025-10-24T23:19:24.827Z,1761347964.827 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:19:24.827Z,1761347964.827 [DAT] No Fault, FailCount= 1
2025-10-24T23:19:24.990Z,1761347964.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990635,-0.129931,0.041957],[0.103764,0.916155,0.387159],[-0.088743,-0.379180,0.921058]]
2025-10-24T23:19:25.395Z,1761347965.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991750,-0.119003,0.047651],[0.091601,0.917943,0.385991],[-0.089675,-0.378442,0.921271]]
2025-10-24T23:19:25.799Z,1761347965.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992769,-0.107680,0.053055],[0.079013,0.918900,0.386497],[-0.090370,-0.379511,0.920763]]
2025-10-24T23:19:26.203Z,1761347966.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993685,-0.095597,0.058752],[0.065697,0.920142,0.386035],[-0.090964,-0.379737,0.920611]]
2025-10-24T23:19:26.606Z,1761347966.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994503,-0.082166,0.064903],[0.050886,0.920992,0.386243],[-0.091512,-0.380817,0.920111]]
2025-10-24T23:19:26.756Z,1761347966.756 [DAT](INFO): Powering up
2025-10-24T23:19:26.756Z,1761347966.756 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:19:27.011Z,1761347967.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995191,-0.066655,0.071771],[0.033915,0.921906,0.385927],[-0.091890,-0.381637,0.919733]]
2025-10-24T23:19:27.415Z,1761347967.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995609,-0.050256,0.078981],[0.016225,0.923551,0.383132],[-0.092198,-0.380168,0.920311]]
2025-10-24T23:19:27.821Z,1761347967.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995715,-0.033477,0.086201],[-0.001909,0.924531,0.381101],[-0.092454,-0.379633,0.920506]]
2025-10-24T23:19:28.222Z,1761347968.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995476,-0.016184,0.093622],[-0.020312,0.926354,0.376106],[-0.092813,-0.376306,0.921835]]
2025-10-24T23:19:28.272Z,1761347968.272 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:19:28.272Z,1761347968.272 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:19:28.272Z,1761347968.272 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:19:28.273Z,1761347968.273 [marl:UpdateRudder:A] Stopped
2025-10-24T23:19:28.273Z,1761347968.273 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:19:28.273Z,1761347968.273 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:19:28.273Z,1761347968.273 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:19:28.273Z,1761347968.273 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:19:28.273Z,1761347968.273 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:19:28.273Z,1761347968.273 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:19:28.273Z,1761347968.273 [marl:UpdateCommandMode] Stopped
2025-10-24T23:19:28.273Z,1761347968.273 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:19:28.274Z,1761347968.274 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:19:28.274Z,1761347968.274 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:19:28.274Z,1761347968.274 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:19:28.274Z,1761347968.274 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:19:28.274Z,1761347968.274 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:19:28.274Z,1761347968.274 [marl:UpdateSpeed] Stopped
2025-10-24T23:19:28.274Z,1761347968.274 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:19:28.627Z,1761347968.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994927,0.000807,0.100600],[-0.038319,0.927632,0.371525],[-0.093020,-0.373495,0.922957]]
2025-10-24T23:19:28.661Z,1761347968.661 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:19:28.661Z,1761347968.661 [marl:UpdateRudder:B] Stopped
2025-10-24T23:19:28.661Z,1761347968.661 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:19:28.661Z,1761347968.661 [marl:UpdateRudder] Stopped
2025-10-24T23:19:28.661Z,1761347968.661 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:19:29.038Z,1761347969.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994016,0.018096,0.107727],[-0.056681,0.928477,0.367038],[-0.093380,-0.370948,0.923947]]
2025-10-24T23:19:29.434Z,1761347969.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992840,0.034577,0.114338],[-0.074167,0.928773,0.363152],[-0.093638,-0.369032,0.924688]]
2025-10-24T23:19:29.848Z,1761347969.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991359,0.050456,0.121087],[-0.091256,0.928369,0.360284],[-0.094235,-0.368220,0.924951]]
2025-10-24T23:19:30.306Z,1761347970.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989619,0.066330,0.127497],[-0.108207,0.927719,0.357251],[-0.094585,-0.367339,0.925265]]
2025-10-24T23:19:31.474Z,1761347971.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982633,0.112974,0.147206],[-0.158633,0.923018,0.350534],[-0.096273,-0.367798,0.924909]]
2025-10-24T23:19:31.887Z,1761347971.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979881,0.127926,0.153191],[-0.174662,0.921054,0.348069],[-0.096570,-0.367823,0.924868]]
2025-10-24T23:19:32.279Z,1761347972.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977177,0.141485,0.158451],[-0.189069,0.919321,0.345112],[-0.096839,-0.367193,0.925090]]
2025-10-24T23:19:32.687Z,1761347972.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974363,0.154572,0.163474],[-0.202965,0.917409,0.342295],[-0.097064,-0.366699,0.925262]]
2025-10-24T23:19:33.087Z,1761347973.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971491,0.166879,0.168394],[-0.216126,0.915344,0.339756],[-0.097440,-0.366464,0.925316]]
2025-10-24T23:19:33.494Z,1761347973.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968411,0.179174,0.173429],[-0.229407,0.912764,0.337985],[-0.097741,-0.367094,0.925035]]
2025-10-24T23:19:33.940Z,1761347973.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960967,0.205491,0.185247],[-0.258609,0.905098,0.337520],[-0.098309,-0.372252,0.922910]]
2025-10-24T23:19:34.702Z,1761347974.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956390,0.219911,0.192245],[-0.274780,0.900591,0.336796],[-0.099069,-0.374934,0.921743]]
2025-10-24T23:19:34.849Z,1761347974.849 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:19:35.106Z,1761347975.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951152,0.235722,0.199363],[-0.292118,0.896113,0.334138],[-0.099888,-0.376053,0.921198]]
2025-10-24T23:19:35.519Z,1761347975.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945394,0.252165,0.206501],[-0.310040,0.891182,0.331164],[-0.100522,-0.377104,0.920700]]
2025-10-24T23:19:35.853Z,1761347975.853 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:19:35.946Z,1761347975.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933629,0.283747,0.218691],[-0.343334,0.882983,0.320098],[-0.102273,-0.373936,0.921798]]
2025-10-24T23:19:36.339Z,1761347976.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928083,0.297371,0.224124],[-0.357772,0.878978,0.315271],[-0.103248,-0.372783,0.922156]]
2025-10-24T23:19:37.170Z,1761347977.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917400,0.322748,0.232832],[-0.384037,0.871395,0.305264],[-0.104365,-0.369465,0.923365]]
2025-10-24T23:19:37.590Z,1761347977.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911996,0.334553,0.237355],[-0.396595,0.866929,0.301905],[-0.104766,-0.369470,0.923318]]
2025-10-24T23:19:37.983Z,1761347977.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906128,0.346338,0.242861],[-0.409721,0.861352,0.300337],[-0.105170,-0.371649,0.922397]]
2025-10-24T23:19:38.386Z,1761347978.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899174,0.359606,0.249338],[-0.424716,0.854388,0.299396],[-0.105367,-0.375107,0.920974]]
2025-10-24T23:19:38.853Z,1761347978.853 [DAT](INFO): DAT read: 

2025-10-24T23:19:38.854Z,1761347978.854 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:19:39.195Z,1761347979.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882849,0.390259,0.261297],[-0.457729,0.839561,0.292613],[-0.105180,-0.377936,0.919838]]
2025-10-24T23:19:39.599Z,1761347979.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873896,0.406245,0.266966],[-0.474597,0.831845,0.287736],[-0.105183,-0.378153,0.919748]]
2025-10-24T23:19:40.002Z,1761347980.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864408,0.422753,0.272175],[-0.491654,0.824012,0.281568],[-0.105241,-0.377206,0.920131]]
2025-10-24T23:19:40.406Z,1761347980.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854731,0.438974,0.277014],[-0.508282,0.816055,0.275141],[-0.105279,-0.375973,0.920631]]
2025-10-24T23:19:40.618Z,1761347980.618 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:19:40.619Z,1761347980.619 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:19:40.620Z,1761347980.620 [DAT](INFO): DAT read: Oct 24 2025 23:19:34 

2025-10-24T23:19:40.819Z,1761347980.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844365,0.456051,0.281185],[-0.525307,0.807904,0.267103],[-0.105358,-0.373241,0.921733]]
2025-10-24T23:19:41.217Z,1761347981.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834478,0.471796,0.284701],[-0.540856,0.800141,0.259323],[-0.105454,-0.370382,0.922874]]
2025-10-24T23:19:41.245Z,1761347981.245 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:19:41.246Z,1761347981.246 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:19:41.246Z,1761347981.246 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:19:41.246Z,1761347981.246 [marl:UpdateRudder:A] Stopped
2025-10-24T23:19:41.246Z,1761347981.246 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:19:41.246Z,1761347981.246 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:19:41.246Z,1761347981.246 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:19:41.246Z,1761347981.246 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:19:41.247Z,1761347981.247 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:19:41.247Z,1761347981.247 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:19:41.247Z,1761347981.247 [marl:UpdateCommandMode] Stopped
2025-10-24T23:19:41.247Z,1761347981.247 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:19:41.247Z,1761347981.247 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:19:41.247Z,1761347981.247 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:19:41.247Z,1761347981.247 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:19:41.247Z,1761347981.247 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:19:41.248Z,1761347981.248 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:19:41.248Z,1761347981.248 [marl:UpdateSpeed] Stopped
2025-10-24T23:19:41.248Z,1761347981.248 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:19:41.619Z,1761347981.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824030,0.487702,0.288308],[-0.556567,0.791951,0.251091],[-0.105868,-0.367369,0.924030]]
2025-10-24T23:19:41.625Z,1761347981.625 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:19:41.626Z,1761347981.626 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:19:41.626Z,1761347981.626 [DAT](INFO): commRate: 600
2025-10-24T23:19:41.707Z,1761347981.707 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:19:41.707Z,1761347981.707 [marl:UpdateRudder:B] Stopped
2025-10-24T23:19:41.707Z,1761347981.707 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:19:41.707Z,1761347981.707 [marl:UpdateRudder] Stopped
2025-10-24T23:19:41.707Z,1761347981.707 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:19:42.022Z,1761347982.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813150,0.502917,0.293021],[-0.572195,0.782959,0.244065],[-0.106679,-0.366127,0.924430]]
2025-10-24T23:19:42.536Z,1761347982.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802228,0.518171,0.296528],[-0.587281,0.774259,0.235847],[-0.107381,-0.363349,0.925444]]
2025-10-24T23:19:42.923Z,1761347982.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791801,0.532521,0.299119],[-0.601184,0.765968,0.227751],[-0.107833,-0.360160,0.926637]]
2025-10-24T23:19:43.331Z,1761347983.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782461,0.545159,0.300925],[-0.613280,0.758402,0.220712],[-0.107899,-0.357250,0.927755]]
2025-10-24T23:19:43.693Z,1761347983.693 [DAT](INFO): entering command mode
2025-10-24T23:19:43.746Z,1761347983.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774812,0.555203,0.302350],[-0.623016,0.751766,0.216100],[-0.107317,-0.355806,0.928378]]
2025-10-24T23:19:43.895Z,1761347983.895 [DAT](INFO): DAT read: 

2025-10-24T23:19:43.897Z,1761347983.897 [DAT](INFO): DAT read: user:1>

2025-10-24T23:19:43.898Z,1761347983.898 [DAT](INFO): setting verbose to 3
2025-10-24T23:19:44.141Z,1761347984.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767858,0.564187,0.303457],[-0.631833,0.745157,0.213376],[-0.105740,-0.355577,0.928647]]
2025-10-24T23:19:44.144Z,1761347984.144 [DAT](INFO): DAT read: user:1>

2025-10-24T23:19:44.145Z,1761347984.145 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:19:44.146Z,1761347984.146 [DAT](INFO): set verbose to 3
2025-10-24T23:19:44.146Z,1761347984.146 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:19:44.397Z,1761347984.397 [DAT](INFO): DAT read: user:2>

2025-10-24T23:19:44.398Z,1761347984.398 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:19:44.398Z,1761347984.398 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:19:44.398Z,1761347984.398 [DAT](INFO): setting transmit power to 8
2025-10-24T23:19:44.539Z,1761347984.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760999,0.572338,0.305467],[-0.640469,0.737797,0.213202],[-0.103349,-0.357889,0.928027]]
2025-10-24T23:19:44.649Z,1761347984.649 [DAT](INFO): DAT read: user:3>

2025-10-24T23:19:44.650Z,1761347984.650 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:19:44.651Z,1761347984.651 [DAT](INFO): set transmit power to 8
2025-10-24T23:19:44.651Z,1761347984.651 [DAT](INFO): setting local address to 11
2025-10-24T23:19:44.901Z,1761347984.901 [DAT](INFO): DAT read: user:4>

2025-10-24T23:19:44.901Z,1761347984.901 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:19:44.902Z,1761347984.902 [DAT](INFO): set local address to 11
2025-10-24T23:19:44.903Z,1761347984.903 [DAT](INFO): Setting time to: 23:19:44 And date to:10/24/2025
2025-10-24T23:19:44.967Z,1761347984.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753945,0.579709,0.309037],[-0.649170,0.729572,0.215181],[-0.100722,-0.362852,0.926387]]
2025-10-24T23:19:45.153Z,1761347985.153 [DAT](INFO): DAT read: user:5>

2025-10-24T23:19:45.154Z,1761347985.154 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:19:44  

2025-10-24T23:19:45.154Z,1761347985.154 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:19:44  

2025-10-24T23:19:45.155Z,1761347985.155 [DAT](INFO): setting remote address to 10
2025-10-24T23:19:45.157Z,1761347985.157 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:45.158Z,1761347985.158 [DAT](INFO): setting remote address to 0
2025-10-24T23:19:45.355Z,1761347985.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746601,0.586487,0.314039],[-0.657920,0.720895,0.217832],[-0.098633,-0.369246,0.924083]]
2025-10-24T23:19:45.405Z,1761347985.405 [DAT](INFO): DAT read: user:6>

2025-10-24T23:19:45.406Z,1761347985.406 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:19:45.406Z,1761347985.406 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:19:45.406Z,1761347985.406 [DAT] Communications Fault, FailCount= 2
2025-10-24T23:19:45.406Z,1761347985.406 [DAT](ERROR): Communications Fault
2025-10-24T23:19:45.407Z,1761347985.407 [DAT](INFO): DAT read: user:7>

2025-10-24T23:19:45.408Z,1761347985.408 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:19:45.409Z,1761347985.409 [DAT](INFO): set remote address to 0
2025-10-24T23:19:45.409Z,1761347985.409 [DAT](INFO): setting remote address to 10
2025-10-24T23:19:45.409Z,1761347985.409 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:19:45.409Z,1761347985.409 [DAT](INFO): setting remote address to 0
2025-10-24T23:19:45.653Z,1761347985.653 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:19:45.768Z,1761347985.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739154,0.592490,0.320324],[-0.666413,0.712321,0.220209],[-0.097702,-0.376237,0.921358]]
2025-10-24T23:19:45.812Z,1761347985.812 [DAT](INFO): Powering down
2025-10-24T23:19:46.155Z,1761347986.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731095,0.598374,0.327792],[-0.675181,0.703628,0.221448],[-0.098135,-0.383218,0.918430]]
2025-10-24T23:19:46.568Z,1761347986.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722079,0.605233,0.335103],[-0.684583,0.694950,0.219980],[-0.099741,-0.388249,0.916141]]
2025-10-24T23:19:46.820Z,1761347986.820 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:19:46.820Z,1761347986.820 [DAT] No Fault, FailCount= 2
2025-10-24T23:19:46.976Z,1761347986.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711779,0.613574,0.341903],[-0.695040,0.685543,0.216680],[-0.101440,-0.391865,0.914414]]
2025-10-24T23:19:47.383Z,1761347987.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699623,0.625307,0.345714],[-0.707190,0.675094,0.210073],[-0.102029,-0.391457,0.914522]]
2025-10-24T23:19:47.787Z,1761347987.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686701,0.637987,0.348444],[-0.719749,0.663963,0.202765],[-0.101992,-0.390032,0.915136]]
2025-10-24T23:19:48.206Z,1761347988.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672827,0.652210,0.349179],[-0.732783,0.652393,0.193421],[-0.101650,-0.386012,0.916876]]
2025-10-24T23:19:48.610Z,1761347988.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659120,0.665474,0.350294],[-0.745207,0.640590,0.185231],[-0.101128,-0.383131,0.918141]]
2025-10-24T23:19:48.860Z,1761347988.860 [DAT](INFO): Powering up
2025-10-24T23:19:48.860Z,1761347988.860 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:19:49.013Z,1761347989.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645148,0.678401,0.351506],[-0.757414,0.628376,0.177390],[-0.100536,-0.380679,0.919226]]
2025-10-24T23:19:49.415Z,1761347989.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630992,0.691557,0.351567],[-0.769318,0.616200,0.168662],[-0.099996,-0.376891,0.920844]]
2025-10-24T23:19:50.225Z,1761347990.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601886,0.717663,0.350277],[-0.792461,0.590957,0.150917],[-0.098691,-0.368416,0.924408]]
2025-10-24T23:19:50.632Z,1761347990.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587128,0.729921,0.349994],[-0.803531,0.577895,0.142740],[-0.098071,-0.365038,0.925813]]
2025-10-24T23:19:50.939Z,1761347990.939 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:19:50.940Z,1761347990.940 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:19:51.030Z,1761347991.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572649,0.740788,0.351149],[-0.814008,0.564630,0.136321],[-0.097284,-0.363903,0.926343]]
2025-10-24T23:19:51.435Z,1761347991.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558592,0.750557,0.353044],[-0.823834,0.551462,0.131099],[-0.096293,-0.364080,0.926376]]
2025-10-24T23:19:51.838Z,1761347991.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545134,0.758818,0.356406],[-0.832867,0.538731,0.126892],[-0.095719,-0.366012,0.925674]]
2025-10-24T23:19:52.312Z,1761347992.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532676,0.765978,0.359909],[-0.840955,0.526859,0.123347],[-0.095140,-0.368371,0.924798]]
2025-10-24T23:19:52.713Z,1761347992.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520396,0.772289,0.364361],[-0.848711,0.514853,0.120898],[-0.094224,-0.372151,0.923377]]
2025-10-24T23:19:53.114Z,1761347993.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508389,0.778333,0.368427],[-0.856102,0.502985,0.118728],[-0.092903,-0.375771,0.922044]]
2025-10-24T23:19:53.519Z,1761347993.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497283,0.782954,0.373755],[-0.862824,0.491395,0.118602],[-0.090801,-0.381464,0.919913]]
2025-10-24T23:19:53.947Z,1761347993.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476443,0.790614,0.384620],[-0.875091,0.468703,0.120555],[-0.084960,-0.394015,0.915169]]
2025-10-24T23:19:54.388Z,1761347994.388 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:19:54.389Z,1761347994.389 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:19:54.389Z,1761347994.389 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:19:54.389Z,1761347994.389 [marl:UpdateRudder:A] Stopped
2025-10-24T23:19:54.389Z,1761347994.389 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:19:54.389Z,1761347994.389 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:19:54.389Z,1761347994.389 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:19:54.390Z,1761347994.390 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:19:54.390Z,1761347994.390 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:19:54.390Z,1761347994.390 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:19:54.390Z,1761347994.390 [marl:UpdateCommandMode] Stopped
2025-10-24T23:19:54.390Z,1761347994.390 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:19:54.390Z,1761347994.390 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:19:54.390Z,1761347994.390 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:19:54.390Z,1761347994.390 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:19:54.391Z,1761347994.391 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:19:54.391Z,1761347994.391 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:19:54.391Z,1761347994.391 [marl:UpdateSpeed] Stopped
2025-10-24T23:19:54.391Z,1761347994.391 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:19:54.393Z,1761347994.393 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:19:54.730Z,1761347994.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466206,0.794109,0.389927],[-0.880907,0.457340,0.121833],[-0.081581,-0.400288,0.912751]]
2025-10-24T23:19:54.794Z,1761347994.794 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:19:54.794Z,1761347994.794 [marl:UpdateRudder:B] Stopped
2025-10-24T23:19:54.794Z,1761347994.794 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:19:54.794Z,1761347994.794 [marl:UpdateRudder] Stopped
2025-10-24T23:19:54.794Z,1761347994.794 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:19:55.163Z,1761347995.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444431,0.802488,0.398113],[-0.892659,0.433987,0.121712],[-0.075103,-0.409472,0.909226]]
2025-10-24T23:19:55.543Z,1761347995.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432668,0.807682,0.400560],[-0.898657,0.421958,0.119863],[-0.072208,-0.411827,0.908397]]
2025-10-24T23:19:55.954Z,1761347995.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421427,0.813316,0.401143],[-0.904163,0.410937,0.116710],[-0.069922,-0.411883,0.908550]]
2025-10-24T23:19:56.353Z,1761347996.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411893,0.820393,0.396610],[-0.908638,0.402594,0.110882],[-0.068706,-0.406046,0.911266]]
2025-10-24T23:19:56.763Z,1761347996.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404919,0.830037,0.383510],[-0.911773,0.398025,0.101219],[-0.068631,-0.390659,0.917973]]
2025-10-24T23:19:57.162Z,1761347997.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400597,0.841241,0.363092],[-0.913618,0.396783,0.088689],[-0.069460,-0.367256,0.927523]]
2025-10-24T23:19:57.559Z,1761347997.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397851,0.851671,0.341132],[-0.914716,0.396909,0.075881],[-0.070772,-0.342228,0.936948]]
2025-10-24T23:19:57.962Z,1761347997.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395598,0.860879,0.319984],[-0.915560,0.397149,0.063428],[-0.072477,-0.318056,0.945297]]
2025-10-24T23:19:58.367Z,1761347998.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393269,0.868627,0.301374],[-0.916429,0.396764,0.052304],[-0.074142,-0.296758,0.952070]]
2025-10-24T23:19:58.776Z,1761347998.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390669,0.874808,0.286510],[-0.917405,0.395631,0.042932],[-0.075795,-0.279618,0.957115]]
2025-10-24T23:19:59.179Z,1761347999.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387730,0.880610,0.272381],[-0.918552,0.393802,0.034381],[-0.076988,-0.263527,0.961575]]
2025-10-24T23:19:59.578Z,1761347999.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384777,0.885234,0.261358],[-0.919805,0.391324,0.028720],[-0.076851,-0.251449,0.964815]]
2025-10-24T23:19:59.982Z,1761347999.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382724,0.888539,0.253023],[-0.920758,0.389288,0.025685],[-0.075677,-0.242803,0.967119]]
2025-10-24T23:20:00.387Z,1761348000.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382092,0.890288,0.247776],[-0.921156,0.388391,0.024969],[-0.074004,-0.237781,0.968496]]
2025-10-24T23:20:00.791Z,1761348000.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383081,0.890507,0.245450],[-0.920867,0.389019,0.025840],[-0.072474,-0.235926,0.969065]]
2025-10-24T23:20:00.960Z,1761348000.960 [DAT](INFO): DAT read: 

2025-10-24T23:20:00.961Z,1761348000.961 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:20:01.194Z,1761348001.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384525,0.890124,0.244582],[-0.920396,0.390008,0.027637],[-0.070789,-0.235740,0.969235]]
2025-10-24T23:20:01.598Z,1761348001.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386246,0.889188,0.245274],[-0.919802,0.391222,0.030170],[-0.069130,-0.237256,0.968984]]
2025-10-24T23:20:02.002Z,1761348002.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388056,0.888198,0.246001],[-0.919139,0.392597,0.032413],[-0.067790,-0.238687,0.968727]]
2025-10-24T23:20:02.407Z,1761348002.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389814,0.887666,0.245141],[-0.918512,0.393909,0.034222],[-0.066185,-0.238505,0.968883]]
2025-10-24T23:20:02.730Z,1761348002.730 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:20:02.731Z,1761348002.731 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:20:02.732Z,1761348002.732 [DAT](INFO): DAT read: Oct 24 2025 23:19:56 

2025-10-24T23:20:02.811Z,1761348002.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392155,0.887062,0.243588],[-0.917694,0.395573,0.036866],[-0.063654,-0.237997,0.969178]]
2025-10-24T23:20:03.215Z,1761348003.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395171,0.886051,0.242390],[-0.916634,0.397635,0.040852],[-0.060185,-0.238327,0.969318]]
2025-10-24T23:20:03.629Z,1761348003.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399216,0.884368,0.241909],[-0.915129,0.400535,0.045939],[-0.056266,-0.239718,0.969211]]
2025-10-24T23:20:03.734Z,1761348003.734 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:20:03.736Z,1761348003.736 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:20:03.736Z,1761348003.736 [DAT](INFO): commRate: 600
2025-10-24T23:20:04.022Z,1761348004.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404443,0.881430,0.243940],[-0.913047,0.404495,0.052232],[-0.052633,-0.243854,0.968383]]
2025-10-24T23:20:04.427Z,1761348004.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409595,0.878306,0.246596],[-0.910921,0.408446,0.058266],[-0.049546,-0.248495,0.967365]]
2025-10-24T23:20:04.831Z,1761348004.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413132,0.875867,0.249358],[-0.909467,0.410892,0.063538],[-0.046808,-0.253032,0.966325]]
2025-10-24T23:20:05.256Z,1761348005.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414491,0.874774,0.250935],[-0.909021,0.411101,0.068387],[-0.043336,-0.256452,0.965585]]
2025-10-24T23:20:05.639Z,1761348005.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413927,0.874938,0.251291],[-0.909457,0.409416,0.072569],[-0.039389,-0.258577,0.965187]]
2025-10-24T23:20:05.800Z,1761348005.800 [DAT](INFO): entering command mode
2025-10-24T23:20:05.972Z,1761348005.972 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:20:06.000Z,1761348006.000 [DAT](INFO): DAT read: 

2025-10-24T23:20:06.001Z,1761348006.001 [DAT](INFO): DAT read: user:1>

2025-10-24T23:20:06.001Z,1761348006.001 [DAT](INFO): setting verbose to 3
2025-10-24T23:20:06.043Z,1761348006.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412147,0.876436,0.248989],[-0.910447,0.406651,0.075641],[-0.034957,-0.257867,0.965548]]
2025-10-24T23:20:06.253Z,1761348006.253 [DAT](INFO): DAT read: user:1>

2025-10-24T23:20:06.254Z,1761348006.254 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:20:06.254Z,1761348006.254 [DAT](INFO): set verbose to 3
2025-10-24T23:20:06.254Z,1761348006.254 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:20:06.447Z,1761348006.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409622,0.878896,0.244441],[-0.911774,0.403141,0.078398],[-0.029640,-0.254989,0.966490]]
2025-10-24T23:20:06.505Z,1761348006.505 [DAT](INFO): DAT read: user:2>

2025-10-24T23:20:06.506Z,1761348006.506 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:20:06.506Z,1761348006.506 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:20:06.506Z,1761348006.506 [DAT](INFO): setting transmit power to 8
2025-10-24T23:20:06.757Z,1761348006.757 [DAT](INFO): DAT read: user:3>

2025-10-24T23:20:06.758Z,1761348006.758 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:20:06.758Z,1761348006.758 [DAT](INFO): set transmit power to 8
2025-10-24T23:20:06.758Z,1761348006.758 [DAT](INFO): setting local address to 11
2025-10-24T23:20:06.853Z,1761348006.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407516,0.880619,0.241745],[-0.912886,0.399762,0.082637],[-0.023869,-0.254362,0.966815]]
2025-10-24T23:20:06.976Z,1761348006.976 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:20:07.009Z,1761348007.009 [DAT](INFO): DAT read: user:4>

2025-10-24T23:20:07.010Z,1761348007.010 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:20:07.010Z,1761348007.010 [DAT](INFO): set local address to 11
2025-10-24T23:20:07.011Z,1761348007.011 [DAT](INFO): Setting time to: 23:20:7 And date to:10/24/2025
2025-10-24T23:20:07.258Z,1761348007.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406496,0.882428,0.236816],[-0.913481,0.397559,0.086603],[-0.017728,-0.251531,0.967687]]
2025-10-24T23:20:07.261Z,1761348007.261 [DAT](INFO): DAT read: user:5>

2025-10-24T23:20:07.262Z,1761348007.262 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:20:07  

2025-10-24T23:20:07.262Z,1761348007.262 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:20:07  

2025-10-24T23:20:07.263Z,1761348007.263 [DAT](INFO): setting remote address to 10
2025-10-24T23:20:07.263Z,1761348007.263 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:20:07.263Z,1761348007.263 [DAT](INFO): setting remote address to 0
2025-10-24T23:20:07.344Z,1761348007.344 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:20:07.345Z,1761348007.345 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:20:07.345Z,1761348007.345 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:20:07.345Z,1761348007.345 [marl:UpdateRudder:A] Stopped
2025-10-24T23:20:07.345Z,1761348007.345 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:20:07.345Z,1761348007.345 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:20:07.345Z,1761348007.345 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:20:07.346Z,1761348007.346 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:20:07.346Z,1761348007.346 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:20:07.346Z,1761348007.346 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:20:07.346Z,1761348007.346 [marl:UpdateCommandMode] Stopped
2025-10-24T23:20:07.346Z,1761348007.346 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:20:07.346Z,1761348007.346 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:20:07.346Z,1761348007.346 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:20:07.346Z,1761348007.346 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:20:07.347Z,1761348007.347 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:20:07.347Z,1761348007.347 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:20:07.347Z,1761348007.347 [marl:UpdateSpeed] Stopped
2025-10-24T23:20:07.347Z,1761348007.347 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:20:07.513Z,1761348007.513 [DAT](INFO): DAT read: user:6>

2025-10-24T23:20:07.514Z,1761348007.514 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:20:07.514Z,1761348007.514 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:20:07.514Z,1761348007.514 [DAT] Communications Fault, FailCount= 3
2025-10-24T23:20:07.514Z,1761348007.514 [DAT](ERROR): Communications Fault
2025-10-24T23:20:07.515Z,1761348007.515 [DAT](INFO): DAT read: user:7>

2025-10-24T23:20:07.516Z,1761348007.516 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:20:07.516Z,1761348007.516 [DAT](INFO): set remote address to 0
2025-10-24T23:20:07.517Z,1761348007.517 [DAT](INFO): setting remote address to 10
2025-10-24T23:20:07.517Z,1761348007.517 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:20:07.517Z,1761348007.517 [DAT](INFO): setting remote address to 0
2025-10-24T23:20:07.663Z,1761348007.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407365,0.883084,0.232845],[-0.913186,0.397240,0.091063],[-0.012079,-0.249727,0.968241]]
2025-10-24T23:20:07.735Z,1761348007.735 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:20:07.735Z,1761348007.735 [marl:UpdateRudder:B] Stopped
2025-10-24T23:20:07.735Z,1761348007.735 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:20:07.735Z,1761348007.735 [marl:UpdateRudder] Stopped
2025-10-24T23:20:07.735Z,1761348007.735 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:20:07.839Z,1761348007.839 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:20:07.921Z,1761348007.921 [DAT](INFO): Powering down
2025-10-24T23:20:08.064Z,1761348008.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409757,0.883029,0.228820],[-0.912167,0.398601,0.095229],[-0.007118,-0.247743,0.968800]]
2025-10-24T23:20:08.467Z,1761348008.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411916,0.882451,0.227169],[-0.911217,0.399706,0.099591],[-0.002916,-0.248023,0.968750]]
2025-10-24T23:20:08.870Z,1761348008.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412835,0.882840,0.223967],[-0.910805,0.399952,0.102330],[0.000765,-0.246236,0.969210]]
2025-10-24T23:20:09.003Z,1761348009.003 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:20:09.003Z,1761348009.003 [DAT] No Fault, FailCount= 3
2025-10-24T23:20:09.278Z,1761348009.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412507,0.883972,0.220070],[-0.910945,0.399163,0.104159],[0.004230,-0.243438,0.969907]]
2025-10-24T23:20:09.685Z,1761348009.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411030,0.885672,0.215964],[-0.911590,0.397342,0.105465],[0.007596,-0.240220,0.970689]]
2025-10-24T23:20:10.082Z,1761348010.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409251,0.887538,0.211638],[-0.912354,0.395231,0.106783],[0.011128,-0.236790,0.971497]]
2025-10-24T23:20:10.486Z,1761348010.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407677,0.889221,0.207571],[-0.913001,0.393184,0.108791],[0.015126,-0.233864,0.972152]]
2025-10-24T23:20:10.890Z,1761348010.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407323,0.890097,0.204489],[-0.913080,0.392165,0.111763],[0.019286,-0.232239,0.972468]]
2025-10-24T23:20:10.972Z,1761348010.972 [DAT](INFO): Powering up
2025-10-24T23:20:10.973Z,1761348010.973 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:20:11.305Z,1761348011.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407964,0.890056,0.203384],[-0.912688,0.391770,0.116265],[0.023803,-0.233058,0.972171]]
2025-10-24T23:20:11.708Z,1761348011.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410594,0.888626,0.204343],[-0.911386,0.393060,0.121979],[0.028075,-0.236319,0.971270]]
2025-10-24T23:20:12.102Z,1761348012.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414333,0.886409,0.206416],[-0.909564,0.395322,0.128115],[0.031962,-0.240830,0.970041]]
2025-10-24T23:20:12.507Z,1761348012.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419187,0.883434,0.209350],[-0.907213,0.398615,0.134426],[0.035306,-0.246274,0.968557]]
2025-10-24T23:20:12.912Z,1761348012.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424110,0.880792,0.210559],[-0.904795,0.402249,0.139792],[0.038430,-0.249800,0.967535]]
2025-10-24T23:20:13.318Z,1761348013.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428812,0.878551,0.210403],[-0.902438,0.405866,0.144495],[0.041551,-0.251837,0.966877]]
2025-10-24T23:20:13.751Z,1761348013.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432564,0.877228,0.208226],[-0.900473,0.408784,0.148470],[0.045123,-0.251725,0.966746]]
2025-10-24T23:20:14.123Z,1761348014.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435803,0.876205,0.205768],[-0.898708,0.411188,0.152473],[0.048989,-0.251373,0.966650]]
2025-10-24T23:20:14.526Z,1761348014.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438617,0.875934,0.200886],[-0.897088,0.413489,0.155756],[0.053368,-0.248530,0.967153]]
2025-10-24T23:20:14.930Z,1761348014.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441084,0.875520,0.197256],[-0.895607,0.415268,0.159501],[0.057732,-0.247018,0.967290]]
2025-10-24T23:20:15.335Z,1761348015.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443296,0.875241,0.193499],[-0.894242,0.416930,0.162791],[0.061805,-0.245200,0.967501]]
2025-10-24T23:20:15.740Z,1761348015.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444823,0.874965,0.191228],[-0.893217,0.417774,0.166218],[0.065545,-0.244746,0.967369]]
2025-10-24T23:20:16.143Z,1761348016.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445984,0.874583,0.190268],[-0.892403,0.418199,0.169487],[0.068661,-0.245384,0.966991]]
2025-10-24T23:20:16.546Z,1761348016.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446389,0.874920,0.187757],[-0.891958,0.418224,0.171756],[0.071749,-0.244141,0.967082]]
2025-10-24T23:20:16.950Z,1761348016.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446326,0.875201,0.186593],[-0.891772,0.417666,0.174065],[0.074409,-0.244088,0.966894]]
2025-10-24T23:20:17.361Z,1761348017.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445659,0.875983,0.184504],[-0.891885,0.416748,0.175677],[0.076999,-0.242849,0.967003]]
2025-10-24T23:20:17.758Z,1761348017.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444939,0.877108,0.180864],[-0.891991,0.416019,0.176861],[0.079883,-0.240022,0.967475]]
2025-10-24T23:20:18.162Z,1761348018.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444478,0.878205,0.176623],[-0.891951,0.415653,0.177920],[0.082837,-0.236621,0.968064]]
2025-10-24T23:20:18.567Z,1761348018.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444524,0.879050,0.172249],[-0.891649,0.415806,0.179073],[0.085792,-0.233187,0.968640]]
2025-10-24T23:20:18.972Z,1761348018.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445360,0.879182,0.169389],[-0.890952,0.416437,0.181066],[0.088650,-0.231557,0.968774]]
2025-10-24T23:20:19.375Z,1761348019.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447051,0.878832,0.166733],[-0.889796,0.417795,0.183605],[0.091698,-0.230439,0.968757]]
2025-10-24T23:20:19.779Z,1761348019.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449679,0.877485,0.166759],[-0.888209,0.419619,0.187095],[0.094197,-0.232250,0.968084]]
2025-10-24T23:20:20.190Z,1761348020.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452847,0.875748,0.167317],[-0.886374,0.421933,0.190562],[0.096287,-0.234601,0.967311]]
2025-10-24T23:20:20.258Z,1761348020.258 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:20:20.258Z,1761348020.258 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:20:20.258Z,1761348020.258 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:20:20.258Z,1761348020.258 [marl:UpdateRudder:A] Stopped
2025-10-24T23:20:20.259Z,1761348020.259 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:20:20.259Z,1761348020.259 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:20:20.259Z,1761348020.259 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:20:20.259Z,1761348020.259 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:20:20.259Z,1761348020.259 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:20:20.259Z,1761348020.259 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:20:20.259Z,1761348020.259 [marl:UpdateCommandMode] Stopped
2025-10-24T23:20:20.259Z,1761348020.259 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:20:20.260Z,1761348020.260 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:20:20.260Z,1761348020.260 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:20:20.260Z,1761348020.260 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:20:20.260Z,1761348020.260 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:20:20.260Z,1761348020.260 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:20:20.261Z,1761348020.261 [marl:UpdateSpeed] Stopped
2025-10-24T23:20:20.261Z,1761348020.261 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:20:20.588Z,1761348020.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455692,0.873679,0.170383],[-0.884746,0.423523,0.194557],[0.097819,-0.239404,0.965980]]
2025-10-24T23:20:20.631Z,1761348020.631 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:20:20.631Z,1761348020.631 [marl:UpdateRudder:B] Stopped
2025-10-24T23:20:20.631Z,1761348020.631 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:20:20.631Z,1761348020.631 [marl:UpdateRudder] Stopped
2025-10-24T23:20:20.648Z,1761348020.648 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:20:20.990Z,1761348020.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457429,0.872423,0.172152],[-0.883706,0.424403,0.197347],[0.099108,-0.242404,0.965100]]
2025-10-24T23:20:21.394Z,1761348021.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457965,0.871652,0.174618],[-0.883294,0.424015,0.200006],[0.100294,-0.245835,0.964109]]
2025-10-24T23:20:21.798Z,1761348021.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457572,0.871828,0.174769],[-0.883338,0.423223,0.201483],[0.101692,-0.246573,0.963774]]
2025-10-24T23:20:22.205Z,1761348022.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456793,0.872675,0.172563],[-0.883535,0.422510,0.202118],[0.103474,-0.244791,0.964039]]
2025-10-24T23:20:22.607Z,1761348022.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456558,0.873597,0.168473],[-0.883364,0.422559,0.202762],[0.105943,-0.241395,0.964627]]
2025-10-24T23:20:23.010Z,1761348023.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457150,0.873889,0.165326],[-0.882727,0.423108,0.204383],[0.108657,-0.239372,0.964829]]
2025-10-24T23:20:23.085Z,1761348023.085 [DAT](INFO): DAT read: 

2025-10-24T23:20:23.086Z,1761348023.086 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:20:23.415Z,1761348023.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456575,0.874196,0.165287],[-0.882606,0.421669,0.207849],[0.112005,-0.240782,0.964095]]
2025-10-24T23:20:23.870Z,1761348023.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453079,0.874088,0.175184],[-0.883946,0.415017,0.215408],[0.115581,-0.252450,0.960682]]
2025-10-24T23:20:24.356Z,1761348024.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446863,0.873621,0.192613],[-0.886618,0.403786,0.225535],[0.119258,-0.271557,0.955005]]
2025-10-24T23:20:24.794Z,1761348024.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426075,0.873416,0.235804],[-0.895664,0.370523,0.245965],[0.127459,-0.316001,0.940158]]
2025-10-24T23:20:24.849Z,1761348024.849 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:20:24.851Z,1761348024.851 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:20:24.851Z,1761348024.851 [DAT](INFO): DAT read: Oct 24 2025 23:20:19 

2025-10-24T23:20:25.195Z,1761348025.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412753,0.874611,0.254342],[-0.901162,0.351518,0.253657],[0.132446,-0.333901,0.933257]]
2025-10-24T23:20:25.598Z,1761348025.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398527,0.875632,0.272844],[-0.906706,0.331367,0.260923],[0.138061,-0.351374,0.926000]]
2025-10-24T23:20:25.860Z,1761348025.860 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:20:25.862Z,1761348025.862 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:20:25.862Z,1761348025.862 [DAT](INFO): commRate: 600
2025-10-24T23:20:26.004Z,1761348026.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383754,0.877058,0.288969],[-0.912150,0.311254,0.266651],[0.143925,-0.365911,0.919453]]
2025-10-24T23:20:26.410Z,1761348026.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369178,0.878704,0.302634],[-0.917204,0.291997,0.271061],[0.149814,-0.377647,0.913750]]
2025-10-24T23:20:26.837Z,1761348026.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354620,0.880300,0.315145],[-0.921999,0.273191,0.274381],[0.155443,-0.387865,0.908515]]
2025-10-24T23:20:27.234Z,1761348027.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340217,0.882038,0.325977],[-0.926553,0.255283,0.276277],[0.160471,-0.396029,0.904107]]
2025-10-24T23:20:27.677Z,1761348027.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325521,0.884119,0.335217],[-0.931018,0.237820,0.276851],[0.165048,-0.402214,0.900546]]
2025-10-24T23:20:27.929Z,1761348027.929 [DAT](INFO): entering command mode
2025-10-24T23:20:28.062Z,1761348028.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311029,0.886208,0.343360],[-0.935287,0.221237,0.276210],[0.168815,-0.407050,0.897670]]
2025-10-24T23:20:28.125Z,1761348028.125 [DAT](INFO): DAT read: 

2025-10-24T23:20:28.125Z,1761348028.125 [DAT](INFO): DAT read: user:1>

2025-10-24T23:20:28.126Z,1761348028.126 [DAT](INFO): setting verbose to 3
2025-10-24T23:20:28.377Z,1761348028.377 [DAT](INFO): DAT read: user:1>

2025-10-24T23:20:28.378Z,1761348028.378 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:20:28.379Z,1761348028.379 [DAT](INFO): set verbose to 3
2025-10-24T23:20:28.379Z,1761348028.379 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:20:28.501Z,1761348028.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296351,0.888890,0.349357],[-0.939562,0.205664,0.273725],[0.171462,-0.409361,0.896116]]
2025-10-24T23:20:28.629Z,1761348028.629 [DAT](INFO): DAT read: user:2>

2025-10-24T23:20:28.630Z,1761348028.630 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:20:28.630Z,1761348028.630 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:20:28.630Z,1761348028.630 [DAT](INFO): setting transmit power to 8
2025-10-24T23:20:28.881Z,1761348028.881 [DAT](INFO): DAT read: user:3>

2025-10-24T23:20:28.882Z,1761348028.882 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:20:28.882Z,1761348028.882 [DAT](INFO): set transmit power to 8
2025-10-24T23:20:28.882Z,1761348028.882 [DAT](INFO): setting local address to 11
2025-10-24T23:20:28.906Z,1761348028.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281464,0.891826,0.354153],[-0.943784,0.190613,0.270072],[0.173351,-0.410259,0.895342]]
2025-10-24T23:20:29.133Z,1761348029.133 [DAT](INFO): DAT read: user:4>

2025-10-24T23:20:29.133Z,1761348029.133 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:20:29.134Z,1761348029.134 [DAT](INFO): set local address to 11
2025-10-24T23:20:29.135Z,1761348029.135 [DAT](INFO): Setting time to: 23:20:29 And date to:10/24/2025
2025-10-24T23:20:29.315Z,1761348029.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266032,0.895253,0.357420],[-0.947968,0.175702,0.265491],[0.174882,-0.409452,0.895413]]
2025-10-24T23:20:29.384Z,1761348029.384 [DAT](INFO): DAT read: user:5>

2025-10-24T23:20:29.385Z,1761348029.385 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:20:29  

2025-10-24T23:20:29.386Z,1761348029.386 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:20:29  

2025-10-24T23:20:29.386Z,1761348029.386 [DAT](INFO): setting remote address to 10
2025-10-24T23:20:29.387Z,1761348029.387 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:20:29.387Z,1761348029.387 [DAT](INFO): setting remote address to 0
2025-10-24T23:20:29.638Z,1761348029.638 [DAT](INFO): DAT read: user:6>

2025-10-24T23:20:29.640Z,1761348029.640 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:20:29.641Z,1761348029.641 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:20:29.641Z,1761348029.641 [DAT] Communications Fault, FailCount= 4
2025-10-24T23:20:29.641Z,1761348029.641 [DAT](ERROR): Communications Fault
2025-10-24T23:20:29.643Z,1761348029.643 [DAT](INFO): DAT read: user:7>

2025-10-24T23:20:29.644Z,1761348029.644 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:20:29.645Z,1761348029.645 [DAT](INFO): set remote address to 0
2025-10-24T23:20:29.645Z,1761348029.645 [DAT](INFO): setting remote address to 10
2025-10-24T23:20:29.648Z,1761348029.648 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:20:29.649Z,1761348029.649 [DAT](INFO): setting remote address to 0
2025-10-24T23:20:29.670Z,1761348029.670 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:20:29.733Z,1761348029.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250113,0.898872,0.359823],[-0.952026,0.160638,0.260465],[0.176324,-0.407706,0.895927]]
2025-10-24T23:20:30.057Z,1761348030.057 [DAT](INFO): Powering down
2025-10-24T23:20:30.127Z,1761348030.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234152,0.902429,0.361656],[-0.955810,0.145663,0.255363],[0.177767,-0.405468,0.896657]]
2025-10-24T23:20:30.523Z,1761348030.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217302,0.905909,0.363469],[-0.959448,0.129738,0.250253],[0.179551,-0.403110,0.897365]]
2025-10-24T23:20:30.926Z,1761348030.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199942,0.909199,0.365212],[-0.962800,0.113165,0.245376],[0.181766,-0.400687,0.898004]]
2025-10-24T23:20:31.343Z,1761348031.343 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:20:31.343Z,1761348031.343 [DAT] No Fault, FailCount= 4
2025-10-24T23:20:31.375Z,1761348031.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182348,0.912598,0.365942],[-0.965829,0.096533,0.240532],[0.184183,-0.397298,0.899016]]
2025-10-24T23:20:31.767Z,1761348031.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165098,0.915165,0.367718],[-0.968610,0.080198,0.235293],[0.185842,-0.395022,0.899678]]
2025-10-24T23:20:32.170Z,1761348032.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148050,0.917810,0.368383],[-0.971325,0.064876,0.228732],[0.186034,-0.391683,0.901097]]
2025-10-24T23:20:32.571Z,1761348032.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131865,0.919477,0.370370],[-0.973924,0.050589,0.221161],[0.184616,-0.389876,0.902172]]
2025-10-24T23:20:33.116Z,1761348033.116 [DAT](INFO): Powering up
2025-10-24T23:20:33.116Z,1761348033.116 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:20:33.379Z,1761348033.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097837,0.922457,0.373498],[-0.978737,0.021199,0.204022],[0.180284,-0.385517,0.904917]]
2025-10-24T23:20:33.425Z,1761348033.425 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:20:33.426Z,1761348033.426 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:20:33.426Z,1761348033.426 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:20:33.426Z,1761348033.426 [marl:UpdateRudder:A] Stopped
2025-10-24T23:20:33.426Z,1761348033.426 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:20:33.426Z,1761348033.426 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:20:33.426Z,1761348033.426 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:20:33.426Z,1761348033.426 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:20:33.427Z,1761348033.427 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:20:33.427Z,1761348033.427 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:20:33.427Z,1761348033.427 [marl:UpdateCommandMode] Stopped
2025-10-24T23:20:33.427Z,1761348033.427 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:20:33.427Z,1761348033.427 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:20:33.427Z,1761348033.427 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:20:33.427Z,1761348033.427 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:20:33.427Z,1761348033.427 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:20:33.428Z,1761348033.428 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:20:33.428Z,1761348033.428 [marl:UpdateSpeed] Stopped
2025-10-24T23:20:33.428Z,1761348033.428 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:20:33.782Z,1761348033.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080258,0.924457,0.372743],[-0.980895,0.006766,0.194422],[0.177213,-0.381225,0.907338]]
2025-10-24T23:20:33.806Z,1761348033.806 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:20:33.806Z,1761348033.806 [marl:UpdateRudder:B] Stopped
2025-10-24T23:20:33.806Z,1761348033.806 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:20:33.806Z,1761348033.806 [marl:UpdateRudder] Stopped
2025-10-24T23:20:33.807Z,1761348033.807 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:20:34.187Z,1761348034.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061311,0.926679,0.370819],[-0.982816,-0.008757,0.184381],[0.174109,-0.375751,0.910218]]
2025-10-24T23:20:34.590Z,1761348034.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041087,0.927784,0.370848],[-0.984426,-0.025906,0.173879],[0.170929,-0.372217,0.912271]]
2025-10-24T23:20:34.998Z,1761348034.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019169,0.928067,0.371920],[-0.985786,-0.044556,0.161991],[0.166910,-0.369739,0.914021]]
2025-10-24T23:20:35.399Z,1761348035.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002527,0.928940,0.370221],[-0.986949,-0.061928,0.148652],[0.161016,-0.365014,0.916973]]
2025-10-24T23:20:35.803Z,1761348035.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022443,0.932400,0.360730],[-0.987938,-0.075981,0.134929],[0.153216,-0.353350,0.922859]]
2025-10-24T23:20:36.207Z,1761348036.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039861,0.939005,0.341586],[-0.988773,-0.086339,0.121960],[0.144013,-0.332890,0.931904]]
2025-10-24T23:20:36.611Z,1761348036.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054901,0.946162,0.319004],[-0.989430,-0.094498,0.109996],[0.134219,-0.309593,0.941349]]
2025-10-24T23:20:37.017Z,1761348037.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068513,0.951843,0.298834],[-0.989833,-0.102279,0.098842],[0.124646,-0.289024,0.949173]]
2025-10-24T23:20:37.113Z,1761348037.113 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:20:37.421Z,1761348037.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080642,0.956126,0.281639],[-0.990005,-0.109633,0.088720],[0.115705,-0.271670,0.955410]]
2025-10-24T23:20:37.822Z,1761348037.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090971,0.958668,0.269591],[-0.990036,-0.116280,0.079415],[0.107481,-0.259680,0.959695]]
2025-10-24T23:20:38.116Z,1761348038.116 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:20:38.226Z,1761348038.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098362,0.960384,0.260742],[-0.990173,-0.120624,0.070758],[0.099406,-0.251220,0.962812]]
2025-10-24T23:20:38.638Z,1761348038.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102388,0.961436,0.255260],[-0.990541,-0.122109,0.062602],[0.091358,-0.246435,0.964844]]
2025-10-24T23:20:39.043Z,1761348039.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103661,0.962156,0.252014],[-0.991115,-0.121156,0.054881],[0.083337,-0.244086,0.966166]]
2025-10-24T23:20:39.438Z,1761348039.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103237,0.963064,0.248698],[-0.991769,-0.118706,0.047986],[0.075735,-0.241697,0.967392]]
2025-10-24T23:20:39.842Z,1761348039.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101381,0.963343,0.248381],[-0.992492,-0.115108,0.041341],[0.068416,-0.242325,0.967780]]
2025-10-24T23:20:40.246Z,1761348040.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098637,0.963576,0.248581],[-0.993209,-0.110816,0.035451],[0.061706,-0.243396,0.967962]]
2025-10-24T23:20:40.653Z,1761348040.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095178,0.963966,0.248418],[-0.993932,-0.105849,0.029928],[0.055144,-0.244062,0.968191]]
2025-10-24T23:20:41.057Z,1761348041.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091362,0.964455,0.247951],[-0.994652,-0.100424,0.024123],[0.048165,-0.244421,0.968472]]
2025-10-24T23:20:41.460Z,1761348041.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086888,0.964895,0.247845],[-0.995377,-0.094307,0.018199],[0.040933,-0.245118,0.968629]]
2025-10-24T23:20:41.867Z,1761348041.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082033,0.965913,0.245524],[-0.996084,-0.087615,0.011879],[0.032986,-0.243588,0.969318]]
2025-10-24T23:20:42.266Z,1761348042.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076887,0.967361,0.241458],[-0.996755,-0.080363,0.004566],[0.023822,-0.240323,0.970401]]
2025-10-24T23:20:42.676Z,1761348042.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071532,0.969119,0.235991],[-0.997345,-0.072736,-0.003611],[0.013666,-0.235622,0.971749]]
2025-10-24T23:20:43.085Z,1761348043.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066721,0.971021,0.229492],[-0.997767,-0.065650,-0.012308],[0.003115,-0.229801,0.973233]]
2025-10-24T23:20:43.478Z,1761348043.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063503,0.972964,0.222054],[-0.997951,-0.060168,-0.021760],[-0.007811,-0.222981,0.974791]]
2025-10-24T23:20:43.921Z,1761348043.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063680,0.974715,0.214184],[-0.997812,-0.058364,-0.031058],[-0.017772,-0.215693,0.976299]]
2025-10-24T23:20:44.286Z,1761348044.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067480,0.975944,0.207315],[-0.997376,-0.060526,-0.039712],[-0.026209,-0.209450,0.977468]]
2025-10-24T23:20:44.693Z,1761348044.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074093,0.976831,0.200775],[-0.996691,-0.065786,-0.047743],[-0.033429,-0.203648,0.978473]]
2025-10-24T23:20:45.109Z,1761348045.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081867,0.977579,0.194004],[-0.995840,-0.072423,-0.055296],[-0.040006,-0.197724,0.979441]]
2025-10-24T23:20:45.224Z,1761348045.224 [DAT](INFO): DAT read: 

2025-10-24T23:20:45.225Z,1761348045.225 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:20:45.498Z,1761348045.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090631,0.977672,0.189587],[-0.994844,-0.080181,-0.062101],[-0.045513,-0.194238,0.979898]]
2025-10-24T23:20:45.941Z,1761348045.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099255,0.977342,0.186954],[-0.993804,-0.087921,-0.067992],[-0.050014,-0.192544,0.980013]]
2025-10-24T23:20:46.308Z,1761348046.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108157,0.976711,0.185305],[-0.992685,-0.096046,-0.073157],[-0.053655,-0.191861,0.979954]]
2025-10-24T23:20:46.333Z,1761348046.333 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:20:46.333Z,1761348046.333 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:20:46.334Z,1761348046.334 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:20:46.334Z,1761348046.334 [marl:UpdateRudder:A] Stopped
2025-10-24T23:20:46.334Z,1761348046.334 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:20:46.334Z,1761348046.334 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:20:46.334Z,1761348046.334 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:20:46.334Z,1761348046.334 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:20:46.335Z,1761348046.335 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:20:46.335Z,1761348046.335 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:20:46.335Z,1761348046.335 [marl:UpdateCommandMode] Stopped
2025-10-24T23:20:46.335Z,1761348046.335 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:20:46.335Z,1761348046.335 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:20:46.335Z,1761348046.335 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:20:46.335Z,1761348046.335 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:20:46.336Z,1761348046.336 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:20:46.336Z,1761348046.336 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:20:46.336Z,1761348046.336 [marl:UpdateSpeed] Stopped
2025-10-24T23:20:46.336Z,1761348046.336 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:20:46.711Z,1761348046.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117654,0.975546,0.185655],[-0.991448,-0.104763,-0.077810],[-0.056458,-0.193222,0.979529]]
2025-10-24T23:20:46.747Z,1761348046.747 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:20:46.747Z,1761348046.747 [marl:UpdateRudder:B] Stopped
2025-10-24T23:20:46.747Z,1761348046.747 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:20:46.747Z,1761348046.747 [marl:UpdateRudder] Stopped
2025-10-24T23:20:46.747Z,1761348046.747 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:20:46.989Z,1761348046.989 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:20:46.990Z,1761348046.990 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:20:46.991Z,1761348046.991 [DAT](INFO): DAT read: Oct 24 2025 23:20:41 

2025-10-24T23:20:47.121Z,1761348047.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126991,0.974520,0.184889],[-0.990170,-0.113530,-0.081699],[-0.058627,-0.193447,0.979358]]
2025-10-24T23:20:47.519Z,1761348047.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135636,0.972860,0.187476],[-0.988898,-0.121343,-0.085774],[-0.060698,-0.197028,0.978517]]
2025-10-24T23:20:47.944Z,1761348047.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142872,0.971259,0.190375],[-0.987742,-0.127700,-0.089772],[-0.062881,-0.200867,0.977598]]
2025-10-24T23:20:47.999Z,1761348047.999 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:20:48.000Z,1761348048.000 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:20:48.001Z,1761348048.001 [DAT](INFO): commRate: 600
2025-10-24T23:20:48.331Z,1761348048.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148067,0.969747,0.194078],[-0.986812,-0.131893,-0.093839],[-0.065403,-0.205413,0.976488]]
2025-10-24T23:20:48.730Z,1761348048.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152230,0.967853,0.200214],[-0.986004,-0.134786,-0.098128],[-0.067987,-0.212350,0.974826]]
2025-10-24T23:20:49.134Z,1761348049.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155538,0.966105,0.206032],[-0.985315,-0.136855,-0.102107],[-0.070450,-0.218887,0.973204]]
2025-10-24T23:20:49.540Z,1761348049.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157898,0.964576,0.211332],[-0.984751,-0.137988,-0.105951],[-0.073036,-0.224839,0.971655]]
2025-10-24T23:20:49.951Z,1761348049.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159101,0.963148,0.216870],[-0.984379,-0.137986,-0.109349],[-0.075395,-0.230880,0.970057]]
2025-10-24T23:20:50.064Z,1761348050.064 [DAT](INFO): entering command mode
2025-10-24T23:20:50.264Z,1761348050.264 [DAT](INFO): DAT read: 

2025-10-24T23:20:50.265Z,1761348050.265 [DAT](INFO): DAT read: user:1>

2025-10-24T23:20:50.265Z,1761348050.265 [DAT](INFO): setting verbose to 3
2025-10-24T23:20:50.347Z,1761348050.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159077,0.962710,0.218824],[-0.984249,-0.137330,-0.111334],[-0.077131,-0.233088,0.969392]]
2025-10-24T23:20:50.517Z,1761348050.517 [DAT](INFO): DAT read: user:1>

2025-10-24T23:20:50.517Z,1761348050.517 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:20:50.518Z,1761348050.518 [DAT](INFO): set verbose to 3
2025-10-24T23:20:50.518Z,1761348050.518 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:20:50.750Z,1761348050.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158046,0.962196,0.221812],[-0.984307,-0.135663,-0.112847],[-0.078489,-0.236166,0.968538]]
2025-10-24T23:20:50.769Z,1761348050.769 [DAT](INFO): DAT read: user:2>

2025-10-24T23:20:50.770Z,1761348050.770 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:20:50.770Z,1761348050.770 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:20:50.770Z,1761348050.770 [DAT](INFO): setting transmit power to 8
2025-10-24T23:20:50.941Z,1761348050.941 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:20:50.941Z,1761348050.941 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:20:51.021Z,1761348051.021 [DAT](INFO): DAT read: user:3>

2025-10-24T23:20:51.022Z,1761348051.022 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:20:51.022Z,1761348051.022 [DAT](INFO): set transmit power to 8
2025-10-24T23:20:51.022Z,1761348051.022 [DAT](INFO): setting local address to 11
2025-10-24T23:20:51.158Z,1761348051.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155947,0.962302,0.222833],[-0.984573,-0.133313,-0.113331],[-0.079352,-0.237069,0.968247]]
2025-10-24T23:20:51.273Z,1761348051.273 [DAT](INFO): DAT read: user:4>

2025-10-24T23:20:51.273Z,1761348051.273 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:20:51.274Z,1761348051.274 [DAT](INFO): set local address to 11
2025-10-24T23:20:51.275Z,1761348051.275 [DAT](INFO): Setting time to: 23:20:51 And date to:10/24/2025
2025-10-24T23:20:51.525Z,1761348051.525 [DAT](INFO): DAT read: user:5>

2025-10-24T23:20:51.525Z,1761348051.525 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:20:51  

2025-10-24T23:20:51.526Z,1761348051.526 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:20:51  

2025-10-24T23:20:51.526Z,1761348051.526 [DAT](INFO): setting remote address to 10
2025-10-24T23:20:51.527Z,1761348051.527 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:20:51.527Z,1761348051.527 [DAT](INFO): setting remote address to 0
2025-10-24T23:20:51.559Z,1761348051.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153333,0.963075,0.221303],[-0.984966,-0.130920,-0.112706],[-0.079572,-0.235257,0.968670]]
2025-10-24T23:20:51.777Z,1761348051.777 [DAT](INFO): DAT read: user:6>

2025-10-24T23:20:51.778Z,1761348051.778 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:20:51.778Z,1761348051.778 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:20:51.778Z,1761348051.778 [DAT] Communications Fault, FailCount= 5
2025-10-24T23:20:51.778Z,1761348051.778 [DAT](ERROR): Communications Fault
2025-10-24T23:20:51.779Z,1761348051.779 [DAT](INFO): DAT read: user:7>

2025-10-24T23:20:51.780Z,1761348051.780 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:20:51.781Z,1761348051.781 [DAT](INFO): set remote address to 0
2025-10-24T23:20:51.781Z,1761348051.781 [DAT](INFO): setting remote address to 10
2025-10-24T23:20:51.781Z,1761348051.781 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:20:51.781Z,1761348051.781 [DAT](INFO): setting remote address to 0
2025-10-24T23:20:51.962Z,1761348051.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149897,0.963737,0.220775],[-0.985475,-0.127609,-0.112051],[-0.079815,-0.234365,0.968867]]
2025-10-24T23:20:52.190Z,1761348052.190 [DAT](INFO): Powering down
2025-10-24T23:20:52.263Z,1761348052.263 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:20:52.373Z,1761348052.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146632,0.964462,0.219799],[-0.985973,-0.124593,-0.111055],[-0.079723,-0.233000,0.969203]]
2025-10-24T23:20:52.770Z,1761348052.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143901,0.965312,0.217867],[-0.986405,-0.122263,-0.109802],[-0.079356,-0.230706,0.969782]]
2025-10-24T23:20:53.174Z,1761348053.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141725,0.965915,0.216614],[-0.986778,-0.120471,-0.108425],[-0.078634,-0.229117,0.970218]]
2025-10-24T23:20:53.375Z,1761348053.375 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:20:53.375Z,1761348053.375 [DAT] No Fault, FailCount= 5
2025-10-24T23:20:53.585Z,1761348053.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139870,0.966320,0.216012],[-0.987149,-0.119057,-0.106593],[-0.077286,-0.228146,0.970555]]
2025-10-24T23:20:53.985Z,1761348053.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138352,0.966488,0.216240],[-0.987511,-0.118006,-0.104387],[-0.075372,-0.227982,0.970744]]
2025-10-24T23:20:54.395Z,1761348054.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137182,0.966569,0.216621],[-0.987857,-0.117397,-0.101763],[-0.072930,-0.227950,0.970938]]
2025-10-24T23:20:54.458Z,1761348054.458 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:20:54.790Z,1761348054.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135975,0.966338,0.218407],[-0.988237,-0.116724,-0.098808],[-0.069989,-0.229274,0.970842]]
2025-10-24T23:20:55.196Z,1761348055.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134416,0.966282,0.219615],[-0.988676,-0.115852,-0.095387],[-0.066728,-0.229949,0.970912]]
2025-10-24T23:20:55.240Z,1761348055.240 [DAT](INFO): Powering up
2025-10-24T23:20:55.240Z,1761348055.240 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:20:55.599Z,1761348055.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132709,0.966343,0.220384],[-0.989115,-0.114861,-0.091973],[-0.063564,-0.230190,0.971068]]
2025-10-24T23:20:56.011Z,1761348056.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128251,0.967578,0.217588],[-0.990095,-0.112280,-0.084296],[-0.057132,-0.226244,0.972394]]
2025-10-24T23:20:56.411Z,1761348056.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126723,0.968360,0.214991],[-0.990484,-0.111796,-0.080275],[-0.053700,-0.223118,0.973311]]
2025-10-24T23:20:56.815Z,1761348056.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125919,0.969036,0.212400],[-0.990771,-0.112015,-0.076323],[-0.050167,-0.220051,0.974198]]
2025-10-24T23:20:57.225Z,1761348057.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126608,0.969640,0.209209],[-0.990853,-0.113695,-0.072688],[-0.046695,-0.216498,0.975166]]
2025-10-24T23:20:57.624Z,1761348057.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128791,0.970219,0.205153],[-0.990704,-0.116743,-0.069839],[-0.043809,-0.212241,0.976235]]
2025-10-24T23:20:58.025Z,1761348058.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132475,0.970406,0.201899],[-0.990332,-0.121132,-0.067590],[-0.041134,-0.208901,0.977071]]
2025-10-24T23:20:58.427Z,1761348058.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137452,0.970460,0.198277],[-0.989756,-0.126767,-0.065674],[-0.038599,-0.205273,0.977943]]
2025-10-24T23:20:58.834Z,1761348058.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142442,0.970076,0.196627],[-0.989138,-0.132225,-0.064215],[-0.036294,-0.203638,0.978373]]
2025-10-24T23:20:59.240Z,1761348059.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148789,0.969355,0.195480],[-0.988292,-0.139018,-0.062865],[-0.033763,-0.202545,0.978691]]
2025-10-24T23:20:59.264Z,1761348059.264 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:20:59.264Z,1761348059.264 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:20:59.265Z,1761348059.265 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:20:59.265Z,1761348059.265 [marl:UpdateRudder:A] Stopped
2025-10-24T23:20:59.265Z,1761348059.265 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:20:59.265Z,1761348059.265 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:20:59.265Z,1761348059.265 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:20:59.265Z,1761348059.265 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:20:59.265Z,1761348059.265 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:20:59.266Z,1761348059.266 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:20:59.266Z,1761348059.266 [marl:UpdateCommandMode] Stopped
2025-10-24T23:20:59.266Z,1761348059.266 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:20:59.266Z,1761348059.266 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:20:59.266Z,1761348059.266 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:20:59.266Z,1761348059.266 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:20:59.266Z,1761348059.266 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:20:59.266Z,1761348059.266 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:20:59.266Z,1761348059.266 [marl:UpdateSpeed] Stopped
2025-10-24T23:20:59.267Z,1761348059.267 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:20:59.638Z,1761348059.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155738,0.967701,0.198243],[-0.987323,-0.146271,-0.061627],[-0.030639,-0.205328,0.978213]]
2025-10-24T23:20:59.690Z,1761348059.690 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:20:59.690Z,1761348059.690 [marl:UpdateRudder:B] Stopped
2025-10-24T23:20:59.690Z,1761348059.690 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:20:59.690Z,1761348059.690 [marl:UpdateRudder] Stopped
2025-10-24T23:20:59.690Z,1761348059.690 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:21:00.049Z,1761348060.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162072,0.966085,0.201030],[-0.986412,-0.153058,-0.059708],[-0.026914,-0.207975,0.977764]]
2025-10-24T23:21:00.446Z,1761348060.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165962,0.964177,0.206927],[-0.985858,-0.157270,-0.057887],[-0.023270,-0.213607,0.976642]]
2025-10-24T23:21:00.850Z,1761348060.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166833,0.962444,0.214167],[-0.985775,-0.158336,-0.056363],[-0.020336,-0.220524,0.975169]]
2025-10-24T23:21:01.254Z,1761348061.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165667,0.961245,0.220371],[-0.986019,-0.157387,-0.054738],[-0.017933,-0.226359,0.973879]]
2025-10-24T23:21:01.666Z,1761348061.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163463,0.960312,0.226010],[-0.986421,-0.155403,-0.053129],[-0.015897,-0.231625,0.972675]]
2025-10-24T23:21:02.071Z,1761348062.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161289,0.959413,0.231329],[-0.986804,-0.153389,-0.051865],[-0.014276,-0.236641,0.971492]]
2025-10-24T23:21:02.466Z,1761348062.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160050,0.958963,0.234037],[-0.987024,-0.152371,-0.050653],[-0.012914,-0.239107,0.970907]]
2025-10-24T23:21:02.870Z,1761348062.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160290,0.958779,0.234626],[-0.987000,-0.152856,-0.049657],[-0.011746,-0.239536,0.970817]]
2025-10-24T23:21:03.282Z,1761348063.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162004,0.958870,0.233071],[-0.986741,-0.155047,-0.047993],[-0.009882,-0.237756,0.971275]]
2025-10-24T23:21:03.683Z,1761348063.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164528,0.959166,0.230067],[-0.986343,-0.158184,-0.045882],[-0.007616,-0.234474,0.972093]]
2025-10-24T23:21:04.082Z,1761348064.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167058,0.959396,0.227267],[-0.985934,-0.161377,-0.043487],[-0.005046,-0.231336,0.972861]]
2025-10-24T23:21:04.486Z,1761348064.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169270,0.959567,0.224895],[-0.985568,-0.164329,-0.040651],[-0.002050,-0.228531,0.973535]]
2025-10-24T23:21:04.892Z,1761348064.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169781,0.959861,0.223250],[-0.985481,-0.165575,-0.037565],[0.000908,-0.226387,0.974037]]
2025-10-24T23:21:05.295Z,1761348065.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168590,0.960117,0.223055],[-0.985679,-0.165061,-0.034511],[0.003683,-0.225679,0.974195]]
2025-10-24T23:21:05.698Z,1761348065.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166222,0.960437,0.223454],[-0.986070,-0.163285,-0.031691],[0.006050,-0.225609,0.974199]]
2025-10-24T23:21:06.102Z,1761348066.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163069,0.960418,0.225845],[-0.986583,-0.160579,-0.029480],[0.007953,-0.227622,0.973717]]
2025-10-24T23:21:06.507Z,1761348066.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160482,0.960693,0.226528],[-0.986990,-0.158477,-0.027137],[0.009829,-0.227936,0.973627]]
2025-10-24T23:21:06.910Z,1761348066.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158608,0.960606,0.228211],[-0.987272,-0.157047,-0.025104],[0.011725,-0.229288,0.973288]]
2025-10-24T23:21:07.314Z,1761348067.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157287,0.961195,0.226638],[-0.987464,-0.156153,-0.023040],[0.013245,-0.227421,0.973706]]
2025-10-24T23:21:07.341Z,1761348067.341 [DAT](INFO): DAT read: 

2025-10-24T23:21:07.341Z,1761348067.341 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:21:07.718Z,1761348067.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157882,0.961378,0.225445],[-0.987340,-0.157227,-0.020971],[0.015285,-0.225901,0.974030]]
2025-10-24T23:21:08.124Z,1761348068.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159863,0.961390,0.223994],[-0.986991,-0.159598,-0.019411],[0.017087,-0.224183,0.974397]]
2025-10-24T23:21:08.237Z,1761348068.237 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:21:08.539Z,1761348068.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162774,0.961518,0.221330],[-0.986482,-0.162897,-0.017828],[0.018912,-0.221240,0.975036]]
2025-10-24T23:21:08.935Z,1761348068.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166903,0.961360,0.218931],[-0.985754,-0.167388,-0.016467],[0.020816,-0.218561,0.975601]]
2025-10-24T23:21:08.983Z,1761348068.983 [marl:SendObservationData] Running Loop=1
2025-10-24T23:21:08.983Z,1761348068.983 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:21:08.983Z,1761348068.983 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:21:08.984Z,1761348068.984 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:21:08.985Z,1761348068.985 [marl:SendObservationData:A](INFO): Got test_good :  41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:21:08.985Z,1761348068.985 [marl:SendObservationData:A] Stopped
2025-10-24T23:21:08.985Z,1761348068.985 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:21:09.105Z,1761348069.105 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:21:09.106Z,1761348069.106 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:21:09.107Z,1761348069.107 [DAT](INFO): DAT read: Oct 24 2025 23:21:03 

2025-10-24T23:21:09.240Z,1761348069.240 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:21:09.335Z,1761348069.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171018,0.960970,0.217460],[-0.985007,-0.171831,-0.015311],[0.022653,-0.216818,0.975949]]
2025-10-24T23:21:09.399Z,1761348069.399 [marl:SendObservationData:B] Stopped
2025-10-24T23:21:09.399Z,1761348069.399 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:21:09.740Z,1761348069.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175075,0.960182,0.217713],[-0.984247,-0.176219,-0.014305],[0.024629,-0.216788,0.975908]]
2025-10-24T23:21:09.765Z,1761348069.765 [marl:SendObservationData:C] Stopped
2025-10-24T23:21:09.765Z,1761348069.765 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:21:10.113Z,1761348070.113 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:21:10.114Z,1761348070.114 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:21:10.114Z,1761348070.114 [DAT](INFO): commRate: 600
2025-10-24T23:21:10.142Z,1761348070.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178542,0.959170,0.219352],[-0.983570,-0.180034,-0.013334],[0.026701,-0.218129,0.975555]]
2025-10-24T23:21:10.233Z,1761348070.233 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.008646 min 
2025-10-24T23:21:10.233Z,1761348070.233 [marl:SendObservationData:E] Stopped
2025-10-24T23:21:10.234Z,1761348070.234 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:21:10.234Z,1761348070.234 [marl:SendObservationData] Stopped
2025-10-24T23:21:10.234Z,1761348070.234 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:21:10.234Z,1761348070.234 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:21:10.548Z,1761348070.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180903,0.957834,0.223223],[-0.983074,-0.182795,-0.012336],[0.028989,-0.221676,0.974689]]
2025-10-24T23:21:10.950Z,1761348070.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181480,0.956657,0.227756],[-0.982905,-0.183762,-0.011329],[0.031015,-0.225919,0.973652]]
2025-10-24T23:21:11.361Z,1761348071.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180196,0.955592,0.233179],[-0.983076,-0.182922,-0.010068],[0.033033,-0.231047,0.972382]]
2025-10-24T23:21:11.758Z,1761348071.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177601,0.954659,0.238921],[-0.983480,-0.180813,-0.008591],[0.034999,-0.236500,0.971001]]
2025-10-24T23:21:12.163Z,1761348072.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173815,0.953836,0.244918],[-0.984111,-0.177394,-0.007547],[0.036248,-0.242339,0.969514]]
2025-10-24T23:21:12.192Z,1761348072.192 [DAT](INFO): entering command mode
2025-10-24T23:21:12.227Z,1761348072.227 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:21:12.227Z,1761348072.227 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:21:12.227Z,1761348072.227 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:21:12.227Z,1761348072.227 [marl:UpdateRudder:A] Stopped
2025-10-24T23:21:12.227Z,1761348072.227 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:21:12.227Z,1761348072.227 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:21:12.228Z,1761348072.228 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:21:12.228Z,1761348072.228 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:21:12.228Z,1761348072.228 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:21:12.228Z,1761348072.228 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:21:12.228Z,1761348072.228 [marl:UpdateCommandMode] Stopped
2025-10-24T23:21:12.228Z,1761348072.228 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:21:12.229Z,1761348072.229 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:21:12.229Z,1761348072.229 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:21:12.229Z,1761348072.229 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:21:12.230Z,1761348072.230 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:21:12.230Z,1761348072.230 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:21:12.230Z,1761348072.230 [marl:UpdateSpeed] Stopped
2025-10-24T23:21:12.230Z,1761348072.230 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:21:12.392Z,1761348072.392 [DAT](INFO): DAT read: 

2025-10-24T23:21:12.393Z,1761348072.393 [DAT](INFO): DAT read: user:1>

2025-10-24T23:21:12.393Z,1761348072.393 [DAT](INFO): setting verbose to 3
2025-10-24T23:21:12.568Z,1761348072.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169903,0.953997,0.247028],[-0.984770,-0.173745,-0.006328],[0.036883,-0.244341,0.968988]]
2025-10-24T23:21:12.591Z,1761348072.591 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:21:12.591Z,1761348072.591 [marl:UpdateRudder:B] Stopped
2025-10-24T23:21:12.592Z,1761348072.592 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:21:12.592Z,1761348072.592 [marl:UpdateRudder] Stopped
2025-10-24T23:21:12.592Z,1761348072.592 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:21:12.645Z,1761348072.645 [DAT](INFO): DAT read: user:1>

2025-10-24T23:21:12.646Z,1761348072.646 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:21:12.647Z,1761348072.647 [DAT](INFO): set verbose to 3
2025-10-24T23:21:12.647Z,1761348072.647 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:21:12.897Z,1761348072.897 [DAT](INFO): DAT read: user:2>

2025-10-24T23:21:12.897Z,1761348072.897 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:21:12.898Z,1761348072.898 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:21:12.898Z,1761348072.898 [DAT](INFO): setting transmit power to 8
2025-10-24T23:21:12.971Z,1761348072.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166824,0.954223,0.248251],[-0.985311,-0.170656,-0.006164],[0.036484,-0.245633,0.968676]]
2025-10-24T23:21:13.149Z,1761348073.149 [DAT](INFO): DAT read: user:3>

2025-10-24T23:21:13.149Z,1761348073.149 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:21:13.150Z,1761348073.150 [DAT](INFO): set transmit power to 8
2025-10-24T23:21:13.150Z,1761348073.150 [DAT](INFO): setting local address to 11
2025-10-24T23:21:13.375Z,1761348073.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166151,0.954368,0.248143],[-0.985436,-0.169932,-0.006260],[0.036193,-0.245569,0.968703]]
2025-10-24T23:21:13.401Z,1761348073.401 [DAT](INFO): DAT read: user:4>

2025-10-24T23:21:13.402Z,1761348073.402 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:21:13.402Z,1761348073.402 [DAT](INFO): set local address to 11
2025-10-24T23:21:13.403Z,1761348073.403 [DAT](INFO): Setting time to: 23:21:13 And date to:10/24/2025
2025-10-24T23:21:13.653Z,1761348073.653 [DAT](INFO): DAT read: user:5>

2025-10-24T23:21:13.655Z,1761348073.655 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:21:13  

2025-10-24T23:21:13.655Z,1761348073.655 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:21:13  

2025-10-24T23:21:13.656Z,1761348073.656 [DAT](INFO): setting remote address to 10
2025-10-24T23:21:13.657Z,1761348073.657 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:21:13.657Z,1761348073.657 [DAT](INFO): setting remote address to 0
2025-10-24T23:21:13.803Z,1761348073.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167905,0.954734,0.245541],[-0.985154,-0.171547,-0.006637],[0.035785,-0.243010,0.969363]]
2025-10-24T23:21:13.907Z,1761348073.907 [DAT](INFO): DAT read: user:6>

2025-10-24T23:21:13.911Z,1761348073.911 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:21:13.913Z,1761348073.913 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:21:13.913Z,1761348073.913 [DAT] Communications Fault, FailCount= 6
2025-10-24T23:21:13.913Z,1761348073.913 [DAT](ERROR): Communications Fault
2025-10-24T23:21:13.916Z,1761348073.916 [DAT](INFO): DAT read: user:7>

2025-10-24T23:21:13.919Z,1761348073.919 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:21:13.927Z,1761348073.927 [DAT](INFO): set remote address to 0
2025-10-24T23:21:13.930Z,1761348073.930 [DAT](INFO): setting remote address to 10
2025-10-24T23:21:13.933Z,1761348073.933 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:21:13.934Z,1761348073.934 [DAT](INFO): setting remote address to 0
2025-10-24T23:21:14.033Z,1761348074.033 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:21:14.182Z,1761348074.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171271,0.955157,0.241539],[-0.984597,-0.174681,-0.007392],[0.035131,-0.239085,0.970363]]
2025-10-24T23:21:14.340Z,1761348074.340 [DAT](INFO): Powering down
2025-10-24T23:21:14.586Z,1761348074.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176156,0.955769,0.235529],[-0.983754,-0.179344,-0.007990],[0.034604,-0.233110,0.971834]]
2025-10-24T23:21:14.994Z,1761348074.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181939,0.955853,0.230743],[-0.982710,-0.184943,-0.008732],[0.034328,-0.228343,0.972975]]
2025-10-24T23:21:15.395Z,1761348075.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188608,0.955516,0.226753],[-0.981436,-0.191574,-0.009059],[0.034784,-0.224252,0.973910]]
2025-10-24T23:21:15.520Z,1761348075.520 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:21:15.520Z,1761348075.520 [DAT] No Fault, FailCount= 6
2025-10-24T23:21:15.798Z,1761348075.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196008,0.954127,0.226323],[-0.979932,-0.199117,-0.009241],[0.036247,-0.223593,0.974008]]
2025-10-24T23:21:16.202Z,1761348076.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202881,0.952659,0.226452],[-0.978446,-0.206321,-0.008630],[0.038500,-0.223322,0.973984]]
2025-10-24T23:21:16.607Z,1761348076.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208081,0.951056,0.228463],[-0.977255,-0.211923,-0.007865],[0.040936,-0.224903,0.973521]]
2025-10-24T23:21:17.019Z,1761348077.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209366,0.950166,0.230977],[-0.976924,-0.213457,-0.007428],[0.042246,-0.227202,0.972931]]
2025-10-24T23:21:17.384Z,1761348077.384 [DAT](INFO): Powering up
2025-10-24T23:21:17.384Z,1761348077.384 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:21:17.415Z,1761348077.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208306,0.949421,0.234965],[-0.977129,-0.212510,-0.007575],[0.042740,-0.231169,0.971974]]
2025-10-24T23:21:17.818Z,1761348077.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206701,0.949239,0.237106],[-0.977470,-0.210936,-0.007654],[0.042749,-0.233346,0.971454]]
2025-10-24T23:21:18.224Z,1761348078.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205796,0.948965,0.238986],[-0.977653,-0.210084,-0.007678],[0.042920,-0.235225,0.970993]]
2025-10-24T23:21:18.627Z,1761348078.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205666,0.949155,0.238340],[-0.977676,-0.209990,-0.007393],[0.043032,-0.234540,0.971153]]
2025-10-24T23:21:19.031Z,1761348079.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206817,0.949246,0.236977],[-0.977418,-0.211200,-0.007030],[0.043376,-0.233080,0.971490]]
2025-10-24T23:21:19.434Z,1761348079.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208808,0.949830,0.232859],[-0.977006,-0.213104,-0.006845],[0.043121,-0.228934,0.972486]]
2025-10-24T23:21:19.839Z,1761348079.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212531,0.949794,0.229613],[-0.976201,-0.216756,-0.006964],[0.043156,-0.225628,0.973257]]
2025-10-24T23:21:20.243Z,1761348080.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216792,0.949119,0.228419],[-0.975252,-0.220972,-0.007436],[0.043417,-0.224378,0.973535]]
2025-10-24T23:21:20.648Z,1761348080.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221439,0.948377,0.227038],[-0.974187,-0.225607,-0.007763],[0.043859,-0.222897,0.973855]]
2025-10-24T23:21:21.050Z,1761348081.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225182,0.947184,0.228331],[-0.973323,-0.229270,-0.008820],[0.043995,-0.224226,0.973544]]
2025-10-24T23:21:21.458Z,1761348081.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227976,0.946067,0.230182],[-0.972663,-0.232017,-0.009731],[0.044200,-0.226107,0.973099]]
2025-10-24T23:21:21.863Z,1761348081.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229439,0.945130,0.232565],[-0.972308,-0.233470,-0.010433],[0.044437,-0.228518,0.972525]]
2025-10-24T23:21:22.263Z,1761348082.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229737,0.944105,0.236402],[-0.972228,-0.233768,-0.011230],[0.044661,-0.232417,0.971590]]
2025-10-24T23:21:22.672Z,1761348082.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228072,0.943657,0.239781],[-0.972610,-0.232161,-0.011448],[0.044865,-0.235824,0.970760]]
2025-10-24T23:21:23.072Z,1761348083.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225746,0.943422,0.242884],[-0.973137,-0.229950,-0.011290],[0.045200,-0.238908,0.969990]]
2025-10-24T23:21:23.485Z,1761348083.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222665,0.943518,0.245344],[-0.973832,-0.227012,-0.010794],[0.045512,-0.241327,0.969376]]
2025-10-24T23:21:23.899Z,1761348083.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219558,0.943771,0.247166],[-0.974526,-0.224042,-0.010202],[0.045747,-0.243110,0.968919]]
2025-10-24T23:21:24.283Z,1761348084.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216829,0.944122,0.248231],[-0.975119,-0.221486,-0.009362],[0.046140,-0.244084,0.968656]]
2025-10-24T23:21:24.690Z,1761348084.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215236,0.944766,0.247165],[-0.975452,-0.220058,-0.008288],[0.046560,-0.242881,0.968938]]
2025-10-24T23:21:25.090Z,1761348085.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213561,0.945232,0.246837],[-0.975849,-0.218284,-0.008403],[0.045938,-0.242671,0.969020]]
2025-10-24T23:21:25.126Z,1761348085.126 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:21:25.126Z,1761348085.126 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:21:25.126Z,1761348085.126 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:21:25.126Z,1761348085.126 [marl:UpdateRudder:A] Stopped
2025-10-24T23:21:25.126Z,1761348085.126 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:21:25.126Z,1761348085.126 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:21:25.127Z,1761348085.127 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:21:25.127Z,1761348085.127 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:21:25.127Z,1761348085.127 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:21:25.127Z,1761348085.127 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:21:25.127Z,1761348085.127 [marl:UpdateCommandMode] Stopped
2025-10-24T23:21:25.127Z,1761348085.127 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:21:25.127Z,1761348085.127 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:21:25.128Z,1761348085.128 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:21:25.128Z,1761348085.128 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:21:25.128Z,1761348085.128 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:21:25.128Z,1761348085.128 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:21:25.128Z,1761348085.128 [marl:UpdateSpeed] Stopped
2025-10-24T23:21:25.128Z,1761348085.128 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:21:25.502Z,1761348085.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212608,0.945622,0.246163],[-0.976071,-0.217295,-0.008292],[0.045649,-0.242035,0.969193]]
2025-10-24T23:21:25.545Z,1761348085.545 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:21:25.545Z,1761348085.545 [marl:UpdateRudder:B] Stopped
2025-10-24T23:21:25.545Z,1761348085.545 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:21:25.546Z,1761348085.546 [marl:UpdateRudder] Stopped
2025-10-24T23:21:25.546Z,1761348085.546 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:21:25.941Z,1761348085.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211551,0.946010,0.245585],[-0.976322,-0.216161,-0.008355],[0.045182,-0.241538,0.969339]]
2025-10-24T23:21:26.302Z,1761348086.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210526,0.946202,0.245724],[-0.976567,-0.215038,-0.008639],[0.044665,-0.241785,0.969301]]
2025-10-24T23:21:26.706Z,1761348086.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209601,0.946663,0.244738],[-0.976827,-0.213816,-0.009530],[0.043307,-0.241065,0.969542]]
2025-10-24T23:21:27.111Z,1761348087.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209743,0.947267,0.242266],[-0.976862,-0.213612,-0.010496],[0.041809,-0.238861,0.970153]]
2025-10-24T23:21:27.531Z,1761348087.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211047,0.947820,0.238950],[-0.976660,-0.214460,-0.011935],[0.039933,-0.235891,0.970959]]
2025-10-24T23:21:28.323Z,1761348088.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217159,0.948845,0.229205],[-0.975519,-0.219300,-0.016410],[0.034694,-0.227158,0.973240]]
2025-10-24T23:21:28.727Z,1761348088.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221629,0.949167,0.223523],[-0.974612,-0.223092,-0.019018],[0.031815,-0.222063,0.974513]]
2025-10-24T23:21:29.131Z,1761348089.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227369,0.948932,0.218704],[-0.973377,-0.228147,-0.022040],[0.028982,-0.217892,0.975542]]
2025-10-24T23:21:29.484Z,1761348089.484 [DAT](INFO): DAT read: 

2025-10-24T23:21:29.485Z,1761348089.485 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:21:29.534Z,1761348089.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233926,0.948503,0.213588],[-0.971896,-0.234094,-0.024873],[0.026407,-0.213404,0.976607]]
2025-10-24T23:21:29.953Z,1761348089.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240005,0.947442,0.211544],[-0.970464,-0.239651,-0.027703],[0.024450,-0.211945,0.976976]]
2025-10-24T23:21:30.342Z,1761348090.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246651,0.946037,0.210183],[-0.968826,-0.245906,-0.030098],[0.023211,-0.211054,0.977199]]
2025-10-24T23:21:31.150Z,1761348091.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261362,0.941601,0.212313],[-0.964975,-0.260058,-0.034557],[0.022674,-0.213908,0.976591]]
2025-10-24T23:21:31.249Z,1761348091.249 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:21:31.250Z,1761348091.250 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:21:31.251Z,1761348091.251 [DAT](INFO): DAT read: Oct 24 2025 23:21:25 

2025-10-24T23:21:31.554Z,1761348091.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267349,0.939078,0.216002],[-0.963329,-0.265784,-0.036820],[0.022832,-0.217925,0.975698]]
2025-10-24T23:21:31.967Z,1761348091.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270699,0.937436,0.218942],[-0.962391,-0.268945,-0.038367],[0.022917,-0.221094,0.974983]]
2025-10-24T23:21:32.257Z,1761348092.257 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:21:32.258Z,1761348092.258 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:21:32.258Z,1761348092.258 [DAT](INFO): commRate: 600
2025-10-24T23:21:32.365Z,1761348092.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271269,0.936291,0.223099],[-0.962240,-0.269235,-0.040089],[0.022531,-0.225550,0.973971]]
2025-10-24T23:21:32.767Z,1761348092.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269340,0.935612,0.228226],[-0.962799,-0.266963,-0.041829],[0.021792,-0.231002,0.972709]]
2025-10-24T23:21:33.170Z,1761348093.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265787,0.935530,0.232681],[-0.963809,-0.263059,-0.043272],[0.020727,-0.235761,0.971590]]
2025-10-24T23:21:33.574Z,1761348093.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261437,0.935764,0.236635],[-0.965019,-0.258417,-0.044262],[0.019732,-0.239929,0.970590]]
2025-10-24T23:21:33.980Z,1761348093.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256237,0.936513,0.239344],[-0.966448,-0.252803,-0.045485],[0.017909,-0.242968,0.969869]]
2025-10-24T23:21:34.324Z,1761348094.324 [DAT](INFO): entering command mode
2025-10-24T23:21:34.383Z,1761348094.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251171,0.937375,0.241331],[-0.967820,-0.247179,-0.047192],[0.015415,-0.245419,0.969295]]
2025-10-24T23:21:34.524Z,1761348094.524 [DAT](INFO): DAT read: 

2025-10-24T23:21:34.525Z,1761348094.525 [DAT](INFO): DAT read: user:1>

2025-10-24T23:21:34.525Z,1761348094.525 [DAT](INFO): setting verbose to 3
2025-10-24T23:21:34.780Z,1761348094.780 [DAT](INFO): DAT read: user:1>

2025-10-24T23:21:34.781Z,1761348094.781 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:21:34.782Z,1761348094.782 [DAT](INFO): set verbose to 3
2025-10-24T23:21:34.782Z,1761348094.782 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:21:34.793Z,1761348094.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247960,0.938261,0.241209],[-0.968676,-0.243607,-0.048195],[0.013541,-0.245604,0.969276]]
2025-10-24T23:21:35.033Z,1761348095.033 [DAT](INFO): DAT read: user:2>

2025-10-24T23:21:35.034Z,1761348095.034 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:21:35.034Z,1761348095.034 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:21:35.034Z,1761348095.034 [DAT](INFO): setting transmit power to 8
2025-10-24T23:21:35.191Z,1761348095.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246973,0.938860,0.239889],[-0.968945,-0.242396,-0.048888],[0.012250,-0.244513,0.969569]]
2025-10-24T23:21:35.285Z,1761348095.285 [DAT](INFO): DAT read: user:3>

2025-10-24T23:21:35.286Z,1761348095.286 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:21:35.286Z,1761348095.286 [DAT](INFO): set transmit power to 8
2025-10-24T23:21:35.286Z,1761348095.286 [DAT](INFO): setting local address to 11
2025-10-24T23:21:35.537Z,1761348095.537 [DAT](INFO): DAT read: user:4>

2025-10-24T23:21:35.537Z,1761348095.537 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:21:35.538Z,1761348095.538 [DAT](INFO): set local address to 11
2025-10-24T23:21:35.539Z,1761348095.539 [DAT](INFO): Setting time to: 23:21:35 And date to:10/24/2025
2025-10-24T23:21:35.601Z,1761348095.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247055,0.939657,0.236660],[-0.968943,-0.242244,-0.049672],[0.010654,-0.241581,0.970322]]
2025-10-24T23:21:35.789Z,1761348095.789 [DAT](INFO): DAT read: user:5>

2025-10-24T23:21:35.789Z,1761348095.789 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:21:35  

2025-10-24T23:21:35.790Z,1761348095.790 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:21:35  

2025-10-24T23:21:35.790Z,1761348095.790 [DAT](INFO): setting remote address to 10
2025-10-24T23:21:35.791Z,1761348095.791 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:21:35.791Z,1761348095.791 [DAT](INFO): setting remote address to 0
2025-10-24T23:21:35.999Z,1761348095.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248138,0.940147,0.233563],[-0.968677,-0.243190,-0.050230],[0.009577,-0.238711,0.971043]]
2025-10-24T23:21:36.041Z,1761348096.041 [DAT](INFO): DAT read: user:6>

2025-10-24T23:21:36.042Z,1761348096.042 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:21:36.042Z,1761348096.042 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:21:36.042Z,1761348096.042 [DAT] Communications Fault, FailCount= 7
2025-10-24T23:21:36.042Z,1761348096.042 [DAT](ERROR): Communications Fault
2025-10-24T23:21:36.043Z,1761348096.043 [DAT](INFO): DAT read: user:7>

2025-10-24T23:21:36.044Z,1761348096.044 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:21:36.045Z,1761348096.045 [DAT](INFO): set remote address to 0
2025-10-24T23:21:36.046Z,1761348096.046 [DAT](INFO): setting remote address to 10
2025-10-24T23:21:36.049Z,1761348096.049 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:21:36.050Z,1761348096.050 [DAT](INFO): setting remote address to 0
2025-10-24T23:21:36.240Z,1761348096.240 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:21:36.404Z,1761348096.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249671,0.940241,0.231544],[-0.968291,-0.244581,-0.050915],[0.008758,-0.236914,0.971491]]
2025-10-24T23:21:36.456Z,1761348096.456 [DAT](INFO): Powering down
2025-10-24T23:21:36.806Z,1761348096.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251085,0.940367,0.229493],[-0.967933,-0.245846,-0.051627],[0.007871,-0.235097,0.971940]]
2025-10-24T23:21:37.211Z,1761348097.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252551,0.940756,0.226266],[-0.967559,-0.247197,-0.052179],[0.006845,-0.232104,0.972667]]
2025-10-24T23:21:37.614Z,1761348097.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254262,0.940912,0.223686],[-0.967118,-0.248756,-0.052949],[0.005823,-0.229793,0.973222]]
2025-10-24T23:21:37.695Z,1761348097.695 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:21:37.695Z,1761348097.695 [DAT] No Fault, FailCount= 7
2025-10-24T23:21:38.020Z,1761348098.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256330,0.941251,0.219865],[-0.966579,-0.250653,-0.053834],[0.004438,-0.226317,0.974044]]
2025-10-24T23:21:38.096Z,1761348098.096 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:21:38.097Z,1761348098.097 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:21:38.097Z,1761348098.097 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:21:38.097Z,1761348098.097 [marl:UpdateRudder:A] Stopped
2025-10-24T23:21:38.097Z,1761348098.097 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:21:38.097Z,1761348098.097 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:21:38.097Z,1761348098.097 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:21:38.097Z,1761348098.097 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:21:38.098Z,1761348098.098 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:21:38.098Z,1761348098.098 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:21:38.098Z,1761348098.098 [marl:UpdateCommandMode] Stopped
2025-10-24T23:21:38.098Z,1761348098.098 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:21:38.098Z,1761348098.098 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:21:38.098Z,1761348098.098 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:21:38.098Z,1761348098.098 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:21:38.099Z,1761348098.099 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:21:38.099Z,1761348098.099 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:21:38.099Z,1761348098.099 [marl:UpdateSpeed] Stopped
2025-10-24T23:21:38.099Z,1761348098.099 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:21:38.429Z,1761348098.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259319,0.941522,0.215151],[-0.965787,-0.253486,-0.054773],[0.002968,-0.221993,0.975044]]
2025-10-24T23:21:38.474Z,1761348098.474 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:21:38.474Z,1761348098.474 [marl:UpdateRudder:B] Stopped
2025-10-24T23:21:38.474Z,1761348098.474 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:21:38.474Z,1761348098.474 [marl:UpdateRudder] Stopped
2025-10-24T23:21:38.474Z,1761348098.474 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:21:38.845Z,1761348098.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263081,0.941396,0.211096],[-0.964773,-0.257051,-0.056023],[0.001522,-0.218398,0.975859]]
2025-10-24T23:21:39.232Z,1761348099.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267482,0.941148,0.206624],[-0.963563,-0.261316,-0.057104],[0.000251,-0.214369,0.976753]]
2025-10-24T23:21:39.384Z,1761348099.384 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:21:39.504Z,1761348099.504 [DAT](INFO): Powering up
2025-10-24T23:21:39.504Z,1761348099.504 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:21:39.634Z,1761348099.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272155,0.940652,0.202744],[-0.962253,-0.265875,-0.058131],[-0.000776,-0.210912,0.977505]]
2025-10-24T23:21:40.388Z,1761348100.388 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:21:40.447Z,1761348100.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279266,0.938546,0.202835],[-0.960212,-0.272513,-0.061075],[-0.002046,-0.211820,0.977307]]
2025-10-24T23:21:40.848Z,1761348100.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279861,0.937535,0.206653],[-0.960037,-0.272689,-0.063010],[-0.002722,-0.216029,0.976383]]
2025-10-24T23:21:41.250Z,1761348101.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275432,0.938581,0.207850],[-0.961312,-0.268031,-0.063546],[-0.003933,-0.217312,0.976094]]
2025-10-24T23:21:41.665Z,1761348101.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247218,0.953357,0.173185],[-0.968917,-0.241539,-0.053472],[-0.009147,-0.181021,0.983437]]
2025-10-24T23:21:42.469Z,1761348102.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205425,0.973134,0.103978],[-0.978527,-0.202396,-0.039007],[-0.016914,-0.109758,0.993814]]
2025-10-24T23:21:42.871Z,1761348102.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186168,0.980129,0.068475],[-0.982306,-0.184228,-0.033688],[-0.020403,-0.073535,0.997084]]
2025-10-24T23:21:43.273Z,1761348103.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168880,0.984904,0.038003],[-0.985364,-0.167802,-0.030007],[-0.023177,-0.042514,0.998827]]
2025-10-24T23:21:43.678Z,1761348103.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153532,0.988057,0.013120],[-0.987819,-0.153127,-0.027685],[-0.025346,-0.017211,0.999531]]
2025-10-24T23:21:44.083Z,1761348104.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139650,0.990184,-0.005863],[-0.989836,-0.139757,-0.026312],[-0.026874,0.002129,0.999637]]
2025-10-24T23:21:44.482Z,1761348104.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126961,0.991733,-0.018618],[-0.991523,-0.127412,-0.025468],[-0.027630,0.015226,0.999502]]
2025-10-24T23:21:44.886Z,1761348104.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115839,0.992929,-0.025939],[-0.992871,-0.116492,-0.025241],[-0.028084,0.022830,0.999345]]
2025-10-24T23:21:45.291Z,1761348105.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105498,0.993983,-0.029453],[-0.994021,-0.106248,-0.025184],[-0.028162,0.026620,0.999249]]
2025-10-24T23:21:45.695Z,1761348105.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094063,0.995094,-0.030673],[-0.995168,-0.094853,-0.025375],[-0.028160,0.028138,0.999207]]
2025-10-24T23:21:46.106Z,1761348106.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081168,0.996260,-0.029643],[-0.996310,-0.081932,-0.025550],[-0.027883,0.027460,0.999234]]
2025-10-24T23:21:46.502Z,1761348106.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066671,0.997408,-0.027047],[-0.997388,-0.067376,-0.026045],[-0.027799,0.025240,0.999295]]
2025-10-24T23:21:46.914Z,1761348106.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049851,0.998480,-0.023493],[-0.998376,-0.050468,-0.026431],[-0.027577,0.022137,0.999375]]
2025-10-24T23:21:47.311Z,1761348107.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031691,0.999305,-0.019633],[-0.999131,-0.032206,-0.026451],[-0.027064,0.018778,0.999457]]
2025-10-24T23:21:47.716Z,1761348107.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011610,0.999786,-0.017133],[-0.999576,-0.012062,-0.026500],[-0.026701,0.016818,0.999502]]
2025-10-24T23:21:48.121Z,1761348108.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009687,0.999822,-0.016171],[-0.999598,0.009251,-0.026812],[-0.026657,0.016424,0.999510]]
2025-10-24T23:21:48.522Z,1761348108.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031535,0.999374,-0.016037],[-0.999140,0.031087,-0.027452],[-0.026936,0.016889,0.999494]]
2025-10-24T23:21:48.928Z,1761348108.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053119,0.998444,-0.016975],[-0.998209,0.052623,-0.028473],[-0.027535,0.018457,0.999450]]
2025-10-24T23:21:49.331Z,1761348109.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073296,0.997159,-0.017367],[-0.996912,0.072764,-0.029529],[-0.028182,0.019478,0.999413]]
2025-10-24T23:21:49.734Z,1761348109.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091709,0.995640,-0.017038],[-0.995369,0.091162,-0.030501],[-0.028815,0.019756,0.999390]]
2025-10-24T23:21:50.141Z,1761348110.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108126,0.993998,-0.016612],[-0.993716,0.107579,-0.030911],[-0.028938,0.019850,0.999384]]
2025-10-24T23:21:50.544Z,1761348110.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122958,0.992287,-0.015773],[-0.991993,0.122429,-0.031009],[-0.028839,0.019459,0.999395]]
2025-10-24T23:21:50.946Z,1761348110.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136010,0.990605,-0.014226],[-0.990305,0.135532,-0.030445],[-0.028231,0.018229,0.999435]]
2025-10-24T23:21:50.994Z,1761348110.994 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:21:50.994Z,1761348110.994 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:21:50.994Z,1761348110.994 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:21:50.995Z,1761348110.995 [marl:UpdateRudder:A] Stopped
2025-10-24T23:21:50.995Z,1761348110.995 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:21:50.995Z,1761348110.995 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:21:50.995Z,1761348110.995 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:21:50.995Z,1761348110.995 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:21:50.995Z,1761348110.995 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:21:50.996Z,1761348110.996 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:21:50.996Z,1761348110.996 [marl:UpdateCommandMode] Stopped
2025-10-24T23:21:50.996Z,1761348110.996 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:21:50.996Z,1761348110.996 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:21:50.996Z,1761348110.996 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:21:50.996Z,1761348110.996 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:21:50.997Z,1761348110.997 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:21:50.997Z,1761348110.997 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:21:50.997Z,1761348110.997 [marl:UpdateSpeed] Stopped
2025-10-24T23:21:50.997Z,1761348110.997 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:21:51.120Z,1761348111.120 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:21:51.121Z,1761348111.121 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:21:51.351Z,1761348111.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148214,0.988869,-0.013054],[-0.988569,0.147774,-0.029891],[-0.027629,0.017335,0.999468]]
2025-10-24T23:21:51.409Z,1761348111.409 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:21:51.409Z,1761348111.409 [marl:UpdateRudder:B] Stopped
2025-10-24T23:21:51.409Z,1761348111.409 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:21:51.409Z,1761348111.409 [marl:UpdateRudder] Stopped
2025-10-24T23:21:51.409Z,1761348111.409 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:21:51.600Z,1761348111.600 [DAT](INFO): DAT read: 

2025-10-24T23:21:51.601Z,1761348111.601 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:21:51.755Z,1761348111.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159489,0.987143,-0.010603],[-0.986834,0.159128,-0.028942],[-0.026883,0.015079,0.999525]]
2025-10-24T23:21:52.167Z,1761348112.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170165,0.985370,-0.009496],[-0.985068,0.169841,-0.028213],[-0.026187,0.014155,0.999557]]
2025-10-24T23:21:52.562Z,1761348112.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180167,0.983588,-0.009707],[-0.983303,0.179840,-0.027798],[-0.025596,0.014553,0.999566]]
2025-10-24T23:21:52.966Z,1761348112.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190281,0.981684,-0.009505],[-0.981415,0.189967,-0.027147],[-0.024845,0.014494,0.999586]]
2025-10-24T23:21:53.365Z,1761348113.365 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:21:53.367Z,1761348113.367 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:21:53.368Z,1761348113.368 [DAT](INFO): DAT read: Oct 24 2025 23:21:47 

2025-10-24T23:21:53.381Z,1761348113.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200959,0.979567,-0.008056],[-0.979309,0.200692,-0.025997],[-0.023849,0.013114,0.999630]]
2025-10-24T23:21:53.775Z,1761348113.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211797,0.977305,-0.004162],[-0.977047,0.211638,-0.024245],[-0.022814,0.009201,0.999697]]
2025-10-24T23:21:54.181Z,1761348114.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221459,0.975151,0.006020],[-0.974914,0.221538,-0.021546],[-0.022344,-0.001098,0.999750]]
2025-10-24T23:21:54.373Z,1761348114.373 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:21:54.376Z,1761348114.376 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:21:54.376Z,1761348114.376 [DAT](INFO): commRate: 600
2025-10-24T23:21:54.583Z,1761348114.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227849,0.973412,0.023549],[-0.973452,0.228268,-0.016906],[-0.021832,-0.019072,0.999580]]
2025-10-24T23:21:54.631Z,1761348114.631 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:21:54.986Z,1761348114.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232911,0.971333,0.047596],[-0.972262,0.233654,-0.010625],[-0.021441,-0.043801,0.998810]]
2025-10-24T23:21:55.398Z,1761348115.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237296,0.968491,0.075607],[-0.971215,0.238189,-0.002894],[-0.020812,-0.072744,0.997133]]
2025-10-24T23:21:55.794Z,1761348115.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241793,0.964557,0.105667],[-0.970116,0.242579,0.005547],[-0.020282,-0.103850,0.994386]]
2025-10-24T23:21:56.198Z,1761348116.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246662,0.960115,0.131674],[-0.968892,0.247146,0.012908],[-0.020150,-0.130762,0.991209]]
2025-10-24T23:21:56.440Z,1761348116.440 [DAT](INFO): entering command mode
2025-10-24T23:21:56.602Z,1761348116.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252019,0.955184,0.155275],[-0.967504,0.252106,0.019461],[-0.020557,-0.155134,0.987680]]
2025-10-24T23:21:56.640Z,1761348116.640 [DAT](INFO): DAT read: 

2025-10-24T23:21:56.641Z,1761348116.641 [DAT](INFO): DAT read: user:1>

2025-10-24T23:21:56.641Z,1761348116.641 [DAT](INFO): setting verbose to 3
2025-10-24T23:21:56.893Z,1761348116.893 [DAT](INFO): DAT read: user:1>

2025-10-24T23:21:56.893Z,1761348116.893 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:21:56.894Z,1761348116.894 [DAT](INFO): set verbose to 3
2025-10-24T23:21:56.894Z,1761348116.894 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:21:57.006Z,1761348117.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257046,0.950660,0.173704],[-0.966156,0.256831,0.024110],[-0.021692,-0.174022,0.984503]]
2025-10-24T23:21:57.145Z,1761348117.145 [DAT](INFO): DAT read: user:2>

2025-10-24T23:21:57.146Z,1761348117.146 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:21:57.146Z,1761348117.146 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:21:57.146Z,1761348117.146 [DAT](INFO): setting transmit power to 8
2025-10-24T23:21:57.397Z,1761348117.397 [DAT](INFO): DAT read: user:3>

2025-10-24T23:21:57.397Z,1761348117.397 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:21:57.398Z,1761348117.398 [DAT](INFO): set transmit power to 8
2025-10-24T23:21:57.398Z,1761348117.398 [DAT](INFO): setting local address to 11
2025-10-24T23:21:57.416Z,1761348117.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260352,0.947000,0.188168],[-0.965236,0.259958,0.027213],[-0.023145,-0.188712,0.981760]]
2025-10-24T23:21:57.649Z,1761348117.649 [DAT](INFO): DAT read: user:4>

2025-10-24T23:21:57.650Z,1761348117.650 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:21:57.651Z,1761348117.651 [DAT](INFO): set local address to 11
2025-10-24T23:21:57.652Z,1761348117.652 [DAT](INFO): Setting time to: 23:21:57 And date to:10/24/2025
2025-10-24T23:21:57.814Z,1761348117.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261508,0.944971,0.196581],[-0.964891,0.261112,0.028402],[-0.024491,-0.197107,0.980076]]
2025-10-24T23:21:57.903Z,1761348117.903 [DAT](INFO): DAT read: user:5>

2025-10-24T23:21:57.906Z,1761348117.906 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:21:57  

2025-10-24T23:21:57.908Z,1761348117.908 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:21:57  

2025-10-24T23:21:57.911Z,1761348117.911 [DAT](INFO): setting remote address to 10
2025-10-24T23:21:57.913Z,1761348117.913 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:21:57.913Z,1761348117.913 [DAT](INFO): setting remote address to 0
2025-10-24T23:21:58.153Z,1761348118.153 [DAT](INFO): DAT read: user:6>

2025-10-24T23:21:58.154Z,1761348118.154 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:21:58.154Z,1761348118.154 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:21:58.154Z,1761348118.154 [DAT] Communications Fault, FailCount= 8
2025-10-24T23:21:58.154Z,1761348118.154 [DAT](ERROR): Communications Fault
2025-10-24T23:21:58.155Z,1761348118.155 [DAT](INFO): DAT read: user:7>

2025-10-24T23:21:58.156Z,1761348118.156 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:21:58.156Z,1761348118.156 [DAT](INFO): set remote address to 0
2025-10-24T23:21:58.157Z,1761348118.157 [DAT](INFO): setting remote address to 10
2025-10-24T23:21:58.157Z,1761348118.157 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:21:58.157Z,1761348118.157 [DAT](INFO): setting remote address to 0
2025-10-24T23:21:58.253Z,1761348118.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260557,0.944446,0.200330],[-0.965130,0.260214,0.028520],[-0.025193,-0.200776,0.979313]]
2025-10-24T23:21:58.399Z,1761348118.399 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:21:58.400Z,1761348118.400 [CBIT](FAULT): Communications Fault in component: DAT
2025-10-24T23:21:58.560Z,1761348118.560 [DAT](INFO): Powering down
2025-10-24T23:21:58.623Z,1761348118.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258472,0.945000,0.200419],[-0.965676,0.258281,0.027570],[-0.025710,-0.200666,0.979322]]
2025-10-24T23:21:59.027Z,1761348119.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255758,0.945866,0.199816],[-0.966391,0.255708,0.026508],[-0.026022,-0.199880,0.979475]]
2025-10-24T23:21:59.432Z,1761348119.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252915,0.947389,0.196183],[-0.967132,0.253071,0.024704],[-0.026244,-0.195983,0.980256]]
2025-10-24T23:21:59.834Z,1761348119.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250044,0.949045,0.191810],[-0.967882,0.250345,0.023067],[-0.026127,-0.191417,0.981161]]
2025-10-24T23:22:00.241Z,1761348120.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247460,0.950681,0.187002],[-0.968554,0.247867,0.021582],[-0.025834,-0.186463,0.982122]]
2025-10-24T23:22:00.643Z,1761348120.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245496,0.952076,0.182438],[-0.969061,0.245982,0.020322],[-0.025529,-0.181782,0.983007]]
2025-10-24T23:22:01.048Z,1761348121.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244292,0.953135,0.178481],[-0.969366,0.244880,0.019076],[-0.025525,-0.177673,0.983758]]
2025-10-24T23:22:01.450Z,1761348121.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243812,0.954046,0.174220],[-0.969480,0.244537,0.017627],[-0.025787,-0.173200,0.984549]]
2025-10-24T23:22:01.864Z,1761348121.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243593,0.954498,0.172034],[-0.969519,0.244467,0.016418],[-0.026386,-0.170790,0.984954]]
2025-10-24T23:22:02.258Z,1761348122.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243295,0.954602,0.171879],[-0.969575,0.244292,0.015660],[-0.027039,-0.170460,0.984994]]
2025-10-24T23:22:02.671Z,1761348122.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243436,0.954103,0.174430],[-0.969514,0.244549,0.015420],[-0.027945,-0.172866,0.984549]]
2025-10-24T23:22:03.066Z,1761348123.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243954,0.953419,0.177425],[-0.969362,0.245144,0.015531],[-0.028687,-0.175778,0.984012]]
2025-10-24T23:22:03.470Z,1761348123.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245553,0.952338,0.180984],[-0.968933,0.246809,0.015907],[-0.029520,-0.179267,0.983357]]
2025-10-24T23:22:03.905Z,1761348123.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248364,0.950965,0.184337],[-0.968189,0.249681,0.016411],[-0.030419,-0.182549,0.982726]]
2025-10-24T23:22:04.007Z,1761348124.007 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:22:04.016Z,1761348124.016 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:22:04.016Z,1761348124.016 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:22:04.016Z,1761348124.016 [marl:UpdateRudder:A] Stopped
2025-10-24T23:22:04.017Z,1761348124.017 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:22:04.017Z,1761348124.017 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:22:04.017Z,1761348124.017 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:22:04.017Z,1761348124.017 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:22:04.017Z,1761348124.017 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:22:04.017Z,1761348124.017 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:22:04.017Z,1761348124.017 [marl:UpdateCommandMode] Stopped
2025-10-24T23:22:04.017Z,1761348124.017 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:22:04.018Z,1761348124.018 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:22:04.018Z,1761348124.018 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:22:04.018Z,1761348124.018 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:22:04.018Z,1761348124.018 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:22:04.018Z,1761348124.018 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:22:04.018Z,1761348124.018 [marl:UpdateSpeed] Stopped
2025-10-24T23:22:04.018Z,1761348124.018 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:22:04.290Z,1761348124.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252212,0.949186,0.188243],[-0.967157,0.253606,0.017048],[-0.031558,-0.186360,0.981975]]
2025-10-24T23:22:04.314Z,1761348124.314 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:22:04.314Z,1761348124.314 [marl:UpdateRudder:B] Stopped
2025-10-24T23:22:04.314Z,1761348124.314 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:22:04.314Z,1761348124.314 [marl:UpdateRudder] Stopped
2025-10-24T23:22:04.314Z,1761348124.314 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:22:04.696Z,1761348124.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256495,0.947633,0.190271],[-0.965990,0.258007,0.017216],[-0.032776,-0.188215,0.981581]]
2025-10-24T23:22:05.090Z,1761348125.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261022,0.945919,0.192626],[-0.964738,0.262620,0.017654],[-0.033888,-0.190441,0.981114]]
2025-10-24T23:22:05.495Z,1761348125.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265796,0.944498,0.193069],[-0.963401,0.267472,0.017825],[-0.034805,-0.190740,0.981023]]
2025-10-24T23:22:05.929Z,1761348125.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270553,0.943054,0.193519],[-0.962065,0.272182,0.018640],[-0.035094,-0.191221,0.980919]]
2025-10-24T23:22:06.308Z,1761348126.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275572,0.941283,0.195057],[-0.960639,0.277072,0.020110],[-0.035116,-0.192921,0.980586]]
2025-10-24T23:22:06.706Z,1761348126.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281066,0.939179,0.197345],[-0.959058,0.282329,0.022302],[-0.034770,-0.195533,0.980080]]
2025-10-24T23:22:07.111Z,1761348127.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286820,0.937064,0.199110],[-0.957359,0.287880,0.024247],[-0.034599,-0.197574,0.979677]]
2025-10-24T23:22:07.516Z,1761348127.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292344,0.934942,0.201044],[-0.955681,0.293266,0.025872],[-0.034771,-0.199697,0.979241]]
2025-10-24T23:22:07.943Z,1761348127.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296522,0.933385,0.202154],[-0.954380,0.297390,0.026788],[-0.035115,-0.200875,0.978987]]
2025-10-24T23:22:08.327Z,1761348128.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298692,0.932807,0.201631],[-0.953686,0.299624,0.026619],[-0.035583,-0.200243,0.979100]]
2025-10-24T23:22:08.727Z,1761348128.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298850,0.933224,0.199451],[-0.953612,0.299973,0.025291],[-0.036228,-0.197758,0.979581]]
2025-10-24T23:22:09.131Z,1761348129.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297978,0.934046,0.196893],[-0.953843,0.299410,0.023168],[-0.037311,-0.194708,0.980151]]
2025-10-24T23:22:09.534Z,1761348129.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295777,0.935441,0.193559],[-0.954487,0.297543,0.020569],[-0.038351,-0.190833,0.980873]]
2025-10-24T23:22:09.947Z,1761348129.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292389,0.937533,0.188523],[-0.955512,0.294412,0.017824],[-0.038793,-0.185348,0.981907]]
2025-10-24T23:22:10.355Z,1761348130.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288516,0.939471,0.184804],[-0.956696,0.290643,0.016075],[-0.038610,-0.181439,0.982644]]
2025-10-24T23:22:10.508Z,1761348130.508 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:22:10.748Z,1761348130.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284372,0.941335,0.181716],[-0.957990,0.286373,0.015697],[-0.037263,-0.178545,0.983226]]
2025-10-24T23:22:11.151Z,1761348131.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280889,0.943008,0.178430],[-0.959094,0.282628,0.016133],[-0.035216,-0.175663,0.983820]]
2025-10-24T23:22:11.512Z,1761348131.512 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:22:11.554Z,1761348131.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280065,0.943483,0.177211],[-0.959391,0.281552,0.017223],[-0.033644,-0.174838,0.984022]]
2025-10-24T23:22:11.958Z,1761348131.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281348,0.943109,0.177166],[-0.959041,0.282684,0.018191],[-0.032926,-0.175028,0.984013]]
2025-10-24T23:22:12.368Z,1761348132.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283778,0.942316,0.177514],[-0.958325,0.285065,0.018763],[-0.032922,-0.175441,0.983939]]
2025-10-24T23:22:12.766Z,1761348132.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285837,0.941558,0.178228],[-0.957703,0.287125,0.019089],[-0.033200,-0.176146,0.983804]]
2025-10-24T23:22:13.171Z,1761348133.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287483,0.941058,0.178222],[-0.957183,0.288887,0.018594],[-0.033988,-0.175937,0.983815]]
2025-10-24T23:22:13.574Z,1761348133.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288401,0.940562,0.179355],[-0.956875,0.289930,0.018210],[-0.034873,-0.176872,0.983616]]
2025-10-24T23:22:13.979Z,1761348133.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288333,0.940296,0.180853],[-0.956872,0.289952,0.018008],[-0.035506,-0.178246,0.983345]]
2025-10-24T23:22:14.382Z,1761348134.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288083,0.940199,0.181752],[-0.956921,0.289819,0.017524],[-0.036199,-0.178970,0.983188]]
2025-10-24T23:22:14.786Z,1761348134.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288068,0.940015,0.182726],[-0.956911,0.289857,0.017437],[-0.036574,-0.179875,0.983009]]
2025-10-24T23:22:15.190Z,1761348135.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289102,0.939204,0.185245],[-0.956583,0.290904,0.017986],[-0.036996,-0.182401,0.982528]]
2025-10-24T23:22:15.596Z,1761348135.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291127,0.938120,0.187551],[-0.955955,0.292914,0.018745],[-0.037351,-0.184748,0.982076]]
2025-10-24T23:22:15.998Z,1761348135.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294536,0.936447,0.190568],[-0.954903,0.296232,0.020188],[-0.037548,-0.187920,0.981466]]
2025-10-24T23:22:16.402Z,1761348136.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299005,0.934412,0.193574],[-0.953501,0.300601,0.021781],[-0.037836,-0.191085,0.980844]]
2025-10-24T23:22:16.814Z,1761348136.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304050,0.931839,0.198065],[-0.951881,0.305550,0.023711],[-0.038424,-0.195743,0.979902]]
2025-10-24T23:22:16.869Z,1761348136.869 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:22:16.869Z,1761348136.869 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:22:16.869Z,1761348136.869 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:22:16.869Z,1761348136.869 [marl:UpdateRudder:A] Stopped
2025-10-24T23:22:16.869Z,1761348136.869 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:22:16.869Z,1761348136.869 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:22:16.869Z,1761348136.869 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:22:16.869Z,1761348136.869 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:22:16.870Z,1761348136.870 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:22:16.870Z,1761348136.870 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:22:16.870Z,1761348136.870 [marl:UpdateCommandMode] Stopped
2025-10-24T23:22:16.870Z,1761348136.870 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:22:16.870Z,1761348136.870 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:22:16.870Z,1761348136.870 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:22:16.870Z,1761348136.870 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:22:16.871Z,1761348136.871 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:22:16.871Z,1761348136.871 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:22:16.871Z,1761348136.871 [marl:UpdateSpeed] Stopped
2025-10-24T23:22:16.871Z,1761348136.871 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:22:17.212Z,1761348137.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309074,0.929376,0.201826],[-0.950231,0.310520,0.025278],[-0.039179,-0.199594,0.979095]]
2025-10-24T23:22:17.236Z,1761348137.236 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:22:17.237Z,1761348137.237 [marl:UpdateRudder:B] Stopped
2025-10-24T23:22:17.237Z,1761348137.237 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:22:17.237Z,1761348137.237 [marl:UpdateRudder] Stopped
2025-10-24T23:22:17.237Z,1761348137.237 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:22:17.614Z,1761348137.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313735,0.927136,0.204913],[-0.948661,0.315197,0.026340],[-0.040167,-0.202656,0.978426]]
2025-10-24T23:22:18.018Z,1761348138.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317545,0.925491,0.206475],[-0.947344,0.319113,0.026582],[-0.041287,-0.204044,0.978091]]
2025-10-24T23:22:18.424Z,1761348138.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320152,0.925149,0.203965],[-0.946425,0.321926,0.025354],[-0.042206,-0.201155,0.978650]]
2025-10-24T23:22:18.853Z,1761348138.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321769,0.925319,0.200622],[-0.945862,0.323668,0.024192],[-0.042550,-0.197545,0.979370]]
2025-10-24T23:22:19.231Z,1761348139.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322379,0.926241,0.195317],[-0.945652,0.324404,0.022434],[-0.042582,-0.191934,0.980484]]
2025-10-24T23:22:19.634Z,1761348139.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323041,0.927191,0.189634],[-0.945434,0.325150,0.020761],[-0.042410,-0.185993,0.981635]]
2025-10-24T23:22:20.039Z,1761348140.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323991,0.927283,0.187553],[-0.945106,0.326141,0.020159],[-0.042475,-0.183789,0.982048]]
2025-10-24T23:22:20.448Z,1761348140.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324464,0.927215,0.187072],[-0.944935,0.326654,0.019880],[-0.042674,-0.183221,0.982145]]
2025-10-24T23:22:20.847Z,1761348140.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324991,0.926610,0.189144],[-0.944746,0.327159,0.020538],[-0.042849,-0.185368,0.981735]]
2025-10-24T23:22:21.250Z,1761348141.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324887,0.926010,0.192235],[-0.944777,0.327009,0.021495],[-0.042958,-0.188602,0.981113]]
2025-10-24T23:22:21.658Z,1761348141.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323955,0.925363,0.196864],[-0.945104,0.325954,0.023089],[-0.042803,-0.193537,0.980159]]
2025-10-24T23:22:22.061Z,1761348142.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322433,0.924966,0.201186],[-0.945636,0.324299,0.024547],[-0.042539,-0.198163,0.979245]]
2025-10-24T23:22:22.463Z,1761348142.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321246,0.924286,0.206147],[-0.946066,0.322877,0.026625],[-0.041951,-0.203581,0.978159]]
2025-10-24T23:22:22.866Z,1761348142.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321164,0.923356,0.210397],[-0.946143,0.322426,0.029246],[-0.040833,-0.208458,0.977179]]
2025-10-24T23:22:23.272Z,1761348143.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323415,0.921807,0.213717],[-0.945431,0.324221,0.032276],[-0.039540,-0.212493,0.976362]]
2025-10-24T23:22:23.679Z,1761348143.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327185,0.919541,0.217702],[-0.944206,0.327330,0.036458],[-0.037736,-0.217484,0.975334]]
2025-10-24T23:22:24.080Z,1761348144.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332566,0.916916,0.220601],[-0.942406,0.331954,0.040969],[-0.035664,-0.221520,0.974503]]
2025-10-24T23:22:24.482Z,1761348144.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339165,0.913753,0.223657],[-0.940118,0.337777,0.045654],[-0.033829,-0.225748,0.973598]]
2025-10-24T23:22:24.886Z,1761348144.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346919,0.909928,0.227328],[-0.937317,0.344875,0.049980],[-0.032921,-0.230418,0.972535]]
2025-10-24T23:22:25.297Z,1761348145.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354647,0.905684,0.232295],[-0.934412,0.352124,0.053697],[-0.033164,-0.236102,0.971162]]
2025-10-24T23:22:25.696Z,1761348145.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362337,0.902021,0.234669],[-0.931412,0.359721,0.055433],[-0.034413,-0.238659,0.970493]]
2025-10-24T23:22:26.098Z,1761348146.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368714,0.899191,0.235595],[-0.928861,0.366120,0.056336],[-0.035599,-0.239607,0.970217]]
2025-10-24T23:22:26.509Z,1761348146.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375790,0.897178,0.232065],[-0.926013,0.373217,0.056643],[-0.035791,-0.236181,0.971050]]
2025-10-24T23:22:26.911Z,1761348146.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377371,0.897416,0.228551],[-0.925398,0.374780,0.056373],[-0.035067,-0.232774,0.971898]]
2025-10-24T23:22:27.317Z,1761348147.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378446,0.898400,0.222834],[-0.924980,0.376036,0.054857],[-0.034511,-0.226877,0.973312]]
2025-10-24T23:22:27.721Z,1761348147.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378664,0.899351,0.218586],[-0.924904,0.376418,0.053508],[-0.034157,-0.222433,0.974349]]
2025-10-24T23:22:28.121Z,1761348148.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378188,0.900484,0.214713],[-0.925086,0.376258,0.051429],[-0.034476,-0.218078,0.975322]]
2025-10-24T23:22:28.523Z,1761348148.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377224,0.901850,0.210637],[-0.925442,0.375784,0.048417],[-0.035489,-0.213196,0.976365]]
2025-10-24T23:22:28.927Z,1761348148.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375540,0.903589,0.206145],[-0.926078,0.374661,0.044821],[-0.036735,-0.207738,0.977494]]
2025-10-24T23:22:29.332Z,1761348149.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373320,0.905479,0.201841],[-0.926924,0.372984,0.041168],[-0.038007,-0.202460,0.978553]]
2025-10-24T23:22:29.734Z,1761348149.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370676,0.907431,0.197912],[-0.927963,0.370688,0.038398],[-0.038520,-0.197888,0.979467]]
2025-10-24T23:22:29.822Z,1761348149.822 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:22:29.823Z,1761348149.823 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:22:29.823Z,1761348149.823 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:22:29.823Z,1761348149.823 [marl:UpdateRudder:A] Stopped
2025-10-24T23:22:29.823Z,1761348149.823 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:22:29.823Z,1761348149.823 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:22:29.823Z,1761348149.823 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:22:29.823Z,1761348149.823 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:22:29.824Z,1761348149.824 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:22:29.824Z,1761348149.824 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:22:29.824Z,1761348149.824 [marl:UpdateCommandMode] Stopped
2025-10-24T23:22:29.824Z,1761348149.824 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:22:29.824Z,1761348149.824 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:22:29.824Z,1761348149.824 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:22:29.824Z,1761348149.824 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:22:29.825Z,1761348149.825 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:22:29.825Z,1761348149.825 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:22:29.825Z,1761348149.825 [marl:UpdateSpeed] Stopped
2025-10-24T23:22:29.825Z,1761348149.825 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:22:30.138Z,1761348150.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367799,0.909574,0.193389],[-0.929130,0.367948,0.036493],[-0.037964,-0.193105,0.980443]]
2025-10-24T23:22:30.201Z,1761348150.201 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:22:30.201Z,1761348150.201 [marl:UpdateRudder:B] Stopped
2025-10-24T23:22:30.202Z,1761348150.202 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:22:30.202Z,1761348150.202 [marl:UpdateRudder] Stopped
2025-10-24T23:22:30.202Z,1761348150.202 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:22:30.549Z,1761348150.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365085,0.911515,0.189351],[-0.930270,0.365095,0.036115],[-0.036211,-0.189332,0.981245]]
2025-10-24T23:22:30.946Z,1761348150.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363843,0.912642,0.186289],[-0.930844,0.363528,0.037096],[-0.033866,-0.186903,0.981794]]
2025-10-24T23:22:31.351Z,1761348151.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365359,0.912150,0.185729],[-0.930329,0.364584,0.039569],[-0.031622,-0.187246,0.981804]]
2025-10-24T23:22:31.760Z,1761348151.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368905,0.910595,0.186348],[-0.929011,0.367515,0.043255],[-0.029098,-0.189076,0.981531]]
2025-10-24T23:22:32.161Z,1761348152.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373270,0.908388,0.188418],[-0.927354,0.371075,0.048154],[-0.026175,-0.192705,0.980908]]
2025-10-24T23:22:32.564Z,1761348152.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377494,0.905854,0.192162],[-0.925728,0.374298,0.054109],[-0.022911,-0.198316,0.979870]]
2025-10-24T23:22:32.967Z,1761348152.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382707,0.902610,0.197055],[-0.923661,0.378349,0.060845],[-0.019637,-0.205298,0.978502]]
2025-10-24T23:22:33.370Z,1761348153.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388986,0.898475,0.203550],[-0.921091,0.383331,0.068181],[-0.016768,-0.214009,0.976688]]
2025-10-24T23:22:33.777Z,1761348153.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395855,0.893999,0.209917],[-0.918195,0.388993,0.074853],[-0.014737,-0.222375,0.974850]]
2025-10-24T23:22:34.178Z,1761348154.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403729,0.888994,0.216086],[-0.914776,0.395795,0.080812],[-0.013684,-0.230297,0.973024]]
2025-10-24T23:22:34.582Z,1761348154.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412446,0.883735,0.221136],[-0.910875,0.403782,0.085242],[-0.013960,-0.236585,0.971510]]
2025-10-24T23:22:34.987Z,1761348154.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421638,0.878643,0.224073],[-0.906632,0.412728,0.087606],[-0.015507,-0.240089,0.970627]]
2025-10-24T23:22:35.391Z,1761348155.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429891,0.874654,0.223996],[-0.902708,0.421232,0.087651],[-0.017689,-0.239883,0.970641]]
2025-10-24T23:22:35.799Z,1761348155.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434592,0.872935,0.221619],[-0.900440,0.426156,0.087170],[-0.018350,-0.237438,0.971229]]
2025-10-24T23:22:36.198Z,1761348156.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436424,0.873164,0.217069],[-0.899556,0.428336,0.085598],[-0.018237,-0.232623,0.972396]]
2025-10-24T23:22:36.603Z,1761348156.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436969,0.874168,0.211869],[-0.899301,0.429248,0.083695],[-0.017781,-0.227106,0.973708]]
2025-10-24T23:22:37.006Z,1761348157.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436649,0.876138,0.204255],[-0.899475,0.429408,0.080950],[-0.016785,-0.219069,0.975565]]
2025-10-24T23:22:37.410Z,1761348157.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435748,0.878311,0.196707],[-0.899948,0.428744,0.079202],[-0.014773,-0.211538,0.977258]]
2025-10-24T23:22:37.821Z,1761348157.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434444,0.880547,0.189461],[-0.900617,0.427515,0.078226],[-0.012116,-0.204617,0.978767]]
2025-10-24T23:22:38.218Z,1761348158.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434130,0.881915,0.183732],[-0.900797,0.427192,0.077918],[-0.009771,-0.199332,0.979883]]
2025-10-24T23:22:38.623Z,1761348158.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435130,0.881980,0.181031],[-0.900331,0.428048,0.078611],[-0.008157,-0.197194,0.980331]]
2025-10-24T23:22:39.026Z,1761348159.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436888,0.881766,0.177815],[-0.899490,0.429758,0.078902],[-0.006844,-0.194414,0.980896]]
2025-10-24T23:22:39.491Z,1761348159.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439256,0.881180,0.174860],[-0.898343,0.432114,0.079103],[-0.005856,-0.191831,0.981411]]
2025-10-24T23:22:39.834Z,1761348159.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441834,0.879981,0.174402],[-0.897082,0.434498,0.080341],[-0.005079,-0.191951,0.981391]]
2025-10-24T23:22:40.245Z,1761348160.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444335,0.879120,0.172378],[-0.895852,0.436892,0.081085],[-0.004027,-0.190454,0.981688]]
2025-10-24T23:22:40.643Z,1761348160.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446671,0.878127,0.171402],[-0.894693,0.439079,0.082065],[-0.003196,-0.190008,0.981777]]
2025-10-24T23:22:41.048Z,1761348161.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448696,0.877120,0.171266],[-0.893681,0.440904,0.083295],[-0.002452,-0.190431,0.981698]]
2025-10-24T23:22:41.450Z,1761348161.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449905,0.876332,0.172130],[-0.893075,0.441856,0.084740],[-0.001797,-0.191850,0.981423]]
2025-10-24T23:22:41.644Z,1761348161.644 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:22:41.859Z,1761348161.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450686,0.875712,0.173234],[-0.892682,0.442351,0.086283],[-0.001071,-0.193529,0.981094]]
2025-10-24T23:22:42.259Z,1761348162.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451081,0.875253,0.174522],[-0.892483,0.442381,0.088162],[-0.000041,-0.195526,0.980698]]
2025-10-24T23:22:42.648Z,1761348162.648 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:22:42.671Z,1761348162.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451398,0.874661,0.176656],[-0.892322,0.442224,0.090550],[0.001079,-0.198508,0.980099]]
2025-10-24T23:22:42.698Z,1761348162.698 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:22:42.698Z,1761348162.698 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:22:42.699Z,1761348162.699 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:22:42.699Z,1761348162.699 [marl:UpdateRudder:A] Stopped
2025-10-24T23:22:42.699Z,1761348162.699 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:22:42.699Z,1761348162.699 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:22:42.699Z,1761348162.699 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:22:42.699Z,1761348162.699 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:22:42.716Z,1761348162.716 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:22:42.716Z,1761348162.716 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:22:42.716Z,1761348162.716 [marl:UpdateCommandMode] Stopped
2025-10-24T23:22:42.717Z,1761348162.717 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:22:42.717Z,1761348162.717 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:22:42.717Z,1761348162.717 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:22:42.717Z,1761348162.717 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:22:42.718Z,1761348162.718 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:22:42.718Z,1761348162.718 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:22:42.718Z,1761348162.718 [marl:UpdateSpeed] Stopped
2025-10-24T23:22:42.718Z,1761348162.718 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:22:43.067Z,1761348163.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452495,0.874154,0.176362],[-0.891764,0.443041,0.092044],[0.002325,-0.198923,0.980012]]
2025-10-24T23:22:43.102Z,1761348163.102 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:22:43.102Z,1761348163.102 [marl:UpdateRudder:B] Stopped
2025-10-24T23:22:43.102Z,1761348163.102 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:22:43.102Z,1761348163.102 [marl:UpdateRudder] Stopped
2025-10-24T23:22:43.103Z,1761348163.103 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:22:43.470Z,1761348163.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454708,0.872837,0.177190],[-0.890633,0.444782,0.094563],[0.003727,-0.200809,0.979623]]
2025-10-24T23:22:43.930Z,1761348163.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458354,0.870880,0.177425],[-0.888755,0.447968,0.097156],[0.005131,-0.202220,0.979327]]
2025-10-24T23:22:44.278Z,1761348164.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463748,0.868393,0.175587],[-0.885943,0.453072,0.099150],[0.006548,-0.201541,0.979458]]
2025-10-24T23:22:44.687Z,1761348164.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470101,0.865516,0.172879],[-0.882574,0.459140,0.101262],[0.008268,-0.200182,0.979724]]
2025-10-24T23:22:45.087Z,1761348165.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477260,0.862150,0.170057],[-0.878703,0.465972,0.103684],[0.010150,-0.198914,0.979964]]
2025-10-24T23:22:45.491Z,1761348165.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485270,0.858272,0.166980],[-0.874284,0.473701,0.105993],[0.011872,-0.197423,0.980247]]
2025-10-24T23:22:45.940Z,1761348165.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495722,0.853516,0.160530],[-0.868387,0.484400,0.106115],[0.012810,-0.192006,0.981310]]
2025-10-24T23:22:46.300Z,1761348166.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509887,0.848017,0.144508],[-0.860141,0.500025,0.100657],[0.013101,-0.175621,0.984371]]
2025-10-24T23:22:46.706Z,1761348166.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527138,0.841044,0.121533],[-0.849681,0.519480,0.090459],[0.012946,-0.150949,0.988457]]
2025-10-24T23:22:47.106Z,1761348167.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544971,0.833038,0.095151],[-0.838356,0.539651,0.077040],[0.012829,-0.121755,0.992477]]
2025-10-24T23:22:47.510Z,1761348167.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562604,0.823763,0.069935],[-0.826635,0.559269,0.062383],[0.012277,-0.092908,0.995599]]
2025-10-24T23:22:47.940Z,1761348167.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578831,0.813974,0.049004],[-0.815355,0.576815,0.049807],[0.012275,-0.068785,0.997556]]
2025-10-24T23:22:48.318Z,1761348168.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593454,0.804159,0.033771],[-0.804775,0.592224,0.040099],[0.012246,-0.050975,0.998625]]
2025-10-24T23:22:48.727Z,1761348168.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606368,0.794859,0.022724],[-0.795088,0.605602,0.032892],[0.012382,-0.038012,0.999201]]
2025-10-24T23:22:49.127Z,1761348169.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617620,0.786309,0.016225],[-0.786377,0.617082,0.028643],[0.012510,-0.030450,0.999458]]
2025-10-24T23:22:49.532Z,1761348169.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627859,0.778245,0.011308],[-0.778222,0.627470,0.025554],[0.012792,-0.024844,0.999609]]
2025-10-24T23:22:49.946Z,1761348169.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637226,0.770638,0.007766],[-0.770562,0.636924,0.023710],[0.013325,-0.021093,0.999689]]
2025-10-24T23:22:50.339Z,1761348170.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646259,0.763104,0.004738],[-0.762984,0.646016,0.022777],[0.014320,-0.018335,0.999729]]
2025-10-24T23:22:50.742Z,1761348170.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655054,0.755578,0.002349],[-0.755419,0.654845,0.022789],[0.015680,-0.016702,0.999738]]
2025-10-24T23:22:51.152Z,1761348171.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663903,0.747818,-0.000756],[-0.747603,0.663736,0.023331],[0.017949,-0.014924,0.999727]]
2025-10-24T23:22:51.309Z,1761348171.309 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:22:51.309Z,1761348171.309 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:22:51.550Z,1761348171.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674191,0.738544,-0.004308],[-0.738279,0.674086,0.023511],[0.020268,-0.012670,0.999714]]
2025-10-24T23:22:51.954Z,1761348171.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685955,0.727585,-0.009212],[-0.727293,0.685963,0.022351],[0.022581,-0.008632,0.999708]]
2025-10-24T23:22:52.359Z,1761348172.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699590,0.714400,-0.014387],[-0.714113,0.699725,0.020673],[0.024836,-0.004189,0.999683]]
2025-10-24T23:22:52.763Z,1761348172.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713679,0.700217,-0.018911],[-0.699956,0.713930,0.019106],[0.026879,-0.000399,0.999639]]
2025-10-24T23:22:53.178Z,1761348173.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728127,0.685086,-0.022098],[-0.684839,0.728460,0.018463],[0.028747,0.001690,0.999585]]
2025-10-24T23:22:53.570Z,1761348173.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742598,0.669308,-0.023996],[-0.669070,0.742980,0.018054],[0.029912,0.002648,0.999549]]
2025-10-24T23:22:53.974Z,1761348173.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756386,0.653599,-0.026253],[-0.653398,0.756828,0.016803],[0.030851,0.004444,0.999514]]
2025-10-24T23:22:54.379Z,1761348174.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769012,0.638684,-0.026513],[-0.638449,0.769462,0.017639],[0.031666,0.003362,0.999493]]
2025-10-24T23:22:54.784Z,1761348174.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780088,0.625141,-0.025744],[-0.624819,0.780512,0.020051],[0.032629,0.000444,0.999467]]
2025-10-24T23:22:54.809Z,1761348174.809 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:22:55.195Z,1761348175.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790074,0.612491,-0.025260],[-0.612075,0.790474,0.022709],[0.033876,-0.002480,0.999423]]
2025-10-24T23:22:55.591Z,1761348175.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798835,0.601029,-0.025037],[-0.600493,0.799207,0.026014],[0.035645,-0.005746,0.999348]]
2025-10-24T23:22:55.638Z,1761348175.638 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:22:55.638Z,1761348175.638 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:22:55.638Z,1761348175.638 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:22:55.639Z,1761348175.639 [marl:UpdateRudder:A] Stopped
2025-10-24T23:22:55.639Z,1761348175.639 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:22:55.639Z,1761348175.639 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:22:55.639Z,1761348175.639 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:22:55.639Z,1761348175.639 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:22:55.639Z,1761348175.639 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:22:55.644Z,1761348175.644 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:22:55.644Z,1761348175.644 [marl:UpdateCommandMode] Stopped
2025-10-24T23:22:55.644Z,1761348175.644 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:22:55.644Z,1761348175.644 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:22:55.644Z,1761348175.644 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:22:55.644Z,1761348175.644 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:22:55.645Z,1761348175.645 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:22:55.645Z,1761348175.645 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:22:55.645Z,1761348175.645 [marl:UpdateSpeed] Stopped
2025-10-24T23:22:55.645Z,1761348175.645 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:22:55.994Z,1761348175.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807191,0.589765,-0.024913],[-0.589133,0.807532,0.028548],[0.036955,-0.008367,0.999282]]
2025-10-24T23:22:56.058Z,1761348176.058 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:22:56.059Z,1761348176.059 [marl:UpdateRudder:B] Stopped
2025-10-24T23:22:56.059Z,1761348176.059 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:22:56.059Z,1761348176.059 [marl:UpdateRudder] Stopped
2025-10-24T23:22:56.059Z,1761348176.059 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:22:56.400Z,1761348176.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814526,0.579593,-0.024888],[-0.578849,0.814829,0.031424],[0.038493,-0.011189,0.999196]]
2025-10-24T23:22:56.802Z,1761348176.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821360,0.569886,-0.024449],[-0.569005,0.821590,0.034954],[0.040007,-0.014798,0.999090]]
2025-10-24T23:22:57.211Z,1761348177.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828014,0.560213,-0.023531],[-0.559212,0.828141,0.038272],[0.040928,-0.018531,0.998990]]
2025-10-24T23:22:57.610Z,1761348177.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834648,0.550282,-0.023525],[-0.549195,0.834722,0.040288],[0.041806,-0.020707,0.998911]]
2025-10-24T23:22:58.016Z,1761348178.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841450,0.539807,-0.023879],[-0.538664,0.841501,0.041449],[0.042469,-0.022014,0.998855]]
2025-10-24T23:22:58.418Z,1761348178.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848557,0.528535,-0.024545],[-0.527350,0.848607,0.042037],[0.043047,-0.022727,0.998815]]
2025-10-24T23:22:58.822Z,1761348178.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855388,0.517408,-0.024500],[-0.516130,0.855368,0.044213],[0.043832,-0.025174,0.998722]]
2025-10-24T23:22:59.231Z,1761348179.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861166,0.507830,-0.022402],[-0.506352,0.860871,0.050089],[0.044721,-0.031792,0.998493]]
2025-10-24T23:22:59.631Z,1761348179.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865694,0.500252,-0.017967],[-0.498467,0.864784,0.060667],[0.045886,-0.043563,0.997996]]
2025-10-24T23:23:00.035Z,1761348180.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869213,0.494341,-0.009783],[-0.492156,0.866931,0.078823],[0.047446,-0.063699,0.996841]]
2025-10-24T23:23:00.439Z,1761348180.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872031,0.489450,-0.000490],[-0.486951,0.867680,0.100052],[0.049396,-0.087010,0.994982]]
2025-10-24T23:23:00.842Z,1761348180.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874354,0.485212,0.008631],[-0.482526,0.867344,0.121995],[0.051708,-0.110832,0.992493]]
2025-10-24T23:23:01.257Z,1761348181.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876301,0.481440,0.017691],[-0.478742,0.866109,0.143738],[0.053879,-0.134427,0.989458]]
2025-10-24T23:23:01.659Z,1761348181.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878312,0.477329,0.026926],[-0.474888,0.864542,0.164463],[0.055224,-0.157237,0.986016]]
2025-10-24T23:23:02.054Z,1761348182.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880509,0.472607,0.036704],[-0.470775,0.862777,0.184354],[0.055459,-0.179605,0.982174]]
2025-10-24T23:23:02.459Z,1761348182.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882798,0.467625,0.044669],[-0.466550,0.861717,0.199436],[0.054769,-0.196902,0.978892]]
2025-10-24T23:23:02.864Z,1761348182.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884129,0.464406,0.051415],[-0.464072,0.859995,0.212239],[0.054348,-0.211507,0.975864]]
2025-10-24T23:23:03.266Z,1761348183.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884689,0.462793,0.056108],[-0.462985,0.858166,0.221801],[0.054498,-0.222203,0.973476]]
2025-10-24T23:23:03.677Z,1761348183.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884343,0.463358,0.056889],[-0.463512,0.856982,0.225252],[0.055620,-0.225569,0.972638]]
2025-10-24T23:23:04.074Z,1761348184.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884035,0.463929,0.057023],[-0.463916,0.855942,0.228352],[0.057130,-0.228325,0.971907]]
2025-10-24T23:23:04.480Z,1761348184.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883954,0.464190,0.056150],[-0.463897,0.855625,0.229575],[0.058523,-0.228982,0.971670]]
2025-10-24T23:23:04.882Z,1761348184.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884395,0.463621,0.053856],[-0.462890,0.856456,0.228509],[0.059816,-0.227021,0.972051]]
2025-10-24T23:23:05.286Z,1761348185.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885281,0.462328,0.050301],[-0.461072,0.858421,0.224779],[0.060742,-0.222185,0.973111]]
2025-10-24T23:23:05.691Z,1761348185.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886309,0.460725,0.046789],[-0.458999,0.860568,0.220777],[0.061452,-0.217153,0.974201]]
2025-10-24T23:23:06.097Z,1761348186.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887171,0.459260,0.044810],[-0.457332,0.862187,0.217901],[0.061438,-0.213808,0.974942]]
2025-10-24T23:23:06.498Z,1761348186.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887609,0.458638,0.042446],[-0.456463,0.863577,0.214186],[0.061578,-0.209488,0.975870]]
2025-10-24T23:23:06.902Z,1761348186.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888010,0.458078,0.040027],[-0.455659,0.864937,0.210380],[0.061749,-0.205058,0.976800]]
2025-10-24T23:23:07.307Z,1761348187.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888498,0.457319,0.037833],[-0.454704,0.866314,0.206748],[0.061774,-0.200898,0.977663]]
2025-10-24T23:23:07.712Z,1761348187.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889285,0.456031,0.034761],[-0.453138,0.868243,0.202041],[0.061956,-0.195424,0.978760]]
2025-10-24T23:23:08.114Z,1761348188.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890791,0.453325,0.031428],[-0.450135,0.870825,0.197591],[0.062205,-0.190159,0.979781]]
2025-10-24T23:23:08.518Z,1761348188.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892343,0.450481,0.028106],[-0.446936,0.873193,0.194375],[0.063020,-0.186011,0.980524]]
2025-10-24T23:23:08.569Z,1761348188.569 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:23:08.569Z,1761348188.569 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:23:08.569Z,1761348188.569 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:23:08.569Z,1761348188.569 [marl:UpdateRudder:A] Stopped
2025-10-24T23:23:08.569Z,1761348188.569 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:23:08.569Z,1761348188.569 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:23:08.570Z,1761348188.570 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:23:08.570Z,1761348188.570 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:23:08.570Z,1761348188.570 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:23:08.570Z,1761348188.570 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:23:08.570Z,1761348188.570 [marl:UpdateCommandMode] Stopped
2025-10-24T23:23:08.570Z,1761348188.570 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:23:08.570Z,1761348188.570 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:23:08.570Z,1761348188.570 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:23:08.571Z,1761348188.571 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:23:08.571Z,1761348188.571 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:23:08.571Z,1761348188.571 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:23:08.571Z,1761348188.571 [marl:UpdateSpeed] Stopped
2025-10-24T23:23:08.571Z,1761348188.571 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:23:08.922Z,1761348188.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894484,0.446344,0.025994],[-0.442636,0.875860,0.192208],[0.063024,-0.183432,0.981010]]
2025-10-24T23:23:08.989Z,1761348188.989 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:23:08.989Z,1761348188.989 [marl:UpdateRudder:B] Stopped
2025-10-24T23:23:08.989Z,1761348188.989 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:23:08.989Z,1761348188.989 [marl:UpdateRudder] Stopped
2025-10-24T23:23:08.989Z,1761348188.989 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:23:09.336Z,1761348189.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896917,0.441551,0.023904],[-0.437680,0.878749,0.190357],[0.063047,-0.181197,0.981424]]
2025-10-24T23:23:09.730Z,1761348189.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899302,0.436743,0.022605],[-0.432732,0.881189,0.190390],[0.063232,-0.181000,0.981448]]
2025-10-24T23:23:10.141Z,1761348190.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901437,0.432317,0.022632],[-0.428322,0.883075,0.191623],[0.062856,-0.182430,0.981208]]
2025-10-24T23:23:10.198Z,1761348190.198 [marl:SendObservationData] Running Loop=1
2025-10-24T23:23:10.198Z,1761348190.198 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:23:10.198Z,1761348190.198 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:23:10.199Z,1761348190.199 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:23:10.201Z,1761348190.201 [marl:SendObservationData:A](INFO): Got test_good :  41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:23:10.201Z,1761348190.201 [marl:SendObservationData:A] Stopped
2025-10-24T23:23:10.201Z,1761348190.201 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:23:10.538Z,1761348190.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903270,0.428469,0.022728],[-0.424450,0.884532,0.193507],[0.062808,-0.184436,0.980835]]
2025-10-24T23:23:10.592Z,1761348190.592 [marl:SendObservationData:B] Stopped
2025-10-24T23:23:10.592Z,1761348190.592 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:23:10.948Z,1761348190.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905195,0.424410,0.022312],[-0.420291,0.886147,0.195190],[0.063069,-0.186063,0.980512]]
2025-10-24T23:23:10.977Z,1761348190.977 [marl:SendObservationData:C] Stopped
2025-10-24T23:23:10.978Z,1761348190.978 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:23:11.347Z,1761348191.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906982,0.420565,0.022542],[-0.416385,0.887352,0.198067],[0.063297,-0.189029,0.979929]]
2025-10-24T23:23:11.366Z,1761348191.366 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-10-24T23:23:11.366Z,1761348191.366 [NAL9602] Data Fault, FailCount= 2
2025-10-24T23:23:11.366Z,1761348191.366 [NAL9602](ERROR): Data Fault
2025-10-24T23:23:11.422Z,1761348191.422 [marl:NeedComms] Running Loop=1
2025-10-24T23:23:11.422Z,1761348191.422 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms
2025-10-24T23:23:11.422Z,1761348191.422 [marl:NeedComms:B.GoToSurface] Running Loop=1
2025-10-24T23:23:11.422Z,1761348191.422 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-24T23:23:11.422Z,1761348191.422 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-24T23:23:11.423Z,1761348191.423 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-24T23:23:11.423Z,1761348191.423 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-24T23:23:11.423Z,1761348191.423 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-24T23:23:11.428Z,1761348191.428 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-24T23:23:11.428Z,1761348191.428 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-24T23:23:11.428Z,1761348191.428 [marl:NeedComms:A] Running Loop=1
2025-10-24T23:23:11.430Z,1761348191.430 [marl:NeedComms:A](ERROR): caught uninitialized data element exception.
2025-10-24T23:23:11.430Z,1761348191.430 [marl:NeedComms:A](INFO): last time_fix was:  nan second since 1970/01/01T00:00:00Z 
2025-10-24T23:23:11.430Z,1761348191.430 [marl:NeedComms:A] Stopped
2025-10-24T23:23:11.431Z,1761348191.431 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.013709 min 
2025-10-24T23:23:11.431Z,1761348191.431 [marl:SendObservationData:E] Stopped
2025-10-24T23:23:11.436Z,1761348191.436 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:23:11.436Z,1761348191.436 [marl:SendObservationData] Stopped
2025-10-24T23:23:11.436Z,1761348191.436 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:23:11.436Z,1761348191.436 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:23:11.528Z,1761348191.528 [CBIT](ERROR): Data Fault in component: NAL9602
2025-10-24T23:23:11.755Z,1761348191.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908786,0.416681,0.022014],[-0.412364,0.888805,0.199956],[0.063751,-0.190795,0.979558]]
2025-10-24T23:23:11.758Z,1761348191.758 [NAL9602](INFO): Powering down
2025-10-24T23:23:12.163Z,1761348192.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912984,0.407496,0.020187],[-0.402894,0.892666,0.202048],[0.064313,-0.192600,0.979168]]
2025-10-24T23:23:12.567Z,1761348192.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914919,0.403143,0.019967],[-0.398461,0.894186,0.204108],[0.064430,-0.194698,0.978745]]
2025-10-24T23:23:12.768Z,1761348192.768 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:23:12.920Z,1761348192.920 [CBIT](INFO): Clearing failed state for component NAL9602
2025-10-24T23:23:12.920Z,1761348192.920 [NAL9602] No Fault, FailCount= 2
2025-10-24T23:23:12.986Z,1761348192.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916956,0.398516,0.019411],[-0.393803,0.896148,0.204544],[0.064119,-0.195202,0.978665]]
2025-10-24T23:23:13.371Z,1761348193.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918515,0.394922,0.019136],[-0.390226,0.897672,0.204716],[0.063669,-0.195502,0.978634]]
2025-10-24T23:23:13.772Z,1761348193.772 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:23:13.774Z,1761348193.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919666,0.392107,0.021610],[-0.388034,0.898896,0.203509],[0.060372,-0.195545,0.978835]]
2025-10-24T23:23:14.174Z,1761348194.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920506,0.389623,0.029375],[-0.387356,0.900119,0.199354],[0.051232,-0.194886,0.979487]]
2025-10-24T23:23:14.190Z,1761348194.190 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 743.83, 596.23, 642.40
2025-10-24T23:23:14.578Z,1761348194.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920989,0.387319,0.042001],[-0.387890,0.901566,0.191624],[0.036353,-0.192776,0.980569]]
2025-10-24T23:23:14.982Z,1761348194.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921075,0.385043,0.058000],[-0.388984,0.903088,0.182001],[0.017699,-0.190197,0.981586]]
2025-10-24T23:23:15.395Z,1761348195.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920764,0.382730,0.075573],[-0.390110,0.904719,0.171167],[-0.002862,-0.187086,0.982339]]
2025-10-24T23:23:15.795Z,1761348195.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920133,0.379724,0.095737],[-0.390780,0.906211,0.161471],[-0.025443,-0.185987,0.982223]]
2025-10-24T23:23:16.194Z,1761348196.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918865,0.377037,0.116316],[-0.391590,0.907565,0.151599],[-0.048407,-0.184847,0.981574]]
2025-10-24T23:23:16.598Z,1761348196.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917098,0.374167,0.137590],[-0.392073,0.909011,0.141342],[-0.072185,-0.183569,0.980353]]
2025-10-24T23:23:17.009Z,1761348197.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914749,0.371115,0.159710],[-0.392341,0.910318,0.131868],[-0.096448,-0.183287,0.978317]]
2025-10-24T23:23:17.406Z,1761348197.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911550,0.368549,0.182339],[-0.393066,0.911213,0.123245],[-0.120728,-0.184015,0.975481]]
2025-10-24T23:23:17.810Z,1761348197.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907930,0.366184,0.203895],[-0.393322,0.912468,0.112695],[-0.144780,-0.182516,0.972485]]
2025-10-24T23:23:18.214Z,1761348198.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903364,0.364470,0.226044],[-0.394419,0.913011,0.104134],[-0.168427,-0.183227,0.968535]]
2025-10-24T23:23:18.628Z,1761348198.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898437,0.363182,0.246799],[-0.395316,0.913663,0.094574],[-0.191144,-0.182532,0.964441]]
2025-10-24T23:23:19.028Z,1761348199.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892904,0.362815,0.266622],[-0.396874,0.913881,0.085517],[-0.212634,-0.182174,0.960000]]
2025-10-24T23:23:19.427Z,1761348199.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887084,0.363230,0.284863],[-0.398596,0.913986,0.075829],[-0.232817,-0.180812,0.955564]]
2025-10-24T23:23:19.831Z,1761348199.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881114,0.363937,0.301974],[-0.400738,0.913653,0.068166],[-0.251092,-0.181075,0.950876]]
2025-10-24T23:23:20.302Z,1761348200.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875005,0.364575,0.318515],[-0.403101,0.913032,0.062309],[-0.268098,-0.182915,0.945868]]
2025-10-24T23:23:20.643Z,1761348200.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869265,0.365537,0.332809],[-0.404868,0.912719,0.055000],[-0.283656,-0.182553,0.941389]]
2025-10-24T23:23:21.046Z,1761348201.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863783,0.366228,0.346058],[-0.406348,0.912421,0.048668],[-0.297927,-0.182658,0.936950]]
2025-10-24T23:23:21.450Z,1761348201.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858216,0.367606,0.358232],[-0.408195,0.911922,0.042126],[-0.311194,-0.182382,0.932682]]
2025-10-24T23:23:21.474Z,1761348201.474 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:23:21.474Z,1761348201.474 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:23:21.474Z,1761348201.474 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:23:21.474Z,1761348201.474 [marl:UpdateRudder:A] Stopped
2025-10-24T23:23:21.474Z,1761348201.474 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:23:21.475Z,1761348201.475 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:23:21.475Z,1761348201.475 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:23:21.475Z,1761348201.475 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:23:21.475Z,1761348201.475 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:23:21.475Z,1761348201.475 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:23:21.475Z,1761348201.475 [marl:UpdateCommandMode] Stopped
2025-10-24T23:23:21.475Z,1761348201.475 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:23:21.475Z,1761348201.475 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:23:21.476Z,1761348201.476 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:23:21.476Z,1761348201.476 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:23:21.476Z,1761348201.476 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:23:21.476Z,1761348201.476 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:23:21.476Z,1761348201.476 [marl:UpdateSpeed] Stopped
2025-10-24T23:23:21.477Z,1761348201.477 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:23:21.860Z,1761348201.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853241,0.368216,0.369320],[-0.409151,0.911747,0.036241],[-0.323382,-0.182030,0.928595]]
2025-10-24T23:23:21.949Z,1761348201.949 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:23:21.949Z,1761348201.949 [marl:UpdateRudder:B] Stopped
2025-10-24T23:23:21.949Z,1761348201.949 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:23:21.949Z,1761348201.949 [marl:UpdateRudder] Stopped
2025-10-24T23:23:21.949Z,1761348201.949 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:23:22.258Z,1761348202.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849107,0.368299,0.378645],[-0.408927,0.912079,0.029856],[-0.334358,-0.180189,0.925060]]
2025-10-24T23:23:22.669Z,1761348202.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845725,0.367221,0.387166],[-0.407557,0.912853,0.024440],[-0.344451,-0.178462,0.921686]]
2025-10-24T23:23:23.066Z,1761348203.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842734,0.365090,0.395613],[-0.405526,0.913854,0.020503],[-0.354047,-0.177710,0.918189]]
2025-10-24T23:23:23.506Z,1761348203.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840045,0.362955,0.403221],[-0.403010,0.915057,0.015926],[-0.363190,-0.175881,0.914964]]
2025-10-24T23:23:24.407Z,1761348204.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832402,0.361298,0.420204],[-0.402009,0.915590,0.009120],[-0.381439,-0.176517,0.907384]]
2025-10-24T23:23:25.259Z,1761348205.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826224,0.365512,0.428667],[-0.395765,0.918133,-0.020057],[-0.400905,-0.153080,0.903240]]
2025-10-24T23:23:25.668Z,1761348205.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825965,0.369426,0.425801],[-0.385924,0.921143,-0.050575],[-0.410907,-0.122554,0.903402]]
2025-10-24T23:23:26.066Z,1761348206.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827865,0.370353,0.421282],[-0.371464,0.924732,-0.082974],[-0.420302,-0.087800,0.903126]]
2025-10-24T23:23:26.479Z,1761348206.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831636,0.368055,0.415833],[-0.353287,0.928398,-0.115180],[-0.428451,-0.051120,0.902118]]
2025-10-24T23:23:26.874Z,1761348206.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836165,0.361598,0.412401],[-0.333619,0.932124,-0.140866],[-0.435346,-0.019798,0.900046]]
2025-10-24T23:23:27.278Z,1761348207.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841093,0.350898,0.411623],[-0.313390,0.936406,-0.157895],[-0.440851,0.003806,0.897572]]
2025-10-24T23:23:27.686Z,1761348207.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846101,0.336952,0.413009],[-0.293526,0.941314,-0.166644],[-0.444922,0.019768,0.895351]]
2025-10-24T23:23:28.097Z,1761348208.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850997,0.321024,0.415629],[-0.274226,0.946583,-0.169646],[-0.447888,0.030392,0.893573]]
2025-10-24T23:23:28.499Z,1761348208.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855920,0.303310,0.418814],[-0.255418,0.952193,-0.167599],[-0.449626,0.036479,0.892472]]
2025-10-24T23:23:29.298Z,1761348209.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866625,0.265136,0.422686],[-0.219918,0.963382,-0.153402],[-0.447880,0.039986,0.893199]]
2025-10-24T23:23:29.703Z,1761348209.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872865,0.244442,0.422321],[-0.201317,0.968787,-0.144652],[-0.444498,0.041241,0.894830]]
2025-10-24T23:23:30.510Z,1761348210.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886395,0.202208,0.416433],[-0.163619,0.978343,-0.126785],[-0.433051,0.044245,0.900283]]
2025-10-24T23:23:30.915Z,1761348210.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893077,0.181171,0.411814],[-0.145252,0.982428,-0.117204],[-0.425812,0.044855,0.903699]]
2025-10-24T23:23:31.319Z,1761348211.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899342,0.159846,0.406980],[-0.127922,0.986245,-0.104678],[-0.418114,0.042080,0.907420]]
2025-10-24T23:23:31.725Z,1761348211.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905055,0.139237,0.401856],[-0.112272,0.989591,-0.090021],[-0.410208,0.036357,0.911267]]
2025-10-24T23:23:32.127Z,1761348212.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910245,0.119873,0.396340],[-0.098406,0.992380,-0.074145],[-0.402208,0.028488,0.915105]]
2025-10-24T23:23:32.531Z,1761348212.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914866,0.102974,0.390407],[-0.086973,0.994492,-0.058498],[-0.394280,0.019563,0.918782]]
2025-10-24T23:23:32.934Z,1761348212.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919025,0.088477,0.384142],[-0.076945,0.996005,-0.045321],[-0.386617,0.012093,0.922161]]
2025-10-24T23:23:33.341Z,1761348213.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922859,0.076404,0.377483],[-0.067491,0.997041,-0.036805],[-0.379178,0.008489,0.925285]]
2025-10-24T23:23:33.742Z,1761348213.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926380,0.065966,0.370767],[-0.058246,0.997789,-0.031995],[-0.372058,0.008043,0.928174]]
2025-10-24T23:23:34.146Z,1761348214.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929672,0.056559,0.364021],[-0.049316,0.998357,-0.029171],[-0.365073,0.009167,0.930934]]
2025-10-24T23:23:34.224Z,1761348214.224 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:23:34.224Z,1761348214.224 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:23:34.224Z,1761348214.224 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:23:34.225Z,1761348214.225 [marl:UpdateRudder:A] Stopped
2025-10-24T23:23:34.225Z,1761348214.225 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:23:34.225Z,1761348214.225 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:23:34.225Z,1761348214.225 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:23:34.225Z,1761348214.225 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:23:34.225Z,1761348214.225 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:23:34.226Z,1761348214.226 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:23:34.226Z,1761348214.226 [marl:UpdateCommandMode] Stopped
2025-10-24T23:23:34.226Z,1761348214.226 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:23:34.226Z,1761348214.226 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:23:34.226Z,1761348214.226 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:23:34.226Z,1761348214.226 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:23:34.226Z,1761348214.226 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:23:34.226Z,1761348214.226 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:23:34.226Z,1761348214.226 [marl:UpdateSpeed] Stopped
2025-10-24T23:23:34.227Z,1761348214.227 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:23:34.614Z,1761348214.614 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:23:34.614Z,1761348214.614 [marl:UpdateRudder:B] Stopped
2025-10-24T23:23:34.614Z,1761348214.614 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:23:34.614Z,1761348214.614 [marl:UpdateRudder] Stopped
2025-10-24T23:23:34.614Z,1761348214.614 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:23:34.954Z,1761348214.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935343,0.039392,0.351542],[-0.031138,0.999091,-0.029105],[-0.352369,0.016277,0.935720]]
2025-10-24T23:23:35.359Z,1761348215.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937584,0.030892,0.346385],[-0.021587,0.999296,-0.030689],[-0.347089,0.021296,0.937590]]
2025-10-24T23:23:35.762Z,1761348215.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939490,0.022171,0.341858],[-0.011517,0.999384,-0.033164],[-0.342382,0.027221,0.939166]]
2025-10-24T23:23:36.168Z,1761348216.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941150,0.013690,0.337712],[-0.000911,0.999278,-0.037969],[-0.337988,0.035427,0.940483]]
2025-10-24T23:23:36.585Z,1761348216.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942569,0.003812,0.333989],[0.010723,0.999074,-0.041666],[-0.333838,0.042854,0.941656]]
2025-10-24T23:23:36.974Z,1761348216.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943716,-0.008624,0.330644],[0.024531,0.998732,-0.043967],[-0.329845,0.049603,0.942731]]
2025-10-24T23:23:37.383Z,1761348217.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944798,-0.023295,0.326825],[0.039989,0.998211,-0.044450],[-0.325205,0.055066,0.944039]]
2025-10-24T23:23:37.790Z,1761348217.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945547,-0.062138,0.319500],[0.079815,0.995902,-0.042520],[-0.315549,0.065706,0.946632]]
2025-10-24T23:23:38.193Z,1761348218.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945350,-0.085443,0.314663],[0.102370,0.994034,-0.037635],[-0.309570,0.067790,0.948457]]
2025-10-24T23:23:38.595Z,1761348218.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944634,-0.109887,0.309179],[0.126064,0.991481,-0.032773],[-0.302943,0.069935,0.950439]]
2025-10-24T23:23:38.999Z,1761348218.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943497,-0.134495,0.302860],[0.149994,0.988279,-0.028396],[-0.295491,0.072219,0.952612]]
2025-10-24T23:23:39.401Z,1761348219.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941935,-0.159784,0.295344],[0.174031,0.984485,-0.022417],[-0.287180,0.072514,0.955128]]
2025-10-24T23:23:39.804Z,1761348219.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939797,-0.184985,0.287336],[0.198021,0.980055,-0.016721],[-0.278512,0.072613,0.957684]]
2025-10-24T23:23:40.206Z,1761348220.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937163,-0.209312,0.279131],[0.221218,0.975157,-0.011484],[-0.269793,0.072511,0.960184]]
2025-10-24T23:23:40.610Z,1761348220.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933999,-0.231856,0.271825],[0.242777,0.970059,-0.006767],[-0.262117,0.072313,0.962323]]
2025-10-24T23:23:41.016Z,1761348221.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930336,-0.252088,0.266322],[0.261957,0.965078,-0.001590],[-0.256620,0.071244,0.963883]]
2025-10-24T23:23:41.419Z,1761348221.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926648,-0.269618,0.261973],[0.277986,0.960571,0.005313],[-0.253076,0.067901,0.965061]]
2025-10-24T23:23:41.823Z,1761348221.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923231,-0.284064,0.258751],[0.290578,0.956755,0.013559],[-0.251413,0.062669,0.965849]]
2025-10-24T23:23:41.829Z,1761348221.829 [NAL9602](INFO): Powering up NAL9602
2025-10-24T23:23:42.226Z,1761348222.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919618,-0.297021,0.257064],[0.302206,0.953031,0.020058],[-0.250947,0.059241,0.966186]]
2025-10-24T23:23:42.639Z,1761348222.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915845,-0.309575,0.255717],[0.312997,0.949333,0.028283],[-0.251517,0.054136,0.966338]]
2025-10-24T23:23:43.039Z,1761348223.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911625,-0.321675,0.255861],[0.324479,0.945338,0.032395],[-0.252296,0.053489,0.966171]]
2025-10-24T23:23:43.439Z,1761348223.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906740,-0.334246,0.257105],[0.337413,0.940775,0.033075],[-0.252933,0.056760,0.965817]]
2025-10-24T23:23:43.844Z,1761348223.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901003,-0.348407,0.258470],[0.352232,0.935333,0.032940],[-0.253231,0.061363,0.965458]]
2025-10-24T23:23:43.893Z,1761348223.893 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:23:44.246Z,1761348224.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893792,-0.365234,0.260267],[0.370207,0.928415,0.031508],[-0.253144,0.068191,0.965022]]
2025-10-24T23:23:44.270Z,1761348224.270 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   -84,  +869,  

2025-10-24T23:23:44.653Z,1761348224.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885683,-0.383822,0.261239],[0.389659,0.920428,0.031260],[-0.252450,0.074108,0.964768]]
2025-10-24T23:23:44.896Z,1761348224.896 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:23:45.060Z,1761348225.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876930,-0.403019,0.261857],[0.409463,0.911764,0.032033],[-0.251662,0.079130,0.964575]]
2025-10-24T23:23:45.460Z,1761348225.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868257,-0.421341,0.261920],[0.428037,0.903125,0.033895],[-0.250828,0.082682,0.964494]]
2025-10-24T23:23:45.866Z,1761348225.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860645,-0.437387,0.260735],[0.443250,0.895541,0.039188],[-0.250640,0.081844,0.964615]]
2025-10-24T23:23:46.270Z,1761348226.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854762,-0.450239,0.258200],[0.454108,0.889651,0.048027],[-0.251331,0.076199,0.964897]]
2025-10-24T23:23:46.676Z,1761348226.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849942,-0.460165,0.256607],[0.461788,0.885112,0.057692],[-0.253673,0.069464,0.964793]]
2025-10-24T23:23:47.076Z,1761348227.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845141,-0.468759,0.256907],[0.467988,0.881103,0.068156],[-0.258310,0.062628,0.964030]]
2025-10-24T23:23:47.113Z,1761348227.113 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:23:47.113Z,1761348227.113 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:23:47.113Z,1761348227.113 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:23:47.113Z,1761348227.113 [marl:UpdateRudder:A] Stopped
2025-10-24T23:23:47.113Z,1761348227.113 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:23:47.113Z,1761348227.113 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:23:47.113Z,1761348227.113 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:23:47.113Z,1761348227.113 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:23:47.114Z,1761348227.114 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:23:47.114Z,1761348227.114 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:23:47.114Z,1761348227.114 [marl:UpdateCommandMode] Stopped
2025-10-24T23:23:47.114Z,1761348227.114 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:23:47.114Z,1761348227.114 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:23:47.114Z,1761348227.114 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:23:47.114Z,1761348227.114 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:23:47.115Z,1761348227.115 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:23:47.115Z,1761348227.115 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:23:47.115Z,1761348227.115 [marl:UpdateSpeed] Stopped
2025-10-24T23:23:47.115Z,1761348227.115 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:23:47.478Z,1761348227.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839292,-0.477491,0.259983],[0.474587,0.876733,0.078137],[-0.265246,0.057805,0.962447]]
2025-10-24T23:23:47.516Z,1761348227.516 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:23:47.516Z,1761348227.516 [marl:UpdateRudder:B] Stopped
2025-10-24T23:23:47.516Z,1761348227.516 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:23:47.516Z,1761348227.516 [marl:UpdateRudder] Stopped
2025-10-24T23:23:47.516Z,1761348227.516 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:23:47.938Z,1761348227.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831494,-0.488132,0.265225],[0.483806,0.870926,0.086134],[-0.273036,0.056697,0.960332]]
2025-10-24T23:23:48.287Z,1761348228.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819628,-0.504182,0.272047],[0.499902,0.861367,0.090251],[-0.279835,0.062024,0.958042]]
2025-10-24T23:23:48.695Z,1761348228.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804816,-0.524295,0.278182],[0.520885,0.848611,0.092407],[-0.284517,0.070530,0.956073]]
2025-10-24T23:23:49.094Z,1761348229.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789464,-0.545648,0.281097],[0.542989,0.834387,0.094671],[-0.286200,0.077893,0.954999]]
2025-10-24T23:23:49.498Z,1761348229.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775529,-0.565495,0.280660],[0.562660,0.820746,0.098941],[-0.286301,0.081184,0.954694]]
2025-10-24T23:23:49.938Z,1761348229.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766061,-0.580152,0.276720],[0.574899,0.810972,0.108700],[-0.287475,0.075815,0.954783]]
2025-10-24T23:23:50.308Z,1761348230.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759537,-0.589324,0.275319],[0.582115,0.804706,0.116574],[-0.290251,0.071725,0.954259]]
2025-10-24T23:23:50.710Z,1761348230.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752815,-0.595970,0.279443],[0.587731,0.799758,0.122310],[-0.296380,0.072161,0.952340]]
2025-10-24T23:23:51.118Z,1761348231.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745151,-0.601485,0.288038],[0.592668,0.795290,0.127510],[-0.305768,0.075697,0.949092]]
2025-10-24T23:23:51.525Z,1761348231.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736079,-0.607527,0.298495],[0.597667,0.790339,0.134751],[-0.317777,0.079213,0.944851]]
2025-10-24T23:23:51.649Z,1761348231.649 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:23:51.649Z,1761348231.649 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:23:51.945Z,1761348231.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725209,-0.615282,0.309032],[0.603760,0.784026,0.144144],[-0.330978,0.082047,0.940065]]
2025-10-24T23:23:52.327Z,1761348232.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712179,-0.625286,0.319090],[0.612019,0.775691,0.154068],[-0.343851,0.085565,0.935118]]
2025-10-24T23:23:52.731Z,1761348232.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696294,-0.637869,0.329086],[0.623927,0.764550,0.161798],[-0.354809,0.092667,0.930335]]
2025-10-24T23:23:52.734Z,1761348232.734 [NAL9602](INFO): NAL9602 initialized
2025-10-24T23:23:53.141Z,1761348233.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677408,-0.654372,0.336029],[0.640001,0.749484,0.169330],[-0.362653,0.100353,0.926505]]
2025-10-24T23:23:53.553Z,1761348233.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656644,-0.674505,0.337435],[0.659295,0.730633,0.177496],[-0.366263,0.105917,0.924464]]
2025-10-24T23:23:53.983Z,1761348233.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634574,-0.696415,0.335144],[0.680637,0.709000,0.184531],[-0.366128,0.111013,0.923919]]
2025-10-24T23:23:54.378Z,1761348234.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611115,-0.719848,0.329177],[0.703209,0.684652,0.191701],[-0.363367,0.114329,0.924604]]
2025-10-24T23:23:54.782Z,1761348234.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588206,-0.742039,0.321546],[0.724421,0.660200,0.198369],[-0.359482,0.116253,0.925882]]
2025-10-24T23:23:54.826Z,1761348234.826 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:23:55.187Z,1761348235.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567047,-0.761832,0.313162],[0.742837,0.637253,0.205186],[-0.355881,0.116278,0.927269]]
2025-10-24T23:23:55.591Z,1761348235.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546682,-0.779644,0.305439],[0.759651,0.615232,0.210760],[-0.352233,0.116809,0.928594]]
2025-10-24T23:23:55.994Z,1761348235.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527330,-0.794981,0.299882],[0.774943,0.594731,0.213915],[-0.348407,0.119588,0.929683]]
2025-10-24T23:23:56.398Z,1761348236.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516917,-0.803651,0.294859],[0.782166,0.583382,0.218817],[-0.347869,0.117518,0.930149]]
2025-10-24T23:23:56.803Z,1761348236.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509551,-0.811612,0.285734],[0.786843,0.573904,0.226963],[-0.348190,0.109178,0.931045]]
2025-10-24T23:23:57.214Z,1761348237.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501995,-0.820343,0.273931],[0.791324,0.563473,0.237287],[-0.349009,0.097651,0.932018]]
2025-10-24T23:23:57.610Z,1761348237.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492800,-0.828714,0.265294],[0.796550,0.552356,0.245786],[-0.350223,0.090197,0.932313]]
2025-10-24T23:23:58.022Z,1761348238.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478955,-0.839189,0.257613],[0.805207,0.536866,0.251827],[-0.349634,0.086818,0.932855]]
2025-10-24T23:23:58.427Z,1761348238.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459438,-0.851992,0.251050],[0.817893,0.516035,0.254478],[-0.346364,0.088415,0.933924]]
2025-10-24T23:23:58.823Z,1761348238.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440348,-0.864389,0.242745],[0.830936,0.494766,0.254463],[-0.340057,0.089654,0.936121]]
2025-10-24T23:23:59.226Z,1761348239.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424892,-0.875707,0.229356],[0.842856,0.475131,0.252673],[-0.330242,0.085955,0.939974]]
2025-10-24T23:23:59.630Z,1761348239.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415459,-0.884296,0.213108],[0.851597,0.460467,0.250505],[-0.319650,0.077407,0.944369]]
2025-10-24T23:24:00.037Z,1761348240.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411788,-0.890017,0.195703],[0.855672,0.451510,0.252913],[-0.313459,0.063311,0.947489]]
2025-10-24T23:24:00.098Z,1761348240.098 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:24:00.098Z,1761348240.098 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:24:00.099Z,1761348240.099 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:24:00.099Z,1761348240.099 [marl:UpdateRudder:A] Stopped
2025-10-24T23:24:00.099Z,1761348240.099 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:24:00.099Z,1761348240.099 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:24:00.099Z,1761348240.099 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:24:00.099Z,1761348240.099 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:24:00.100Z,1761348240.100 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:24:00.100Z,1761348240.100 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:24:00.100Z,1761348240.100 [marl:UpdateCommandMode] Stopped
2025-10-24T23:24:00.100Z,1761348240.100 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:24:00.100Z,1761348240.100 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:24:00.100Z,1761348240.100 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:24:00.101Z,1761348240.101 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:24:00.101Z,1761348240.101 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:24:00.101Z,1761348240.101 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:24:00.101Z,1761348240.101 [marl:UpdateSpeed] Stopped
2025-10-24T23:24:00.101Z,1761348240.101 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:24:00.440Z,1761348240.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408830,-0.892962,0.188352],[0.855623,0.446838,0.261238],[-0.317439,0.054356,0.946720]]
2025-10-24T23:24:00.517Z,1761348240.517 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:24:00.517Z,1761348240.517 [marl:UpdateRudder:B] Stopped
2025-10-24T23:24:00.517Z,1761348240.517 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:24:00.517Z,1761348240.517 [marl:UpdateRudder] Stopped
2025-10-24T23:24:00.517Z,1761348240.517 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:24:00.842Z,1761348240.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405307,-0.893455,0.193556],[0.851241,0.446049,0.276459],[-0.333339,0.052712,0.941332]]
2025-10-24T23:24:01.655Z,1761348241.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386072,-0.897561,0.212915],[0.842947,0.437014,0.313780],[-0.374684,0.058334,0.925316]]
2025-10-24T23:24:02.240Z,1761348242.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346575,-0.914660,0.208047],[0.860359,0.398329,0.317988],[-0.373722,0.068788,0.924987]]
2025-10-24T23:24:02.632Z,1761348242.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326470,-0.924637,0.196120],[0.875647,0.373986,0.305575],[-0.355892,0.071970,0.931752]]
2025-10-24T23:24:03.034Z,1761348243.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316667,-0.929245,0.190331],[0.882806,0.362124,0.299197],[-0.346951,0.073279,0.935016]]
2025-10-24T23:24:03.438Z,1761348243.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316925,-0.930497,0.183666],[0.878952,0.360904,0.311756],[-0.356374,0.062630,0.932242]]
2025-10-24T23:24:03.850Z,1761348243.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314706,-0.933387,0.172477],[0.870382,0.356265,0.339868],[-0.378676,0.043162,0.924522]]
2025-10-24T23:24:04.343Z,1761348244.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304502,-0.940262,0.152271],[0.864417,0.339931,0.370445],[-0.400077,0.018825,0.916288]]
2025-10-24T23:24:04.750Z,1761348244.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288445,-0.950424,0.116158],[0.867073,0.310739,0.389391],[-0.406181,-0.011601,0.913719]]
2025-10-24T23:24:05.151Z,1761348245.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275302,-0.959046,0.066625],[0.878235,0.279083,0.388351],[-0.391040,-0.048401,0.919100]]
2025-10-24T23:24:05.556Z,1761348245.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272571,-0.961897,0.021427],[0.892514,0.261102,0.367756],[-0.359338,-0.081116,0.929675]]
2025-10-24T23:24:05.958Z,1761348245.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280375,-0.959884,-0.003576],[0.903695,0.262703,0.338117],[-0.323614,-0.098031,0.941097]]
2025-10-24T23:24:06.362Z,1761348246.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298883,-0.954223,-0.011326],[0.904309,0.279418,0.322725],[-0.304787,-0.106699,0.946425]]
2025-10-24T23:24:06.769Z,1761348246.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314757,-0.949165,-0.003778],[0.894807,0.295399,0.334755],[-0.316621,-0.108747,0.942298]]
2025-10-24T23:24:07.176Z,1761348247.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312417,-0.949876,-0.011484],[0.885306,0.286754,0.366068],[-0.344427,-0.124532,0.930517]]
2025-10-24T23:24:07.575Z,1761348247.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298641,-0.953376,-0.043448],[0.882246,0.258426,0.393519],[-0.363944,-0.155853,0.918289]]
2025-10-24T23:24:07.982Z,1761348247.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288555,-0.954337,-0.077306],[0.885079,0.235073,0.401716],[-0.365200,-0.184339,0.912495]]
2025-10-24T23:24:08.382Z,1761348248.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284199,-0.954986,-0.085050],[0.889015,0.229268,0.396344],[-0.359003,-0.188251,0.914154]]
2025-10-24T23:24:08.796Z,1761348248.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269379,-0.960035,-0.075942],[0.898563,0.222195,0.378435],[-0.346438,-0.170181,0.922507]]
2025-10-24T23:24:09.199Z,1761348249.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248487,-0.963755,-0.097113],[0.915700,0.201035,0.347964],[-0.315828,-0.175391,0.932465]]
2025-10-24T23:24:09.223Z,1761348249.223 [marl:NeedComms:C] Running Loop=1
2025-10-24T23:24:09.594Z,1761348249.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245499,-0.960667,-0.129802],[0.930264,0.195806,0.310273],[-0.272653,-0.196922,0.941744]]
2025-10-24T23:24:09.680Z,1761348249.680 [Radio_Surface](INFO): Powering up
2025-10-24T23:24:10.007Z,1761348250.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262674,-0.959036,-0.106073],[0.934593,0.225556,0.275066],[-0.239872,-0.171388,0.955556]]
2025-10-24T23:24:10.403Z,1761348250.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278609,-0.958953,-0.052775],[0.934499,0.258008,0.245241],[-0.221559,-0.117645,0.968025]]
2025-10-24T23:24:10.815Z,1761348250.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264287,-0.964217,-0.020900],[0.941382,0.253196,0.222917],[-0.209649,-0.078589,0.974613]]
2025-10-24T23:24:11.211Z,1761348251.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227201,-0.973443,-0.028090],[0.951042,0.215582,0.221457],[-0.209520,-0.077030,0.974765]]
2025-10-24T23:24:11.614Z,1761348251.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234276,-0.970877,-0.050126],[0.959487,0.222611,0.172709],[-0.156521,-0.088557,0.983697]]
2025-10-24T23:24:12.019Z,1761348252.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262721,-0.963344,-0.054272],[0.960224,0.255527,0.112590],[-0.094595,-0.081693,0.992158]]
2025-10-24T23:24:12.424Z,1761348252.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275190,-0.960378,-0.044102],[0.959440,0.271423,0.076189],[-0.061200,-0.063279,0.996118]]
2025-10-24T23:24:12.826Z,1761348252.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247145,-0.967574,-0.052148],[0.968942,0.247244,0.004656],[0.008388,-0.051679,0.998629]]
2025-10-24T23:24:13.230Z,1761348253.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221294,-0.974145,-0.045514],[0.974181,0.222961,-0.035497],[0.044727,-0.036483,0.998333]]
2025-10-24T23:24:13.274Z,1761348253.274 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:24:13.274Z,1761348253.274 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:24:13.274Z,1761348253.274 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:24:13.274Z,1761348253.274 [marl:UpdateRudder:A] Stopped
2025-10-24T23:24:13.274Z,1761348253.274 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:24:13.275Z,1761348253.275 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:24:13.275Z,1761348253.275 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:24:13.275Z,1761348253.275 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:24:13.275Z,1761348253.275 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:24:13.275Z,1761348253.275 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:24:13.275Z,1761348253.275 [marl:UpdateCommandMode] Stopped
2025-10-24T23:24:13.275Z,1761348253.275 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:24:13.275Z,1761348253.275 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:24:13.280Z,1761348253.280 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:24:13.280Z,1761348253.280 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:24:13.280Z,1761348253.280 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:24:13.280Z,1761348253.280 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:24:13.280Z,1761348253.280 [marl:UpdateSpeed] Stopped
2025-10-24T23:24:13.281Z,1761348253.281 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:24:13.634Z,1761348253.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240076,-0.970239,-0.031606],[0.970202,0.240910,-0.025877],[0.032721,-0.024451,0.999165]]
2025-10-24T23:24:13.697Z,1761348253.697 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:24:13.697Z,1761348253.697 [marl:UpdateRudder:B] Stopped
2025-10-24T23:24:13.697Z,1761348253.697 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:24:13.698Z,1761348253.698 [marl:UpdateRudder] Stopped
2025-10-24T23:24:13.698Z,1761348253.698 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:24:14.038Z,1761348254.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268539,-0.962586,-0.036256],[0.962866,0.269324,-0.018773],[0.027835,-0.029868,0.999166]]
2025-10-24T23:24:14.443Z,1761348254.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274614,-0.960992,-0.032876],[0.959893,0.275988,-0.049358],[0.056506,-0.018004,0.998240]]
2025-10-24T23:24:14.847Z,1761348254.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272411,-0.960567,-0.055705],[0.958505,0.275971,-0.071476],[0.084030,-0.033923,0.995886]]
2025-10-24T23:24:14.933Z,1761348254.933 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-10-24T23:24:14.933Z,1761348254.933 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-10-24T23:24:15.022Z,1761348255.022 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:24:15.256Z,1761348255.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295582,-0.952952,-0.067182],[0.951299,0.300053,-0.070696],[0.087528,-0.043013,0.995233]]
2025-10-24T23:24:15.658Z,1761348255.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324423,-0.944280,-0.055540],[0.943110,0.327420,-0.057780],[0.072746,-0.033635,0.996783]]
2025-10-24T23:24:16.024Z,1761348256.024 [DataOverHttps](INFO): Radio surface powered ON.
2025-10-24T23:24:16.024Z,1761348256.024 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:24:16.058Z,1761348256.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336447,-0.940824,-0.040658],[0.940613,0.337821,-0.033529],[0.045280,-0.026963,0.998610]]
2025-10-24T23:24:16.467Z,1761348256.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321027,-0.943657,-0.080329],[0.946866,0.321561,0.006547],[0.019653,-0.078163,0.996747]]
2025-10-24T23:24:16.866Z,1761348256.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310212,-0.945626,-0.097776],[0.950661,0.308946,0.028225],[0.003518,-0.101707,0.994808]]
2025-10-24T23:24:17.270Z,1761348257.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313471,-0.947606,-0.061476],[0.949233,0.310898,0.047958],[-0.026332,-0.073388,0.996956]]
2025-10-24T23:24:17.679Z,1761348257.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288429,-0.956832,-0.035804],[0.957171,0.287146,0.037030],[-0.025151,-0.044951,0.998673]]
2025-10-24T23:24:18.079Z,1761348258.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260236,-0.965068,-0.030358],[0.964921,0.261070,-0.027741],[0.034697,-0.022074,0.999154]]
2025-10-24T23:24:18.491Z,1761348258.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248972,-0.966083,-0.068536],[0.963335,0.254327,-0.085463],[0.099995,-0.044745,0.993981]]
2025-10-24T23:24:18.886Z,1761348258.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248728,-0.965659,-0.075086],[0.962600,0.255046,-0.091391],[0.107403,-0.049547,0.992980]]
2025-10-24T23:24:19.290Z,1761348259.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235301,-0.971714,-0.020160],[0.969822,0.236105,-0.060819],[0.063859,-0.005240,0.997945]]
2025-10-24T23:24:19.696Z,1761348259.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186032,-0.982372,-0.018398],[0.981216,0.186721,-0.048480],[0.051061,-0.009034,0.998655]]
2025-10-24T23:24:20.098Z,1761348260.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184647,-0.982252,-0.032949],[0.980146,0.186508,-0.067295],[0.072246,-0.019869,0.997189]]
2025-10-24T23:24:20.502Z,1761348260.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221169,-0.974172,-0.045529],[0.971014,0.224311,-0.082565],[0.090645,-0.025948,0.995545]]
2025-10-24T23:24:20.907Z,1761348260.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250905,-0.967568,-0.029306],[0.960317,0.252606,-0.118239],[0.121807,0.001523,0.992553]]
2025-10-24T23:24:21.312Z,1761348261.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254796,-0.966741,-0.022149],[0.957968,0.255474,-0.130503],[0.131822,0.012033,0.991200]]
2025-10-24T23:24:21.714Z,1761348261.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219416,-0.975342,-0.023747],[0.972142,0.220623,-0.079160],[0.082447,-0.005717,0.996579]]
2025-10-24T23:24:22.118Z,1761348262.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181629,-0.982859,-0.031606],[0.982501,0.182724,-0.036109],[0.041265,-0.024494,0.998848]]
2025-10-24T23:24:22.522Z,1761348262.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185259,-0.981054,-0.056668],[0.979415,0.189039,-0.070792],[0.080163,-0.042387,0.995880]]
2025-10-24T23:24:22.930Z,1761348262.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201039,-0.978229,-0.051491],[0.967626,0.206499,-0.145112],[0.152586,-0.020651,0.988074]]
2025-10-24T23:24:23.333Z,1761348263.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202216,-0.978928,-0.028444],[0.955137,0.203553,-0.215126],[0.216383,0.016334,0.976172]]
2025-10-24T23:24:23.734Z,1761348263.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219632,-0.975171,-0.028353],[0.951406,0.220528,-0.214928],[0.215844,0.020230,0.976218]]
2025-10-24T23:24:24.139Z,1761348264.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249306,-0.968387,-0.008567],[0.958106,0.247928,-0.143403],[0.140994,0.027543,0.989627]]
2025-10-24T23:24:24.542Z,1761348264.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240719,-0.970474,0.015298],[0.967315,0.238581,-0.085912],[0.079725,0.035479,0.996185]]
2025-10-24T23:24:24.948Z,1761348264.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204265,-0.978426,-0.030968],[0.973280,0.206378,-0.100667],[0.104887,-0.009578,0.994438]]
2025-10-24T23:24:25.350Z,1761348265.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178805,-0.980252,-0.084468],[0.969853,0.190052,-0.152532],[0.165573,-0.054648,0.984682]]
2025-10-24T23:24:25.755Z,1761348265.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167224,-0.982527,-0.081707],[0.969955,0.178804,-0.164975],[0.176702,-0.051664,0.982908]]
2025-10-24T23:24:26.160Z,1761348266.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161638,-0.982483,-0.092742],[0.971326,0.174995,-0.160940],[0.174351,-0.064069,0.982597]]
2025-10-24T23:24:26.562Z,1761348266.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141229,-0.982695,-0.119856],[0.958863,0.165898,-0.230347],[0.246244,-0.082394,0.965699]]
2025-10-24T23:24:26.606Z,1761348266.606 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:24:26.606Z,1761348266.606 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:24:26.606Z,1761348266.606 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:24:26.607Z,1761348266.607 [marl:UpdateRudder:A] Stopped
2025-10-24T23:24:26.607Z,1761348266.607 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:24:26.607Z,1761348266.607 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:24:26.607Z,1761348266.607 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:24:26.607Z,1761348266.607 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:24:26.607Z,1761348266.607 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:24:26.608Z,1761348266.608 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:24:26.608Z,1761348266.608 [marl:UpdateCommandMode] Stopped
2025-10-24T23:24:26.608Z,1761348266.608 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:24:26.608Z,1761348266.608 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:24:26.608Z,1761348266.608 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:24:26.608Z,1761348266.608 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:24:26.609Z,1761348266.609 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:24:26.609Z,1761348266.609 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:24:26.609Z,1761348266.609 [marl:UpdateSpeed] Stopped
2025-10-24T23:24:26.609Z,1761348266.609 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:24:26.972Z,1761348266.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163245,-0.982043,-0.094570],[0.936411,0.184409,-0.298542],[0.310620,-0.039821,0.949700]]
2025-10-24T23:24:27.011Z,1761348267.011 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:24:27.011Z,1761348267.011 [marl:UpdateRudder:B] Stopped
2025-10-24T23:24:27.011Z,1761348267.011 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:24:27.011Z,1761348267.011 [marl:UpdateRudder] Stopped
2025-10-24T23:24:27.011Z,1761348267.011 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:24:27.371Z,1761348267.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215704,-0.976446,-0.005031],[0.954597,0.211956,-0.209331],[0.205467,0.040351,0.977832]]
2025-10-24T23:24:27.776Z,1761348267.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218118,-0.974847,0.045809],[0.973340,0.213889,-0.082831],[0.070949,0.062655,0.995510]]
2025-10-24T23:24:28.178Z,1761348268.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171925,-0.985088,0.006620],[0.978388,0.169965,-0.117765],[0.114884,0.026724,0.993019]]
2025-10-24T23:24:28.582Z,1761348268.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143781,-0.985987,-0.084593],[0.962690,0.159161,-0.218853],[0.229251,-0.049969,0.972084]]
2025-10-24T23:24:28.991Z,1761348268.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181007,-0.976611,-0.116048],[0.943181,0.205809,-0.260869],[0.278651,-0.062235,0.958374]]
2025-10-24T23:24:29.390Z,1761348269.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203559,-0.977937,-0.046931],[0.956148,0.208876,-0.205307],[0.210580,-0.003081,0.977572]]
2025-10-24T23:24:30.200Z,1761348270.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080992,-0.996272,0.029717],[0.989752,0.076873,-0.120339],[0.117606,0.039159,0.992288]]
2025-10-24T23:24:30.603Z,1761348270.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070040,-0.997527,-0.005933],[0.984198,0.070071,-0.162619],[0.162632,0.005551,0.986671]]
2025-10-24T23:24:31.007Z,1761348271.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090270,-0.994527,-0.052603],[0.971652,0.099536,-0.214441],[0.218503,-0.031754,0.975319]]
2025-10-24T23:24:31.410Z,1761348271.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085060,-0.994209,-0.065675],[0.974885,0.096660,-0.200637],[0.205823,-0.046960,0.977462]]
2025-10-24T23:24:31.815Z,1761348271.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079868,-0.996220,-0.034149],[0.988781,0.083517,-0.123845],[0.126229,-0.023875,0.991714]]
2025-10-24T23:24:32.219Z,1761348272.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069414,-0.996999,-0.034270],[0.992934,0.072363,-0.094049],[0.096247,-0.027499,0.994978]]
2025-10-24T23:24:32.622Z,1761348272.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051484,-0.996954,-0.058581],[0.984239,0.060589,-0.166138],[0.169182,-0.049105,0.984361]]
2025-10-24T23:24:33.026Z,1761348273.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040195,-0.997173,-0.063482],[0.971184,0.053926,-0.232151],[0.234918,-0.052321,0.970606]]
2025-10-24T23:24:33.436Z,1761348273.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042392,-0.996827,-0.067370],[0.976530,0.055592,-0.208081],[0.211166,-0.056968,0.975789]]
2025-10-24T23:24:33.834Z,1761348273.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059697,-0.996127,-0.064549],[0.984195,0.069536,-0.162865],[0.166723,-0.053806,0.984535]]
2025-10-24T23:24:34.242Z,1761348274.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066900,-0.996809,-0.043542],[0.986595,0.072598,-0.146151],[0.148845,-0.033180,0.988304]]
2025-10-24T23:24:34.651Z,1761348274.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062483,-0.997810,-0.021702],[0.991857,0.064499,-0.109817],[0.110977,-0.014663,0.993715]]
2025-10-24T23:24:35.051Z,1761348275.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045166,-0.998541,-0.029597],[0.984388,0.049532,-0.168897],[0.170117,-0.021507,0.985189]]
2025-10-24T23:24:35.459Z,1761348275.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025891,-0.998041,-0.056959],[0.979538,0.036704,-0.197884],[0.199587,-0.050670,0.978569]]
2025-10-24T23:24:35.863Z,1761348275.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023062,-0.995613,-0.090685],[0.983333,0.038953,-0.177591],[0.180344,-0.085078,0.979917]]
2025-10-24T23:24:36.263Z,1761348276.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017443,-0.995949,-0.088211],[0.982802,0.033300,-0.181633],[0.183834,-0.083526,0.979402]]
2025-10-24T23:24:36.667Z,1761348276.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023060,-0.997271,-0.070128],[0.969292,0.039481,-0.242721],[0.244827,-0.062377,0.967558]]
2025-10-24T23:24:37.067Z,1761348277.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024071,-0.999535,-0.018715],[0.949239,0.028724,-0.313240],[0.313632,-0.010225,0.949490]]
2025-10-24T23:24:37.471Z,1761348277.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020476,-0.999645,0.017058],[0.951323,0.014233,-0.307868],[0.307516,0.022531,0.951276]]
2025-10-24T23:24:37.895Z,1761348277.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066295,-0.997620,0.018955],[0.963857,0.059115,-0.259778],[0.258039,0.035492,0.965482]]
2025-10-24T23:24:38.279Z,1761348278.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105185,-0.994395,0.010687],[0.968197,0.099949,-0.229359],[0.227006,0.034472,0.973283]]
2025-10-24T23:24:38.685Z,1761348278.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062340,-0.997593,-0.030357],[0.967382,0.067879,-0.244057],[0.245530,-0.014152,0.969286]]
2025-10-24T23:24:39.092Z,1761348279.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039227,-0.995645,-0.084568],[0.953558,0.062595,-0.294634],[0.298644,-0.069083,0.951861]]
2025-10-24T23:24:39.492Z,1761348279.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066963,-0.993496,-0.092097],[0.937528,0.094236,-0.334904],[0.341405,-0.063917,0.937740]]
2025-10-24T23:24:39.515Z,1761348279.515 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:24:39.515Z,1761348279.515 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:24:39.515Z,1761348279.515 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:24:39.516Z,1761348279.516 [marl:UpdateRudder:A] Stopped
2025-10-24T23:24:39.516Z,1761348279.516 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:24:39.516Z,1761348279.516 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:24:39.516Z,1761348279.516 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:24:39.516Z,1761348279.516 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:24:39.517Z,1761348279.517 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:24:39.517Z,1761348279.517 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:24:39.517Z,1761348279.517 [marl:UpdateCommandMode] Stopped
2025-10-24T23:24:39.517Z,1761348279.517 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:24:39.517Z,1761348279.517 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:24:39.517Z,1761348279.517 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:24:39.517Z,1761348279.517 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:24:39.517Z,1761348279.517 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:24:39.518Z,1761348279.518 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:24:39.518Z,1761348279.518 [marl:UpdateSpeed] Stopped
2025-10-24T23:24:39.518Z,1761348279.518 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:24:39.930Z,1761348279.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088122,-0.994588,-0.055037],[0.933274,0.101750,-0.344451],[0.348187,-0.021011,0.937190]]
2025-10-24T23:24:39.995Z,1761348279.995 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:24:39.995Z,1761348279.995 [marl:UpdateRudder:B] Stopped
2025-10-24T23:24:39.995Z,1761348279.995 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:24:39.995Z,1761348279.995 [marl:UpdateRudder] Stopped
2025-10-24T23:24:40.003Z,1761348280.003 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:24:40.299Z,1761348280.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100798,-0.994792,0.015103],[0.957024,0.092800,-0.274759],[0.271927,0.042149,0.961394]]
2025-10-24T23:24:40.703Z,1761348280.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123059,-0.992387,0.004877],[0.962510,0.118154,-0.244161],[0.241726,0.034741,0.969722]]
2025-10-24T23:24:41.108Z,1761348281.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128041,-0.990655,-0.046991],[0.962322,0.135560,-0.235713],[0.239880,-0.015040,0.970686]]
2025-10-24T23:24:41.510Z,1761348281.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148447,-0.983820,-0.100310],[0.968736,0.165056,-0.185222],[0.198782,-0.069679,0.977564]]
2025-10-24T23:24:42.327Z,1761348282.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140599,-0.986918,-0.078903],[0.983791,0.148222,-0.100919],[0.111294,-0.063435,0.991761]]
2025-10-24T23:24:42.722Z,1761348282.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128370,-0.989224,-0.070401],[0.985423,0.135224,-0.103231],[0.111639,-0.056123,0.992163]]
2025-10-24T23:24:43.127Z,1761348283.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095900,-0.992391,-0.077216],[0.980765,0.107455,-0.162950],[0.170007,-0.060104,0.983608]]
2025-10-24T23:24:43.531Z,1761348283.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083374,-0.990892,-0.105745],[0.959947,0.108345,-0.258386],[0.267489,-0.079967,0.960237]]
2025-10-24T23:24:43.954Z,1761348283.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124838,-0.991805,-0.027174],[0.965565,0.127744,-0.226641],[0.228255,0.002055,0.973599]]
2025-10-24T23:24:44.343Z,1761348284.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123241,-0.987592,0.097333],[0.984783,0.109598,-0.134870],[0.122529,0.112473,0.986071]]
2025-10-24T23:24:44.743Z,1761348284.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125662,-0.982877,0.134762],[0.973735,0.096199,-0.206366],[0.189868,0.157155,0.969150]]
2025-10-24T23:24:45.146Z,1761348285.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102408,-0.991687,0.077905],[0.957545,0.077059,-0.277795],[0.269483,0.103046,0.957476]]
2025-10-24T23:24:45.550Z,1761348285.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098334,-0.994821,-0.025714],[0.968498,0.101609,-0.227347],[0.228782,-0.002548,0.973474]]
2025-10-24T23:24:45.954Z,1761348285.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136356,-0.982916,-0.123624],[0.982998,0.149734,-0.106279],[0.122974,-0.107031,0.986621]]
2025-10-24T23:24:46.168Z,1761348286.168 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:24:46.363Z,1761348286.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119404,-0.977646,-0.173065],[0.991126,0.127628,-0.037159],[0.058416,-0.167093,0.984209]]
2025-10-24T23:24:46.763Z,1761348286.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112906,-0.983464,-0.141604],[0.993198,0.115788,-0.012254],[0.028447,-0.139257,0.989848]]
2025-10-24T23:24:47.166Z,1761348287.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091145,-0.993273,-0.071421],[0.995123,0.093561,-0.031242],[0.037714,-0.068225,0.996957]]
2025-10-24T23:24:47.172Z,1761348287.172 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:24:47.571Z,1761348287.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083875,-0.996277,-0.019943],[0.991659,0.085418,-0.096517],[0.097861,-0.011682,0.995131]]
2025-10-24T23:24:47.976Z,1761348287.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063871,-0.997866,0.013567],[0.986210,0.061033,-0.153835],[0.152679,0.023205,0.988003]]
2025-10-24T23:24:48.378Z,1761348288.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059116,-0.997983,0.023130],[0.993397,0.056531,-0.099829],[0.098321,0.028879,0.994736]]
2025-10-24T23:24:48.782Z,1761348288.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101032,-0.994883,-0.000642],[0.994693,0.101026,-0.019460],[0.019425,0.001327,0.999810]]
2025-10-24T23:24:49.189Z,1761348289.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137823,-0.989393,-0.045900],[0.990378,0.138250,-0.006255],[0.012534,-0.044596,0.998926]]
2025-10-24T23:24:49.590Z,1761348289.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131909,-0.990227,-0.045293],[0.991248,0.131523,0.011408],[-0.005340,-0.046402,0.998909]]
2025-10-24T23:24:49.995Z,1761348289.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089929,-0.995859,-0.013303],[0.995930,0.089838,0.007264],[-0.006039,-0.013903,0.999885]]
2025-10-24T23:24:50.403Z,1761348290.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054380,-0.998449,0.011962],[0.997483,0.053774,-0.046223],[0.045508,0.014446,0.998860]]
2025-10-24T23:24:50.803Z,1761348290.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066706,-0.997207,0.033592],[0.995638,0.064325,-0.067574],[0.065225,0.037953,0.997149]]
2025-10-24T23:24:51.208Z,1761348291.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120424,-0.990965,0.059046],[0.991521,0.117140,-0.056244],[0.048819,0.065318,0.996670]]
2025-10-24T23:24:51.610Z,1761348291.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142103,-0.987576,0.067089],[0.989833,0.142197,-0.003398],[-0.006184,0.066890,0.997741]]
2025-10-24T23:24:51.721Z,1761348291.721 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:24:51.721Z,1761348291.721 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:24:52.014Z,1761348292.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076411,-0.994326,0.074002],[0.995138,0.071427,-0.067810],[0.062140,0.078823,0.994950]]
2025-10-24T23:24:52.426Z,1761348292.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048168,-0.997498,0.051749],[0.977181,0.036330,-0.209279],[0.206875,0.060649,0.976486]]
2025-10-24T23:24:52.477Z,1761348292.477 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:24:52.477Z,1761348292.477 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:24:52.477Z,1761348292.477 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:24:52.477Z,1761348292.477 [marl:UpdateRudder:A] Stopped
2025-10-24T23:24:52.478Z,1761348292.478 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:24:52.478Z,1761348292.478 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:24:52.478Z,1761348292.478 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:24:52.478Z,1761348292.478 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:24:52.478Z,1761348292.478 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:24:52.478Z,1761348292.478 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:24:52.478Z,1761348292.478 [marl:UpdateCommandMode] Stopped
2025-10-24T23:24:52.478Z,1761348292.478 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:24:52.478Z,1761348292.478 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:24:52.479Z,1761348292.479 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:24:52.479Z,1761348292.479 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:24:52.479Z,1761348292.479 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:24:52.479Z,1761348292.479 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:24:52.479Z,1761348292.479 [marl:UpdateSpeed] Stopped
2025-10-24T23:24:52.479Z,1761348292.479 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:24:52.822Z,1761348292.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104093,-0.993432,0.047507],[0.973902,0.092127,-0.207432],[0.201693,0.067860,0.977095]]
2025-10-24T23:24:52.868Z,1761348292.868 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:24:52.868Z,1761348292.868 [marl:UpdateRudder:B] Stopped
2025-10-24T23:24:52.868Z,1761348292.868 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:24:52.869Z,1761348292.869 [marl:UpdateRudder] Stopped
2025-10-24T23:24:52.869Z,1761348292.869 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:24:53.228Z,1761348293.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139297,-0.989192,0.045777],[0.980628,0.131367,-0.145297],[0.137713,0.065130,0.988329]]
2025-10-24T23:24:53.631Z,1761348293.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162415,-0.986493,0.021291],[0.982531,0.159701,-0.095544],[0.090853,0.036437,0.995197]]
2025-10-24T23:24:54.034Z,1761348294.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132509,-0.991157,-0.007085],[0.990473,0.132140,0.038765],[-0.037486,-0.012154,0.999223]]
2025-10-24T23:24:54.438Z,1761348294.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067953,-0.996300,-0.052626],[0.994042,0.063105,0.088870],[-0.085220,-0.058351,0.994652]]
2025-10-24T23:24:54.843Z,1761348294.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055220,-0.992516,-0.108920],[0.998466,0.055338,0.001940],[0.004102,-0.108860,0.994049]]
2025-10-24T23:24:54.875Z,1761348294.875 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:24:55.246Z,1761348295.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067042,-0.992502,-0.102203],[0.994554,0.074668,-0.072711],[0.079797,-0.096772,0.992103]]
2025-10-24T23:24:55.653Z,1761348295.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017697,-0.998888,-0.043706],[0.997861,0.020397,-0.062114],[0.062936,-0.042513,0.997112]]
2025-10-24T23:24:56.054Z,1761348296.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027714,-0.999462,-0.017557],[0.999576,-0.027552,-0.009379],[0.008890,-0.017810,0.999802]]
2025-10-24T23:24:56.460Z,1761348296.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004102,-0.999115,-0.041874],[0.999449,0.002716,0.033092],[-0.032949,-0.041986,0.998575]]
2025-10-24T23:24:56.862Z,1761348296.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036461,-0.999211,-0.015776],[0.997683,0.035489,0.058047],[-0.057441,-0.017855,0.998189]]
2025-10-24T23:24:57.267Z,1761348297.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013697,-0.999094,0.040284],[0.999905,0.013748,0.000990],[-0.001543,0.040266,0.999188]]
2025-10-24T23:24:57.674Z,1761348297.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004884,-0.998095,0.061507],[0.998780,0.001846,-0.049343],[0.049136,0.061673,0.996886]]
2025-10-24T23:24:58.074Z,1761348298.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011544,-0.998411,0.055154],[0.999090,-0.013782,-0.040372],[0.041068,0.054637,0.997661]]
2025-10-24T23:24:58.478Z,1761348298.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088412,-0.995565,0.032162],[0.995178,-0.089662,-0.039759],[0.042466,0.028492,0.998692]]
2025-10-24T23:24:58.886Z,1761348298.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107087,-0.993849,-0.028219],[0.993971,-0.106343,-0.026696],[0.023531,-0.030908,0.999245]]
2025-10-24T23:24:58.900Z,1761348298.900 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,232455.00,A,3646.53662,N,12151.91261,W,1.924,51.63,241025,,,A*4C
2025-10-24T23:24:58.903Z,1761348298.903 [NAL9602](INFO): GPS fix at 20251024T232455: (36.775610, -121.865210)
2025-10-24T23:24:58.939Z,1761348298.939 [UniversalFixResidualReporter](INFO): Fix residual: 1.4 %DT, over the last 587.2 m. Residual distance 8.0 m at bearing -132.6 degrees. Fix at (36.7756, -121.8652) with 176.8 m made good.
2025-10-24T23:24:58.992Z,1761348298.992 [marl:NeedComms:C] Stopped
2025-10-24T23:24:58.992Z,1761348298.992 [marl:NeedComms:D] Running Loop=1
2025-10-24T23:24:58.994Z,1761348298.994 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761348352.00. Resetting abort timer.
2025-10-24T23:24:59.287Z,1761348299.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059614,-0.991819,-0.112876],[0.998107,-0.057511,-0.021805],[0.015135,-0.113962,0.993370]]
2025-10-24T23:25:00.048Z,1761348300.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059694,-0.995034,-0.079645],[0.992311,-0.050486,-0.113006],[0.108424,-0.085779,0.990397]]
2025-10-24T23:25:00.452Z,1761348300.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038427,-0.998914,-0.026349],[0.997347,-0.036709,-0.062861],[0.061825,-0.028694,0.997674]]
2025-10-24T23:25:00.850Z,1761348300.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036754,-0.999156,0.018348],[0.998282,0.035871,-0.046320],[0.045622,0.020019,0.998758]]
2025-10-24T23:25:01.255Z,1761348301.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034105,-0.998966,0.030075],[0.992228,0.030241,-0.120701],[0.119667,0.033958,0.992233]]
2025-10-24T23:25:01.662Z,1761348301.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010346,-0.999001,-0.043468],[0.996999,0.013640,-0.076198],[0.076715,-0.042549,0.996145]]
2025-10-24T23:25:02.063Z,1761348302.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036245,-0.990454,-0.132991],[0.997851,0.028601,0.058950],[-0.054584,-0.134842,0.989363]]
2025-10-24T23:25:02.466Z,1761348302.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048165,-0.989848,-0.133723],[0.998739,0.045833,0.020466],[-0.014129,-0.134540,0.990807]]
2025-10-24T23:25:02.873Z,1761348302.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027199,-0.997372,-0.067151],[0.998228,0.030656,-0.051000],[0.052924,-0.065645,0.996439]]
2025-10-24T23:25:03.281Z,1761348303.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023309,-0.999260,0.030587],[0.993858,0.019850,-0.108866],[0.108178,0.032937,0.993586]]
2025-10-24T23:25:03.685Z,1761348303.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106493,-0.989015,0.102516],[0.987453,0.093103,-0.127550],[0.116604,0.114813,0.986520]]
2025-10-24T23:25:04.082Z,1761348304.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156451,-0.980135,0.121892],[0.984294,0.144503,-0.101413],[0.081785,0.135844,0.987349]]
2025-10-24T23:25:04.487Z,1761348304.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179183,-0.983120,0.037000],[0.983441,0.177950,-0.034323],[0.027159,0.042537,0.998726]]
2025-10-24T23:25:04.897Z,1761348304.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202360,-0.976716,-0.071247],[0.979303,0.202113,0.010734],[0.003916,-0.071945,0.997401]]
2025-10-24T23:25:05.294Z,1761348305.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199298,-0.969386,-0.143429],[0.979655,0.200617,0.005354],[0.023584,-0.141578,0.989646]]
2025-10-24T23:25:05.698Z,1761348305.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172770,-0.969850,-0.171876],[0.984928,0.171577,0.021892],[0.008258,-0.173067,0.984875]]
2025-10-24T23:25:05.755Z,1761348305.755 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:25:05.755Z,1761348305.755 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:25:05.755Z,1761348305.755 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:25:05.756Z,1761348305.756 [marl:UpdateRudder:A] Stopped
2025-10-24T23:25:05.756Z,1761348305.756 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:25:05.756Z,1761348305.756 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:25:05.756Z,1761348305.756 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:25:05.756Z,1761348305.756 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:25:05.757Z,1761348305.757 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:25:05.757Z,1761348305.757 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:25:05.757Z,1761348305.757 [marl:UpdateCommandMode] Stopped
2025-10-24T23:25:05.757Z,1761348305.757 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:25:05.757Z,1761348305.757 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:25:05.757Z,1761348305.757 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:25:05.757Z,1761348305.757 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:25:05.757Z,1761348305.757 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:25:05.758Z,1761348305.758 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:25:05.758Z,1761348305.758 [marl:UpdateSpeed] Stopped
2025-10-24T23:25:05.758Z,1761348305.758 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:25:06.102Z,1761348306.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176840,-0.971425,-0.158306],[0.981985,0.163257,0.095148],[-0.066585,-0.172280,0.982795]]
2025-10-24T23:25:06.374Z,1761348306.374 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:25:06.374Z,1761348306.374 [marl:UpdateRudder:B] Stopped
2025-10-24T23:25:06.374Z,1761348306.374 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:25:06.375Z,1761348306.375 [marl:UpdateRudder] Stopped
2025-10-24T23:25:06.375Z,1761348306.375 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:25:06.509Z,1761348306.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153316,-0.984592,-0.084103],[0.984100,0.144407,0.103408],[-0.089669,-0.098620,0.991077]]
2025-10-24T23:25:08.647Z,1761348308.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147755,-0.988728,-0.024182],[0.986814,0.149014,-0.063187],[0.066078,-0.014527,0.997709]]
2025-10-24T23:25:09.030Z,1761348309.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171408,-0.980529,-0.095827],[0.981889,0.177990,-0.064914],[0.080707,-0.082965,0.993279]]
2025-10-24T23:25:09.438Z,1761348309.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194340,-0.978142,-0.073955],[0.975865,0.200440,-0.086662],[0.099591,-0.055328,0.993489]]
2025-10-24T23:25:09.840Z,1761348309.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204112,-0.978720,-0.021094],[0.973956,0.205197,-0.096461],[0.098737,-0.000855,0.995113]]
2025-10-24T23:25:10.242Z,1761348310.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215195,-0.976360,0.020306],[0.968229,0.210598,-0.134840],[0.127376,0.048678,0.990659]]
2025-10-24T23:25:10.647Z,1761348310.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197908,-0.979344,0.041438],[0.968003,0.188612,-0.165516],[0.154281,0.072869,0.985336]]
2025-10-24T23:25:11.051Z,1761348311.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191928,-0.981409,-0.000654],[0.967407,0.189302,-0.168190],[0.165187,0.031648,0.985754]]
2025-10-24T23:25:11.076Z,1761348311.076 [marl:SendObservationData] Running Loop=1
2025-10-24T23:25:11.076Z,1761348311.076 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:25:11.076Z,1761348311.076 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:25:11.077Z,1761348311.077 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:25:11.078Z,1761348311.078 [marl:SendObservationData:A](INFO): Got test_good :  41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:25:11.079Z,1761348311.079 [marl:SendObservationData:A] Stopped
2025-10-24T23:25:11.079Z,1761348311.079 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:25:11.458Z,1761348311.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206542,-0.978081,-0.026423],[0.970879,0.208222,-0.118481],[0.121386,-0.001182,0.992605]]
2025-10-24T23:25:11.498Z,1761348311.498 [marl:SendObservationData:B] Stopped
2025-10-24T23:25:11.498Z,1761348311.498 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:25:11.865Z,1761348311.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220622,-0.974416,-0.042896],[0.973494,0.222706,-0.052070],[0.060291,-0.030271,0.997722]]
2025-10-24T23:25:11.961Z,1761348311.961 [marl:SendObservationData:C] Stopped
2025-10-24T23:25:11.961Z,1761348311.961 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:25:12.262Z,1761348312.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192390,-0.979428,-0.060884],[0.979046,0.195794,-0.055978],[0.066748,-0.048839,0.996574]]
2025-10-24T23:25:12.347Z,1761348312.347 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.008669 min 
2025-10-24T23:25:12.347Z,1761348312.347 [marl:SendObservationData:E] Stopped
2025-10-24T23:25:12.356Z,1761348312.356 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:25:12.356Z,1761348312.356 [marl:SendObservationData] Stopped
2025-10-24T23:25:12.357Z,1761348312.357 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:25:12.357Z,1761348312.357 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:25:12.672Z,1761348312.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173073,-0.981044,-0.087165],[0.972892,0.184073,-0.139993],[0.153384,-0.060573,0.986308]]
2025-10-24T23:25:13.070Z,1761348313.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200358,-0.978057,-0.057100],[0.959418,0.207676,-0.190757],[0.198430,-0.016563,0.979975]]
2025-10-24T23:25:13.474Z,1761348313.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194288,-0.980614,0.025477],[0.961298,0.185160,-0.204013],[0.195341,0.064128,0.978637]]
2025-10-24T23:25:13.925Z,1761348313.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248544,-0.964110,0.093370],[0.966691,0.240812,-0.086703],[0.061107,0.111809,0.991849]]
2025-10-24T23:25:14.696Z,1761348314.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222422,-0.972213,-0.073009],[0.966730,0.229631,-0.112703],[0.126336,-0.045513,0.990943]]
2025-10-24T23:25:15.095Z,1761348315.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233594,-0.961466,-0.144975],[0.960976,0.251008,-0.116280],[0.148189,-0.112155,0.982579]]
2025-10-24T23:25:15.499Z,1761348315.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240778,-0.960193,-0.141615],[0.970445,0.240600,0.018638],[0.016177,-0.141917,0.989746]]
2025-10-24T23:25:15.930Z,1761348315.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227274,-0.967205,-0.113410],[0.970654,0.215592,0.106542],[-0.078597,-0.134296,0.987819]]
2025-10-24T23:25:16.306Z,1761348316.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213982,-0.969617,-0.118551],[0.973064,0.200922,0.113035],[-0.085781,-0.139545,0.986493]]
2025-10-24T23:25:16.706Z,1761348316.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172968,-0.979874,-0.099639],[0.984253,0.168220,0.054293],[-0.036439,-0.107461,0.993541]]
2025-10-24T23:25:17.111Z,1761348317.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153668,-0.987304,-0.040204],[0.988001,0.154159,-0.009385],[0.015464,-0.038279,0.999147]]
2025-10-24T23:25:17.300Z,1761348317.300 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:25:17.518Z,1761348317.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155420,-0.987757,0.013431],[0.987193,0.154807,-0.038539],[0.035988,0.019249,0.999167]]
2025-10-24T23:25:17.942Z,1761348317.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197127,-0.980089,0.023815],[0.978194,0.195009,-0.071470],[0.065403,0.037385,0.997158]]
2025-10-24T23:25:18.304Z,1761348318.304 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:25:18.323Z,1761348318.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236676,-0.970737,0.040670],[0.970504,0.234227,-0.057103],[0.045906,0.052986,0.997540]]
2025-10-24T23:25:18.727Z,1761348318.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235174,-0.967644,0.091425],[0.970518,0.238896,0.032002],[-0.052808,0.081204,0.995298]]
2025-10-24T23:25:19.130Z,1761348319.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191754,-0.977560,0.087213],[0.975292,0.199732,0.094411],[-0.109712,0.066955,0.991706]]
2025-10-24T23:25:19.534Z,1761348319.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122291,-0.992493,-0.001330],[0.991859,0.122164,0.035927],[-0.035495,-0.005712,0.999354]]
2025-10-24T23:25:19.947Z,1761348319.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111573,-0.988256,-0.104415],[0.993169,0.114501,-0.022462],[0.034153,-0.101195,0.994280]]
2025-10-24T23:25:19.952Z,1761348319.952 [NAL9602](INFO): SBD MO Status=1, MOMSN=2568, MT Status=0, MTMSN=0
2025-10-24T23:25:20.004Z,1761348320.004 [NAL9602](INFO): Sent 82 bytes from file Logs/20251024T220733/Courier0018.lzma
2025-10-24T23:25:20.004Z,1761348320.004 [NAL9602](INFO): Packets left to send: 0
2025-10-24T23:25:20.352Z,1761348320.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115210,-0.984337,-0.133447],[0.991870,0.121306,-0.038459],[0.054045,-0.127931,0.990309]]
2025-10-24T23:25:20.729Z,1761348320.729 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:25:20.729Z,1761348320.729 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:25:20.729Z,1761348320.729 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:25:20.730Z,1761348320.730 [marl:UpdateRudder:A] Stopped
2025-10-24T23:25:20.730Z,1761348320.730 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:25:20.730Z,1761348320.730 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:25:20.730Z,1761348320.730 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:25:20.730Z,1761348320.730 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:25:20.730Z,1761348320.730 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:25:20.730Z,1761348320.730 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:25:20.731Z,1761348320.731 [marl:UpdateCommandMode] Stopped
2025-10-24T23:25:20.731Z,1761348320.731 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:25:20.731Z,1761348320.731 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:25:20.731Z,1761348320.731 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:25:20.731Z,1761348320.731 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:25:20.731Z,1761348320.731 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:25:20.731Z,1761348320.731 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:25:20.731Z,1761348320.731 [marl:UpdateSpeed] Stopped
2025-10-24T23:25:20.732Z,1761348320.731 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:25:20.790Z,1761348320.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119862,-0.988383,-0.093447],[0.985140,0.130073,-0.112164],[0.123016,-0.078614,0.989286]]
2025-10-24T23:25:20.862Z,1761348320.862 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:25:20.863Z,1761348320.863 [marl:UpdateRudder:B] Stopped
2025-10-24T23:25:20.863Z,1761348320.863 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:25:20.863Z,1761348320.863 [marl:UpdateRudder] Stopped
2025-10-24T23:25:20.863Z,1761348320.863 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:25:21.167Z,1761348321.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129733,-0.991425,-0.015702],[0.982543,0.130668,-0.132419],[0.133335,0.001751,0.991069]]
2025-10-24T23:25:23.297Z,1761348323.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059958,-0.991951,-0.111529],[0.996128,0.066656,-0.057323],[0.064296,-0.107661,0.992106]]
2025-10-24T23:25:23.679Z,1761348323.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073146,-0.984243,-0.160983],[0.993331,0.086323,-0.076436],[0.089128,-0.154318,0.983993]]
2025-10-24T23:25:24.078Z,1761348324.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096103,-0.983810,-0.151271],[0.992493,0.106261,-0.060545],[0.075639,-0.144316,0.986636]]
2025-10-24T23:25:24.482Z,1761348324.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086933,-0.994483,-0.058696],[0.995705,0.088621,-0.026795],[0.031849,-0.056115,0.997916]]
2025-10-24T23:25:24.887Z,1761348324.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061339,-0.997890,0.021292],[0.997779,0.060749,-0.027322],[0.025971,0.022920,0.999400]]
2025-10-24T23:25:25.290Z,1761348325.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035212,-0.997425,0.062471],[0.998918,0.033227,-0.032533],[0.030374,0.063549,0.997516]]
2025-10-24T23:25:25.695Z,1761348325.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020148,-0.999209,0.034274],[0.999789,0.020276,0.003362],[-0.004055,0.034199,0.999407]]
2025-10-24T23:25:26.098Z,1761348326.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020290,-0.999615,-0.018936],[0.998259,0.019206,0.055771],[-0.055385,-0.020034,0.998264]]
2025-10-24T23:25:26.508Z,1761348326.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000997,-0.996329,-0.085598],[0.999651,-0.001267,0.026391],[-0.026403,-0.085594,0.995980]]
2025-10-24T23:25:26.906Z,1761348326.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049154,-0.991674,-0.119022],[0.997156,-0.041908,-0.062632],[0.057122,-0.121762,0.990914]]
2025-10-24T23:25:27.312Z,1761348327.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063949,-0.988236,-0.138924],[0.994976,-0.052392,-0.085314],[0.077032,-0.143682,0.986621]]
2025-10-24T23:25:27.721Z,1761348327.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017634,-0.994355,-0.104624],[0.996054,-0.008367,-0.088354],[0.086980,-0.105769,0.990579]]
2025-10-24T23:25:28.134Z,1761348328.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001508,-0.999472,-0.032448],[0.997040,0.000991,-0.076882],[0.076874,-0.032468,0.996512]]
2025-10-24T23:25:28.527Z,1761348328.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019236,-0.999772,0.009291],[0.999806,0.019275,0.004141],[-0.004319,0.009209,0.999948]]
2025-10-24T23:25:28.930Z,1761348328.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009060,-0.999304,0.036174],[0.998685,0.010868,0.050097],[-0.050455,0.035673,0.998089]]
2025-10-24T23:25:29.346Z,1761348329.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075958,-0.996714,0.028141],[0.995909,-0.077221,-0.046929],[0.048948,0.024461,0.998502]]
2025-10-24T23:25:29.738Z,1761348329.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105355,-0.993573,-0.041397],[0.990567,-0.101187,-0.092400],[0.087618,-0.050741,0.994861]]
2025-10-24T23:25:30.141Z,1761348330.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051699,-0.994464,-0.091486],[0.998659,-0.051730,-0.002043],[-0.002701,-0.091468,0.995804]]
2025-10-24T23:25:30.550Z,1761348330.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086203,-0.993049,-0.080144],[0.993396,-0.091789,0.068844],[-0.075722,-0.073680,0.994403]]
2025-10-24T23:25:30.961Z,1761348330.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134145,-0.989547,-0.052927],[0.990550,-0.135437,0.021621],[-0.028564,-0.049527,0.998364]]
2025-10-24T23:25:31.389Z,1761348331.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135961,-0.990695,0.006130],[0.988791,-0.136080,-0.061442],[0.061704,-0.002293,0.998092]]
2025-10-24T23:25:31.755Z,1761348331.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120271,-0.991881,0.041317],[0.987393,-0.123834,-0.098590],[0.102906,0.028939,0.994270]]
2025-10-24T23:25:32.170Z,1761348332.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135813,-0.990603,0.016135],[0.989433,-0.136451,-0.049021],[0.050762,0.009306,0.998667]]
2025-10-24T23:25:32.175Z,1761348332.175 [NAL9602](INFO): SBD MO Status=1, MOMSN=2569, MT Status=0, MTMSN=0
2025-10-24T23:25:32.224Z,1761348332.224 [NAL9602](INFO): Sent 332 bytes from file Logs/20251024T220733/Express0019.lzma
2025-10-24T23:25:32.224Z,1761348332.224 [NAL9602](INFO): Packets left to send: 2
2025-10-24T23:25:32.580Z,1761348332.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166537,-0.985625,-0.028450],[0.986035,-0.166459,-0.005111],[0.000301,-0.028904,0.999582]]
2025-10-24T23:25:33.032Z,1761348333.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172604,-0.981705,-0.080395],[0.984365,-0.169009,-0.049603],[0.035108,-0.087700,0.995528]]
2025-10-24T23:25:33.368Z,1761348333.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179091,-0.979463,-0.092625],[0.977323,-0.166303,-0.131087],[0.112991,-0.114001,0.987034]]
2025-10-24T23:25:35.859Z,1761348335.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244685,-0.969131,-0.030248],[0.969312,-0.243729,-0.032101],[0.023738,-0.037175,0.999027]]
2025-10-24T23:25:36.111Z,1761348336.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298003,-0.951876,-0.071597],[0.952163,-0.291099,-0.092985],[0.067668,-0.095882,0.993090]]
2025-10-24T23:25:36.521Z,1761348336.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271156,-0.956464,-0.107941],[0.959339,-0.259420,-0.111221],[0.078377,-0.133710,0.987916]]
2025-10-24T23:25:36.918Z,1761348336.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282705,-0.955041,-0.089306],[0.955233,-0.271843,-0.116756],[0.087229,-0.118316,0.989137]]
2025-10-24T23:25:36.951Z,1761348336.951 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:25:36.951Z,1761348336.951 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:25:36.952Z,1761348336.952 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:25:36.952Z,1761348336.952 [marl:UpdateRudder:A] Stopped
2025-10-24T23:25:36.952Z,1761348336.952 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:25:36.952Z,1761348336.952 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:25:36.952Z,1761348336.952 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:25:36.952Z,1761348336.952 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:25:36.953Z,1761348336.953 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:25:36.953Z,1761348336.953 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:25:36.953Z,1761348336.953 [marl:UpdateCommandMode] Stopped
2025-10-24T23:25:36.953Z,1761348336.953 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:25:36.953Z,1761348336.953 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:25:36.953Z,1761348336.953 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:25:36.953Z,1761348336.953 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:25:36.954Z,1761348336.954 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:25:36.954Z,1761348336.954 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:25:36.954Z,1761348336.954 [marl:UpdateSpeed] Stopped
2025-10-24T23:25:36.954Z,1761348336.954 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:25:37.329Z,1761348337.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355065,-0.931247,-0.081897],[0.934841,-0.353812,-0.029819],[-0.001208,-0.087148,0.996195]]
2025-10-24T23:25:37.365Z,1761348337.365 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:25:37.365Z,1761348337.365 [marl:UpdateRudder:B] Stopped
2025-10-24T23:25:37.365Z,1761348337.365 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:25:37.365Z,1761348337.365 [marl:UpdateRudder] Stopped
2025-10-24T23:25:37.366Z,1761348337.366 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:25:37.726Z,1761348337.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351016,-0.925620,-0.141474],[0.933518,-0.357711,0.024209],[-0.073015,-0.123571,0.989646]]
2025-10-24T23:25:38.132Z,1761348338.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340554,-0.922520,-0.181605],[0.939686,-0.340489,-0.032519],[-0.031835,-0.181726,0.982834]]
2025-10-24T23:25:38.534Z,1761348338.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336574,-0.925333,-0.174573],[0.941600,-0.328680,-0.073205],[0.010361,-0.189017,0.981919]]
2025-10-24T23:25:38.938Z,1761348338.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326782,-0.938164,-0.114292],[0.943124,-0.315891,-0.103582],[0.061073,-0.141640,0.988032]]
2025-10-24T23:25:39.345Z,1761348339.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355196,-0.933621,-0.046776],[0.931560,-0.349368,-0.100685],[0.077660,-0.079338,0.993818]]
2025-10-24T23:25:39.746Z,1761348339.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379589,-0.925129,-0.007008],[0.925091,-0.379462,-0.014681],[0.010923,-0.012056,0.999868]]
2025-10-24T23:25:40.151Z,1761348340.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361050,-0.932461,-0.012632],[0.932356,-0.361217,0.015347],[-0.018873,-0.006236,0.999802]]
2025-10-24T23:25:40.560Z,1761348340.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334815,-0.941548,-0.037218],[0.940932,-0.331959,-0.066716],[0.050461,-0.057357,0.997078]]
2025-10-24T23:25:40.960Z,1761348340.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339425,-0.938341,-0.065628],[0.937642,-0.331961,-0.103102],[0.074959,-0.096531,0.992503]]
2025-10-24T23:25:41.362Z,1761348341.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359271,-0.928301,-0.095822],[0.933145,-0.358750,-0.023208],[-0.012833,-0.097754,0.995128]]
2025-10-24T23:25:41.766Z,1761348341.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333452,-0.931239,-0.146985],[0.934463,-0.347121,0.079287],[-0.124856,-0.110914,0.985956]]
2025-10-24T23:25:42.171Z,1761348342.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284890,-0.943580,-0.168804],[0.951012,-0.300286,0.073517],[-0.120059,-0.139591,0.982904]]
2025-10-24T23:25:42.588Z,1761348342.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326225,-0.935122,-0.138289],[0.944050,-0.329787,0.003021],[-0.048431,-0.129566,0.990387]]
2025-10-24T23:25:42.978Z,1761348342.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334583,-0.938642,-0.083699],[0.940140,-0.326371,-0.098081],[0.064746,-0.111505,0.991652]]
2025-10-24T23:25:43.383Z,1761348343.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287967,-0.957222,-0.028286],[0.946793,-0.280148,-0.158429],[0.143728,-0.072404,0.986965]]
2025-10-24T23:25:43.394Z,1761348343.394 [NAL9602](INFO): SBD MO Status=1, MOMSN=2570, MT Status=0, MTMSN=0
2025-10-24T23:25:43.448Z,1761348343.448 [NAL9602](INFO): Sent 332 bytes from file Logs/20251024T220733/Express0019.lzma
2025-10-24T23:25:43.448Z,1761348343.448 [NAL9602](INFO): Packets left to send: 1
2025-10-24T23:25:43.786Z,1761348343.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308737,-0.951128,-0.006087],[0.946325,-0.306522,-0.102531],[0.095654,-0.037416,0.994711]]
2025-10-24T23:25:44.310Z,1761348344.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293375,-0.953961,-0.062363],[0.955151,-0.289747,-0.061099],[0.040216,-0.077491,0.996182]]
2025-10-24T23:25:44.703Z,1761348344.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229834,-0.968882,-0.091895],[0.973027,-0.226832,-0.042026],[0.019873,-0.099076,0.994881]]
2025-10-24T23:25:46.863Z,1761348346.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226171,-0.974056,-0.007861],[0.954423,-0.219985,-0.201701],[0.194739,-0.053121,0.979416]]
2025-10-24T23:25:47.244Z,1761348347.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126849,-0.991042,0.041785],[0.985757,-0.130638,-0.105913],[0.110423,0.027755,0.993497]]
2025-10-24T23:25:47.651Z,1761348347.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130629,-0.991431,0.001081],[0.991282,-0.130590,0.017489],[-0.017198,0.003356,0.999846]]
2025-10-24T23:25:48.050Z,1761348348.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198289,-0.979659,-0.030829],[0.980115,-0.198427,0.001448],[-0.007536,-0.029929,0.999524]]
2025-10-24T23:25:48.421Z,1761348348.421 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:25:48.454Z,1761348348.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224832,-0.969838,-0.094157],[0.974043,-0.226306,0.005144],[-0.026297,-0.090557,0.995544]]
2025-10-24T23:25:48.858Z,1761348348.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181442,-0.972557,-0.145644],[0.982114,-0.186782,0.023749],[-0.050301,-0.138730,0.989052]]
2025-10-24T23:25:49.263Z,1761348349.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178445,-0.970358,-0.162982],[0.983022,-0.183007,0.013296],[-0.042729,-0.157843,0.986539]]
2025-10-24T23:25:49.424Z,1761348349.424 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:25:49.670Z,1761348349.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171830,-0.969666,-0.173845],[0.984817,-0.173506,-0.005628],[-0.024706,-0.172173,0.984757]]
2025-10-24T23:25:50.070Z,1761348350.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182802,-0.971761,-0.149212],[0.982131,-0.173590,-0.072700],[0.044745,-0.159836,0.986129]]
2025-10-24T23:25:50.474Z,1761348350.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202476,-0.970354,-0.131975],[0.977811,-0.192930,-0.081628],[0.053746,-0.145574,0.987886]]
2025-10-24T23:25:50.880Z,1761348350.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180845,-0.976785,-0.114835],[0.983376,-0.177642,-0.037623],[0.016351,-0.119729,0.992672]]
2025-10-24T23:25:51.286Z,1761348351.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145730,-0.985788,-0.083579],[0.989198,-0.143838,-0.028260],[0.015837,-0.086795,0.996100]]
2025-10-24T23:25:51.687Z,1761348351.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135634,-0.990256,-0.031563],[0.990468,-0.134753,-0.028544],[0.024013,-0.035134,0.999094]]
2025-10-24T23:25:51.730Z,1761348351.730 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:25:51.730Z,1761348351.730 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:25:51.730Z,1761348351.730 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:25:51.731Z,1761348351.731 [marl:UpdateRudder:A] Stopped
2025-10-24T23:25:51.731Z,1761348351.731 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:25:51.731Z,1761348351.731 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:25:51.731Z,1761348351.731 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:25:51.731Z,1761348351.731 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:25:51.731Z,1761348351.731 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:25:51.732Z,1761348351.732 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:25:51.732Z,1761348351.732 [marl:UpdateCommandMode] Stopped
2025-10-24T23:25:51.732Z,1761348351.732 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:25:51.732Z,1761348351.732 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:25:51.732Z,1761348351.732 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:25:51.732Z,1761348351.732 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:25:51.733Z,1761348351.733 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:25:51.733Z,1761348351.733 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:25:51.733Z,1761348351.733 [marl:UpdateSpeed] Stopped
2025-10-24T23:25:51.733Z,1761348351.733 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:25:51.749Z,1761348351.749 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:25:51.749Z,1761348351.749 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:25:52.090Z,1761348352.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127158,-0.991882,0.000328],[0.991525,-0.127121,-0.026808],[0.026632,-0.003083,0.999641]]
2025-10-24T23:25:52.159Z,1761348352.159 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:25:52.159Z,1761348352.159 [marl:UpdateRudder:B] Stopped
2025-10-24T23:25:52.159Z,1761348352.159 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:25:52.159Z,1761348352.159 [marl:UpdateRudder] Stopped
2025-10-24T23:25:52.160Z,1761348352.160 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:25:52.496Z,1761348352.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137976,-0.990089,-0.026195],[0.989506,-0.136653,-0.046945],[0.042900,-0.032397,0.998554]]
2025-10-24T23:25:52.898Z,1761348352.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146761,-0.983303,-0.107595],[0.987783,-0.139924,-0.068595],[0.052395,-0.116348,0.991826]]
2025-10-24T23:25:53.306Z,1761348353.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160074,-0.973841,-0.161278],[0.986431,-0.151781,-0.062575],[0.036460,-0.169106,0.984923]]
2025-10-24T23:25:53.706Z,1761348353.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123832,-0.974881,-0.185126],[0.992224,-0.119297,-0.035482],[0.012505,-0.188081,0.982074]]
2025-10-24T23:25:53.718Z,1761348353.718 [NAL9602](INFO): SBD MO Status=1, MOMSN=2571, MT Status=0, MTMSN=0
2025-10-24T23:25:53.772Z,1761348353.772 [NAL9602](INFO): Sent 229 bytes from file Logs/20251024T220733/Express0019.lzma
2025-10-24T23:25:53.773Z,1761348353.773 [NAL9602](INFO): Packets left to send: 0
2025-10-24T23:25:54.112Z,1761348354.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085018,-0.978913,-0.185744],[0.995797,-0.077105,-0.049433],[0.034069,-0.189166,0.981354]]
2025-10-24T23:25:54.514Z,1761348354.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102380,-0.983022,-0.152268],[0.994569,-0.098274,-0.034268],[0.018722,-0.154950,0.987745]]
2025-10-24T23:25:54.918Z,1761348354.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097765,-0.986204,-0.133583],[0.993785,-0.103920,0.039894],[-0.053226,-0.128852,0.990234]]
2025-10-24T23:25:54.964Z,1761348354.964 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:25:55.323Z,1761348355.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072087,-0.991817,-0.105373],[0.996902,-0.074981,0.023760],[-0.031466,-0.103334,0.994149]]
2025-10-24T23:25:55.727Z,1761348355.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023874,-0.997851,-0.061018],[0.997350,-0.019578,-0.070066],[0.068720,-0.062529,0.995674]]
2025-10-24T23:25:56.130Z,1761348356.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014708,-0.999865,-0.007372],[0.997527,-0.014166,-0.068844],[0.068730,-0.008367,0.997600]]
2025-10-24T23:25:56.534Z,1761348356.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042230,-0.999034,0.012125],[0.998606,-0.042590,-0.031192],[0.031678,0.010791,0.999440]]
2025-10-24T23:25:56.939Z,1761348356.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045680,-0.997920,-0.045475],[0.997184,-0.042842,-0.061550],[0.059473,-0.048159,0.997068]]
2025-10-24T23:25:57.343Z,1761348357.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026258,-0.994399,-0.102377],[0.996224,-0.017553,-0.085023],[0.082750,-0.104223,0.991105]]
2025-10-24T23:25:57.746Z,1761348357.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021186,-0.994766,-0.099954],[0.998786,-0.016612,-0.046364],[0.044461,-0.100815,0.993911]]
2025-10-24T23:25:58.150Z,1761348358.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026247,-0.994482,-0.101574],[0.999652,0.025826,0.005457],[-0.002803,-0.101682,0.994813]]
2025-10-24T23:25:58.555Z,1761348358.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081918,-0.992797,-0.087424],[0.994403,0.075547,0.073856],[-0.066719,-0.092985,0.993430]]
2025-10-24T23:25:58.958Z,1761348358.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046506,-0.997539,-0.052465],[0.996162,0.042415,0.076568],[-0.074155,-0.055824,0.995683]]
2025-10-24T23:25:59.362Z,1761348359.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025412,-0.998964,-0.037741],[0.999352,-0.024423,-0.026430],[0.025481,-0.038389,0.998938]]
2025-10-24T23:25:59.770Z,1761348359.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076098,-0.996166,-0.043151],[0.994379,-0.072624,-0.077051],[0.073621,-0.048771,0.996093]]
2025-10-24T23:26:00.173Z,1761348360.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037549,-0.997506,-0.059773],[0.996917,-0.033269,-0.071055],[0.068889,-0.062257,0.995680]]
2025-10-24T23:26:00.575Z,1761348360.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039969,-0.999174,0.007387],[0.999192,0.039937,-0.004439],[0.004140,0.007559,0.999963]]
2025-10-24T23:26:00.978Z,1761348360.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002951,-0.995958,0.089769],[0.997827,0.002977,0.065828],[-0.065829,0.089768,0.993785]]
2025-10-24T23:26:01.384Z,1761348361.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055627,-0.995517,0.076499],[0.996481,-0.050543,0.066859],[-0.062693,0.079949,0.994826]]
2025-10-24T23:26:01.790Z,1761348361.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059393,-0.998208,0.007291],[0.996754,-0.058905,0.054880],[-0.054353,0.010527,0.998466]]
2025-10-24T23:26:02.190Z,1761348362.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061404,-0.995374,-0.073890],[0.997992,-0.062383,0.011008],[-0.015567,-0.073065,0.997206]]
2025-10-24T23:26:02.594Z,1761348362.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085711,-0.986271,-0.141147],[0.992383,-0.071929,-0.100014],[0.088488,-0.148644,0.984924]]
2025-10-24T23:26:03.000Z,1761348363.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112205,-0.984360,-0.135811],[0.980869,-0.087839,-0.173723],[0.159077,-0.152705,0.975385]]
2025-10-24T23:26:03.005Z,1761348363.005 [NAL9602](INFO): SBD MO Status=0, MOMSN=2572, MT Status=0, MTMSN=0
2025-10-24T23:26:03.093Z,1761348363.093 [marl:NeedComms:D] Stopped
2025-10-24T23:26:03.094Z,1761348363.094 [marl:NeedComms:E] Running Loop=1
2025-10-24T23:26:03.402Z,1761348363.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128192,-0.989052,-0.073102],[0.977127,-0.113348,-0.179929],[0.169673,-0.094495,0.980960]]
2025-10-24T23:26:03.807Z,1761348363.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109630,-0.993970,0.002222],[0.987262,-0.109149,-0.115760],[0.115305,-0.010497,0.993275]]
2025-10-24T23:26:04.211Z,1761348364.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091000,-0.993772,0.064319],[0.994101,-0.094477,-0.053261],[0.059006,0.059093,0.996507]]
2025-10-24T23:26:04.218Z,1761348364.218 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,232600.00,A,3646.52972,N,12151.90182,W,0.467,121.98,241025,,,A*77
2025-10-24T23:26:04.222Z,1761348364.222 [NAL9602](INFO): GPS fix at 20251024T232600: (36.775495, -121.865030)
2025-10-24T23:26:04.300Z,1761348364.300 [marl:NeedComms:E] Stopped
2025-10-24T23:26:04.301Z,1761348364.301 [marl:NeedComms](INFO): Completed marl:NeedComms
2025-10-24T23:26:04.301Z,1761348364.301 [marl:NeedComms] Stopped
2025-10-24T23:26:04.301Z,1761348364.301 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms
2025-10-24T23:26:04.301Z,1761348364.301 [marl:NeedComms:B.GoToSurface] Stopped
2025-10-24T23:26:04.301Z,1761348364.301 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-24T23:26:04.302Z,1761348364.302 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761348352.00. Resetting abort timer.
2025-10-24T23:26:04.616Z,1761348364.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110135,-0.991720,0.066047],[0.992396,-0.113398,-0.047868],[0.054962,0.060272,0.996668]]
2025-10-24T23:26:04.696Z,1761348364.696 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:26:04.696Z,1761348364.696 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:26:04.696Z,1761348364.696 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:26:04.697Z,1761348364.697 [marl:UpdateRudder:A] Stopped
2025-10-24T23:26:04.697Z,1761348364.697 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:26:04.697Z,1761348364.697 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:26:04.697Z,1761348364.697 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:26:04.697Z,1761348364.697 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:26:04.697Z,1761348364.697 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:26:04.697Z,1761348364.697 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:26:04.698Z,1761348364.698 [marl:UpdateCommandMode] Stopped
2025-10-24T23:26:04.698Z,1761348364.698 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:26:04.698Z,1761348364.698 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:26:04.698Z,1761348364.698 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:26:04.698Z,1761348364.698 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:26:04.698Z,1761348364.698 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:26:04.698Z,1761348364.698 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:26:04.698Z,1761348364.698 [marl:UpdateSpeed] Stopped
2025-10-24T23:26:04.698Z,1761348364.698 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:26:05.018Z,1761348365.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094923,-0.995470,-0.005338],[0.991948,-0.094132,-0.084725],[0.083839,-0.013337,0.996390]]
2025-10-24T23:26:05.053Z,1761348365.053 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:26:05.053Z,1761348365.053 [marl:UpdateRudder:B] Stopped
2025-10-24T23:26:05.053Z,1761348365.053 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:26:05.053Z,1761348365.053 [marl:UpdateRudder] Stopped
2025-10-24T23:26:05.053Z,1761348365.053 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:26:05.422Z,1761348365.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090890,-0.993875,-0.062868],[0.991915,-0.084735,-0.094467],[0.088561,-0.070946,0.993541]]
2025-10-24T23:26:05.826Z,1761348365.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090183,-0.991961,-0.088772],[0.995631,-0.087632,-0.032232],[0.024193,-0.091291,0.995530]]
2025-10-24T23:26:06.235Z,1761348366.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111905,-0.990364,-0.081584],[0.989454,-0.118647,0.083086],[-0.091965,-0.071426,0.993197]]
2025-10-24T23:26:06.635Z,1761348366.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112547,-0.982065,-0.151265],[0.988836,-0.125657,0.080079],[-0.097650,-0.140564,0.985244]]
2025-10-24T23:26:07.039Z,1761348367.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080403,-0.975326,-0.205608],[0.996686,-0.076115,-0.028695],[0.012337,-0.207234,0.978214]]
2025-10-24T23:26:07.044Z,1761348367.044 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,232603.00,A,3646.52945,N,12151.90133,W,0.952,121.98,241025,,,A*71
2025-10-24T23:26:07.046Z,1761348367.046 [NAL9602](INFO): GPS fix at 20251024T232603: (36.775491, -121.865022)
2025-10-24T23:26:07.087Z,1761348367.088 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761348352.00. Resetting abort timer.
2025-10-24T23:26:07.443Z,1761348367.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071957,-0.984719,-0.158590],[0.995049,-0.059944,-0.079280],[0.068562,-0.163509,0.984157]]
2025-10-24T23:26:07.847Z,1761348367.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061737,-0.996167,-0.061971],[0.995168,-0.056688,-0.080172],[0.076352,-0.066621,0.994853]]
2025-10-24T23:26:08.262Z,1761348368.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049954,-0.998748,-0.002680],[0.997299,-0.049737,-0.054043],[0.053842,-0.005372,0.998535]]
2025-10-24T23:26:08.658Z,1761348368.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059174,-0.998239,0.004173],[0.997749,-0.059276,-0.031353],[0.031545,0.002308,0.999500]]
2025-10-24T23:26:09.058Z,1761348369.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063993,-0.997852,-0.014013],[0.997672,-0.064300,0.022697],[-0.023549,-0.012528,0.999644]]
2025-10-24T23:26:09.463Z,1761348369.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079344,-0.995425,-0.053225],[0.996180,-0.081132,0.032309],[-0.036479,-0.050458,0.998060]]
2025-10-24T23:26:09.885Z,1761348369.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101873,-0.985736,-0.133963],[0.994564,-0.098005,-0.035172],[0.021542,-0.136818,0.990362]]
2025-10-24T23:26:09.901Z,1761348369.901 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,232606.00,A,3646.52920,N,12151.90051,W,1.633,116.43,241025,,,A*79
2025-10-24T23:26:09.908Z,1761348369.908 [NAL9602](INFO): GPS fix at 20251024T232606: (36.775487, -121.865009)
2025-10-24T23:26:09.990Z,1761348369.990 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761348352.00. Resetting abort timer.
2025-10-24T23:26:10.681Z,1761348370.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103785,-0.980841,-0.164860],[0.994293,-0.098200,-0.041699],[0.024711,-0.168247,0.985435]]
2025-10-24T23:26:11.078Z,1761348371.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147553,-0.981557,-0.121552],[0.988915,-0.144354,-0.034761],[0.016574,-0.125334,0.991976]]
2025-10-24T23:26:11.482Z,1761348371.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142064,-0.982415,-0.121151],[0.988127,-0.133516,-0.076017],[0.058505,-0.130512,0.989719]]
2025-10-24T23:26:11.933Z,1761348371.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128540,-0.986727,-0.099234],[0.987725,-0.118425,-0.101860],[0.088757,-0.111109,0.989837]]
2025-10-24T23:26:12.295Z,1761348372.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153345,-0.987463,-0.037432],[0.980650,-0.147403,-0.128832],[0.121699,-0.056464,0.990960]]
2025-10-24T23:26:12.695Z,1761348372.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189190,-0.981791,-0.017160],[0.969709,-0.184055,-0.160589],[0.154506,-0.047022,0.986872]]
2025-10-24T23:26:13.098Z,1761348373.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154589,-0.987955,-0.006872],[0.982272,-0.152946,-0.108398],[0.106041,-0.023507,0.994084]]
2025-10-24T23:26:13.103Z,1761348373.103 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,232609.00,A,3646.52907,N,12151.89969,W,0.330,90.48,241025,,,A*4A
2025-10-24T23:26:13.106Z,1761348373.106 [NAL9602](INFO): GPS fix at 20251024T232609: (36.775484, -121.864995)
2025-10-24T23:26:13.162Z,1761348373.162 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761348352.00. Resetting abort timer.
2025-10-24T23:26:13.505Z,1761348373.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084880,-0.996385,-0.003580],[0.995653,-0.084678,-0.038803],[0.038359,-0.006858,0.999240]]
2025-10-24T23:26:13.938Z,1761348373.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083047,-0.995244,-0.050907],[0.996530,-0.083227,0.001411],[-0.005641,-0.050614,0.998702]]
2025-10-24T23:26:14.313Z,1761348374.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119707,-0.981007,-0.152626],[0.992666,-0.120875,-0.001634],[-0.016846,-0.151702,0.988283]]
2025-10-24T23:26:14.718Z,1761348374.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171069,-0.949669,-0.262420],[0.984586,-0.154936,-0.081145],[0.036402,-0.272257,0.961536]]
2025-10-24T23:26:15.121Z,1761348375.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211994,-0.933827,-0.288143],[0.975591,-0.184938,-0.118408],[0.057284,-0.306212,0.950238]]
2025-10-24T23:26:15.944Z,1761348375.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131795,-0.972141,-0.193835],[0.987933,-0.144863,0.054800],[-0.081353,-0.184274,0.979502]]
2025-10-24T23:26:15.949Z,1761348375.949 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,232612.00,A,3646.52869,N,12151.89816,W,1.341,90.63,241025,,,A*4E
2025-10-24T23:26:15.955Z,1761348375.955 [NAL9602](INFO): GPS fix at 20251024T232612: (36.775478, -121.864969)
2025-10-24T23:26:16.025Z,1761348376.025 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761348352.00. Resetting abort timer.
2025-10-24T23:26:16.334Z,1761348376.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108149,-0.983909,-0.142224],[0.994072,-0.105422,-0.026599],[0.011177,-0.144257,0.989477]]
2025-10-24T23:26:16.749Z,1761348376.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135671,-0.986619,-0.090428],[0.973270,-0.115649,-0.198420],[0.185306,-0.114931,0.975937]]
2025-10-24T23:26:17.139Z,1761348377.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164126,-0.984951,-0.054164],[0.957442,-0.145845,-0.249067],[0.237419,-0.092737,0.966971]]
2025-10-24T23:26:17.543Z,1761348377.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104809,-0.988127,-0.112339],[0.993773,-0.099766,-0.049626],[0.037829,-0.116840,0.992430]]
2025-10-24T23:26:17.589Z,1761348377.589 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:26:17.590Z,1761348377.590 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:26:17.590Z,1761348377.590 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:26:17.590Z,1761348377.590 [marl:UpdateRudder:A] Stopped
2025-10-24T23:26:17.590Z,1761348377.590 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:26:17.590Z,1761348377.590 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:26:17.590Z,1761348377.590 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:26:17.591Z,1761348377.591 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:26:17.591Z,1761348377.591 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:26:17.591Z,1761348377.591 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:26:17.591Z,1761348377.591 [marl:UpdateCommandMode] Stopped
2025-10-24T23:26:17.591Z,1761348377.591 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:26:17.591Z,1761348377.591 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:26:17.591Z,1761348377.591 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:26:17.591Z,1761348377.591 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:26:17.592Z,1761348377.592 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:26:17.592Z,1761348377.592 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:26:17.592Z,1761348377.592 [marl:UpdateSpeed] Stopped
2025-10-24T23:26:17.592Z,1761348377.592 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:26:17.947Z,1761348377.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001090,-0.979288,-0.202470],[0.989708,-0.030029,0.139912],[-0.143094,-0.200234,0.969242]]
2025-10-24T23:26:18.006Z,1761348378.006 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:26:18.006Z,1761348378.006 [marl:UpdateRudder:B] Stopped
2025-10-24T23:26:18.006Z,1761348378.006 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:26:18.006Z,1761348378.006 [marl:UpdateRudder] Stopped
2025-10-24T23:26:18.006Z,1761348378.006 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:26:18.366Z,1761348378.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074783,-0.982591,-0.170068],[0.990800,-0.053923,-0.124131],[0.112799,-0.177786,0.977583]]
2025-10-24T23:26:18.773Z,1761348378.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022431,-0.992532,-0.119903],[0.974237,0.005220,-0.225468],[0.224410,-0.121871,0.966844]]
2025-10-24T23:26:18.778Z,1761348378.778 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,232615.00,A,3646.52862,N,12151.89683,W,1.555,90.07,241025,,,A*41
2025-10-24T23:26:18.780Z,1761348378.780 [NAL9602](INFO): GPS fix at 20251024T232615: (36.775477, -121.864947)
2025-10-24T23:26:18.802Z,1761348378.802 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761348352.00. Resetting abort timer.
2025-10-24T23:26:19.163Z,1761348379.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042826,-0.997387,-0.058175],[0.982431,0.052627,-0.179050],[0.181644,-0.049485,0.982119]]
2025-10-24T23:26:19.544Z,1761348379.544 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:26:19.567Z,1761348379.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057093,-0.998343,0.007207],[0.996600,0.056561,-0.059914],[0.059407,0.010604,0.998178]]
2025-10-24T23:26:19.973Z,1761348379.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035569,-0.998618,-0.038692],[0.999364,0.035636,-0.001042],[0.002419,-0.038630,0.999251]]
2025-10-24T23:26:20.414Z,1761348380.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041458,-0.992234,-0.117269],[0.998977,0.043287,-0.013092],[0.018067,-0.116607,0.993014]]
2025-10-24T23:26:20.548Z,1761348380.548 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:26:20.779Z,1761348380.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076373,-0.983046,-0.166699],[0.995475,0.084656,-0.043153],[0.056533,-0.162649,0.985063]]
2025-10-24T23:26:21.183Z,1761348381.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099332,-0.977682,-0.185126],[0.989994,0.115841,-0.080582],[0.100228,-0.175269,0.979405]]
2025-10-24T23:26:21.586Z,1761348381.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109845,-0.982599,-0.149774],[0.985034,0.127753,-0.115699],[0.132820,-0.134824,0.981927]]
2025-10-24T23:26:21.992Z,1761348381.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123956,-0.986644,-0.105682],[0.980138,0.138357,-0.142079],[0.154803,-0.085971,0.984198]]
2025-10-24T23:26:22.003Z,1761348382.003 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,232618.00,A,3646.52865,N,12151.89549,W,1.030,81.70,241025,,,A*48
2025-10-24T23:26:22.005Z,1761348382.005 [NAL9602](INFO): GPS fix at 20251024T232618: (36.775478, -121.864925)
2025-10-24T23:26:22.069Z,1761348382.069 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761348352.00. Resetting abort timer.
2025-10-24T23:26:22.395Z,1761348382.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137188,-0.988430,-0.064699],[0.974517,0.146382,-0.169965],[0.177469,-0.039733,0.983324]]
2025-10-24T23:26:22.798Z,1761348382.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134988,-0.988664,-0.065737],[0.968787,0.145613,-0.200620],[0.207918,-0.036604,0.977461]]
2025-10-24T23:26:23.204Z,1761348383.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186047,-0.977565,-0.098761],[0.950522,0.204524,-0.233834],[0.248787,-0.050370,0.967248]]
2025-10-24T23:26:23.608Z,1761348383.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259965,-0.961704,-0.086853],[0.939289,0.272713,-0.208241],[0.223953,-0.027444,0.974214]]
2025-10-24T23:26:24.011Z,1761348384.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270240,-0.958776,-0.087857],[0.949393,0.280538,-0.141252],[0.160076,-0.045238,0.986067]]
2025-10-24T23:26:24.414Z,1761348384.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263981,-0.955835,-0.129205],[0.955494,0.277443,-0.100287],[0.131704,-0.096980,0.986534]]
2025-10-24T23:26:24.819Z,1761348384.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243767,-0.942385,-0.229104],[0.954823,0.274603,-0.113605],[0.169973,-0.191060,0.966750]]
2025-10-24T23:26:24.831Z,1761348384.831 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,232621.00,A,3646.52858,N,12151.89342,W,2.896,88.66,241025,,,A*48
2025-10-24T23:26:24.833Z,1761348384.833 [NAL9602](INFO): GPS fix at 20251024T232621: (36.775476, -121.864890)
2025-10-24T23:26:24.880Z,1761348384.880 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761348352.00. Resetting abort timer.
2025-10-24T23:26:25.294Z,1761348385.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213650,-0.928499,-0.303715],[0.939694,0.280320,-0.195947],[0.267074,-0.243535,0.932396]]
2025-10-24T23:26:25.626Z,1761348385.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199103,-0.932988,-0.299820],[0.925026,0.279938,-0.256831],[0.323551,-0.226206,0.918774]]
2025-10-24T23:26:26.030Z,1761348386.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209739,-0.942962,-0.258519],[0.923803,0.277730,-0.263540],[0.320307,-0.183546,0.929362]]
2025-10-24T23:26:26.437Z,1761348386.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228247,-0.917596,-0.325456],[0.913021,0.317807,-0.255718],[0.338078,-0.238781,0.910322]]
2025-10-24T23:26:26.840Z,1761348386.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268718,-0.899452,-0.344641],[0.872933,0.378653,-0.307588],[0.407160,-0.218194,0.886912]]
2025-10-24T23:26:27.246Z,1761348387.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323361,-0.901525,-0.287558],[0.841009,0.413092,-0.349368],[0.433752,-0.128867,0.891769]]
2025-10-24T23:26:27.649Z,1761348387.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351660,-0.901785,-0.251235],[0.860029,0.417213,-0.293742],[0.369711,-0.112772,0.922278]]
2025-10-24T23:26:28.050Z,1761348388.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333373,-0.897488,-0.288751],[0.901031,0.393441,-0.182611],[0.277498,-0.199296,0.939828]]
2025-10-24T23:26:28.059Z,1761348388.059 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,232624.00,A,3646.52842,N,12151.89204,W,1.924,90.57,241025,,,A*45
2025-10-24T23:26:28.061Z,1761348388.061 [NAL9602](INFO): GPS fix at 20251024T232624: (36.775474, -121.864867)
2025-10-24T23:26:28.119Z,1761348388.119 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761348352.00. Resetting abort timer.
2025-10-24T23:26:28.461Z,1761348388.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299581,-0.890122,-0.343416],[0.921269,0.363463,-0.138411],[0.248021,-0.274913,0.928929]]
2025-10-24T23:26:28.858Z,1761348388.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272584,-0.894214,-0.355076],[0.916837,0.353317,-0.185951],[0.291734,-0.274859,0.916157]]
2025-10-24T23:26:29.262Z,1761348389.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246263,-0.900007,-0.359643],[0.899032,0.350748,-0.262141],[0.362073,-0.258774,0.895511]]
2025-10-24T23:26:29.672Z,1761348389.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226855,-0.904383,-0.361424],[0.880402,0.349107,-0.320961],[0.416447,-0.245387,0.875418]]
2025-10-24T23:26:30.071Z,1761348390.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225881,-0.913721,-0.337776],[0.869788,0.345314,-0.352458],[0.438687,-0.214180,0.872743]]
2025-10-24T23:26:30.480Z,1761348390.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245626,-0.922276,-0.298454],[0.866189,0.347042,-0.359553],[0.435183,-0.170202,0.884108]]
2025-10-24T23:26:30.542Z,1761348390.542 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:26:30.542Z,1761348390.542 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:26:30.542Z,1761348390.542 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:26:30.542Z,1761348390.542 [marl:UpdateRudder:A] Stopped
2025-10-24T23:26:30.543Z,1761348390.543 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:26:30.543Z,1761348390.543 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:26:30.543Z,1761348390.543 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:26:30.543Z,1761348390.543 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:26:30.543Z,1761348390.543 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:26:30.543Z,1761348390.543 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:26:30.543Z,1761348390.543 [marl:UpdateCommandMode] Stopped
2025-10-24T23:26:30.543Z,1761348390.543 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:26:30.548Z,1761348390.548 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:26:30.548Z,1761348390.548 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:26:30.548Z,1761348390.548 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:26:30.548Z,1761348390.548 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:26:30.549Z,1761348390.549 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:26:30.549Z,1761348390.549 [marl:UpdateSpeed] Stopped
2025-10-24T23:26:30.549Z,1761348390.549 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:26:30.879Z,1761348390.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274018,-0.923532,-0.268333],[0.866928,0.357991,-0.346813],[0.416354,-0.137593,0.898731]]
2025-10-24T23:26:30.884Z,1761348390.884 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,232627.00,A,3646.52921,N,12151.89025,W,2.041,90.57,241025,,,A*4A
2025-10-24T23:26:30.886Z,1761348390.886 [NAL9602](INFO): GPS fix at 20251024T232627: (36.775487, -121.864837)
2025-10-24T23:26:30.926Z,1761348390.926 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:26:30.926Z,1761348390.926 [marl:UpdateRudder:B] Stopped
2025-10-24T23:26:30.926Z,1761348390.926 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:26:30.926Z,1761348390.926 [marl:UpdateRudder] Stopped
2025-10-24T23:26:30.926Z,1761348390.926 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:26:30.928Z,1761348390.928 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761348352.00. Resetting abort timer.
2025-10-24T23:26:31.283Z,1761348391.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293272,-0.917736,-0.267866],[0.870735,0.372093,-0.321509],[0.394731,-0.138951,0.908229]]
2025-10-24T23:26:31.690Z,1761348391.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299657,-0.910175,-0.285985],[0.876368,0.381077,-0.294551],[0.377075,-0.162364,0.911840]]
2025-10-24T23:26:32.090Z,1761348392.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296074,-0.904981,-0.305532],[0.882387,0.381611,-0.275256],[0.365696,-0.188101,0.911529]]
2025-10-24T23:26:32.494Z,1761348392.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284045,-0.902565,-0.323566],[0.888428,0.374664,-0.265184],[0.360574,-0.212141,0.908286]]
2025-10-24T23:26:32.900Z,1761348392.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269102,-0.902307,-0.336789],[0.894124,0.364018,-0.260833],[0.357949,-0.230941,0.904732]]
2025-10-24T23:26:33.303Z,1761348393.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259072,-0.903538,-0.341322],[0.898264,0.355271,-0.258658],[0.354969,-0.239586,0.903657]]
2025-10-24T23:26:33.714Z,1761348393.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259381,-0.906254,-0.333804],[0.899429,0.352571,-0.258306],[0.351781,-0.233233,0.906561]]
2025-10-24T23:26:33.721Z,1761348393.721 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,232630.00,A,3646.52930,N,12151.88745,W,2.605,90.57,241025,,,A*4A
2025-10-24T23:26:33.736Z,1761348393.736 [NAL9602](INFO): GPS fix at 20251024T232630: (36.775488, -121.864791)
2025-10-24T23:26:33.758Z,1761348393.758 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761348352.00. Resetting abort timer.
2025-10-24T23:26:34.111Z,1761348394.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270696,-0.907061,-0.322436],[0.898285,0.358433,-0.254186],[0.346134,-0.220832,0.911825]]
2025-10-24T23:26:34.522Z,1761348394.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282769,-0.905737,-0.315726],[0.896782,0.366428,-0.248017],[0.340329,-0.213005,0.915863]]
2025-10-24T23:26:34.918Z,1761348394.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293954,-0.902211,-0.315605],[0.895168,0.375609,-0.239983],[0.335059,-0.211976,0.918042]]
2025-10-24T23:26:35.322Z,1761348395.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304643,-0.896574,-0.321479],[0.893692,0.385800,-0.229070],[0.329404,-0.217518,0.918792]]
2025-10-24T23:26:35.730Z,1761348395.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314229,-0.891449,-0.326463],[0.893307,0.394048,-0.216168],[0.321345,-0.223706,0.920159]]
2025-10-24T23:26:36.132Z,1761348396.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318871,-0.889983,-0.325962],[0.895288,0.395715,-0.204620],[0.311097,-0.226582,0.922973]]
2025-10-24T23:26:36.534Z,1761348396.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319844,-0.891014,-0.322169],[0.899360,0.392488,-0.192623],[0.298078,-0.228137,0.926878]]
2025-10-24T23:26:36.938Z,1761348396.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317694,-0.893070,-0.318587],[0.904588,0.386183,-0.180506],[0.284238,-0.230844,0.930548]]
2025-10-24T23:26:37.343Z,1761348397.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312209,-0.896304,-0.314904],[0.909609,0.377671,-0.173134],[0.274111,-0.232386,0.933199]]
2025-10-24T23:26:37.748Z,1761348397.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305924,-0.899782,-0.311134],[0.912751,0.370121,-0.172905],[0.270734,-0.231092,0.934505]]
2025-10-24T23:26:38.150Z,1761348398.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306039,-0.902326,-0.303560],[0.912509,0.368932,-0.176680],[0.271416,-0.222930,0.936288]]
2025-10-24T23:26:38.554Z,1761348398.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315729,-0.900245,-0.299789],[0.909251,0.377377,-0.175642],[0.271254,-0.217128,0.937697]]
2025-10-24T23:26:38.958Z,1761348398.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328788,-0.896094,-0.298184],[0.905881,0.388502,-0.168657],[0.266978,-0.214666,0.939490]]
2025-10-24T23:26:39.364Z,1761348399.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343546,-0.891176,-0.296280],[0.903714,0.399533,-0.153863],[0.255492,-0.214893,0.942626]]
2025-10-24T23:26:39.766Z,1761348399.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355308,-0.885702,-0.298810],[0.903794,0.407101,-0.132006],[0.238564,-0.223160,0.945138]]
2025-10-24T23:26:40.171Z,1761348400.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359862,-0.884690,-0.296350],[0.906679,0.406520,-0.112585],[0.220075,-0.228179,0.948420]]
2025-10-24T23:26:40.575Z,1761348400.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359589,-0.886378,-0.291599],[0.910836,0.401299,-0.096625],[0.202664,-0.230854,0.951648]]
2025-10-24T23:26:40.980Z,1761348400.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356662,-0.888587,-0.288452],[0.914842,0.394776,-0.084946],[0.189356,-0.233591,0.953719]]
2025-10-24T23:26:41.383Z,1761348401.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352676,-0.891241,-0.285149],[0.917972,0.388633,-0.079320],[0.181511,-0.233784,0.955196]]
2025-10-24T23:26:41.786Z,1761348401.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348862,-0.894209,-0.280510],[0.919862,0.383985,-0.080058],[0.179301,-0.230101,0.956506]]
2025-10-24T23:26:42.197Z,1761348402.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346793,-0.897714,-0.271743],[0.920350,0.381543,-0.085910],[0.180804,-0.220306,0.958528]]
2025-10-24T23:26:42.596Z,1761348402.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349694,-0.899335,-0.262509],[0.919302,0.383393,-0.088851],[0.180551,-0.210255,0.960830]]
2025-10-24T23:26:42.998Z,1761348402.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359452,-0.897249,-0.256397],[0.916773,0.390817,-0.082390],[0.174129,-0.205442,0.963054]]
2025-10-24T23:26:43.403Z,1761348403.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370800,-0.893081,-0.254781],[0.913992,0.399573,-0.070426],[0.164700,-0.206754,0.964431]]
2025-10-24T23:26:43.458Z,1761348403.458 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:26:43.458Z,1761348403.458 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:26:43.458Z,1761348403.458 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:26:43.458Z,1761348403.458 [marl:UpdateRudder:A] Stopped
2025-10-24T23:26:43.458Z,1761348403.458 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:26:43.459Z,1761348403.459 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:26:43.459Z,1761348403.459 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:26:43.459Z,1761348403.459 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:26:43.459Z,1761348403.459 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:26:43.459Z,1761348403.459 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:26:43.459Z,1761348403.459 [marl:UpdateCommandMode] Stopped
2025-10-24T23:26:43.459Z,1761348403.459 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:26:43.459Z,1761348403.459 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:26:43.460Z,1761348403.460 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:26:43.460Z,1761348403.460 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:26:43.460Z,1761348403.460 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:26:43.460Z,1761348403.460 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:26:43.460Z,1761348403.460 [marl:UpdateSpeed] Stopped
2025-10-24T23:26:43.461Z,1761348403.461 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:26:43.807Z,1761348403.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382090,-0.888413,-0.254419],[0.911018,0.408318,-0.057639],[0.155091,-0.209757,0.965375]]
2025-10-24T23:26:43.836Z,1761348403.836 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:26:43.836Z,1761348403.836 [marl:UpdateRudder:B] Stopped
2025-10-24T23:26:43.837Z,1761348403.837 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:26:43.837Z,1761348403.837 [marl:UpdateRudder] Stopped
2025-10-24T23:26:43.837Z,1761348403.837 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:26:44.214Z,1761348404.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392678,-0.883423,-0.255673],[0.907780,0.416889,-0.046246],[0.147442,-0.213935,0.965657]]
2025-10-24T23:26:44.614Z,1761348404.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403517,-0.877685,-0.258540],[0.904134,0.425852,-0.034540],[0.140415,-0.219817,0.965383]]
2025-10-24T23:26:45.020Z,1761348405.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414504,-0.872483,-0.258766],[0.900480,0.434340,-0.022035],[0.131617,-0.223880,0.965689]]
2025-10-24T23:26:45.423Z,1761348405.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423929,-0.868810,-0.255838],[0.897762,0.440408,-0.007990],[0.119615,-0.226295,0.966687]]
2025-10-24T23:26:45.826Z,1761348405.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428730,-0.867415,-0.252551],[0.897275,0.441415,0.007123],[0.105301,-0.229661,0.967557]]
2025-10-24T23:26:46.230Z,1761348406.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426893,-0.868602,-0.251580],[0.899712,0.435955,0.021503],[0.091000,-0.235529,0.967598]]
2025-10-24T23:26:46.635Z,1761348406.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423700,-0.869790,-0.252869],[0.902408,0.429475,0.034792],[0.078339,-0.242933,0.966875]]
2025-10-24T23:26:47.039Z,1761348407.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422492,-0.869034,-0.257449],[0.903656,0.425828,0.045557],[0.070039,-0.251893,0.965217]]
2025-10-24T23:26:47.442Z,1761348407.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423802,-0.865104,-0.268302],[0.903210,0.425834,0.053640],[0.067847,-0.265066,0.961840]]
2025-10-24T23:26:47.850Z,1761348407.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428521,-0.859377,-0.279001],[0.900804,0.430327,0.058067],[0.070160,-0.276208,0.958534]]
2025-10-24T23:26:48.251Z,1761348408.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438859,-0.851107,-0.288131],[0.895540,0.440539,0.062715],[0.073556,-0.285555,0.955535]]
2025-10-24T23:26:49.095Z,1761348409.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476376,-0.824922,-0.304251],[0.876081,0.474652,0.084777],[0.074479,-0.306934,0.948812]]
2025-10-24T23:26:49.959Z,1761348409.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527186,-0.789948,-0.313140],[0.846870,0.518737,0.117146],[0.069899,-0.326946,0.942454]]
2025-10-24T23:26:50.677Z,1761348410.677 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:26:50.766Z,1761348410.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576643,-0.751684,-0.320084],[0.814743,0.558160,0.157009],[0.060637,-0.351325,0.934288]]
2025-10-24T23:26:51.180Z,1761348411.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596793,-0.734640,-0.322711],[0.800523,0.572584,0.176948],[0.054786,-0.363939,0.929810]]
2025-10-24T23:26:51.615Z,1761348411.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631761,-0.709345,-0.312581],[0.774280,0.596699,0.210807],[0.036982,-0.375205,0.926204]]
2025-10-24T23:26:51.681Z,1761348411.681 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:26:51.943Z,1761348411.943 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:26:51.944Z,1761348411.944 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:26:52.011Z,1761348412.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644156,-0.703387,-0.300517],[0.764401,0.606085,0.219892],[0.027470,-0.371360,0.928082]]
2025-10-24T23:26:52.416Z,1761348412.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654470,-0.698578,-0.289236],[0.755864,0.613832,0.227773],[0.018425,-0.367693,0.929765]]
2025-10-24T23:26:52.818Z,1761348412.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664027,-0.692247,-0.282599],[0.747623,0.620432,0.236906],[0.011336,-0.368590,0.929523]]
2025-10-24T23:26:53.222Z,1761348413.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673489,-0.684105,-0.280023],[0.739163,0.626935,0.246151],[0.007163,-0.372762,0.927899]]
2025-10-24T23:26:53.650Z,1761348413.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682602,-0.675412,-0.279058],[0.730762,0.634201,0.252538],[0.006412,-0.376308,0.926473]]
2025-10-24T23:26:54.050Z,1761348414.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691460,-0.667092,-0.277256],[0.722375,0.642458,0.255777],[0.007499,-0.377142,0.926125]]
2025-10-24T23:26:54.457Z,1761348414.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700691,-0.658888,-0.273676],[0.713426,0.651049,0.259149],[0.007426,-0.376831,0.926252]]
2025-10-24T23:26:54.858Z,1761348414.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713421,-0.647657,-0.267527],[0.700720,0.661924,0.266173],[0.004694,-0.377355,0.926057]]
2025-10-24T23:26:55.263Z,1761348415.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727955,-0.634272,-0.260348],[0.685625,0.673278,0.276793],[-0.000276,-0.379994,0.924989]]
2025-10-24T23:26:55.311Z,1761348415.311 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:26:55.677Z,1761348415.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740217,-0.623370,-0.251969],[0.672348,0.683347,0.284579],[-0.005216,-0.380061,0.924947]]
2025-10-24T23:26:56.071Z,1761348416.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750497,-0.615940,-0.239524],[0.660793,0.693729,0.286519],[-0.010314,-0.373307,0.927650]]
2025-10-24T23:26:56.476Z,1761348416.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759892,-0.609391,-0.226289],[0.649860,0.703743,0.287102],[-0.015708,-0.365223,0.930788]]
2025-10-24T23:26:56.503Z,1761348416.503 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:26:56.503Z,1761348416.503 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:26:56.503Z,1761348416.503 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:26:56.504Z,1761348416.504 [marl:UpdateRudder:A] Stopped
2025-10-24T23:26:56.504Z,1761348416.504 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:26:56.505Z,1761348416.505 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:26:56.505Z,1761348416.505 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:26:56.505Z,1761348416.505 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:26:56.505Z,1761348416.505 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:26:56.505Z,1761348416.505 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:26:56.505Z,1761348416.505 [marl:UpdateCommandMode] Stopped
2025-10-24T23:26:56.505Z,1761348416.505 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:26:56.506Z,1761348416.506 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:26:56.506Z,1761348416.506 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:26:56.506Z,1761348416.506 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:26:56.506Z,1761348416.506 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:26:56.506Z,1761348416.506 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:26:56.506Z,1761348416.506 [marl:UpdateSpeed] Stopped
2025-10-24T23:26:56.506Z,1761348416.506 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:26:56.882Z,1761348416.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768093,-0.603083,-0.215229],[0.639983,0.711824,0.289358],[-0.021302,-0.359997,0.932710]]
2025-10-24T23:26:56.921Z,1761348416.921 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:26:56.921Z,1761348416.921 [marl:UpdateRudder:B] Stopped
2025-10-24T23:26:56.921Z,1761348416.921 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:26:56.921Z,1761348416.921 [marl:UpdateRudder] Stopped
2025-10-24T23:26:56.921Z,1761348416.921 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:26:57.282Z,1761348417.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775225,-0.596928,-0.206646],[0.631145,0.718423,0.292445],[-0.026110,-0.357134,0.933688]]
2025-10-24T23:26:57.692Z,1761348417.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782518,-0.589378,-0.200748],[0.621949,0.724865,0.296227],[-0.029074,-0.356658,0.933783]]
2025-10-24T23:26:58.092Z,1761348418.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790455,-0.579836,-0.197410],[0.611753,0.731220,0.301786],[-0.030636,-0.359314,0.932714]]
2025-10-24T23:26:58.323Z,1761348418.323 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:26:58.323Z,1761348418.323 [DAT] No Fault, FailCount= 8
2025-10-24T23:26:58.495Z,1761348418.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797197,-0.573325,-0.189143],[0.602931,0.740075,0.297931],[-0.030832,-0.351550,0.935661]]
2025-10-24T23:26:58.612Z,1761348418.612 [DAT](INFO): Powering up
2025-10-24T23:26:58.612Z,1761348418.612 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:26:58.918Z,1761348418.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802040,-0.571410,-0.173846],[0.596543,0.752024,0.280350],[-0.029458,-0.328559,0.944024]]
2025-10-24T23:26:59.319Z,1761348419.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806186,-0.571263,-0.154019],[0.591008,0.765297,0.255010],[-0.027808,-0.296612,0.954593]]
2025-10-24T23:26:59.723Z,1761348419.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810500,-0.570299,-0.133600],[0.585080,0.777426,0.230847],[-0.027788,-0.265269,0.963774]]
2025-10-24T23:27:00.129Z,1761348420.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815144,-0.567866,-0.114313],[0.578447,0.787555,0.212503],[-0.030645,-0.239345,0.970451]]
2025-10-24T23:27:00.530Z,1761348420.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820047,-0.563935,-0.097463],[0.571124,0.795524,0.202383],[-0.036597,-0.221627,0.974444]]
2025-10-24T23:27:00.934Z,1761348420.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825214,-0.558955,-0.081189],[0.563028,0.802607,0.197031],[-0.044969,-0.208305,0.977030]]
2025-10-24T23:27:01.339Z,1761348421.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830475,-0.552896,-0.067952],[0.554457,0.808656,0.196605],[-0.053753,-0.200952,0.978125]]
2025-10-24T23:27:01.751Z,1761348421.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835155,-0.547026,-0.057256],[0.546616,0.813930,0.196797],[-0.061051,-0.195653,0.978771]]
2025-10-24T23:27:02.155Z,1761348422.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838385,-0.542812,-0.049660],[0.541020,0.817582,0.197120],[-0.066398,-0.192130,0.979121]]
2025-10-24T23:27:02.551Z,1761348422.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839428,-0.541884,-0.041489],[0.538876,0.819998,0.192916],[-0.070517,-0.184296,0.980338]]
2025-10-24T23:27:02.954Z,1761348422.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839354,-0.542471,-0.034792],[0.538510,0.821088,0.189267],[-0.074105,-0.177597,0.981309]]
2025-10-24T23:27:03.359Z,1761348423.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838406,-0.544259,-0.029302],[0.539435,0.820879,0.187530],[-0.078011,-0.173033,0.981822]]
2025-10-24T23:27:03.762Z,1761348423.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836623,-0.547094,-0.027377],[0.541425,0.818296,0.193007],[-0.083191,-0.176296,0.980815]]
2025-10-24T23:27:04.173Z,1761348424.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834741,-0.550070,-0.025126],[0.543295,0.815313,0.200240],[-0.089661,-0.180799,0.979425]]
2025-10-24T23:27:04.570Z,1761348424.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833503,-0.551995,-0.023966],[0.544293,0.812871,0.207330],[-0.094964,-0.185854,0.977978]]
2025-10-24T23:27:04.978Z,1761348424.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833083,-0.552544,-0.025828],[0.544386,0.810717,0.215364],[-0.098059,-0.193477,0.976192]]
2025-10-24T23:27:05.380Z,1761348425.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832530,-0.553394,-0.025446],[0.545165,0.810258,0.215122],[-0.098429,-0.192967,0.976256]]
2025-10-24T23:27:05.783Z,1761348425.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830815,-0.555928,-0.026300],[0.548198,0.809277,0.211069],[-0.096055,-0.189777,0.977117]]
2025-10-24T23:27:06.187Z,1761348426.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828460,-0.559302,-0.028909],[0.552323,0.807399,0.207477],[-0.092701,-0.187853,0.977813]]
2025-10-24T23:27:06.590Z,1761348426.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826697,-0.561764,-0.031516],[0.555489,0.805992,0.204470],[-0.089462,-0.186541,0.978365]]
2025-10-24T23:27:06.995Z,1761348426.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825826,-0.562895,-0.034057],[0.557126,0.805032,0.203797],[-0.087300,-0.187275,0.978421]]
2025-10-24T23:27:07.398Z,1761348427.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825815,-0.562810,-0.035702],[0.557231,0.804614,0.205159],[-0.086739,-0.189317,0.978077]]
2025-10-24T23:27:07.802Z,1761348427.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826321,-0.561859,-0.038842],[0.556371,0.803650,0.211182],[-0.087439,-0.196115,0.976675]]
2025-10-24T23:27:08.207Z,1761348428.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828429,-0.558316,-0.044595],[0.553118,0.802988,0.221967],[-0.088119,-0.208550,0.974034]]
2025-10-24T23:27:08.611Z,1761348428.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831717,-0.552807,-0.051483],[0.548267,0.803184,0.233022],[-0.087466,-0.222035,0.971108]]
2025-10-24T23:27:09.014Z,1761348429.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834005,-0.548853,-0.056538],[0.545236,0.804101,0.236937],[-0.084581,-0.228434,0.969878]]
2025-10-24T23:27:09.038Z,1761348429.038 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:27:09.039Z,1761348429.039 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:27:09.039Z,1761348429.039 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:27:09.039Z,1761348429.039 [marl:UpdateRudder:A] Stopped
2025-10-24T23:27:09.039Z,1761348429.039 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:27:09.039Z,1761348429.039 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:27:09.039Z,1761348429.039 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:27:09.052Z,1761348429.052 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:27:09.052Z,1761348429.052 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:27:09.052Z,1761348429.052 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:27:09.052Z,1761348429.052 [marl:UpdateCommandMode] Stopped
2025-10-24T23:27:09.052Z,1761348429.052 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:27:09.053Z,1761348429.053 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:27:09.053Z,1761348429.053 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:27:09.053Z,1761348429.053 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:27:09.053Z,1761348429.053 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:27:09.053Z,1761348429.053 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:27:09.053Z,1761348429.053 [marl:UpdateSpeed] Stopped
2025-10-24T23:27:09.053Z,1761348429.053 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:27:09.419Z,1761348429.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835262,-0.546602,-0.059699],[0.544062,0.805866,0.233616],[-0.079586,-0.227610,0.970495]]
2025-10-24T23:27:09.482Z,1761348429.482 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:27:09.482Z,1761348429.482 [marl:UpdateRudder:B] Stopped
2025-10-24T23:27:09.483Z,1761348429.483 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:27:09.483Z,1761348429.483 [marl:UpdateRudder] Stopped
2025-10-24T23:27:09.483Z,1761348429.483 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:27:09.823Z,1761348429.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835537,-0.546036,-0.061021],[0.544544,0.808189,0.224282],[-0.073150,-0.220625,0.972612]]
2025-10-24T23:27:10.226Z,1761348430.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835812,-0.545697,-0.060276],[0.544968,0.811329,0.211554],[-0.066540,-0.209668,0.975506]]
2025-10-24T23:27:10.637Z,1761348430.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837253,-0.543684,-0.058432],[0.543419,0.815396,0.199564],[-0.060855,-0.198838,0.978141]]
2025-10-24T23:27:10.712Z,1761348430.712 [DAT](INFO): DAT read: 

2025-10-24T23:27:10.713Z,1761348430.713 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:27:11.034Z,1761348431.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839173,-0.540974,-0.056001],[0.540889,0.819388,0.189848],[-0.056816,-0.189606,0.980215]]
2025-10-24T23:27:11.440Z,1761348431.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840788,-0.539004,-0.050503],[0.538646,0.823579,0.177703],[-0.054190,-0.176614,0.982787]]
2025-10-24T23:27:11.843Z,1761348431.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842736,-0.536415,-0.045340],[0.535718,0.827387,0.168631],[-0.052942,-0.166401,0.984636]]
2025-10-24T23:27:12.246Z,1761348432.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845091,-0.532667,-0.045691],[0.531957,0.829276,0.171239],[-0.053323,-0.169018,0.984169]]
2025-10-24T23:27:12.349Z,1761348432.349 [marl:SendObservationData] Running Loop=1
2025-10-24T23:27:12.349Z,1761348432.349 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:27:12.350Z,1761348432.350 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:27:12.350Z,1761348432.350 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:27:12.356Z,1761348432.356 [marl:SendObservationData:A](INFO): Got test_good :  41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:27:12.356Z,1761348432.356 [marl:SendObservationData:A] Stopped
2025-10-24T23:27:12.356Z,1761348432.356 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:27:12.477Z,1761348432.477 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:27:12.478Z,1761348432.478 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:27:12.479Z,1761348432.479 [DAT](INFO): DAT read: Oct 24 2025 23:27:06 

2025-10-24T23:27:12.657Z,1761348432.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847117,-0.528932,-0.051219],[0.528575,0.828747,0.183814],[-0.054777,-0.182785,0.981626]]
2025-10-24T23:27:12.715Z,1761348432.715 [marl:SendObservationData:B] Stopped
2025-10-24T23:27:12.715Z,1761348432.715 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:27:13.054Z,1761348433.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847109,-0.527638,-0.063283],[0.528540,0.824144,0.203550],[-0.055246,-0.205877,0.977017]]
2025-10-24T23:27:13.106Z,1761348433.106 [marl:SendObservationData:C] Stopped
2025-10-24T23:27:13.107Z,1761348433.107 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:27:13.458Z,1761348433.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844590,-0.529288,-0.080764],[0.532734,0.815670,0.225559],[-0.053509,-0.233531,0.970876]]
2025-10-24T23:27:13.485Z,1761348433.485 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:27:13.486Z,1761348433.486 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:27:13.487Z,1761348433.487 [DAT](INFO): commRate: 600
2025-10-24T23:27:13.504Z,1761348433.504 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.012549 min 
2025-10-24T23:27:13.504Z,1761348433.504 [marl:SendObservationData:E] Stopped
2025-10-24T23:27:13.505Z,1761348433.505 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:27:13.505Z,1761348433.505 [marl:SendObservationData] Stopped
2025-10-24T23:27:13.505Z,1761348433.505 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:27:13.505Z,1761348433.505 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:27:13.869Z,1761348433.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840530,-0.533209,-0.095910],[0.539535,0.807797,0.237417],[-0.049117,-0.251303,0.966661]]
2025-10-24T23:27:14.268Z,1761348434.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836832,-0.537479,-0.104061],[0.545862,0.804669,0.233543],[-0.041790,-0.252239,0.966762]]
2025-10-24T23:27:14.681Z,1761348434.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834222,-0.540851,-0.107490],[0.550469,0.805298,0.220178],[-0.032522,-0.242847,0.969519]]
2025-10-24T23:27:15.074Z,1761348435.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834392,-0.540298,-0.108942],[0.550680,0.808855,0.206167],[-0.023273,-0.232016,0.972433]]
2025-10-24T23:27:15.479Z,1761348435.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835695,-0.538579,-0.107458],[0.548930,0.813080,0.193849],[-0.017031,-0.220986,0.975128]]
2025-10-24T23:27:15.552Z,1761348435.552 [DAT](INFO): entering command mode
2025-10-24T23:27:15.752Z,1761348435.752 [DAT](INFO): DAT read: 

2025-10-24T23:27:15.753Z,1761348435.753 [DAT](INFO): DAT read: user:1>

2025-10-24T23:27:15.753Z,1761348435.753 [DAT](INFO): setting verbose to 3
2025-10-24T23:27:15.923Z,1761348435.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836267,-0.537527,-0.108268],[0.548191,0.815300,0.186472],[-0.011963,-0.215293,0.976476]]
2025-10-24T23:27:16.005Z,1761348436.005 [DAT](INFO): DAT read: user:1>

2025-10-24T23:27:16.006Z,1761348436.006 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:27:16.006Z,1761348436.006 [DAT](INFO): set verbose to 3
2025-10-24T23:27:16.006Z,1761348436.006 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:27:16.257Z,1761348436.257 [DAT](INFO): DAT read: user:2>

2025-10-24T23:27:16.258Z,1761348436.258 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:27:16.258Z,1761348436.258 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:27:16.258Z,1761348436.258 [DAT](INFO): setting transmit power to 8
2025-10-24T23:27:16.286Z,1761348436.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838066,-0.534113,-0.111211],[0.545506,0.817300,0.185590],[-0.008233,-0.216203,0.976314]]
2025-10-24T23:27:16.509Z,1761348436.509 [DAT](INFO): DAT read: user:3>

2025-10-24T23:27:16.510Z,1761348436.510 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:27:16.511Z,1761348436.511 [DAT](INFO): set transmit power to 8
2025-10-24T23:27:16.511Z,1761348436.511 [DAT](INFO): setting local address to 11
2025-10-24T23:27:16.691Z,1761348436.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841282,-0.527954,-0.116231],[0.540573,0.819523,0.190166],[-0.005144,-0.222814,0.974847]]
2025-10-24T23:27:16.761Z,1761348436.761 [DAT](INFO): DAT read: user:4>

2025-10-24T23:27:16.762Z,1761348436.762 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:27:16.762Z,1761348436.762 [DAT](INFO): set local address to 11
2025-10-24T23:27:16.763Z,1761348436.763 [DAT](INFO): Setting time to: 23:27:16 And date to:10/24/2025
2025-10-24T23:27:17.013Z,1761348437.013 [DAT](INFO): DAT read: user:5>

2025-10-24T23:27:17.013Z,1761348437.013 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:27:16  

2025-10-24T23:27:17.014Z,1761348437.014 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:27:16  

2025-10-24T23:27:17.014Z,1761348437.014 [DAT](INFO): setting remote address to 10
2025-10-24T23:27:17.015Z,1761348437.015 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:27:17.015Z,1761348437.015 [DAT](INFO): setting remote address to 0
2025-10-24T23:27:17.101Z,1761348437.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844814,-0.520886,-0.122338],[0.535054,0.821386,0.197591],[-0.002435,-0.232386,0.972621]]
2025-10-24T23:27:17.265Z,1761348437.265 [DAT](INFO): DAT read: user:6>

2025-10-24T23:27:17.266Z,1761348437.266 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:27:17.266Z,1761348437.266 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:27:17.266Z,1761348437.266 [DAT] Communications Fault, FailCount= 1
2025-10-24T23:27:17.266Z,1761348437.266 [DAT](ERROR): Communications Fault
2025-10-24T23:27:17.267Z,1761348437.267 [DAT](INFO): DAT read: user:7>

2025-10-24T23:27:17.268Z,1761348437.268 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:27:17.269Z,1761348437.269 [DAT](INFO): set remote address to 0
2025-10-24T23:27:17.269Z,1761348437.269 [DAT](INFO): setting remote address to 10
2025-10-24T23:27:17.269Z,1761348437.269 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:27:17.269Z,1761348437.269 [DAT](INFO): setting remote address to 0
2025-10-24T23:27:17.498Z,1761348437.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847775,-0.515124,-0.126196],[0.530356,0.823835,0.200049],[0.000915,-0.236525,0.971625]]
2025-10-24T23:27:17.637Z,1761348437.637 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:27:17.672Z,1761348437.672 [DAT](INFO): Powering down
2025-10-24T23:27:17.935Z,1761348437.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849733,-0.511287,-0.128607],[0.527180,0.826770,0.196299],[0.005964,-0.234601,0.972074]]
2025-10-24T23:27:18.307Z,1761348438.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848290,-0.512494,-0.133241],[0.529377,0.826834,0.190014],[0.012787,-0.231722,0.972698]]
2025-10-24T23:27:18.711Z,1761348438.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845134,-0.515699,-0.140724],[0.534155,0.824899,0.184989],[0.020685,-0.231509,0.972613]]
2025-10-24T23:27:18.867Z,1761348438.867 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:27:18.867Z,1761348438.867 [DAT] No Fault, FailCount= 1
2025-10-24T23:27:19.128Z,1761348439.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843180,-0.516653,-0.148719],[0.536837,0.824118,0.180657],[0.029225,-0.232164,0.972238]]
2025-10-24T23:27:19.518Z,1761348439.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843743,-0.514107,-0.154244],[0.535426,0.826314,0.174714],[0.037633,-0.230000,0.972463]]
2025-10-24T23:27:19.939Z,1761348439.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844982,-0.510926,-0.157985],[0.532811,0.829692,0.166502],[0.046008,-0.224867,0.973303]]
2025-10-24T23:27:20.328Z,1761348440.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846293,-0.507879,-0.160769],[0.530008,0.833129,0.158073],[0.053659,-0.218986,0.974252]]
2025-10-24T23:27:20.724Z,1761348440.724 [DAT](INFO): Powering up
2025-10-24T23:27:20.724Z,1761348440.724 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:27:20.731Z,1761348440.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847336,-0.505631,-0.162352],[0.527658,0.836138,0.149836],[0.059987,-0.212628,0.975290]]
2025-10-24T23:27:21.138Z,1761348441.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848466,-0.503126,-0.164225],[0.525321,0.838337,0.145701],[0.064370,-0.209894,0.975603]]
2025-10-24T23:27:21.539Z,1761348441.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850388,-0.499284,-0.166002],[0.521968,0.840261,0.146662],[0.066259,-0.211368,0.975158]]
2025-10-24T23:27:21.800Z,1761348441.800 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:27:21.948Z,1761348441.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852736,-0.494989,-0.166817],[0.518148,0.841983,0.150289],[0.066066,-0.214593,0.974467]]
2025-10-24T23:27:22.029Z,1761348442.029 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:27:22.029Z,1761348442.029 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:27:22.030Z,1761348442.030 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:27:22.030Z,1761348442.030 [marl:UpdateRudder:A] Stopped
2025-10-24T23:27:22.030Z,1761348442.030 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:27:22.030Z,1761348442.030 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:27:22.030Z,1761348442.030 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:27:22.030Z,1761348442.030 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:27:22.031Z,1761348442.031 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:27:22.031Z,1761348442.031 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:27:22.031Z,1761348442.031 [marl:UpdateCommandMode] Stopped
2025-10-24T23:27:22.031Z,1761348442.031 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:27:22.031Z,1761348442.031 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:27:22.031Z,1761348442.031 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:27:22.031Z,1761348442.031 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:27:22.031Z,1761348442.031 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:27:22.032Z,1761348442.032 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:27:22.032Z,1761348442.032 [marl:UpdateSpeed] Stopped
2025-10-24T23:27:22.032Z,1761348442.032 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:27:22.346Z,1761348442.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855114,-0.491302,-0.165534],[0.514417,0.843764,0.153091],[0.064458,-0.216064,0.974249]]
2025-10-24T23:27:22.397Z,1761348442.397 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:27:22.398Z,1761348442.398 [marl:UpdateRudder:B] Stopped
2025-10-24T23:27:22.398Z,1761348442.398 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:27:22.398Z,1761348442.398 [marl:UpdateRudder] Stopped
2025-10-24T23:27:22.398Z,1761348442.398 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:27:22.752Z,1761348442.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856573,-0.489185,-0.164256],[0.512239,0.844549,0.156038],[0.062391,-0.217797,0.973998]]
2025-10-24T23:27:22.804Z,1761348442.804 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:27:23.155Z,1761348443.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857479,-0.486368,-0.167856],[0.510966,0.843237,0.166925],[0.060356,-0.228904,0.971576]]
2025-10-24T23:27:23.560Z,1761348443.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857392,-0.484214,-0.174402],[0.511302,0.840065,0.181277],[0.058733,-0.244597,0.967844]]
2025-10-24T23:27:23.962Z,1761348443.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856008,-0.483100,-0.184023],[0.513661,0.834992,0.197333],[0.058326,-0.263444,0.962910]]
2025-10-24T23:27:24.366Z,1761348444.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853087,-0.483804,-0.195390],[0.518275,0.828984,0.210183],[0.060288,-0.280570,0.957938]]
2025-10-24T23:27:24.772Z,1761348444.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848407,-0.486202,-0.209314],[0.525352,0.821857,0.220355],[0.064889,-0.296915,0.952697]]
2025-10-24T23:27:25.174Z,1761348445.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841126,-0.496331,-0.214854],[0.536136,0.817468,0.210484],[0.071167,-0.292235,0.953695]]
2025-10-24T23:27:25.590Z,1761348445.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831177,-0.515308,-0.208810],[0.550646,0.814935,0.180750],[0.077025,-0.265216,0.961108]]
2025-10-24T23:27:25.982Z,1761348445.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820188,-0.539499,-0.190347],[0.566211,0.813096,0.135205],[0.081827,-0.218670,0.972362]]
2025-10-24T23:27:26.386Z,1761348446.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809710,-0.564383,-0.160754],[0.580594,0.810291,0.079615],[0.085324,-0.157798,0.983778]]
2025-10-24T23:27:26.792Z,1761348446.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799700,-0.586195,-0.129827],[0.594064,0.803872,0.029628],[0.086997,-0.100819,0.991094]]
2025-10-24T23:27:27.196Z,1761348447.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787916,-0.607507,-0.100614],[0.609442,0.792711,-0.013800],[0.088141,-0.050445,0.994830]]
2025-10-24T23:27:27.605Z,1761348447.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773756,-0.628450,-0.079705],[0.627102,0.777688,-0.044085],[0.089691,-0.015872,0.995843]]
2025-10-24T23:27:28.006Z,1761348448.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758546,-0.648232,-0.066348],[0.644998,0.761415,-0.064998],[0.092652,0.006510,0.995677]]
2025-10-24T23:27:28.407Z,1761348448.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742957,-0.666962,-0.056353],[0.662141,0.744672,-0.083865],[0.097899,0.024994,0.994882]]
2025-10-24T23:27:28.812Z,1761348448.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727155,-0.684633,-0.050233],[0.678490,0.727900,-0.099064],[0.104387,0.037952,0.993812]]
2025-10-24T23:27:29.214Z,1761348449.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711521,-0.700836,-0.050662],[0.693929,0.712180,-0.106122],[0.110455,0.040352,0.993062]]
2025-10-24T23:27:29.320Z,1761348449.320 [Radio_Surface](INFO): Powering down
2025-10-24T23:27:29.622Z,1761348449.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699677,-0.712215,-0.056579],[0.705143,0.701132,-0.105767],[0.114998,0.034107,0.992780]]
2025-10-24T23:27:30.026Z,1761348450.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689710,-0.721808,-0.057389],[0.714148,0.691190,-0.110671],[0.119550,0.035347,0.992199]]
2025-10-24T23:27:30.426Z,1761348450.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681182,-0.729898,-0.056929],[0.721661,0.682516,-0.115662],[0.123276,0.037704,0.991656]]
2025-10-24T23:27:30.830Z,1761348450.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673895,-0.736505,-0.058524],[0.727914,0.675420,-0.118108],[0.126515,0.036993,0.991275]]
2025-10-24T23:27:31.241Z,1761348451.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654409,-0.754719,-0.046345],[0.743890,0.653585,-0.139478],[0.135557,0.056800,0.989140]]
2025-10-24T23:27:31.647Z,1761348451.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644394,-0.763118,-0.049065],[0.751328,0.643770,-0.145142],[0.142347,0.056665,0.988194]]
2025-10-24T23:27:32.051Z,1761348452.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636679,-0.768625,-0.062097],[0.756675,0.638234,-0.141775],[0.148604,0.043278,0.987949]]
2025-10-24T23:27:32.451Z,1761348452.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633714,-0.769848,-0.075773],[0.758382,0.637599,-0.135369],[0.152527,0.028320,0.987894]]
2025-10-24T23:27:32.824Z,1761348452.824 [DAT](INFO): DAT read: 

2025-10-24T23:27:32.825Z,1761348452.825 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:27:32.865Z,1761348452.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633022,-0.769349,-0.085936],[0.758715,0.638624,-0.128492],[0.153736,0.016137,0.987980]]
2025-10-24T23:27:33.257Z,1761348453.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631256,-0.769518,-0.096735],[0.760608,0.638625,-0.116763],[0.151628,0.000130,0.988438]]
2025-10-24T23:27:33.663Z,1761348453.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625808,-0.772947,-0.104485],[0.765913,0.634309,-0.105020],[0.147451,-0.014304,0.988966]]
2025-10-24T23:27:34.063Z,1761348454.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613292,-0.782621,-0.106665],[0.776434,0.622137,-0.100474],[0.144994,-0.021198,0.989206]]
2025-10-24T23:27:34.469Z,1761348454.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595862,-0.795532,-0.109896],[0.789555,0.605325,-0.100914],[0.146803,-0.026638,0.988807]]
2025-10-24T23:27:34.590Z,1761348454.590 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:27:34.591Z,1761348454.591 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:27:34.592Z,1761348454.592 [DAT](INFO): DAT read: Oct 24 2025 23:27:28 

2025-10-24T23:27:34.871Z,1761348454.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576204,-0.809787,-0.110602],[0.802766,0.586160,-0.109469],[0.153477,-0.025711,0.987818]]
2025-10-24T23:27:34.903Z,1761348454.903 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:27:34.903Z,1761348454.903 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:27:34.903Z,1761348454.903 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:27:34.903Z,1761348454.903 [marl:UpdateRudder:A] Stopped
2025-10-24T23:27:34.903Z,1761348454.903 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:27:34.903Z,1761348454.903 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:27:34.904Z,1761348454.904 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:27:34.904Z,1761348454.904 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:27:34.904Z,1761348454.904 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:27:34.904Z,1761348454.904 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:27:34.904Z,1761348454.904 [marl:UpdateCommandMode] Stopped
2025-10-24T23:27:34.905Z,1761348454.905 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:27:34.905Z,1761348454.905 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:27:34.905Z,1761348454.905 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:27:34.905Z,1761348454.905 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:27:34.905Z,1761348454.905 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:27:34.905Z,1761348454.905 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:27:34.905Z,1761348454.905 [marl:UpdateSpeed] Stopped
2025-10-24T23:27:34.905Z,1761348454.905 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:27:35.275Z,1761348455.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559599,-0.822080,-0.105037],[0.812624,0.569167,-0.125263],[0.162759,-0.015258,0.986548]]
2025-10-24T23:27:35.320Z,1761348455.320 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:27:35.320Z,1761348455.320 [marl:UpdateRudder:B] Stopped
2025-10-24T23:27:35.320Z,1761348455.320 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:27:35.320Z,1761348455.320 [marl:UpdateRudder] Stopped
2025-10-24T23:27:35.320Z,1761348455.320 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:27:35.601Z,1761348455.601 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:27:35.603Z,1761348455.603 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:27:35.604Z,1761348455.604 [DAT](INFO): commRate: 600
2025-10-24T23:27:35.683Z,1761348455.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547807,-0.831464,-0.092603],[0.818884,0.555570,-0.144121],[0.171279,0.003120,0.985218]]
2025-10-24T23:27:36.099Z,1761348456.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538108,-0.838964,-0.081115],[0.823987,0.543867,-0.158918],[0.177442,0.018677,0.983954]]
2025-10-24T23:27:36.486Z,1761348456.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530321,-0.844330,-0.076587],[0.828701,0.535322,-0.163354],[0.178924,0.023162,0.983590]]
2025-10-24T23:27:36.890Z,1761348456.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523725,-0.848705,-0.073565],[0.833545,0.528357,-0.161373],[0.175827,0.023195,0.984148]]
2025-10-24T23:27:37.294Z,1761348457.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515812,-0.854099,-0.066730],[0.839665,0.519475,-0.158457],[0.170002,0.025703,0.985108]]
2025-10-24T23:27:37.668Z,1761348457.668 [DAT](INFO): entering command mode
2025-10-24T23:27:37.871Z,1761348457.871 [DAT](INFO): DAT read: 

2025-10-24T23:27:37.873Z,1761348457.873 [DAT](INFO): DAT read: user:1>

2025-10-24T23:27:37.875Z,1761348457.875 [DAT](INFO): setting verbose to 3
2025-10-24T23:27:38.121Z,1761348458.121 [DAT](INFO): DAT read: user:1>

2025-10-24T23:27:38.121Z,1761348458.121 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:27:38.122Z,1761348458.122 [DAT](INFO): set verbose to 3
2025-10-24T23:27:38.122Z,1761348458.122 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:27:38.373Z,1761348458.373 [DAT](INFO): DAT read: user:2>

2025-10-24T23:27:38.374Z,1761348458.374 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:27:38.374Z,1761348458.374 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:27:38.374Z,1761348458.374 [DAT](INFO): setting transmit power to 8
2025-10-24T23:27:38.610Z,1761348458.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491231,-0.865964,-0.093799],[0.857135,0.499742,-0.124810],[0.154956,-0.019088,0.987737]]
2025-10-24T23:27:38.625Z,1761348458.625 [DAT](INFO): DAT read: user:3>

2025-10-24T23:27:38.626Z,1761348458.626 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:27:38.626Z,1761348458.626 [DAT](INFO): set transmit power to 8
2025-10-24T23:27:38.626Z,1761348458.626 [DAT](INFO): setting local address to 11
2025-10-24T23:27:38.877Z,1761348458.877 [DAT](INFO): DAT read: user:4>

2025-10-24T23:27:38.878Z,1761348458.878 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:27:38.878Z,1761348458.878 [DAT](INFO): set local address to 11
2025-10-24T23:27:38.879Z,1761348458.879 [DAT](INFO): Setting time to: 23:27:38 And date to:10/24/2025
2025-10-24T23:27:39.024Z,1761348459.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486721,-0.865143,-0.120952],[0.860391,0.498717,-0.104925],[0.151096,-0.052997,0.987097]]
2025-10-24T23:27:39.130Z,1761348459.130 [DAT](INFO): DAT read: user:5>

2025-10-24T23:27:39.131Z,1761348459.131 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:27:38  

2025-10-24T23:27:39.132Z,1761348459.132 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:27:38  

2025-10-24T23:27:39.133Z,1761348459.133 [DAT](INFO): setting remote address to 10
2025-10-24T23:27:39.134Z,1761348459.134 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:27:39.135Z,1761348459.135 [DAT](INFO): setting remote address to 0
2025-10-24T23:27:39.381Z,1761348459.381 [DAT](INFO): DAT read: user:6>

2025-10-24T23:27:39.382Z,1761348459.382 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:27:39.382Z,1761348459.382 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:27:39.382Z,1761348459.382 [DAT] Communications Fault, FailCount= 2
2025-10-24T23:27:39.382Z,1761348459.382 [DAT](ERROR): Communications Fault
2025-10-24T23:27:39.383Z,1761348459.383 [DAT](INFO): DAT read: user:7>

2025-10-24T23:27:39.384Z,1761348459.384 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:27:39.385Z,1761348459.385 [DAT](INFO): set remote address to 0
2025-10-24T23:27:39.385Z,1761348459.385 [DAT](INFO): setting remote address to 10
2025-10-24T23:27:39.385Z,1761348459.385 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:27:39.385Z,1761348459.385 [DAT](INFO): setting remote address to 0
2025-10-24T23:27:39.423Z,1761348459.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481659,-0.863720,-0.148294],[0.863884,0.496406,-0.085359],[0.147340,-0.086994,0.985253]]
2025-10-24T23:27:39.607Z,1761348459.607 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:27:39.788Z,1761348459.788 [DAT](INFO): Powering down
2025-10-24T23:27:39.827Z,1761348459.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475348,-0.862096,-0.175599],[0.867839,0.492249,-0.067428],[0.144568,-0.120340,0.982150]]
2025-10-24T23:27:40.273Z,1761348460.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467773,-0.861038,-0.199503],[0.872100,0.486324,-0.054130],[0.143631,-0.148666,0.978401]]
2025-10-24T23:27:40.636Z,1761348460.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459370,-0.861589,-0.215969],[0.876188,0.479462,-0.049104],[0.145857,-0.166673,0.975165]]
2025-10-24T23:27:40.727Z,1761348460.727 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:27:40.727Z,1761348460.727 [DAT] No Fault, FailCount= 2
2025-10-24T23:27:41.042Z,1761348461.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451906,-0.862378,-0.228222],[0.879144,0.473926,-0.050005],[0.151283,-0.178043,0.972324]]
2025-10-24T23:27:41.444Z,1761348461.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447009,-0.862256,-0.238112],[0.880332,0.471280,-0.053956],[0.158741,-0.185499,0.969738]]
2025-10-24T23:27:41.847Z,1761348461.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446038,-0.861021,-0.244323],[0.879322,0.472467,-0.059727],[0.166861,-0.188198,0.967853]]
2025-10-24T23:27:42.252Z,1761348462.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449694,-0.858510,-0.246445],[0.876117,0.477658,-0.065285],[0.173764,-0.186556,0.966955]]
2025-10-24T23:27:42.659Z,1761348462.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457664,-0.853921,-0.247715],[0.871169,0.486376,-0.067111],[0.177790,-0.185088,0.966506]]
2025-10-24T23:27:42.836Z,1761348462.836 [DAT](INFO): Powering up
2025-10-24T23:27:42.836Z,1761348462.836 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:27:43.067Z,1761348463.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468302,-0.847036,-0.251444],[0.865430,0.497089,-0.062716],[0.178113,-0.188237,0.965838]]
2025-10-24T23:27:43.463Z,1761348463.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479769,-0.839227,-0.255970],[0.859632,0.508013,-0.054356],[0.175653,-0.193962,0.965155]]
2025-10-24T23:27:43.888Z,1761348463.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489987,-0.831706,-0.261110],[0.854597,0.517395,-0.044343],[0.171977,-0.201416,0.964290]]
2025-10-24T23:27:44.271Z,1761348464.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497556,-0.825931,-0.265095],[0.850819,0.524203,-0.036310],[0.168953,-0.207482,0.963538]]
2025-10-24T23:27:44.681Z,1761348464.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503314,-0.821293,-0.268613],[0.847818,0.529429,-0.030146],[0.166970,-0.212562,0.962776]]
2025-10-24T23:27:45.090Z,1761348465.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508201,-0.817456,-0.271106],[0.845208,0.533839,-0.025283],[0.165394,-0.216292,0.962217]]
2025-10-24T23:27:45.485Z,1761348465.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512670,-0.814042,-0.272957],[0.842934,0.537638,-0.020200],[0.163196,-0.219728,0.961814]]
2025-10-24T23:27:45.930Z,1761348465.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516106,-0.812204,-0.271955],[0.841489,0.540041,-0.015908],[0.159787,-0.220636,0.962179]]
2025-10-24T23:27:46.291Z,1761348466.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518201,-0.811509,-0.270040],[0.841117,0.540743,-0.010926],[0.154889,-0.221473,0.962787]]
2025-10-24T23:27:46.695Z,1761348466.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518129,-0.812183,-0.268142],[0.842247,0.539065,-0.005321],[0.148868,-0.223085,0.963365]]
2025-10-24T23:27:47.111Z,1761348467.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516010,-0.814348,-0.265654],[0.844781,0.535113,0.000554],[0.141704,-0.224705,0.964068]]
2025-10-24T23:27:47.503Z,1761348467.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511793,-0.818040,-0.262446],[0.848705,0.528825,0.006711],[0.133298,-0.226174,0.964923]]
2025-10-24T23:27:47.938Z,1761348467.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505896,-0.823290,-0.257418],[0.853494,0.520984,0.011103],[0.124969,-0.225322,0.966236]]
2025-10-24T23:27:48.042Z,1761348468.042 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:27:48.043Z,1761348468.043 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:27:48.043Z,1761348468.043 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:27:48.043Z,1761348468.043 [marl:UpdateRudder:A] Stopped
2025-10-24T23:27:48.052Z,1761348468.052 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:27:48.053Z,1761348468.053 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:27:48.053Z,1761348468.053 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:27:48.054Z,1761348468.054 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:27:48.055Z,1761348468.055 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:27:48.064Z,1761348468.064 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:27:48.064Z,1761348468.064 [marl:UpdateCommandMode] Stopped
2025-10-24T23:27:48.064Z,1761348468.064 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:27:48.065Z,1761348468.065 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:27:48.065Z,1761348468.065 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:27:48.065Z,1761348468.065 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:27:48.066Z,1761348468.066 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:27:48.066Z,1761348468.066 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:27:48.066Z,1761348468.066 [marl:UpdateSpeed] Stopped
2025-10-24T23:27:48.066Z,1761348468.066 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:27:48.311Z,1761348468.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498664,-0.829557,-0.251334],[0.858719,0.512285,0.012901],[0.118053,-0.222259,0.967814]]
2025-10-24T23:27:48.374Z,1761348468.374 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:27:48.374Z,1761348468.374 [marl:UpdateRudder:B] Stopped
2025-10-24T23:27:48.374Z,1761348468.374 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:27:48.374Z,1761348468.374 [marl:UpdateRudder] Stopped
2025-10-24T23:27:48.374Z,1761348468.374 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:27:48.717Z,1761348468.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490320,-0.836639,-0.244174],[0.864118,0.503165,0.011171],[0.113514,-0.216472,0.969667]]
2025-10-24T23:27:49.158Z,1761348469.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481804,-0.844049,-0.235469],[0.869227,0.494370,0.006477],[0.110942,-0.207797,0.971860]]
2025-10-24T23:27:49.523Z,1761348469.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473632,-0.851336,-0.225608],[0.873840,0.486214,-0.000234],[0.109893,-0.197034,0.974218]]
2025-10-24T23:27:49.942Z,1761348469.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466340,-0.857820,-0.216038],[0.877759,0.479046,-0.007413],[0.109851,-0.186172,0.976357]]
2025-10-24T23:27:50.735Z,1761348470.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463367,-0.863302,-0.200002],[0.880178,0.474554,-0.009191],[0.102847,-0.171778,0.979752]]
2025-10-24T23:27:51.139Z,1761348471.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464185,-0.864032,-0.194885],[0.880445,0.474122,-0.004964],[0.096688,-0.169282,0.980814]]
2025-10-24T23:27:51.549Z,1761348471.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463155,-0.865522,-0.190682],[0.881628,0.471945,-0.000777],[0.090664,-0.167751,0.981651]]
2025-10-24T23:27:51.951Z,1761348471.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460830,-0.867207,-0.188648],[0.883415,0.468575,0.003992],[0.084934,-0.168494,0.982037]]
2025-10-24T23:27:52.117Z,1761348472.117 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:27:52.117Z,1761348472.117 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:27:52.351Z,1761348472.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458043,-0.868757,-0.188301],[0.885328,0.464886,0.008736],[0.079949,-0.170710,0.982072]]
2025-10-24T23:27:52.755Z,1761348472.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455478,-0.870094,-0.188352],[0.886970,0.461665,0.012228],[0.076317,-0.172632,0.982025]]
2025-10-24T23:27:52.932Z,1761348472.932 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:27:53.161Z,1761348473.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454173,-0.870773,-0.188362],[0.887872,0.459845,0.015008],[0.073549,-0.174058,0.981985]]
2025-10-24T23:27:53.572Z,1761348473.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454503,-0.870869,-0.187120],[0.887876,0.459778,0.016762],[0.071436,-0.173758,0.982194]]
2025-10-24T23:27:53.936Z,1761348473.936 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-24T23:27:53.936Z,1761348473.936 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:27:53.967Z,1761348473.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457369,-0.869610,-0.185987],[0.886604,0.462114,0.019607],[0.068896,-0.173864,0.982357]]
2025-10-24T23:27:54.371Z,1761348474.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460667,-0.868512,-0.182954],[0.885135,0.464803,0.022222],[0.065737,-0.172176,0.982870]]
2025-10-24T23:27:54.776Z,1761348474.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463944,-0.867016,-0.181768],[0.883618,0.467525,0.025293],[0.063051,-0.172348,0.983016]]
2025-10-24T23:27:54.945Z,1761348474.945 [DAT](INFO): DAT read: 

2025-10-24T23:27:54.945Z,1761348474.945 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:27:55.183Z,1761348475.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466494,-0.865964,-0.180249],[0.882527,0.469362,0.029087],[0.059414,-0.172644,0.983191]]
2025-10-24T23:27:55.594Z,1761348475.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468663,-0.864891,-0.179771],[0.881700,0.470517,0.034900],[0.054401,-0.174860,0.983089]]
2025-10-24T23:27:55.620Z,1761348475.620 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:27:55.987Z,1761348475.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470975,-0.863632,-0.179785],[0.880778,0.471724,0.041316],[0.049128,-0.177810,0.982838]]
2025-10-24T23:27:56.391Z,1761348476.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473018,-0.862630,-0.179229],[0.879929,0.472807,0.046670],[0.044482,-0.179785,0.982700]]
2025-10-24T23:27:56.709Z,1761348476.709 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:27:56.710Z,1761348476.710 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:27:56.711Z,1761348476.711 [DAT](INFO): DAT read: Oct 24 2025 23:27:50 

2025-10-24T23:27:56.796Z,1761348476.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475280,-0.861462,-0.178863],[0.878891,0.474269,0.051180],[0.040739,-0.181526,0.982542]]
2025-10-24T23:27:57.199Z,1761348477.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478151,-0.860171,-0.177419],[0.877465,0.476546,0.054391],[0.037763,-0.181686,0.982631]]
2025-10-24T23:27:57.612Z,1761348477.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481795,-0.858626,-0.175025],[0.875575,0.479739,0.056744],[0.035245,-0.180586,0.982928]]
2025-10-24T23:27:57.717Z,1761348477.717 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:27:57.718Z,1761348477.718 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:27:57.719Z,1761348477.719 [DAT](INFO): commRate: 600
2025-10-24T23:27:58.007Z,1761348478.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485559,-0.856794,-0.173599],[0.873584,0.483027,0.059459],[0.032909,-0.180524,0.983020]]
2025-10-24T23:27:58.411Z,1761348478.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488190,-0.856034,-0.169932],[0.872196,0.485405,0.060462],[0.030729,-0.177731,0.983599]]
2025-10-24T23:27:58.816Z,1761348478.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488425,-0.856027,-0.169289],[0.872129,0.485294,0.062289],[0.028834,-0.178065,0.983596]]
2025-10-24T23:27:59.219Z,1761348479.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486380,-0.856950,-0.170504],[0.873327,0.482853,0.064444],[0.027103,-0.180250,0.983247]]
2025-10-24T23:27:59.623Z,1761348479.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481872,-0.859134,-0.172301],[0.875830,0.478267,0.064669],[0.026847,-0.182068,0.982919]]
2025-10-24T23:27:59.784Z,1761348479.784 [DAT](INFO): entering command mode
2025-10-24T23:27:59.984Z,1761348479.984 [DAT](INFO): DAT read: 

2025-10-24T23:27:59.985Z,1761348479.985 [DAT](INFO): DAT read: user:1>

2025-10-24T23:27:59.985Z,1761348479.985 [DAT](INFO): setting verbose to 3
2025-10-24T23:28:00.049Z,1761348480.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477240,-0.861213,-0.174797],[0.878349,0.473660,0.064421],[0.027314,-0.184277,0.982495]]
2025-10-24T23:28:00.237Z,1761348480.237 [DAT](INFO): DAT read: user:1>

2025-10-24T23:28:00.238Z,1761348480.238 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:28:00.238Z,1761348480.238 [DAT](INFO): set verbose to 3
2025-10-24T23:28:00.238Z,1761348480.238 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:28:00.432Z,1761348480.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472883,-0.863461,-0.175548],[0.880674,0.469539,0.062814],[0.028189,-0.184305,0.982465]]
2025-10-24T23:28:00.489Z,1761348480.489 [DAT](INFO): DAT read: user:2>

2025-10-24T23:28:00.490Z,1761348480.490 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:28:00.490Z,1761348480.490 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:28:00.490Z,1761348480.490 [DAT](INFO): setting transmit power to 8
2025-10-24T23:28:00.741Z,1761348480.741 [DAT](INFO): DAT read: user:3>

2025-10-24T23:28:00.741Z,1761348480.741 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:28:00.742Z,1761348480.742 [DAT](INFO): set transmit power to 8
2025-10-24T23:28:00.742Z,1761348480.742 [DAT](INFO): setting local address to 11
2025-10-24T23:28:00.837Z,1761348480.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469013,-0.865532,-0.175729],[0.882722,0.465876,0.061335],[0.028781,-0.183887,0.982526]]
2025-10-24T23:28:00.909Z,1761348480.909 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:28:00.909Z,1761348480.909 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:28:00.909Z,1761348480.909 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:28:00.909Z,1761348480.909 [marl:UpdateRudder:A] Stopped
2025-10-24T23:28:00.909Z,1761348480.909 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:28:00.909Z,1761348480.909 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:28:00.910Z,1761348480.910 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:28:00.910Z,1761348480.910 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:28:00.910Z,1761348480.910 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:28:00.910Z,1761348480.910 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:28:00.910Z,1761348480.910 [marl:UpdateCommandMode] Stopped
2025-10-24T23:28:00.910Z,1761348480.910 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:28:00.910Z,1761348480.910 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:28:00.910Z,1761348480.910 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:28:00.911Z,1761348480.911 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:28:00.911Z,1761348480.911 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:28:00.911Z,1761348480.911 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:28:00.911Z,1761348480.911 [marl:UpdateSpeed] Stopped
2025-10-24T23:28:00.911Z,1761348480.911 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:28:00.993Z,1761348480.993 [DAT](INFO): DAT read: user:4>

2025-10-24T23:28:00.994Z,1761348480.994 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:28:00.994Z,1761348480.994 [DAT](INFO): set local address to 11
2025-10-24T23:28:00.995Z,1761348480.995 [DAT](INFO): Setting time to: 23:28:0 And date to:10/24/2025
2025-10-24T23:28:01.239Z,1761348481.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466426,-0.867402,-0.173378],[0.884105,0.463429,0.059932],[0.028364,-0.181238,0.983030]]
2025-10-24T23:28:01.244Z,1761348481.244 [DAT](INFO): DAT read: user:5>

2025-10-24T23:28:01.245Z,1761348481.245 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:28:00  

2025-10-24T23:28:01.246Z,1761348481.246 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:28:00  

2025-10-24T23:28:01.246Z,1761348481.246 [DAT](INFO): setting remote address to 10
2025-10-24T23:28:01.247Z,1761348481.247 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:28:01.247Z,1761348481.247 [DAT](INFO): setting remote address to 0
2025-10-24T23:28:01.351Z,1761348481.351 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:28:01.351Z,1761348481.351 [marl:UpdateRudder:B] Stopped
2025-10-24T23:28:01.351Z,1761348481.351 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:28:01.351Z,1761348481.351 [marl:UpdateRudder] Stopped
2025-10-24T23:28:01.351Z,1761348481.351 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:28:01.497Z,1761348481.497 [DAT](INFO): DAT read: user:6>

2025-10-24T23:28:01.498Z,1761348481.498 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:28:01.498Z,1761348481.498 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:28:01.498Z,1761348481.498 [DAT] Communications Fault, FailCount= 3
2025-10-24T23:28:01.499Z,1761348481.499 [DAT](ERROR): Communications Fault
2025-10-24T23:28:01.499Z,1761348481.499 [DAT](INFO): DAT read: user:7>

2025-10-24T23:28:01.500Z,1761348481.500 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:28:01.501Z,1761348481.501 [DAT](INFO): set remote address to 0
2025-10-24T23:28:01.501Z,1761348481.501 [DAT](INFO): setting remote address to 10
2025-10-24T23:28:01.501Z,1761348481.501 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:28:01.501Z,1761348481.501 [DAT](INFO): setting remote address to 0
2025-10-24T23:28:01.646Z,1761348481.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464513,-0.868236,-0.174335],[0.885137,0.461329,0.060890],[0.027559,-0.182595,0.982802]]
2025-10-24T23:28:01.811Z,1761348481.811 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:28:01.905Z,1761348481.905 [DAT](INFO): Powering down
2025-10-24T23:28:02.051Z,1761348482.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464052,-0.867526,-0.179037],[0.885419,0.460265,0.064729],[0.026250,-0.188561,0.981711]]
2025-10-24T23:28:02.451Z,1761348482.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462885,-0.867715,-0.181129],[0.886076,0.458621,0.067347],[0.024632,-0.191668,0.981151]]
2025-10-24T23:28:02.855Z,1761348482.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459585,-0.869693,-0.180044],[0.887834,0.455158,0.067691],[0.023078,-0.190959,0.981327]]
2025-10-24T23:28:03.083Z,1761348483.083 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:28:03.083Z,1761348483.083 [DAT] No Fault, FailCount= 3
2025-10-24T23:28:03.263Z,1761348483.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454440,-0.872892,-0.177603],[0.890504,0.450120,0.066297],[0.022073,-0.188284,0.981867]]
2025-10-24T23:28:03.678Z,1761348483.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447641,-0.876863,-0.175297],[0.893948,0.443605,0.063815],[0.021806,-0.185273,0.982445]]
2025-10-24T23:28:04.068Z,1761348484.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438865,-0.882034,-0.171505],[0.898269,0.435460,0.059055],[0.022596,-0.179975,0.983412]]
2025-10-24T23:28:04.564Z,1761348484.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411131,-0.901146,-0.137505],[0.911156,0.410822,0.031952],[0.027696,-0.138425,0.989986]]
2025-10-24T23:28:04.956Z,1761348484.956 [DAT](INFO): Powering up
2025-10-24T23:28:04.956Z,1761348484.956 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:28:04.958Z,1761348484.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393971,-0.912386,-0.111079],[0.918581,0.395004,0.013483],[0.031575,-0.107347,0.993720]]
2025-10-24T23:28:05.357Z,1761348485.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376206,-0.922717,-0.084033],[0.925843,0.377883,-0.004423],[0.035836,-0.076138,0.996453]]
2025-10-24T23:28:05.758Z,1761348485.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358549,-0.931695,-0.058192],[0.932665,0.360181,-0.020148],[0.039732,-0.047049,0.998102]]
2025-10-24T23:28:06.162Z,1761348486.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341531,-0.939125,-0.037441],[0.938873,0.342732,-0.032427],[0.043285,-0.024078,0.998773]]
2025-10-24T23:28:06.567Z,1761348486.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324145,-0.945738,-0.022580],[0.944815,0.324842,-0.042456],[0.047487,-0.007572,0.998843]]
2025-10-24T23:28:06.970Z,1761348486.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308222,-0.951286,-0.007344],[0.949863,0.308169,-0.052830],[0.052519,0.009308,0.998577]]
2025-10-24T23:28:07.372Z,1761348487.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293092,-0.956070,0.005134],[0.954287,0.292208,-0.062857],[0.058596,0.023322,0.998009]]
2025-10-24T23:28:07.779Z,1761348487.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279544,-0.960048,0.012753],[0.957917,0.277972,-0.071595],[0.065190,0.032230,0.997352]]
2025-10-24T23:28:08.180Z,1761348488.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267023,-0.963571,0.015121],[0.961003,0.265075,-0.078792],[0.071914,0.035570,0.996776]]
2025-10-24T23:28:08.586Z,1761348488.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255780,-0.966630,0.014266],[0.963553,0.253714,-0.084823],[0.078373,0.035442,0.996294]]
2025-10-24T23:28:08.990Z,1761348488.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245713,-0.969315,0.007368],[0.965690,0.244120,-0.088592],[0.084075,0.028884,0.996041]]
2025-10-24T23:28:09.392Z,1761348489.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236473,-0.971637,0.001496],[0.967554,0.235338,-0.091950],[0.088990,0.023191,0.995763]]
2025-10-24T23:28:09.797Z,1761348489.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227751,-0.973719,0.000195],[0.969264,0.226690,-0.095596],[0.093039,0.021961,0.995420]]
2025-10-24T23:28:10.204Z,1761348490.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219571,-0.975597,-0.000300],[0.970814,0.218525,-0.098831],[0.096485,0.021409,0.995104]]
2025-10-24T23:28:10.604Z,1761348490.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211489,-0.977375,-0.003274],[0.972277,0.210726,-0.101350],[0.099747,0.018251,0.994845]]
2025-10-24T23:28:11.020Z,1761348491.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203280,-0.979100,-0.006395],[0.973669,0.202832,-0.104053],[0.103175,0.014925,0.994551]]
2025-10-24T23:28:11.414Z,1761348491.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194950,-0.980788,-0.006975],[0.975076,0.194573,-0.106624],[0.105932,0.013985,0.994275]]
2025-10-24T23:28:11.817Z,1761348491.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186547,-0.982414,-0.007941],[0.976551,0.186306,-0.107879],[0.107462,0.012370,0.994132]]
2025-10-24T23:28:12.228Z,1761348492.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176675,-0.984225,-0.009294],[0.978358,0.176639,-0.107770],[0.107712,0.009948,0.994132]]
2025-10-24T23:28:12.657Z,1761348492.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164922,-0.986255,-0.010106],[0.980496,0.165052,-0.106701],[0.106903,0.007689,0.994240]]
2025-10-24T23:28:13.048Z,1761348493.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150035,-0.988646,-0.008241],[0.982991,0.150059,-0.105884],[0.105919,0.007785,0.994344]]
2025-10-24T23:28:13.434Z,1761348493.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130982,-0.991368,-0.005783],[0.985736,0.130855,-0.105840],[0.105683,0.008163,0.994366]]
2025-10-24T23:28:13.838Z,1761348493.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108808,-0.994062,-0.001077],[0.988406,0.108304,-0.106413],[0.105898,0.010514,0.994321]]
2025-10-24T23:28:13.945Z,1761348493.945 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:28:13.945Z,1761348493.945 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:28:13.945Z,1761348493.945 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:28:13.945Z,1761348493.945 [marl:UpdateRudder:A] Stopped
2025-10-24T23:28:13.945Z,1761348493.945 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:28:13.945Z,1761348493.945 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:28:13.945Z,1761348493.945 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:28:13.946Z,1761348493.946 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:28:13.946Z,1761348493.946 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:28:13.946Z,1761348493.946 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:28:13.946Z,1761348493.946 [marl:UpdateCommandMode] Stopped
2025-10-24T23:28:13.946Z,1761348493.946 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:28:13.946Z,1761348493.946 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:28:13.946Z,1761348493.946 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:28:13.946Z,1761348493.946 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:28:13.947Z,1761348493.947 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:28:13.947Z,1761348493.947 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:28:13.947Z,1761348493.947 [marl:UpdateSpeed] Stopped
2025-10-24T23:28:13.947Z,1761348493.947 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:28:14.253Z,1761348494.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086190,-0.996273,0.003394],[0.990543,0.085329,-0.107442],[0.106752,0.012623,0.994206]]
2025-10-24T23:28:14.316Z,1761348494.316 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:28:14.316Z,1761348494.316 [marl:UpdateRudder:B] Stopped
2025-10-24T23:28:14.316Z,1761348494.316 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:28:14.316Z,1761348494.316 [marl:UpdateRudder] Stopped
2025-10-24T23:28:14.316Z,1761348494.316 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:28:14.650Z,1761348494.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062556,-0.998015,0.007334],[0.992111,0.061383,-0.109310],[0.108643,0.014114,0.993981]]
2025-10-24T23:28:15.049Z,1761348495.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038887,-0.999141,0.014317],[0.992943,0.037032,-0.112658],[0.112031,0.018597,0.993531]]
2025-10-24T23:28:15.458Z,1761348495.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015305,-0.999629,0.022534],[0.993014,0.012559,-0.117327],[0.117000,0.024172,0.992838]]
2025-10-24T23:28:15.906Z,1761348495.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008190,-0.999543,0.029090],[0.992326,-0.011713,-0.123092],[0.123376,0.027858,0.991969]]
2025-10-24T23:28:16.274Z,1761348496.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030294,-0.998972,0.033726],[0.991022,-0.034414,-0.129197],[0.130225,0.029509,0.991045]]
2025-10-24T23:28:16.668Z,1761348496.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049393,-0.998101,0.036814],[0.989455,-0.053923,-0.134431],[0.136161,0.029786,0.990239]]
2025-10-24T23:28:17.073Z,1761348497.073 [DAT](INFO): DAT read: 

2025-10-24T23:28:17.073Z,1761348497.073 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:28:17.093Z,1761348497.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065882,-0.997196,0.035501],[0.987768,-0.070216,-0.139230],[0.141332,0.025894,0.989624]]
2025-10-24T23:28:17.496Z,1761348497.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080266,-0.996177,0.034486],[0.986021,-0.084420,-0.143649],[0.146011,0.022474,0.989028]]
2025-10-24T23:28:17.938Z,1761348497.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092991,-0.994902,0.039034],[0.984284,-0.097768,-0.147057],[0.150123,0.024746,0.988358]]
2025-10-24T23:28:18.294Z,1761348498.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103887,-0.993680,0.042510],[0.982681,-0.109143,-0.149753],[0.153447,0.026217,0.987809]]
2025-10-24T23:28:18.698Z,1761348498.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113615,-0.992665,0.041335],[0.981262,-0.118632,-0.151827],[0.155617,0.023311,0.987542]]
2025-10-24T23:28:18.837Z,1761348498.837 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:28:18.838Z,1761348498.838 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:28:18.839Z,1761348498.839 [DAT](INFO): DAT read: Oct 24 2025 23:28:12 

2025-10-24T23:28:19.097Z,1761348499.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122658,-0.991737,0.037598],[0.980064,-0.127007,-0.152788],[0.156301,0.018108,0.987544]]
2025-10-24T23:28:19.503Z,1761348499.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132739,-0.990542,0.034741],[0.978783,-0.136522,-0.152792],[0.156090,0.013723,0.987648]]
2025-10-24T23:28:19.845Z,1761348499.845 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:28:19.846Z,1761348499.846 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:28:19.847Z,1761348499.847 [DAT](INFO): commRate: 600
2025-10-24T23:28:19.961Z,1761348499.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145928,-0.988668,0.035217],[0.976841,-0.149631,-0.152945],[0.156481,0.012082,0.987607]]
2025-10-24T23:28:20.302Z,1761348500.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161583,-0.986213,0.035698],[0.974228,-0.165179,-0.153607],[0.157385,0.009958,0.987487]]
2025-10-24T23:28:20.706Z,1761348500.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178493,-0.983186,0.038533],[0.970979,-0.182342,-0.154761],[0.159185,0.009791,0.987200]]
2025-10-24T23:28:21.111Z,1761348501.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195032,-0.979855,0.042967],[0.967230,-0.199410,-0.157169],[0.162571,0.010906,0.986637]]
2025-10-24T23:28:21.513Z,1761348501.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210238,-0.976511,0.047185],[0.963318,-0.215149,-0.160401],[0.166785,0.011732,0.985923]]
2025-10-24T23:28:21.913Z,1761348501.913 [DAT](INFO): entering command mode
2025-10-24T23:28:21.951Z,1761348501.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223710,-0.973322,0.050967],[0.959506,-0.229116,-0.163871],[0.171177,0.012244,0.985164]]
2025-10-24T23:28:22.112Z,1761348502.112 [DAT](INFO): DAT read: 

2025-10-24T23:28:22.113Z,1761348502.113 [DAT](INFO): DAT read: user:1>

2025-10-24T23:28:22.113Z,1761348502.113 [DAT](INFO): setting verbose to 3
2025-10-24T23:28:22.320Z,1761348502.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235668,-0.970325,0.054135],[0.955834,-0.241495,-0.167513],[0.175616,0.012267,0.984382]]
2025-10-24T23:28:22.365Z,1761348502.365 [DAT](INFO): DAT read: user:1>

2025-10-24T23:28:22.366Z,1761348502.366 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:28:22.366Z,1761348502.366 [DAT](INFO): set verbose to 3
2025-10-24T23:28:22.366Z,1761348502.366 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:28:22.617Z,1761348502.617 [DAT](INFO): DAT read: user:2>

2025-10-24T23:28:22.618Z,1761348502.618 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:28:22.618Z,1761348502.618 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:28:22.618Z,1761348502.618 [DAT](INFO): setting transmit power to 8
2025-10-24T23:28:22.725Z,1761348502.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246556,-0.967357,0.058573],[0.952369,-0.253041,-0.170185],[0.179451,0.013823,0.983670]]
2025-10-24T23:28:22.869Z,1761348502.869 [DAT](INFO): DAT read: user:3>

2025-10-24T23:28:22.869Z,1761348502.869 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:28:22.870Z,1761348502.870 [DAT](INFO): set transmit power to 8
2025-10-24T23:28:22.870Z,1761348502.870 [DAT](INFO): setting local address to 11
2025-10-24T23:28:23.122Z,1761348503.122 [DAT](INFO): DAT read: user:4>

2025-10-24T23:28:23.123Z,1761348503.123 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:28:23.123Z,1761348503.123 [DAT](INFO): set local address to 11
2025-10-24T23:28:23.124Z,1761348503.124 [DAT](INFO): Setting time to: 23:28:23 And date to:10/24/2025
2025-10-24T23:28:23.144Z,1761348503.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256963,-0.964478,0.061259],[0.949149,-0.263794,-0.171838],[0.181894,0.013988,0.983219]]
2025-10-24T23:28:23.373Z,1761348503.373 [DAT](INFO): DAT read: user:5>

2025-10-24T23:28:23.373Z,1761348503.373 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:28:23  

2025-10-24T23:28:23.374Z,1761348503.374 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:28:23  

2025-10-24T23:28:23.374Z,1761348503.374 [DAT](INFO): setting remote address to 10
2025-10-24T23:28:23.375Z,1761348503.375 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:28:23.375Z,1761348503.375 [DAT](INFO): setting remote address to 0
2025-10-24T23:28:23.532Z,1761348503.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266587,-0.961856,0.061350],[0.946316,-0.273290,-0.172625],[0.182807,0.012037,0.983075]]
2025-10-24T23:28:23.625Z,1761348503.625 [DAT](INFO): DAT read: user:6>

2025-10-24T23:28:23.626Z,1761348503.626 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:28:23.626Z,1761348503.626 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:28:23.626Z,1761348503.626 [DAT] Communications Fault, FailCount= 4
2025-10-24T23:28:23.626Z,1761348503.626 [DAT](ERROR): Communications Fault
2025-10-24T23:28:23.627Z,1761348503.627 [DAT](INFO): DAT read: user:7>

2025-10-24T23:28:23.628Z,1761348503.628 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:28:23.629Z,1761348503.629 [DAT](INFO): set remote address to 0
2025-10-24T23:28:23.629Z,1761348503.629 [DAT](INFO): setting remote address to 10
2025-10-24T23:28:23.629Z,1761348503.629 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:28:23.629Z,1761348503.629 [DAT](INFO): setting remote address to 0
2025-10-24T23:28:23.673Z,1761348503.673 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:28:23.953Z,1761348503.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276317,-0.959093,0.061559],[0.943525,-0.282898,-0.172419],[0.182781,0.010440,0.983098]]
2025-10-24T23:28:24.032Z,1761348504.032 [DAT](INFO): Powering down
2025-10-24T23:28:24.056Z,1761348504.056 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:28:24.341Z,1761348504.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287468,-0.955753,0.062433],[0.940132,-0.294027,-0.172336],[0.183067,0.009155,0.983058]]
2025-10-24T23:28:24.745Z,1761348504.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300194,-0.951766,0.063441],[0.935934,-0.306734,-0.173036],[0.184150,0.007433,0.982870]]
2025-10-24T23:28:25.060Z,1761348505.060 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:28:25.149Z,1761348505.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312733,-0.947676,0.064096],[0.931490,-0.319193,-0.174475],[0.185805,0.005141,0.982573]]
2025-10-24T23:28:25.300Z,1761348505.300 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:28:25.301Z,1761348505.301 [DAT] No Fault, FailCount= 4
2025-10-24T23:28:25.555Z,1761348505.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324940,-0.943420,0.066128],[0.926774,-0.331578,-0.176484],[0.188425,0.003939,0.982080]]
2025-10-24T23:28:25.960Z,1761348505.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336256,-0.939174,0.069884],[0.922097,-0.343412,-0.178341],[0.191492,0.004471,0.981484]]
2025-10-24T23:28:26.365Z,1761348506.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346582,-0.935103,0.073916],[0.917591,-0.354336,-0.180201],[0.194698,0.005370,0.980849]]
2025-10-24T23:28:26.779Z,1761348506.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356681,-0.930933,0.078376],[0.912966,-0.365131,-0.182130],[0.198168,0.006592,0.980146]]
2025-10-24T23:28:26.842Z,1761348506.842 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:28:26.842Z,1761348506.842 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:28:26.843Z,1761348506.843 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:28:26.845Z,1761348506.845 [marl:UpdateRudder:A] Stopped
2025-10-24T23:28:26.845Z,1761348506.845 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:28:26.845Z,1761348506.845 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:28:26.845Z,1761348506.845 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:28:26.845Z,1761348506.845 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:28:26.846Z,1761348506.846 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:28:26.847Z,1761348506.847 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:28:26.847Z,1761348506.847 [marl:UpdateCommandMode] Stopped
2025-10-24T23:28:26.847Z,1761348506.847 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:28:26.847Z,1761348506.847 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:28:26.847Z,1761348506.847 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:28:26.847Z,1761348506.847 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:28:26.849Z,1761348506.849 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:28:26.851Z,1761348506.851 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:28:26.851Z,1761348506.851 [marl:UpdateSpeed] Stopped
2025-10-24T23:28:26.851Z,1761348506.851 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:28:27.080Z,1761348507.080 [DAT](INFO): Powering up
2025-10-24T23:28:27.080Z,1761348507.080 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:28:27.190Z,1761348507.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366690,-0.926722,0.082004],[0.908392,-0.375679,-0.183549],[0.200906,0.007186,0.979584]]
2025-10-24T23:28:27.214Z,1761348507.214 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:28:27.214Z,1761348507.214 [marl:UpdateRudder:B] Stopped
2025-10-24T23:28:27.214Z,1761348507.214 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:28:27.214Z,1761348507.214 [marl:UpdateRudder] Stopped
2025-10-24T23:28:27.214Z,1761348507.214 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:28:27.574Z,1761348507.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377144,-0.922238,0.085081],[0.903682,-0.386551,-0.184222],[0.202785,0.007408,0.979195]]
2025-10-24T23:28:27.991Z,1761348507.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388713,-0.917118,0.088303],[0.898564,-0.398538,-0.183714],[0.203680,0.007933,0.979005]]
2025-10-24T23:28:28.386Z,1761348508.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401444,-0.911150,0.092994],[0.892998,-0.411946,-0.181261],[0.203464,0.010277,0.979028]]
2025-10-24T23:28:28.784Z,1761348508.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415975,-0.904261,0.096316],[0.886492,-0.426838,-0.178724],[0.202725,0.011039,0.979174]]
2025-10-24T23:28:29.188Z,1761348509.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433078,-0.896127,0.096950],[0.878416,-0.443720,-0.177477],[0.202060,0.008301,0.979338]]
2025-10-24T23:28:29.601Z,1761348509.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451305,-0.886654,0.100839],[0.869242,-0.462353,-0.175065],[0.201846,0.008646,0.979379]]
2025-10-24T23:28:30.006Z,1761348510.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470360,-0.875763,0.108633],[0.858851,-0.482579,-0.171730],[0.202819,0.012524,0.979136]]
2025-10-24T23:28:30.419Z,1761348510.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488428,-0.864871,0.115914],[0.848285,-0.501750,-0.169289],[0.204573,0.015642,0.978726]]
2025-10-24T23:28:30.803Z,1761348510.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506602,-0.853724,0.120458],[0.836958,-0.520504,-0.169047],[0.207018,0.015179,0.978219]]
2025-10-24T23:28:31.219Z,1761348511.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523290,-0.843003,0.124552],[0.825934,-0.537720,-0.169379],[0.209761,0.014237,0.977649]]
2025-10-24T23:28:31.628Z,1761348511.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538451,-0.832662,0.129402],[0.815541,-0.553586,-0.168630],[0.212047,0.014733,0.977148]]
2025-10-24T23:28:32.030Z,1761348512.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552258,-0.823032,0.132774],[0.805841,-0.567816,-0.167943],[0.213614,0.014247,0.976814]]
2025-10-24T23:28:32.438Z,1761348512.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565379,-0.813536,0.136036],[0.796398,-0.581344,-0.166704],[0.214703,0.014088,0.976578]]
2025-10-24T23:28:32.835Z,1761348512.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577623,-0.804317,0.139374],[0.787429,-0.594019,-0.164611],[0.215190,0.014664,0.976462]]
2025-10-24T23:28:33.236Z,1761348513.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589336,-0.795754,0.139491],[0.778743,-0.605502,-0.164091],[0.215038,0.011923,0.976533]]
2025-10-24T23:28:33.637Z,1761348513.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601282,-0.786333,0.141916],[0.769583,-0.617688,-0.161875],[0.214948,0.011884,0.976553]]
2025-10-24T23:28:34.039Z,1761348514.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613539,-0.776347,0.144414],[0.759884,-0.630194,-0.159474],[0.214816,0.011894,0.976582]]
2025-10-24T23:28:34.455Z,1761348514.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625600,-0.766374,0.145928],[0.749990,-0.642306,-0.157978],[0.214801,0.010613,0.976600]]
2025-10-24T23:28:34.846Z,1761348514.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637156,-0.756048,0.149747],[0.740216,-0.654398,-0.154413],[0.214738,0.012460,0.976592]]
2025-10-24T23:28:35.249Z,1761348515.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647647,-0.746320,0.153490],[0.731022,-0.665431,-0.151022],[0.214848,0.014395,0.976541]]
2025-10-24T23:28:35.659Z,1761348515.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657596,-0.736862,0.156847],[0.721957,-0.675860,-0.148294],[0.215279,0.015719,0.976426]]
2025-10-24T23:28:36.057Z,1761348516.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667161,-0.727665,0.159374],[0.712912,-0.685751,-0.146638],[0.215994,0.015788,0.976267]]
2025-10-24T23:28:36.464Z,1761348516.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676255,-0.718634,0.162000],[0.704117,-0.695198,-0.144634],[0.216561,0.016258,0.976134]]
2025-10-24T23:28:36.864Z,1761348516.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685285,-0.709567,0.164008],[0.695149,-0.704458,-0.143197],[0.217145,0.015879,0.976010]]
2025-10-24T23:28:37.270Z,1761348517.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694384,-0.700510,0.164674],[0.685956,-0.713508,-0.142723],[0.217475,0.013854,0.975968]]
2025-10-24T23:28:38.077Z,1761348518.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712708,-0.681109,0.167746],[0.666834,-0.732074,-0.139282],[0.217669,0.012591,0.975941]]
2025-10-24T23:28:38.480Z,1761348518.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722239,-0.670871,0.168232],[0.656864,-0.741482,-0.136873],[0.216565,0.011650,0.976199]]
2025-10-24T23:28:38.885Z,1761348518.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732296,-0.660051,0.167561],[0.646358,-0.751154,-0.134125],[0.214393,0.010085,0.976695]]
2025-10-24T23:28:39.181Z,1761348519.181 [DAT](INFO): DAT read: 

2025-10-24T23:28:39.181Z,1761348519.181 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:28:39.288Z,1761348519.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742585,-0.648600,0.166991],[0.635535,-0.761068,-0.129887],[0.211336,0.009676,0.977366]]
2025-10-24T23:28:39.694Z,1761348519.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753491,-0.636203,0.165826],[0.623709,-0.771473,-0.125763],[0.207941,0.008666,0.978103]]
2025-10-24T23:28:39.750Z,1761348519.750 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:28:39.750Z,1761348519.750 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:28:39.750Z,1761348519.750 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:28:39.750Z,1761348519.750 [marl:UpdateRudder:A] Stopped
2025-10-24T23:28:39.751Z,1761348519.751 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:28:39.751Z,1761348519.751 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:28:39.751Z,1761348519.751 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:28:39.751Z,1761348519.751 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:28:39.751Z,1761348519.751 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:28:39.751Z,1761348519.751 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:28:39.751Z,1761348519.751 [marl:UpdateCommandMode] Stopped
2025-10-24T23:28:39.751Z,1761348519.751 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:28:39.751Z,1761348519.751 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:28:39.752Z,1761348519.752 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:28:39.752Z,1761348519.752 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:28:39.752Z,1761348519.752 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:28:39.753Z,1761348519.753 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:28:39.753Z,1761348519.753 [marl:UpdateSpeed] Stopped
2025-10-24T23:28:39.753Z,1761348519.753 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:28:40.096Z,1761348520.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764727,-0.622760,0.165417],[0.611062,-0.782361,-0.120471],[0.204441,0.008953,0.978838]]
2025-10-24T23:28:40.162Z,1761348520.162 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:28:40.162Z,1761348520.162 [marl:UpdateRudder:B] Stopped
2025-10-24T23:28:40.162Z,1761348520.162 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:28:40.163Z,1761348520.163 [marl:UpdateRudder] Stopped
2025-10-24T23:28:40.163Z,1761348520.163 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:28:40.506Z,1761348520.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776367,-0.608419,0.164561],[0.597410,-0.793569,-0.115540],[0.200888,0.008609,0.979576]]
2025-10-24T23:28:40.938Z,1761348520.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799106,-0.578015,0.165312],[0.568654,-0.815955,-0.104163],[0.195095,0.010768,0.980725]]
2025-10-24T23:28:40.949Z,1761348520.949 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:28:40.950Z,1761348520.950 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:28:40.951Z,1761348520.951 [DAT](INFO): DAT read: Oct 24 2025 23:28:35 

2025-10-24T23:28:41.323Z,1761348521.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809749,-0.562784,0.166074],[0.554250,-0.826512,-0.098414],[0.192648,0.012356,0.981190]]
2025-10-24T23:28:41.958Z,1761348521.958 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:28:41.959Z,1761348521.959 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:28:41.959Z,1761348521.959 [DAT](INFO): commRate: 600
2025-10-24T23:28:42.125Z,1761348522.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829067,-0.533599,0.167092],[0.526826,-0.845577,-0.086332],[0.187356,0.016454,0.982154]]
2025-10-24T23:28:42.526Z,1761348522.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837865,-0.519398,0.167952],[0.513761,-0.854295,-0.078929],[0.184476,0.020155,0.982630]]
2025-10-24T23:28:42.940Z,1761348522.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846361,-0.505509,0.167735],[0.500668,-0.862540,-0.073183],[0.181672,0.022040,0.983112]]
2025-10-24T23:28:43.338Z,1761348523.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855218,-0.490843,0.166358],[0.486603,-0.870955,-0.068229],[0.178380,0.022600,0.983702]]
2025-10-24T23:28:43.736Z,1761348523.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864080,-0.475881,0.164021],[0.472029,-0.879237,-0.064269],[0.174798,0.021889,0.984361]]
2025-10-24T23:28:44.024Z,1761348524.024 [DAT](INFO): entering command mode
2025-10-24T23:28:44.143Z,1761348524.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873163,-0.460166,0.160729],[0.456666,-0.887591,-0.060317],[0.170417,0.020733,0.985154]]
2025-10-24T23:28:44.225Z,1761348524.225 [DAT](INFO): DAT read: 

2025-10-24T23:28:44.225Z,1761348524.225 [DAT](INFO): DAT read: user:1

2025-10-24T23:28:44.226Z,1761348524.226 [DAT](INFO): setting verbose to 3
2025-10-24T23:28:44.477Z,1761348524.477 [DAT](INFO): DAT read: user:1>

2025-10-24T23:28:44.477Z,1761348524.477 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:28:44.478Z,1761348524.478 [DAT](INFO): set verbose to 3
2025-10-24T23:28:44.478Z,1761348524.478 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:28:44.571Z,1761348524.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882360,-0.443606,0.157018],[0.440546,-0.895999,-0.055733],[0.165411,0.019997,0.986022]]
2025-10-24T23:28:44.729Z,1761348524.729 [DAT](INFO): DAT read: user:2>

2025-10-24T23:28:44.730Z,1761348524.730 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:28:44.730Z,1761348524.730 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:28:44.730Z,1761348524.730 [DAT](INFO): setting transmit power to 8
2025-10-24T23:28:44.967Z,1761348524.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891332,-0.426646,0.153300],[0.423922,-0.904221,-0.051707],[0.160678,0.018899,0.986826]]
2025-10-24T23:28:44.981Z,1761348524.981 [DAT](INFO): DAT read: user:3>

2025-10-24T23:28:44.982Z,1761348524.982 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:28:44.982Z,1761348524.982 [DAT](INFO): set transmit power to 8
2025-10-24T23:28:44.982Z,1761348524.982 [DAT](INFO): setting local address to 11
2025-10-24T23:28:45.233Z,1761348525.233 [DAT](INFO): DAT read: user:4>

2025-10-24T23:28:45.234Z,1761348525.234 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:28:45.234Z,1761348525.234 [DAT](INFO): set local address to 11
2025-10-24T23:28:45.235Z,1761348525.235 [DAT](INFO): Setting time to: 23:28:45 And date to:10/24/2025
2025-10-24T23:28:45.351Z,1761348525.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899940,-0.409413,0.149966],[0.407054,-0.912166,-0.047534],[0.156255,0.018267,0.987548]]
2025-10-24T23:28:45.485Z,1761348525.485 [DAT](INFO): DAT read: user:5>

2025-10-24T23:28:45.485Z,1761348525.485 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:28:45  

2025-10-24T23:28:45.486Z,1761348525.486 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:28:45  

2025-10-24T23:28:45.486Z,1761348525.486 [DAT](INFO): setting remote address to 10
2025-10-24T23:28:45.487Z,1761348525.487 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:28:45.487Z,1761348525.487 [DAT](INFO): setting remote address to 0
2025-10-24T23:28:45.737Z,1761348525.737 [DAT](INFO): DAT read: user:6>

2025-10-24T23:28:45.738Z,1761348525.738 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:28:45.738Z,1761348525.738 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:28:45.738Z,1761348525.738 [DAT] Communications Fault, FailCount= 5
2025-10-24T23:28:45.738Z,1761348525.738 [DAT](ERROR): Communications Fault
2025-10-24T23:28:45.739Z,1761348525.739 [DAT](INFO): DAT read: user:7>

2025-10-24T23:28:45.740Z,1761348525.740 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:28:45.741Z,1761348525.741 [DAT](INFO): set remote address to 0
2025-10-24T23:28:45.741Z,1761348525.741 [DAT](INFO): setting remote address to 10
2025-10-24T23:28:45.741Z,1761348525.741 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:28:45.741Z,1761348525.741 [DAT](INFO): setting remote address to 0
2025-10-24T23:28:45.796Z,1761348525.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907849,-0.392760,0.146801],[0.390751,-0.919467,-0.043507],[0.152067,0.017865,0.988209]]
2025-10-24T23:28:45.959Z,1761348525.959 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:28:46.164Z,1761348526.164 [DAT](INFO): Powering down
2025-10-24T23:28:46.177Z,1761348526.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914840,-0.377293,0.143933],[0.375638,-0.925921,-0.039567],[0.148199,0.017869,0.988796]]
2025-10-24T23:28:46.602Z,1761348526.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921278,-0.362435,0.141024],[0.361278,-0.931815,-0.034641],[0.143963,0.019035,0.989400]]
2025-10-24T23:28:46.977Z,1761348526.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927309,-0.348133,0.137479],[0.347224,-0.937259,-0.031329],[0.139760,0.018684,0.990009]]
2025-10-24T23:28:47.091Z,1761348527.091 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:28:47.091Z,1761348527.091 [DAT] No Fault, FailCount= 5
2025-10-24T23:28:47.387Z,1761348527.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933088,-0.333937,0.133540],[0.333251,-0.942418,-0.028126],[0.135243,0.018258,0.990644]]
2025-10-24T23:28:47.786Z,1761348527.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938632,-0.319746,0.129357],[0.319346,-0.947324,-0.024387],[0.130340,0.018420,0.991298]]
2025-10-24T23:28:48.184Z,1761348528.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944177,-0.305065,0.124359],[0.304767,-0.952175,-0.021889],[0.125090,0.017234,0.991996]]
2025-10-24T23:28:48.590Z,1761348528.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949650,-0.289419,0.120010],[0.289414,-0.957037,-0.017853],[0.120021,0.017778,0.992612]]
2025-10-24T23:28:48.991Z,1761348528.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955152,-0.272750,0.115289],[0.272920,-0.961926,-0.014615],[0.114886,0.017505,0.993225]]
2025-10-24T23:28:49.220Z,1761348529.220 [DAT](INFO): Powering up
2025-10-24T23:28:49.220Z,1761348529.220 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:28:49.422Z,1761348529.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960682,-0.254881,0.110113],[0.255112,-0.966834,-0.012232],[0.109579,0.016340,0.993844]]
2025-10-24T23:28:49.797Z,1761348529.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965829,-0.236820,0.105311],[0.237110,-0.971432,-0.009942],[0.104658,0.015368,0.994390]]
2025-10-24T23:28:50.201Z,1761348530.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970671,-0.218114,0.101109],[0.218438,-0.975818,-0.007999],[0.100409,0.014321,0.994843]]
2025-10-24T23:28:50.617Z,1761348530.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975095,-0.199176,0.097559],[0.199667,-0.979852,-0.004808],[0.096551,0.014791,0.995218]]
2025-10-24T23:28:51.009Z,1761348531.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979030,-0.180695,0.094074],[0.181183,-0.983444,-0.003397],[0.093130,0.013719,0.995559]]
2025-10-24T23:28:51.415Z,1761348531.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982578,-0.161888,0.091289],[0.162462,-0.986714,-0.001155],[0.090263,0.013696,0.995824]]
2025-10-24T23:28:51.816Z,1761348531.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985657,-0.143877,0.088205],[0.144568,-0.989494,0.001463],[0.087068,0.014193,0.996101]]
2025-10-24T23:28:52.222Z,1761348532.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988424,-0.125765,0.084864],[0.126502,-0.991961,0.003340],[0.083762,0.014036,0.996387]]
2025-10-24T23:28:52.402Z,1761348532.402 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:28:52.402Z,1761348532.402 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:28:52.628Z,1761348532.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990799,-0.107870,0.081737],[0.108697,-0.994058,0.005729],[0.080634,0.014561,0.996637]]
2025-10-24T23:28:52.687Z,1761348532.687 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:28:52.687Z,1761348532.687 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:28:52.687Z,1761348532.687 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:28:52.692Z,1761348532.692 [marl:UpdateRudder:A] Stopped
2025-10-24T23:28:52.692Z,1761348532.692 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:28:52.692Z,1761348532.692 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:28:52.692Z,1761348532.692 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:28:52.693Z,1761348532.693 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:28:52.693Z,1761348532.693 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:28:52.693Z,1761348532.693 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:28:52.693Z,1761348532.693 [marl:UpdateCommandMode] Stopped
2025-10-24T23:28:52.693Z,1761348532.693 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:28:52.693Z,1761348532.693 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:28:52.693Z,1761348532.693 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:28:52.693Z,1761348532.693 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:28:52.694Z,1761348532.694 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:28:52.694Z,1761348532.694 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:28:52.694Z,1761348532.694 [marl:UpdateSpeed] Stopped
2025-10-24T23:28:52.694Z,1761348532.694 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:28:53.028Z,1761348533.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992806,-0.090504,0.078397],[0.091475,-0.995768,0.008872],[0.077263,0.015980,0.996883]]
2025-10-24T23:28:53.068Z,1761348533.068 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:28:53.068Z,1761348533.068 [marl:UpdateRudder:B] Stopped
2025-10-24T23:28:53.068Z,1761348533.068 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:28:53.068Z,1761348533.068 [marl:UpdateRudder] Stopped
2025-10-24T23:28:53.069Z,1761348533.069 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:28:53.436Z,1761348533.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994501,-0.072984,0.075111],[0.074140,-0.997167,0.012713],[0.073970,0.018212,0.997094]]
2025-10-24T23:28:53.836Z,1761348533.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995806,-0.056657,0.071833],[0.057866,-0.998214,0.014857],[0.070863,0.018952,0.997306]]
2025-10-24T23:28:54.241Z,1761348534.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996777,-0.041299,0.068775],[0.042548,-0.998953,0.016789],[0.068009,0.019662,0.997491]]
2025-10-24T23:28:54.650Z,1761348534.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997452,-0.027170,0.065967],[0.028489,-0.999411,0.019129],[0.065408,0.020959,0.997638]]
2025-10-24T23:28:55.054Z,1761348535.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997869,-0.013704,0.063786],[0.015053,-0.999672,0.020724],[0.063481,0.021640,0.997748]]
2025-10-24T23:28:55.205Z,1761348535.205 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:28:55.478Z,1761348535.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998091,-0.001422,0.061746],[0.002914,-0.999706,0.024075],[0.061694,0.024209,0.997801]]
2025-10-24T23:28:55.930Z,1761348535.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998189,0.010253,0.059268],[-0.008717,-0.999621,0.026115],[0.059513,0.025551,0.997900]]
2025-10-24T23:28:55.979Z,1761348535.979 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:28:56.213Z,1761348536.213 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:28:56.265Z,1761348536.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998124,0.021529,0.057317],[-0.019992,-0.999428,0.027263],[0.057872,0.026066,0.997984]]
2025-10-24T23:28:56.686Z,1761348536.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997935,0.032668,0.055301],[-0.031111,-0.999101,0.028783],[0.056192,0.027003,0.998055]]
2025-10-24T23:28:57.070Z,1761348537.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997610,0.044183,0.053127],[-0.042597,-0.998623,0.030634],[0.054407,0.028298,0.998118]]
2025-10-24T23:28:57.478Z,1761348537.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997168,0.055578,0.050664],[-0.054042,-0.998051,0.031206],[0.052300,0.028380,0.998228]]
2025-10-24T23:28:57.924Z,1761348537.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996568,0.067443,0.048003],[-0.065980,-0.997326,0.031432],[0.049994,0.028157,0.998352]]
2025-10-24T23:28:58.281Z,1761348538.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995739,0.080098,0.045702],[-0.078762,-0.996432,0.030317],[0.047967,0.026588,0.998495]]
2025-10-24T23:28:58.704Z,1761348538.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994576,0.094614,0.043215],[-0.093372,-0.995182,0.029919],[0.045838,0.025722,0.998618]]
2025-10-24T23:28:59.097Z,1761348539.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992985,0.111026,0.040681],[-0.109930,-0.993537,0.028272],[0.043557,0.023602,0.998772]]
2025-10-24T23:28:59.518Z,1761348539.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990927,0.128766,0.038512],[-0.127798,-0.991443,0.026624],[0.041611,0.021460,0.998903]]
2025-10-24T23:28:59.934Z,1761348539.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988248,0.148439,0.036486],[-0.147547,-0.988712,0.026043],[0.039940,0.020353,0.998995]]
2025-10-24T23:29:00.312Z,1761348540.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985122,0.168335,0.034604],[-0.167478,-0.985523,0.026357],[0.038540,0.020169,0.999054]]
2025-10-24T23:29:00.723Z,1761348540.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981374,0.189287,0.032804],[-0.188425,-0.981698,0.027667],[0.037440,0.020970,0.999079]]
2025-10-24T23:29:01.148Z,1761348541.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977000,0.210979,0.030951],[-0.210111,-0.977245,0.029084],[0.036382,0.021912,0.999098]]
2025-10-24T23:29:01.324Z,1761348541.324 [DAT](INFO): DAT read: 

2025-10-24T23:29:01.325Z,1761348541.325 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:29:01.523Z,1761348541.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971969,0.233275,0.029308],[-0.232411,-0.972151,0.030110],[0.035516,0.022455,0.999117]]
2025-10-24T23:29:01.949Z,1761348541.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966500,0.255200,0.027389],[-0.254309,-0.966586,0.032228],[0.034698,0.024183,0.999105]]
2025-10-24T23:29:02.329Z,1761348542.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960749,0.276253,0.025400],[-0.275326,-0.960722,0.034761],[0.034005,0.026404,0.999073]]
2025-10-24T23:29:02.738Z,1761348542.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955349,0.294576,0.023097],[-0.293596,-0.955166,0.038193],[0.033312,0.029706,0.999003]]
2025-10-24T23:29:03.089Z,1761348543.089 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:29:03.090Z,1761348543.090 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:29:03.091Z,1761348543.091 [DAT](INFO): DAT read: Oct 24 2025 23:28:57 

2025-10-24T23:29:03.130Z,1761348543.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950239,0.310787,0.021397],[-0.309821,-0.949985,0.039239],[0.032522,0.030657,0.999001]]
2025-10-24T23:29:03.535Z,1761348543.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945318,0.325535,0.020027],[-0.324554,-0.944983,0.040880],[0.032233,0.032145,0.998963]]
2025-10-24T23:29:03.948Z,1761348543.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940489,0.339291,0.019003],[-0.338292,-0.940089,0.042311],[0.032220,0.033364,0.998924]]
2025-10-24T23:29:04.098Z,1761348544.098 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:29:04.099Z,1761348544.099 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:29:04.100Z,1761348544.100 [DAT](INFO): commRate: 600
2025-10-24T23:29:04.353Z,1761348544.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935798,0.352046,0.018615],[-0.351035,-0.935379,0.042905],[0.032517,0.033616,0.998906]]
2025-10-24T23:29:04.748Z,1761348544.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930904,0.364790,0.018616],[-0.363820,-0.930544,0.041504],[0.032463,0.031864,0.998965]]
2025-10-24T23:29:05.148Z,1761348545.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925656,0.377891,0.018946],[-0.376964,-0.925376,0.039723],[0.032543,0.029628,0.999031]]
2025-10-24T23:29:05.554Z,1761348545.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920041,0.391382,0.018562],[-0.390473,-0.919772,0.039373],[0.032483,0.028977,0.999052]]
2025-10-24T23:29:05.581Z,1761348545.581 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:29:05.581Z,1761348545.581 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:29:05.581Z,1761348545.581 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:29:05.582Z,1761348545.582 [marl:UpdateRudder:A] Stopped
2025-10-24T23:29:05.582Z,1761348545.582 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:29:05.582Z,1761348545.582 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:29:05.582Z,1761348545.582 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:29:05.582Z,1761348545.582 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:29:05.583Z,1761348545.583 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:29:05.583Z,1761348545.583 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:29:05.583Z,1761348545.583 [marl:UpdateCommandMode] Stopped
2025-10-24T23:29:05.583Z,1761348545.583 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:29:05.583Z,1761348545.583 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:29:05.583Z,1761348545.583 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:29:05.583Z,1761348545.583 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:29:05.583Z,1761348545.583 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:29:05.584Z,1761348545.584 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:29:05.584Z,1761348545.584 [marl:UpdateSpeed] Stopped
2025-10-24T23:29:05.584Z,1761348545.584 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:29:05.959Z,1761348545.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913958,0.405405,0.018112],[-0.404525,-0.913705,0.038758],[0.032262,0.028096,0.999084]]
2025-10-24T23:29:06.001Z,1761348546.001 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:29:06.001Z,1761348546.001 [marl:UpdateRudder:B] Stopped
2025-10-24T23:29:06.001Z,1761348546.001 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:29:06.001Z,1761348546.001 [marl:UpdateRudder] Stopped
2025-10-24T23:29:06.001Z,1761348546.001 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:29:06.165Z,1761348546.165 [DAT](INFO): entering command mode
2025-10-24T23:29:06.364Z,1761348546.364 [DAT](INFO): DAT read: 

2025-10-24T23:29:06.365Z,1761348546.365 [DAT](INFO): DAT read: user:1>

2025-10-24T23:29:06.365Z,1761348546.365 [DAT](INFO): setting verbose to 3
2025-10-24T23:29:06.370Z,1761348546.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907780,0.419087,0.017341],[-0.418205,-0.907498,0.039387],[0.032243,0.028502,0.999074]]
2025-10-24T23:29:06.617Z,1761348546.617 [DAT](INFO): DAT read: user:1>

2025-10-24T23:29:06.617Z,1761348546.617 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:29:06.618Z,1761348546.618 [DAT](INFO): set verbose to 3
2025-10-24T23:29:06.618Z,1761348546.618 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:29:06.767Z,1761348546.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901798,0.431850,0.016298],[-0.430969,-0.901473,0.040154],[0.032033,0.029186,0.999061]]
2025-10-24T23:29:06.869Z,1761348546.869 [DAT](INFO): DAT read: user:2>

2025-10-24T23:29:06.870Z,1761348546.870 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:29:06.871Z,1761348546.871 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:29:06.871Z,1761348546.871 [DAT](INFO): setting transmit power to 8
2025-10-24T23:29:07.121Z,1761348547.121 [DAT](INFO): DAT read: user:3>

2025-10-24T23:29:07.121Z,1761348547.121 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:29:07.122Z,1761348547.122 [DAT](INFO): set transmit power to 8
2025-10-24T23:29:07.122Z,1761348547.122 [DAT](INFO): setting local address to 11
2025-10-24T23:29:07.199Z,1761348547.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895963,0.443893,0.014461],[-0.442978,-0.895511,0.042791],[0.031945,0.031933,0.998979]]
2025-10-24T23:29:07.373Z,1761348547.373 [DAT](INFO): DAT read: user:4>

2025-10-24T23:29:07.374Z,1761348547.374 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:29:07.375Z,1761348547.375 [DAT](INFO): set local address to 11
2025-10-24T23:29:07.375Z,1761348547.375 [DAT](INFO): Setting time to: 23:29:7 And date to:10/24/2025
2025-10-24T23:29:07.573Z,1761348547.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890624,0.454542,0.013429],[-0.453626,-0.890121,0.043683],[0.031809,0.032813,0.998955]]
2025-10-24T23:29:07.625Z,1761348547.625 [DAT](INFO): DAT read: user:5>

2025-10-24T23:29:07.625Z,1761348547.625 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:29:07  

2025-10-24T23:29:07.626Z,1761348547.626 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:29:07  

2025-10-24T23:29:07.626Z,1761348547.626 [DAT](INFO): setting remote address to 10
2025-10-24T23:29:07.627Z,1761348547.627 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:29:07.627Z,1761348547.627 [DAT](INFO): setting remote address to 0
2025-10-24T23:29:07.879Z,1761348547.879 [DAT](INFO): DAT read: user:6>

2025-10-24T23:29:07.883Z,1761348547.883 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:29:07.885Z,1761348547.885 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:29:07.885Z,1761348547.885 [DAT] Communications Fault, FailCount= 6
2025-10-24T23:29:07.885Z,1761348547.885 [DAT](ERROR): Communications Fault
2025-10-24T23:29:07.889Z,1761348547.889 [DAT](INFO): DAT read: user:7>

2025-10-24T23:29:07.894Z,1761348547.894 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:29:07.895Z,1761348547.895 [DAT](INFO): set remote address to 0
2025-10-24T23:29:07.898Z,1761348547.898 [DAT](INFO): setting remote address to 10
2025-10-24T23:29:07.909Z,1761348547.909 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:29:07.909Z,1761348547.909 [DAT](INFO): setting remote address to 0
2025-10-24T23:29:07.982Z,1761348547.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885675,0.464128,0.012842],[-0.463237,-0.885173,0.043354],[0.031489,0.032449,0.998977]]
2025-10-24T23:29:08.123Z,1761348548.123 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:29:08.312Z,1761348548.312 [DAT](INFO): Powering down
2025-10-24T23:29:08.382Z,1761348548.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881348,0.472312,0.012144],[-0.471440,-0.880835,0.043284],[0.031141,0.032423,0.998989]]
2025-10-24T23:29:08.788Z,1761348548.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878563,0.477387,0.015117],[-0.476643,-0.878344,0.036367],[0.030639,0.024745,0.999224]]
2025-10-24T23:29:09.212Z,1761348549.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878316,0.477577,0.021938],[-0.477156,-0.878546,0.021864],[0.029716,0.008736,0.999520]]
2025-10-24T23:29:09.448Z,1761348549.448 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:29:09.449Z,1761348549.449 [DAT] No Fault, FailCount= 6
2025-10-24T23:29:09.598Z,1761348549.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880127,0.473608,0.032751],[-0.473862,-0.880599,0.000003],[0.028842,-0.015516,0.999464]]
2025-10-24T23:29:10.028Z,1761348550.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882282,0.468450,0.046177],[-0.469887,-0.882308,-0.027188],[0.028006,-0.045686,0.998563]]
2025-10-24T23:29:10.421Z,1761348550.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883312,0.464733,0.061512],[-0.467995,-0.881815,-0.058165],[0.027211,-0.080165,0.996410]]
2025-10-24T23:29:10.822Z,1761348550.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883303,0.462642,0.075749],[-0.468089,-0.879281,-0.088078],[0.025856,-0.113257,0.993229]]
2025-10-24T23:29:11.211Z,1761348551.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882517,0.461997,0.087874],[-0.469649,-0.875484,-0.113829],[0.024344,-0.141726,0.989606]]
2025-10-24T23:29:11.366Z,1761348551.366 [DAT](INFO): Powering up
2025-10-24T23:29:11.366Z,1761348551.366 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:29:11.618Z,1761348551.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881258,0.462514,0.097288],[-0.472071,-0.871410,-0.133392],[0.023082,-0.163480,0.986277]]
2025-10-24T23:29:12.016Z,1761348552.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879306,0.464731,0.104150],[-0.475746,-0.867240,-0.146837],[0.022084,-0.178664,0.983662]]
2025-10-24T23:29:12.421Z,1761348552.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877284,0.467511,0.108659],[-0.479517,-0.863552,-0.156018],[0.020893,-0.188975,0.981760]]
2025-10-24T23:29:12.846Z,1761348552.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874760,0.471804,0.110436],[-0.484152,-0.860340,-0.159414],[0.019800,-0.192916,0.981015]]
2025-10-24T23:29:13.240Z,1761348553.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872682,0.475475,0.111131],[-0.487922,-0.857962,-0.160728],[0.018924,-0.194488,0.980722]]
2025-10-24T23:29:13.283Z,1761348553.283 [marl:SendObservationData] Running Loop=1
2025-10-24T23:29:13.283Z,1761348553.283 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:29:13.283Z,1761348553.283 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:29:13.285Z,1761348553.285 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:29:13.286Z,1761348553.286 [marl:SendObservationData:A](INFO): Got test_good :  41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:29:13.286Z,1761348553.286 [marl:SendObservationData:A] Stopped
2025-10-24T23:29:13.286Z,1761348553.286 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:29:13.663Z,1761348553.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870723,0.478960,0.111527],[-0.491442,-0.855790,-0.161579],[0.018054,-0.195499,0.980538]]
2025-10-24T23:29:13.734Z,1761348553.734 [marl:SendObservationData:B] Stopped
2025-10-24T23:29:13.734Z,1761348553.734 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:29:14.035Z,1761348554.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868455,0.483249,0.110709],[-0.495475,-0.853707,-0.160276],[0.017060,-0.194046,0.980844]]
2025-10-24T23:29:14.088Z,1761348554.088 [marl:SendObservationData:C] Stopped
2025-10-24T23:29:14.089Z,1761348554.089 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:29:14.450Z,1761348554.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865906,0.488125,0.109275],[-0.499951,-0.851555,-0.157809],[0.016023,-0.191280,0.981405]]
2025-10-24T23:29:14.497Z,1761348554.497 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.010450 min 
2025-10-24T23:29:14.497Z,1761348554.497 [marl:SendObservationData:E] Stopped
2025-10-24T23:29:14.498Z,1761348554.498 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:29:14.498Z,1761348554.498 [marl:SendObservationData] Stopped
2025-10-24T23:29:14.498Z,1761348554.498 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:29:14.498Z,1761348554.498 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:29:14.862Z,1761348554.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863019,0.493425,0.108310],[-0.504950,-0.848937,-0.155983],[0.014983,-0.189308,0.981804]]
2025-10-24T23:29:15.277Z,1761348555.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860689,0.497967,0.106034],[-0.508934,-0.847282,-0.151986],[0.014157,-0.184777,0.982679]]
2025-10-24T23:29:15.669Z,1761348555.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859150,0.500915,0.104621],[-0.511550,-0.846044,-0.150085],[0.013334,-0.182465,0.983122]]
2025-10-24T23:29:16.066Z,1761348556.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857758,0.503735,0.102479],[-0.513901,-0.845143,-0.147104],[0.012508,-0.178844,0.983798]]
2025-10-24T23:29:16.474Z,1761348556.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856749,0.505952,0.099967],[-0.515596,-0.844755,-0.143356],[0.011916,-0.174362,0.984609]]
2025-10-24T23:29:16.868Z,1761348556.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856876,0.506273,0.097219],[-0.515399,-0.845433,-0.140026],[0.011301,-0.170092,0.985363]]
2025-10-24T23:29:17.270Z,1761348557.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857483,0.505543,0.095652],[-0.514404,-0.846176,-0.139191],[0.010571,-0.168558,0.985635]]
2025-10-24T23:29:17.682Z,1761348557.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858269,0.504524,0.093963],[-0.513106,-0.847093,-0.138403],[0.009768,-0.167001,0.985908]]
2025-10-24T23:29:18.079Z,1761348558.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858804,0.503662,0.093699],[-0.512225,-0.847404,-0.139756],[0.009011,-0.168018,0.985743]]
2025-10-24T23:29:18.542Z,1761348558.542 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:29:18.542Z,1761348558.542 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:29:18.542Z,1761348558.542 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:29:18.543Z,1761348558.543 [marl:UpdateRudder:A] Stopped
2025-10-24T23:29:18.543Z,1761348558.543 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:29:18.543Z,1761348558.543 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:29:18.543Z,1761348558.543 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:29:18.543Z,1761348558.543 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:29:18.543Z,1761348558.543 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:29:18.543Z,1761348558.543 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:29:18.543Z,1761348558.543 [marl:UpdateCommandMode] Stopped
2025-10-24T23:29:18.560Z,1761348558.560 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:29:18.560Z,1761348558.560 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:29:18.560Z,1761348558.560 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:29:18.560Z,1761348558.560 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:29:18.560Z,1761348558.560 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:29:18.561Z,1761348558.561 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:29:18.561Z,1761348558.561 [marl:UpdateSpeed] Stopped
2025-10-24T23:29:18.561Z,1761348558.561 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:29:18.884Z,1761348558.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858727,0.503669,0.094369],[-0.512385,-0.846484,-0.144660],[0.007021,-0.172576,0.984971]]
2025-10-24T23:29:18.939Z,1761348558.939 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:29:18.939Z,1761348558.939 [marl:UpdateRudder:B] Stopped
2025-10-24T23:29:18.939Z,1761348558.939 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:29:18.939Z,1761348558.939 [marl:UpdateRudder] Stopped
2025-10-24T23:29:18.939Z,1761348558.939 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:29:19.297Z,1761348559.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858099,0.504668,0.094745],[-0.513453,-0.845351,-0.147472],[0.005668,-0.175193,0.984518]]
2025-10-24T23:29:19.695Z,1761348559.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857155,0.506096,0.095665],[-0.515037,-0.843906,-0.150202],[0.004716,-0.178017,0.984016]]
2025-10-24T23:29:20.096Z,1761348560.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856383,0.507289,0.096258],[-0.516321,-0.842954,-0.151130],[0.004474,-0.179125,0.983816]]
2025-10-24T23:29:20.504Z,1761348560.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856063,0.507817,0.096324],[-0.516850,-0.842755,-0.150433],[0.004785,-0.178565,0.983917]]
2025-10-24T23:29:20.912Z,1761348560.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856105,0.507805,0.096016],[-0.516778,-0.842980,-0.149420],[0.005063,-0.177538,0.984101]]
2025-10-24T23:29:21.315Z,1761348561.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856434,0.507298,0.095755],[-0.516225,-0.843565,-0.148021],[0.005685,-0.176201,0.984338]]
2025-10-24T23:29:21.713Z,1761348561.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857176,0.506221,0.094810],[-0.514987,-0.844650,-0.146132],[0.006106,-0.174087,0.984711]]
2025-10-24T23:29:22.117Z,1761348562.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858179,0.504703,0.093830],[-0.513310,-0.845972,-0.144374],[0.006512,-0.172063,0.985064]]
2025-10-24T23:29:22.525Z,1761348562.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859586,0.502468,0.092937],[-0.510945,-0.847596,-0.143235],[0.006802,-0.170608,0.985316]]
2025-10-24T23:29:22.925Z,1761348562.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861252,0.499812,0.091829],[-0.508130,-0.849480,-0.142083],[0.006992,-0.169030,0.985586]]
2025-10-24T23:29:23.329Z,1761348563.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863179,0.496494,0.091737],[-0.504850,-0.851217,-0.143371],[0.006905,-0.170069,0.985408]]
2025-10-24T23:29:23.468Z,1761348563.468 [DAT](INFO): DAT read: 

2025-10-24T23:29:23.469Z,1761348563.469 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:29:23.737Z,1761348563.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865093,0.493042,0.092325],[-0.501566,-0.852722,-0.145935],[0.006776,-0.172554,0.984977]]
2025-10-24T23:29:24.167Z,1761348564.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867449,0.488234,0.095709],[-0.497479,-0.853825,-0.153289],[0.006878,-0.180584,0.983536]]
2025-10-24T23:29:24.574Z,1761348564.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867012,0.488448,0.098538],[-0.498234,-0.852705,-0.157023],[0.007326,-0.185236,0.982667]]
2025-10-24T23:29:25.241Z,1761348565.241 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:29:25.242Z,1761348565.242 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:29:25.243Z,1761348565.243 [DAT](INFO): DAT read: Oct 24 2025 23:29:19 

2025-10-24T23:29:25.350Z,1761348565.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865268,0.490691,0.102637],[-0.501251,-0.849977,-0.162127],[0.007685,-0.191730,0.981418]]
2025-10-24T23:29:25.768Z,1761348565.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859259,0.499399,0.110790],[-0.511467,-0.842408,-0.169557],[0.008654,-0.202359,0.979273]]
2025-10-24T23:29:26.254Z,1761348566.254 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:29:26.255Z,1761348566.255 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:29:26.256Z,1761348566.256 [DAT](INFO): commRate: 600
2025-10-24T23:29:26.336Z,1761348566.336 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:29:26.565Z,1761348566.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855234,0.505471,0.114346],[-0.518159,-0.837981,-0.171170],[0.009298,-0.205640,0.978584]]
2025-10-24T23:29:26.979Z,1761348566.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845857,0.520248,0.117765],[-0.533319,-0.828927,-0.168674],[0.009867,-0.205480,0.978612]]
2025-10-24T23:29:27.340Z,1761348567.340 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:29:27.384Z,1761348567.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841426,0.527536,0.117078],[-0.540282,-0.825256,-0.164462],[0.009859,-0.201638,0.979411]]
2025-10-24T23:29:27.803Z,1761348567.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837121,0.534388,0.116870],[-0.546923,-0.821633,-0.160603],[0.010200,-0.198363,0.980075]]
2025-10-24T23:29:28.181Z,1761348568.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832492,0.541675,0.116384],[-0.553935,-0.817800,-0.156077],[0.010636,-0.194402,0.980864]]
2025-10-24T23:29:28.324Z,1761348568.324 [DAT](INFO): entering command mode
2025-10-24T23:29:28.524Z,1761348568.524 [DAT](INFO): DAT read: 

2025-10-24T23:29:28.525Z,1761348568.525 [DAT](INFO): DAT read: user:1>

2025-10-24T23:29:28.525Z,1761348568.525 [DAT](INFO): setting verbose to 3
2025-10-24T23:29:28.598Z,1761348568.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828010,0.548629,0.115786],[-0.560596,-0.814230,-0.150873],[0.011503,-0.189834,0.981749]]
2025-10-24T23:29:28.777Z,1761348568.777 [DAT](INFO): DAT read: user:1>

2025-10-24T23:29:28.779Z,1761348568.779 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:29:28.779Z,1761348568.779 [DAT](INFO): set verbose to 3
2025-10-24T23:29:28.780Z,1761348568.780 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:29:28.999Z,1761348568.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823879,0.555071,0.114542],[-0.566625,-0.811175,-0.144677],[0.012608,-0.184099,0.982827]]
2025-10-24T23:29:29.029Z,1761348569.029 [DAT](INFO): DAT read: user:2>

2025-10-24T23:29:29.030Z,1761348569.030 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:29:29.030Z,1761348569.030 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:29:29.030Z,1761348569.030 [DAT](INFO): setting transmit power to 8
2025-10-24T23:29:29.281Z,1761348569.281 [DAT](INFO): DAT read: user:3>

2025-10-24T23:29:29.283Z,1761348569.283 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:29:29.283Z,1761348569.283 [DAT](INFO): set transmit power to 8
2025-10-24T23:29:29.283Z,1761348569.283 [DAT](INFO): setting local address to 11
2025-10-24T23:29:29.415Z,1761348569.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820331,0.560761,0.112270],[-0.571724,-0.808857,-0.137411],[0.013756,-0.176910,0.984131]]
2025-10-24T23:29:29.533Z,1761348569.533 [DAT](INFO): DAT read: user:4>

2025-10-24T23:29:29.534Z,1761348569.534 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:29:29.534Z,1761348569.534 [DAT](INFO): set local address to 11
2025-10-24T23:29:29.535Z,1761348569.535 [DAT](INFO): Setting time to: 23:29:29 And date to:10/24/2025
2025-10-24T23:29:29.792Z,1761348569.792 [DAT](INFO): DAT read: user:5>

2025-10-24T23:29:29.793Z,1761348569.793 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:29:29  

2025-10-24T23:29:29.793Z,1761348569.793 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:29:29  

2025-10-24T23:29:29.794Z,1761348569.794 [DAT](INFO): setting remote address to 10
2025-10-24T23:29:29.794Z,1761348569.794 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:29:29.794Z,1761348569.794 [DAT](INFO): setting remote address to 0
2025-10-24T23:29:29.813Z,1761348569.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818262,0.564138,0.110433],[-0.574654,-0.807707,-0.131841],[0.014821,-0.171342,0.985100]]
2025-10-24T23:29:30.045Z,1761348570.045 [DAT](INFO): DAT read: user:6>

2025-10-24T23:29:30.046Z,1761348570.046 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:29:30.046Z,1761348570.046 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:29:30.046Z,1761348570.046 [DAT] Communications Fault, FailCount= 7
2025-10-24T23:29:30.046Z,1761348570.046 [DAT](ERROR): Communications Fault
2025-10-24T23:29:30.047Z,1761348570.047 [DAT](INFO): DAT read: user:7>

2025-10-24T23:29:30.048Z,1761348570.048 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:29:30.049Z,1761348570.049 [DAT](INFO): set remote address to 0
2025-10-24T23:29:30.049Z,1761348570.049 [DAT](INFO): setting remote address to 10
2025-10-24T23:29:30.049Z,1761348570.049 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:29:30.049Z,1761348570.049 [DAT](INFO): setting remote address to 0
2025-10-24T23:29:30.207Z,1761348570.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817474,0.565633,0.108608],[-0.575741,-0.807755,-0.126705],[0.016060,-0.166109,0.985977]]
2025-10-24T23:29:30.383Z,1761348570.383 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:29:30.452Z,1761348570.452 [DAT](INFO): Powering down
2025-10-24T23:29:30.609Z,1761348570.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817850,0.565343,0.107280],[-0.575187,-0.808599,-0.123802],[0.016756,-0.162958,0.986491]]
2025-10-24T23:29:31.011Z,1761348571.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818842,0.563893,0.107346],[-0.573760,-0.809651,-0.123549],[0.017244,-0.162758,0.986515]]
2025-10-24T23:29:31.418Z,1761348571.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820818,0.560978,0.107524],[-0.570912,-0.811616,-0.123850],[0.017791,-0.163045,0.986458]]
2025-10-24T23:29:31.481Z,1761348571.481 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:29:31.481Z,1761348571.481 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:29:31.481Z,1761348571.481 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:29:31.481Z,1761348571.481 [marl:UpdateRudder:A] Stopped
2025-10-24T23:29:31.481Z,1761348571.481 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:29:31.481Z,1761348571.481 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:29:31.482Z,1761348571.482 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:29:31.482Z,1761348571.482 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:29:31.482Z,1761348571.482 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:29:31.482Z,1761348571.482 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:29:31.482Z,1761348571.482 [marl:UpdateCommandMode] Stopped
2025-10-24T23:29:31.482Z,1761348571.482 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:29:31.482Z,1761348571.482 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:29:31.482Z,1761348571.482 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:29:31.483Z,1761348571.483 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:29:31.483Z,1761348571.483 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:29:31.483Z,1761348571.483 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:29:31.483Z,1761348571.483 [marl:UpdateSpeed] Stopped
2025-10-24T23:29:31.483Z,1761348571.483 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:29:31.519Z,1761348571.519 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:29:31.519Z,1761348571.519 [DAT] No Fault, FailCount= 7
2025-10-24T23:29:31.814Z,1761348571.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823287,0.557071,0.108951],[-0.567328,-0.813762,-0.126217],[0.018349,-0.165724,0.986001]]
2025-10-24T23:29:31.843Z,1761348571.843 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:29:31.843Z,1761348571.843 [marl:UpdateRudder:B] Stopped
2025-10-24T23:29:31.843Z,1761348571.843 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:29:31.843Z,1761348571.843 [marl:UpdateRudder] Stopped
2025-10-24T23:29:31.844Z,1761348571.844 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:29:32.219Z,1761348572.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826241,0.552153,0.111593],[-0.562996,-0.816093,-0.130489],[0.019020,-0.170642,0.985150]]
2025-10-24T23:29:32.621Z,1761348572.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829004,0.547483,0.114078],[-0.558889,-0.818313,-0.134192],[0.019884,-0.175003,0.984367]]
2025-10-24T23:29:33.034Z,1761348573.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831790,0.542526,0.117432],[-0.554706,-0.820270,-0.139494],[0.020646,-0.181170,0.983235]]
2025-10-24T23:29:33.428Z,1761348573.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834811,0.537268,0.120139],[-0.550138,-0.822402,-0.144924],[0.020940,-0.187077,0.982122]]
2025-10-24T23:29:33.500Z,1761348573.500 [DAT](INFO): Powering up
2025-10-24T23:29:33.500Z,1761348573.500 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:29:33.832Z,1761348573.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837294,0.533247,0.120777],[-0.546364,-0.824365,-0.148017],[0.020635,-0.189922,0.981582]]
2025-10-24T23:29:34.244Z,1761348574.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838501,0.531129,0.121731],[-0.544527,-0.825022,-0.151095],[0.020180,-0.192980,0.980995]]
2025-10-24T23:29:34.642Z,1761348574.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837759,0.532132,0.122458],[-0.545705,-0.823775,-0.153626],[0.019129,-0.195527,0.980512]]
2025-10-24T23:29:35.045Z,1761348575.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835794,0.535043,0.123195],[-0.548736,-0.821531,-0.154841],[0.018362,-0.197017,0.980228]]
2025-10-24T23:29:35.449Z,1761348575.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833380,0.538712,0.123556],[-0.552400,-0.819210,-0.154107],[0.018199,-0.196682,0.980298]]
2025-10-24T23:29:35.856Z,1761348575.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830229,0.543317,0.124604],[-0.557121,-0.816127,-0.153472],[0.018309,-0.196836,0.980265]]
2025-10-24T23:29:36.265Z,1761348576.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826788,0.548309,0.125611],[-0.562197,-0.812938,-0.151876],[0.018839,-0.196188,0.980385]]
2025-10-24T23:29:36.669Z,1761348576.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823217,0.553661,0.125593],[-0.567406,-0.809802,-0.149235],[0.019080,-0.194115,0.980793]]
2025-10-24T23:29:37.064Z,1761348577.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819788,0.558892,0.124845],[-0.572341,-0.806965,-0.145716],[0.019306,-0.190911,0.981418]]
2025-10-24T23:29:37.468Z,1761348577.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816436,0.563797,0.124759],[-0.577102,-0.804028,-0.143149],[0.019603,-0.188871,0.981806]]
2025-10-24T23:29:37.909Z,1761348577.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812939,0.569040,0.123791],[-0.582020,-0.801056,-0.139865],[0.019574,-0.185751,0.982402]]
2025-10-24T23:29:38.302Z,1761348578.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809937,0.573477,0.122987],[-0.586190,-0.798484,-0.137129],[0.019563,-0.183160,0.982888]]
2025-10-24T23:29:38.703Z,1761348578.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807511,0.576975,0.122578],[-0.589527,-0.796342,-0.135269],[0.019567,-0.181494,0.983197]]
2025-10-24T23:29:39.093Z,1761348579.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805622,0.579899,0.121204],[-0.592102,-0.794957,-0.132133],[0.019728,-0.178214,0.983794]]
2025-10-24T23:29:39.490Z,1761348579.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804289,0.582106,0.119460],[-0.593902,-0.794185,-0.128651],[0.019985,-0.174420,0.984468]]
2025-10-24T23:29:39.936Z,1761348579.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803924,0.582886,0.118109],[-0.594379,-0.794290,-0.125766],[0.020506,-0.171308,0.985004]]
2025-10-24T23:29:40.296Z,1761348580.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804067,0.582693,0.118090],[-0.594162,-0.794615,-0.124730],[0.021157,-0.170456,0.985138]]
2025-10-24T23:29:40.702Z,1761348580.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804599,0.581880,0.118474],[-0.593417,-0.795226,-0.124387],[0.021836,-0.170387,0.985135]]
2025-10-24T23:29:41.111Z,1761348581.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805524,0.580502,0.118945],[-0.592134,-0.796192,-0.124318],[0.022536,-0.170573,0.985087]]
2025-10-24T23:29:41.517Z,1761348581.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806953,0.578361,0.119689],[-0.590166,-0.797511,-0.125218],[0.023032,-0.171681,0.984883]]
2025-10-24T23:29:41.952Z,1761348581.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808123,0.576457,0.120974],[-0.588538,-0.798510,-0.126511],[0.023671,-0.173435,0.984561]]
2025-10-24T23:29:42.316Z,1761348582.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808783,0.575128,0.122870],[-0.587600,-0.798922,-0.128255],[0.024400,-0.175929,0.984100]]
2025-10-24T23:29:42.743Z,1761348582.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809141,0.574185,0.124912],[-0.587098,-0.798865,-0.130886],[0.024635,-0.179240,0.983497]]
2025-10-24T23:29:43.138Z,1761348583.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809394,0.573627,0.125834],[-0.586742,-0.798937,-0.132033],[0.024796,-0.180699,0.983226]]
2025-10-24T23:29:43.554Z,1761348583.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808618,0.574343,0.127542],[-0.587824,-0.797735,-0.134472],[0.024512,-0.183709,0.982675]]
2025-10-24T23:29:43.954Z,1761348583.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806736,0.576607,0.129233],[-0.590421,-0.795461,-0.136543],[0.024068,-0.186456,0.982168]]
2025-10-24T23:29:44.347Z,1761348584.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804495,0.579453,0.130469],[-0.593485,-0.792994,-0.137609],[0.023723,-0.188137,0.981856]]
2025-10-24T23:29:44.380Z,1761348584.380 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:29:44.380Z,1761348584.380 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:29:44.380Z,1761348584.380 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:29:44.381Z,1761348584.381 [marl:UpdateRudder:A] Stopped
2025-10-24T23:29:44.381Z,1761348584.381 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:29:44.381Z,1761348584.381 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:29:44.381Z,1761348584.381 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:29:44.381Z,1761348584.381 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:29:44.381Z,1761348584.381 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:29:44.381Z,1761348584.381 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:29:44.382Z,1761348584.382 [marl:UpdateCommandMode] Stopped
2025-10-24T23:29:44.382Z,1761348584.382 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:29:44.382Z,1761348584.382 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:29:44.382Z,1761348584.382 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:29:44.382Z,1761348584.382 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:29:44.382Z,1761348584.382 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:29:44.382Z,1761348584.382 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:29:44.382Z,1761348584.382 [marl:UpdateSpeed] Stopped
2025-10-24T23:29:44.383Z,1761348584.383 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:29:44.752Z,1761348584.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802545,0.582090,0.130739],[-0.596130,-0.791044,-0.137398],[0.023442,-0.188206,0.981850]]
2025-10-24T23:29:44.794Z,1761348584.794 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:29:44.794Z,1761348584.794 [marl:UpdateRudder:B] Stopped
2025-10-24T23:29:44.795Z,1761348584.795 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:29:44.795Z,1761348584.795 [marl:UpdateRudder] Stopped
2025-10-24T23:29:44.795Z,1761348584.795 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:29:45.153Z,1761348585.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800103,0.585576,0.130135],[-0.599413,-0.788857,-0.135677],[0.023209,-0.186561,0.982169]]
2025-10-24T23:29:45.549Z,1761348585.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797867,0.588814,0.129257],[-0.602388,-0.786982,-0.133375],[0.023190,-0.184279,0.982600]]
2025-10-24T23:29:45.601Z,1761348585.601 [DAT](INFO): DAT read: 

2025-10-24T23:29:45.601Z,1761348585.601 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:29:45.954Z,1761348585.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794550,0.593274,0.129293],[-0.606755,-0.783904,-0.131691],[0.023225,-0.183085,0.982823]]
2025-10-24T23:29:46.361Z,1761348586.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791725,0.597125,0.128893],[-0.610417,-0.781514,-0.128945],[0.023736,-0.180768,0.983239]]
2025-10-24T23:29:46.761Z,1761348586.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788819,0.601041,0.128508],[-0.614159,-0.778947,-0.126692],[0.023953,-0.178862,0.983583]]
2025-10-24T23:29:47.164Z,1761348587.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786597,0.604006,0.128223],[-0.616976,-0.777110,-0.124262],[0.024588,-0.176854,0.983930]]
2025-10-24T23:29:47.365Z,1761348587.365 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:29:47.366Z,1761348587.366 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:29:47.367Z,1761348587.367 [DAT](INFO): DAT read: Oct 24 2025 23:29:41 

2025-10-24T23:29:47.569Z,1761348587.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784820,0.606395,0.127839],[-0.619207,-0.775722,-0.121808],[0.025304,-0.174756,0.984286]]
2025-10-24T23:29:47.973Z,1761348587.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783709,0.607804,0.127962],[-0.620607,-0.774694,-0.121230],[0.025447,-0.174423,0.984342]]
2025-10-24T23:29:48.373Z,1761348588.373 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:29:48.374Z,1761348588.374 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:29:48.375Z,1761348588.375 [DAT](INFO): commRate: 600
2025-10-24T23:29:48.398Z,1761348588.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782609,0.609091,0.128573],[-0.621971,-0.773690,-0.120648],[0.025990,-0.174389,0.984334]]
2025-10-24T23:29:48.780Z,1761348588.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781932,0.609822,0.129228],[-0.622793,-0.773115,-0.120090],[0.026675,-0.174384,0.984316]]
2025-10-24T23:29:49.184Z,1761348589.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781204,0.610656,0.129692],[-0.623691,-0.772437,-0.119795],[0.027026,-0.174472,0.984291]]
2025-10-24T23:29:49.589Z,1761348589.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781223,0.610623,0.129730],[-0.623645,-0.772587,-0.119066],[0.027524,-0.173922,0.984375]]
2025-10-24T23:29:49.995Z,1761348589.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781696,0.609944,0.130073],[-0.623049,-0.772982,-0.119616],[0.027585,-0.174545,0.984263]]
2025-10-24T23:29:50.398Z,1761348590.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782664,0.608432,0.131330],[-0.621829,-0.773666,-0.121528],[0.027664,-0.176780,0.983861]]
2025-10-24T23:29:50.440Z,1761348590.440 [DAT](INFO): entering command mode
2025-10-24T23:29:50.641Z,1761348590.641 [DAT](INFO): DAT read: 

2025-10-24T23:29:50.641Z,1761348590.641 [DAT](INFO): DAT read: user:1>

2025-10-24T23:29:50.641Z,1761348590.641 [DAT](INFO): setting verbose to 3
2025-10-24T23:29:50.801Z,1761348590.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783955,0.606881,0.130809],[-0.620202,-0.774981,-0.121468],[0.027658,-0.176353,0.983938]]
2025-10-24T23:29:50.893Z,1761348590.893 [DAT](INFO): DAT read: user:1>

2025-10-24T23:29:50.893Z,1761348590.893 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:29:50.894Z,1761348590.894 [DAT](INFO): set verbose to 3
2025-10-24T23:29:50.894Z,1761348590.894 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:29:51.145Z,1761348591.145 [DAT](INFO): DAT read: user:2>

2025-10-24T23:29:51.146Z,1761348591.146 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:29:51.146Z,1761348591.146 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:29:51.146Z,1761348591.146 [DAT](INFO): setting transmit power to 8
2025-10-24T23:29:51.227Z,1761348591.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785450,0.604956,0.130753],[-0.618312,-0.776365,-0.122259],[0.027551,-0.176874,0.983848]]
2025-10-24T23:29:51.397Z,1761348591.397 [DAT](INFO): DAT read: user:3>

2025-10-24T23:29:51.397Z,1761348591.397 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:29:51.398Z,1761348591.398 [DAT](INFO): set transmit power to 8
2025-10-24T23:29:51.398Z,1761348591.398 [DAT](INFO): setting local address to 11
2025-10-24T23:29:51.619Z,1761348591.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786983,0.603137,0.129936],[-0.616362,-0.777951,-0.122027],[0.027485,-0.176121,0.983985]]
2025-10-24T23:29:51.649Z,1761348591.649 [DAT](INFO): DAT read: user:4>

2025-10-24T23:29:51.650Z,1761348591.650 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:29:51.650Z,1761348591.650 [DAT](INFO): set local address to 11
2025-10-24T23:29:51.652Z,1761348591.652 [DAT](INFO): Setting time to: 23:29:51 And date to:10/24/2025
2025-10-24T23:29:51.903Z,1761348591.903 [DAT](INFO): DAT read: user:5>

2025-10-24T23:29:51.907Z,1761348591.907 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:29:51  

2025-10-24T23:29:51.908Z,1761348591.908 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:29:51  

2025-10-24T23:29:51.910Z,1761348591.910 [DAT](INFO): setting remote address to 10
2025-10-24T23:29:51.913Z,1761348591.913 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:29:51.914Z,1761348591.914 [DAT](INFO): setting remote address to 0
2025-10-24T23:29:52.016Z,1761348592.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788236,0.601488,0.129983],[-0.614764,-0.779080,-0.122881],[0.027356,-0.176768,0.983872]]
2025-10-24T23:29:52.153Z,1761348592.153 [DAT](INFO): DAT read: user:6>

2025-10-24T23:29:52.155Z,1761348592.155 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:29:52.155Z,1761348592.155 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:29:52.155Z,1761348592.155 [DAT] Communications Fault, FailCount= 8
2025-10-24T23:29:52.155Z,1761348592.155 [DAT](ERROR): Communications Fault
2025-10-24T23:29:52.157Z,1761348592.157 [DAT](INFO): DAT read: user:7>

2025-10-24T23:29:52.158Z,1761348592.158 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:29:52.158Z,1761348592.158 [DAT](INFO): set remote address to 0
2025-10-24T23:29:52.159Z,1761348592.159 [DAT](INFO): setting remote address to 10
2025-10-24T23:29:52.159Z,1761348592.159 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:29:52.159Z,1761348592.159 [DAT](INFO): setting remote address to 0
2025-10-24T23:29:52.181Z,1761348592.181 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:29:52.181Z,1761348592.181 [CBIT](FAULT): Communications Fault in component: DAT
2025-10-24T23:29:52.444Z,1761348592.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789097,0.600405,0.129769],[-0.613667,-0.779882,-0.123275],[0.027190,-0.176911,0.983851]]
2025-10-24T23:29:52.564Z,1761348592.564 [DAT](INFO): Powering down
2025-10-24T23:29:52.600Z,1761348592.600 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:29:52.601Z,1761348592.601 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:29:52.842Z,1761348592.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789242,0.600029,0.130624],[-0.613484,-0.779813,-0.124612],[0.027092,-0.178485,0.983570]]
2025-10-24T23:29:53.226Z,1761348593.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788171,0.600983,0.132686],[-0.614868,-0.778322,-0.127091],[0.026893,-0.181754,0.982976]]
2025-10-24T23:29:53.634Z,1761348593.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786954,0.602203,0.134371],[-0.616436,-0.776758,-0.129049],[0.026661,-0.184387,0.982492]]
2025-10-24T23:29:54.038Z,1761348594.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785446,0.603713,0.136403],[-0.618371,-0.774808,-0.131489],[0.026304,-0.187625,0.981888]]
2025-10-24T23:29:54.438Z,1761348594.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783613,0.605899,0.137246],[-0.620708,-0.772804,-0.132271],[0.025921,-0.188839,0.981666]]
2025-10-24T23:29:54.840Z,1761348594.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781514,0.608090,0.139509],[-0.623374,-0.770171,-0.135063],[0.025316,-0.192520,0.980967]]
2025-10-24T23:29:55.251Z,1761348595.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779055,0.611032,0.140399],[-0.626473,-0.767467,-0.136109],[0.024585,-0.193993,0.980695]]
2025-10-24T23:29:55.675Z,1761348595.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776363,0.614338,0.140886],[-0.629842,-0.764571,-0.136854],[0.023643,-0.194985,0.980521]]
2025-10-24T23:29:56.076Z,1761348596.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773029,0.618484,0.141078],[-0.633956,-0.761216,-0.136566],[0.022927,-0.195006,0.980534]]
2025-10-24T23:29:56.149Z,1761348596.149 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:29:56.455Z,1761348596.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769090,0.623413,0.140916],[-0.638761,-0.757319,-0.135839],[0.022034,-0.194484,0.980658]]
2025-10-24T23:29:56.870Z,1761348596.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765071,0.628292,0.141122],[-0.643596,-0.753293,-0.135403],[0.021234,-0.194418,0.980689]]
2025-10-24T23:29:57.281Z,1761348597.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761477,0.632827,0.140294],[-0.647874,-0.749841,-0.134155],[0.020301,-0.193049,0.980979]]
2025-10-24T23:29:57.323Z,1761348597.323 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:29:57.323Z,1761348597.323 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:29:57.323Z,1761348597.323 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:29:57.323Z,1761348597.323 [marl:UpdateRudder:A] Stopped
2025-10-24T23:29:57.323Z,1761348597.323 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:29:57.323Z,1761348597.323 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:29:57.340Z,1761348597.340 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:29:57.340Z,1761348597.340 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:29:57.340Z,1761348597.340 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:29:57.340Z,1761348597.340 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:29:57.340Z,1761348597.340 [marl:UpdateCommandMode] Stopped
2025-10-24T23:29:57.341Z,1761348597.341 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:29:57.341Z,1761348597.341 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:29:57.341Z,1761348597.341 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:29:57.341Z,1761348597.341 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:29:57.341Z,1761348597.341 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:29:57.341Z,1761348597.341 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:29:57.341Z,1761348597.341 [marl:UpdateSpeed] Stopped
2025-10-24T23:29:57.341Z,1761348597.341 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:29:57.461Z,1761348597.461 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:29:57.705Z,1761348597.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758553,0.636935,0.137518],[-0.651326,-0.747383,-0.131118],[0.019265,-0.189029,0.981782]]
2025-10-24T23:29:57.772Z,1761348597.772 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:29:57.772Z,1761348597.772 [marl:UpdateRudder:B] Stopped
2025-10-24T23:29:57.772Z,1761348597.772 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:29:57.772Z,1761348597.772 [marl:UpdateRudder] Stopped
2025-10-24T23:29:57.772Z,1761348597.772 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:29:58.081Z,1761348598.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756235,0.640479,0.133774],[-0.654050,-0.745628,-0.127506],[0.018081,-0.183919,0.982775]]
2025-10-24T23:29:58.464Z,1761348598.464 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:29:58.490Z,1761348598.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755374,0.642433,0.129188],[-0.655075,-0.745391,-0.123564],[0.016914,-0.177965,0.983891]]
2025-10-24T23:29:58.889Z,1761348598.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755857,0.642715,0.124893],[-0.654550,-0.746330,-0.120651],[0.015667,-0.172944,0.984807]]
2025-10-24T23:29:59.287Z,1761348599.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757260,0.641790,0.121090],[-0.652950,-0.748095,-0.118364],[0.014622,-0.168698,0.985559]]
2025-10-24T23:29:59.702Z,1761348599.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759464,0.639874,0.117374],[-0.650419,-0.750470,-0.117261],[0.013053,-0.165398,0.986141]]
2025-10-24T23:30:00.095Z,1761348600.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761964,0.637404,0.114576],[-0.647517,-0.752983,-0.117213],[0.011562,-0.163502,0.986475]]
2025-10-24T23:30:00.499Z,1761348600.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762888,0.637046,0.110339],[-0.646454,-0.754233,-0.115017],[0.009950,-0.159074,0.987217]]
2025-10-24T23:30:00.901Z,1761348600.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759738,0.642377,0.100744],[-0.650183,-0.752356,-0.105935],[0.007745,-0.145985,0.989256]]
2025-10-24T23:30:01.305Z,1761348601.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752439,0.653002,0.086159],[-0.658640,-0.746998,-0.090477],[0.005279,-0.124826,0.992165]]
2025-10-24T23:30:01.708Z,1761348601.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741974,0.667031,0.067409],[-0.670421,-0.738662,-0.070101],[0.003033,-0.097205,0.995260]]
2025-10-24T23:30:02.112Z,1761348602.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728669,0.683127,0.048772],[-0.684865,-0.726926,-0.050386],[0.001033,-0.070117,0.997538]]
2025-10-24T23:30:02.516Z,1761348602.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713250,0.700211,0.031272],[-0.700909,-0.712482,-0.033108],[-0.000902,-0.045533,0.998962]]
2025-10-24T23:30:02.922Z,1761348602.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696882,0.717015,0.015665],[-0.717181,-0.696635,-0.018723],[-0.002512,-0.024282,0.999702]]
2025-10-24T23:30:03.328Z,1761348603.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680220,0.733000,0.003212],[-0.732998,-0.680183,-0.007997],[-0.003677,-0.007794,0.999963]]
2025-10-24T23:30:03.729Z,1761348603.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663782,0.747892,-0.007230],[-0.747911,-0.663800,-0.000117],[-0.004887,0.005330,0.999974]]
2025-10-24T23:30:04.132Z,1761348604.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648613,0.760927,-0.017075],[-0.761097,-0.648598,0.007124],[-0.005654,0.017616,0.999829]]
2025-10-24T23:30:04.537Z,1761348604.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634614,0.772434,-0.024701],[-0.772801,-0.634538,0.011810],[-0.006552,0.026584,0.999625]]
2025-10-24T23:30:04.941Z,1761348604.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621666,0.782694,-0.030357],[-0.783249,-0.621531,0.014845],[-0.007249,0.033006,0.999429]]
2025-10-24T23:30:05.344Z,1761348605.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609461,0.792085,-0.034027],[-0.792775,-0.609304,0.016007],[-0.008054,0.036732,0.999293]]
2025-10-24T23:30:05.748Z,1761348605.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598141,0.800570,-0.036262],[-0.801344,-0.597982,0.016277],[-0.008653,0.038794,0.999210]]
2025-10-24T23:30:06.165Z,1761348606.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587531,0.808328,-0.037585],[-0.809149,-0.587388,0.015904],[-0.009222,0.039756,0.999167]]
2025-10-24T23:30:06.578Z,1761348606.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577633,0.815381,-0.038638],[-0.816237,-0.577516,0.015248],[-0.009881,0.040346,0.999137]]
2025-10-24T23:30:06.975Z,1761348606.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568453,0.821796,-0.038901],[-0.822655,-0.568352,0.014691],[-0.010037,0.040353,0.999135]]
2025-10-24T23:30:07.367Z,1761348607.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559536,0.827969,-0.037238],[-0.828747,-0.559469,0.013157],[-0.009940,0.038222,0.999220]]
2025-10-24T23:30:07.771Z,1761348607.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550319,0.834206,-0.035355],[-0.834901,-0.550270,0.011956],[-0.009481,0.036098,0.999303]]
2025-10-24T23:30:08.178Z,1761348608.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540309,0.840775,-0.034116],[-0.841421,-0.540259,0.011474],[-0.008784,0.034905,0.999352]]
2025-10-24T23:30:08.576Z,1761348608.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528577,0.848290,-0.031779],[-0.848844,-0.528550,0.009930],[-0.008373,0.032225,0.999446]]
2025-10-24T23:30:08.980Z,1761348608.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515431,0.856400,-0.030174],[-0.856886,-0.515444,0.007932],[-0.008760,0.029944,0.999513]]
2025-10-24T23:30:09.393Z,1761348609.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501304,0.864782,-0.029100],[-0.865218,-0.501363,0.005786],[-0.009586,0.028079,0.999560]]
2025-10-24T23:30:09.813Z,1761348609.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487597,0.872608,-0.028385],[-0.873007,-0.487691,0.003954],[-0.010393,0.026708,0.999589]]
2025-10-24T23:30:10.222Z,1761348610.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458336,0.888327,-0.028331],[-0.888688,-0.458513,0.000277],[-0.012744,0.025304,0.999599]]
2025-10-24T23:30:10.313Z,1761348610.313 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:30:10.313Z,1761348610.313 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:30:10.313Z,1761348610.313 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:30:10.313Z,1761348610.313 [marl:UpdateRudder:A] Stopped
2025-10-24T23:30:10.313Z,1761348610.313 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:30:10.313Z,1761348610.313 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:30:10.313Z,1761348610.313 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:30:10.313Z,1761348610.313 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:30:10.314Z,1761348610.314 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:30:10.314Z,1761348610.314 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:30:10.314Z,1761348610.314 [marl:UpdateCommandMode] Stopped
2025-10-24T23:30:10.314Z,1761348610.314 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:30:10.314Z,1761348610.314 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:30:10.314Z,1761348610.314 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:30:10.314Z,1761348610.314 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:30:10.315Z,1761348610.315 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:30:10.315Z,1761348610.315 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:30:10.315Z,1761348610.315 [marl:UpdateSpeed] Stopped
2025-10-24T23:30:10.315Z,1761348610.315 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:30:10.666Z,1761348610.666 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:30:10.667Z,1761348610.667 [marl:UpdateRudder:B] Stopped
2025-10-24T23:30:10.667Z,1761348610.667 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:30:10.667Z,1761348610.667 [marl:UpdateRudder] Stopped
2025-10-24T23:30:10.667Z,1761348610.667 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:30:11.020Z,1761348611.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426866,0.903886,-0.027828],[-0.904206,-0.427090,-0.002372],[-0.014029,0.024150,0.999610]]
2025-10-24T23:30:11.426Z,1761348611.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410189,0.911573,-0.027918],[-0.911888,-0.410427,-0.003161],[-0.014340,0.024161,0.999605]]
2025-10-24T23:30:11.834Z,1761348611.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392929,0.919136,-0.028217],[-0.919455,-0.393178,-0.003692],[-0.014488,0.024494,0.999595]]
2025-10-24T23:30:12.227Z,1761348612.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374747,0.926649,-0.029771],[-0.927009,-0.375018,-0.003911],[-0.014789,0.026132,0.999549]]
2025-10-24T23:30:12.638Z,1761348612.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356765,0.933652,-0.031835],[-0.934079,-0.357049,-0.003516],[-0.014650,0.028482,0.999487]]
2025-10-24T23:30:13.036Z,1761348613.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338501,0.940371,-0.033448],[-0.940857,-0.338789,-0.003201],[-0.014342,0.030386,0.999435]]
2025-10-24T23:30:13.433Z,1761348613.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321990,0.946112,-0.034561],[-0.946646,-0.322265,-0.002527],[-0.013529,0.031904,0.999399]]
2025-10-24T23:30:13.837Z,1761348613.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305766,0.951482,-0.034493],[-0.952020,-0.306026,-0.002392],[-0.012832,0.032107,0.999402]]
2025-10-24T23:30:14.262Z,1761348614.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289290,0.956588,-0.035358],[-0.957160,-0.289549,-0.002330],[-0.012467,0.033169,0.999372]]
2025-10-24T23:30:14.644Z,1761348614.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273659,0.961202,-0.034656],[-0.961755,-0.273901,-0.002340],[-0.011741,0.032690,0.999397]]
2025-10-24T23:30:15.042Z,1761348615.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257929,0.965590,-0.033301],[-0.966097,-0.258163,-0.002854],[-0.011352,0.031436,0.999441]]
2025-10-24T23:30:15.446Z,1761348615.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242435,0.969649,-0.031725],[-0.970103,-0.242666,-0.003601],[-0.011190,0.029904,0.999490]]
2025-10-24T23:30:15.858Z,1761348615.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227776,0.973254,-0.029911],[-0.973651,-0.228002,-0.004343],[-0.011047,0.028134,0.999543]]
2025-10-24T23:30:16.253Z,1761348616.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213410,0.976506,-0.029855],[-0.976901,-0.213639,-0.004686],[-0.010954,0.028166,0.999543]]
2025-10-24T23:30:16.661Z,1761348616.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200186,0.979279,-0.030647],[-0.979695,-0.200430,-0.005102],[-0.011139,0.029003,0.999517]]
2025-10-24T23:30:17.061Z,1761348617.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188037,0.981683,-0.030678],[-0.982095,-0.188297,-0.005797],[-0.011467,0.029039,0.999512]]
2025-10-24T23:30:17.466Z,1761348617.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176611,0.983811,-0.030409],[-0.984212,-0.176879,-0.006342],[-0.011618,0.028809,0.999517]]
2025-10-24T23:30:17.920Z,1761348617.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165781,0.985731,-0.029177],[-0.986099,-0.166034,-0.006478],[-0.011230,0.027697,0.999553]]
2025-10-24T23:30:18.272Z,1761348618.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155829,0.987380,-0.028265],[-0.987728,-0.156061,-0.006156],[-0.010489,0.026959,0.999582]]
2025-10-24T23:30:18.681Z,1761348618.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145803,0.988953,-0.026715],[-0.989267,-0.146004,-0.005718],[-0.009555,0.025595,0.999627]]
2025-10-24T23:30:19.082Z,1761348619.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133641,0.990750,-0.023564],[-0.990993,-0.133803,-0.005431],[-0.008534,0.022626,0.999708]]
2025-10-24T23:30:19.484Z,1761348619.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119852,0.992581,-0.020441],[-0.992762,-0.119984,-0.005332],[-0.007745,0.019654,0.999777]]
2025-10-24T23:30:19.941Z,1761348619.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104781,0.994325,-0.018400],[-0.994470,-0.104892,-0.005183],[-0.007084,0.017755,0.999817]]
2025-10-24T23:30:20.297Z,1761348620.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088027,0.995974,-0.016962],[-0.996094,-0.088131,-0.005503],[-0.006976,0.016411,0.999841]]
2025-10-24T23:30:20.720Z,1761348620.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070289,0.997384,-0.016894],[-0.997501,-0.070399,-0.006023],[-0.007196,0.016429,0.999839]]
2025-10-24T23:30:21.127Z,1761348621.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051605,0.998502,-0.018207],[-0.998637,-0.051738,-0.006910],[-0.007841,0.017825,0.999810]]
2025-10-24T23:30:21.506Z,1761348621.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032792,0.999239,-0.021144],[-0.999425,-0.032966,-0.007942],[-0.008633,0.020871,0.999745]]
2025-10-24T23:30:21.941Z,1761348621.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014965,0.999584,-0.024641],[-0.999845,-0.015189,-0.008898],[-0.009268,0.024504,0.999657]]
2025-10-24T23:30:22.317Z,1761348622.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002187,0.999643,-0.026613],[-0.999947,0.001920,-0.010075],[-0.010020,0.026634,0.999595]]
2025-10-24T23:30:22.716Z,1761348622.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017730,0.999456,-0.027808],[-0.999782,0.017415,-0.011521],[-0.011030,0.028006,0.999547]]
2025-10-24T23:30:23.124Z,1761348623.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031874,0.999066,-0.029180],[-0.999419,0.031505,-0.013035],[-0.012103,0.029579,0.999489]]
2025-10-24T23:30:23.149Z,1761348623.149 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:30:23.149Z,1761348623.149 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:30:23.149Z,1761348623.149 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:30:23.149Z,1761348623.149 [marl:UpdateRudder:A] Stopped
2025-10-24T23:30:23.149Z,1761348623.149 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:30:23.149Z,1761348623.149 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:30:23.150Z,1761348623.150 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:30:23.150Z,1761348623.150 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:30:23.150Z,1761348623.150 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:30:23.150Z,1761348623.150 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:30:23.150Z,1761348623.150 [marl:UpdateCommandMode] Stopped
2025-10-24T23:30:23.150Z,1761348623.150 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:30:23.150Z,1761348623.150 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:30:23.150Z,1761348623.150 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:30:23.151Z,1761348623.151 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:30:23.151Z,1761348623.151 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:30:23.151Z,1761348623.151 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:30:23.151Z,1761348623.151 [marl:UpdateSpeed] Stopped
2025-10-24T23:30:23.151Z,1761348623.151 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:30:23.532Z,1761348623.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044623,0.998531,-0.030733],[-0.998920,0.044200,-0.014311],[-0.012931,0.031339,0.999425]]
2025-10-24T23:30:23.562Z,1761348623.562 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:30:23.562Z,1761348623.562 [marl:UpdateRudder:B] Stopped
2025-10-24T23:30:23.562Z,1761348623.562 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:30:23.562Z,1761348623.562 [marl:UpdateRudder] Stopped
2025-10-24T23:30:23.562Z,1761348623.562 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:30:23.961Z,1761348623.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056678,0.997923,-0.030624],[-0.998304,0.056239,-0.015010],[-0.013257,0.031423,0.999418]]
2025-10-24T23:30:24.367Z,1761348624.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069233,0.997132,-0.030556],[-0.997514,0.068791,-0.015303],[-0.013157,0.031539,0.999416]]
2025-10-24T23:30:24.763Z,1761348624.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083448,0.996054,-0.030230],[-0.996435,0.083024,-0.015006],[-0.012437,0.031375,0.999430]]
2025-10-24T23:30:25.162Z,1761348625.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100210,0.994528,-0.029543],[-0.994902,0.099822,-0.014328],[-0.011300,0.030828,0.999461]]
2025-10-24T23:30:25.568Z,1761348625.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118809,0.992511,-0.028409],[-0.992870,0.118474,-0.013190],[-0.009726,0.029773,0.999509]]
2025-10-24T23:30:25.986Z,1761348625.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138736,0.989928,-0.028195],[-0.990300,0.138457,-0.011612],[-0.007591,0.029533,0.999535]]
2025-10-24T23:30:26.375Z,1761348626.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159611,0.986752,-0.029055],[-0.987166,0.159384,-0.009972],[-0.005209,0.030273,0.999528]]
2025-10-24T23:30:26.782Z,1761348626.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181251,0.983034,-0.028144],[-0.983429,0.181063,-0.009102],[-0.003852,0.029328,0.999562]]
2025-10-24T23:30:27.184Z,1761348627.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203404,0.978721,-0.027069],[-0.979087,0.203214,-0.009626],[-0.003920,0.028461,0.999587]]
2025-10-24T23:30:27.598Z,1761348627.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225423,0.973940,-0.025030],[-0.974244,0.225192,-0.011732],[-0.005790,0.027030,0.999618]]
2025-10-24T23:30:27.990Z,1761348627.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245214,0.969210,-0.022418],[-0.969432,0.244935,-0.014468],[-0.008532,0.025281,0.999644]]
2025-10-24T23:30:28.394Z,1761348628.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261643,0.964953,-0.020236],[-0.965102,0.261330,-0.016855],[-0.010976,0.023940,0.999653]]
2025-10-24T23:30:28.588Z,1761348628.588 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:30:28.802Z,1761348628.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275144,0.961229,-0.018300],[-0.961315,0.274811,-0.018773],[-0.013016,0.022757,0.999656]]
2025-10-24T23:30:29.204Z,1761348629.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287021,0.957780,-0.016639],[-0.957811,0.286676,-0.020380],[-0.014750,0.021786,0.999654]]
2025-10-24T23:30:29.592Z,1761348629.592 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:30:29.607Z,1761348629.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298241,0.954373,-0.015012],[-0.954356,0.297897,-0.021498],[-0.016046,0.020738,0.999656]]
2025-10-24T23:30:30.010Z,1761348630.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308773,0.951030,-0.014162],[-0.950987,0.308427,-0.022301],[-0.016841,0.020354,0.999651]]
2025-10-24T23:30:30.416Z,1761348630.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318945,0.947678,-0.013417],[-0.947618,0.318604,-0.022620],[-0.017162,0.019928,0.999654]]
2025-10-24T23:30:30.818Z,1761348630.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328500,0.944416,-0.012872],[-0.944352,0.328172,-0.022435],[-0.016964,0.019526,0.999665]]
2025-10-24T23:30:31.222Z,1761348631.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337857,0.941082,-0.014727],[-0.941056,0.337494,-0.022602],[-0.016300,0.021496,0.999636]]
2025-10-24T23:30:31.626Z,1761348631.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347697,0.937459,-0.016684],[-0.937479,0.347301,-0.022682],[-0.015469,0.023527,0.999604]]
2025-10-24T23:30:32.037Z,1761348632.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357645,0.933675,-0.018460],[-0.933739,0.357214,-0.023033],[-0.014911,0.025474,0.999564]]
2025-10-24T23:30:32.434Z,1761348632.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367758,0.929743,-0.018238],[-0.929807,0.367334,-0.022915],[-0.014606,0.025385,0.999571]]
2025-10-24T23:30:32.838Z,1761348632.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379560,0.924978,-0.018721],[-0.925049,0.379112,-0.023610],[-0.014742,0.026280,0.999546]]
2025-10-24T23:30:33.242Z,1761348633.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392721,0.919462,-0.018960],[-0.919528,0.392237,-0.024874],[-0.015434,0.027203,0.999511]]
2025-10-24T23:30:33.649Z,1761348633.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407048,0.913231,-0.017937],[-0.913260,0.406552,-0.025900],[-0.016360,0.026923,0.999504]]
2025-10-24T23:30:34.057Z,1761348634.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422173,0.906330,-0.018322],[-0.906355,0.421633,-0.027318],[-0.017034,0.028139,0.999459]]
2025-10-24T23:30:34.454Z,1761348634.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438548,0.898518,-0.018485],[-0.898533,0.437965,-0.028726],[-0.017716,0.029207,0.999416]]
2025-10-24T23:30:34.866Z,1761348634.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455855,0.889841,-0.019493],[-0.889874,0.455212,-0.030119],[-0.017928,0.031076,0.999356]]
2025-10-24T23:30:35.270Z,1761348635.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473843,0.880364,-0.020783],[-0.880429,0.473137,-0.031403],[-0.017813,0.033178,0.999291]]
2025-10-24T23:30:35.671Z,1761348635.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492096,0.870293,-0.020788],[-0.870372,0.491388,-0.031481],[-0.017183,0.033585,0.999288]]
2025-10-24T23:30:36.075Z,1761348636.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510197,0.859802,-0.020986],[-0.859904,0.509492,-0.031365],[-0.016275,0.034048,0.999288]]
2025-10-24T23:30:36.123Z,1761348636.123 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:30:36.123Z,1761348636.123 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:30:36.123Z,1761348636.123 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:30:36.124Z,1761348636.124 [marl:UpdateRudder:A] Stopped
2025-10-24T23:30:36.124Z,1761348636.124 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:30:36.124Z,1761348636.124 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:30:36.124Z,1761348636.124 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:30:36.124Z,1761348636.124 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:30:36.124Z,1761348636.124 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:30:36.125Z,1761348636.125 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:30:36.125Z,1761348636.125 [marl:UpdateCommandMode] Stopped
2025-10-24T23:30:36.125Z,1761348636.125 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:30:36.125Z,1761348636.125 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:30:36.125Z,1761348636.125 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:30:36.125Z,1761348636.125 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:30:36.125Z,1761348636.125 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:30:36.125Z,1761348636.125 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:30:36.126Z,1761348636.126 [marl:UpdateSpeed] Stopped
2025-10-24T23:30:36.126Z,1761348636.126 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:30:36.474Z,1761348636.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528404,0.848757,-0.020018],[-0.848852,0.527739,-0.030693],[-0.015487,0.033211,0.999328]]
2025-10-24T23:30:36.533Z,1761348636.533 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:30:36.533Z,1761348636.533 [marl:UpdateRudder:B] Stopped
2025-10-24T23:30:36.533Z,1761348636.533 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:30:36.533Z,1761348636.533 [marl:UpdateRudder] Stopped
2025-10-24T23:30:36.533Z,1761348636.533 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:30:36.880Z,1761348636.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546605,0.837214,-0.017187],[-0.837241,0.546004,-0.030117],[-0.015831,0.030852,0.999399]]
2025-10-24T23:30:37.283Z,1761348637.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564424,0.825380,-0.013168],[-0.825311,0.563905,-0.029558],[-0.016971,0.027551,0.999476]]
2025-10-24T23:30:37.689Z,1761348637.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581036,0.813830,-0.008800],[-0.813663,0.580600,-0.029263],[-0.018706,0.024164,0.999533]]
2025-10-24T23:30:38.093Z,1761348638.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596195,0.802824,-0.005048],[-0.802582,0.595832,-0.029097],[-0.020352,0.021398,0.999564]]
2025-10-24T23:30:38.510Z,1761348638.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608488,0.793563,-0.000625],[-0.793281,0.608251,-0.027143],[-0.021160,0.017012,0.999631]]
2025-10-24T23:30:38.898Z,1761348638.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618754,0.785576,0.003688],[-0.785294,0.618645,-0.024327],[-0.021392,0.012156,0.999697]]
2025-10-24T23:30:39.309Z,1761348639.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626247,0.779528,0.012273],[-0.779322,0.626365,-0.018012],[-0.021728,0.001715,0.999762]]
2025-10-24T23:30:39.709Z,1761348639.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629383,0.776662,0.025937],[-0.776782,0.629726,-0.007371],[-0.022058,-0.015508,0.999636]]
2025-10-24T23:30:40.119Z,1761348640.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629069,0.776057,0.044815],[-0.777032,0.629414,0.007715],[-0.022220,-0.039676,0.998966]]
2025-10-24T23:30:40.163Z,1761348640.163 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,    -8, +103,A
2025-10-24T23:30:40.514Z,1761348640.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627047,0.776003,0.068050],[-0.778671,0.626867,0.026638],[-0.021988,-0.069692,0.997326]]
2025-10-24T23:30:40.918Z,1761348640.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624539,0.775736,0.090473],[-0.780705,0.623256,0.045305],[-0.021243,-0.098927,0.994868]]
2025-10-24T23:30:41.322Z,1761348641.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622881,0.774586,0.109705],[-0.782057,0.620135,0.061808],[-0.020156,-0.124295,0.992041]]
2025-10-24T23:30:41.728Z,1761348641.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622257,0.772658,0.125685],[-0.782584,0.617892,0.075974],[-0.018958,-0.145634,0.989157]]
2025-10-24T23:30:42.130Z,1761348642.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622799,0.770170,0.137693],[-0.782171,0.617000,0.086718],[-0.018169,-0.161708,0.986671]]
2025-10-24T23:30:42.541Z,1761348642.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623494,0.767984,0.146478],[-0.781626,0.616548,0.094492],[-0.017742,-0.173406,0.984691]]
2025-10-24T23:30:42.939Z,1761348642.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623503,0.766632,0.153359],[-0.781621,0.615672,0.100083],[-0.017692,-0.182271,0.983089]]
2025-10-24T23:30:43.343Z,1761348643.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622633,0.766272,0.158607],[-0.782311,0.614174,0.103829],[-0.017851,-0.188727,0.981867]]
2025-10-24T23:30:43.747Z,1761348643.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621162,0.766841,0.161593],[-0.783473,0.612414,0.105446],[-0.018102,-0.192103,0.981208]]
2025-10-24T23:30:44.150Z,1761348644.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618907,0.768332,0.163158],[-0.785248,0.610117,0.105560],[-0.018440,-0.193451,0.980937]]
2025-10-24T23:30:44.556Z,1761348644.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616694,0.770125,0.163082],[-0.786981,0.608061,0.104511],[-0.018677,-0.192794,0.981061]]
2025-10-24T23:30:44.958Z,1761348644.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614558,0.771991,0.162320],[-0.788651,0.606104,0.103286],[-0.018647,-0.191489,0.981318]]
2025-10-24T23:30:45.364Z,1761348645.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613786,0.773049,0.160192],[-0.789260,0.605559,0.101814],[-0.018298,-0.188925,0.981821]]
2025-10-24T23:30:45.766Z,1761348645.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614824,0.772694,0.157910],[-0.788465,0.606726,0.101030],[-0.017743,-0.186622,0.982272]]
2025-10-24T23:30:46.170Z,1761348646.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617787,0.771046,0.154360],[-0.786163,0.609850,0.100153],[-0.016914,-0.183225,0.982925]]
2025-10-24T23:30:46.575Z,1761348646.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621971,0.768254,0.151454],[-0.782884,0.613964,0.100701],[-0.015623,-0.181204,0.983321]]
2025-10-24T23:30:46.979Z,1761348646.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627160,0.764607,0.148477],[-0.778762,0.619013,0.101745],[-0.014114,-0.179439,0.983668]]
2025-10-24T23:30:47.382Z,1761348647.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632649,0.760500,0.146273],[-0.774328,0.624367,0.102871],[-0.013095,-0.178344,0.983881]]
2025-10-24T23:30:47.786Z,1761348647.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638340,0.755394,0.147992],[-0.769645,0.629592,0.106114],[-0.013017,-0.181638,0.983279]]
2025-10-24T23:30:48.190Z,1761348648.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644110,0.750136,0.149729],[-0.764807,0.635099,0.108259],[-0.013884,-0.184244,0.982782]]
2025-10-24T23:30:48.595Z,1761348648.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649080,0.745428,0.151765],[-0.760575,0.639808,0.110323],[-0.014863,-0.187038,0.982240]]
2025-10-24T23:30:49.022Z,1761348649.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652581,0.742084,0.153131],[-0.757563,0.643087,0.111975],[-0.015382,-0.189079,0.981841]]
2025-10-24T23:30:49.077Z,1761348649.077 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:30:49.077Z,1761348649.077 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:30:49.077Z,1761348649.077 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:30:49.078Z,1761348649.078 [marl:UpdateRudder:A] Stopped
2025-10-24T23:30:49.078Z,1761348649.078 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:30:49.078Z,1761348649.078 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:30:49.078Z,1761348649.078 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:30:49.078Z,1761348649.078 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:30:49.078Z,1761348649.078 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:30:49.078Z,1761348649.078 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:30:49.079Z,1761348649.079 [marl:UpdateCommandMode] Stopped
2025-10-24T23:30:49.079Z,1761348649.079 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:30:49.079Z,1761348649.079 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:30:49.079Z,1761348649.079 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:30:49.079Z,1761348649.079 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:30:49.079Z,1761348649.079 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:30:49.079Z,1761348649.079 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:30:49.079Z,1761348649.079 [marl:UpdateSpeed] Stopped
2025-10-24T23:30:49.079Z,1761348649.079 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:30:49.402Z,1761348649.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654205,0.740432,0.154196],[-0.756162,0.644461,0.113528],[-0.015313,-0.190868,0.981496]]
2025-10-24T23:30:49.482Z,1761348649.482 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:30:49.482Z,1761348649.482 [marl:UpdateRudder:B] Stopped
2025-10-24T23:30:49.482Z,1761348649.482 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:30:49.483Z,1761348649.483 [marl:UpdateRudder] Stopped
2025-10-24T23:30:49.483Z,1761348649.483 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:30:49.807Z,1761348649.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654583,0.740033,0.154506],[-0.755844,0.644659,0.114516],[-0.014858,-0.191743,0.981333]]
2025-10-24T23:30:50.212Z,1761348650.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654198,0.740261,0.155042],[-0.756192,0.644009,0.115868],[-0.014076,-0.193042,0.981090]]
2025-10-24T23:30:50.614Z,1761348650.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652842,0.741307,0.155760],[-0.757382,0.642337,0.117372],[-0.013042,-0.194596,0.980797]]
2025-10-24T23:30:51.024Z,1761348651.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651443,0.742604,0.155440],[-0.758590,0.640990,0.116935],[-0.012800,-0.194091,0.980900]]
2025-10-24T23:30:51.423Z,1761348651.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649888,0.744006,0.155243],[-0.759930,0.639417,0.116844],[-0.012333,-0.193909,0.980942]]
2025-10-24T23:30:51.828Z,1761348651.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648317,0.745706,0.153649],[-0.761278,0.638056,0.115505],[-0.011904,-0.191853,0.981351]]
2025-10-24T23:30:52.230Z,1761348652.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646889,0.747026,0.153253],[-0.762493,0.636719,0.114862],[-0.011774,-0.191158,0.981489]]
2025-10-24T23:30:52.639Z,1761348652.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645375,0.748967,0.150134],[-0.763785,0.635580,0.112562],[-0.011117,-0.187315,0.982237]]
2025-10-24T23:30:52.967Z,1761348652.967 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:30:52.967Z,1761348652.967 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:30:53.039Z,1761348653.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644344,0.750467,0.147041],[-0.764665,0.634876,0.110538],[-0.010398,-0.183661,0.982935]]
2025-10-24T23:30:53.444Z,1761348653.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643965,0.751427,0.143756],[-0.765001,0.634678,0.109349],[-0.009071,-0.180391,0.983553]]
2025-10-24T23:30:53.846Z,1761348653.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644813,0.751542,0.139286],[-0.764302,0.635822,0.107578],[-0.007711,-0.175824,0.984391]]
2025-10-24T23:30:55.066Z,1761348655.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659298,0.741363,0.125327],[-0.751881,0.649980,0.110456],[0.000428,-0.167054,0.985948]]
2025-10-24T23:30:55.467Z,1761348655.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664493,0.736887,0.124285],[-0.747288,0.654537,0.114637],[0.003125,-0.169052,0.985602]]
2025-10-24T23:30:55.910Z,1761348655.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669906,0.731610,0.126385],[-0.742429,0.658955,0.120737],[0.005050,-0.174714,0.984606]]
2025-10-24T23:30:56.275Z,1761348656.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675173,0.726102,0.130066],[-0.737635,0.663118,0.127161],[0.006083,-0.181797,0.983317]]
2025-10-24T23:30:56.317Z,1761348656.317 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:30:56.685Z,1761348656.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678988,0.721879,0.133662],[-0.734117,0.665901,0.132846],[0.006893,-0.188324,0.982083]]
2025-10-24T23:30:57.078Z,1761348657.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680619,0.719326,0.139023],[-0.732598,0.666254,0.139301],[0.007578,-0.196659,0.980443]]
2025-10-24T23:30:57.489Z,1761348657.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680664,0.718742,0.141801],[-0.732550,0.665567,0.142801],[0.008259,-0.201076,0.979541]]
2025-10-24T23:30:57.934Z,1761348657.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679943,0.719178,0.143042],[-0.733209,0.664414,0.144772],[0.009077,-0.203316,0.979071]]
2025-10-24T23:30:58.292Z,1761348658.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678943,0.720014,0.143586],[-0.734123,0.663097,0.146174],[0.010036,-0.204654,0.978783]]
2025-10-24T23:30:58.695Z,1761348658.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677698,0.721648,0.141243],[-0.735249,0.661971,0.145616],[0.011585,-0.202532,0.979207]]
2025-10-24T23:30:59.098Z,1761348659.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675927,0.724122,0.137001],[-0.736831,0.660441,0.144559],[0.014197,-0.198658,0.979966]]
2025-10-24T23:30:59.505Z,1761348659.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673970,0.726896,0.131857],[-0.738546,0.658676,0.143857],[0.017718,-0.194338,0.980774]]
2025-10-24T23:30:59.728Z,1761348659.728 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:30:59.939Z,1761348659.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672014,0.729700,0.126232],[-0.740240,0.657075,0.142470],[0.021016,-0.189184,0.981717]]
2025-10-24T23:31:00.310Z,1761348660.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671447,0.730901,0.122242],[-0.740684,0.656710,0.141842],[0.023395,-0.185783,0.982312]]
2025-10-24T23:31:00.717Z,1761348660.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671936,0.730997,0.118934],[-0.740187,0.657418,0.141152],[0.024993,-0.182878,0.982818]]
2025-10-24T23:31:00.741Z,1761348660.741 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:31:01.118Z,1761348661.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673697,0.729928,0.115485],[-0.738539,0.659434,0.140380],[0.026312,-0.179864,0.983340]]
2025-10-24T23:31:01.524Z,1761348661.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676241,0.727937,0.113161],[-0.736160,0.661972,0.140931],[0.027679,-0.178608,0.983531]]
2025-10-24T23:31:01.947Z,1761348661.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679235,0.725560,0.110465],[-0.733342,0.664989,0.141417],[0.029148,-0.177064,0.983768]]
2025-10-24T23:31:02.017Z,1761348662.017 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:31:02.017Z,1761348662.017 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:31:02.017Z,1761348662.017 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:31:02.017Z,1761348662.017 [marl:UpdateRudder:A] Stopped
2025-10-24T23:31:02.018Z,1761348662.018 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:31:02.018Z,1761348662.018 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:31:02.018Z,1761348662.018 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:31:02.018Z,1761348662.018 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:31:02.018Z,1761348662.018 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:31:02.018Z,1761348662.018 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:31:02.018Z,1761348662.018 [marl:UpdateCommandMode] Stopped
2025-10-24T23:31:02.018Z,1761348662.018 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:31:02.018Z,1761348662.018 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:31:02.019Z,1761348662.019 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:31:02.019Z,1761348662.019 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:31:02.019Z,1761348662.019 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:31:02.019Z,1761348662.019 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:31:02.019Z,1761348662.019 [marl:UpdateSpeed] Stopped
2025-10-24T23:31:02.019Z,1761348662.019 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:31:02.331Z,1761348662.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683176,0.722367,0.107037],[-0.729611,0.669055,0.141541],[0.030631,-0.174793,0.984129]]
2025-10-24T23:31:02.382Z,1761348662.382 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:31:02.382Z,1761348662.382 [marl:UpdateRudder:B] Stopped
2025-10-24T23:31:02.382Z,1761348662.382 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:31:02.382Z,1761348662.382 [marl:UpdateRudder] Stopped
2025-10-24T23:31:02.383Z,1761348662.383 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:31:02.737Z,1761348662.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687444,0.718673,0.104545],[-0.725516,0.673191,0.142970],[0.032370,-0.174133,0.984190]]
2025-10-24T23:31:03.156Z,1761348663.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692126,0.714344,0.103315],[-0.720965,0.677442,0.145886],[0.034222,-0.175458,0.983892]]
2025-10-24T23:31:03.551Z,1761348663.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696868,0.709815,0.102648],[-0.716302,0.681678,0.149084],[0.035850,-0.177419,0.983482]]
2025-10-24T23:31:03.950Z,1761348663.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701318,0.705411,0.102708],[-0.711882,0.685555,0.152446],[0.037125,-0.180029,0.982961]]
2025-10-24T23:31:04.350Z,1761348664.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704890,0.701678,0.103818],[-0.708292,0.688431,0.156157],[0.038100,-0.183606,0.982261]]
2025-10-24T23:31:04.763Z,1761348664.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707078,0.699197,0.105661],[-0.706058,0.689824,0.160080],[0.039040,-0.187791,0.981433]]
2025-10-24T23:31:05.158Z,1761348665.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707841,0.698043,0.108152],[-0.705246,0.689738,0.163983],[0.039870,-0.192348,0.980517]]
2025-10-24T23:31:05.562Z,1761348665.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707238,0.698404,0.109756],[-0.705791,0.688510,0.166772],[0.040906,-0.195413,0.979868]]
2025-10-24T23:31:05.974Z,1761348665.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706306,0.699172,0.110866],[-0.706666,0.687100,0.168866],[0.041890,-0.197616,0.979384]]
2025-10-24T23:31:06.371Z,1761348666.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704988,0.700451,0.111179],[-0.707885,0.685352,0.170854],[0.043478,-0.199152,0.979004]]
2025-10-24T23:31:06.795Z,1761348666.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704216,0.701201,0.111341],[-0.708543,0.684094,0.173156],[0.045250,-0.200829,0.978581]]
2025-10-24T23:31:07.178Z,1761348667.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703914,0.701982,0.108292],[-0.708733,0.684089,0.172391],[0.046934,-0.198099,0.979058]]
2025-10-24T23:31:07.582Z,1761348667.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704784,0.701584,0.105162],[-0.707777,0.685295,0.171529],[0.048275,-0.195322,0.979550]]
2025-10-24T23:31:07.997Z,1761348667.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706577,0.700062,0.103259],[-0.705939,0.687238,0.171328],[0.048976,-0.193951,0.979788]]
2025-10-24T23:31:08.404Z,1761348668.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708207,0.698806,0.100565],[-0.704266,0.689268,0.170057],[0.049521,-0.191260,0.980289]]
2025-10-24T23:31:08.798Z,1761348668.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709435,0.697644,0.099976],[-0.703016,0.690507,0.170202],[0.049707,-0.191032,0.980324]]
2025-10-24T23:31:09.199Z,1761348669.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709744,0.697293,0.100227],[-0.702691,0.690684,0.170824],[0.049889,-0.191670,0.980191]]
2025-10-24T23:31:09.604Z,1761348669.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710102,0.696918,0.100303],[-0.702350,0.691082,0.170617],[0.049588,-0.191603,0.980219]]
2025-10-24T23:31:10.006Z,1761348670.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710262,0.696728,0.100492],[-0.702192,0.691196,0.170805],[0.049545,-0.191881,0.980167]]
2025-10-24T23:31:10.410Z,1761348670.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710434,0.696809,0.098697],[-0.701993,0.691702,0.169570],[0.049889,-0.189752,0.980564]]
2025-10-24T23:31:10.817Z,1761348670.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711000,0.696587,0.096156],[-0.701375,0.692675,0.168154],[0.050529,-0.186999,0.981060]]
2025-10-24T23:31:11.220Z,1761348671.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712483,0.695600,0.092243],[-0.699798,0.694747,0.166161],[0.051496,-0.182938,0.981775]]
2025-10-24T23:31:11.622Z,1761348671.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714611,0.693836,0.089009],[-0.697549,0.697254,0.165113],[0.052500,-0.180080,0.982250]]
2025-10-24T23:31:12.026Z,1761348672.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717242,0.691428,0.086548],[-0.694779,0.700091,0.164790],[0.053349,-0.178326,0.982524]]
2025-10-24T23:31:12.437Z,1761348672.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720148,0.688739,0.083818],[-0.691726,0.703336,0.163810],[0.053870,-0.175947,0.982925]]
2025-10-24T23:31:12.844Z,1761348672.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722911,0.686001,0.082476],[-0.688813,0.706168,0.163903],[0.054196,-0.175298,0.983023]]
2025-10-24T23:31:13.238Z,1761348673.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724944,0.683853,0.082474],[-0.686684,0.708112,0.164446],[0.054056,-0.175847,0.982932]]
2025-10-24T23:31:13.643Z,1761348673.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726066,0.682528,0.083566],[-0.685497,0.708901,0.165990],[0.054053,-0.177804,0.982580]]
2025-10-24T23:31:14.046Z,1761348674.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726725,0.681640,0.085074],[-0.684766,0.709039,0.168403],[0.054469,-0.180638,0.982040]]
2025-10-24T23:31:14.121Z,1761348674.121 [marl:SendObservationData] Running Loop=1
2025-10-24T23:31:14.121Z,1761348674.121 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:31:14.122Z,1761348674.122 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:31:14.122Z,1761348674.122 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:31:14.128Z,1761348674.128 [marl:SendObservationData:A](INFO): Got test_good :  41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:31:14.128Z,1761348674.128 [marl:SendObservationData:A] Stopped
2025-10-24T23:31:14.128Z,1761348674.128 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:31:14.515Z,1761348674.515 [marl:SendObservationData:B] Stopped
2025-10-24T23:31:14.515Z,1761348674.515 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:31:14.854Z,1761348674.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728103,0.680054,0.085975],[-0.683206,0.709789,0.171549],[0.055639,-0.183644,0.981417]]
2025-10-24T23:31:14.889Z,1761348674.889 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:31:14.890Z,1761348674.890 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:31:14.890Z,1761348674.890 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:31:14.890Z,1761348674.890 [marl:UpdateRudder:A] Stopped
2025-10-24T23:31:14.890Z,1761348674.890 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:31:14.890Z,1761348674.890 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:31:14.890Z,1761348674.890 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:31:14.890Z,1761348674.890 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:31:14.891Z,1761348674.891 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:31:14.891Z,1761348674.891 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:31:14.891Z,1761348674.891 [marl:UpdateCommandMode] Stopped
2025-10-24T23:31:14.891Z,1761348674.891 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:31:14.891Z,1761348674.891 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:31:14.891Z,1761348674.891 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:31:14.891Z,1761348674.891 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:31:14.892Z,1761348674.892 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:31:14.892Z,1761348674.892 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:31:14.892Z,1761348674.892 [marl:UpdateSpeed] Stopped
2025-10-24T23:31:14.892Z,1761348674.892 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:31:14.894Z,1761348674.894 [marl:SendObservationData:C] Stopped
2025-10-24T23:31:14.894Z,1761348674.894 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:31:15.258Z,1761348675.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730157,0.677944,0.085215],[-0.680920,0.711601,0.173125],[0.056730,-0.184433,0.981206]]
2025-10-24T23:31:15.309Z,1761348675.309 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:31:15.309Z,1761348675.309 [marl:UpdateRudder:B] Stopped
2025-10-24T23:31:15.310Z,1761348675.310 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:31:15.310Z,1761348675.310 [marl:UpdateRudder] Stopped
2025-10-24T23:31:15.310Z,1761348675.310 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:31:15.311Z,1761348675.311 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.007100 min 
2025-10-24T23:31:15.312Z,1761348675.312 [marl:SendObservationData:E] Stopped
2025-10-24T23:31:15.312Z,1761348675.312 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:31:15.313Z,1761348675.313 [marl:SendObservationData] Stopped
2025-10-24T23:31:15.313Z,1761348675.313 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:31:15.313Z,1761348675.313 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:31:15.667Z,1761348675.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732921,0.675101,0.084054],[-0.677887,0.714286,0.173966],[0.057406,-0.184482,0.981158]]
2025-10-24T23:31:16.068Z,1761348676.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735831,0.672077,0.082854],[-0.674687,0.717171,0.174537],[0.057882,-0.184331,0.981158]]
2025-10-24T23:31:16.470Z,1761348676.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738354,0.669345,0.082524],[-0.671904,0.719535,0.175538],[0.058117,-0.185057,0.981008]]
2025-10-24T23:31:16.874Z,1761348676.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740399,0.667061,0.082703],[-0.669647,0.721369,0.176635],[0.058167,-0.186162,0.980796]]
2025-10-24T23:31:17.287Z,1761348677.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741328,0.665804,0.084483],[-0.668627,0.721784,0.178792],[0.058062,-0.189031,0.980253]]
2025-10-24T23:31:17.696Z,1761348677.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741196,0.665674,0.086642],[-0.668819,0.721229,0.180304],[0.057535,-0.191589,0.979787]]
2025-10-24T23:31:18.086Z,1761348678.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740533,0.666278,0.087656],[-0.669580,0.720437,0.180645],[0.057209,-0.192466,0.979635]]
2025-10-24T23:31:18.490Z,1761348678.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739674,0.667116,0.088539],[-0.670500,0.719308,0.181726],[0.057545,-0.193784,0.979355]]
2025-10-24T23:31:18.897Z,1761348678.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738651,0.668297,0.088172],[-0.671566,0.718259,0.181945],[0.058263,-0.193607,0.979348]]
2025-10-24T23:31:19.317Z,1761348679.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737637,0.669580,0.086914],[-0.672598,0.717399,0.181525],[0.059193,-0.192357,0.979538]]
2025-10-24T23:31:19.703Z,1761348679.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737259,0.670191,0.085393],[-0.672947,0.717254,0.180801],[0.059922,-0.190762,0.979806]]
2025-10-24T23:31:20.106Z,1761348680.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737167,0.670459,0.084084],[-0.673021,0.717433,0.179811],[0.060231,-0.189141,0.980101]]
2025-10-24T23:31:20.511Z,1761348680.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737466,0.670342,0.082378],[-0.672710,0.718217,0.177833],[0.060043,-0.186563,0.980607]]
2025-10-24T23:31:20.939Z,1761348680.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737934,0.669919,0.081627],[-0.672213,0.718901,0.176949],[0.059860,-0.185447,0.980829]]
2025-10-24T23:31:21.318Z,1761348681.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738681,0.669207,0.080700],[-0.671452,0.720021,0.175278],[0.059191,-0.183661,0.981206]]
2025-10-24T23:31:21.722Z,1761348681.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739570,0.668211,0.080811],[-0.670562,0.721099,0.174250],[0.058163,-0.183059,0.981380]]
2025-10-24T23:31:22.128Z,1761348682.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740644,0.667149,0.079735],[-0.669457,0.722635,0.172121],[0.057211,-0.180860,0.981844]]
2025-10-24T23:31:22.538Z,1761348682.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742186,0.665515,0.079058],[-0.667845,0.724553,0.170312],[0.056063,-0.179201,0.982214]]
2025-10-24T23:31:22.938Z,1761348682.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743838,0.663701,0.078779],[-0.666121,0.726540,0.168590],[0.054657,-0.177880,0.982533]]
2025-10-24T23:31:23.340Z,1761348683.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745590,0.661764,0.078515],[-0.664285,0.728650,0.166718],[0.053118,-0.176460,0.982873]]
2025-10-24T23:31:23.743Z,1761348683.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747185,0.659855,0.079406],[-0.662594,0.730264,0.166383],[0.051801,-0.176933,0.982859]]
2025-10-24T23:31:24.146Z,1761348684.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748892,0.657908,0.079483],[-0.660806,0.732330,0.164401],[0.049953,-0.175641,0.983186]]
2025-10-24T23:31:24.961Z,1761348684.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751287,0.655105,0.080039],[-0.658323,0.735296,0.161090],[0.046678,-0.173717,0.983689]]
2025-10-24T23:31:25.359Z,1761348685.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752782,0.653400,0.079920],[-0.656736,0.737192,0.158890],[0.044903,-0.172096,0.984056]]
2025-10-24T23:31:25.762Z,1761348685.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754579,0.651430,0.079056],[-0.654762,0.739434,0.156602],[0.043558,-0.169931,0.984493]]
2025-10-24T23:31:26.166Z,1761348686.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756617,0.649220,0.077750],[-0.652460,0.741868,0.154687],[0.042746,-0.167768,0.984899]]
2025-10-24T23:31:26.571Z,1761348686.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759320,0.646189,0.076642],[-0.649352,0.744823,0.153562],[0.042145,-0.166370,0.985162]]
2025-10-24T23:31:26.981Z,1761348686.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762135,0.642748,0.077626],[-0.646116,0.747514,0.154131],[0.041041,-0.167623,0.984996]]
2025-10-24T23:31:27.382Z,1761348687.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765146,0.638917,0.079602],[-0.642627,0.750190,0.155711],[0.039769,-0.170296,0.984590]]
2025-10-24T23:31:27.782Z,1761348687.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767630,0.635533,0.082720],[-0.639749,0.752138,0.158149],[0.038292,-0.174320,0.983944]]
2025-10-24T23:31:27.833Z,1761348687.833 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:31:27.834Z,1761348687.834 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:31:27.834Z,1761348687.834 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:31:27.834Z,1761348687.834 [marl:UpdateRudder:A] Stopped
2025-10-24T23:31:27.834Z,1761348687.834 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:31:27.834Z,1761348687.834 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:31:27.834Z,1761348687.834 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:31:27.834Z,1761348687.834 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:31:27.835Z,1761348687.835 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:31:27.835Z,1761348687.835 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:31:27.835Z,1761348687.835 [marl:UpdateCommandMode] Stopped
2025-10-24T23:31:27.835Z,1761348687.835 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:31:27.835Z,1761348687.835 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:31:27.835Z,1761348687.835 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:31:27.835Z,1761348687.835 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:31:27.836Z,1761348687.836 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:31:27.836Z,1761348687.836 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:31:27.836Z,1761348687.836 [marl:UpdateSpeed] Stopped
2025-10-24T23:31:27.836Z,1761348687.836 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:31:28.186Z,1761348688.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769356,0.633018,0.085900],[-0.637768,0.753403,0.160109],[0.036634,-0.177965,0.983355]]
2025-10-24T23:31:28.253Z,1761348688.253 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:31:28.253Z,1761348688.253 [marl:UpdateRudder:B] Stopped
2025-10-24T23:31:28.253Z,1761348688.253 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:31:28.253Z,1761348688.253 [marl:UpdateRudder] Stopped
2025-10-24T23:31:28.253Z,1761348688.253 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:31:28.592Z,1761348688.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770158,0.631422,0.090349],[-0.636897,0.753497,0.163112],[0.034915,-0.183165,0.982462]]
2025-10-24T23:31:28.994Z,1761348688.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770174,0.630851,0.094123],[-0.636973,0.753051,0.164864],[0.033126,-0.186928,0.981815]]
2025-10-24T23:31:29.404Z,1761348689.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769512,0.631097,0.097814],[-0.637865,0.752019,0.166120],[0.031280,-0.190224,0.981242]]
2025-10-24T23:31:29.803Z,1761348689.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768509,0.632057,0.099483],[-0.639149,0.751128,0.165213],[0.029700,-0.190552,0.981228]]
2025-10-24T23:31:30.610Z,1761348690.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766012,0.634658,0.102149],[-0.642245,0.748836,0.163605],[0.027341,-0.190928,0.981223]]
2025-10-24T23:31:30.860Z,1761348690.860 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:31:31.014Z,1761348691.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763484,0.637201,0.105201],[-0.645266,0.745843,0.165380],[0.026917,-0.194147,0.980603]]
2025-10-24T23:31:31.438Z,1761348691.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758227,0.641932,0.114088],[-0.651414,0.738503,0.173991],[0.027436,-0.206244,0.978116]]
2025-10-24T23:31:31.832Z,1761348691.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750001,0.648595,0.129702],[-0.660810,0.726208,0.189612],[0.028791,-0.227918,0.973255]]
2025-10-24T23:31:31.866Z,1761348691.866 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:31:32.226Z,1761348692.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739610,0.656188,0.149651],[-0.672348,0.710307,0.208357],[0.030423,-0.254720,0.966536]]
2025-10-24T23:31:32.630Z,1761348692.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727563,0.664209,0.171691],[-0.685284,0.691883,0.227339],[0.032210,-0.283061,0.958561]]
2025-10-24T23:31:33.041Z,1761348693.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714293,0.672702,0.193019],[-0.699001,0.672211,0.243987],[0.034381,-0.309199,0.950376]]
2025-10-24T23:31:33.452Z,1761348693.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700574,0.681162,0.212637],[-0.712630,0.652487,0.257721],[0.036807,-0.332084,0.942532]]
2025-10-24T23:31:33.855Z,1761348693.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686904,0.689153,0.230720],[-0.725681,0.633210,0.269132],[0.039379,-0.352297,0.935060]]
2025-10-24T23:31:34.778Z,1761348694.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648559,0.714294,0.262975],[-0.759703,0.586052,0.281771],[0.047150,-0.382528,0.922740]]
2025-10-24T23:31:35.179Z,1761348695.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637701,0.722121,0.268101],[-0.768712,0.574387,0.281355],[0.049179,-0.385513,0.921391]]
2025-10-24T23:31:35.582Z,1761348695.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627155,0.729853,0.272012],[-0.777232,0.563607,0.279747],[0.050866,-0.386861,0.920734]]
2025-10-24T23:31:36.417Z,1761348696.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606619,0.743960,0.280242],[-0.793278,0.543320,0.274796],[0.052176,-0.389006,0.919756]]
2025-10-24T23:31:36.818Z,1761348696.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595348,0.751730,0.283660],[-0.801757,0.532799,0.270760],[0.052405,-0.388623,0.919905]]
2025-10-24T23:31:37.227Z,1761348697.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582314,0.760824,0.286456],[-0.811307,0.521370,0.264489],[0.051880,-0.386419,0.920863]]
2025-10-24T23:31:37.626Z,1761348697.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568333,0.770207,0.289445],[-0.821225,0.509241,0.257418],[0.050868,-0.383998,0.921932]]
2025-10-24T23:31:38.030Z,1761348698.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553678,0.780301,0.290811],[-0.831231,0.496934,0.249223],[0.049956,-0.379720,0.923752]]
2025-10-24T23:31:38.435Z,1761348698.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538978,0.789577,0.293379],[-0.840894,0.484120,0.241919],[0.048983,-0.377090,0.924881]]
2025-10-24T23:31:38.842Z,1761348698.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524184,0.798736,0.295384],[-0.850248,0.471281,0.234463],[0.048065,-0.374051,0.926162]]
2025-10-24T23:31:39.244Z,1761348699.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509666,0.806852,0.298716],[-0.859086,0.458269,0.227947],[0.047027,-0.372799,0.926720]]
2025-10-24T23:31:39.648Z,1761348699.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495382,0.814543,0.301853],[-0.867476,0.445621,0.221149],[0.045623,-0.371404,0.927350]]
2025-10-24T23:31:40.051Z,1761348700.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480342,0.821679,0.306781],[-0.875962,0.431764,0.215103],[0.044289,-0.372052,0.927155]]
2025-10-24T23:31:40.454Z,1761348700.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464978,0.828707,0.311513],[-0.884287,0.417725,0.208667],[0.042797,-0.372492,0.927048]]
2025-10-24T23:31:40.867Z,1761348700.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449225,0.835783,0.315696],[-0.892470,0.403522,0.201660],[0.041154,-0.372340,0.927184]]
2025-10-24T23:31:40.891Z,1761348700.891 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:31:40.891Z,1761348700.891 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:31:40.892Z,1761348700.892 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:31:40.892Z,1761348700.892 [marl:UpdateRudder:A] Stopped
2025-10-24T23:31:40.892Z,1761348700.892 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:31:40.892Z,1761348700.892 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:31:40.924Z,1761348700.924 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:31:40.924Z,1761348700.924 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:31:40.924Z,1761348700.924 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:31:40.924Z,1761348700.924 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:31:40.924Z,1761348700.924 [marl:UpdateCommandMode] Stopped
2025-10-24T23:31:40.925Z,1761348700.925 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:31:40.925Z,1761348700.925 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:31:40.925Z,1761348700.925 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:31:40.925Z,1761348700.925 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:31:40.925Z,1761348700.925 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:31:40.925Z,1761348700.925 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:31:40.925Z,1761348700.925 [marl:UpdateSpeed] Stopped
2025-10-24T23:31:40.925Z,1761348700.925 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:31:41.262Z,1761348701.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433150,0.842985,0.318994],[-0.900448,0.389146,0.194314],[0.039668,-0.371405,0.927623]]
2025-10-24T23:31:41.293Z,1761348701.293 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:31:41.293Z,1761348701.293 [marl:UpdateRudder:B] Stopped
2025-10-24T23:31:41.293Z,1761348701.293 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:31:41.293Z,1761348701.293 [marl:UpdateRudder] Stopped
2025-10-24T23:31:41.293Z,1761348701.293 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:31:41.673Z,1761348701.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417059,0.850167,0.321369],[-0.908067,0.374825,0.186869],[0.038412,-0.369760,0.928333]]
2025-10-24T23:31:42.074Z,1761348702.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401465,0.856767,0.323690],[-0.915134,0.361044,0.179380],[0.036821,-0.368235,0.929004]]
2025-10-24T23:31:42.476Z,1761348702.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386301,0.863204,0.325041],[-0.921727,0.348078,0.171059],[0.034520,-0.365679,0.930101]]
2025-10-24T23:31:42.878Z,1761348702.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372749,0.870113,0.322430],[-0.927442,0.338051,0.159912],[0.030144,-0.358642,0.932988]]
2025-10-24T23:31:43.281Z,1761348703.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362344,0.878004,0.312755],[-0.931745,0.332722,0.145421],[0.023620,-0.344100,0.938636]]
2025-10-24T23:31:43.685Z,1761348703.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354884,0.886935,0.295641],[-0.934779,0.331331,0.128093],[0.015655,-0.321818,0.946672]]
2025-10-24T23:31:44.092Z,1761348704.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349547,0.894940,0.277308],[-0.936894,0.331703,0.110470],[0.006880,-0.298423,0.954409]]
2025-10-24T23:31:44.490Z,1761348704.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345203,0.902019,0.259222],[-0.938526,0.332321,0.093441],[-0.001859,-0.275543,0.961287]]
2025-10-24T23:31:44.895Z,1761348704.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342379,0.907446,0.243554],[-0.939503,0.333572,0.077874],[-0.010576,-0.255483,0.966756]]
2025-10-24T23:31:45.298Z,1761348705.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341548,0.911372,0.229667],[-0.939669,0.336101,0.063697],[-0.019140,-0.237567,0.971183]]
2025-10-24T23:31:45.702Z,1761348705.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341860,0.913540,0.220400],[-0.939344,0.339078,0.051556],[-0.027635,-0.224657,0.974046]]
2025-10-24T23:31:46.109Z,1761348706.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343185,0.914532,0.214140],[-0.938571,0.342678,0.040690],[-0.036168,-0.214950,0.975955]]
2025-10-24T23:31:46.510Z,1761348706.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344545,0.914640,0.211478],[-0.937708,0.346019,0.031212],[-0.044627,-0.209058,0.976884]]
2025-10-24T23:31:46.915Z,1761348706.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345516,0.914480,0.210583],[-0.936886,0.348953,0.021839],[-0.053512,-0.204838,0.977332]]
2025-10-24T23:31:47.330Z,1761348707.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344723,0.914382,0.212303],[-0.936637,0.350052,0.013183],[-0.062263,-0.203395,0.977115]]
2025-10-24T23:31:47.722Z,1761348707.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342331,0.915202,0.212636],[-0.936908,0.349555,0.003853],[-0.070802,-0.200539,0.977124]]
2025-10-24T23:31:48.129Z,1761348708.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338202,0.916420,0.213993],[-0.937768,0.347229,-0.004917],[-0.078811,-0.199012,0.976823]]
2025-10-24T23:31:48.531Z,1761348708.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333304,0.917715,0.216119],[-0.938849,0.344077,-0.013153],[-0.086432,-0.198519,0.976278]]
2025-10-24T23:31:48.935Z,1761348708.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328492,0.919101,0.217591],[-0.939878,0.340870,-0.020922],[-0.093399,-0.197636,0.975816]]
2025-10-24T23:31:49.358Z,1761348709.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324528,0.920094,0.219338],[-0.940565,0.338448,-0.028103],[-0.100092,-0.197181,0.975244]]
2025-10-24T23:31:49.742Z,1761348709.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321755,0.920541,0.221534],[-0.940818,0.337149,-0.034516],[-0.106463,-0.197318,0.974541]]
2025-10-24T23:31:50.154Z,1761348710.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319991,0.920768,0.223140],[-0.940724,0.336745,-0.040516],[-0.112447,-0.196948,0.973944]]
2025-10-24T23:31:50.552Z,1761348710.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319362,0.920327,0.225844],[-0.940251,0.337434,-0.045468],[-0.118053,-0.197829,0.973102]]
2025-10-24T23:31:50.955Z,1761348710.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319584,0.919681,0.228149],[-0.939525,0.338838,-0.049815],[-0.123119,-0.198431,0.972351]]
2025-10-24T23:31:51.358Z,1761348711.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320347,0.918748,0.230826],[-0.938726,0.340590,-0.052846],[-0.127169,-0.199754,0.971559]]
2025-10-24T23:31:51.763Z,1761348711.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320687,0.917614,0.234829],[-0.938222,0.341761,-0.054203],[-0.129993,-0.202940,0.970524]]
2025-10-24T23:31:52.181Z,1761348712.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320802,0.916578,0.238684],[-0.937853,0.342617,-0.055179],[-0.132353,-0.206149,0.969528]]
2025-10-24T23:31:52.570Z,1761348712.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320691,0.915885,0.241479],[-0.937623,0.343097,-0.056113],[-0.134244,-0.208421,0.968782]]
2025-10-24T23:31:52.974Z,1761348712.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319807,0.915927,0.242489],[-0.937744,0.342579,-0.057240],[-0.135500,-0.209087,0.968464]]
2025-10-24T23:31:53.106Z,1761348713.106 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:31:53.107Z,1761348713.107 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:31:53.378Z,1761348713.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318220,0.916302,0.243158],[-0.938163,0.341262,-0.058221],[-0.136329,-0.209595,0.968238]]
2025-10-24T23:31:53.783Z,1761348713.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317754,0.916735,0.242135],[-0.938216,0.340903,-0.059456],[-0.137050,-0.208282,0.968419]]
2025-10-24T23:31:53.840Z,1761348713.840 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:31:53.841Z,1761348713.841 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:31:53.841Z,1761348713.841 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:31:53.841Z,1761348713.841 [marl:UpdateRudder:A] Stopped
2025-10-24T23:31:53.841Z,1761348713.841 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:31:53.841Z,1761348713.841 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:31:53.841Z,1761348713.841 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:31:53.841Z,1761348713.841 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:31:53.842Z,1761348713.842 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:31:53.842Z,1761348713.842 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:31:53.842Z,1761348713.842 [marl:UpdateCommandMode] Stopped
2025-10-24T23:31:53.842Z,1761348713.842 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:31:53.842Z,1761348713.842 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:31:53.842Z,1761348713.842 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:31:53.842Z,1761348713.842 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:31:53.842Z,1761348713.842 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:31:53.843Z,1761348713.843 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:31:53.843Z,1761348713.843 [marl:UpdateSpeed] Stopped
2025-10-24T23:31:53.843Z,1761348713.843 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:31:54.186Z,1761348714.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317985,0.917096,0.240459],[-0.938084,0.341101,-0.060409],[-0.137422,-0.206361,0.968778]]
2025-10-24T23:31:54.262Z,1761348714.262 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:31:54.262Z,1761348714.262 [marl:UpdateRudder:B] Stopped
2025-10-24T23:31:54.262Z,1761348714.262 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:31:54.262Z,1761348714.262 [marl:UpdateRudder] Stopped
2025-10-24T23:31:54.262Z,1761348714.262 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:31:54.995Z,1761348714.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321328,0.916770,0.237236],[-0.936784,0.344378,-0.061964],[-0.138505,-0.202328,0.969474]]
2025-10-24T23:31:55.398Z,1761348715.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323576,0.916572,0.234935],[-0.936004,0.346421,-0.062364],[-0.138548,-0.199721,0.970008]]
2025-10-24T23:31:55.810Z,1761348715.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325739,0.915976,0.234268],[-0.935176,0.348594,-0.062668],[-0.139066,-0.198669,0.970150]]
2025-10-24T23:31:56.210Z,1761348716.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326428,0.916154,0.232608],[-0.935029,0.349021,-0.062497],[-0.138442,-0.197094,0.970561]]
2025-10-24T23:31:56.611Z,1761348716.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325937,0.916791,0.230780],[-0.935364,0.348184,-0.062147],[-0.137329,-0.195607,0.971019]]
2025-10-24T23:31:56.639Z,1761348716.639 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:31:57.016Z,1761348717.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324255,0.917621,0.229847],[-0.936173,0.346158,-0.061271],[-0.135786,-0.195309,0.971296]]
2025-10-24T23:31:57.419Z,1761348717.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321172,0.918586,0.230320],[-0.937460,0.342855,-0.060157],[-0.134226,-0.196595,0.971254]]
2025-10-24T23:31:57.822Z,1761348717.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317218,0.919884,0.230622],[-0.939085,0.338602,-0.058886],[-0.132257,-0.197894,0.971260]]
2025-10-24T23:31:58.633Z,1761348718.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309897,0.921325,0.234785],[-0.942124,0.330795,-0.054555],[-0.127929,-0.204290,0.970515]]
2025-10-24T23:31:59.034Z,1761348719.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307414,0.921592,0.236991],[-0.943215,0.328054,-0.052214],[-0.125865,-0.207482,0.970108]]
2025-10-24T23:31:59.438Z,1761348719.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305940,0.921167,0.240525],[-0.943999,0.326299,-0.048931],[-0.123557,-0.212085,0.969409]]
2025-10-24T23:31:59.842Z,1761348719.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305890,0.920025,0.244917],[-0.944343,0.325899,-0.044793],[-0.121029,-0.217584,0.968509]]
2025-10-24T23:32:00.257Z,1761348720.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306183,0.919439,0.246748],[-0.944607,0.325612,-0.041166],[-0.118194,-0.220475,0.968205]]
2025-10-24T23:32:00.657Z,1761348720.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306765,0.918700,0.248769],[-0.944800,0.325536,-0.037139],[-0.115103,-0.223644,0.967851]]
2025-10-24T23:32:01.054Z,1761348721.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307148,0.918238,0.250000],[-0.945068,0.325177,-0.033257],[-0.111832,-0.226052,0.967675]]
2025-10-24T23:32:01.459Z,1761348721.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306787,0.918742,0.248586],[-0.945604,0.323918,-0.030162],[-0.108232,-0.225811,0.968140]]
2025-10-24T23:32:01.877Z,1761348721.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306285,0.919508,0.246365],[-0.946122,0.322612,-0.027851],[-0.105089,-0.224561,0.968777]]
2025-10-24T23:32:01.988Z,1761348721.988 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:32:02.280Z,1761348722.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305331,0.921018,0.241864],[-0.946747,0.320870,-0.026693],[-0.102192,-0.220834,0.969943]]
2025-10-24T23:32:02.675Z,1761348722.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304273,0.922938,0.235803],[-0.947417,0.318955,-0.025877],[-0.099094,-0.215530,0.971456]]
2025-10-24T23:32:02.992Z,1761348722.992 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:32:03.074Z,1761348723.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303596,0.924354,0.231083],[-0.947964,0.317443,-0.024368],[-0.095880,-0.211660,0.972629]]
2025-10-24T23:32:03.480Z,1761348723.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304127,0.924945,0.228000],[-0.948121,0.317153,-0.021928],[-0.092593,-0.209503,0.973414]]
2025-10-24T23:32:03.916Z,1761348723.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306135,0.925371,0.223537],[-0.947794,0.318282,-0.019576],[-0.089263,-0.205874,0.974499]]
2025-10-24T23:32:04.292Z,1761348724.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308157,0.925208,0.221427],[-0.947471,0.319433,-0.016132],[-0.085656,-0.204825,0.975043]]
2025-10-24T23:32:05.094Z,1761348725.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313584,0.923419,0.221275],[-0.946222,0.323401,-0.008652],[-0.079550,-0.206662,0.975173]]
2025-10-24T23:32:05.499Z,1761348725.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314940,0.922740,0.222180],[-0.946048,0.323995,-0.004567],[-0.076199,-0.208755,0.974995]]
2025-10-24T23:32:05.931Z,1761348725.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315802,0.922033,0.223883],[-0.946029,0.324082,-0.000249],[-0.072786,-0.211721,0.974616]]
2025-10-24T23:32:06.314Z,1761348726.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316472,0.920974,0.227273],[-0.946072,0.323921,0.004765],[-0.069230,-0.216525,0.973819]]
2025-10-24T23:32:06.711Z,1761348726.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317681,0.919978,0.229605],[-0.945905,0.324311,0.009307],[-0.065901,-0.220141,0.973239]]
2025-10-24T23:32:06.763Z,1761348726.763 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:32:06.763Z,1761348726.763 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:32:06.763Z,1761348726.763 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:32:06.764Z,1761348726.764 [marl:UpdateRudder:A] Stopped
2025-10-24T23:32:06.765Z,1761348726.765 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:32:06.765Z,1761348726.765 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:32:06.765Z,1761348726.765 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:32:06.765Z,1761348726.765 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:32:06.765Z,1761348726.765 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:32:06.766Z,1761348726.766 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:32:06.766Z,1761348726.766 [marl:UpdateCommandMode] Stopped
2025-10-24T23:32:06.766Z,1761348726.766 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:32:06.766Z,1761348726.766 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:32:06.766Z,1761348726.766 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:32:06.766Z,1761348726.766 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:32:06.766Z,1761348726.766 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:32:06.767Z,1761348726.767 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:32:06.767Z,1761348726.767 [marl:UpdateSpeed] Stopped
2025-10-24T23:32:06.767Z,1761348726.767 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:32:07.114Z,1761348727.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319423,0.918800,0.231894],[-0.945527,0.325253,0.013716],[-0.062822,-0.223643,0.972644]]
2025-10-24T23:32:07.169Z,1761348727.169 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:32:07.169Z,1761348727.169 [marl:UpdateRudder:B] Stopped
2025-10-24T23:32:07.170Z,1761348727.170 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:32:07.170Z,1761348727.170 [marl:UpdateRudder] Stopped
2025-10-24T23:32:07.170Z,1761348727.170 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:32:07.518Z,1761348727.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320540,0.917799,0.234306],[-0.945345,0.325576,0.017955],[-0.059805,-0.227256,0.971997]]
2025-10-24T23:32:07.945Z,1761348727.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320762,0.915790,0.241746],[-0.945568,0.324408,0.025699],[-0.054889,-0.236831,0.969999]]
2025-10-24T23:32:08.730Z,1761348728.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319064,0.915604,0.244680],[-0.946253,0.322190,0.028266],[-0.052953,-0.240548,0.969192]]
2025-10-24T23:32:09.134Z,1761348729.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316432,0.916268,0.245609],[-0.947250,0.319085,0.030019],[-0.050865,-0.242152,0.968904]]
2025-10-24T23:32:09.545Z,1761348729.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309899,0.918881,0.244175],[-0.949654,0.311591,0.032687],[-0.046047,-0.242011,0.969180]]
2025-10-24T23:32:09.949Z,1761348729.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306964,0.920188,0.242953],[-0.950721,0.308182,0.033962],[-0.043622,-0.241406,0.969443]]
2025-10-24T23:32:10.351Z,1761348730.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305093,0.921027,0.242132],[-0.951416,0.305878,0.035307],[-0.041544,-0.241140,0.969601]]
2025-10-24T23:32:10.762Z,1761348730.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304265,0.921382,0.241822],[-0.951766,0.304586,0.037009],[-0.039556,-0.241419,0.969614]]
2025-10-24T23:32:11.159Z,1761348731.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304148,0.921496,0.241536],[-0.951850,0.304191,0.038061],[-0.038400,-0.241482,0.969645]]
2025-10-24T23:32:11.559Z,1761348731.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305381,0.921011,0.241828],[-0.951541,0.304816,0.040704],[-0.036224,-0.242539,0.969465]]
2025-10-24T23:32:11.963Z,1761348731.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307919,0.919999,0.242463],[-0.950798,0.306715,0.043682],[-0.034180,-0.243984,0.969177]]
2025-10-24T23:32:12.367Z,1761348732.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311714,0.918308,0.244019],[-0.949628,0.309809,0.047177],[-0.032276,-0.246433,0.968622]]
2025-10-24T23:32:12.772Z,1761348732.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316923,0.916194,0.245253],[-0.947964,0.314276,0.050941],[-0.030405,-0.248635,0.968120]]
2025-10-24T23:32:13.174Z,1761348733.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323427,0.913490,0.246841],[-0.945824,0.319945,0.055253],[-0.028502,-0.251339,0.967479]]
2025-10-24T23:32:13.579Z,1761348733.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330530,0.910517,0.248410],[-0.943418,0.326196,0.059665],[-0.026705,-0.254076,0.966816]]
2025-10-24T23:32:13.985Z,1761348733.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337298,0.907840,0.249110],[-0.941062,0.332225,0.063467],[-0.025143,-0.255836,0.966393]]
2025-10-24T23:32:14.387Z,1761348734.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343444,0.905366,0.249719],[-0.938871,0.337725,0.066814],[-0.023845,-0.257401,0.966011]]
2025-10-24T23:32:14.790Z,1761348734.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348015,0.903699,0.249427],[-0.937215,0.341801,0.069277],[-0.022649,-0.257876,0.965913]]
2025-10-24T23:32:15.194Z,1761348735.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350341,0.903113,0.248290],[-0.936376,0.343799,0.070729],[-0.021485,-0.257272,0.966100]]
2025-10-24T23:32:15.600Z,1761348735.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351109,0.903367,0.246272],[-0.936103,0.344509,0.070883],[-0.020809,-0.255424,0.966605]]
2025-10-24T23:32:16.002Z,1761348736.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350762,0.904455,0.242748],[-0.936248,0.344267,0.070140],[-0.020131,-0.251875,0.967550]]
2025-10-24T23:32:16.406Z,1761348736.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349643,0.906077,0.238273],[-0.936683,0.343329,0.068924],[-0.019356,-0.247285,0.968749]]
2025-10-24T23:32:16.811Z,1761348736.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347999,0.908111,0.232875],[-0.937327,0.341735,0.068086],[-0.017752,-0.241973,0.970120]]
2025-10-24T23:32:17.219Z,1761348737.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345879,0.910500,0.226621],[-0.938147,0.339639,0.067267],[-0.015723,-0.235870,0.971657]]
2025-10-24T23:32:17.618Z,1761348737.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343070,0.912858,0.221345],[-0.939217,0.336688,0.067176],[-0.013202,-0.230937,0.972879]]
2025-10-24T23:32:18.023Z,1761348738.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339706,0.915230,0.216691],[-0.940474,0.333098,0.067485],[-0.010415,-0.226717,0.973905]]
2025-10-24T23:32:18.433Z,1761348738.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335938,0.917699,0.212071],[-0.941856,0.329030,0.068160],[-0.007228,-0.222638,0.974874]]
2025-10-24T23:32:18.830Z,1761348738.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331762,0.920079,0.208300],[-0.943357,0.324363,0.069757],[-0.003383,-0.219644,0.975574]]
2025-10-24T23:32:19.240Z,1761348739.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327207,0.922090,0.206608],[-0.944952,0.318950,0.073057],[0.001468,-0.219139,0.975693]]
2025-10-24T23:32:19.639Z,1761348739.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323282,0.923861,0.204866],[-0.946275,0.313964,0.077395],[0.007182,-0.218880,0.975725]]
2025-10-24T23:32:20.045Z,1761348740.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320384,0.924890,0.204774],[-0.947200,0.309832,0.082566],[0.012919,-0.220415,0.975321]]
2025-10-24T23:32:20.087Z,1761348740.087 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:32:20.087Z,1761348740.087 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:32:20.087Z,1761348740.087 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:32:20.088Z,1761348740.088 [marl:UpdateRudder:A] Stopped
2025-10-24T23:32:20.088Z,1761348740.088 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:32:20.088Z,1761348740.088 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:32:20.088Z,1761348740.088 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:32:20.088Z,1761348740.088 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:32:20.089Z,1761348740.089 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:32:20.089Z,1761348740.089 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:32:20.089Z,1761348740.089 [marl:UpdateCommandMode] Stopped
2025-10-24T23:32:20.089Z,1761348740.089 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:32:20.089Z,1761348740.089 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:32:20.089Z,1761348740.089 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:32:20.089Z,1761348740.089 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:32:20.090Z,1761348740.090 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:32:20.090Z,1761348740.090 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:32:20.090Z,1761348740.090 [marl:UpdateSpeed] Stopped
2025-10-24T23:32:20.090Z,1761348740.090 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:32:20.447Z,1761348740.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319508,0.924986,0.205705],[-0.947414,0.307722,0.087834],[0.017946,-0.222951,0.974664]]
2025-10-24T23:32:20.501Z,1761348740.501 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:32:20.501Z,1761348740.501 [marl:UpdateRudder:B] Stopped
2025-10-24T23:32:20.501Z,1761348740.501 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:32:20.501Z,1761348740.501 [marl:UpdateRudder] Stopped
2025-10-24T23:32:20.501Z,1761348740.501 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:32:20.850Z,1761348740.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320203,0.924252,0.207916],[-0.947096,0.307242,0.092797],[0.021887,-0.226630,0.973735]]
2025-10-24T23:32:21.255Z,1761348741.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321960,0.923194,0.209893],[-0.946422,0.307977,0.097134],[0.025031,-0.229921,0.972887]]
2025-10-24T23:32:21.665Z,1761348741.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324286,0.921833,0.212278],[-0.945536,0.309163,0.101884],[0.028292,-0.233756,0.971884]]
2025-10-24T23:32:22.062Z,1761348742.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327029,0.920902,0.212111],[-0.944487,0.311010,0.105912],[0.031566,-0.234972,0.971489]]
2025-10-24T23:32:22.466Z,1761348742.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330167,0.919949,0.211384],[-0.943274,0.313263,0.110002],[0.034978,-0.235712,0.971193]]
2025-10-24T23:32:22.870Z,1761348742.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333527,0.918781,0.211191],[-0.941935,0.315510,0.114946],[0.038978,-0.237265,0.970663]]
2025-10-24T23:32:23.280Z,1761348743.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334906,0.917697,0.213705],[-0.941205,0.315127,0.121773],[0.044406,-0.241922,0.969279]]
2025-10-24T23:32:23.683Z,1761348743.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333028,0.915534,0.225590],[-0.941500,0.309757,0.132775],[0.051682,-0.256611,0.965132]]
2025-10-24T23:32:24.082Z,1761348744.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328449,0.911628,0.247095],[-0.942613,0.299746,0.147083],[0.060019,-0.281225,0.957763]]
2025-10-24T23:32:24.486Z,1761348744.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322331,0.906569,0.272463],[-0.944145,0.287052,0.161837],[0.068506,-0.309409,0.948458]]
2025-10-24T23:32:24.891Z,1761348744.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315654,0.899852,0.301045],[-0.945852,0.273092,0.175455],[0.075671,-0.340127,0.937330]]
2025-10-24T23:32:25.339Z,1761348745.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308494,0.892892,0.327987],[-0.947752,0.259075,0.186137],[0.081227,-0.368273,0.926163]]
2025-10-24T23:32:25.739Z,1761348745.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299855,0.886910,0.351394],[-0.950170,0.244751,0.193063],[0.085225,-0.391775,0.916105]]
2025-10-24T23:32:26.154Z,1761348746.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288198,0.882961,0.370569],[-0.953456,0.228764,0.196440],[0.088676,-0.409935,0.907794]]
2025-10-24T23:32:26.606Z,1761348746.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273749,0.882294,0.382908],[-0.957374,0.211811,0.196395],[0.092174,-0.420349,0.902668]]
2025-10-24T23:32:27.003Z,1761348747.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257472,0.884195,0.389753],[-0.961532,0.194477,0.194000],[0.095736,-0.424709,0.900254]]
2025-10-24T23:32:27.406Z,1761348747.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239915,0.888867,0.390328],[-0.965641,0.177131,0.190163],[0.099890,-0.422540,0.900823]]
2025-10-24T23:32:27.811Z,1761348747.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221623,0.894916,0.387308],[-0.969461,0.159435,0.186349],[0.105017,-0.416779,0.902921]]
2025-10-24T23:32:28.329Z,1761348748.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202573,0.901165,0.383230],[-0.972925,0.140744,0.183323],[0.111267,-0.409990,0.905278]]
2025-10-24T23:32:28.724Z,1761348748.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183043,0.906922,0.379457],[-0.975944,0.121127,0.181277],[0.118442,-0.403510,0.907277]]
2025-10-24T23:32:29.155Z,1761348749.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163441,0.911940,0.376368],[-0.978432,0.100987,0.180201],[0.126324,-0.397703,0.908777]]
2025-10-24T23:32:29.599Z,1761348749.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130510,0.916830,0.377345],[-0.981542,0.065818,0.179563],[0.139792,-0.393815,0.908498]]
2025-10-24T23:32:30.003Z,1761348750.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116675,0.918199,0.378546],[-0.982559,0.051149,0.178777],[0.144790,-0.392802,0.908153]]
2025-10-24T23:32:30.411Z,1761348750.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104161,0.918916,0.380453],[-0.983409,0.038037,0.177368],[0.148515,-0.392616,0.907632]]
2025-10-24T23:32:30.806Z,1761348750.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091290,0.918730,0.384190],[-0.984242,0.024573,0.175110],[0.151438,-0.394121,0.906496]]
2025-10-24T23:32:31.217Z,1761348751.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076275,0.919299,0.386098],[-0.985091,0.009593,0.171765],[0.154200,-0.393443,0.906325]]
2025-10-24T23:32:31.616Z,1761348751.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059449,0.920369,0.386505],[-0.985932,-0.006455,0.167019],[0.156214,-0.390997,0.907038]]
2025-10-24T23:32:32.055Z,1761348752.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040136,0.921927,0.385279],[-0.986719,-0.024170,0.160625],[0.157397,-0.386609,0.908713]]
2025-10-24T23:32:32.883Z,1761348752.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002758,0.923884,0.382663],[-0.987393,-0.063077,0.145174],[0.158261,-0.377439,0.912411]]
2025-10-24T23:32:33.152Z,1761348753.152 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:32:33.288Z,1761348753.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025803,0.923974,0.381584],[-0.987085,-0.083920,0.136456],[0.158104,-0.373135,0.914206]]
2025-10-24T23:32:33.355Z,1761348753.355 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:32:33.355Z,1761348753.355 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:32:33.355Z,1761348753.355 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:32:33.355Z,1761348753.355 [marl:UpdateRudder:A] Stopped
2025-10-24T23:32:33.360Z,1761348753.360 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:32:33.360Z,1761348753.360 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:32:33.360Z,1761348753.360 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:32:33.360Z,1761348753.360 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:32:33.360Z,1761348753.360 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:32:33.360Z,1761348753.360 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:32:33.361Z,1761348753.361 [marl:UpdateCommandMode] Stopped
2025-10-24T23:32:33.361Z,1761348753.361 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:32:33.361Z,1761348753.361 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:32:33.361Z,1761348753.361 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:32:33.361Z,1761348753.361 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:32:33.361Z,1761348753.361 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:32:33.361Z,1761348753.361 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:32:33.361Z,1761348753.361 [marl:UpdateSpeed] Stopped
2025-10-24T23:32:33.362Z,1761348753.362 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:32:33.699Z,1761348753.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048884,0.922699,0.382409],[-0.986288,-0.105016,0.127310],[0.157627,-0.370942,0.915181]]
2025-10-24T23:32:33.742Z,1761348753.742 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:32:33.742Z,1761348753.742 [marl:UpdateRudder:B] Stopped
2025-10-24T23:32:33.742Z,1761348753.742 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:32:33.742Z,1761348753.742 [marl:UpdateRudder] Stopped
2025-10-24T23:32:33.743Z,1761348753.743 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:32:34.095Z,1761348754.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070662,0.920555,0.384169],[-0.985183,-0.124742,0.117699],[0.156271,-0.370160,0.915730]]
2025-10-24T23:32:34.156Z,1761348754.156 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:32:34.903Z,1761348754.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110854,0.913822,0.390694],[-0.982243,-0.160610,0.096964],[0.151357,-0.373007,0.915400]]
2025-10-24T23:32:35.307Z,1761348755.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130627,0.910122,0.393210],[-0.980283,-0.177877,0.086055],[0.148263,-0.374216,0.915413]]
2025-10-24T23:32:35.709Z,1761348755.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150835,0.906478,0.394393],[-0.977843,-0.195394,0.075122],[0.145158,-0.374324,0.915866]]
2025-10-24T23:32:36.110Z,1761348756.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172170,0.902969,0.393706],[-0.974718,-0.213946,0.064440],[0.142419,-0.372658,0.916975]]
2025-10-24T23:32:36.581Z,1761348756.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193290,0.899033,0.392910],[-0.971178,-0.232243,0.053639],[0.139474,-0.371218,0.918011]]
2025-10-24T23:32:36.991Z,1761348756.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214271,0.894685,0.391953],[-0.967184,-0.250429,0.042901],[0.136540,-0.369898,0.918984]]
2025-10-24T23:32:37.395Z,1761348757.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234188,0.889166,0.393115],[-0.963019,-0.267582,0.031537],[0.133233,-0.371192,0.918948]]
2025-10-24T23:32:37.798Z,1761348757.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252245,0.883369,0.395007],[-0.958959,-0.282829,0.020125],[0.129498,-0.373720,0.918457]]
2025-10-24T23:32:38.203Z,1761348758.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268938,0.877749,0.396521],[-0.954979,-0.296546,0.008734],[0.125252,-0.376320,0.917984]]
2025-10-24T23:32:38.606Z,1761348758.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284628,0.871902,0.398464],[-0.951010,-0.309146,-0.002859],[0.120690,-0.379757,0.917180]]
2025-10-24T23:32:39.013Z,1761348759.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299057,0.866581,0.399501],[-0.947207,-0.320304,-0.014268],[0.115597,-0.382678,0.916622]]
2025-10-24T23:32:39.415Z,1761348759.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313307,0.861947,0.398605],[-0.943227,-0.331191,-0.025215],[0.110281,-0.383875,0.916776]]
2025-10-24T23:32:39.819Z,1761348759.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327604,0.856856,0.398088],[-0.938950,-0.342135,-0.036283],[0.105111,-0.385671,0.916629]]
2025-10-24T23:32:40.223Z,1761348760.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341350,0.852355,0.396195],[-0.934582,-0.352709,-0.046409],[0.100185,-0.386119,0.916993]]
2025-10-24T23:32:40.633Z,1761348760.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354238,0.848361,0.393446],[-0.930238,-0.362758,-0.055348],[0.095770,-0.385605,0.917680]]
2025-10-24T23:32:41.030Z,1761348761.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365768,0.844473,0.391252],[-0.926237,-0.371433,-0.064211],[0.091100,-0.385878,0.918041]]
2025-10-24T23:32:41.434Z,1761348761.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376828,0.841342,0.387484],[-0.922223,-0.379896,-0.071995],[0.086631,-0.384476,0.919061]]
2025-10-24T23:32:41.840Z,1761348761.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387191,0.839056,0.382189],[-0.918326,-0.387921,-0.078705],[0.082221,-0.381448,0.920727]]
2025-10-24T23:32:42.242Z,1761348762.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398568,0.836908,0.375137],[-0.913848,-0.397015,-0.085210],[0.077622,-0.376780,0.923045]]
2025-10-24T23:32:42.655Z,1761348762.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411774,0.834854,0.365323],[-0.908365,-0.408102,-0.091248],[0.072910,-0.369420,0.926398]]
2025-10-24T23:32:43.051Z,1761348763.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426988,0.831759,0.354765],[-0.901691,-0.421180,-0.097785],[0.068086,-0.361641,0.929828]]
2025-10-24T23:32:43.455Z,1761348763.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443592,0.827776,0.343530],[-0.893978,-0.435833,-0.104181],[0.063483,-0.353322,0.933345]]
2025-10-24T23:32:43.869Z,1761348763.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461503,0.822333,0.332843],[-0.885171,-0.451814,-0.111067],[0.059049,-0.345880,0.936419]]
2025-10-24T23:32:44.262Z,1761348764.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480500,0.815017,0.323831],[-0.875268,-0.468822,-0.118791],[0.055002,-0.340518,0.938628]]
2025-10-24T23:32:45.072Z,1761348765.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520527,0.795187,0.311012],[-0.852476,-0.504608,-0.136585],[0.048329,-0.336226,0.940540]]
2025-10-24T23:32:45.474Z,1761348765.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540881,0.783003,0.307173],[-0.839835,-0.522778,-0.146219],[0.046093,-0.337062,0.940354]]
2025-10-24T23:32:45.917Z,1761348765.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560973,0.769895,0.304254],[-0.826654,-0.540582,-0.156249],[0.044179,-0.339165,0.939689]]
2025-10-24T23:32:46.282Z,1761348766.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580773,0.755875,0.302252],[-0.812960,-0.557871,-0.166959],[0.042417,-0.342684,0.938493]]
2025-10-24T23:32:46.339Z,1761348766.339 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:32:46.339Z,1761348766.339 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:32:46.339Z,1761348766.339 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:32:46.340Z,1761348766.340 [marl:UpdateRudder:A] Stopped
2025-10-24T23:32:46.340Z,1761348766.340 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:32:46.340Z,1761348766.340 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:32:46.340Z,1761348766.340 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:32:46.340Z,1761348766.340 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:32:46.340Z,1761348766.340 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:32:46.341Z,1761348766.341 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:32:46.341Z,1761348766.341 [marl:UpdateCommandMode] Stopped
2025-10-24T23:32:46.341Z,1761348766.341 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:32:46.341Z,1761348766.341 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:32:46.341Z,1761348766.341 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:32:46.341Z,1761348766.341 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:32:46.341Z,1761348766.341 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:32:46.341Z,1761348766.341 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:32:46.342Z,1761348766.342 [marl:UpdateSpeed] Stopped
2025-10-24T23:32:46.342Z,1761348766.342 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:32:46.690Z,1761348766.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599606,0.741794,0.300357],[-0.799262,-0.574127,-0.177649],[0.040664,-0.346583,0.937137]]
2025-10-24T23:32:46.742Z,1761348766.742 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:32:46.742Z,1761348766.742 [marl:UpdateRudder:B] Stopped
2025-10-24T23:32:46.743Z,1761348766.743 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:32:46.743Z,1761348766.743 [marl:UpdateRudder] Stopped
2025-10-24T23:32:46.743Z,1761348766.743 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:32:47.090Z,1761348767.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617078,0.728030,0.298643],[-0.785964,-0.588760,-0.188741],[0.038420,-0.351190,0.935516]]
2025-10-24T23:32:47.494Z,1761348767.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632898,0.714884,0.297290],[-0.773389,-0.601690,-0.199596],[0.036188,-0.356245,0.933692]]
2025-10-24T23:32:47.934Z,1761348767.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646576,0.703171,0.295787],[-0.762117,-0.612408,-0.210082],[0.033419,-0.361258,0.931867]]
2025-10-24T23:32:48.303Z,1761348768.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657795,0.694022,0.292643],[-0.752602,-0.621077,-0.218754],[0.029934,-0.364139,0.930863]]
2025-10-24T23:32:48.745Z,1761348768.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665071,0.690132,0.285305],[-0.746373,-0.626901,-0.223435],[0.024658,-0.361544,0.932029]]
2025-10-24T23:32:49.158Z,1761348769.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668302,0.693091,0.270180],[-0.743697,-0.630779,-0.221434],[0.016950,-0.348917,0.937001]]
2025-10-24T23:32:49.555Z,1761348769.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668759,0.699962,0.250629],[-0.743441,-0.633010,-0.215855],[0.007560,-0.330683,0.943712]]
2025-10-24T23:32:49.961Z,1761348769.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667811,0.707983,0.229757],[-0.744327,-0.634194,-0.209225],[-0.002417,-0.310737,0.950493]]
2025-10-24T23:32:50.363Z,1761348770.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665804,0.716430,0.208405],[-0.746018,-0.634438,-0.202351],[-0.012750,-0.290200,0.956881]]
2025-10-24T23:32:50.766Z,1761348770.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663653,0.723849,0.188700],[-0.747686,-0.634121,-0.197119],[-0.023026,-0.271907,0.962048]]
2025-10-24T23:32:51.174Z,1761348771.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661532,0.730542,0.169360],[-0.749183,-0.633825,-0.192327],[-0.033158,-0.254113,0.966606]]
2025-10-24T23:32:51.576Z,1761348771.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660471,0.735724,0.149964],[-0.749616,-0.634644,-0.187892],[-0.043063,-0.236512,0.970674]]
2025-10-24T23:32:51.978Z,1761348771.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660293,0.739177,0.132784],[-0.749149,-0.635847,-0.185672],[-0.052815,-0.222073,0.973599]]
2025-10-24T23:32:52.382Z,1761348772.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660984,0.741231,0.116945],[-0.747822,-0.637759,-0.184458],[-0.062143,-0.209378,0.975858]]
2025-10-24T23:32:52.793Z,1761348772.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664949,0.741278,0.091376],[-0.742588,-0.643043,-0.187238],[-0.080037,-0.192358,0.978055]]
2025-10-24T23:32:53.202Z,1761348773.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667368,0.740301,0.081090],[-0.739418,-0.645688,-0.190652],[-0.088780,-0.187194,0.978303]]
2025-10-24T23:32:53.343Z,1761348773.343 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:32:53.343Z,1761348773.343 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:32:53.601Z,1761348773.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669660,0.739133,0.072369],[-0.736297,-0.648021,-0.194771],[-0.097065,-0.183715,0.978175]]
2025-10-24T23:32:54.003Z,1761348774.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672035,0.737625,0.065406],[-0.733082,-0.650200,-0.199575],[-0.104685,-0.182070,0.977697]]
2025-10-24T23:32:54.417Z,1761348774.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673884,0.736300,0.061169],[-0.730309,-0.651278,-0.206120],[-0.111928,-0.183573,0.976613]]
2025-10-24T23:32:54.813Z,1761348774.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675579,0.735160,0.055979],[-0.727617,-0.652535,-0.211594],[-0.119027,-0.183680,0.975753]]
2025-10-24T23:32:55.229Z,1761348775.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676693,0.734448,0.051698],[-0.725420,-0.653072,-0.217399],[-0.125905,-0.184615,0.974713]]
2025-10-24T23:32:55.625Z,1761348775.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677620,0.733824,0.048311],[-0.723372,-0.653248,-0.223605],[-0.132527,-0.186466,0.973482]]
2025-10-24T23:32:56.022Z,1761348776.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678684,0.733043,0.045119],[-0.721189,-0.653577,-0.229615],[-0.138829,-0.188375,0.972235]]
2025-10-24T23:32:56.431Z,1761348776.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679383,0.732528,0.042919],[-0.719337,-0.653317,-0.236075],[-0.144892,-0.191259,0.970787]]
2025-10-24T23:32:56.830Z,1761348776.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679983,0.732061,0.041341],[-0.717691,-0.652970,-0.241969],[-0.150142,-0.194205,0.969403]]
2025-10-24T23:32:56.864Z,1761348776.864 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:32:57.234Z,1761348777.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680005,0.732113,0.040050],[-0.716761,-0.652256,-0.246608],[-0.154422,-0.196401,0.968288]]
2025-10-24T23:32:57.638Z,1761348777.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680441,0.731661,0.040883],[-0.715785,-0.651651,-0.251002],[-0.157007,-0.200055,0.967123]]
2025-10-24T23:32:58.045Z,1761348778.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680190,0.731766,0.043131],[-0.715583,-0.650082,-0.255605],[-0.159005,-0.204724,0.965819]]
2025-10-24T23:32:58.447Z,1761348778.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679548,0.732168,0.046306],[-0.715876,-0.647978,-0.260088],[-0.160423,-0.209892,0.964474]]
2025-10-24T23:32:58.850Z,1761348778.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679072,0.732430,0.049061],[-0.716192,-0.646391,-0.263149],[-0.161026,-0.213834,0.963507]]
2025-10-24T23:32:58.906Z,1761348778.906 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:32:58.906Z,1761348778.906 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:32:58.906Z,1761348778.906 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:32:58.906Z,1761348778.906 [marl:UpdateRudder:A] Stopped
2025-10-24T23:32:58.906Z,1761348778.906 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:32:58.907Z,1761348778.907 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:32:58.907Z,1761348778.907 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:32:58.907Z,1761348778.907 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:32:58.907Z,1761348778.907 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:32:58.907Z,1761348778.907 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:32:58.907Z,1761348778.907 [marl:UpdateCommandMode] Stopped
2025-10-24T23:32:58.907Z,1761348778.907 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:32:58.907Z,1761348778.907 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:32:58.908Z,1761348778.908 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:32:58.908Z,1761348778.908 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:32:58.908Z,1761348778.908 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:32:58.908Z,1761348778.908 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:32:58.908Z,1761348778.908 [marl:UpdateSpeed] Stopped
2025-10-24T23:32:58.909Z,1761348778.909 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:32:59.259Z,1761348779.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679179,0.732169,0.051428],[-0.716075,-0.645610,-0.265374],[-0.161096,-0.217063,0.962773]]
2025-10-24T23:32:59.283Z,1761348779.283 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:32:59.283Z,1761348779.283 [marl:UpdateRudder:B] Stopped
2025-10-24T23:32:59.284Z,1761348779.284 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:32:59.284Z,1761348779.284 [marl:UpdateRudder] Stopped
2025-10-24T23:32:59.284Z,1761348779.284 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:32:59.665Z,1761348779.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679361,0.731956,0.052037],[-0.716030,-0.645724,-0.265219],[-0.160527,-0.217439,0.962783]]
2025-10-24T23:33:00.062Z,1761348780.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680358,0.731044,0.051844],[-0.715195,-0.646830,-0.264776],[-0.160029,-0.217221,0.962915]]
2025-10-24T23:33:00.475Z,1761348780.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681804,0.729695,0.051845],[-0.714006,-0.648373,-0.264211],[-0.159178,-0.217158,0.963071]]
2025-10-24T23:33:00.871Z,1761348780.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683713,0.728011,0.050358],[-0.712337,-0.650822,-0.262691],[-0.158468,-0.215477,0.963565]]
2025-10-24T23:33:01.278Z,1761348781.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685467,0.726392,0.049888],[-0.710854,-0.652830,-0.261725],[-0.157547,-0.214867,0.963852]]
2025-10-24T23:33:01.683Z,1761348781.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688879,0.723157,0.049896],[-0.708121,-0.656645,-0.259581],[-0.154954,-0.214152,0.964431]]
2025-10-24T23:33:02.090Z,1761348782.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694082,0.717764,0.055362],[-0.703787,-0.660364,-0.261922],[-0.151439,-0.220759,0.963500]]
2025-10-24T23:33:02.490Z,1761348782.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701516,0.709340,0.068644],[-0.697390,-0.663470,-0.271027],[-0.146707,-0.238001,0.960121]]
2025-10-24T23:33:02.890Z,1761348782.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710249,0.698695,0.085856],[-0.689680,-0.666224,-0.283702],[-0.141022,-0.260713,0.955061]]
2025-10-24T23:33:03.299Z,1761348783.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718772,0.687041,0.106495],[-0.682142,-0.667304,-0.298977],[-0.134345,-0.287541,0.948299]]
2025-10-24T23:33:03.698Z,1761348783.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727805,0.674246,0.125269],[-0.673872,-0.669233,-0.313086],[-0.127263,-0.312281,0.941427]]
2025-10-24T23:33:04.107Z,1761348784.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736739,0.660969,0.142601],[-0.665470,-0.671386,-0.326176],[-0.119852,-0.335203,0.934492]]
2025-10-24T23:33:04.276Z,1761348784.276 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:33:04.506Z,1761348784.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746544,0.646692,0.156401],[-0.655847,-0.675716,-0.336560],[-0.111968,-0.353832,0.928583]]
2025-10-24T23:33:04.910Z,1761348784.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756529,0.632339,0.166767],[-0.645644,-0.681673,-0.344188],[-0.103963,-0.368061,0.923971]]
2025-10-24T23:33:05.280Z,1761348785.280 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:33:05.317Z,1761348785.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767253,0.617800,0.172182],[-0.634115,-0.690558,-0.347891],[-0.096025,-0.376103,0.921589]]
2025-10-24T23:33:05.720Z,1761348785.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778491,0.602965,0.174314],[-0.621430,-0.701428,-0.349031],[-0.088185,-0.380041,0.920756]]
2025-10-24T23:33:06.122Z,1761348786.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790207,0.587707,0.173704],[-0.607540,-0.714050,-0.347891],[-0.080425,-0.380438,0.921303]]
2025-10-24T23:33:06.526Z,1761348786.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802031,0.571864,0.172388],[-0.592806,-0.726878,-0.346741],[-0.072984,-0.380290,0.921983]]
2025-10-24T23:33:06.931Z,1761348786.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813292,0.556047,0.171369],[-0.578134,-0.738991,-0.345908],[-0.065701,-0.380398,0.922486]]
2025-10-24T23:33:07.345Z,1761348787.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823681,0.540519,0.171432],[-0.564030,-0.749774,-0.345990],[-0.058479,-0.381678,0.922443]]
2025-10-24T23:33:07.738Z,1761348787.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832189,0.526855,0.172875],[-0.552092,-0.758307,-0.346650],[-0.051541,-0.383921,0.921926]]
2025-10-24T23:33:08.142Z,1761348788.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839658,0.514169,0.174943],[-0.541265,-0.765632,-0.347620],[-0.044793,-0.386573,0.921170]]
2025-10-24T23:33:08.546Z,1761348788.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846036,0.502340,0.178542],[-0.531767,-0.771261,-0.349829],[-0.038031,-0.390911,0.919643]]
2025-10-24T23:33:08.951Z,1761348788.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851710,0.491297,0.182257],[-0.523059,-0.776092,-0.352264],[-0.031618,-0.395358,0.917983]]
2025-10-24T23:33:09.354Z,1761348789.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856875,0.481237,0.184869],[-0.514896,-0.781208,-0.352981],[-0.025447,-0.397649,0.917185]]
2025-10-24T23:33:09.837Z,1761348789.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861693,0.471575,0.187357],[-0.507068,-0.786264,-0.353088],[-0.019196,-0.399256,0.916638]]
2025-10-24T23:33:10.327Z,1761348790.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866849,0.461545,0.188544],[-0.498404,-0.792441,-0.351611],[-0.012874,-0.398765,0.916963]]
2025-10-24T23:33:10.791Z,1761348790.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872956,0.450061,0.188129],[-0.487752,-0.800004,-0.349417],[-0.006755,-0.396786,0.917886]]
2025-10-24T23:33:11.592Z,1761348791.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887724,0.422505,0.182854],[-0.460352,-0.818684,-0.343267],[0.004667,-0.388904,0.921266]]
2025-10-24T23:33:12.003Z,1761348792.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895797,0.406697,0.179289],[-0.444356,-0.828353,-0.341144],[0.009772,-0.385264,0.922755]]
2025-10-24T23:33:12.091Z,1761348792.091 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:33:12.091Z,1761348792.091 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:33:12.091Z,1761348792.091 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:33:12.096Z,1761348792.096 [marl:UpdateRudder:A] Stopped
2025-10-24T23:33:12.096Z,1761348792.096 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:33:12.096Z,1761348792.096 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:33:12.096Z,1761348792.096 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:33:12.096Z,1761348792.096 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:33:12.096Z,1761348792.096 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:33:12.097Z,1761348792.097 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:33:12.097Z,1761348792.097 [marl:UpdateCommandMode] Stopped
2025-10-24T23:33:12.097Z,1761348792.097 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:33:12.097Z,1761348792.097 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:33:12.097Z,1761348792.097 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:33:12.097Z,1761348792.097 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:33:12.097Z,1761348792.097 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:33:12.097Z,1761348792.097 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:33:12.097Z,1761348792.097 [marl:UpdateSpeed] Stopped
2025-10-24T23:33:12.098Z,1761348792.098 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:33:12.418Z,1761348792.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910826,0.374326,0.174000],[-0.412339,-0.844753,-0.341128],[0.019294,-0.382455,0.923773]]
2025-10-24T23:33:12.469Z,1761348792.469 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:33:12.470Z,1761348792.470 [marl:UpdateRudder:B] Stopped
2025-10-24T23:33:12.470Z,1761348792.470 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:33:12.470Z,1761348792.470 [marl:UpdateRudder] Stopped
2025-10-24T23:33:12.470Z,1761348792.470 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:33:12.831Z,1761348792.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917780,0.358033,0.171734],[-0.396384,-0.851811,-0.342487],[0.023663,-0.382401,0.923694]]
2025-10-24T23:33:13.663Z,1761348793.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930932,0.325008,0.166540],[-0.363782,-0.865341,-0.344743],[0.032070,-0.381516,0.923806]]
2025-10-24T23:33:14.065Z,1761348794.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937048,0.308502,0.163606],[-0.347368,-0.871426,-0.346341],[0.035723,-0.381370,0.923732]]
2025-10-24T23:33:14.526Z,1761348794.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943162,0.291516,0.159572],[-0.330027,-0.878048,-0.346575],[0.039079,-0.379539,0.924350]]
2025-10-24T23:33:14.961Z,1761348794.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948961,0.274377,0.155530],[-0.312594,-0.883776,-0.348173],[0.041923,-0.379021,0.924438]]
2025-10-24T23:33:14.986Z,1761348794.986 [marl:SendObservationData] Running Loop=1
2025-10-24T23:33:14.986Z,1761348794.986 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:33:14.986Z,1761348794.986 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:33:14.987Z,1761348794.987 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:33:14.988Z,1761348794.988 [marl:SendObservationData:A](INFO): Got test_good :  41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:33:14.988Z,1761348794.988 [marl:SendObservationData:A] Stopped
2025-10-24T23:33:14.988Z,1761348794.988 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:33:15.359Z,1761348795.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954443,0.257145,0.151376],[-0.295003,-0.889413,-0.349168],[0.044849,-0.377917,0.924752]]
2025-10-24T23:33:15.432Z,1761348795.432 [marl:SendObservationData:B] Stopped
2025-10-24T23:33:15.432Z,1761348795.432 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:33:15.762Z,1761348795.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959320,0.240501,0.147865],[-0.278292,-0.893722,-0.351873],[0.047525,-0.378709,0.924295]]
2025-10-24T23:33:15.814Z,1761348795.814 [marl:SendObservationData:C] Stopped
2025-10-24T23:33:15.815Z,1761348795.815 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:33:16.166Z,1761348796.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963621,0.224555,0.144945],[-0.262505,-0.897135,-0.355303],[0.050250,-0.380427,0.923445]]
2025-10-24T23:33:16.233Z,1761348796.233 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.008970 min 
2025-10-24T23:33:16.234Z,1761348796.234 [marl:SendObservationData:E] Stopped
2025-10-24T23:33:16.234Z,1761348796.234 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:33:16.234Z,1761348796.234 [marl:SendObservationData] Stopped
2025-10-24T23:33:16.234Z,1761348796.234 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:33:16.235Z,1761348796.235 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:33:16.572Z,1761348796.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967511,0.209274,0.141866],[-0.247258,-0.900326,-0.358156],[0.052773,-0.381597,0.922821]]
2025-10-24T23:33:16.974Z,1761348796.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970701,0.195741,0.139374],[-0.233894,-0.902624,-0.361335],[0.055074,-0.383348,0.921961]]
2025-10-24T23:33:17.393Z,1761348797.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973661,0.182374,0.136834],[-0.220608,-0.905144,-0.363381],[0.057583,-0.383997,0.921537]]
2025-10-24T23:33:17.794Z,1761348797.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976271,0.170057,0.134075],[-0.208137,-0.907788,-0.364142],[0.059787,-0.383408,0.921642]]
2025-10-24T23:33:18.221Z,1761348798.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978895,0.157342,0.130416],[-0.194889,-0.910779,-0.364004],[0.061507,-0.381739,0.922222]]
2025-10-24T23:33:18.625Z,1761348798.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981479,0.144083,0.126253],[-0.180985,-0.913436,-0.364525],[0.062802,-0.380623,0.922595]]
2025-10-24T23:33:19.035Z,1761348799.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983975,0.130518,0.121485],[-0.166573,-0.915931,-0.365135],[0.063615,-0.379520,0.922994]]
2025-10-24T23:33:19.433Z,1761348799.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986254,0.117155,0.116521],[-0.152258,-0.918294,-0.365449],[0.064186,-0.378167,0.923509]]
2025-10-24T23:33:19.835Z,1761348799.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988451,0.102863,0.111283],[-0.136961,-0.920674,-0.365515],[0.064857,-0.376535,0.924129]]
2025-10-24T23:33:20.238Z,1761348800.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990432,0.088367,0.106002],[-0.121443,-0.922926,-0.365321],[0.065550,-0.374699,0.924826]]
2025-10-24T23:33:20.644Z,1761348800.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992097,0.074389,0.101040],[-0.106619,-0.924353,-0.366338],[0.066145,-0.374215,0.924980]]
2025-10-24T23:33:21.050Z,1761348801.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993499,0.060690,0.096311],[-0.092149,-0.925499,-0.367369],[0.066841,-0.373856,0.925075]]
2025-10-24T23:33:21.450Z,1761348801.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994701,0.047149,0.091362],[-0.077696,-0.926703,-0.367676],[0.067330,-0.372826,0.925455]]
2025-10-24T23:33:21.947Z,1761348801.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995729,0.032584,0.086386],[-0.062294,-0.927691,-0.368116],[0.068145,-0.371925,0.925758]]
2025-10-24T23:33:22.339Z,1761348802.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996500,0.018082,0.081613],[-0.047042,-0.928360,-0.368693],[0.069100,-0.371241,0.925962]]
2025-10-24T23:33:22.739Z,1761348802.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997133,0.002276,0.075632],[-0.030082,-0.929087,-0.368635],[0.069430,-0.369853,0.926492]]
2025-10-24T23:33:23.143Z,1761348803.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997553,-0.015401,0.068196],[-0.010855,-0.929484,-0.368702],[0.069065,-0.368540,0.927043]]
2025-10-24T23:33:23.555Z,1761348803.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997659,-0.032028,0.060418],[0.007654,-0.930282,-0.366766],[0.067952,-0.365446,0.928349]]
2025-10-24T23:33:23.958Z,1761348803.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997422,-0.049442,0.052015],[0.027069,-0.930468,-0.365371],[0.066463,-0.363021,0.929408]]
2025-10-24T23:33:24.763Z,1761348804.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995939,-0.083065,0.034722],[0.064714,-0.928623,-0.365337],[0.062591,-0.361606,0.930228]]
2025-10-24T23:33:25.168Z,1761348805.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994720,-0.099284,0.025967],[0.082942,-0.926793,-0.366299],[0.060434,-0.362211,0.930135]]
2025-10-24T23:33:25.211Z,1761348805.211 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:33:25.211Z,1761348805.211 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:33:25.211Z,1761348805.211 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:33:25.211Z,1761348805.211 [marl:UpdateRudder:A] Stopped
2025-10-24T23:33:25.211Z,1761348805.211 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:33:25.211Z,1761348805.211 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:33:25.212Z,1761348805.212 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:33:25.212Z,1761348805.212 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:33:25.212Z,1761348805.212 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:33:25.212Z,1761348805.212 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:33:25.212Z,1761348805.212 [marl:UpdateCommandMode] Stopped
2025-10-24T23:33:25.213Z,1761348805.213 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:33:25.213Z,1761348805.213 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:33:25.213Z,1761348805.213 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:33:25.213Z,1761348805.213 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:33:25.213Z,1761348805.213 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:33:25.213Z,1761348805.213 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:33:25.213Z,1761348805.213 [marl:UpdateSpeed] Stopped
2025-10-24T23:33:25.213Z,1761348805.213 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:33:25.570Z,1761348805.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993410,-0.113154,0.018234],[0.098644,-0.925109,-0.366665],[0.058358,-0.362450,0.930174]]
2025-10-24T23:33:25.614Z,1761348805.614 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:33:25.614Z,1761348805.614 [marl:UpdateRudder:B] Stopped
2025-10-24T23:33:25.614Z,1761348805.614 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:33:25.615Z,1761348805.615 [marl:UpdateRudder] Stopped
2025-10-24T23:33:25.615Z,1761348805.615 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:33:25.979Z,1761348805.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992016,-0.125645,0.010829],[0.112921,-0.923216,-0.367316],[0.056149,-0.363161,0.930033]]
2025-10-24T23:33:26.784Z,1761348806.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988876,-0.148717,-0.002680],[0.139240,-0.919222,-0.368299],[0.052308,-0.364575,0.929704]]
2025-10-24T23:33:27.186Z,1761348807.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987364,-0.158229,-0.008748],[0.150351,-0.917898,-0.367230],[0.050077,-0.363905,0.930089]]
2025-10-24T23:33:27.590Z,1761348807.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986290,-0.164467,-0.013536],[0.158202,-0.918999,-0.361128],[0.046955,-0.358318,0.932418]]
2025-10-24T23:33:28.005Z,1761348808.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985859,-0.166809,-0.016020],[0.161978,-0.924056,-0.346243],[0.042953,-0.343941,0.938008]]
2025-10-24T23:33:28.400Z,1761348808.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985820,-0.166933,-0.017077],[0.163287,-0.930850,-0.326888],[0.038672,-0.325041,0.944909]]
2025-10-24T23:33:28.802Z,1761348808.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985768,-0.167066,-0.018718],[0.164705,-0.937488,-0.306577],[0.033670,-0.305296,0.951662]]
2025-10-24T23:33:29.207Z,1761348809.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985649,-0.167512,-0.020890],[0.166407,-0.943354,-0.287040],[0.028376,-0.286397,0.957691]]
2025-10-24T23:33:29.615Z,1761348809.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985234,-0.169451,-0.024500],[0.169728,-0.947836,-0.269812],[0.022498,-0.269986,0.962601]]
2025-10-24T23:33:30.022Z,1761348810.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984693,-0.171942,-0.028572],[0.173544,-0.951910,-0.252489],[0.016215,-0.253582,0.967178]]
2025-10-24T23:33:30.423Z,1761348810.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983936,-0.175379,-0.033349],[0.178260,-0.955104,-0.236642],[0.009650,-0.238786,0.971024]]
2025-10-24T23:33:30.822Z,1761348810.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983069,-0.179068,-0.038866],[0.183216,-0.957332,-0.223489],[0.002813,-0.226826,0.973931]]
2025-10-24T23:33:31.232Z,1761348811.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982060,-0.183188,-0.044735],[0.188531,-0.958696,-0.212972],[-0.003873,-0.217585,0.976034]]
2025-10-24T23:33:31.638Z,1761348811.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979471,-0.193033,-0.058087],[0.200849,-0.959086,-0.199533],[-0.017194,-0.207103,0.978168]]
2025-10-24T23:33:32.039Z,1761348812.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978142,-0.197520,-0.064991],[0.206565,-0.958857,-0.194743],[-0.023851,-0.203911,0.978699]]
2025-10-24T23:33:32.443Z,1761348812.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976925,-0.201032,-0.072131],[0.211377,-0.958426,-0.191676],[-0.030599,-0.202500,0.978804]]
2025-10-24T23:33:32.847Z,1761348812.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975899,-0.203323,-0.079249],[0.215036,-0.957820,-0.190629],[-0.037147,-0.203076,0.978458]]
2025-10-24T23:33:33.250Z,1761348813.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975118,-0.204267,-0.086144],[0.217359,-0.957364,-0.190287],[-0.043602,-0.204277,0.977942]]
2025-10-24T23:33:33.653Z,1761348813.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974645,-0.203503,-0.093021],[0.218105,-0.956880,-0.191859],[-0.049966,-0.207283,0.977004]]
2025-10-24T23:33:34.054Z,1761348814.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974491,-0.201448,-0.098923],[0.217349,-0.956954,-0.192351],[-0.055916,-0.208945,0.976327]]
2025-10-24T23:33:34.458Z,1761348814.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974565,-0.198184,-0.104626],[0.215457,-0.957024,-0.194124],[-0.061657,-0.211729,0.975382]]
2025-10-24T23:33:34.865Z,1761348814.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974788,-0.194311,-0.109686],[0.212935,-0.956993,-0.197036],[-0.066683,-0.215424,0.974241]]
2025-10-24T23:33:35.266Z,1761348815.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975117,-0.190295,-0.113727],[0.210021,-0.957210,-0.199099],[-0.070973,-0.218030,0.973358]]
2025-10-24T23:33:35.400Z,1761348815.400 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:33:35.675Z,1761348815.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975456,-0.186496,-0.117070],[0.207147,-0.957512,-0.200651],[-0.074675,-0.219977,0.972643]]
2025-10-24T23:33:36.074Z,1761348816.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975766,-0.182897,-0.120126],[0.204474,-0.957610,-0.202912],[-0.077922,-0.222557,0.971801]]
2025-10-24T23:33:36.404Z,1761348816.404 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:33:36.487Z,1761348816.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976064,-0.179596,-0.122656],[0.201956,-0.957753,-0.204752],[-0.080701,-0.224623,0.971098]]
2025-10-24T23:33:36.884Z,1761348816.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976261,-0.177047,-0.124776],[0.199992,-0.958028,-0.205392],[-0.083175,-0.225471,0.970693]]
2025-10-24T23:33:37.286Z,1761348817.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976382,-0.174896,-0.126842],[0.198425,-0.958176,-0.206220],[-0.085470,-0.226518,0.970250]]
2025-10-24T23:33:37.691Z,1761348817.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976391,-0.173514,-0.128663],[0.197404,-0.958581,-0.205315],[-0.087709,-0.225866,0.970202]]
2025-10-24T23:33:37.715Z,1761348817.715 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:33:37.715Z,1761348817.715 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:33:37.716Z,1761348817.716 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:33:37.732Z,1761348817.732 [marl:UpdateRudder:A] Stopped
2025-10-24T23:33:37.732Z,1761348817.732 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:33:38.101Z,1761348818.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975958,-0.174385,-0.130749],[0.198535,-0.958810,-0.203141],[-0.089939,-0.224215,0.970381]]
2025-10-24T23:33:38.167Z,1761348818.167 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:33:38.167Z,1761348818.167 [marl:UpdateRudder:B] Stopped
2025-10-24T23:33:38.172Z,1761348818.172 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:33:38.172Z,1761348818.172 [marl:UpdateRudder] Stopped
2025-10-24T23:33:38.172Z,1761348818.172 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:33:38.172Z,1761348818.172 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:33:38.172Z,1761348818.172 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:33:38.172Z,1761348818.172 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:33:38.173Z,1761348818.173 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:33:38.173Z,1761348818.173 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:33:38.173Z,1761348818.173 [marl:UpdateCommandMode] Stopped
2025-10-24T23:33:38.173Z,1761348818.173 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:33:38.173Z,1761348818.173 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:33:38.173Z,1761348818.173 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:33:38.173Z,1761348818.173 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:33:38.174Z,1761348818.174 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:33:38.174Z,1761348818.174 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:33:38.174Z,1761348818.174 [marl:UpdateSpeed] Stopped
2025-10-24T23:33:38.174Z,1761348818.174 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:33:38.499Z,1761348818.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975081,-0.177258,-0.133406],[0.201713,-0.958702,-0.200505],[-0.092355,-0.222418,0.970567]]
2025-10-24T23:33:38.902Z,1761348818.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973999,-0.181012,-0.136238],[0.205641,-0.958723,-0.196373],[-0.095069,-0.219284,0.971018]]
2025-10-24T23:33:39.308Z,1761348819.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972663,-0.185695,-0.139442],[0.210540,-0.958517,-0.192143],[-0.097978,-0.216249,0.971410]]
2025-10-24T23:33:39.711Z,1761348819.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971177,-0.190408,-0.143386],[0.215828,-0.957771,-0.189981],[-0.101157,-0.215452,0.971261]]
2025-10-24T23:33:40.114Z,1761348820.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969650,-0.195150,-0.147294],[0.221167,-0.956916,-0.188140],[-0.104232,-0.215007,0.971034]]
2025-10-24T23:33:40.518Z,1761348820.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968189,-0.199875,-0.150533],[0.226396,-0.955950,-0.186827],[-0.106560,-0.214964,0.970791]]
2025-10-24T23:33:40.924Z,1761348820.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966718,-0.204356,-0.153932],[0.231627,-0.954591,-0.187366],[-0.108653,-0.216784,0.970154]]
2025-10-24T23:33:41.327Z,1761348821.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965581,-0.207482,-0.156860],[0.235522,-0.953361,-0.188767],[-0.110379,-0.219213,0.969413]]
2025-10-24T23:33:41.730Z,1761348821.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965114,-0.207999,-0.159033],[0.236933,-0.952293,-0.192357],[-0.111436,-0.223327,0.968353]]
2025-10-24T23:33:42.134Z,1761348822.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965173,-0.206752,-0.160295],[0.236518,-0.951465,-0.196909],[-0.111804,-0.227964,0.967229]]
2025-10-24T23:33:42.539Z,1761348822.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965701,-0.204040,-0.160591],[0.234465,-0.950976,-0.201669],[-0.111569,-0.232405,0.966199]]
2025-10-24T23:33:42.947Z,1761348822.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966504,-0.200544,-0.160162],[0.231264,-0.951127,-0.204633],[-0.111296,-0.234818,0.965647]]
2025-10-24T23:33:43.347Z,1761348823.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967417,-0.197042,-0.158994],[0.227875,-0.951309,-0.207566],[-0.110354,-0.237034,0.965213]]
2025-10-24T23:33:43.750Z,1761348823.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968528,-0.193513,-0.156545],[0.224153,-0.951532,-0.210576],[-0.108209,-0.239038,0.964962]]
2025-10-24T23:33:44.157Z,1761348824.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969739,-0.190688,-0.152458],[0.220423,-0.952329,-0.210912],[-0.104971,-0.238135,0.965543]]
2025-10-24T23:33:44.560Z,1761348824.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970812,-0.188763,-0.147964],[0.217408,-0.953106,-0.210530],[-0.101285,-0.236554,0.966325]]
2025-10-24T23:33:44.968Z,1761348824.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971518,-0.188088,-0.144140],[0.215825,-0.953473,-0.210495],[-0.097842,-0.235608,0.966910]]
2025-10-24T23:33:45.366Z,1761348825.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971856,-0.189082,-0.140513],[0.215690,-0.954054,-0.207987],[-0.094731,-0.232441,0.967986]]
2025-10-24T23:33:45.771Z,1761348825.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971928,-0.190987,-0.137401],[0.216649,-0.954246,-0.206101],[-0.091752,-0.230083,0.968836]]
2025-10-24T23:33:46.181Z,1761348826.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971832,-0.193746,-0.134184],[0.218333,-0.954508,-0.203088],[-0.088732,-0.226664,0.969923]]
2025-10-24T23:33:46.578Z,1761348826.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971633,-0.196857,-0.131061],[0.220552,-0.954290,-0.201712],[-0.085362,-0.224895,0.970637]]
2025-10-24T23:33:46.982Z,1761348826.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971417,-0.200195,-0.127559],[0.222957,-0.953923,-0.200802],[-0.081481,-0.223503,0.971292]]
2025-10-24T23:33:47.386Z,1761348827.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971156,-0.203908,-0.123601],[0.225695,-0.953321,-0.200601],[-0.076927,-0.222711,0.971845]]
2025-10-24T23:33:47.792Z,1761348827.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970936,-0.207596,-0.119113],[0.228328,-0.952632,-0.200895],[-0.071766,-0.222253,0.972344]]
2025-10-24T23:33:48.194Z,1761348828.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970598,-0.211908,-0.114167],[0.231478,-0.951790,-0.201282],[-0.066009,-0.221791,0.972857]]
2025-10-24T23:33:48.598Z,1761348828.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970081,-0.216718,-0.109437],[0.235191,-0.950697,-0.202138],[-0.060234,-0.221829,0.973223]]
2025-10-24T23:33:49.002Z,1761348829.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969532,-0.221202,-0.105249],[0.238766,-0.949373,-0.204161],[-0.054759,-0.223070,0.973263]]
2025-10-24T23:33:49.433Z,1761348829.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969075,-0.224958,-0.101425],[0.241695,-0.948173,-0.206278],[-0.049764,-0.224413,0.973223]]
2025-10-24T23:33:49.810Z,1761348829.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968895,-0.227250,-0.097975],[0.243276,-0.947229,-0.208742],[-0.045368,-0.226084,0.973051]]
2025-10-24T23:33:50.214Z,1761348830.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969085,-0.227825,-0.094713],[0.243212,-0.946664,-0.211365],[-0.041507,-0.227866,0.972807]]
2025-10-24T23:33:50.618Z,1761348830.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969816,-0.226111,-0.091276],[0.240902,-0.946397,-0.215173],[-0.037730,-0.230667,0.972301]]
2025-10-24T23:33:50.672Z,1761348830.672 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:33:50.673Z,1761348830.673 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:33:50.673Z,1761348830.673 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:33:50.673Z,1761348830.673 [marl:UpdateRudder:A] Stopped
2025-10-24T23:33:50.673Z,1761348830.673 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:33:51.024Z,1761348831.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970804,-0.223180,-0.087917],[0.237426,-0.946249,-0.219639],[-0.034172,-0.234101,0.971612]]
2025-10-24T23:33:51.048Z,1761348831.048 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:33:51.048Z,1761348831.048 [marl:UpdateRudder:B] Stopped
2025-10-24T23:33:51.049Z,1761348831.049 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:33:51.049Z,1761348831.049 [marl:UpdateRudder] Stopped
2025-10-24T23:33:51.049Z,1761348831.049 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:33:51.049Z,1761348831.049 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:33:51.049Z,1761348831.049 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:33:51.049Z,1761348831.049 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:33:51.049Z,1761348831.049 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:33:51.049Z,1761348831.049 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:33:51.050Z,1761348831.050 [marl:UpdateCommandMode] Stopped
2025-10-24T23:33:51.050Z,1761348831.050 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:33:51.050Z,1761348831.050 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:33:51.050Z,1761348831.050 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:33:51.050Z,1761348831.050 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:33:51.050Z,1761348831.050 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:33:51.050Z,1761348831.050 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:33:51.050Z,1761348831.050 [marl:UpdateSpeed] Stopped
2025-10-24T23:33:51.051Z,1761348831.051 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:33:51.439Z,1761348831.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971864,-0.220139,-0.083782],[0.233560,-0.946718,-0.221753],[-0.030502,-0.235082,0.971497]]
2025-10-24T23:33:51.830Z,1761348831.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972982,-0.216914,-0.079090],[0.229363,-0.947335,-0.223492],[-0.026446,-0.235594,0.971492]]
2025-10-24T23:33:52.237Z,1761348832.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974101,-0.213856,-0.073436],[0.225061,-0.948307,-0.223746],[-0.021790,-0.234479,0.971877]]
2025-10-24T23:33:52.640Z,1761348832.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975111,-0.211273,-0.067251],[0.221116,-0.948991,-0.224773],[-0.016332,-0.234049,0.972088]]
2025-10-24T23:33:53.043Z,1761348833.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976127,-0.208667,-0.060277],[0.216957,-0.949816,-0.225341],[-0.010231,-0.233039,0.972414]]
2025-10-24T23:33:53.449Z,1761348833.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977274,-0.205317,-0.052729],[0.211952,-0.950444,-0.227446],[-0.003418,-0.233453,0.972362]]
2025-10-24T23:33:53.595Z,1761348833.595 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:33:53.596Z,1761348833.596 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:33:53.854Z,1761348833.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978407,-0.201780,-0.044775],[0.206658,-0.951298,-0.228746],[0.003562,-0.233060,0.972456]]
2025-10-24T23:33:54.261Z,1761348834.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979298,-0.198945,-0.037371],[0.202150,-0.951549,-0.231710],[0.010537,-0.234467,0.972067]]
2025-10-24T23:33:54.668Z,1761348834.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979541,-0.198872,-0.030819],[0.200544,-0.951838,-0.231917],[0.016787,-0.233353,0.972247]]
2025-10-24T23:33:55.062Z,1761348835.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979093,-0.201740,-0.026051],[0.202230,-0.951571,-0.231549],[0.021924,-0.231976,0.972474]]
2025-10-24T23:33:55.468Z,1761348835.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978489,-0.205115,-0.022070],[0.204613,-0.951272,-0.230683],[0.026321,-0.230236,0.972779]]
2025-10-24T23:33:55.896Z,1761348835.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977772,-0.208840,-0.018669],[0.207495,-0.950974,-0.229332],[0.030140,-0.228108,0.973169]]
2025-10-24T23:33:56.275Z,1761348836.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977116,-0.212143,-0.015456],[0.210011,-0.950660,-0.228344],[0.033749,-0.226365,0.973458]]
2025-10-24T23:33:56.687Z,1761348836.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976643,-0.214509,-0.012423],[0.211665,-0.950526,-0.227372],[0.036965,-0.224691,0.973729]]
2025-10-24T23:33:57.084Z,1761348837.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976334,-0.216068,-0.009267],[0.212461,-0.950270,-0.227702],[0.040393,-0.224282,0.973687]]
2025-10-24T23:33:57.109Z,1761348837.109 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:33:57.486Z,1761348837.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976005,-0.217668,-0.005857],[0.213284,-0.950236,-0.227072],[0.043861,-0.222872,0.973861]]
2025-10-24T23:33:57.929Z,1761348837.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975846,-0.218444,-0.002431],[0.213200,-0.949877,-0.228646],[0.047637,-0.223642,0.973507]]
2025-10-24T23:33:58.297Z,1761348838.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975577,-0.219657,0.001101],[0.213528,-0.949509,-0.229868],[0.051537,-0.224018,0.973221]]
2025-10-24T23:33:58.706Z,1761348838.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975467,-0.220097,0.004572],[0.213022,-0.948944,-0.232652],[0.055545,-0.225971,0.972549]]
2025-10-24T23:33:59.103Z,1761348839.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975138,-0.221462,0.007771],[0.213427,-0.948036,-0.235959],[0.059623,-0.228434,0.971732]]
2025-10-24T23:33:59.506Z,1761348839.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974892,-0.222429,0.010515],[0.213493,-0.947062,-0.239778],[0.063293,-0.231513,0.970771]]
2025-10-24T23:33:59.934Z,1761348839.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974726,-0.223001,0.013380],[0.213187,-0.946390,-0.242689],[0.066783,-0.233703,0.970012]]
2025-10-24T23:34:00.318Z,1761348840.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974479,-0.223947,0.015441],[0.213341,-0.945337,-0.246625],[0.069828,-0.237037,0.968988]]
2025-10-24T23:34:00.718Z,1761348840.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974165,-0.225170,0.017328],[0.213842,-0.944383,-0.249825],[0.072617,-0.239665,0.968136]]
2025-10-24T23:34:01.122Z,1761348841.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973955,-0.225891,0.019593],[0.213840,-0.943840,-0.251869],[0.075388,-0.241119,0.967563]]
2025-10-24T23:34:01.527Z,1761348841.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973653,-0.226970,0.022000],[0.214238,-0.943529,-0.252694],[0.078112,-0.241323,0.967296]]
2025-10-24T23:34:01.941Z,1761348841.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973345,-0.228020,0.024625],[0.214635,-0.943482,-0.252535],[0.080816,-0.240519,0.967274]]
2025-10-24T23:34:02.335Z,1761348842.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973039,-0.229097,0.026655],[0.215178,-0.943319,-0.252681],[0.083033,-0.240133,0.967182]]
2025-10-24T23:34:02.739Z,1761348842.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972721,-0.230134,0.029174],[0.215539,-0.943117,-0.253128],[0.085768,-0.239935,0.966993]]
2025-10-24T23:34:03.143Z,1761348843.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972338,-0.231376,0.031994],[0.216195,-0.943346,-0.251709],[0.088421,-0.237829,0.967274]]
2025-10-24T23:34:03.548Z,1761348843.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972125,-0.231892,0.034625],[0.216200,-0.943720,-0.250301],[0.090719,-0.235838,0.967549]]
2025-10-24T23:34:03.591Z,1761348843.591 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:34:03.591Z,1761348843.591 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:34:03.591Z,1761348843.591 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:34:03.592Z,1761348843.592 [marl:UpdateRudder:A] Stopped
2025-10-24T23:34:03.608Z,1761348843.608 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:34:03.951Z,1761348843.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971777,-0.232924,0.037353],[0.216817,-0.944285,-0.247621],[0.092949,-0.232534,0.968137]]
2025-10-24T23:34:04.007Z,1761348844.007 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:34:04.007Z,1761348844.007 [marl:UpdateRudder:B] Stopped
2025-10-24T23:34:04.007Z,1761348844.007 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:34:04.007Z,1761348844.007 [marl:UpdateRudder] Stopped
2025-10-24T23:34:04.024Z,1761348844.024 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:34:04.024Z,1761348844.024 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:34:04.024Z,1761348844.024 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:34:04.024Z,1761348844.024 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:34:04.024Z,1761348844.024 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:34:04.025Z,1761348844.025 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:34:04.025Z,1761348844.025 [marl:UpdateCommandMode] Stopped
2025-10-24T23:34:04.025Z,1761348844.025 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:34:04.025Z,1761348844.025 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:34:04.025Z,1761348844.025 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:34:04.025Z,1761348844.025 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:34:04.025Z,1761348844.025 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:34:04.025Z,1761348844.025 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:34:04.026Z,1761348844.026 [marl:UpdateSpeed] Stopped
2025-10-24T23:34:04.026Z,1761348844.026 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:34:04.354Z,1761348844.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971661,-0.233076,0.039387],[0.216674,-0.944811,-0.245734],[0.094488,-0.230236,0.968537]]
2025-10-24T23:34:04.759Z,1761348844.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971671,-0.232771,0.040912],[0.216310,-0.945640,-0.242848],[0.095216,-0.227119,0.969201]]
2025-10-24T23:34:05.164Z,1761348845.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971654,-0.232656,0.041947],[0.216133,-0.946123,-0.241118],[0.095785,-0.225217,0.969589]]
2025-10-24T23:34:05.566Z,1761348845.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971551,-0.232929,0.042812],[0.216443,-0.946662,-0.238712],[0.096132,-0.222655,0.970146]]
2025-10-24T23:34:05.971Z,1761348845.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971543,-0.232854,0.043384],[0.216248,-0.946720,-0.238657],[0.096645,-0.222484,0.970134]]
2025-10-24T23:34:06.381Z,1761348846.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971345,-0.233607,0.043782],[0.216941,-0.946685,-0.238167],[0.097085,-0.221844,0.970237]]
2025-10-24T23:34:06.540Z,1761348846.540 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:34:06.779Z,1761348846.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970226,-0.238433,0.042548],[0.221525,-0.944625,-0.242094],[0.097915,-0.225460,0.969319]]
2025-10-24T23:34:07.184Z,1761348847.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967913,-0.248197,0.039270],[0.230665,-0.939571,-0.252980],[0.099685,-0.235805,0.966674]]
2025-10-24T23:34:07.540Z,1761348847.540 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:34:07.586Z,1761348847.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964719,-0.261243,0.032686],[0.242686,-0.930513,-0.274316],[0.102078,-0.256706,0.961084]]
2025-10-24T23:34:07.990Z,1761348847.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960838,-0.276083,0.023856],[0.256580,-0.918866,-0.299754],[0.104678,-0.281894,0.953718]]
2025-10-24T23:34:08.403Z,1761348848.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956382,-0.291776,0.014140],[0.271550,-0.905842,-0.325131],[0.107674,-0.307110,0.945563]]
2025-10-24T23:34:08.801Z,1761348848.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951581,-0.307367,0.004312],[0.286699,-0.892482,-0.348251],[0.110890,-0.330153,0.937391]]
2025-10-24T23:34:09.203Z,1761348849.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946408,-0.322922,-0.005746],[0.302162,-0.879001,-0.368858],[0.114062,-0.350826,0.929468]]
2025-10-24T23:34:09.606Z,1761348849.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941539,-0.336585,-0.014626],[0.315838,-0.866726,-0.386048],[0.117261,-0.368099,0.922363]]
2025-10-24T23:34:10.455Z,1761348850.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932057,-0.361083,-0.029801],[0.341016,-0.846518,-0.408797],[0.122383,-0.391185,0.912139]]
2025-10-24T23:34:10.867Z,1761348850.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927163,-0.372956,-0.035689],[0.353342,-0.838759,-0.414285],[0.124576,-0.396720,0.909447]]
2025-10-24T23:34:11.262Z,1761348851.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922054,-0.384837,-0.041429],[0.365710,-0.831130,-0.418901],[0.126776,-0.401400,0.907086]]
2025-10-24T23:34:12.130Z,1761348852.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903951,-0.424431,-0.052257],[0.405666,-0.812421,-0.418817],[0.135304,-0.399789,0.906566]]
2025-10-24T23:34:12.526Z,1761348852.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896663,-0.439183,-0.055803],[0.420608,-0.805762,-0.416938],[0.138148,-0.397324,0.907221]]
2025-10-24T23:34:12.946Z,1761348852.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888593,-0.454702,-0.060410],[0.436842,-0.798715,-0.413791],[0.139901,-0.394082,0.908365]]
2025-10-24T23:34:13.351Z,1761348853.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879716,-0.470959,-0.065558],[0.454261,-0.791649,-0.408581],[0.140526,-0.389216,0.910365]]
2025-10-24T23:34:13.754Z,1761348853.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870108,-0.487478,-0.072642],[0.472493,-0.783108,-0.404342],[0.140221,-0.386144,0.911719]]
2025-10-24T23:34:14.156Z,1761348854.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860311,-0.503456,-0.079978],[0.490360,-0.774426,-0.399764],[0.139326,-0.383140,0.913122]]
2025-10-24T23:34:14.558Z,1761348854.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850367,-0.518901,-0.087280],[0.507811,-0.765841,-0.394480],[0.137853,-0.379775,0.914750]]
2025-10-24T23:34:14.977Z,1761348854.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840344,-0.533592,-0.095406],[0.524829,-0.756920,-0.389391],[0.135561,-0.377294,0.916118]]
2025-10-24T23:34:15.381Z,1761348855.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830067,-0.547834,-0.104248],[0.541736,-0.747785,-0.383848],[0.132330,-0.375095,0.917493]]
2025-10-24T23:34:15.809Z,1761348855.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819541,-0.561891,-0.112389],[0.558478,-0.739320,-0.376176],[0.128278,-0.371059,0.919707]]
2025-10-24T23:34:16.313Z,1761348856.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809217,-0.575050,-0.120351],[0.574283,-0.731002,-0.368558],[0.123962,-0.367359,0.921781]]
2025-10-24T23:34:16.716Z,1761348856.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799660,-0.586710,-0.127733],[0.588384,-0.723215,-0.361613],[0.119783,-0.364324,0.923537]]
2025-10-24T23:34:16.739Z,1761348856.739 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:34:16.739Z,1761348856.739 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:34:16.740Z,1761348856.740 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:34:16.740Z,1761348856.740 [marl:UpdateRudder:A] Stopped
2025-10-24T23:34:16.740Z,1761348856.740 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:34:17.119Z,1761348857.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790499,-0.597248,-0.135669],[0.601431,-0.715123,-0.356203],[0.115721,-0.363173,0.924507]]
2025-10-24T23:34:17.149Z,1761348857.149 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:34:17.149Z,1761348857.149 [marl:UpdateRudder:B] Stopped
2025-10-24T23:34:17.149Z,1761348857.149 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:34:17.149Z,1761348857.149 [marl:UpdateRudder] Stopped
2025-10-24T23:34:17.149Z,1761348857.149 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:34:17.149Z,1761348857.149 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:34:17.150Z,1761348857.150 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:34:17.150Z,1761348857.150 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:34:17.150Z,1761348857.150 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:34:17.150Z,1761348857.150 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:34:17.150Z,1761348857.150 [marl:UpdateCommandMode] Stopped
2025-10-24T23:34:17.150Z,1761348857.150 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:34:17.150Z,1761348857.150 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:34:17.151Z,1761348857.151 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:34:17.151Z,1761348857.151 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:34:17.151Z,1761348857.151 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:34:17.151Z,1761348857.151 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:34:17.151Z,1761348857.151 [marl:UpdateSpeed] Stopped
2025-10-24T23:34:17.151Z,1761348857.151 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:34:17.522Z,1761348857.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781903,-0.606927,-0.142365],[0.613230,-0.707740,-0.350790],[0.112147,-0.361586,0.925569]]
2025-10-24T23:34:17.943Z,1761348857.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773109,-0.616515,-0.149037],[0.624925,-0.700195,-0.345247],[0.108494,-0.360050,0.926603]]
2025-10-24T23:34:18.346Z,1761348858.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764317,-0.625605,-0.156328],[0.636247,-0.692189,-0.340682],[0.104924,-0.359852,0.927091]]
2025-10-24T23:34:18.743Z,1761348858.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755422,-0.634662,-0.162914],[0.647352,-0.684434,-0.335389],[0.101354,-0.358823,0.927886]]
2025-10-24T23:34:19.146Z,1761348859.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746272,-0.643477,-0.170340],[0.658411,-0.675973,-0.330991],[0.097840,-0.359163,0.928132]]
2025-10-24T23:34:19.551Z,1761348859.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737280,-0.651915,-0.177269],[0.668995,-0.667941,-0.326036],[0.094143,-0.358972,0.928588]]
2025-10-24T23:34:19.955Z,1761348859.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728293,-0.659963,-0.184498],[0.679282,-0.659769,-0.321373],[0.090368,-0.359380,0.928806]]
2025-10-24T23:34:20.363Z,1761348860.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719414,-0.667628,-0.191615],[0.689103,-0.651463,-0.317385],[0.087065,-0.360374,0.928736]]
2025-10-24T23:34:20.763Z,1761348860.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710632,-0.675144,-0.197948],[0.698530,-0.643453,-0.313088],[0.084010,-0.360763,0.928866]]
2025-10-24T23:34:21.167Z,1761348861.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701656,-0.682496,-0.204641],[0.707891,-0.635058,-0.309181],[0.081056,-0.361802,0.928725]]
2025-10-24T23:34:21.570Z,1761348861.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692231,-0.690053,-0.211290],[0.717411,-0.626204,-0.305269],[0.078342,-0.362898,0.928530]]
2025-10-24T23:34:21.981Z,1761348861.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682449,-0.697899,-0.217255],[0.726993,-0.617274,-0.300755],[0.075791,-0.363193,0.928626]]
2025-10-24T23:34:22.378Z,1761348862.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672563,-0.705619,-0.223072],[0.736354,-0.608037,-0.296772],[0.073772,-0.363857,0.928529]]
2025-10-24T23:34:22.786Z,1761348862.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661951,-0.713339,-0.230148],[0.746086,-0.597591,-0.293667],[0.071950,-0.366103,0.927789]]
2025-10-24T23:34:23.228Z,1761348863.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650843,-0.721179,-0.237285],[0.755974,-0.586766,-0.290189],[0.070048,-0.368249,0.927085]]
2025-10-24T23:34:23.626Z,1761348863.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639326,-0.729230,-0.243897],[0.765880,-0.575653,-0.286447],[0.068485,-0.369928,0.926533]]
2025-10-24T23:34:24.045Z,1761348864.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627077,-0.738072,-0.249047],[0.776114,-0.564703,-0.280637],[0.066492,-0.369270,0.926940]]
2025-10-24T23:34:24.501Z,1761348864.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600136,-0.756285,-0.260518],[0.797660,-0.541477,-0.265597],[0.059803,-0.367199,0.928218]]
2025-10-24T23:34:25.282Z,1761348865.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585769,-0.765448,-0.266391],[0.808578,-0.529433,-0.256715],[0.055465,-0.365774,0.929049]]
2025-10-24T23:34:25.695Z,1761348865.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557097,-0.782494,-0.278112],[0.829184,-0.505667,-0.238233],[0.045784,-0.363325,0.930537]]
2025-10-24T23:34:26.097Z,1761348866.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542442,-0.790595,-0.284106],[0.839110,-0.493525,-0.228752],[0.040637,-0.362480,0.931105]]
2025-10-24T23:34:26.509Z,1761348866.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528122,-0.798118,-0.289992],[0.848422,-0.481614,-0.219610],[0.035610,-0.362016,0.931491]]
2025-10-24T23:34:26.903Z,1761348866.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514090,-0.804942,-0.296276],[0.857190,-0.469820,-0.210936],[0.030594,-0.362405,0.931518]]
2025-10-24T23:34:27.314Z,1761348867.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500293,-0.811395,-0.302233],[0.865466,-0.458132,-0.202692],[0.026001,-0.362978,0.931435]]
2025-10-24T23:34:27.708Z,1761348867.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486451,-0.817598,-0.308056],[0.873431,-0.446194,-0.195008],[0.021986,-0.363928,0.931168]]
2025-10-24T23:34:28.112Z,1761348868.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472022,-0.823670,-0.314265],[0.881402,-0.433614,-0.187376],[0.018066,-0.365439,0.930660]]
2025-10-24T23:34:28.514Z,1761348868.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457677,-0.829600,-0.319837],[0.888992,-0.420904,-0.180370],[0.015015,-0.366884,0.930146]]
2025-10-24T23:34:28.918Z,1761348868.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442354,-0.835531,-0.325899],[0.896760,-0.407225,-0.173173],[0.011977,-0.368857,0.929409]]
2025-10-24T23:34:29.328Z,1761348869.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426312,-0.842324,-0.329771],[0.904530,-0.393252,-0.164861],[0.009184,-0.368569,0.929555]]
2025-10-24T23:34:29.352Z,1761348869.352 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:34:29.352Z,1761348869.352 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:34:29.352Z,1761348869.352 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:34:29.352Z,1761348869.352 [marl:UpdateRudder:A] Stopped
2025-10-24T23:34:29.353Z,1761348869.353 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:34:29.728Z,1761348869.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409670,-0.848929,-0.333900],[0.912211,-0.378634,-0.156550],[0.006474,-0.368721,0.929518]]
2025-10-24T23:34:29.756Z,1761348869.756 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:34:29.756Z,1761348869.756 [marl:UpdateRudder:B] Stopped
2025-10-24T23:34:29.756Z,1761348869.756 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:34:29.756Z,1761348869.756 [marl:UpdateRudder] Stopped
2025-10-24T23:34:29.756Z,1761348869.756 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:34:30.131Z,1761348870.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392206,-0.855641,-0.337718],[0.919871,-0.363404,-0.147565],[0.003535,-0.368533,0.929608]]
2025-10-24T23:34:30.179Z,1761348870.179 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:34:30.179Z,1761348870.179 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:34:30.180Z,1761348870.180 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:34:30.180Z,1761348870.180 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:34:30.180Z,1761348870.180 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:34:30.180Z,1761348870.180 [marl:UpdateCommandMode] Stopped
2025-10-24T23:34:30.180Z,1761348870.180 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:34:30.181Z,1761348870.181 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:34:30.181Z,1761348870.181 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:34:30.181Z,1761348870.181 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:34:30.181Z,1761348870.181 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:34:30.181Z,1761348870.181 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:34:30.181Z,1761348870.181 [marl:UpdateSpeed] Stopped
2025-10-24T23:34:30.181Z,1761348870.181 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:34:30.534Z,1761348870.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374454,-0.861921,-0.341873],[0.927245,-0.347922,-0.138443],[0.000382,-0.368841,0.929493]]
2025-10-24T23:34:30.938Z,1761348870.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356687,-0.867721,-0.346170],[0.934218,-0.332659,-0.128747],[-0.003440,-0.369320,0.929296]]
2025-10-24T23:34:31.344Z,1761348871.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339232,-0.873345,-0.349558],[0.940672,-0.317957,-0.118492],[-0.007660,-0.369016,0.929392]]
2025-10-24T23:34:31.746Z,1761348871.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322418,-0.878224,-0.353227],[0.946520,-0.303876,-0.108442],[-0.012101,-0.369300,0.929231]]
2025-10-24T23:34:32.150Z,1761348872.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306612,-0.882890,-0.355660],[0.951693,-0.290817,-0.098523],[-0.016447,-0.368687,0.929408]]
2025-10-24T23:34:32.556Z,1761348872.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291465,-0.887020,-0.358112],[0.956352,-0.278410,-0.088764],[-0.020966,-0.368353,0.929450]]
2025-10-24T23:34:32.960Z,1761348872.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276852,-0.890485,-0.361094],[0.960575,-0.266430,-0.079441],[-0.025465,-0.368851,0.929140]]
2025-10-24T23:34:33.363Z,1761348873.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262604,-0.893843,-0.363433],[0.964457,-0.254608,-0.070689],[-0.029348,-0.369079,0.928935]]
2025-10-24T23:34:33.767Z,1761348873.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248541,-0.896735,-0.366188],[0.968063,-0.242796,-0.062480],[-0.032881,-0.370022,0.928441]]
2025-10-24T23:34:34.171Z,1761348874.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234399,-0.899286,-0.369244],[0.971468,-0.230808,-0.054568],[-0.036153,-0.371500,0.927729]]
2025-10-24T23:34:34.581Z,1761348874.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219806,-0.902009,-0.371571],[0.974757,-0.218365,-0.046532],[-0.039166,-0.372419,0.927238]]
2025-10-24T23:34:34.978Z,1761348874.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205106,-0.904603,-0.373663],[0.977850,-0.205671,-0.038838],[-0.041719,-0.373352,0.926751]]
2025-10-24T23:34:35.382Z,1761348875.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190275,-0.906916,-0.375898],[0.980750,-0.192710,-0.031499],[-0.043872,-0.374656,0.926125]]
2025-10-24T23:34:35.796Z,1761348875.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174495,-0.909066,-0.378353],[0.983568,-0.178995,-0.023548],[-0.046317,-0.376245,0.925362]]
2025-10-24T23:34:36.190Z,1761348876.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158614,-0.910380,-0.382165],[0.986141,-0.165149,-0.015875],[-0.048662,-0.379387,0.923958]]
2025-10-24T23:34:36.594Z,1761348876.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142766,-0.911920,-0.384733],[0.988450,-0.151332,-0.008094],[-0.050842,-0.381445,0.922992]]
2025-10-24T23:34:36.999Z,1761348876.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126611,-0.913806,-0.385911],[0.990526,-0.137325,0.000198],[-0.053176,-0.382230,0.922536]]
2025-10-24T23:34:37.403Z,1761348877.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110812,-0.915426,-0.386931],[0.992306,-0.123547,0.008112],[-0.055230,-0.383054,0.922073]]
2025-10-24T23:34:37.661Z,1761348877.661 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:34:37.808Z,1761348877.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094335,-0.916659,-0.388378],[0.993877,-0.109259,0.016469],[-0.057530,-0.384446,0.921353]]
2025-10-24T23:34:38.210Z,1761348878.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078179,-0.917752,-0.389384],[0.995162,-0.095150,0.024459],[-0.059497,-0.385588,0.920751]]
2025-10-24T23:34:38.616Z,1761348878.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062710,-0.918950,-0.389357],[0.996157,-0.081534,0.031993],[-0.061146,-0.385854,0.920531]]
2025-10-24T23:34:38.665Z,1761348878.665 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:34:39.032Z,1761348879.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046301,-0.920109,-0.388916],[0.996952,-0.067039,0.039914],[-0.062798,-0.385882,0.920408]]
2025-10-24T23:34:39.436Z,1761348879.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029663,-0.921219,-0.387912],[0.997492,-0.052232,0.047764],[-0.064263,-0.385522,0.920458]]
2025-10-24T23:34:39.938Z,1761348879.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014277,-0.921681,-0.387686],[0.997763,-0.038459,0.054688],[-0.065315,-0.386038,0.920168]]
2025-10-24T23:34:40.320Z,1761348880.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002209,-0.921535,-0.388289],[0.997773,-0.023855,0.062293],[-0.066667,-0.387562,0.919430]]
2025-10-24T23:34:40.710Z,1761348880.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019029,-0.921830,-0.387127],[0.997509,-0.008803,0.069994],[-0.067931,-0.387494,0.919366]]
2025-10-24T23:34:41.115Z,1761348881.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036023,-0.921829,-0.385918],[0.996956,0.006431,0.077700],[-0.069144,-0.387542,0.919255]]
2025-10-24T23:34:41.520Z,1761348881.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053274,-0.921259,-0.385283],[0.996110,0.021905,0.085358],[-0.070197,-0.388331,0.918842]]
2025-10-24T23:34:41.938Z,1761348881.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070650,-0.920796,-0.383593],[0.994972,0.037684,0.092797],[-0.070992,-0.388220,0.918828]]
2025-10-24T23:34:42.327Z,1761348882.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088955,-0.919888,-0.381960],[0.993427,0.054202,0.100823],[-0.072043,-0.388418,0.918663]]
2025-10-24T23:34:42.379Z,1761348882.379 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:34:42.379Z,1761348882.379 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:34:42.379Z,1761348882.379 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:34:42.380Z,1761348882.380 [marl:UpdateRudder:A] Stopped
2025-10-24T23:34:42.380Z,1761348882.380 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:34:42.731Z,1761348882.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108425,-0.918308,-0.380729],[0.991393,0.071617,0.109593],[-0.073374,-0.389334,0.918169]]
2025-10-24T23:34:42.796Z,1761348882.796 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:34:42.796Z,1761348882.796 [marl:UpdateRudder:B] Stopped
2025-10-24T23:34:42.796Z,1761348882.796 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:34:42.796Z,1761348882.796 [marl:UpdateRudder] Stopped
2025-10-24T23:34:42.796Z,1761348882.796 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:34:43.138Z,1761348883.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128336,-0.916821,-0.378112],[0.988889,0.089461,0.118724],[-0.075022,-0.389147,0.918116]]
2025-10-24T23:34:43.195Z,1761348883.195 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:34:43.195Z,1761348883.195 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:34:43.195Z,1761348883.195 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:34:43.195Z,1761348883.195 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:34:43.195Z,1761348883.195 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:34:43.195Z,1761348883.195 [marl:UpdateCommandMode] Stopped
2025-10-24T23:34:43.195Z,1761348883.195 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:34:43.195Z,1761348883.195 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:34:43.196Z,1761348883.196 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:34:43.196Z,1761348883.196 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:34:43.196Z,1761348883.196 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:34:43.196Z,1761348883.196 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:34:43.196Z,1761348883.196 [marl:UpdateSpeed] Stopped
2025-10-24T23:34:43.197Z,1761348883.197 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:34:43.538Z,1761348883.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148792,-0.914859,-0.375357],[0.985846,0.107578,0.128589],[-0.077260,-0.389178,0.917917]]
2025-10-24T23:34:43.943Z,1761348883.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168657,-0.912921,-0.371658],[0.982427,0.125110,0.138508],[-0.079948,-0.388487,0.917979]]
2025-10-24T23:34:44.347Z,1761348884.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187104,-0.911609,-0.366007],[0.978720,0.141034,0.149053],[-0.084258,-0.386106,0.918598]]
2025-10-24T23:34:44.759Z,1761348884.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201234,-0.913245,-0.354244],[0.975392,0.153558,0.158211],[-0.090088,-0.377364,0.921673]]
2025-10-24T23:34:45.154Z,1761348885.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209724,-0.918380,-0.335550],[0.972923,0.161919,0.164931],[-0.097137,-0.361055,0.927472]]
2025-10-24T23:34:45.558Z,1761348885.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213271,-0.925094,-0.314192],[0.971370,0.166325,0.169637],[-0.104672,-0.341375,0.934081]]
2025-10-24T23:34:45.963Z,1761348885.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213314,-0.932355,-0.291909],[0.970549,0.167992,0.172667],[-0.111948,-0.320144,0.940731]]
2025-10-24T23:34:46.369Z,1761348886.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210986,-0.939007,-0.271570],[0.970304,0.167567,0.174444],[-0.118298,-0.300311,0.946477]]
2025-10-24T23:34:46.775Z,1761348886.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206868,-0.944599,-0.254828],[0.970514,0.165185,0.175546],[-0.123727,-0.283629,0.950918]]
2025-10-24T23:34:47.178Z,1761348887.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202194,-0.949605,-0.239517],[0.970911,0.162337,0.176005],[-0.128253,-0.268137,0.954805]]
2025-10-24T23:34:47.581Z,1761348887.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197413,-0.953753,-0.226677],[0.971485,0.159356,0.175566],[-0.131324,-0.254872,0.958016]]
2025-10-24T23:34:47.982Z,1761348887.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193583,-0.957120,-0.215514],[0.971941,0.157174,0.175008],[-0.133631,-0.243346,0.960690]]
2025-10-24T23:34:48.386Z,1761348888.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190920,-0.959506,-0.207118],[0.972248,0.155777,0.174547],[-0.135215,-0.234695,0.962619]]
2025-10-24T23:34:48.790Z,1761348888.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190371,-0.960834,-0.201388],[0.972146,0.155939,0.174969],[-0.136712,-0.229087,0.963758]]
2025-10-24T23:34:49.202Z,1761348889.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191358,-0.961542,-0.197028],[0.971708,0.157275,0.176206],[-0.138442,-0.225172,0.964433]]
2025-10-24T23:34:49.599Z,1761348889.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193538,-0.961376,-0.195703],[0.971024,0.159197,0.178240],[-0.140200,-0.224529,0.964329]]
2025-10-24T23:34:50.002Z,1761348890.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197192,-0.960585,-0.195939],[0.970024,0.162223,0.180937],[-0.142020,-0.225745,0.963779]]
2025-10-24T23:34:50.407Z,1761348890.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201251,-0.959405,-0.197585],[0.968907,0.165335,0.184076],[-0.143936,-0.228487,0.962848]]
2025-10-24T23:34:50.812Z,1761348890.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205851,-0.957970,-0.199794],[0.967693,0.168899,0.187197],[-0.145584,-0.231874,0.961790]]
2025-10-24T23:34:51.214Z,1761348891.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210712,-0.956169,-0.203328],[0.966422,0.172466,0.190484],[-0.147067,-0.236638,0.960403]]
2025-10-24T23:34:51.619Z,1761348891.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215919,-0.954340,-0.206432],[0.965111,0.176524,0.193388],[-0.148118,-0.240986,0.959159]]
2025-10-24T23:34:52.024Z,1761348892.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221856,-0.952657,-0.207903],[0.963593,0.181571,0.196268],[-0.149227,-0.243877,0.958256]]
2025-10-24T23:34:52.336Z,1761348892.336 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:34:52.337Z,1761348892.337 [DAT] No Fault, FailCount= 8
2025-10-24T23:34:52.426Z,1761348892.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228078,-0.951032,-0.208612],[0.961994,0.187072,0.198926],[-0.150159,-0.246054,0.957554]]
2025-10-24T23:34:52.560Z,1761348892.560 [DAT](INFO): Powering up
2025-10-24T23:34:52.560Z,1761348892.560 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:34:52.831Z,1761348892.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234303,-0.949555,-0.208439],[0.960403,0.192836,0.201097],[-0.150758,-0.247303,0.957138]]
2025-10-24T23:34:53.249Z,1761348893.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240092,-0.947735,-0.210127],[0.958823,0.197693,0.203901],[-0.151704,-0.250430,0.956175]]
2025-10-24T23:34:53.640Z,1761348893.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245104,-0.946540,-0.209730],[0.957386,0.202225,0.206197],[-0.152761,-0.251332,0.955770]]
2025-10-24T23:34:53.811Z,1761348893.811 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:34:53.811Z,1761348893.811 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:34:54.042Z,1761348894.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249367,-0.945716,-0.208415],[0.956098,0.206220,0.208206],[-0.153925,-0.251185,0.955622]]
2025-10-24T23:34:54.446Z,1761348894.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251746,-0.945203,-0.207881],[0.955264,0.208235,0.210023],[-0.155226,-0.251454,0.955341]]
2025-10-24T23:34:54.850Z,1761348894.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252689,-0.945115,-0.207135],[0.954859,0.209036,0.211066],[-0.156183,-0.251119,0.955273]]
2025-10-24T23:34:54.905Z,1761348894.905 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:34:54.905Z,1761348894.905 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:34:54.906Z,1761348894.906 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:34:54.906Z,1761348894.906 [marl:UpdateRudder:A] Stopped
2025-10-24T23:34:54.906Z,1761348894.906 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:34:55.259Z,1761348895.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252531,-0.944943,-0.208111],[0.954827,0.208552,0.211685],[-0.156629,-0.252167,0.954924]]
2025-10-24T23:34:55.329Z,1761348895.329 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:34:55.330Z,1761348895.330 [marl:UpdateRudder:B] Stopped
2025-10-24T23:34:55.330Z,1761348895.330 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:34:55.330Z,1761348895.330 [marl:UpdateRudder] Stopped
2025-10-24T23:34:55.330Z,1761348895.330 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:34:56.062Z,1761348896.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248522,-0.945532,-0.210251],[0.956225,0.204869,0.208956],[-0.154501,-0.252978,0.955056]]
2025-10-24T23:34:56.116Z,1761348896.116 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:34:56.116Z,1761348896.116 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:34:56.116Z,1761348896.116 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:34:56.117Z,1761348896.117 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:34:56.117Z,1761348896.117 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:34:56.117Z,1761348896.117 [marl:UpdateCommandMode] Stopped
2025-10-24T23:34:56.117Z,1761348896.117 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:34:56.117Z,1761348896.117 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:34:56.117Z,1761348896.117 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:34:56.117Z,1761348896.117 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:34:56.117Z,1761348896.117 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:34:56.118Z,1761348896.118 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:34:56.118Z,1761348896.118 [marl:UpdateSpeed] Stopped
2025-10-24T23:34:56.118Z,1761348896.118 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:34:56.467Z,1761348896.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245692,-0.946127,-0.210900],[0.957243,0.202536,0.206555],[-0.152712,-0.252632,0.955435]]
2025-10-24T23:34:57.274Z,1761348897.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240033,-0.946929,-0.213800],[0.959382,0.197766,0.201182],[-0.148223,-0.253406,0.955937]]
2025-10-24T23:34:57.314Z,1761348897.314 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:34:58.082Z,1761348898.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234070,-0.948371,-0.214017],[0.961876,0.193874,0.192891],[-0.141440,-0.251008,0.957596]]
2025-10-24T23:34:58.488Z,1761348898.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230672,-0.949078,-0.214575],[0.963442,0.191891,0.186970],[-0.136274,-0.249859,0.958645]]
2025-10-24T23:34:58.890Z,1761348898.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227036,-0.949941,-0.214631],[0.965187,0.190084,0.179674],[-0.129882,-0.247951,0.960027]]
2025-10-24T23:34:59.294Z,1761348899.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223943,-0.950332,-0.216143],[0.966845,0.188701,0.172056],[-0.122724,-0.247508,0.961082]]
2025-10-24T23:34:59.703Z,1761348899.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221381,-0.950871,-0.216414],[0.968398,0.188217,0.163645],[-0.114872,-0.245803,0.962489]]
2025-10-24T23:35:00.103Z,1761348900.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219947,-0.950854,-0.217944],[0.969656,0.188659,0.155481],[-0.106723,-0.245529,0.963497]]
2025-10-24T23:35:00.506Z,1761348900.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219919,-0.950440,-0.219771],[0.970520,0.190391,0.147793],[-0.098626,-0.245794,0.964291]]
2025-10-24T23:35:00.910Z,1761348900.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220949,-0.949854,-0.221268],[0.971063,0.193169,0.140433],[-0.090649,-0.245894,0.965049]]
2025-10-24T23:35:01.314Z,1761348901.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223382,-0.948873,-0.223027],[0.971129,0.196999,0.134539],[-0.083725,-0.246642,0.965483]]
2025-10-24T23:35:01.727Z,1761348901.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225917,-0.948094,-0.223785],[0.971049,0.200870,0.129288],[-0.077626,-0.246514,0.966025]]
2025-10-24T23:35:02.124Z,1761348902.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228455,-0.947291,-0.224605],[0.970835,0.204438,0.125241],[-0.072722,-0.246667,0.966368]]
2025-10-24T23:35:02.531Z,1761348902.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230186,-0.947288,-0.222846],[0.970720,0.207347,0.121287],[-0.068687,-0.244239,0.967279]]
2025-10-24T23:35:02.937Z,1761348902.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230254,-0.948234,-0.218712],[0.971156,0.209597,0.113690],[-0.061963,-0.238581,0.969144]]
2025-10-24T23:35:03.347Z,1761348903.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228922,-0.949292,-0.215496],[0.971691,0.209556,0.109103],[-0.058412,-0.234372,0.970391]]
2025-10-24T23:35:03.744Z,1761348903.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226681,-0.950206,-0.213832],[0.972457,0.208577,0.104038],[-0.054257,-0.231526,0.971314]]
2025-10-24T23:35:04.147Z,1761348904.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224649,-0.950982,-0.212522],[0.973168,0.207815,0.098781],[-0.049773,-0.229011,0.972150]]
2025-10-24T23:35:04.548Z,1761348904.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223009,-0.951900,-0.210128],[0.973792,0.207657,0.092777],[-0.044680,-0.225311,0.973262]]
2025-10-24T23:35:04.657Z,1761348904.657 [DAT](INFO): DAT read: 

2025-10-24T23:35:04.658Z,1761348904.658 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:35:04.950Z,1761348904.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221727,-0.952446,-0.209007],[0.974313,0.207742,0.086929],[-0.039376,-0.222913,0.974043]]
2025-10-24T23:35:05.362Z,1761348905.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221380,-0.952532,-0.208983],[0.974603,0.208688,0.081230],[-0.033762,-0.221658,0.974540]]
2025-10-24T23:35:05.758Z,1761348905.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220974,-0.952732,-0.208499],[0.974879,0.209653,0.075205],[-0.027938,-0.219879,0.975127]]
2025-10-24T23:35:06.162Z,1761348906.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220316,-0.952983,-0.208047],[0.975178,0.210353,0.069138],[-0.022124,-0.218115,0.975672]]
2025-10-24T23:35:06.421Z,1761348906.421 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:35:06.422Z,1761348906.422 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:35:06.423Z,1761348906.423 [DAT](INFO): DAT read: Oct 24 2025 23:34:58 

2025-10-24T23:35:06.567Z,1761348906.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219636,-0.953234,-0.207616],[0.975442,0.210970,0.063282],[-0.016522,-0.216417,0.976161]]
2025-10-24T23:35:06.979Z,1761348906.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218618,-0.953514,-0.207406],[0.975751,0.211252,0.057301],[-0.010822,-0.214904,0.976575]]
2025-10-24T23:35:07.374Z,1761348907.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217259,-0.953831,-0.207377],[0.976100,0.211165,0.051357],[-0.005195,-0.213578,0.976912]]
2025-10-24T23:35:07.430Z,1761348907.430 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:35:07.431Z,1761348907.431 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:35:07.432Z,1761348907.432 [DAT](INFO): commRate: 600
2025-10-24T23:35:07.778Z,1761348907.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215533,-0.954164,-0.207646],[0.976496,0.210712,0.045333],[0.000499,-0.212537,0.977153]]
2025-10-24T23:35:07.830Z,1761348907.830 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:35:07.830Z,1761348907.830 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:35:07.830Z,1761348907.830 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:35:07.830Z,1761348907.830 [marl:UpdateRudder:A] Stopped
2025-10-24T23:35:07.830Z,1761348907.830 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:35:08.194Z,1761348908.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214328,-0.954221,-0.208630],[0.976739,0.210823,0.039168],[0.006609,-0.212172,0.977210]]
2025-10-24T23:35:08.255Z,1761348908.255 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:35:08.255Z,1761348908.255 [marl:UpdateRudder:B] Stopped
2025-10-24T23:35:08.255Z,1761348908.255 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:35:08.255Z,1761348908.255 [marl:UpdateRudder] Stopped
2025-10-24T23:35:08.255Z,1761348908.255 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:35:08.586Z,1761348908.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213667,-0.954208,-0.209364],[0.976822,0.211508,0.032919],[0.012871,-0.211545,0.977284]]
2025-10-24T23:35:08.796Z,1761348908.796 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:35:08.990Z,1761348908.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214320,-0.954090,-0.209237],[0.976570,0.213565,0.026472],[0.019429,-0.210008,0.977507]]
2025-10-24T23:35:09.042Z,1761348909.042 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:35:09.042Z,1761348909.042 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:35:09.042Z,1761348909.042 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:35:09.043Z,1761348909.043 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:35:09.043Z,1761348909.043 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:35:09.043Z,1761348909.043 [marl:UpdateCommandMode] Stopped
2025-10-24T23:35:09.043Z,1761348909.043 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:35:09.043Z,1761348909.043 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:35:09.043Z,1761348909.043 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:35:09.043Z,1761348909.043 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:35:09.043Z,1761348909.043 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:35:09.048Z,1761348909.048 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:35:09.048Z,1761348909.048 [marl:UpdateSpeed] Stopped
2025-10-24T23:35:09.048Z,1761348909.048 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:35:09.394Z,1761348909.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216753,-0.953130,-0.211098],[0.975883,0.217285,0.020958],[0.025893,-0.210550,0.977240]]
2025-10-24T23:35:09.496Z,1761348909.496 [DAT](INFO): entering command mode
2025-10-24T23:35:09.697Z,1761348909.697 [DAT](INFO): DAT read: 

2025-10-24T23:35:09.697Z,1761348909.697 [DAT](INFO): DAT read: user:1>

2025-10-24T23:35:09.697Z,1761348909.697 [DAT](INFO): setting verbose to 3
2025-10-24T23:35:09.800Z,1761348909.800 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:35:09.802Z,1761348909.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220503,-0.951888,-0.212808],[0.974864,0.222212,0.016161],[0.031905,-0.211022,0.976961]]
2025-10-24T23:35:09.949Z,1761348909.949 [DAT](INFO): DAT read: user:1>

2025-10-24T23:35:09.950Z,1761348909.950 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:35:09.951Z,1761348909.951 [DAT](INFO): set verbose to 3
2025-10-24T23:35:09.951Z,1761348909.951 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:35:10.200Z,1761348910.200 [DAT](INFO): DAT read: user:2>

2025-10-24T23:35:10.201Z,1761348910.201 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:35:10.202Z,1761348910.202 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:35:10.202Z,1761348910.202 [DAT](INFO): setting transmit power to 8
2025-10-24T23:35:10.210Z,1761348910.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225480,-0.949876,-0.216550],[0.973531,0.228201,0.012699],[0.037355,-0.213681,0.976189]]
2025-10-24T23:35:10.453Z,1761348910.453 [DAT](INFO): DAT read: user:3>

2025-10-24T23:35:10.453Z,1761348910.453 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:35:10.454Z,1761348910.454 [DAT](INFO): set transmit power to 8
2025-10-24T23:35:10.454Z,1761348910.454 [DAT](INFO): setting local address to 11
2025-10-24T23:35:10.606Z,1761348910.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229720,-0.947933,-0.220571],[0.972352,0.233306,0.010020],[0.041962,-0.216774,0.975320]]
2025-10-24T23:35:10.705Z,1761348910.705 [DAT](INFO): DAT read: user:4>

2025-10-24T23:35:10.706Z,1761348910.707 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:35:10.707Z,1761348910.707 [DAT](INFO): set local address to 11
2025-10-24T23:35:10.708Z,1761348910.708 [DAT](INFO): Setting time to: 23:35:10 And date to:10/24/2025
2025-10-24T23:35:10.957Z,1761348910.957 [DAT](INFO): DAT read: user:5>

2025-10-24T23:35:10.957Z,1761348910.957 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:35:10  

2025-10-24T23:35:10.958Z,1761348910.958 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:35:10  

2025-10-24T23:35:10.958Z,1761348910.958 [DAT](INFO): setting remote address to 10
2025-10-24T23:35:10.959Z,1761348910.959 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:35:10.959Z,1761348910.959 [DAT](INFO): setting remote address to 0
2025-10-24T23:35:11.053Z,1761348911.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233297,-0.946168,-0.224363],[0.971329,0.237607,0.007987],[0.045753,-0.219794,0.974473]]
2025-10-24T23:35:11.209Z,1761348911.209 [DAT](INFO): DAT read: user:6>

2025-10-24T23:35:11.210Z,1761348911.210 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:35:11.210Z,1761348911.210 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:35:11.210Z,1761348911.210 [DAT] Communications Fault, FailCount= 1
2025-10-24T23:35:11.210Z,1761348911.210 [DAT](ERROR): Communications Fault
2025-10-24T23:35:11.211Z,1761348911.211 [DAT](INFO): DAT read: user:7>

2025-10-24T23:35:11.212Z,1761348911.212 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:35:11.213Z,1761348911.213 [DAT](INFO): set remote address to 0
2025-10-24T23:35:11.213Z,1761348911.213 [DAT](INFO): setting remote address to 10
2025-10-24T23:35:11.213Z,1761348911.213 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:35:11.213Z,1761348911.213 [DAT](INFO): setting remote address to 0
2025-10-24T23:35:11.415Z,1761348911.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236060,-0.944396,-0.228890],[0.970518,0.240931,0.006846],[0.048682,-0.223758,0.973428]]
2025-10-24T23:35:11.535Z,1761348911.535 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:35:11.616Z,1761348911.616 [DAT](INFO): Powering down
2025-10-24T23:35:11.819Z,1761348911.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236217,-0.943686,-0.231644],[0.970342,0.241689,0.004889],[0.051372,-0.225929,0.972788]]
2025-10-24T23:35:12.222Z,1761348912.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233873,-0.943942,-0.232972],[0.970766,0.240017,0.002032],[0.053999,-0.226637,0.972481]]
2025-10-24T23:35:12.628Z,1761348912.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230537,-0.944525,-0.233936],[0.971410,0.237403,-0.001227],[0.056696,-0.226965,0.972251]]
2025-10-24T23:35:12.731Z,1761348912.731 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:35:12.731Z,1761348912.731 [DAT] No Fault, FailCount= 1
2025-10-24T23:35:13.031Z,1761348913.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226091,-0.945749,-0.233326],[0.972246,0.233886,-0.005923],[0.060173,-0.225512,0.972380]]
2025-10-24T23:35:13.435Z,1761348913.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221044,-0.946831,-0.233775],[0.973124,0.230000,-0.011414],[0.064575,-0.224969,0.972224]]
2025-10-24T23:35:13.838Z,1761348913.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216304,-0.948413,-0.231789],[0.973848,0.226491,-0.017948],[0.069520,-0.221845,0.972600]]
2025-10-24T23:35:14.242Z,1761348914.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212544,-0.949813,-0.229521],[0.974305,0.223911,-0.024357],[0.074527,-0.218447,0.972999]]
2025-10-24T23:35:14.649Z,1761348914.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210576,-0.950305,-0.229297],[0.974356,0.223053,-0.029624],[0.079297,-0.217179,0.972906]]
2025-10-24T23:35:14.665Z,1761348914.665 [DAT](INFO): Powering up
2025-10-24T23:35:14.665Z,1761348914.665 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:35:15.051Z,1761348915.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210066,-0.950552,-0.228744],[0.974101,0.223507,-0.034231],[0.083664,-0.215629,0.972885]]
2025-10-24T23:35:15.455Z,1761348915.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211388,-0.950483,-0.227811],[0.973467,0.225633,-0.038109],[0.087623,-0.213711,0.972959]]
2025-10-24T23:35:15.876Z,1761348915.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212810,-0.950323,-0.227152],[0.972828,0.227776,-0.041527],[0.091204,-0.212142,0.972974]]
2025-10-24T23:35:15.991Z,1761348915.991 [marl:SendObservationData] Running Loop=1
2025-10-24T23:35:15.991Z,1761348915.991 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:35:15.991Z,1761348915.991 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:35:15.996Z,1761348915.996 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:35:15.998Z,1761348915.998 [marl:SendObservationData:A](INFO): Got test_good :  41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:35:15.998Z,1761348915.998 [marl:SendObservationData:A] Stopped
2025-10-24T23:35:15.998Z,1761348915.998 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:35:16.262Z,1761348916.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215953,-0.949395,-0.228065],[0.971878,0.231469,-0.043299],[0.093898,-0.212301,0.972683]]
2025-10-24T23:35:16.311Z,1761348916.311 [marl:SendObservationData:B] Stopped
2025-10-24T23:35:16.311Z,1761348916.311 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:35:16.676Z,1761348916.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219063,-0.948417,-0.229167],[0.970941,0.235090,-0.044799],[0.096363,-0.212693,0.972356]]
2025-10-24T23:35:16.727Z,1761348916.727 [marl:SendObservationData:C] Stopped
2025-10-24T23:35:16.727Z,1761348916.727 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:35:17.072Z,1761348917.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221972,-0.947280,-0.231059],[0.970028,0.238565,-0.046174],[0.098863,-0.213885,0.971843]]
2025-10-24T23:35:17.097Z,1761348917.097 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.008265 min 
2025-10-24T23:35:17.097Z,1761348917.097 [marl:SendObservationData:E] Stopped
2025-10-24T23:35:17.098Z,1761348917.098 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:35:17.098Z,1761348917.098 [marl:SendObservationData] Stopped
2025-10-24T23:35:17.098Z,1761348917.098 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:35:17.098Z,1761348917.098 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:35:17.474Z,1761348917.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225013,-0.946093,-0.232975],[0.969096,0.242118,-0.047249],[0.101109,-0.215144,0.971334]]
2025-10-24T23:35:17.928Z,1761348917.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228373,-0.944743,-0.235172],[0.968142,0.245855,-0.047504],[0.102697,-0.216832,0.970792]]
2025-10-24T23:35:18.282Z,1761348918.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231111,-0.943379,-0.237959],[0.967343,0.248972,-0.047536],[0.104089,-0.219202,0.970111]]
2025-10-24T23:35:18.690Z,1761348918.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233523,-0.941956,-0.241216],[0.966704,0.251607,-0.046660],[0.104643,-0.222288,0.969349]]
2025-10-24T23:35:19.090Z,1761348919.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234735,-0.941234,-0.242853],[0.966393,0.252903,-0.046097],[0.104806,-0.223871,0.968967]]
2025-10-24T23:35:19.515Z,1761348919.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234809,-0.940509,-0.245577],[0.966366,0.253126,-0.045428],[0.104887,-0.226650,0.968312]]
2025-10-24T23:35:19.940Z,1761348919.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234580,-0.940253,-0.246771],[0.966424,0.252957,-0.045143],[0.104868,-0.227895,0.968022]]
2025-10-24T23:35:20.304Z,1761348920.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234309,-0.940300,-0.246850],[0.966517,0.252637,-0.044931],[0.104612,-0.228057,0.968012]]
2025-10-24T23:35:20.706Z,1761348920.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233474,-0.940510,-0.246843],[0.966648,0.251981,-0.045791],[0.105267,-0.227919,0.967973]]
2025-10-24T23:35:20.744Z,1761348920.744 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:35:20.744Z,1761348920.744 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:35:20.744Z,1761348920.744 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:35:20.745Z,1761348920.745 [marl:UpdateRudder:A] Stopped
2025-10-24T23:35:20.745Z,1761348920.745 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:35:21.111Z,1761348921.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233776,-0.940475,-0.246689],[0.966491,0.252448,-0.046532],[0.106039,-0.227545,0.967977]]
2025-10-24T23:35:21.165Z,1761348921.165 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:35:21.165Z,1761348921.165 [marl:UpdateRudder:B] Stopped
2025-10-24T23:35:21.165Z,1761348921.165 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:35:21.165Z,1761348921.165 [marl:UpdateRudder] Stopped
2025-10-24T23:35:21.165Z,1761348921.165 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:35:21.514Z,1761348921.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234906,-0.939911,-0.247764],[0.966155,0.253731,-0.046534],[0.106603,-0.228447,0.967702]]
2025-10-24T23:35:21.940Z,1761348921.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237248,-0.939280,-0.247926],[0.965498,0.256193,-0.046683],[0.107366,-0.228296,0.967654]]
2025-10-24T23:35:22.007Z,1761348922.007 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:35:22.007Z,1761348922.007 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:35:22.007Z,1761348922.007 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:35:22.007Z,1761348922.007 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:35:22.007Z,1761348922.007 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:35:22.007Z,1761348922.007 [marl:UpdateCommandMode] Stopped
2025-10-24T23:35:22.007Z,1761348922.007 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:35:22.007Z,1761348922.007 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:35:22.008Z,1761348922.008 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:35:22.008Z,1761348922.008 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:35:22.008Z,1761348922.008 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:35:22.008Z,1761348922.008 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:35:22.008Z,1761348922.008 [marl:UpdateSpeed] Stopped
2025-10-24T23:35:22.009Z,1761348922.009 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:35:22.322Z,1761348922.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240464,-0.938535,-0.247648],[0.964620,0.259472,-0.046707],[0.108094,-0.227655,0.967723]]
2025-10-24T23:35:22.726Z,1761348922.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244601,-0.937189,-0.248693],[0.963592,0.263512,-0.045298],[0.107986,-0.228558,0.967523]]
2025-10-24T23:35:23.139Z,1761348923.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248632,-0.935963,-0.249309],[0.962634,0.267294,-0.043462],[0.107318,-0.229188,0.967448]]
2025-10-24T23:35:23.536Z,1761348923.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251744,-0.935212,-0.249004],[0.961941,0.270052,-0.041740],[0.106280,-0.229019,0.967602]]
2025-10-24T23:35:23.941Z,1761348923.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250721,-0.937342,-0.241928],[0.962433,0.268259,-0.041947],[0.104218,-0.222323,0.969387]]
2025-10-24T23:35:24.343Z,1761348924.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242923,-0.944348,-0.221801],[0.964739,0.259078,-0.046450],[0.101329,-0.202697,0.973985]]
2025-10-24T23:35:24.747Z,1761348924.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228361,-0.954895,-0.189806],[0.968634,0.242462,-0.054413],[0.097979,-0.171427,0.980313]]
2025-10-24T23:35:25.156Z,1761348925.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208960,-0.965623,-0.154620],[0.973322,0.220682,-0.062801],[0.094764,-0.137372,0.985976]]
2025-10-24T23:35:25.555Z,1761348925.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187045,-0.975032,-0.119697],[0.978059,0.196218,-0.069992],[0.091732,-0.103979,0.990340]]
2025-10-24T23:35:25.958Z,1761348925.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164350,-0.982460,-0.088099],[0.982344,0.171113,-0.075637],[0.089386,-0.074113,0.993236]]
2025-10-24T23:35:26.363Z,1761348926.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141499,-0.988068,-0.060821],[0.986023,0.146132,-0.080021],[0.087955,-0.048648,0.994936]]
2025-10-24T23:35:26.765Z,1761348926.765 [DAT](INFO): DAT read: 

2025-10-24T23:35:26.765Z,1761348926.765 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:35:26.771Z,1761348926.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119780,-0.992034,-0.038997],[0.988990,0.122666,-0.082780],[0.086904,-0.028653,0.995805]]
2025-10-24T23:35:27.170Z,1761348927.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099578,-0.994790,-0.021850],[0.991305,0.101079,-0.084245],[0.086014,-0.013271,0.996206]]
2025-10-24T23:35:27.574Z,1761348927.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080714,-0.996680,-0.010723],[0.993085,0.081333,-0.084661],[0.085252,-0.003816,0.996352]]
2025-10-24T23:35:27.978Z,1761348927.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062718,-0.998025,-0.003464],[0.994458,0.062787,-0.084321],[0.084372,0.001844,0.996433]]
2025-10-24T23:35:28.384Z,1761348928.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044866,-0.998992,0.001294],[0.995473,0.044600,-0.083934],[0.083792,0.005054,0.996470]]
2025-10-24T23:35:28.533Z,1761348928.533 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:35:28.534Z,1761348928.534 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:35:28.535Z,1761348928.535 [DAT](INFO): DAT read: Oct 24 2025 23:35:22 

2025-10-24T23:35:29.190Z,1761348929.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010307,-0.999934,0.005141],[0.996577,0.009850,-0.082086],[0.082030,0.005970,0.996612]]
2025-10-24T23:35:29.541Z,1761348929.541 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:35:29.542Z,1761348929.542 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:35:29.543Z,1761348929.543 [DAT](INFO): commRate: 600
2025-10-24T23:35:29.603Z,1761348929.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007504,-0.999953,0.006109],[0.996640,-0.007977,-0.081516],[0.081561,0.005477,0.996653]]
2025-10-24T23:35:29.999Z,1761348929.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026265,-0.999625,0.007689],[0.996351,-0.026802,-0.081036],[0.081212,0.005533,0.996682]]
2025-10-24T23:35:30.403Z,1761348930.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045310,-0.998932,0.009003],[0.995722,-0.045887,-0.080206],[0.080533,0.005330,0.996738]]
2025-10-24T23:35:30.807Z,1761348930.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064564,-0.997866,0.009777],[0.994703,-0.065139,-0.079522],[0.079989,0.004590,0.996785]]
2025-10-24T23:35:31.210Z,1761348931.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083882,-0.996423,0.010198],[0.993303,-0.084427,-0.078872],[0.079451,0.003513,0.996833]]
2025-10-24T23:35:31.608Z,1761348931.608 [DAT](INFO): entering command mode
2025-10-24T23:35:31.631Z,1761348931.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102613,-0.994662,0.010880],[0.991584,-0.103151,-0.078240],[0.078945,0.002760,0.996875]]
2025-10-24T23:35:31.808Z,1761348931.808 [DAT](INFO): DAT read: 

2025-10-24T23:35:31.809Z,1761348931.809 [DAT](INFO): DAT read: user:1>

2025-10-24T23:35:31.809Z,1761348931.809 [DAT](INFO): setting verbose to 3
2025-10-24T23:35:32.025Z,1761348932.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121404,-0.992509,0.013665],[0.989489,-0.122101,-0.077481],[0.078569,0.004115,0.996900]]
2025-10-24T23:35:32.061Z,1761348932.061 [DAT](INFO): DAT read: user:1>

2025-10-24T23:35:32.062Z,1761348932.062 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:35:32.062Z,1761348932.062 [DAT](INFO): set verbose to 3
2025-10-24T23:35:32.062Z,1761348932.062 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:35:32.313Z,1761348932.313 [DAT](INFO): DAT read: user:2>

2025-10-24T23:35:32.313Z,1761348932.313 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:35:32.314Z,1761348932.314 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:35:32.314Z,1761348932.314 [DAT](INFO): setting transmit power to 8
2025-10-24T23:35:32.422Z,1761348932.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139242,-0.990156,0.014213],[0.987184,-0.139926,-0.076737],[0.077970,0.003346,0.996950]]
2025-10-24T23:35:32.565Z,1761348932.565 [DAT](INFO): DAT read: user:3>

2025-10-24T23:35:32.566Z,1761348932.566 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:35:32.566Z,1761348932.566 [DAT](INFO): set transmit power to 8
2025-10-24T23:35:32.566Z,1761348932.566 [DAT](INFO): setting local address to 11
2025-10-24T23:35:32.818Z,1761348932.818 [DAT](INFO): DAT read: user:4>

2025-10-24T23:35:32.819Z,1761348932.819 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:35:32.819Z,1761348932.819 [DAT](INFO): set local address to 11
2025-10-24T23:35:32.820Z,1761348932.820 [DAT](INFO): Setting time to: 23:35:32 And date to:10/24/2025
2025-10-24T23:35:32.837Z,1761348932.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156084,-0.987642,0.014191],[0.984717,-0.156713,-0.075979],[0.077264,0.002115,0.997008]]
2025-10-24T23:35:33.069Z,1761348933.069 [DAT](INFO): DAT read: user:5>

2025-10-24T23:35:33.069Z,1761348933.069 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:35:32  

2025-10-24T23:35:33.070Z,1761348933.070 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:35:32  

2025-10-24T23:35:33.070Z,1761348933.070 [DAT](INFO): setting remote address to 10
2025-10-24T23:35:33.071Z,1761348933.071 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:35:33.071Z,1761348933.071 [DAT](INFO): setting remote address to 0
2025-10-24T23:35:33.231Z,1761348933.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172244,-0.984952,0.014213],[0.982088,-0.172826,-0.075063],[0.076390,0.001029,0.997077]]
2025-10-24T23:35:33.321Z,1761348933.321 [DAT](INFO): DAT read: user:6>

2025-10-24T23:35:33.322Z,1761348933.322 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:35:33.322Z,1761348933.322 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:35:33.322Z,1761348933.322 [DAT] Communications Fault, FailCount= 2
2025-10-24T23:35:33.322Z,1761348933.322 [DAT](ERROR): Communications Fault
2025-10-24T23:35:33.323Z,1761348933.323 [DAT](INFO): DAT read: user:7>

2025-10-24T23:35:33.325Z,1761348933.325 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:35:33.325Z,1761348933.325 [DAT](INFO): set remote address to 0
2025-10-24T23:35:33.325Z,1761348933.325 [DAT](INFO): setting remote address to 10
2025-10-24T23:35:33.326Z,1761348933.326 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:35:33.326Z,1761348933.326 [DAT](INFO): setting remote address to 0
2025-10-24T23:35:33.337Z,1761348933.337 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:35:33.634Z,1761348933.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187570,-0.982156,0.013645],[0.979360,-0.188065,-0.074068],[0.075313,-0.000529,0.997160]]
2025-10-24T23:35:33.690Z,1761348933.690 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:35:33.690Z,1761348933.690 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:35:33.691Z,1761348933.691 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:35:33.691Z,1761348933.691 [marl:UpdateRudder:A] Stopped
2025-10-24T23:35:33.691Z,1761348933.691 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:35:33.741Z,1761348933.741 [DAT](INFO): Powering down
2025-10-24T23:35:34.041Z,1761348934.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202061,-0.979288,0.012901],[0.976571,-0.202461,-0.072930],[0.074032,-0.002137,0.997254]]
2025-10-24T23:35:34.137Z,1761348934.137 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:35:34.137Z,1761348934.137 [marl:UpdateRudder:B] Stopped
2025-10-24T23:35:34.138Z,1761348934.138 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:35:34.138Z,1761348934.138 [marl:UpdateRudder] Stopped
2025-10-24T23:35:34.138Z,1761348934.138 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:35:34.443Z,1761348934.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216105,-0.976279,0.013316],[0.973658,-0.216501,-0.071543],[0.072729,-0.002496,0.997349]]
2025-10-24T23:35:34.846Z,1761348934.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229850,-0.973123,0.014172],[0.970581,-0.230274,-0.070333],[0.071706,-0.002411,0.997423]]
2025-10-24T23:35:34.879Z,1761348934.879 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:35:34.879Z,1761348934.879 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:35:34.879Z,1761348934.879 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:35:34.879Z,1761348934.879 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:35:34.880Z,1761348934.880 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:35:34.880Z,1761348934.880 [marl:UpdateCommandMode] Stopped
2025-10-24T23:35:34.880Z,1761348934.880 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:35:34.880Z,1761348934.880 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:35:34.880Z,1761348934.880 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:35:34.880Z,1761348934.880 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:35:34.881Z,1761348934.881 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:35:34.881Z,1761348934.881 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:35:34.881Z,1761348934.881 [marl:UpdateSpeed] Stopped
2025-10-24T23:35:34.881Z,1761348934.881 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:35:34.970Z,1761348934.970 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:35:34.970Z,1761348934.970 [DAT] No Fault, FailCount= 2
2025-10-24T23:35:35.250Z,1761348935.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243053,-0.969909,0.014210],[0.967395,-0.243447,-0.069866],[0.071223,-0.003235,0.997455]]
2025-10-24T23:35:35.658Z,1761348935.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255736,-0.966635,0.014712],[0.964147,-0.256134,-0.069393],[0.070846,-0.003561,0.997481]]
2025-10-24T23:35:36.070Z,1761348936.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267698,-0.963388,0.014881],[0.960896,-0.268077,-0.069385],[0.070834,-0.004276,0.997479]]
2025-10-24T23:35:36.463Z,1761348936.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278945,-0.960161,0.016750],[0.957671,-0.279429,-0.069184],[0.071108,-0.003257,0.997463]]
2025-10-24T23:35:36.788Z,1761348936.788 [DAT](INFO): Powering up
2025-10-24T23:35:36.788Z,1761348936.788 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:35:36.866Z,1761348936.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290269,-0.956775,0.018066],[0.954312,-0.290818,-0.068657],[0.070943,-0.002689,0.997477]]
2025-10-24T23:35:37.270Z,1761348937.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301609,-0.953238,0.019204],[0.950830,-0.302212,-0.067752],[0.070388,-0.002175,0.997517]]
2025-10-24T23:35:37.681Z,1761348937.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313275,-0.949459,0.019654],[0.947124,-0.313883,-0.066579],[0.069383,-0.002242,0.997588]]
2025-10-24T23:35:38.103Z,1761348938.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326014,-0.945146,0.020337],[0.942933,-0.326642,-0.064673],[0.067768,-0.001908,0.997699]]
2025-10-24T23:35:38.482Z,1761348938.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339855,-0.940250,0.020728],[0.938197,-0.340482,-0.062120],[0.065466,-0.001665,0.997853]]
2025-10-24T23:35:38.886Z,1761348938.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354780,-0.934733,0.020146],[0.932847,-0.355345,-0.059390],[0.062672,-0.002277,0.998032]]
2025-10-24T23:35:39.292Z,1761348939.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370988,-0.928416,0.020285],[0.926742,-0.371538,-0.055762],[0.059306,-0.001888,0.998238]]
2025-10-24T23:35:39.694Z,1761348939.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388310,-0.921303,0.020392],[0.919859,-0.388843,-0.051578],[0.055448,-0.001270,0.998461]]
2025-10-24T23:35:39.928Z,1761348939.928 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:35:40.111Z,1761348940.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406340,-0.913487,0.020724],[0.912295,-0.406868,-0.046660],[0.051055,-0.000053,0.998696]]
2025-10-24T23:35:40.502Z,1761348940.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424660,-0.905100,0.021393],[0.904159,-0.425195,-0.041313],[0.046488,0.001798,0.998917]]
2025-10-24T23:35:40.907Z,1761348940.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443082,-0.896223,0.021504],[0.895488,-0.443593,-0.036428],[0.042186,0.003116,0.999105]]
2025-10-24T23:35:40.932Z,1761348940.932 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:35:41.310Z,1761348941.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461450,-0.886876,0.022683],[0.886326,-0.461975,-0.031714],[0.038605,0.005470,0.999240]]
2025-10-24T23:35:41.714Z,1761348941.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479715,-0.877094,0.024077],[0.876679,-0.480258,-0.028030],[0.036148,0.007661,0.999317]]
2025-10-24T23:35:42.122Z,1761348942.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498221,-0.866678,0.025418],[0.866351,-0.498782,-0.025545],[0.034817,0.009294,0.999350]]
2025-10-24T23:35:42.524Z,1761348942.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516656,-0.855735,0.028006],[0.855469,-0.517287,-0.024207],[0.035202,0.011451,0.999315]]
2025-10-24T23:35:43.331Z,1761348943.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551780,-0.833400,0.031351],[0.833122,-0.552530,-0.024858],[0.038039,0.012402,0.999199]]
2025-10-24T23:35:43.734Z,1761348943.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567206,-0.822914,0.033021],[0.822655,-0.568012,-0.024522],[0.038936,0.013256,0.999154]]
2025-10-24T23:35:44.147Z,1761348944.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580372,-0.813732,0.031759],[0.813461,-0.581119,-0.024125],[0.038087,0.011833,0.999204]]
2025-10-24T23:35:44.550Z,1761348944.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592311,-0.805170,0.029476],[0.804899,-0.592959,-0.023161],[0.036127,0.010007,0.999297]]
2025-10-24T23:35:45.350Z,1761348945.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614034,-0.788840,0.026333],[0.788663,-0.614531,-0.019037],[0.031199,0.009079,0.999472]]
2025-10-24T23:35:45.754Z,1761348945.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624675,-0.780496,0.024652],[0.780357,-0.625102,-0.017047],[0.028715,0.008588,0.999551]]
2025-10-24T23:35:46.171Z,1761348946.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635094,-0.772108,0.022477],[0.771991,-0.635446,-0.015430],[0.026197,0.007552,0.999628]]
2025-10-24T23:35:46.571Z,1761348946.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646306,-0.762796,0.020747],[0.762695,-0.646604,-0.014094],[0.024166,0.006715,0.999685]]
2025-10-24T23:35:46.606Z,1761348946.606 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:35:46.606Z,1761348946.606 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:35:46.606Z,1761348946.606 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:35:46.607Z,1761348946.607 [marl:UpdateRudder:A] Stopped
2025-10-24T23:35:46.607Z,1761348946.607 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:35:46.967Z,1761348946.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657065,-0.753567,0.020054],[0.753501,-0.657333,-0.012227],[0.022396,0.007077,0.999724]]
2025-10-24T23:35:47.014Z,1761348947.014 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:35:47.015Z,1761348947.015 [marl:UpdateRudder:B] Stopped
2025-10-24T23:35:47.015Z,1761348947.015 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:35:47.015Z,1761348947.015 [marl:UpdateRudder] Stopped
2025-10-24T23:35:47.015Z,1761348947.015 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:35:47.370Z,1761348947.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667323,-0.744525,0.019038],[0.744479,-0.667558,-0.010789],[0.020742,0.006974,0.999761]]
2025-10-24T23:35:47.780Z,1761348947.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678173,-0.734670,0.018478],[0.734647,-0.678386,-0.009323],[0.019385,0.007253,0.999786]]
2025-10-24T23:35:47.809Z,1761348947.809 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:35:47.809Z,1761348947.809 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:35:47.809Z,1761348947.809 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:35:47.809Z,1761348947.809 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:35:47.809Z,1761348947.809 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:35:47.809Z,1761348947.809 [marl:UpdateCommandMode] Stopped
2025-10-24T23:35:47.809Z,1761348947.809 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:35:47.810Z,1761348947.810 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:35:47.810Z,1761348947.810 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:35:47.810Z,1761348947.810 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:35:47.810Z,1761348947.810 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:35:47.810Z,1761348947.810 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:35:47.810Z,1761348947.810 [marl:UpdateSpeed] Stopped
2025-10-24T23:35:47.810Z,1761348947.810 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:35:48.184Z,1761348948.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699536,-0.714403,0.016648],[0.714421,-0.699691,-0.005870],[0.015842,0.007787,0.999844]]
2025-10-24T23:35:48.589Z,1761348948.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710880,-0.703120,0.016487],[0.703175,-0.711010,-0.003180],[0.013958,0.009333,0.999859]]
2025-10-24T23:35:48.896Z,1761348948.896 [DAT](INFO): DAT read: 

2025-10-24T23:35:48.897Z,1761348948.897 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:35:48.992Z,1761348948.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722280,-0.691427,0.015523],[0.691501,-0.722375,-0.000798],[0.011765,0.010158,0.999879]]
2025-10-24T23:35:49.397Z,1761348949.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733736,-0.679293,0.013882],[0.679366,-0.733799,0.000790],[0.009650,0.010011,0.999903]]
2025-10-24T23:35:49.798Z,1761348949.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745356,-0.666530,0.013479],[0.666621,-0.745390,0.003322],[0.007833,0.011461,0.999904]]
2025-10-24T23:35:50.199Z,1761348950.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756929,-0.653357,0.013513],[0.653465,-0.756934,0.005845],[0.006409,0.013255,0.999892]]
2025-10-24T23:35:50.603Z,1761348950.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768100,-0.640197,0.013053],[0.640308,-0.768083,0.007368],[0.005309,0.014018,0.999888]]
2025-10-24T23:35:50.661Z,1761348950.661 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:35:50.663Z,1761348950.663 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:35:50.664Z,1761348950.664 [DAT](INFO): DAT read: Oct 24 2025 23:35:44 

2025-10-24T23:35:51.007Z,1761348951.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779205,-0.626636,0.012927],[0.626752,-0.779170,0.008730],[0.004602,0.014905,0.999878]]
2025-10-24T23:35:51.422Z,1761348951.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789733,-0.613306,0.013308],[0.613439,-0.789668,0.010832],[0.003866,0.016718,0.999853]]
2025-10-24T23:35:51.670Z,1761348951.670 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:35:51.671Z,1761348951.671 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:35:51.672Z,1761348951.672 [DAT](INFO): commRate: 600
2025-10-24T23:35:51.814Z,1761348951.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799978,-0.599875,0.013583],[0.600020,-0.799884,0.012728],[0.003230,0.018333,0.999827]]
2025-10-24T23:35:52.221Z,1761348952.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809906,-0.586423,0.012674],[0.586554,-0.809807,0.012923],[0.002686,0.017900,0.999836]]
2025-10-24T23:35:52.624Z,1761348952.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819601,-0.572807,0.012101],[0.572931,-0.819485,0.013913],[0.001947,0.018336,0.999830]]
2025-10-24T23:35:53.029Z,1761348953.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829043,-0.559090,0.010297],[0.559184,-0.828927,0.013907],[0.000760,0.017288,0.999850]]
2025-10-24T23:35:53.431Z,1761348953.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838711,-0.544515,0.008180],[0.544576,-0.838598,0.013777],[-0.000642,0.016010,0.999872]]
2025-10-24T23:35:53.736Z,1761348953.736 [DAT](INFO): entering command mode
2025-10-24T23:35:53.835Z,1761348953.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848240,-0.529579,0.005903],[0.529606,-0.848128,0.014036],[-0.002427,0.015032,0.999884]]
2025-10-24T23:35:53.937Z,1761348953.937 [DAT](INFO): DAT read: 

2025-10-24T23:35:53.938Z,1761348953.938 [DAT](INFO): DAT read: user:1>

2025-10-24T23:35:53.938Z,1761348953.938 [DAT](INFO): setting verbose to 3
2025-10-24T23:35:54.011Z,1761348954.011 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:35:54.011Z,1761348954.011 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:35:54.189Z,1761348954.189 [DAT](INFO): DAT read: user:1>

2025-10-24T23:35:54.190Z,1761348954.190 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:35:54.190Z,1761348954.190 [DAT](INFO): set verbose to 3
2025-10-24T23:35:54.190Z,1761348954.190 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:35:54.249Z,1761348954.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857547,-0.514391,0.003923],[0.514389,-0.857433,0.014563],[-0.004127,0.014507,0.999886]]
2025-10-24T23:35:54.441Z,1761348954.441 [DAT](INFO): DAT read: user:2>

2025-10-24T23:35:54.441Z,1761348954.441 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:35:54.442Z,1761348954.442 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:35:54.442Z,1761348954.442 [DAT](INFO): setting transmit power to 8
2025-10-24T23:35:54.643Z,1761348954.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866899,-0.498479,0.002134],[0.498455,-0.866795,0.014442],[-0.005349,0.013584,0.999893]]
2025-10-24T23:35:54.693Z,1761348954.693 [DAT](INFO): DAT read: user:3>

2025-10-24T23:35:54.694Z,1761348954.694 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:35:54.694Z,1761348954.694 [DAT](INFO): set transmit power to 8
2025-10-24T23:35:54.694Z,1761348954.694 [DAT](INFO): setting local address to 11
2025-10-24T23:35:54.945Z,1761348954.945 [DAT](INFO): DAT read: user:4>

2025-10-24T23:35:54.946Z,1761348954.946 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:35:54.946Z,1761348954.946 [DAT](INFO): set local address to 11
2025-10-24T23:35:54.947Z,1761348954.947 [DAT](INFO): Setting time to: 23:35:54 And date to:10/24/2025
2025-10-24T23:35:55.053Z,1761348955.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875945,-0.482411,-0.000441],[0.482368,-0.875877,0.012675],[-0.006501,0.010889,0.999920]]
2025-10-24T23:35:55.197Z,1761348955.197 [DAT](INFO): DAT read: user:5>

2025-10-24T23:35:55.197Z,1761348955.197 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:35:54  

2025-10-24T23:35:55.198Z,1761348955.198 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:35:54  

2025-10-24T23:35:55.198Z,1761348955.198 [DAT](INFO): setting remote address to 10
2025-10-24T23:35:55.199Z,1761348955.199 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:35:55.199Z,1761348955.199 [DAT](INFO): setting remote address to 0
2025-10-24T23:35:55.449Z,1761348955.449 [DAT](INFO): DAT read: user:6>

2025-10-24T23:35:55.450Z,1761348955.450 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:35:55.450Z,1761348955.450 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:35:55.450Z,1761348955.450 [DAT] Communications Fault, FailCount= 3
2025-10-24T23:35:55.450Z,1761348955.450 [DAT](ERROR): Communications Fault
2025-10-24T23:35:55.451Z,1761348955.451 [DAT](INFO): DAT read: user:7>

2025-10-24T23:35:55.452Z,1761348955.452 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:35:55.452Z,1761348955.452 [DAT](INFO): set remote address to 0
2025-10-24T23:35:55.453Z,1761348955.453 [DAT](INFO): setting remote address to 10
2025-10-24T23:35:55.453Z,1761348955.453 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:35:55.453Z,1761348955.453 [DAT](INFO): setting remote address to 0
2025-10-24T23:35:55.464Z,1761348955.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884583,-0.466381,-0.001665],[0.466331,-0.884531,0.011883],[-0.007015,0.009735,0.999928]]
2025-10-24T23:35:55.583Z,1761348955.583 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:35:55.856Z,1761348955.856 [DAT](INFO): Powering down
2025-10-24T23:35:55.862Z,1761348955.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892590,-0.450864,-0.002200],[0.450809,-0.892539,0.012090],[-0.007415,0.009800,0.999924]]
2025-10-24T23:35:56.267Z,1761348956.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899888,-0.436113,-0.002692],[0.436050,-0.899835,0.012507],[-0.007877,0.010081,0.999918]]
2025-10-24T23:35:56.667Z,1761348956.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906800,-0.421553,-0.002641],[0.421483,-0.906736,0.013499],[-0.008085,0.011128,0.999905]]
2025-10-24T23:35:56.740Z,1761348956.740 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:35:56.740Z,1761348956.740 [DAT] No Fault, FailCount= 3
2025-10-24T23:35:57.067Z,1761348957.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913373,-0.407113,-0.002882],[0.407039,-0.913305,0.013871],[-0.008279,0.011496,0.999900]]
2025-10-24T23:35:57.470Z,1761348957.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919212,-0.393749,-0.003361],[0.393661,-0.919135,0.014913],[-0.008961,0.012385,0.999883]]
2025-10-24T23:35:57.544Z,1761348957.544 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:35:57.911Z,1761348957.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924928,-0.380122,-0.003894],[0.380009,-0.924827,0.016974],[-0.010054,0.014220,0.999848]]
2025-10-24T23:35:58.279Z,1761348958.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930502,-0.366254,-0.004857],[0.366120,-0.930399,0.017727],[-0.011012,0.014716,0.999831]]
2025-10-24T23:35:58.685Z,1761348958.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935899,-0.352228,-0.005383],[0.352069,-0.935774,0.019338],[-0.011849,0.016203,0.999798]]
2025-10-24T23:35:58.904Z,1761348958.904 [DAT](INFO): Powering up
2025-10-24T23:35:58.904Z,1761348958.904 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:35:59.086Z,1761348959.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941344,-0.337387,-0.006449],[0.337194,-0.941205,0.020802],[-0.013088,0.017407,0.999763]]
2025-10-24T23:35:59.492Z,1761348959.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946832,-0.321638,-0.007593],[0.321423,-0.946698,0.021201],[-0.014007,0.017634,0.999746]]
2025-10-24T23:35:59.569Z,1761348959.569 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:35:59.569Z,1761348959.569 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:35:59.570Z,1761348959.570 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:35:59.570Z,1761348959.570 [marl:UpdateRudder:A] Stopped
2025-10-24T23:35:59.570Z,1761348959.570 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:35:59.930Z,1761348959.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952120,-0.305605,-0.008562],[0.305371,-0.951992,0.021467],[-0.014711,0.017825,0.999733]]
2025-10-24T23:35:59.984Z,1761348959.984 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:35:59.984Z,1761348959.984 [marl:UpdateRudder:B] Stopped
2025-10-24T23:35:59.985Z,1761348959.985 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:35:59.985Z,1761348959.985 [marl:UpdateRudder] Stopped
2025-10-24T23:35:59.985Z,1761348959.985 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:36:00.299Z,1761348960.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957087,-0.289658,-0.009152],[0.289409,-0.956955,0.021900],[-0.015101,0.018312,0.999718]]
2025-10-24T23:36:00.703Z,1761348960.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961684,-0.273980,-0.009970],[0.273714,-0.961555,0.022178],[-0.015663,0.018599,0.999704]]
2025-10-24T23:36:00.761Z,1761348960.761 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:36:00.761Z,1761348960.761 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:36:00.761Z,1761348960.761 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:36:00.761Z,1761348960.761 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:36:00.761Z,1761348960.761 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:36:00.761Z,1761348960.761 [marl:UpdateCommandMode] Stopped
2025-10-24T23:36:00.761Z,1761348960.761 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:36:00.761Z,1761348960.761 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:36:00.762Z,1761348960.762 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:36:00.762Z,1761348960.762 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:36:00.762Z,1761348960.762 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:36:00.762Z,1761348960.762 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:36:00.762Z,1761348960.762 [marl:UpdateSpeed] Stopped
2025-10-24T23:36:00.762Z,1761348960.762 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:36:01.108Z,1761348961.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965850,-0.258894,-0.010369],[0.258612,-0.965711,0.022843],[-0.015927,0.019382,0.999685]]
2025-10-24T23:36:01.524Z,1761348961.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969701,-0.244062,-0.010634],[0.243754,-0.969534,0.024252],[-0.016229,0.020925,0.999649]]
2025-10-24T23:36:01.935Z,1761348961.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973153,-0.229882,-0.011293],[0.229555,-0.972982,0.024710],[-0.016668,0.021454,0.999631]]
2025-10-24T23:36:02.326Z,1761348962.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975852,-0.218081,-0.012390],[0.217760,-0.975728,0.023124],[-0.017132,0.019868,0.999656]]
2025-10-24T23:36:02.724Z,1761348962.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977563,-0.210075,-0.015446],[0.209855,-0.977621,0.014734],[-0.018196,0.011162,0.999772]]
2025-10-24T23:36:03.127Z,1761348963.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978336,-0.206033,-0.020215],[0.206112,-0.978527,-0.001863],[-0.019397,-0.005989,0.999794]]
2025-10-24T23:36:03.534Z,1761348963.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978508,-0.204494,-0.026539],[0.205160,-0.978399,-0.025407],[-0.020770,-0.030306,0.999325]]
2025-10-24T23:36:03.940Z,1761348963.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978450,-0.203733,-0.033591],[0.205347,-0.977149,-0.054894],[-0.021640,-0.060608,0.997927]]
2025-10-24T23:36:04.340Z,1761348964.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978251,-0.203290,-0.041217],[0.206168,-0.974783,-0.085395],[-0.022818,-0.092036,0.995494]]
2025-10-24T23:36:04.742Z,1761348964.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978070,-0.202518,-0.048629],[0.206882,-0.971637,-0.114551],[-0.024051,-0.122099,0.992226]]
2025-10-24T23:36:05.146Z,1761348965.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977812,-0.202277,-0.054476],[0.208010,-0.968328,-0.138107],[-0.024815,-0.146375,0.988918]]
2025-10-24T23:36:05.550Z,1761348965.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977477,-0.202432,-0.059666],[0.209458,-0.965131,-0.157001],[-0.025804,-0.165962,0.985794]]
2025-10-24T23:36:05.957Z,1761348965.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977277,-0.202156,-0.063744],[0.210261,-0.962620,-0.170744],[-0.026845,-0.180267,0.983251]]
2025-10-24T23:36:06.358Z,1761348966.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977029,-0.202192,-0.067328],[0.211224,-0.960699,-0.180114],[-0.028264,-0.190197,0.981339]]
2025-10-24T23:36:06.763Z,1761348966.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976907,-0.201881,-0.069981],[0.211561,-0.959794,-0.184494],[-0.029922,-0.195039,0.980339]]
2025-10-24T23:36:07.167Z,1761348967.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976863,-0.201527,-0.071594],[0.211527,-0.959813,-0.184434],[-0.031549,-0.195311,0.980234]]
2025-10-24T23:36:07.571Z,1761348967.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976972,-0.200509,-0.072946],[0.210740,-0.960278,-0.182905],[-0.033374,-0.194066,0.980421]]
2025-10-24T23:36:07.974Z,1761348967.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977095,-0.199390,-0.074355],[0.209820,-0.960974,-0.180290],[-0.035505,-0.191762,0.980799]]
2025-10-24T23:36:08.378Z,1761348968.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977550,-0.196793,-0.075287],[0.207385,-0.961798,-0.178709],[-0.037243,-0.190311,0.981017]]
2025-10-24T23:36:08.782Z,1761348968.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978043,-0.194153,-0.075737],[0.204772,-0.962837,-0.176105],[-0.038731,-0.187747,0.981453]]
2025-10-24T23:36:09.188Z,1761348969.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978581,-0.191227,-0.076231],[0.201937,-0.963645,-0.174959],[-0.040002,-0.186605,0.981620]]
2025-10-24T23:36:09.590Z,1761348969.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979258,-0.187513,-0.076760],[0.198399,-0.964292,-0.175441],[-0.041122,-0.187031,0.981493]]
2025-10-24T23:36:10.003Z,1761348970.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980039,-0.183314,-0.076933],[0.194294,-0.965139,-0.175374],[-0.042102,-0.186821,0.981491]]
2025-10-24T23:36:10.399Z,1761348970.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980749,-0.179589,-0.076672],[0.190491,-0.966250,-0.173419],[-0.042940,-0.184686,0.981859]]
2025-10-24T23:36:10.809Z,1761348970.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981390,-0.175954,-0.076903],[0.186903,-0.967150,-0.172302],[-0.044059,-0.183469,0.982038]]
2025-10-24T23:36:11.007Z,1761348971.007 [DAT](INFO): DAT read: 

2025-10-24T23:36:11.008Z,1761348971.008 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:36:11.052Z,1761348971.052 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:36:11.206Z,1761348971.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981978,-0.172347,-0.077558],[0.183400,-0.968082,-0.170824],[-0.045641,-0.181970,0.982244]]
2025-10-24T23:36:11.610Z,1761348971.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982533,-0.168722,-0.078499],[0.179922,-0.969011,-0.169249],[-0.047510,-0.180417,0.982442]]
2025-10-24T23:36:12.015Z,1761348972.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982944,-0.165846,-0.079471],[0.177169,-0.969839,-0.167400],[-0.049312,-0.178625,0.982681]]
2025-10-24T23:36:12.056Z,1761348972.056 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:36:12.420Z,1761348972.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983341,-0.163062,-0.080321],[0.174460,-0.970707,-0.165200],[-0.051030,-0.176460,0.982984]]
2025-10-24T23:36:12.490Z,1761348972.490 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:36:12.491Z,1761348972.491 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:36:12.491Z,1761348972.491 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:36:12.496Z,1761348972.496 [marl:UpdateRudder:A] Stopped
2025-10-24T23:36:12.496Z,1761348972.496 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:36:12.769Z,1761348972.769 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:36:12.770Z,1761348972.770 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:36:12.771Z,1761348972.771 [DAT](INFO): DAT read: Oct 24 2025 23:36:06 

2025-10-24T23:36:12.823Z,1761348972.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983696,-0.160641,-0.080848],[0.172033,-0.971557,-0.162729],[-0.052407,-0.173985,0.983353]]
2025-10-24T23:36:12.882Z,1761348972.882 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:36:12.882Z,1761348972.882 [marl:UpdateRudder:B] Stopped
2025-10-24T23:36:12.882Z,1761348972.882 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:36:12.883Z,1761348972.883 [marl:UpdateRudder] Stopped
2025-10-24T23:36:12.883Z,1761348972.883 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:36:13.227Z,1761348973.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984001,-0.158396,-0.081565],[0.169882,-0.972117,-0.161646],[-0.053687,-0.172916,0.983472]]
2025-10-24T23:36:13.633Z,1761348973.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984171,-0.156801,-0.082583],[0.168475,-0.972386,-0.161495],[-0.054980,-0.172852,0.983412]]
2025-10-24T23:36:13.664Z,1761348973.664 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:36:13.664Z,1761348973.664 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:36:13.664Z,1761348973.664 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:36:13.665Z,1761348973.665 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:36:13.665Z,1761348973.665 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:36:13.665Z,1761348973.665 [marl:UpdateCommandMode] Stopped
2025-10-24T23:36:13.665Z,1761348973.665 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:36:13.665Z,1761348973.665 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:36:13.666Z,1761348973.666 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:36:13.666Z,1761348973.666 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:36:13.666Z,1761348973.666 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:36:13.667Z,1761348973.667 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:36:13.667Z,1761348973.667 [marl:UpdateSpeed] Stopped
2025-10-24T23:36:13.667Z,1761348973.667 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:36:13.777Z,1761348973.777 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:36:13.778Z,1761348973.778 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:36:13.778Z,1761348973.778 [DAT](INFO): commRate: 600
2025-10-24T23:36:14.035Z,1761348974.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984295,-0.155878,-0.082863],[0.167571,-0.972661,-0.160784],[-0.055535,-0.172144,0.983505]]
2025-10-24T23:36:14.438Z,1761348974.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984471,-0.154403,-0.083525],[0.166362,-0.972479,-0.163120],[-0.056040,-0.174482,0.983064]]
2025-10-24T23:36:14.842Z,1761348974.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984628,-0.153037,-0.084189],[0.165326,-0.972073,-0.166554],[-0.056349,-0.177913,0.982432]]
2025-10-24T23:36:15.252Z,1761348975.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984801,-0.151651,-0.084671],[0.164194,-0.971820,-0.169136],[-0.056635,-0.180468,0.981949]]
2025-10-24T23:36:15.653Z,1761348975.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985106,-0.149745,-0.084513],[0.162371,-0.971863,-0.170639],[-0.056583,-0.181820,0.981703]]
2025-10-24T23:36:15.868Z,1761348975.868 [DAT](INFO): entering command mode
2025-10-24T23:36:16.054Z,1761348976.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985400,-0.147565,-0.084918],[0.160391,-0.971901,-0.172286],[-0.057109,-0.183390,0.981380]]
2025-10-24T23:36:16.060Z,1761348976.060 [DAT](INFO): DAT read: 

2025-10-24T23:36:16.061Z,1761348976.061 [DAT](INFO): DAT read: user:1>

2025-10-24T23:36:16.061Z,1761348976.061 [DAT](INFO): setting verbose to 3
2025-10-24T23:36:16.313Z,1761348976.313 [DAT](INFO): DAT read: user:1>

2025-10-24T23:36:16.314Z,1761348976.314 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:36:16.314Z,1761348976.314 [DAT](INFO): set verbose to 3
2025-10-24T23:36:16.314Z,1761348976.314 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:36:16.463Z,1761348976.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985651,-0.145811,-0.085039],[0.158780,-0.971870,-0.173946],[-0.057284,-0.184952,0.981077]]
2025-10-24T23:36:16.565Z,1761348976.565 [DAT](INFO): DAT read: user:2>

2025-10-24T23:36:16.567Z,1761348976.567 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:36:16.567Z,1761348976.567 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:36:16.567Z,1761348976.567 [DAT](INFO): setting transmit power to 8
2025-10-24T23:36:16.817Z,1761348976.817 [DAT](INFO): DAT read: user:3>

2025-10-24T23:36:16.817Z,1761348976.817 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:36:16.818Z,1761348976.818 [DAT](INFO): set transmit power to 8
2025-10-24T23:36:16.818Z,1761348976.818 [DAT](INFO): setting local address to 11
2025-10-24T23:36:16.879Z,1761348976.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985801,-0.144869,-0.084905],[0.157880,-0.971853,-0.174861],[-0.057183,-0.185783,0.980925]]
2025-10-24T23:36:17.069Z,1761348977.069 [DAT](INFO): DAT read: user:4>

2025-10-24T23:36:17.070Z,1761348977.070 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:36:17.070Z,1761348977.070 [DAT](INFO): set local address to 11
2025-10-24T23:36:17.071Z,1761348977.071 [DAT](INFO): Setting time to: 23:36:17 And date to:10/24/2025
2025-10-24T23:36:17.271Z,1761348977.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985718,-0.145556,-0.084695],[0.158402,-0.972123,-0.172875],[-0.057171,-0.183822,0.981295]]
2025-10-24T23:36:17.321Z,1761348977.321 [DAT](INFO): DAT read: user:5>

2025-10-24T23:36:17.322Z,1761348977.322 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:36:17  

2025-10-24T23:36:17.322Z,1761348977.322 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:36:17  

2025-10-24T23:36:17.323Z,1761348977.323 [DAT](INFO): setting remote address to 10
2025-10-24T23:36:17.329Z,1761348977.329 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:36:17.329Z,1761348977.329 [DAT](INFO): setting remote address to 0
2025-10-24T23:36:17.573Z,1761348977.573 [DAT](INFO): DAT read: user:6>

2025-10-24T23:36:17.574Z,1761348977.574 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:36:17.574Z,1761348977.574 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:36:17.574Z,1761348977.574 [DAT] Communications Fault, FailCount= 4
2025-10-24T23:36:17.574Z,1761348977.574 [DAT](ERROR): Communications Fault
2025-10-24T23:36:17.575Z,1761348977.575 [DAT](INFO): DAT read: user:7>

2025-10-24T23:36:17.576Z,1761348977.576 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:36:17.577Z,1761348977.577 [DAT](INFO): set remote address to 0
2025-10-24T23:36:17.577Z,1761348977.577 [DAT](INFO): setting remote address to 10
2025-10-24T23:36:17.577Z,1761348977.577 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:36:17.577Z,1761348977.577 [DAT](INFO): setting remote address to 0
2025-10-24T23:36:17.675Z,1761348977.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985647,-0.145888,-0.084951],[0.158742,-0.972173,-0.172279],[-0.057453,-0.183291,0.981378]]
2025-10-24T23:36:17.816Z,1761348977.816 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:36:17.980Z,1761348977.980 [DAT](INFO): Powering down
2025-10-24T23:36:18.075Z,1761348978.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985499,-0.146868,-0.084974],[0.159611,-0.972341,-0.170521],[-0.057580,-0.181611,0.981683]]
2025-10-24T23:36:18.483Z,1761348978.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985372,-0.147539,-0.085293],[0.160223,-0.972559,-0.168693],[-0.058063,-0.179891,0.981971]]
2025-10-24T23:36:18.882Z,1761348978.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985239,-0.148293,-0.085519],[0.160960,-0.972577,-0.167888],[-0.058277,-0.179175,0.982090]]
2025-10-24T23:36:18.961Z,1761348978.961 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:36:18.961Z,1761348978.961 [DAT] No Fault, FailCount= 4
2025-10-24T23:36:19.286Z,1761348979.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985267,-0.147972,-0.085752],[0.160692,-0.972599,-0.168018],[-0.058540,-0.179322,0.982047]]
2025-10-24T23:36:19.691Z,1761348979.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985429,-0.146910,-0.085721],[0.159721,-0.972518,-0.169406],[-0.058478,-0.180629,0.981811]]
2025-10-24T23:36:20.097Z,1761348980.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985446,-0.147054,-0.085269],[0.159799,-0.972453,-0.169704],[-0.057964,-0.180860,0.981799]]
2025-10-24T23:36:20.499Z,1761348980.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985545,-0.146635,-0.084853],[0.159329,-0.972474,-0.170024],[-0.057586,-0.181086,0.981780]]
2025-10-24T23:36:20.902Z,1761348980.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985504,-0.147330,-0.084122],[0.159793,-0.972667,-0.168478],[-0.057000,-0.179478,0.982109]]
2025-10-24T23:36:21.028Z,1761348981.028 [DAT](INFO): Powering up
2025-10-24T23:36:21.028Z,1761348981.028 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:36:21.307Z,1761348981.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985431,-0.148440,-0.083018],[0.160620,-0.972740,-0.167265],[-0.055927,-0.178162,0.982410]]
2025-10-24T23:36:21.711Z,1761348981.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985289,-0.150134,-0.081647],[0.161958,-0.972792,-0.165667],[-0.054554,-0.176453,0.982796]]
2025-10-24T23:36:22.115Z,1761348982.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985059,-0.152353,-0.080294],[0.163866,-0.972610,-0.164859],[-0.052978,-0.175554,0.983043]]
2025-10-24T23:36:22.518Z,1761348982.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984846,-0.154199,-0.079376],[0.165600,-0.972077,-0.166261],[-0.051522,-0.176887,0.982882]]
2025-10-24T23:36:22.922Z,1761348982.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984699,-0.155702,-0.078262],[0.166897,-0.971815,-0.166495],[-0.050132,-0.177009,0.982932]]
2025-10-24T23:36:23.331Z,1761348983.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984646,-0.156493,-0.077346],[0.167547,-0.971594,-0.167131],[-0.048994,-0.177524,0.982896]]
2025-10-24T23:36:23.730Z,1761348983.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984828,-0.155643,-0.076742],[0.166631,-0.971644,-0.167758],[-0.048455,-0.178001,0.982837]]
2025-10-24T23:36:24.135Z,1761348984.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985268,-0.153107,-0.076196],[0.164084,-0.971893,-0.168819],[-0.048207,-0.178835,0.982697]]
2025-10-24T23:36:24.539Z,1761348984.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986051,-0.148387,-0.075393],[0.159401,-0.972255,-0.171208],[-0.047896,-0.180838,0.982346]]
2025-10-24T23:36:24.954Z,1761348984.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987137,-0.141589,-0.074256],[0.152591,-0.972986,-0.173245],[-0.047721,-0.182347,0.982075]]
2025-10-24T23:36:25.347Z,1761348985.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988362,-0.133613,-0.072714],[0.144538,-0.973885,-0.175092],[-0.047421,-0.183564,0.981863]]
2025-10-24T23:36:25.391Z,1761348985.391 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:36:25.391Z,1761348985.391 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:36:25.391Z,1761348985.391 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:36:25.391Z,1761348985.391 [marl:UpdateRudder:A] Stopped
2025-10-24T23:36:25.391Z,1761348985.391 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:36:25.750Z,1761348985.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989546,-0.125586,-0.070896],[0.136235,-0.975298,-0.173876],[-0.047309,-0.181717,0.982212]]
2025-10-24T23:36:25.799Z,1761348985.799 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:36:25.799Z,1761348985.799 [marl:UpdateRudder:B] Stopped
2025-10-24T23:36:25.800Z,1761348985.800 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:36:25.800Z,1761348985.800 [marl:UpdateRudder] Stopped
2025-10-24T23:36:25.800Z,1761348985.800 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:36:26.154Z,1761348986.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990697,-0.117536,-0.068588],[0.127778,-0.976824,-0.171722],[-0.046815,-0.178888,0.982755]]
2025-10-24T23:36:26.560Z,1761348986.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991763,-0.109682,-0.066157],[0.119505,-0.978225,-0.169687],[-0.046105,-0.176195,0.983275]]
2025-10-24T23:36:26.594Z,1761348986.594 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:36:26.594Z,1761348986.594 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:36:26.595Z,1761348986.595 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:36:26.595Z,1761348986.595 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:36:26.595Z,1761348986.595 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:36:26.595Z,1761348986.595 [marl:UpdateCommandMode] Stopped
2025-10-24T23:36:26.595Z,1761348986.595 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:36:26.595Z,1761348986.595 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:36:26.595Z,1761348986.595 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:36:26.595Z,1761348986.595 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:36:26.596Z,1761348986.596 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:36:26.596Z,1761348986.596 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:36:26.596Z,1761348986.596 [marl:UpdateSpeed] Stopped
2025-10-24T23:36:26.596Z,1761348986.596 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:36:26.963Z,1761348986.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992748,-0.102159,-0.063370],[0.111483,-0.979586,-0.167282],[-0.044987,-0.173133,0.983870]]
2025-10-24T23:36:27.366Z,1761348987.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993674,-0.094640,-0.060460],[0.103557,-0.980467,-0.167213],[-0.043453,-0.172416,0.984065]]
2025-10-24T23:36:27.770Z,1761348987.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994474,-0.087901,-0.057401],[0.096499,-0.980696,-0.170068],[-0.041344,-0.174667,0.983759]]
2025-10-24T23:36:28.175Z,1761348988.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995197,-0.081537,-0.054164],[0.089778,-0.980807,-0.173081],[-0.039012,-0.177112,0.983417]]
2025-10-24T23:36:28.578Z,1761348988.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995846,-0.075777,-0.050491],[0.083552,-0.980868,-0.175832],[-0.036201,-0.179320,0.983124]]
2025-10-24T23:36:28.985Z,1761348988.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996369,-0.070981,-0.047010],[0.078277,-0.980917,-0.177975],[-0.033480,-0.181009,0.982911]]
2025-10-24T23:36:29.386Z,1761348989.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996764,-0.067701,-0.043334],[0.074453,-0.980797,-0.180259],[-0.030299,-0.182902,0.982664]]
2025-10-24T23:36:29.792Z,1761348989.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997025,-0.066106,-0.039639],[0.072263,-0.980587,-0.182283],[-0.026819,-0.184605,0.982447]]
2025-10-24T23:36:30.194Z,1761348990.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997109,-0.066614,-0.036562],[0.072259,-0.980090,-0.184940],[-0.023514,-0.187047,0.982069]]
2025-10-24T23:36:30.599Z,1761348990.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997030,-0.069059,-0.034084],[0.074292,-0.979073,-0.189463],[-0.020286,-0.191432,0.981296]]
2025-10-24T23:36:31.005Z,1761348991.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996795,-0.073149,-0.032383],[0.078041,-0.978153,-0.192680],[-0.017581,-0.194589,0.980727]]
2025-10-24T23:36:31.413Z,1761348991.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996509,-0.077629,-0.030704],[0.082141,-0.977410,-0.194738],[-0.014893,-0.196581,0.980375]]
2025-10-24T23:36:31.810Z,1761348991.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996197,-0.082059,-0.029299],[0.086215,-0.976992,-0.195072],[-0.012618,-0.196856,0.980351]]
2025-10-24T23:36:32.214Z,1761348992.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995877,-0.086252,-0.028085],[0.090092,-0.976570,-0.195433],[-0.010571,-0.197157,0.980315]]
2025-10-24T23:36:32.618Z,1761348992.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995607,-0.089689,-0.026893],[0.093231,-0.976170,-0.195960],[-0.008677,-0.197607,0.980243]]
2025-10-24T23:36:33.037Z,1761348993.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995043,-0.095896,-0.026320],[0.099188,-0.976023,-0.193756],[-0.007108,-0.195406,0.980697]]
2025-10-24T23:36:33.127Z,1761348993.127 [DAT](INFO): DAT read: 

2025-10-24T23:36:33.128Z,1761348993.128 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:36:33.439Z,1761348993.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994784,-0.098504,-0.026500],[0.101766,-0.976196,-0.191532],[-0.007002,-0.193229,0.981129]]
2025-10-24T23:36:33.835Z,1761348993.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994569,-0.100588,-0.026723],[0.103833,-0.976566,-0.188513],[-0.007135,-0.190264,0.981707]]
2025-10-24T23:36:34.240Z,1761348994.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994462,-0.101575,-0.026964],[0.104824,-0.977068,-0.185337],[-0.007520,-0.187137,0.982305]]
2025-10-24T23:36:34.646Z,1761348994.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994469,-0.101545,-0.026820],[0.104741,-0.977712,-0.181958],[-0.007745,-0.183761,0.982940]]
2025-10-24T23:36:34.894Z,1761348994.894 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:36:34.896Z,1761348994.896 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:36:34.897Z,1761348994.897 [DAT](INFO): DAT read: Oct 24 2025 23:36:29 

2025-10-24T23:36:35.050Z,1761348995.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994660,-0.099815,-0.026229],[0.102915,-0.978308,-0.179782],[-0.007715,-0.181521,0.983357]]
2025-10-24T23:36:35.451Z,1761348995.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995006,-0.096589,-0.025168],[0.099538,-0.978941,-0.178231],[-0.007423,-0.179846,0.983667]]
2025-10-24T23:36:35.859Z,1761348995.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995486,-0.091732,-0.024367],[0.094620,-0.979320,-0.178826],[-0.007459,-0.180325,0.983579]]
2025-10-24T23:36:35.907Z,1761348995.907 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:36:35.913Z,1761348995.913 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:36:35.914Z,1761348995.914 [DAT](INFO): commRate: 600
2025-10-24T23:36:36.258Z,1761348996.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996027,-0.085925,-0.023391],[0.088735,-0.979763,-0.179420],[-0.007501,-0.180782,0.983495]]
2025-10-24T23:36:36.669Z,1761348996.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996593,-0.079391,-0.022327],[0.082119,-0.980260,-0.179850],[-0.007608,-0.181071,0.983441]]
2025-10-24T23:36:36.674Z,1761348996.674 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-10-24T23:36:36.674Z,1761348996.674 [NAL9602] Data Fault, FailCount= 1
2025-10-24T23:36:36.674Z,1761348996.674 [NAL9602](ERROR): Data Fault
2025-10-24T23:36:36.748Z,1761348996.748 [marl:NeedComms] Running Loop=1
2025-10-24T23:36:36.748Z,1761348996.748 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms
2025-10-24T23:36:36.748Z,1761348996.748 [marl:NeedComms:B.GoToSurface] Running Loop=1
2025-10-24T23:36:36.748Z,1761348996.748 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-24T23:36:36.749Z,1761348996.749 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-24T23:36:36.749Z,1761348996.749 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-24T23:36:36.749Z,1761348996.749 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-24T23:36:36.750Z,1761348996.750 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-24T23:36:36.750Z,1761348996.750 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-24T23:36:36.750Z,1761348996.750 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-24T23:36:36.751Z,1761348996.751 [marl:NeedComms:A] Running Loop=1
2025-10-24T23:36:36.752Z,1761348996.752 [marl:NeedComms:A](ERROR): caught uninitialized data element exception.
2025-10-24T23:36:36.753Z,1761348996.753 [marl:NeedComms:A](INFO): last time_fix was:  nan second since 1970/01/01T00:00:00Z 
2025-10-24T23:36:36.753Z,1761348996.753 [marl:NeedComms:A] Stopped
2025-10-24T23:36:36.848Z,1761348996.848 [CBIT](ERROR): Data Fault in component: NAL9602
2025-10-24T23:36:37.066Z,1761348997.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997137,-0.072543,-0.021345],[0.075215,-0.980584,-0.181103],[-0.007793,-0.182190,0.983233]]
2025-10-24T23:36:37.073Z,1761348997.073 [NAL9602](INFO): Powering down
2025-10-24T23:36:37.472Z,1761348997.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997648,-0.065497,-0.020235],[0.068093,-0.980891,-0.182251],[-0.007912,-0.183200,0.983044]]
2025-10-24T23:36:37.925Z,1761348997.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998137,-0.058028,-0.018835],[0.060498,-0.981269,-0.182899],[-0.007869,-0.183698,0.982951]]
2025-10-24T23:36:37.972Z,1761348997.972 [DAT](INFO): entering command mode
2025-10-24T23:36:38.169Z,1761348998.169 [DAT](INFO): DAT read: 

2025-10-24T23:36:38.169Z,1761348998.169 [DAT](INFO): DAT read: user:1>

2025-10-24T23:36:38.170Z,1761348998.170 [DAT](INFO): setting verbose to 3
2025-10-24T23:36:38.319Z,1761348998.319 [CBIT](INFO): Clearing failed state for component NAL9602
2025-10-24T23:36:38.319Z,1761348998.319 [NAL9602] No Fault, FailCount= 1
2025-10-24T23:36:38.346Z,1761348998.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998554,-0.050929,-0.017229],[0.053239,-0.981345,-0.184734],[-0.007499,-0.185384,0.982637]]
2025-10-24T23:36:38.397Z,1761348998.397 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:36:38.397Z,1761348998.397 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:36:38.397Z,1761348998.397 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:36:38.398Z,1761348998.398 [marl:UpdateRudder:A] Stopped
2025-10-24T23:36:38.398Z,1761348998.398 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:36:38.421Z,1761348998.421 [DAT](INFO): DAT read: user:1>

2025-10-24T23:36:38.422Z,1761348998.422 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:36:38.422Z,1761348998.422 [DAT](INFO): set verbose to 3
2025-10-24T23:36:38.422Z,1761348998.422 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:36:38.673Z,1761348998.673 [DAT](INFO): DAT read: user:2>

2025-10-24T23:36:38.674Z,1761348998.674 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:36:38.675Z,1761348998.675 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:36:38.675Z,1761348998.675 [DAT](INFO): setting transmit power to 8
2025-10-24T23:36:38.756Z,1761348998.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998902,-0.044217,-0.015457],[0.046315,-0.981668,-0.184888],[-0.006998,-0.185401,0.982638]]
2025-10-24T23:36:38.795Z,1761348998.795 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:36:38.795Z,1761348998.795 [marl:UpdateRudder:B] Stopped
2025-10-24T23:36:38.800Z,1761348998.800 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:36:38.800Z,1761348998.800 [marl:UpdateRudder] Stopped
2025-10-24T23:36:38.800Z,1761348998.800 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:36:38.925Z,1761348998.925 [DAT](INFO): DAT read: user:3>

2025-10-24T23:36:38.926Z,1761348998.926 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:36:38.926Z,1761348998.926 [DAT](INFO): set transmit power to 8
2025-10-24T23:36:38.927Z,1761348998.927 [DAT](INFO): setting local address to 11
2025-10-24T23:36:39.147Z,1761348999.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999148,-0.038283,-0.015447],[0.040478,-0.982002,-0.184483],[-0.008107,-0.184951,0.982714]]
2025-10-24T23:36:39.177Z,1761348999.177 [DAT](INFO): DAT read: user:4>

2025-10-24T23:36:39.178Z,1761348999.178 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:36:39.178Z,1761348999.178 [DAT](INFO): set local address to 11
2025-10-24T23:36:39.179Z,1761348999.179 [DAT](INFO): Setting time to: 23:36:39 And date to:10/24/2025
2025-10-24T23:36:39.429Z,1761348999.429 [DAT](INFO): DAT read: user:5>

2025-10-24T23:36:39.429Z,1761348999.429 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:36:39  

2025-10-24T23:36:39.430Z,1761348999.430 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:36:39  

2025-10-24T23:36:39.430Z,1761348999.430 [DAT](INFO): setting remote address to 10
2025-10-24T23:36:39.431Z,1761348999.431 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:36:39.431Z,1761348999.431 [DAT](INFO): setting remote address to 0
2025-10-24T23:36:39.640Z,1761348999.640 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:36:39.640Z,1761348999.640 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:36:39.640Z,1761348999.640 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:36:39.640Z,1761348999.640 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:36:39.640Z,1761348999.640 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:36:39.641Z,1761348999.641 [marl:UpdateCommandMode] Stopped
2025-10-24T23:36:39.641Z,1761348999.641 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:36:39.641Z,1761348999.641 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:36:39.641Z,1761348999.641 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:36:39.641Z,1761348999.641 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:36:39.641Z,1761348999.641 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:36:39.641Z,1761348999.641 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:36:39.641Z,1761348999.641 [marl:UpdateSpeed] Stopped
2025-10-24T23:36:39.642Z,1761348999.642 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:36:39.681Z,1761348999.681 [DAT](INFO): DAT read: user:6>

2025-10-24T23:36:39.683Z,1761348999.683 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:36:39.684Z,1761348999.684 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:36:39.684Z,1761348999.684 [DAT] Communications Fault, FailCount= 5
2025-10-24T23:36:39.684Z,1761348999.684 [DAT](ERROR): Communications Fault
2025-10-24T23:36:39.685Z,1761348999.685 [DAT](INFO): DAT read: user:7>

2025-10-24T23:36:39.686Z,1761348999.686 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:36:39.687Z,1761348999.687 [DAT](INFO): set remote address to 0
2025-10-24T23:36:39.687Z,1761348999.687 [DAT](INFO): setting remote address to 10
2025-10-24T23:36:39.689Z,1761348999.689 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:36:39.690Z,1761348999.690 [DAT](INFO): setting remote address to 0
2025-10-24T23:36:39.930Z,1761348999.930 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:36:39.954Z,1761348999.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999149,-0.027967,-0.030319],[0.033080,-0.982371,-0.183992],[-0.024639,-0.184838,0.982460]]
2025-10-24T23:36:40.096Z,1761349000.096 [DAT](INFO): Powering down
2025-10-24T23:36:40.363Z,1761349000.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998763,-0.023685,-0.043729],[0.031315,-0.982613,-0.183007],[-0.038635,-0.184150,0.982139]]
2025-10-24T23:36:40.758Z,1761349000.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998035,-0.019649,-0.059496],[0.030248,-0.982670,-0.182879],[-0.054872,-0.184319,0.981334]]
2025-10-24T23:36:41.162Z,1761349001.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996877,-0.015745,-0.077381],[0.029758,-0.982582,-0.183432],[-0.073145,-0.185162,0.979982]]
2025-10-24T23:36:41.259Z,1761349001.259 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:36:41.259Z,1761349001.259 [DAT] No Fault, FailCount= 5
2025-10-24T23:36:41.566Z,1761349001.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995258,-0.012391,-0.096481],[0.029982,-0.982639,-0.183087],[-0.092537,-0.185112,0.978351]]
2025-10-24T23:36:41.973Z,1761349001.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993139,-0.008741,-0.116609],[0.030120,-0.982676,-0.182865],[-0.112990,-0.185123,0.976198]]
2025-10-24T23:36:42.184Z,1761349002.184 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:36:42.381Z,1761349002.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990521,-0.005823,-0.137239],[0.030781,-0.983102,-0.180454],[-0.133869,-0.182968,0.973962]]
2025-10-24T23:36:42.779Z,1761349002.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987409,-0.004359,-0.158129],[0.032675,-0.983683,-0.176918],[-0.154777,-0.179857,0.971440]]
2025-10-24T23:36:43.144Z,1761349003.144 [DAT](INFO): Powering up
2025-10-24T23:36:43.144Z,1761349003.144 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:36:43.185Z,1761349003.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983724,-0.002897,-0.179664],[0.034400,-0.984412,-0.172479],[-0.176363,-0.175852,0.968489]]
2025-10-24T23:36:43.188Z,1761349003.188 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:36:43.587Z,1761349003.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979494,-0.003200,-0.201446],[0.037664,-0.985155,-0.167483],[-0.197920,-0.171636,0.965075]]
2025-10-24T23:36:43.990Z,1761349003.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974810,-0.003776,-0.223006],[0.040939,-0.985898,-0.162261],[-0.219249,-0.167303,0.961218]]
2025-10-24T23:36:44.400Z,1761349004.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969794,-0.004490,-0.243885],[0.044361,-0.986404,-0.158238],[-0.239859,-0.164277,0.956808]]
2025-10-24T23:36:44.799Z,1761349004.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964681,-0.005855,-0.263356],[0.047956,-0.986950,-0.153721],[-0.259019,-0.160921,0.952373]]
2025-10-24T23:36:45.205Z,1761349005.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959544,-0.007199,-0.281466],[0.051107,-0.987520,-0.148973],[-0.276881,-0.157331,0.947937]]
2025-10-24T23:36:45.607Z,1761349005.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954683,-0.008098,-0.297513],[0.053877,-0.987817,-0.145997],[-0.292706,-0.155410,0.943489]]
2025-10-24T23:36:46.010Z,1761349006.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950095,-0.008505,-0.311846],[0.055695,-0.988193,-0.142733],[-0.306950,-0.152978,0.939350]]
2025-10-24T23:36:46.417Z,1761349006.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945863,-0.008089,-0.324465],[0.056611,-0.988477,-0.140386],[-0.319591,-0.151154,0.935422]]
2025-10-24T23:36:46.820Z,1761349006.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942040,-0.006842,-0.335430],[0.056978,-0.988531,-0.139856],[-0.330626,-0.150862,0.931626]]
2025-10-24T23:36:47.222Z,1761349007.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938397,-0.004317,-0.345533],[0.055793,-0.988696,-0.139170],[-0.341026,-0.149875,0.928029]]
2025-10-24T23:36:47.626Z,1761349007.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934815,-0.000691,-0.355134],[0.054022,-0.988638,-0.140277],[-0.351002,-0.150318,0.924231]]
2025-10-24T23:36:48.077Z,1761349008.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931028,0.001509,-0.364943],[0.052892,-0.988875,-0.139026],[-0.361093,-0.148740,0.920591]]
2025-10-24T23:36:48.474Z,1761349008.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927041,0.002864,-0.374949],[0.052275,-0.989218,-0.136802],[-0.371298,-0.146422,0.916896]]
2025-10-24T23:36:48.886Z,1761349008.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923047,0.003763,-0.384668],[0.052040,-0.989538,-0.134557],[-0.381150,-0.144221,0.913195]]
2025-10-24T23:36:49.286Z,1761349009.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919537,0.004869,-0.392974],[0.052028,-0.989614,-0.134004],[-0.389545,-0.143667,0.909733]]
2025-10-24T23:36:49.690Z,1761349009.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916458,0.006826,-0.400072],[0.052028,-0.989333,-0.136061],[-0.396733,-0.145509,0.906328]]
2025-10-24T23:36:50.090Z,1761349010.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913586,0.010232,-0.406517],[0.051875,-0.988583,-0.141465],[-0.403323,-0.150328,0.902625]]
2025-10-24T23:36:50.496Z,1761349010.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911126,0.014980,-0.411856],[0.050949,-0.987579,-0.148632],[-0.408967,-0.156406,0.899046]]
2025-10-24T23:36:50.898Z,1761349010.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909092,0.020158,-0.416109],[0.049876,-0.986378,-0.156752],[-0.413600,-0.163256,0.895702]]
2025-10-24T23:36:50.922Z,1761349010.922 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:36:50.922Z,1761349010.922 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:36:50.922Z,1761349010.922 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:36:50.923Z,1761349010.923 [marl:UpdateRudder:A] Stopped
2025-10-24T23:36:50.923Z,1761349010.923 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:36:51.304Z,1761349011.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907455,0.026749,-0.419296],[0.048046,-0.984818,-0.166809],[-0.417392,-0.171518,0.892393]]
2025-10-24T23:36:51.328Z,1761349011.328 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:36:51.328Z,1761349011.328 [marl:UpdateRudder:B] Stopped
2025-10-24T23:36:51.328Z,1761349011.328 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:36:51.328Z,1761349011.328 [marl:UpdateRudder] Stopped
2025-10-24T23:36:51.328Z,1761349011.328 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:36:51.706Z,1761349011.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906572,0.032408,-0.420806],[0.045958,-0.983539,-0.174757],[-0.419542,-0.177769,0.890159]]
2025-10-24T23:36:52.112Z,1761349012.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906420,0.039177,-0.420557],[0.043297,-0.981826,-0.184780],[-0.420153,-0.185697,0.888250]]
2025-10-24T23:36:52.515Z,1761349012.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907023,0.045905,-0.418572],[0.039997,-0.980153,-0.194166],[-0.419177,-0.192854,0.887185]]
2025-10-24T23:36:52.543Z,1761349012.543 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:36:52.543Z,1761349012.543 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:36:52.543Z,1761349012.543 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:36:52.544Z,1761349012.544 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:36:52.544Z,1761349012.544 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:36:52.544Z,1761349012.544 [marl:UpdateCommandMode] Stopped
2025-10-24T23:36:52.544Z,1761349012.544 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:36:52.544Z,1761349012.544 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:36:52.544Z,1761349012.544 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:36:52.545Z,1761349012.545 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:36:52.545Z,1761349012.545 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:36:52.545Z,1761349012.545 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:36:52.545Z,1761349012.545 [marl:UpdateSpeed] Stopped
2025-10-24T23:36:52.545Z,1761349012.545 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:36:52.918Z,1761349012.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908168,0.052430,-0.415309],[0.036518,-0.978420,-0.203374],[-0.417010,-0.199863,0.886655]]
2025-10-24T23:36:53.322Z,1761349013.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909634,0.057728,-0.411380],[0.032993,-0.977129,-0.210071],[-0.414099,-0.204660,0.886925]]
2025-10-24T23:36:53.736Z,1761349013.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911277,0.061314,-0.407203],[0.029172,-0.976756,-0.212359],[-0.410759,-0.205397,0.888307]]
2025-10-24T23:36:54.136Z,1761349014.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912916,0.064490,-0.403020],[0.022986,-0.977747,-0.208523],[-0.407500,-0.199628,0.891119]]
2025-10-24T23:36:54.612Z,1761349014.612 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:36:54.612Z,1761349014.612 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:36:54.683Z,1761349014.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916289,0.070103,-0.394335],[-0.003701,-0.986003,-0.166687],[-0.400500,-0.151274,0.903723]]
2025-10-24T23:36:55.141Z,1761349015.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917936,0.074691,-0.389634],[-0.021530,-0.990049,-0.139067],[-0.396144,-0.119266,0.910410]]
2025-10-24T23:36:55.240Z,1761349015.240 [DAT](INFO): DAT read: 

2025-10-24T23:36:55.241Z,1761349015.241 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:36:55.538Z,1761349015.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919760,0.082219,-0.383773],[-0.040789,-0.992541,-0.114884],[-0.390356,-0.090012,0.916253]]
2025-10-24T23:36:55.943Z,1761349015.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921656,0.091108,-0.377159],[-0.060551,-0.993905,-0.092124],[-0.383253,-0.062069,0.921555]]
2025-10-24T23:36:56.358Z,1761349016.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923456,0.101462,-0.370048],[-0.079528,-0.994075,-0.074099],[-0.375373,-0.038998,0.926053]]
2025-10-24T23:36:56.750Z,1761349016.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925079,0.112270,-0.362802],[-0.096987,-0.993468,-0.060131],[-0.367183,-0.020439,0.929924]]
2025-10-24T23:36:57.005Z,1761349017.005 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:36:57.006Z,1761349017.006 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:36:57.007Z,1761349017.007 [DAT](INFO): DAT read: Oct 24 2025 23:36:51 

2025-10-24T23:36:57.155Z,1761349017.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926440,0.124105,-0.355397],[-0.113720,-0.992251,-0.050053],[-0.358855,-0.005955,0.933374]]
2025-10-24T23:36:57.559Z,1761349017.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927261,0.137151,-0.348392],[-0.130783,-0.990527,-0.041854],[-0.350832,0.006754,0.936414]]
2025-10-24T23:36:57.591Z,1761349017.591 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:36:57.964Z,1761349017.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927433,0.152044,-0.341687],[-0.147585,-0.988273,-0.039177],[-0.343636,0.014093,0.938997]]
2025-10-24T23:36:58.013Z,1761349018.013 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:36:58.014Z,1761349018.014 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:36:58.015Z,1761349018.015 [DAT](INFO): commRate: 600
2025-10-24T23:36:58.367Z,1761349018.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926962,0.168487,-0.335191],[-0.163509,-0.985594,-0.043240],[-0.337647,0.014725,0.941158]]
2025-10-24T23:36:58.771Z,1761349018.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926098,0.184133,-0.329298],[-0.177062,-0.982845,-0.051617],[-0.333153,0.010504,0.942814]]
2025-10-24T23:36:59.175Z,1761349019.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924882,0.199326,-0.323824],[-0.189267,-0.979927,-0.062612],[-0.329804,0.003380,0.944043]]
2025-10-24T23:36:59.606Z,1761349019.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923647,0.212817,-0.318724],[-0.199682,-0.977082,-0.073742],[-0.327113,-0.004468,0.944975]]
2025-10-24T23:37:00.031Z,1761349020.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922593,0.225136,-0.313265],[-0.208720,-0.974234,-0.085460],[-0.324434,-0.013460,0.945813]]
2025-10-24T23:37:00.080Z,1761349020.080 [DAT](INFO): entering command mode
2025-10-24T23:37:00.281Z,1761349020.281 [DAT](INFO): DAT read: 

2025-10-24T23:37:00.282Z,1761349020.282 [DAT](INFO): DAT read: user:1>

2025-10-24T23:37:00.282Z,1761349020.282 [DAT](INFO): setting verbose to 3
2025-10-24T23:37:00.434Z,1761349020.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921521,0.236210,-0.308226],[-0.217612,-0.971507,-0.093909],[-0.321626,-0.019466,0.946667]]
2025-10-24T23:37:00.533Z,1761349020.533 [DAT](INFO): DAT read: user:1>

2025-10-24T23:37:00.533Z,1761349020.533 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:37:00.534Z,1761349020.534 [DAT](INFO): set verbose to 3
2025-10-24T23:37:00.534Z,1761349020.534 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:37:00.785Z,1761349020.785 [DAT](INFO): DAT read: user:2>

2025-10-24T23:37:00.786Z,1761349020.786 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:37:00.786Z,1761349020.786 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:37:00.786Z,1761349020.786 [DAT](INFO): setting transmit power to 8
2025-10-24T23:37:00.870Z,1761349020.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920185,0.247396,-0.303404],[-0.228171,-0.968691,-0.097859],[-0.318115,-0.020821,0.947824]]
2025-10-24T23:37:01.037Z,1761349021.037 [DAT](INFO): DAT read: user:3>

2025-10-24T23:37:01.038Z,1761349021.038 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:37:01.038Z,1761349021.038 [DAT](INFO): set transmit power to 8
2025-10-24T23:37:01.038Z,1761349021.038 [DAT](INFO): setting local address to 11
2025-10-24T23:37:01.239Z,1761349021.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918120,0.261759,-0.297553],[-0.242202,-0.964902,-0.101501],[-0.313679,-0.021122,0.949294]]
2025-10-24T23:37:01.289Z,1761349021.289 [DAT](INFO): DAT read: user:4>

2025-10-24T23:37:01.290Z,1761349021.290 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:37:01.290Z,1761349021.290 [DAT](INFO): set local address to 11
2025-10-24T23:37:01.291Z,1761349021.291 [DAT](INFO): Setting time to: 23:37:1 And date to:10/24/2025
2025-10-24T23:37:01.541Z,1761349021.541 [DAT](INFO): DAT read: user:5>

2025-10-24T23:37:01.542Z,1761349021.542 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:37:01  

2025-10-24T23:37:01.542Z,1761349021.542 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:37:01  

2025-10-24T23:37:01.543Z,1761349021.543 [DAT](INFO): setting remote address to 10
2025-10-24T23:37:01.543Z,1761349021.543 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:37:01.543Z,1761349021.543 [DAT](INFO): setting remote address to 0
2025-10-24T23:37:01.643Z,1761349021.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915159,0.279633,-0.290326],[-0.259780,-0.959871,-0.105646],[-0.308218,-0.021262,0.951078]]
2025-10-24T23:37:01.793Z,1761349021.793 [DAT](INFO): DAT read: user:6>

2025-10-24T23:37:01.794Z,1761349021.794 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:37:01.794Z,1761349021.794 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:37:01.794Z,1761349021.794 [DAT] Communications Fault, FailCount= 6
2025-10-24T23:37:01.794Z,1761349021.794 [DAT](ERROR): Communications Fault
2025-10-24T23:37:01.795Z,1761349021.795 [DAT](INFO): DAT read: user:7>

2025-10-24T23:37:01.796Z,1761349021.796 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:37:01.797Z,1761349021.797 [DAT](INFO): set remote address to 0
2025-10-24T23:37:01.797Z,1761349021.797 [DAT](INFO): setting remote address to 10
2025-10-24T23:37:01.797Z,1761349021.797 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:37:01.797Z,1761349021.797 [DAT](INFO): setting remote address to 0
2025-10-24T23:37:02.047Z,1761349022.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911427,0.298736,-0.282944],[-0.279538,-0.954158,-0.106959],[-0.301926,-0.018392,0.953154]]
2025-10-24T23:37:02.179Z,1761349022.179 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:37:02.200Z,1761349022.200 [DAT](INFO): Powering down
2025-10-24T23:37:02.451Z,1761349022.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906956,0.318988,-0.275097],[-0.300487,-0.947633,-0.108161],[-0.295193,-0.015434,0.955313]]
2025-10-24T23:37:02.855Z,1761349022.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902198,0.338235,-0.267650],[-0.320929,-0.940998,-0.107369],[-0.288174,-0.010972,0.957515]]
2025-10-24T23:37:03.135Z,1761349023.135 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:37:03.135Z,1761349023.135 [DAT] No Fault, FailCount= 6
2025-10-24T23:37:03.260Z,1761349023.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897562,0.355870,-0.260269],[-0.339374,-0.934501,-0.107396],[-0.281440,-0.008067,0.959545]]
2025-10-24T23:37:03.670Z,1761349023.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892742,0.372521,-0.253456],[-0.356458,-0.928001,-0.108401],[-0.275590,-0.006428,0.961254]]
2025-10-24T23:37:03.696Z,1761349023.696 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:37:03.696Z,1761349023.696 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:37:03.696Z,1761349023.696 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:37:03.697Z,1761349023.697 [marl:UpdateRudder:A] Stopped
2025-10-24T23:37:03.697Z,1761349023.697 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:37:04.066Z,1761349024.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887806,0.387248,-0.248676],[-0.371914,-0.921970,-0.107945],[-0.271073,-0.003349,0.962553]]
2025-10-24T23:37:04.113Z,1761349024.113 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:37:04.114Z,1761349024.114 [marl:UpdateRudder:B] Stopped
2025-10-24T23:37:04.114Z,1761349024.114 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:37:04.114Z,1761349024.114 [marl:UpdateRudder] Stopped
2025-10-24T23:37:04.114Z,1761349024.114 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:37:04.470Z,1761349024.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882825,0.399849,-0.246456],[-0.385830,-0.916578,-0.104977],[-0.267871,0.002414,0.963452]]
2025-10-24T23:37:04.875Z,1761349024.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878172,0.410700,-0.245232],[-0.397890,-0.911736,-0.102082],[-0.265512,0.007930,0.964075]]
2025-10-24T23:37:05.248Z,1761349025.248 [DAT](INFO): Powering up
2025-10-24T23:37:05.248Z,1761349025.248 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:37:05.288Z,1761349025.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874099,0.420801,-0.242647],[-0.408544,-0.907092,-0.101372],[-0.262761,0.010523,0.964804]]
2025-10-24T23:37:05.685Z,1761349025.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870779,0.429032,-0.240155],[-0.417634,-0.903182,-0.099215],[-0.259470,0.013902,0.965651]]
2025-10-24T23:37:05.717Z,1761349025.717 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:37:05.717Z,1761349025.717 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:37:05.717Z,1761349025.717 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:37:05.717Z,1761349025.717 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:37:05.718Z,1761349025.718 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:37:05.718Z,1761349025.718 [marl:UpdateCommandMode] Stopped
2025-10-24T23:37:05.718Z,1761349025.718 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:37:05.718Z,1761349025.718 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:37:05.718Z,1761349025.718 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:37:05.718Z,1761349025.718 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:37:05.718Z,1761349025.718 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:37:05.718Z,1761349025.718 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:37:05.718Z,1761349025.718 [marl:UpdateSpeed] Stopped
2025-10-24T23:37:05.719Z,1761349025.719 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:37:06.086Z,1761349026.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867464,0.436823,-0.238100],[-0.426296,-0.899378,-0.096903],[-0.256472,0.017441,0.966394]]
2025-10-24T23:37:06.493Z,1761349026.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863376,0.446710,-0.234589],[-0.435788,-0.894530,-0.099522],[-0.254304,0.016306,0.966987]]
2025-10-24T23:37:06.896Z,1761349026.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858594,0.456561,-0.233171],[-0.445386,-0.889539,-0.101743],[-0.253867,0.016496,0.967098]]
2025-10-24T23:37:07.309Z,1761349027.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853453,0.465711,-0.233946],[-0.454159,-0.884772,-0.104486],[-0.255649,0.017075,0.966619]]
2025-10-24T23:37:07.314Z,1761349027.314 [NAL9602](INFO): Powering up NAL9602
2025-10-24T23:37:07.702Z,1761349027.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848144,0.474823,-0.234936],[-0.461890,-0.879964,-0.110998],[-0.259440,0.014372,0.965652]]
2025-10-24T23:37:08.106Z,1761349028.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842859,0.484571,-0.234049],[-0.468699,-0.874732,-0.123147],[-0.264404,0.005902,0.964394]]
2025-10-24T23:37:08.516Z,1761349028.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837935,0.493780,-0.232479],[-0.474736,-0.869580,-0.135856],[-0.269242,-0.003473,0.963066]]
2025-10-24T23:37:08.914Z,1761349028.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832941,0.502687,-0.231335],[-0.480869,-0.864397,-0.146912],[-0.273816,-0.011127,0.961718]]
2025-10-24T23:37:09.331Z,1761349029.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827354,0.511760,-0.231487],[-0.487874,-0.858987,-0.155304],[-0.278323,-0.015555,0.960361]]
2025-10-24T23:37:09.723Z,1761349029.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820031,0.522901,-0.232645],[-0.496883,-0.852184,-0.163978],[-0.284000,-0.018870,0.958638]]
2025-10-24T23:37:10.126Z,1761349030.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810657,0.536911,-0.233586],[-0.508647,-0.843361,-0.173264],[-0.290025,-0.021645,0.956774]]
2025-10-24T23:37:10.530Z,1761349030.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800509,0.552175,-0.232999],[-0.521460,-0.833345,-0.183342],[-0.295406,-0.025267,0.955038]]
2025-10-24T23:37:10.934Z,1761349030.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790431,0.566480,-0.233063],[-0.533988,-0.823650,-0.190939],[-0.300125,-0.026472,0.953532]]
2025-10-24T23:37:11.347Z,1761349031.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780034,0.579699,-0.235575],[-0.546725,-0.814518,-0.194041],[-0.304365,-0.022564,0.952288]]
2025-10-24T23:37:11.742Z,1761349031.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769236,0.594307,-0.234682],[-0.559779,-0.803903,-0.200966],[-0.308097,-0.023221,0.951072]]
2025-10-24T23:37:12.146Z,1761349032.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758047,0.609310,-0.232607],[-0.572545,-0.792503,-0.210074],[-0.312342,-0.026068,0.949612]]
2025-10-24T23:37:12.550Z,1761349032.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747243,0.620981,-0.236665],[-0.583627,-0.783540,-0.213177],[-0.317816,-0.021171,0.947916]]
2025-10-24T23:37:12.955Z,1761349032.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736353,0.629706,-0.247498],[-0.592732,-0.776769,-0.212833],[-0.326271,-0.010021,0.945223]]
2025-10-24T23:37:13.308Z,1761349033.308 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:37:13.362Z,1761349033.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726126,0.638121,-0.256015],[-0.599303,-0.769915,-0.219241],[-0.337012,-0.005766,0.941483]]
2025-10-24T23:37:13.763Z,1761349033.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717847,0.646141,-0.259225],[-0.603397,-0.763157,-0.231306],[-0.347286,-0.009627,0.937710]]
2025-10-24T23:37:14.166Z,1761349034.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711053,0.654088,-0.258015],[-0.606826,-0.756217,-0.244741],[-0.355198,-0.017453,0.934628]]
2025-10-24T23:37:14.313Z,1761349034.313 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:37:14.630Z,1761349034.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703224,0.663900,-0.254387],[-0.612618,-0.747406,-0.257068],[-0.360798,-0.024934,0.932311]]
2025-10-24T23:37:15.470Z,1761349035.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675765,0.695658,-0.243725],[-0.637712,-0.717578,-0.280010],[-0.369683,-0.033795,0.928543]]
2025-10-24T23:37:15.933Z,1761349035.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638355,0.726817,-0.253455],[-0.666691,-0.686643,-0.289905],[-0.384741,-0.016087,0.922884]]
2025-10-24T23:37:16.687Z,1761349036.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607024,0.751076,-0.259629],[-0.688023,-0.660202,-0.301259],[-0.397676,-0.004240,0.917516]]
2025-10-24T23:37:16.721Z,1761349036.721 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:37:16.721Z,1761349036.721 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:37:16.721Z,1761349036.721 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:37:16.721Z,1761349036.721 [marl:UpdateRudder:A] Stopped
2025-10-24T23:37:16.721Z,1761349036.721 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:37:17.087Z,1761349037.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593790,0.758626,-0.268141],[-0.697330,-0.651457,-0.298890],[-0.401428,0.009505,0.915841]]
2025-10-24T23:37:17.111Z,1761349037.111 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:37:17.111Z,1761349037.111 [marl:UpdateRudder:B] Stopped
2025-10-24T23:37:17.111Z,1761349037.111 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:37:17.111Z,1761349037.111 [marl:UpdateRudder] Stopped
2025-10-24T23:37:17.128Z,1761349037.128 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:37:17.130Z,1761349037.130 [marl:SendObservationData] Running Loop=1
2025-10-24T23:37:17.130Z,1761349037.130 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:37:17.130Z,1761349037.130 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:37:17.131Z,1761349037.131 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:37:17.132Z,1761349037.132 [marl:SendObservationData:A](INFO): Got test_good :  41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:37:17.132Z,1761349037.132 [marl:SendObservationData:A] Stopped
2025-10-24T23:37:17.132Z,1761349037.132 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:37:17.344Z,1761349037.344 [DAT](INFO): DAT read: 

2025-10-24T23:37:17.345Z,1761349037.345 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:37:17.497Z,1761349037.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581252,0.767009,-0.271743],[-0.706406,-0.641385,-0.299357],[-0.403901,0.017959,0.914626]]
2025-10-24T23:37:17.522Z,1761349037.522 [marl:SendObservationData:B] Stopped
2025-10-24T23:37:17.522Z,1761349037.522 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:37:17.938Z,1761349037.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570342,0.775743,-0.270061],[-0.715023,-0.630697,-0.301603],[-0.404292,0.021083,0.914387]]
2025-10-24T23:37:18.000Z,1761349038.000 [marl:SendObservationData:C] Stopped
2025-10-24T23:37:18.000Z,1761349038.000 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:37:18.305Z,1761349038.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559759,0.785768,-0.263131],[-0.723918,-0.618226,-0.306170],[-0.403253,0.019104,0.914889]]
2025-10-24T23:37:18.310Z,1761349038.310 [NAL9602](INFO): NAL9602 initialized
2025-10-24T23:37:18.368Z,1761349038.368 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.013308 min 
2025-10-24T23:37:18.368Z,1761349038.368 [marl:SendObservationData:E] Stopped
2025-10-24T23:37:18.369Z,1761349038.369 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:37:18.369Z,1761349038.369 [marl:SendObservationData] Stopped
2025-10-24T23:37:18.369Z,1761349038.369 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:37:18.369Z,1761349038.369 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:37:18.698Z,1761349038.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549269,0.794849,-0.257912],[-0.732811,-0.606492,-0.308473],[-0.401611,0.019566,0.915601]]
2025-10-24T23:37:18.726Z,1761349038.726 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:37:18.726Z,1761349038.726 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:37:18.726Z,1761349038.726 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:37:18.727Z,1761349038.727 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:37:18.727Z,1761349038.727 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:37:18.727Z,1761349038.727 [marl:UpdateCommandMode] Stopped
2025-10-24T23:37:18.727Z,1761349038.727 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:37:18.727Z,1761349038.727 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:37:18.727Z,1761349038.727 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:37:18.727Z,1761349038.727 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:37:18.728Z,1761349038.728 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:37:18.728Z,1761349038.728 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:37:18.728Z,1761349038.728 [marl:UpdateSpeed] Stopped
2025-10-24T23:37:18.728Z,1761349038.728 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:37:19.104Z,1761349039.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537512,0.804619,-0.252328],[-0.741515,-0.593491,-0.312928],[-0.401542,0.018903,0.915645]]
2025-10-24T23:37:19.109Z,1761349039.109 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:37:19.110Z,1761349039.110 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:37:19.111Z,1761349039.111 [DAT](INFO): DAT read: Oct 24 2025 23:37:13 

2025-10-24T23:37:19.511Z,1761349039.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524415,0.815445,-0.245027],[-0.748440,-0.578677,-0.323991],[-0.405988,0.013482,0.913779]]
2025-10-24T23:37:20.117Z,1761349040.117 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:37:20.118Z,1761349040.118 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:37:20.119Z,1761349040.119 [DAT](INFO): commRate: 600
2025-10-24T23:37:20.316Z,1761349040.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505515,0.830639,-0.233440],[-0.752223,-0.556806,-0.352318],[-0.422630,-0.002503,0.906299]]
2025-10-24T23:37:20.720Z,1761349040.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502846,0.835493,-0.221580],[-0.751186,-0.549217,-0.366170],[-0.427628,-0.017680,0.903782]]
2025-10-24T23:37:21.122Z,1761349041.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502280,0.840035,-0.205074],[-0.751581,-0.541391,-0.376857],[-0.427598,-0.035158,0.903285]]
2025-10-24T23:37:21.528Z,1761349041.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499928,0.845528,-0.187495],[-0.755301,-0.531583,-0.383328],[-0.423784,-0.050021,0.904381]]
2025-10-24T23:37:21.943Z,1761349041.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492324,0.852785,-0.174282],[-0.762669,-0.519140,-0.385785],[-0.419469,-0.057011,0.905978]]
2025-10-24T23:37:22.192Z,1761349042.192 [DAT](INFO): entering command mode
2025-10-24T23:37:22.336Z,1761349042.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477173,0.862962,-0.166138],[-0.773195,-0.502113,-0.387366],[-0.417702,-0.056384,0.906833]]
2025-10-24T23:37:22.392Z,1761349042.392 [DAT](INFO): DAT read: 

2025-10-24T23:37:22.393Z,1761349042.393 [DAT](INFO): DAT read: user:1>

2025-10-24T23:37:22.393Z,1761349042.393 [DAT](INFO): setting verbose to 3
2025-10-24T23:37:22.645Z,1761349042.645 [DAT](INFO): DAT read: user:1>

2025-10-24T23:37:22.646Z,1761349042.646 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:37:22.647Z,1761349042.647 [DAT](INFO): set verbose to 3
2025-10-24T23:37:22.647Z,1761349042.647 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:37:22.738Z,1761349042.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455213,0.875875,-0.160072],[-0.787123,-0.479899,-0.387471],[-0.416195,-0.050386,0.907878]]
2025-10-24T23:37:22.897Z,1761349042.897 [DAT](INFO): DAT read: user:2>

2025-10-24T23:37:22.898Z,1761349042.898 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:37:22.898Z,1761349042.898 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:37:22.898Z,1761349042.898 [DAT](INFO): setting transmit power to 8
2025-10-24T23:37:23.143Z,1761349043.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431221,0.887471,-0.162617],[-0.803281,-0.459704,-0.378697],[-0.410839,-0.032675,0.911122]]
2025-10-24T23:37:23.149Z,1761349043.149 [DAT](INFO): DAT read: user:3>

2025-10-24T23:37:23.150Z,1761349043.150 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:37:23.150Z,1761349043.150 [DAT](INFO): set transmit power to 8
2025-10-24T23:37:23.150Z,1761349043.150 [DAT](INFO): setting local address to 11
2025-10-24T23:37:23.401Z,1761349043.401 [DAT](INFO): DAT read: user:4>

2025-10-24T23:37:23.402Z,1761349043.402 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:37:23.402Z,1761349043.402 [DAT](INFO): set local address to 11
2025-10-24T23:37:23.403Z,1761349043.403 [DAT](INFO): Setting time to: 23:37:23 And date to:10/24/2025
2025-10-24T23:37:23.550Z,1761349043.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406505,0.896055,-0.178435],[-0.819797,-0.443942,-0.361731],[-0.403346,-0.000765,0.915047]]
2025-10-24T23:37:23.653Z,1761349043.653 [DAT](INFO): DAT read: user:5>

2025-10-24T23:37:23.654Z,1761349043.654 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:37:23  

2025-10-24T23:37:23.655Z,1761349043.655 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:37:23  

2025-10-24T23:37:23.656Z,1761349043.656 [DAT](INFO): setting remote address to 10
2025-10-24T23:37:23.658Z,1761349043.658 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:37:23.659Z,1761349043.659 [DAT](INFO): setting remote address to 0
2025-10-24T23:37:23.907Z,1761349043.907 [DAT](INFO): DAT read: user:6>

2025-10-24T23:37:23.911Z,1761349043.911 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:37:23.913Z,1761349043.913 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:37:23.914Z,1761349043.914 [DAT] Communications Fault, FailCount= 7
2025-10-24T23:37:23.914Z,1761349043.914 [DAT](ERROR): Communications Fault
2025-10-24T23:37:23.916Z,1761349043.916 [DAT](INFO): DAT read: user:7>

2025-10-24T23:37:23.919Z,1761349043.919 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:37:23.923Z,1761349043.923 [DAT](INFO): set remote address to 0
2025-10-24T23:37:23.924Z,1761349043.924 [DAT](INFO): setting remote address to 10
2025-10-24T23:37:23.926Z,1761349043.926 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:37:23.927Z,1761349043.927 [DAT](INFO): setting remote address to 0
2025-10-24T23:37:23.970Z,1761349043.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383814,0.901083,-0.201832],[-0.832289,-0.432250,-0.347068],[-0.399979,0.034773,0.915865]]
2025-10-24T23:37:24.207Z,1761349044.207 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:37:24.333Z,1761349044.333 [DAT](INFO): Powering down
2025-10-24T23:37:24.355Z,1761349044.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366031,0.902887,-0.225427],[-0.838031,-0.425129,-0.342009],[-0.404631,0.063729,0.912257]]
2025-10-24T23:37:24.759Z,1761349044.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355791,0.904993,-0.233238],[-0.838355,-0.419354,-0.348285],[-0.413005,0.071620,0.907908]]
2025-10-24T23:37:25.163Z,1761349045.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350213,0.911736,-0.214682],[-0.837889,-0.407388,-0.363287],[-0.418680,0.052652,0.906606]]
2025-10-24T23:37:25.347Z,1761349045.347 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:37:25.347Z,1761349045.347 [DAT] No Fault, FailCount= 7
2025-10-24T23:37:25.571Z,1761349045.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347423,0.917719,-0.192588],[-0.839999,-0.395870,-0.371065],[-0.416773,0.032858,0.908417]]
2025-10-24T23:37:25.970Z,1761349045.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346196,0.921907,-0.173882],[-0.847325,-0.386821,-0.363881],[-0.402725,0.021360,0.915072]]
2025-10-24T23:37:26.375Z,1761349046.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339416,0.929942,-0.141441],[-0.862087,-0.367690,-0.348727],[-0.376302,0.003571,0.926490]]
2025-10-24T23:37:26.785Z,1761349046.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322128,0.940691,-0.106459],[-0.880979,-0.339033,-0.330051],[-0.346569,-0.012531,0.937941]]
2025-10-24T23:37:27.184Z,1761349047.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298823,0.950887,-0.080735],[-0.897049,-0.308750,-0.316190],[-0.325588,-0.022062,0.945254]]
2025-10-24T23:37:27.388Z,1761349047.388 [DAT](INFO): Powering up
2025-10-24T23:37:27.388Z,1761349047.388 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:37:27.586Z,1761349047.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275181,0.958684,-0.072110],[-0.906314,-0.283708,-0.313218],[-0.320735,-0.020838,0.946940]]
2025-10-24T23:37:27.991Z,1761349047.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257439,0.963144,-0.077965],[-0.909505,-0.268771,-0.317115],[-0.326383,-0.010728,0.945177]]
2025-10-24T23:37:28.394Z,1761349048.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248760,0.964019,-0.093728],[-0.912237,-0.265713,-0.311802],[-0.325488,0.007938,0.945513]]
2025-10-24T23:37:28.811Z,1761349048.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242435,0.964908,-0.100881],[-0.918221,-0.261780,-0.297222],[-0.313200,0.020574,0.949464]]
2025-10-24T23:37:29.216Z,1761349049.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238715,0.966553,-0.093761],[-0.922850,-0.255850,-0.287905],[-0.302264,0.017800,0.953058]]
2025-10-24T23:37:29.635Z,1761349049.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229713,0.970408,-0.074434],[-0.925127,-0.241466,-0.292975],[-0.302279,0.001561,0.953218]]
2025-10-24T23:37:29.667Z,1761349049.667 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:37:29.667Z,1761349049.667 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:37:29.669Z,1761349049.669 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:37:29.670Z,1761349049.670 [marl:UpdateRudder:A] Stopped
2025-10-24T23:37:29.671Z,1761349049.671 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:37:30.022Z,1761349050.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209328,0.976297,-0.055003],[-0.926646,-0.216016,-0.307675],[-0.312264,-0.013436,0.949901]]
2025-10-24T23:37:30.087Z,1761349050.087 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:37:30.087Z,1761349050.087 [marl:UpdateRudder:B] Stopped
2025-10-24T23:37:30.087Z,1761349050.087 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:37:30.087Z,1761349050.087 [marl:UpdateRudder] Stopped
2025-10-24T23:37:30.087Z,1761349050.087 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:37:30.427Z,1761349050.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186243,0.980926,-0.055656],[-0.928368,-0.194243,-0.316864],[-0.321631,-0.007345,0.946837]]
2025-10-24T23:37:30.831Z,1761349050.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172498,0.982114,-0.075479],[-0.931223,-0.187574,-0.312474],[-0.321043,0.016387,0.946923]]
2025-10-24T23:37:31.236Z,1761349051.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172614,0.980976,-0.088823],[-0.938522,-0.191171,-0.287453],[-0.298965,0.033744,0.953667]]
2025-10-24T23:37:31.638Z,1761349051.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166602,0.983662,-0.068211],[-0.954119,-0.178280,-0.240567],[-0.248798,0.025003,0.968233]]
2025-10-24T23:37:31.695Z,1761349051.695 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:37:31.695Z,1761349051.695 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:37:31.695Z,1761349051.695 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:37:31.695Z,1761349051.695 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:37:31.696Z,1761349051.696 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:37:31.696Z,1761349051.696 [marl:UpdateCommandMode] Stopped
2025-10-24T23:37:31.696Z,1761349051.696 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:37:31.696Z,1761349051.696 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:37:31.696Z,1761349051.696 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:37:31.696Z,1761349051.696 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:37:31.697Z,1761349051.697 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:37:31.697Z,1761349051.697 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:37:31.697Z,1761349051.697 [marl:UpdateSpeed] Stopped
2025-10-24T23:37:31.697Z,1761349051.697 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:37:32.044Z,1761349052.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131484,0.990760,-0.033257],[-0.965134,-0.135599,-0.223896],[-0.226337,0.002658,0.974046]]
2025-10-24T23:37:32.447Z,1761349052.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082591,0.995975,-0.034817],[-0.962177,-0.088791,-0.257550],[-0.259604,0.012228,0.965638]]
2025-10-24T23:37:32.511Z,1761349052.511 [marl:NeedComms:C] Running Loop=1
2025-10-24T23:37:32.852Z,1761349052.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074345,0.994532,-0.073344],[-0.949803,-0.093029,-0.298698],[-0.303887,0.047455,0.951525]]
2025-10-24T23:37:32.988Z,1761349052.988 [Radio_Surface](INFO): Powering up
2025-10-24T23:37:33.357Z,1761349053.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084479,0.993246,-0.079539],[-0.939263,-0.106027,-0.326411],[-0.332639,0.047133,0.941876]]
2025-10-24T23:37:33.769Z,1761349053.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071914,0.996079,-0.051523],[-0.949579,-0.084179,-0.302015],[-0.305168,0.027206,0.951910]]
2025-10-24T23:37:34.578Z,1761349054.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027970,0.993412,-0.111130],[-0.968380,-0.054499,-0.243455],[-0.247907,0.100806,0.963525]]
2025-10-24T23:37:34.970Z,1761349054.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014093,0.994346,-0.105248],[-0.970338,-0.011805,-0.241466],[-0.241343,0.105529,0.964685]]
2025-10-24T23:37:35.375Z,1761349055.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036674,0.996765,-0.071515],[-0.987052,0.024949,-0.158446],[-0.156149,0.076400,0.984774]]
2025-10-24T23:37:35.783Z,1761349055.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060025,0.996819,-0.052431],[-0.998129,0.059323,-0.014835],[-0.011677,0.053223,0.998514]]
2025-10-24T23:37:36.184Z,1761349056.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064427,0.997233,0.037094],[-0.993312,0.060516,0.098328],[0.095811,-0.043180,0.994463]]
2025-10-24T23:37:36.587Z,1761349056.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082322,0.989107,0.122023],[-0.993887,0.072441,0.083318],[0.073571,-0.128136,0.989024]]
2025-10-24T23:37:36.990Z,1761349056.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072395,0.982180,0.173440],[-0.995224,0.059720,0.077223],[0.065490,-0.178202,0.981812]]
2025-10-24T23:37:37.396Z,1761349057.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065625,0.975295,0.210933],[-0.991253,0.039462,0.125934],[0.114499,-0.217353,0.969354]]
2025-10-24T23:37:37.798Z,1761349057.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077676,0.968018,0.238552],[-0.989644,0.045893,0.136011],[0.120714,-0.246646,0.961558]]
2025-10-24T23:37:38.203Z,1761349058.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101266,0.965331,0.240585],[-0.983043,0.059931,0.173307],[0.152880,-0.254056,0.955031]]
2025-10-24T23:37:38.257Z,1761349058.257 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-10-24T23:37:38.258Z,1761349058.258 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-10-24T23:37:38.612Z,1761349058.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113791,0.981024,0.156981],[-0.967340,0.073379,0.242629],[0.226506,-0.179463,0.957334]]
2025-10-24T23:37:39.010Z,1761349059.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146413,0.979146,0.140839],[-0.967140,0.111770,0.228360],[0.207856,-0.169646,0.963336]]
2025-10-24T23:37:39.415Z,1761349059.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182702,0.977923,0.101425],[-0.962649,0.156968,0.220609],[0.199818,-0.137943,0.970075]]
2025-10-24T23:37:39.485Z,1761349059.485 [DAT](INFO): DAT read: 

2025-10-24T23:37:39.486Z,1761349059.486 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:37:39.818Z,1761349059.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190470,0.981376,0.024940],[-0.963384,0.181974,0.196918],[0.188713,-0.061533,0.980103]]
2025-10-24T23:37:40.230Z,1761349060.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188421,0.981997,-0.013354],[-0.967139,0.187900,0.171280],[0.170706,-0.019357,0.985132]]
2025-10-24T23:37:40.627Z,1761349060.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189510,0.980672,-0.048656],[-0.963886,0.195252,0.181111],[0.187111,0.012576,0.982258]]
2025-10-24T23:37:41.031Z,1761349061.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197544,0.977595,-0.072687],[-0.954020,0.208772,0.215079],[0.225436,0.026857,0.973888]]
2025-10-24T23:37:41.253Z,1761349061.253 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:37:41.255Z,1761349061.255 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:37:41.256Z,1761349061.256 [DAT](INFO): DAT read: Oct 24 2025 23:37:35 

2025-10-24T23:37:41.436Z,1761349061.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222984,0.969659,-0.100194],[-0.944444,0.240350,0.224180],[0.241460,0.044638,0.969383]]
2025-10-24T23:37:41.840Z,1761349061.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258059,0.961015,-0.099280],[-0.941185,0.273265,0.198740],[0.218122,0.042154,0.975011]]
2025-10-24T23:37:42.251Z,1761349062.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272461,0.958293,-0.086252],[-0.945237,0.283331,0.162022],[0.179703,0.037384,0.983010]]
2025-10-24T23:37:42.261Z,1761349062.261 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:37:42.263Z,1761349062.263 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:37:42.263Z,1761349062.263 [DAT](INFO): commRate: 600
2025-10-24T23:37:42.648Z,1761349062.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267363,0.959032,-0.093678],[-0.949389,0.278805,0.144664],[0.164855,0.050259,0.985036]]
2025-10-24T23:37:42.696Z,1761349062.696 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:37:42.696Z,1761349062.696 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:37:42.696Z,1761349062.696 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:37:42.696Z,1761349062.696 [marl:UpdateRudder:A] Stopped
2025-10-24T23:37:42.697Z,1761349062.697 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:37:43.051Z,1761349063.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269253,0.960232,-0.073867],[-0.939777,0.278734,0.197806],[0.210529,0.016159,0.977454]]
2025-10-24T23:37:43.130Z,1761349063.130 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:37:43.130Z,1761349063.130 [marl:UpdateRudder:B] Stopped
2025-10-24T23:37:43.130Z,1761349063.130 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:37:43.130Z,1761349063.130 [marl:UpdateRudder] Stopped
2025-10-24T23:37:43.131Z,1761349063.131 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:37:43.455Z,1761349063.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278222,0.957509,-0.075951],[-0.924259,0.288402,0.250141],[0.261417,0.000604,0.965226]]
2025-10-24T23:37:43.870Z,1761349063.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302614,0.951018,-0.063160],[-0.916872,0.308567,0.253242],[0.260327,-0.018725,0.965339]]
2025-10-24T23:37:44.266Z,1761349064.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333816,0.941004,-0.055485],[-0.914468,0.337561,0.223161],[0.228725,-0.023756,0.973201]]
2025-10-24T23:37:44.328Z,1761349064.328 [DAT](INFO): entering command mode
2025-10-24T23:37:44.449Z,1761349064.449 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:37:44.529Z,1761349064.529 [DAT](INFO): DAT read: 

2025-10-24T23:37:44.529Z,1761349064.529 [DAT](INFO): DAT read: user:1>

2025-10-24T23:37:44.530Z,1761349064.530 [DAT](INFO): setting verbose to 3
2025-10-24T23:37:44.682Z,1761349064.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356494,0.932435,-0.058970],[-0.911855,0.360988,0.195469],[0.203550,-0.015912,0.978935]]
2025-10-24T23:37:44.726Z,1761349064.726 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:37:44.726Z,1761349064.726 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:37:44.726Z,1761349064.726 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:37:44.726Z,1761349064.726 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:37:44.727Z,1761349064.727 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:37:44.727Z,1761349064.727 [marl:UpdateCommandMode] Stopped
2025-10-24T23:37:44.727Z,1761349064.727 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:37:44.727Z,1761349064.727 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:37:44.727Z,1761349064.727 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:37:44.728Z,1761349064.728 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:37:44.736Z,1761349064.736 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:37:44.736Z,1761349064.736 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:37:44.737Z,1761349064.737 [marl:UpdateSpeed] Stopped
2025-10-24T23:37:44.737Z,1761349064.737 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:37:44.781Z,1761349064.781 [DAT](INFO): DAT read: user:1>

2025-10-24T23:37:44.782Z,1761349064.782 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:37:44.783Z,1761349064.783 [DAT](INFO): set verbose to 3
2025-10-24T23:37:44.783Z,1761349064.783 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:37:45.033Z,1761349065.033 [DAT](INFO): DAT read: user:2>

2025-10-24T23:37:45.034Z,1761349065.034 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:37:45.034Z,1761349065.034 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:37:45.035Z,1761349065.035 [DAT](INFO): setting transmit power to 8
2025-10-24T23:37:45.070Z,1761349065.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360391,0.930727,-0.062172],[-0.914698,0.365679,0.172067],[0.182882,-0.005143,0.983121]]
2025-10-24T23:37:45.285Z,1761349065.285 [DAT](INFO): DAT read: user:3>

2025-10-24T23:37:45.286Z,1761349065.286 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:37:45.286Z,1761349065.286 [DAT](INFO): set transmit power to 8
2025-10-24T23:37:45.286Z,1761349065.286 [DAT](INFO): setting local address to 11
2025-10-24T23:37:45.453Z,1761349065.453 [DataOverHttps](INFO): Radio surface powered ON.
2025-10-24T23:37:45.453Z,1761349065.453 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:37:45.474Z,1761349065.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358009,0.932613,-0.045409],[-0.920527,0.360679,0.150135],[0.156396,-0.011949,0.987622]]
2025-10-24T23:37:45.537Z,1761349065.537 [DAT](INFO): DAT read: user:4>

2025-10-24T23:37:45.539Z,1761349065.539 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:37:45.539Z,1761349065.539 [DAT](INFO): set local address to 11
2025-10-24T23:37:45.540Z,1761349065.540 [DAT](INFO): Setting time to: 23:37:45 And date to:10/24/2025
2025-10-24T23:37:45.789Z,1761349065.789 [DAT](INFO): DAT read: user:5>

2025-10-24T23:37:45.789Z,1761349065.789 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:37:45  

2025-10-24T23:37:45.790Z,1761349065.790 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:37:45  

2025-10-24T23:37:45.790Z,1761349065.790 [DAT](INFO): setting remote address to 10
2025-10-24T23:37:45.791Z,1761349065.791 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:37:45.791Z,1761349065.791 [DAT](INFO): setting remote address to 0
2025-10-24T23:37:45.923Z,1761349065.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360882,0.932301,-0.024058],[-0.919908,0.360091,0.155254],[0.153407,-0.033898,0.987582]]
2025-10-24T23:37:46.041Z,1761349066.041 [DAT](INFO): DAT read: user:6>

2025-10-24T23:37:46.042Z,1761349066.042 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:37:46.042Z,1761349066.042 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:37:46.042Z,1761349066.042 [DAT] Communications Fault, FailCount= 8
2025-10-24T23:37:46.043Z,1761349066.043 [DAT](ERROR): Communications Fault
2025-10-24T23:37:46.043Z,1761349066.043 [DAT](INFO): DAT read: user:7>

2025-10-24T23:37:46.044Z,1761349066.044 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:37:46.045Z,1761349066.045 [DAT](INFO): set remote address to 0
2025-10-24T23:37:46.045Z,1761349066.045 [DAT](INFO): setting remote address to 10
2025-10-24T23:37:46.045Z,1761349066.045 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:37:46.046Z,1761349066.046 [DAT](INFO): setting remote address to 0
2025-10-24T23:37:46.403Z,1761349066.403 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:37:46.403Z,1761349066.403 [CBIT](FAULT): Communications Fault in component: DAT
2025-10-24T23:37:46.448Z,1761349066.448 [DAT](INFO): Powering down
2025-10-24T23:37:46.693Z,1761349066.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379628,0.924919,-0.020174],[-0.907669,0.376589,0.185253],[0.178941,-0.052016,0.982484]]
2025-10-24T23:37:47.091Z,1761349067.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405691,0.913220,-0.037996],[-0.891954,0.404636,0.201710],[0.199581,-0.047941,0.978708]]
2025-10-24T23:37:47.495Z,1761349067.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426682,0.901048,-0.077818],[-0.878741,0.433389,0.199970],[0.213908,-0.016942,0.976707]]
2025-10-24T23:37:47.932Z,1761349067.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427644,0.900038,-0.083979],[-0.889534,0.435529,0.138002],[0.160782,0.015687,0.986865]]
2025-10-24T23:37:48.717Z,1761349068.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429717,0.902963,0.001372],[-0.895056,0.425753,0.132697],[0.119237,-0.058250,0.991156]]
2025-10-24T23:37:49.519Z,1761349069.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426015,0.904709,0.003611],[-0.896751,0.421732,0.134088],[0.119788,-0.060362,0.990963]]
2025-10-24T23:37:49.935Z,1761349069.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446235,0.894870,-0.009018],[-0.888344,0.444155,0.116496],[0.108254,-0.043973,0.993150]]
2025-10-24T23:37:50.328Z,1761349070.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454810,0.889419,-0.045624],[-0.883269,0.457034,0.104667],[0.113945,-0.007306,0.993460]]
2025-10-24T23:37:50.742Z,1761349070.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456665,0.886701,-0.072247],[-0.879609,0.462185,0.112576],[0.133213,0.012139,0.991013]]
2025-10-24T23:37:51.130Z,1761349071.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468561,0.879998,-0.077812],[-0.869133,0.474968,0.137885],[0.158297,0.003021,0.987387]]
2025-10-24T23:37:51.534Z,1761349071.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490161,0.868017,-0.079307],[-0.853944,0.496459,0.155911],[0.174706,-0.008697,0.984582]]
2025-10-24T23:37:51.940Z,1761349071.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509055,0.856157,-0.088644],[-0.842557,0.516708,0.152019],[0.175955,-0.002698,0.984394]]
2025-10-24T23:37:52.344Z,1761349072.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512847,0.853625,-0.091171],[-0.841379,0.520881,0.144098],[0.170495,0.002809,0.985354]]
2025-10-24T23:37:53.151Z,1761349073.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499822,0.866109,0.005671],[-0.860953,0.496110,0.112404],[0.094541,-0.061065,0.993646]]
2025-10-24T23:37:53.555Z,1761349073.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497269,0.865738,0.056758],[-0.865479,0.490425,0.102122],[0.060575,-0.099905,0.993151]]
2025-10-24T23:37:53.960Z,1761349073.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501078,0.863484,0.057591],[-0.862927,0.493507,0.108668],[0.065412,-0.104148,0.992408]]
2025-10-24T23:37:54.362Z,1761349074.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507719,0.860643,0.038919],[-0.857586,0.500569,0.118221],[0.082265,-0.093400,0.992224]]
2025-10-24T23:37:54.670Z,1761349074.670 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:37:54.671Z,1761349074.671 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:37:54.766Z,1761349074.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523338,0.851619,0.029368],[-0.847593,0.516696,0.120876],[0.087766,-0.088152,0.992233]]
2025-10-24T23:37:55.170Z,1761349075.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534047,0.844897,0.030706],[-0.841246,0.527417,0.118898],[0.084262,-0.089329,0.992432]]
2025-10-24T23:37:55.576Z,1761349075.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549844,0.833833,0.048924],[-0.833573,0.544057,0.095700],[0.053181,-0.093402,0.994207]]
2025-10-24T23:37:55.618Z,1761349075.618 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:37:55.618Z,1761349075.618 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:37:55.618Z,1761349075.618 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:37:55.618Z,1761349075.618 [marl:UpdateRudder:A] Stopped
2025-10-24T23:37:55.618Z,1761349075.618 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:37:55.978Z,1761349075.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560389,0.825192,0.070873],[-0.828217,0.557858,0.053398],[0.004526,-0.088622,0.996055]]
2025-10-24T23:37:56.062Z,1761349076.062 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:37:56.062Z,1761349076.062 [marl:UpdateRudder:B] Stopped
2025-10-24T23:37:56.063Z,1761349076.063 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:37:56.063Z,1761349076.063 [marl:UpdateRudder] Stopped
2025-10-24T23:37:56.063Z,1761349076.063 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:37:56.382Z,1761349076.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552268,0.830247,0.075433],[-0.833237,0.552624,0.017974],[-0.026763,-0.072780,0.996989]]
2025-10-24T23:37:56.796Z,1761349076.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538573,0.839758,0.068890],[-0.842457,0.538082,0.027080],[-0.014328,-0.072622,0.997257]]
2025-10-24T23:37:57.193Z,1761349077.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541782,0.837768,0.067950],[-0.840092,0.537159,0.075531],[0.026778,-0.098005,0.994826]]
2025-10-24T23:37:57.594Z,1761349077.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557664,0.824905,0.092422],[-0.829445,0.549472,0.100509],[0.032127,-0.132710,0.990634]]
2025-10-24T23:37:57.624Z,1761349077.624 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:37:57.624Z,1761349077.624 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:37:57.624Z,1761349077.624 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:37:57.624Z,1761349077.624 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:37:57.624Z,1761349077.624 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:37:57.625Z,1761349077.625 [marl:UpdateCommandMode] Stopped
2025-10-24T23:37:57.625Z,1761349077.625 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:37:57.625Z,1761349077.625 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:37:57.625Z,1761349077.625 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:37:57.625Z,1761349077.625 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:37:57.625Z,1761349077.625 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:37:57.625Z,1761349077.625 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:37:57.625Z,1761349077.625 [marl:UpdateSpeed] Stopped
2025-10-24T23:37:57.626Z,1761349077.626 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:37:57.628Z,1761349077.628 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:37:58.402Z,1761349078.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567490,0.809752,0.149186],[-0.816289,0.577018,-0.026855],[-0.107829,-0.106540,0.988444]]
2025-10-24T23:37:58.808Z,1761349078.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575519,0.803558,0.151897],[-0.806923,0.588168,-0.054162],[-0.132863,-0.091398,0.986911]]
2025-10-24T23:37:59.227Z,1761349079.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594948,0.791092,0.142165],[-0.792039,0.607127,-0.063804],[-0.136787,-0.074641,0.987784]]
2025-10-24T23:37:59.614Z,1761349079.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603718,0.784978,0.139045],[-0.780809,0.617428,-0.095499],[-0.160815,-0.050913,0.985671]]
2025-10-24T23:38:00.435Z,1761349080.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606004,0.780330,0.154416],[-0.760946,0.625244,-0.173294],[-0.231774,-0.012485,0.972689]]
2025-10-24T23:38:00.839Z,1761349080.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612038,0.774704,0.158883],[-0.756740,0.632065,-0.166849],[-0.229683,-0.018115,0.973097]]
2025-10-24T23:38:01.242Z,1761349081.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621310,0.766194,0.164072],[-0.756248,0.641164,-0.130378],[-0.205092,-0.043074,0.977794]]
2025-10-24T23:38:01.698Z,1761349081.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621194,0.756783,0.203464],[-0.748031,0.650013,-0.133913],[-0.233597,-0.069012,0.969881]]
2025-10-24T23:38:02.359Z,1761349082.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634920,0.732243,0.246367],[-0.706134,0.679398,-0.199480],[-0.313449,-0.047314,0.948425]]
2025-10-24T23:38:02.754Z,1761349082.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647367,0.720090,0.249773],[-0.689145,0.692995,-0.211748],[-0.325569,-0.035051,0.944868]]
2025-10-24T23:38:03.158Z,1761349083.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663168,0.711915,0.231051],[-0.685233,0.701672,-0.195225],[-0.301106,-0.028857,0.953154]]
2025-10-24T23:38:03.563Z,1761349083.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663383,0.714676,0.221720],[-0.678104,0.699455,-0.225695],[-0.316382,-0.000627,0.948632]]
2025-10-24T23:38:03.968Z,1761349083.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675512,0.710344,0.197723],[-0.670073,0.703301,-0.237423],[-0.307711,0.027893,0.951071]]
2025-10-24T23:38:04.370Z,1761349084.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687819,0.707676,0.161553],[-0.672382,0.705005,-0.225545],[-0.273508,0.046509,0.960745]]
2025-10-24T23:38:04.774Z,1761349084.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718075,0.691633,0.077537],[-0.679695,0.720871,-0.135500],[-0.149611,0.044597,0.987739]]
2025-10-24T23:38:05.178Z,1761349085.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732641,0.679207,0.043761],[-0.674542,0.733171,-0.086331],[-0.090721,0.033731,0.995305]]
2025-10-24T23:38:05.584Z,1761349085.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739296,0.670364,0.063670],[-0.665172,0.741731,-0.085918],[-0.104822,0.021168,0.994266]]
2025-10-24T23:38:05.986Z,1761349085.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745883,0.663806,0.054952],[-0.664068,0.747501,-0.015996],[-0.051695,-0.024561,0.998361]]
2025-10-24T23:38:06.390Z,1761349086.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766691,0.641505,-0.025613],[-0.640280,0.766941,0.042918],[0.047176,-0.016505,0.998750]]
2025-10-24T23:38:06.691Z,1761349086.691 [CTD_Seabird](ERROR): Salinity reading out of range: 27.777370 psu
2025-10-24T23:38:06.693Z,1761349086.693 [CTD_Seabird](INFO): some bad data, not updating bins
2025-10-24T23:38:06.797Z,1761349086.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768572,0.638054,-0.046728],[-0.633190,0.769087,0.087035],[0.091471,-0.037304,0.995109]]
2025-10-24T23:38:07.209Z,1761349087.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745554,0.665342,0.038341],[-0.665150,0.739286,0.105035],[0.041539,-0.103812,0.993729]]
2025-10-24T23:38:07.602Z,1761349087.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772470,0.620979,0.132950],[-0.632391,0.771331,0.071628],[-0.058070,-0.139407,0.988531]]
2025-10-24T23:38:08.006Z,1761349088.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795433,0.598515,0.095212],[-0.603240,0.797012,0.029550],[-0.058199,-0.080941,0.995018]]
2025-10-24T23:38:08.411Z,1761349088.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771129,0.636603,0.009809],[-0.636459,0.771176,-0.014407],[-0.016736,0.004867,0.999848]]
2025-10-24T23:38:08.826Z,1761349088.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778493,0.627221,0.023304],[-0.626489,0.778773,-0.031988],[-0.038212,0.010303,0.999217]]
2025-10-24T23:38:08.882Z,1761349088.882 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:38:08.883Z,1761349088.883 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:38:08.883Z,1761349088.883 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:38:08.883Z,1761349088.883 [marl:UpdateRudder:A] Stopped
2025-10-24T23:38:08.883Z,1761349088.883 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:38:09.219Z,1761349089.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811635,0.584165,-0.000131],[-0.583731,0.811040,0.038362],[0.022515,-0.031059,0.999264]]
2025-10-24T23:38:09.262Z,1761349089.262 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:38:09.262Z,1761349089.262 [marl:UpdateRudder:B] Stopped
2025-10-24T23:38:09.262Z,1761349089.262 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:38:09.262Z,1761349089.262 [marl:UpdateRudder] Stopped
2025-10-24T23:38:09.263Z,1761349089.263 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:38:09.622Z,1761349089.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811508,0.581108,-0.061387],[-0.571276,0.811065,0.125768],[0.122873,-0.066993,0.990159]]
2025-10-24T23:38:10.028Z,1761349090.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796475,0.598620,-0.085337],[-0.584720,0.798440,0.143517],[0.154049,-0.064409,0.985962]]
2025-10-24T23:38:10.431Z,1761349090.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788020,0.615510,-0.013077],[-0.609373,0.782836,0.125827],[0.087685,-0.091185,0.991966]]
2025-10-24T23:38:10.467Z,1761349090.467 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:38:10.467Z,1761349090.467 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:38:10.468Z,1761349090.468 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:38:10.468Z,1761349090.468 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:38:10.468Z,1761349090.468 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:38:10.468Z,1761349090.468 [marl:UpdateCommandMode] Stopped
2025-10-24T23:38:10.468Z,1761349090.468 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:38:10.468Z,1761349090.468 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:38:10.469Z,1761349090.469 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:38:10.469Z,1761349090.469 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:38:10.469Z,1761349090.469 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:38:10.469Z,1761349090.469 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:38:10.469Z,1761349090.469 [marl:UpdateSpeed] Stopped
2025-10-24T23:38:10.469Z,1761349090.469 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:38:10.839Z,1761349090.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777262,0.624096,0.079803],[-0.628566,0.764644,0.142214],[0.027734,-0.160699,0.986614]]
2025-10-24T23:38:11.238Z,1761349091.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767345,0.626028,0.138819],[-0.640582,0.758151,0.121908],[-0.028928,-0.182470,0.982786]]
2025-10-24T23:38:11.645Z,1761349091.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792052,0.607183,0.063102],[-0.608638,0.793432,0.004983],[-0.047042,-0.042353,0.997995]]
2025-10-24T23:38:12.046Z,1761349092.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806135,0.590666,-0.035493],[-0.589761,0.797112,-0.129598],[-0.048257,0.125406,0.990931]]
2025-10-24T23:38:12.451Z,1761349092.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814952,0.567038,-0.119675],[-0.579519,0.798600,-0.162469],[0.003446,0.201758,0.979429]]
2025-10-24T23:38:12.858Z,1761349092.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791412,0.599745,-0.118208],[-0.611031,0.781713,-0.124762],[0.017580,0.170967,0.985120]]
2025-10-24T23:38:13.260Z,1761349093.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770727,0.636781,-0.022111],[-0.636289,0.767385,-0.079104],[-0.033404,0.075037,0.996621]]
2025-10-24T23:38:13.674Z,1761349093.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777740,0.627746,0.032480],[-0.627941,0.778244,-0.005087],[-0.028471,-0.016439,0.999459]]
2025-10-24T23:38:14.067Z,1761349094.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779124,0.625094,0.047156],[-0.626830,0.777720,0.047288],[-0.007114,-0.066402,0.997768]]
2025-10-24T23:38:14.471Z,1761349094.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758940,0.649939,0.039857],[-0.651095,0.756579,0.060527],[0.009184,-0.071887,0.997371]]
2025-10-24T23:38:14.882Z,1761349094.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744683,0.665388,0.052016],[-0.667326,0.743612,0.041442],[-0.011105,-0.065573,0.997786]]
2025-10-24T23:38:15.278Z,1761349095.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750920,0.659130,0.040820],[-0.660307,0.750387,0.030253],[-0.010691,-0.049671,0.998708]]
2025-10-24T23:38:15.572Z,1761349095.572 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:38:15.689Z,1761349095.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763609,0.645473,0.016331],[-0.645679,0.763357,0.019600],[0.000185,-0.025511,0.999675]]
2025-10-24T23:38:16.086Z,1761349096.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752438,0.657439,0.040142],[-0.655678,0.753431,-0.049270],[-0.062636,0.010752,0.997979]]
2025-10-24T23:38:16.490Z,1761349096.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751749,0.658777,0.029770],[-0.656588,0.751925,-0.059174],[-0.061367,0.024937,0.997804]]
2025-10-24T23:38:16.576Z,1761349096.576 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:38:16.894Z,1761349096.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760929,0.648813,-0.005251],[-0.648783,0.760742,-0.018792],[-0.008197,0.017706,0.999810]]
2025-10-24T23:38:17.299Z,1761349097.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756991,0.653330,-0.011162],[-0.653374,0.757035,-0.000422],[0.008174,0.007612,0.999938]]
2025-10-24T23:38:17.705Z,1761349097.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729621,0.683814,-0.007229],[-0.683011,0.729206,0.041890],[0.033916,-0.025626,0.999096]]
2025-10-24T23:38:18.108Z,1761349098.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736466,0.675038,0.044078],[-0.676361,0.733579,0.066320],[0.012434,-0.078655,0.996824]]
2025-10-24T23:38:18.510Z,1761349098.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756466,0.653668,0.021833],[-0.653097,0.753178,0.078657],[0.034971,-0.073760,0.996663]]
2025-10-24T23:38:18.918Z,1761349098.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743675,0.668085,-0.024682],[-0.663062,0.741795,0.100445],[0.085415,-0.058333,0.994636]]
2025-10-24T23:38:19.318Z,1761349099.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753157,0.657727,0.012198],[-0.657807,0.752802,0.024062],[0.006643,-0.026146,0.999636]]
2025-10-24T23:38:19.722Z,1761349099.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776968,0.629496,-0.007420],[-0.629005,0.775769,-0.050364],[-0.025948,0.043798,0.998703]]
2025-10-24T23:38:20.126Z,1761349100.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782939,0.615955,-0.087213],[-0.620707,0.782845,-0.043318],[0.041592,0.088049,0.995247]]
2025-10-24T23:38:20.530Z,1761349100.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776238,0.624683,-0.085007],[-0.626885,0.779111,0.001001],[0.066855,0.052513,0.996380]]
2025-10-24T23:38:20.940Z,1761349100.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776376,0.629603,-0.028993],[-0.627767,0.776570,0.053363],[0.056112,-0.023229,0.998154]]
2025-10-24T23:38:21.339Z,1761349101.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784903,0.615339,-0.072695],[-0.601059,0.784634,0.151913],[0.150517,-0.075543,0.985717]]
2025-10-24T23:38:21.742Z,1761349101.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753239,0.638388,-0.158404],[-0.599645,0.765455,0.233462],[0.270291,-0.080866,0.959377]]
2025-10-24T23:38:21.795Z,1761349101.795 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:38:21.795Z,1761349101.795 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:38:21.795Z,1761349101.795 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:38:21.796Z,1761349101.796 [marl:UpdateRudder:A] Stopped
2025-10-24T23:38:21.796Z,1761349101.796 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:38:22.146Z,1761349102.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728961,0.675877,-0.108656],[-0.655695,0.734978,0.172834],[0.196674,-0.054744,0.978939]]
2025-10-24T23:38:22.207Z,1761349102.207 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:38:22.207Z,1761349102.207 [marl:UpdateRudder:B] Stopped
2025-10-24T23:38:22.207Z,1761349102.207 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:38:22.207Z,1761349102.207 [marl:UpdateRudder] Stopped
2025-10-24T23:38:22.208Z,1761349102.208 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:38:22.551Z,1761349102.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736435,0.676433,0.010100],[-0.676508,0.736332,0.012332],[0.000905,-0.015914,0.999873]]
2025-10-24T23:38:22.958Z,1761349102.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762413,0.646439,0.029035],[-0.638818,0.759060,-0.125456],[-0.103139,0.077101,0.991674]]
2025-10-24T23:38:23.358Z,1761349103.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767742,0.640430,-0.020551],[-0.637268,0.759821,-0.128695],[-0.066805,0.111901,0.991471]]
2025-10-24T23:38:23.413Z,1761349103.413 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:38:23.413Z,1761349103.413 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:38:23.414Z,1761349103.414 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:38:23.414Z,1761349103.414 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:38:23.414Z,1761349103.414 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:38:23.414Z,1761349103.414 [marl:UpdateCommandMode] Stopped
2025-10-24T23:38:23.414Z,1761349103.414 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:38:23.414Z,1761349103.414 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:38:23.414Z,1761349103.414 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:38:23.414Z,1761349103.414 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:38:23.415Z,1761349103.415 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:38:23.415Z,1761349103.415 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:38:23.415Z,1761349103.415 [marl:UpdateSpeed] Stopped
2025-10-24T23:38:23.415Z,1761349103.415 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:38:23.766Z,1761349103.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751088,0.659876,-0.020745],[-0.660187,0.750485,-0.030420],[-0.004505,0.036543,0.999322]]
2025-10-24T23:38:24.177Z,1761349104.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760731,0.645849,0.064553],[-0.647286,0.762245,0.001781],[-0.048055,-0.043140,0.997913]]
2025-10-24T23:38:24.570Z,1761349104.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775906,0.618621,0.123605],[-0.622059,0.782859,-0.013219],[-0.104943,-0.066633,0.992243]]
2025-10-24T23:38:24.978Z,1761349104.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767947,0.632294,0.102283],[-0.634295,0.772930,-0.015781],[-0.089036,-0.052759,0.994630]]
2025-10-24T23:38:25.378Z,1761349105.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747697,0.654605,0.111540],[-0.656681,0.753843,-0.022152],[-0.098584,-0.056684,0.993513]]
2025-10-24T23:38:25.788Z,1761349105.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742930,0.661262,0.103861],[-0.661011,0.749212,-0.041785],[-0.105444,-0.037610,0.993714]]
2025-10-24T23:38:26.187Z,1761349106.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754029,0.652661,0.073982],[-0.653358,0.756842,-0.017714],[-0.067553,-0.034980,0.997102]]
2025-10-24T23:38:26.590Z,1761349106.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754921,0.653366,0.056637],[-0.653417,0.756729,-0.020182],[-0.056045,-0.021771,0.998191]]
2025-10-24T23:38:26.998Z,1761349106.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761986,0.647541,0.008237],[-0.646460,0.761342,-0.049476],[-0.038309,0.032376,0.998741]]
2025-10-24T23:38:27.399Z,1761349107.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765126,0.639501,-0.074971],[-0.643139,0.764632,-0.041348],[0.030883,0.079854,0.996328]]
2025-10-24T23:38:27.807Z,1761349107.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753276,0.656433,-0.040881],[-0.657658,0.752512,-0.034817],[0.007909,0.053112,0.998557]]
2025-10-24T23:38:28.206Z,1761349108.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737370,0.674695,0.032758],[-0.675032,0.737788,-0.001032],[-0.024865,-0.021352,0.999463]]
2025-10-24T23:38:28.610Z,1761349108.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703000,0.711184,0.002891],[-0.708671,0.700162,0.086939],[0.059805,-0.063167,0.996209]]
2025-10-24T23:38:29.019Z,1761349109.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723815,0.689159,-0.033946],[-0.683333,0.722778,0.103191],[0.095650,-0.051495,0.994082]]
2025-10-24T23:38:29.419Z,1761349109.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746313,0.664195,-0.043137],[-0.662777,0.747549,0.043557],[0.061178,-0.003917,0.998119]]
2025-10-24T23:38:29.822Z,1761349109.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740849,0.670153,-0.045149],[-0.671467,0.740609,-0.025106],[0.016613,0.048915,0.998665]]
2025-10-24T23:38:30.226Z,1761349110.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755212,0.655375,0.011807],[-0.652979,0.753779,-0.073723],[-0.057216,0.047967,0.997209]]
2025-10-24T23:38:30.633Z,1761349110.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753352,0.654455,0.064420],[-0.651269,0.756069,-0.064866],[-0.091158,0.006912,0.995812]]
2025-10-24T23:38:31.038Z,1761349111.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739772,0.669401,0.068123],[-0.672187,0.739756,0.030415],[-0.030034,-0.068292,0.997213]]
2025-10-24T23:38:31.438Z,1761349111.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737566,0.673542,0.048337],[-0.674577,0.731661,0.098072],[0.030689,-0.104941,0.994005]]
2025-10-24T23:38:31.842Z,1761349111.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758128,0.650939,0.038994],[-0.651179,0.752507,0.098484],[0.034763,-0.100056,0.994374]]
2025-10-24T23:38:32.247Z,1761349112.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760738,0.647590,0.043650],[-0.649011,0.759779,0.038990],[-0.007914,-0.057991,0.998286]]
2025-10-24T23:38:32.662Z,1761349112.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744621,0.664294,0.065223],[-0.664239,0.747079,-0.025665],[-0.065776,-0.024213,0.997541]]
2025-10-24T23:38:33.058Z,1761349113.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743866,0.666288,0.052195],[-0.663946,0.745660,-0.056273],[-0.076414,0.007205,0.997050]]
2025-10-24T23:38:33.458Z,1761349113.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775875,0.628086,-0.059380],[-0.630873,0.771801,-0.079509],[-0.004108,0.099150,0.995064]]
2025-10-24T23:38:33.882Z,1761349113.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777121,0.612395,-0.145108],[-0.626911,0.773536,-0.092872],[0.055372,0.163142,0.985047]]
2025-10-24T23:38:33.939Z,1761349113.939 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,     -26:BD,     -124.65,     +3260.00,       +10.39,  98.07,  0.00
2025-10-24T23:38:34.267Z,1761349114.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779280,0.604835,-0.164001],[-0.620199,0.781876,-0.063431],[0.089864,0.151144,0.984419]]
2025-10-24T23:38:34.692Z,1761349114.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761471,0.626145,-0.167644],[-0.623711,0.778192,0.073505],[0.176483,0.048589,0.983104]]
2025-10-24T23:38:34.743Z,1761349114.743 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:38:34.743Z,1761349114.743 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:38:34.743Z,1761349114.743 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:38:34.744Z,1761349114.744 [marl:UpdateRudder:A] Stopped
2025-10-24T23:38:34.744Z,1761349114.744 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:38:35.078Z,1761349115.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715768,0.695517,-0.062711],[-0.687571,0.717593,0.110935],[0.122158,-0.036285,0.991847]]
2025-10-24T23:38:35.177Z,1761349115.177 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:38:35.178Z,1761349115.178 [marl:UpdateRudder:B] Stopped
2025-10-24T23:38:35.178Z,1761349115.178 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:38:35.178Z,1761349115.178 [marl:UpdateRudder] Stopped
2025-10-24T23:38:35.178Z,1761349115.178 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:38:35.478Z,1761349115.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676789,0.736097,0.010886],[-0.734922,0.674698,0.068347],[0.042965,-0.054257,0.997602]]
2025-10-24T23:38:35.912Z,1761349115.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665504,0.746181,0.017851],[-0.746345,0.664993,0.027457],[0.008617,-0.031596,0.999464]]
2025-10-24T23:38:36.288Z,1761349116.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654585,0.755808,0.016501],[-0.753654,0.654122,-0.064258],[-0.059361,0.029626,0.997797]]
2025-10-24T23:38:36.312Z,1761349116.312 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:38:36.312Z,1761349116.312 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:38:36.312Z,1761349116.312 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:38:36.313Z,1761349116.313 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:38:36.313Z,1761349116.313 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:38:36.313Z,1761349116.313 [marl:UpdateCommandMode] Stopped
2025-10-24T23:38:36.313Z,1761349116.313 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:38:36.313Z,1761349116.313 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:38:36.313Z,1761349116.313 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:38:36.313Z,1761349116.313 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:38:36.314Z,1761349116.314 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:38:36.314Z,1761349116.314 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:38:36.314Z,1761349116.314 [marl:UpdateSpeed] Stopped
2025-10-24T23:38:36.314Z,1761349116.314 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:38:36.692Z,1761349116.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673824,0.738204,-0.031874],[-0.738106,0.670492,-0.075103],[-0.034070,0.074133,0.996666]]
2025-10-24T23:38:37.098Z,1761349117.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660202,0.739341,-0.132317],[-0.739719,0.670575,0.056074],[0.130186,0.060857,0.989620]]
2025-10-24T23:38:37.500Z,1761349117.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601728,0.779028,-0.176177],[-0.771810,0.623902,0.122699],[0.205504,0.062144,0.976681]]
2025-10-24T23:38:37.930Z,1761349117.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576305,0.805816,-0.136139],[-0.793579,0.591594,0.142298],[0.195205,0.026030,0.980417]]
2025-10-24T23:38:38.306Z,1761349118.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565526,0.818473,-0.101402],[-0.809051,0.574426,0.124383],[0.160052,0.011698,0.987039]]
2025-10-24T23:38:38.710Z,1761349118.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553830,0.831391,-0.045402],[-0.824252,0.555158,0.111394],[0.117817,-0.024270,0.992739]]
2025-10-24T23:38:39.122Z,1761349119.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544215,0.838774,-0.017003],[-0.835672,0.543768,0.077255],[0.074045,-0.027834,0.996866]]
2025-10-24T23:38:39.519Z,1761349119.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492000,0.870591,-0.002581],[-0.869557,0.491556,0.047374],[0.042512,-0.021064,0.998874]]
2025-10-24T23:38:39.934Z,1761349119.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438244,0.898709,0.016250],[-0.895340,0.434862,0.096233],[0.079419,-0.056723,0.995226]]
2025-10-24T23:38:40.327Z,1761349120.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443164,0.896214,0.020160],[-0.883673,0.432960,0.177952],[0.150755,-0.096677,0.983833]]
2025-10-24T23:38:40.731Z,1761349120.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450356,0.892611,-0.020633],[-0.876450,0.446375,0.180511],[0.170336,-0.063211,0.983356]]
2025-10-24T23:38:41.147Z,1761349121.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422329,0.904826,-0.054121],[-0.899045,0.425747,0.102259],[0.115568,0.005470,0.993285]]
2025-10-24T23:38:41.538Z,1761349121.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411618,0.910166,-0.046562],[-0.910024,0.413241,0.032984],[0.049262,0.028796,0.998371]]
2025-10-24T23:38:41.942Z,1761349121.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442605,0.896367,-0.025036],[-0.895970,0.440924,-0.053145],[-0.036599,0.045954,0.998273]]
2025-10-24T23:38:42.346Z,1761349122.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445412,0.893663,-0.054540],[-0.895284,0.443981,-0.036697],[-0.008580,0.065174,0.997837]]
2025-10-24T23:38:42.752Z,1761349122.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406034,0.912739,-0.045208],[-0.909421,0.408437,0.078313],[0.089944,0.009315,0.995903]]
2025-10-24T23:38:43.158Z,1761349123.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340213,0.938042,0.065820],[-0.937648,0.333102,0.099295],[0.071218,-0.095498,0.992879]]
2025-10-24T23:38:43.558Z,1761349123.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307287,0.937345,0.164193],[-0.951523,0.305073,0.039172],[-0.013374,-0.168270,0.985650]]
2025-10-24T23:38:43.963Z,1761349123.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282455,0.943746,0.171938],[-0.957007,0.289555,-0.017182],[-0.066001,-0.159693,0.984958]]
2025-10-24T23:38:44.371Z,1761349124.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270906,0.953807,0.129859],[-0.960075,0.277500,-0.035355],[-0.069758,-0.115096,0.990902]]
2025-10-24T23:38:44.775Z,1761349124.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282270,0.958440,0.041437],[-0.957485,0.278781,0.074190],[0.059555,-0.060617,0.996383]]
2025-10-24T23:38:45.180Z,1761349125.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272417,0.960413,-0.058271],[-0.957306,0.276627,0.083926],[0.096723,0.032920,0.994767]]
2025-10-24T23:38:45.583Z,1761349125.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268409,0.962893,-0.028181],[-0.962976,0.268967,0.018258],[0.025160,0.022237,0.999436]]
2025-10-24T23:38:45.989Z,1761349125.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206274,0.978304,0.019308],[-0.978294,0.205793,0.024280],[0.019779,-0.023898,0.999519]]
2025-10-24T23:38:46.390Z,1761349126.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173531,0.977137,0.122846],[-0.984736,0.170454,0.035213],[0.013468,-0.127082,0.991801]]
2025-10-24T23:38:46.720Z,1761349126.720 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:38:46.791Z,1761349126.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240371,0.958410,0.153860],[-0.967469,0.223663,0.118232],[0.078902,-0.177275,0.980994]]
2025-10-24T23:38:47.202Z,1761349127.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248135,0.966420,0.066793],[-0.949425,0.228919,0.214913],[0.192406,-0.116742,0.974346]]
2025-10-24T23:38:47.599Z,1761349127.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206833,0.978165,0.020349],[-0.968499,0.201753,0.145965],[0.138672,-0.049898,0.989080]]
2025-10-24T23:38:47.643Z,1761349127.643 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:38:47.643Z,1761349127.643 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:38:47.644Z,1761349127.644 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:38:47.645Z,1761349127.645 [marl:UpdateRudder:A] Stopped
2025-10-24T23:38:47.645Z,1761349127.645 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:38:47.724Z,1761349127.724 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:38:48.002Z,1761349128.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175134,0.983342,0.048637],[-0.984536,0.175128,0.004412],[-0.004179,-0.048658,0.998807]]
2025-10-24T23:38:48.072Z,1761349128.072 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:38:48.072Z,1761349128.072 [marl:UpdateRudder:B] Stopped
2025-10-24T23:38:48.072Z,1761349128.072 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:38:48.072Z,1761349128.072 [marl:UpdateRudder] Stopped
2025-10-24T23:38:48.072Z,1761349128.072 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:38:48.406Z,1761349128.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142198,0.985072,0.097021],[-0.989838,0.141408,0.015001],[0.001057,-0.098168,0.995169]]
2025-10-24T23:38:48.810Z,1761349128.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136602,0.978621,0.153753],[-0.988293,0.123983,0.088913],[0.067950,-0.164099,0.984101]]
2025-10-24T23:38:49.214Z,1761349129.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154980,0.979105,0.131658],[-0.983848,0.140881,0.110436],[0.089580,-0.146647,0.985124]]
2025-10-24T23:38:49.267Z,1761349129.267 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:38:49.267Z,1761349129.267 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:38:49.267Z,1761349129.267 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:38:49.267Z,1761349129.267 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:38:49.267Z,1761349129.267 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:38:49.267Z,1761349129.267 [marl:UpdateCommandMode] Stopped
2025-10-24T23:38:49.268Z,1761349129.268 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:38:49.268Z,1761349129.268 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:38:49.268Z,1761349129.268 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:38:49.268Z,1761349129.268 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:38:49.268Z,1761349129.268 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:38:49.269Z,1761349129.269 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:38:49.269Z,1761349129.269 [marl:UpdateSpeed] Stopped
2025-10-24T23:38:49.269Z,1761349129.269 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:38:49.625Z,1761349129.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171657,0.982107,0.077462],[-0.980901,0.163085,0.106003],[0.091474,-0.094179,0.991344]]
2025-10-24T23:38:50.022Z,1761349130.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216871,0.975174,0.044748],[-0.974933,0.214028,0.060803],[0.049716,-0.056813,0.997146]]
2025-10-24T23:38:50.426Z,1761349130.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217769,0.975201,0.039482],[-0.975042,0.219169,-0.035469],[-0.043243,-0.030772,0.998591]]
2025-10-24T23:38:50.831Z,1761349130.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222983,0.973058,0.058618],[-0.969203,0.227744,-0.093694],[-0.104519,-0.035921,0.993874]]
2025-10-24T23:38:51.239Z,1761349131.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187604,0.980188,0.063530],[-0.980514,0.190720,-0.047104],[-0.058287,-0.053455,0.996868]]
2025-10-24T23:38:51.639Z,1761349131.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161429,0.982860,0.089035],[-0.985926,0.156639,0.058427],[0.043479,-0.097214,0.994313]]
2025-10-24T23:38:52.042Z,1761349132.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191668,0.970998,0.142923],[-0.977907,0.176559,0.111912],[0.083432,-0.161215,0.983386]]
2025-10-24T23:38:52.447Z,1761349132.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215641,0.967103,0.134948],[-0.974746,0.204979,0.088624],[0.058047,-0.150651,0.986881]]
2025-10-24T23:38:52.852Z,1761349132.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273663,0.959118,0.072115],[-0.961777,0.272124,0.030558],[0.009685,-0.077721,0.996928]]
2025-10-24T23:38:53.255Z,1761349133.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311378,0.950124,-0.017535],[-0.950285,0.311297,-0.007265],[-0.001444,0.018926,0.999820]]
2025-10-24T23:38:53.662Z,1761349133.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316048,0.948049,-0.036290],[-0.948532,0.314939,-0.033187],[-0.020033,0.044911,0.998790]]
2025-10-24T23:38:54.062Z,1761349134.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274177,0.961607,0.011757],[-0.960016,0.274401,-0.055436],[-0.056534,0.003913,0.998393]]
2025-10-24T23:38:54.468Z,1761349134.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274286,0.954166,0.119729],[-0.961413,0.274838,0.012209],[-0.021257,-0.118457,0.992732]]
2025-10-24T23:38:54.870Z,1761349134.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307894,0.927247,0.213108],[-0.950995,0.293233,0.098101],[0.028474,-0.232869,0.972091]]
2025-10-24T23:38:54.935Z,1761349134.935 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:38:54.935Z,1761349134.935 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:38:55.274Z,1761349135.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349817,0.910826,0.219145],[-0.936537,0.334285,0.105601],[0.022928,-0.242178,0.969961]]
2025-10-24T23:38:55.682Z,1761349135.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352019,0.927303,0.127245],[-0.935092,0.342455,0.091252],[0.041043,-0.151108,0.987665]]
2025-10-24T23:38:56.085Z,1761349136.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335534,0.941332,0.036209],[-0.942023,0.335411,0.009585],[-0.003123,-0.037326,0.999298]]
2025-10-24T23:38:56.486Z,1761349136.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347567,0.936677,-0.042814],[-0.937649,0.347371,-0.012174],[0.003469,0.044376,0.999009]]
2025-10-24T23:38:56.894Z,1761349136.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354550,0.931159,-0.085068],[-0.932084,0.359189,0.046933],[0.074258,0.062651,0.995269]]
2025-10-24T23:38:57.302Z,1761349137.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354239,0.934543,-0.033825],[-0.933294,0.355583,0.050224],[0.058964,0.013778,0.998165]]
2025-10-24T23:38:57.699Z,1761349137.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365665,0.930282,0.029412],[-0.930178,0.364155,0.046470],[0.032520,-0.044351,0.998487]]
2025-10-24T23:38:57.736Z,1761349137.736 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:38:58.107Z,1761349138.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404489,0.913536,0.042904],[-0.913864,0.401936,0.057449],[0.035237,-0.062446,0.997426]]
2025-10-24T23:38:58.506Z,1761349138.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458347,0.888699,0.011489],[-0.888675,0.458066,0.020792],[0.013216,-0.019740,0.999718]]
2025-10-24T23:38:58.918Z,1761349138.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449671,0.892649,-0.031210],[-0.893033,0.449980,0.003307],[0.016995,0.026384,0.999507]]
2025-10-24T23:38:59.314Z,1761349139.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416380,0.909190,0.001176],[-0.908320,0.415924,0.044299],[0.039787,-0.019514,0.999018]]
2025-10-24T23:38:59.726Z,1761349139.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457630,0.888964,0.017835],[-0.882649,0.451777,0.129727],[0.107266,-0.075109,0.991389]]
2025-10-24T23:39:00.130Z,1761349140.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470173,0.881977,-0.032472],[-0.866588,0.468315,0.172357],[0.167222,-0.052897,0.984499]]
2025-10-24T23:39:00.534Z,1761349140.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423763,0.905001,-0.037388],[-0.895606,0.424817,0.131987],[0.135332,-0.022446,0.990546]]
2025-10-24T23:39:00.591Z,1761349140.591 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:39:00.591Z,1761349140.591 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:39:00.591Z,1761349140.591 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:39:00.591Z,1761349140.591 [marl:UpdateRudder:A] Stopped
2025-10-24T23:39:00.596Z,1761349140.596 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:39:00.943Z,1761349140.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422288,0.906457,-0.002927],[-0.904893,0.421745,0.057440],[0.053301,-0.021608,0.998345]]
2025-10-24T23:39:00.980Z,1761349140.980 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:39:00.980Z,1761349140.980 [marl:UpdateRudder:B] Stopped
2025-10-24T23:39:00.981Z,1761349140.981 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:39:00.981Z,1761349140.981 [marl:UpdateRudder] Stopped
2025-10-24T23:39:00.981Z,1761349140.981 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:39:01.343Z,1761349141.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444157,0.895877,0.011353],[-0.892889,0.443651,-0.076963],[-0.073986,0.024047,0.996969]]
2025-10-24T23:39:01.746Z,1761349141.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442387,0.895244,0.053226],[-0.886760,0.445517,-0.123170],[-0.133980,0.007290,0.990957]]
2025-10-24T23:39:02.150Z,1761349142.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463804,0.881808,0.085436],[-0.878948,0.470090,-0.080405],[-0.111065,-0.037801,0.993094]]
2025-10-24T23:39:02.217Z,1761349142.217 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:39:02.217Z,1761349142.217 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:39:02.217Z,1761349142.217 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:39:02.217Z,1761349142.217 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:39:02.217Z,1761349142.217 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:39:02.217Z,1761349142.217 [marl:UpdateCommandMode] Stopped
2025-10-24T23:39:02.217Z,1761349142.217 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:39:02.217Z,1761349142.217 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:39:02.218Z,1761349142.218 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:39:02.218Z,1761349142.218 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:39:02.218Z,1761349142.218 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:39:02.218Z,1761349142.218 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:39:02.218Z,1761349142.218 [marl:UpdateSpeed] Stopped
2025-10-24T23:39:02.218Z,1761349142.218 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:39:02.555Z,1761349142.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464225,0.883473,0.063020],[-0.885603,0.464131,0.017010],[-0.014222,-0.063708,0.997867]]
2025-10-24T23:39:02.958Z,1761349142.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443383,0.895191,0.045224],[-0.889375,0.433107,0.146390],[0.111460,-0.105128,0.988193]]
2025-10-24T23:39:03.362Z,1761349143.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424047,0.902417,0.076344],[-0.897692,0.407685,0.167160],[0.119723,-0.139417,0.982970]]
2025-10-24T23:39:03.766Z,1761349143.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415448,0.898631,0.140944],[-0.909451,0.407396,0.083229],[0.017372,-0.162759,0.986513]]
2025-10-24T23:39:04.170Z,1761349144.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416664,0.893339,0.168336],[-0.906776,0.421548,0.007338],[-0.064406,-0.155700,0.985702]]
2025-10-24T23:39:04.579Z,1761349144.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411856,0.906301,0.094832],[-0.909694,0.414998,-0.015294],[-0.053216,-0.079969,0.995376]]
2025-10-24T23:39:04.982Z,1761349144.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410049,0.911707,-0.025494],[-0.911689,0.408920,-0.040107],[-0.026141,0.039688,0.998870]]
2025-10-24T23:39:05.382Z,1761349145.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399329,0.914783,-0.060892],[-0.915885,0.395067,-0.071257],[-0.041128,0.084225,0.995598]]
2025-10-24T23:39:05.787Z,1761349145.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381489,0.921953,-0.066853],[-0.924053,0.382262,-0.001334],[0.024326,0.062284,0.997762]]
2025-10-24T23:39:06.191Z,1761349146.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398513,0.915368,-0.057343],[-0.907047,0.402607,0.123182],[0.135844,0.002923,0.990726]]
2025-10-24T23:39:06.600Z,1761349146.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439939,0.897983,-0.008949],[-0.888560,0.436723,0.140478],[0.130055,-0.053850,0.990043]]
2025-10-24T23:39:07.000Z,1761349147.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422077,0.904194,0.065452],[-0.905053,0.416114,0.087914],[0.052256,-0.096344,0.993975]]
2025-10-24T23:39:07.402Z,1761349147.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405507,0.899484,0.162764],[-0.914087,0.399626,0.068882],[-0.003086,-0.176712,0.984258]]
2025-10-24T23:39:07.807Z,1761349147.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452624,0.880212,0.142681],[-0.889614,0.434804,0.139758],[0.060979,-0.190189,0.979852]]
2025-10-24T23:39:08.211Z,1761349148.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442101,0.896147,0.038297],[-0.882436,0.426890,0.197664],[0.160788,-0.121182,0.979521]]
2025-10-24T23:39:08.615Z,1761349148.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401574,0.915456,-0.026034],[-0.901652,0.400181,0.163947],[0.160504,-0.042363,0.986126]]
2025-10-24T23:39:09.018Z,1761349149.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407213,0.912242,-0.044629],[-0.900871,0.409221,0.144805],[0.150360,-0.018762,0.988453]]
2025-10-24T23:39:09.423Z,1761349149.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433634,0.898834,-0.063710],[-0.890251,0.438280,0.123950],[0.139333,0.002969,0.990241]]
2025-10-24T23:39:09.827Z,1761349149.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443882,0.889831,-0.105690],[-0.885620,0.453609,0.099583],[0.136554,0.049397,0.989400]]
2025-10-24T23:39:10.230Z,1761349150.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420556,0.902006,-0.097556],[-0.890313,0.430994,0.146925],[0.174573,0.025065,0.984325]]
2025-10-24T23:39:10.634Z,1761349150.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379807,0.923641,-0.051325],[-0.907442,0.382775,0.173296],[0.179709,-0.019245,0.983531]]
2025-10-24T23:39:11.038Z,1761349151.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377327,0.925361,0.036488],[-0.920230,0.370231,0.126909],[0.103928,-0.081463,0.991243]]
2025-10-24T23:39:11.445Z,1761349151.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406053,0.911610,0.063943],[-0.911371,0.398808,0.101761],[0.067265,-0.099596,0.992752]]
2025-10-24T23:39:11.850Z,1761349151.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388204,0.921537,-0.008191],[-0.910964,0.385065,0.147881],[0.139432,-0.049947,0.988971]]
2025-10-24T23:39:12.250Z,1761349152.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349085,0.936354,-0.037158],[-0.921512,0.350212,0.167831],[0.170162,-0.024345,0.985115]]
2025-10-24T23:39:12.658Z,1761349152.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349010,0.935170,0.060410],[-0.931582,0.339229,0.130686],[0.101721,-0.101887,0.989582]]
2025-10-24T23:39:13.064Z,1761349153.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340971,0.934345,0.103628],[-0.936742,0.328421,0.121052],[0.079071,-0.138348,0.987222]]
2025-10-24T23:39:13.462Z,1761349153.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311306,0.948178,0.063623],[-0.943026,0.299953,0.143982],[0.117437,-0.104820,0.987533]]
2025-10-24T23:39:13.493Z,1761349153.493 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:39:13.493Z,1761349153.493 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:39:13.493Z,1761349153.493 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:39:13.493Z,1761349153.493 [marl:UpdateRudder:A] Stopped
2025-10-24T23:39:13.493Z,1761349153.493 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:39:13.882Z,1761349153.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295734,0.953436,0.059164],[-0.952527,0.289629,0.093851],[0.072345,-0.084110,0.993827]]
2025-10-24T23:39:13.974Z,1761349153.974 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:39:13.974Z,1761349153.974 [marl:UpdateRudder:B] Stopped
2025-10-24T23:39:13.974Z,1761349153.974 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:39:13.974Z,1761349153.974 [marl:UpdateRudder] Stopped
2025-10-24T23:39:13.974Z,1761349153.974 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:39:14.270Z,1761349154.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305415,0.947884,0.090758],[-0.950379,0.309361,-0.032809],[-0.059176,-0.076234,0.995332]]
2025-10-24T23:39:14.703Z,1761349154.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323694,0.944290,0.059481],[-0.940878,0.327884,-0.085094],[-0.099856,-0.028420,0.994596]]
2025-10-24T23:39:15.082Z,1761349155.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283050,0.958161,0.042541],[-0.956686,0.285207,-0.058390],[-0.068080,-0.024171,0.997387]]
2025-10-24T23:39:15.118Z,1761349155.118 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:39:15.118Z,1761349155.118 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:39:15.118Z,1761349155.118 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:39:15.118Z,1761349155.118 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:39:15.118Z,1761349155.118 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:39:15.118Z,1761349155.118 [marl:UpdateCommandMode] Stopped
2025-10-24T23:39:15.119Z,1761349155.119 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:39:15.119Z,1761349155.119 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:39:15.119Z,1761349155.119 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:39:15.119Z,1761349155.119 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:39:15.119Z,1761349155.119 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:39:15.119Z,1761349155.119 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:39:15.119Z,1761349155.119 [marl:UpdateSpeed] Stopped
2025-10-24T23:39:15.119Z,1761349155.119 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:39:15.482Z,1761349155.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236211,0.966615,0.099293],[-0.971689,0.234442,0.029292],[0.005036,-0.103401,0.994627]]
2025-10-24T23:39:15.923Z,1761349155.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235032,0.958453,0.161642],[-0.971917,0.229738,0.050973],[0.011720,-0.169083,0.985532]]
2025-10-24T23:39:16.290Z,1761349156.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293643,0.948213,0.121102],[-0.955903,0.291910,0.032217],[-0.004802,-0.125222,0.992117]]
2025-10-24T23:39:16.695Z,1761349156.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312718,0.949662,-0.018707],[-0.949838,0.312738,-0.001935],[0.004013,0.018374,0.999823]]
2025-10-24T23:39:17.098Z,1761349157.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261681,0.956774,-0.126908],[-0.965150,0.259824,-0.031270],[0.003055,0.130668,0.991422]]
2025-10-24T23:39:17.503Z,1761349157.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266446,0.959543,-0.091021],[-0.963653,0.267110,-0.005036],[0.019481,0.089054,0.995836]]
2025-10-24T23:39:17.848Z,1761349157.848 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:39:17.933Z,1761349157.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278828,0.959472,0.040850],[-0.959803,0.279843,-0.021580],[-0.032137,-0.033190,0.998932]]
2025-10-24T23:39:18.310Z,1761349158.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219142,0.949097,0.226257],[-0.974640,0.223710,0.005577],[-0.045323,-0.221741,0.974052]]
2025-10-24T23:39:18.355Z,1761349158.355 [marl:SendObservationData] Running Loop=1
2025-10-24T23:39:18.355Z,1761349158.355 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:39:18.355Z,1761349158.355 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:39:18.356Z,1761349158.356 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:39:18.358Z,1761349158.358 [marl:SendObservationData:A](INFO): Got test_good :  41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:39:18.358Z,1761349158.358 [marl:SendObservationData:A] Stopped
2025-10-24T23:39:18.358Z,1761349158.358 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:39:18.714Z,1761349158.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216863,0.906023,0.363447],[-0.975979,0.209190,0.060870],[-0.020880,-0.367917,0.929624]]
2025-10-24T23:39:18.741Z,1761349158.741 [marl:SendObservationData:B] Stopped
2025-10-24T23:39:18.741Z,1761349158.741 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:39:18.852Z,1761349158.852 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:39:19.120Z,1761349159.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210862,0.933794,0.289077],[-0.976594,0.188399,0.103781],[0.042448,-0.304194,0.951664]]
2025-10-24T23:39:19.153Z,1761349159.153 [marl:SendObservationData:C] Stopped
2025-10-24T23:39:19.153Z,1761349159.153 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:39:19.522Z,1761349159.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237170,0.963188,0.126570],[-0.960283,0.212727,0.180564],[0.146993,-0.164367,0.975385]]
2025-10-24T23:39:19.567Z,1761349159.567 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.012342 min 
2025-10-24T23:39:19.567Z,1761349159.567 [marl:SendObservationData:E] Stopped
2025-10-24T23:39:19.568Z,1761349159.568 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:39:19.568Z,1761349159.568 [marl:SendObservationData] Stopped
2025-10-24T23:39:19.568Z,1761349159.568 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:39:19.568Z,1761349159.568 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:39:19.935Z,1761349159.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291186,0.955644,-0.044226],[-0.934031,0.293989,0.202870],[0.206873,-0.017764,0.978206]]
2025-10-24T23:39:20.331Z,1761349160.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260100,0.960480,-0.099125],[-0.961749,0.266837,0.061943],[0.085946,0.079222,0.993145]]
2025-10-24T23:39:20.735Z,1761349160.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226583,0.972735,-0.049458],[-0.973734,0.225062,-0.034482],[-0.022410,0.055972,0.998181]]
2025-10-24T23:39:21.138Z,1761349161.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246069,0.969227,0.007081],[-0.969249,0.246043,0.004282],[0.002408,-0.007917,0.999966]]
2025-10-24T23:39:21.546Z,1761349161.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254416,0.966730,0.026565],[-0.966955,0.254750,-0.009993],[-0.016428,-0.023145,0.999597]]
2025-10-24T23:39:21.946Z,1761349161.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222907,0.972966,0.060406],[-0.974720,0.223421,-0.001800],[-0.015248,-0.058478,0.998172]]
2025-10-24T23:39:22.352Z,1761349162.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199920,0.976525,0.080190],[-0.974875,0.190039,0.116208],[0.098241,-0.101407,0.989982]]
2025-10-24T23:39:22.754Z,1761349162.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242829,0.965599,0.093016],[-0.957658,0.223328,0.181704],[0.154681,-0.133200,0.978944]]
2025-10-24T23:39:23.159Z,1761349163.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314566,0.947562,0.056339],[-0.937851,0.301080,0.172589],[0.146577,-0.107128,0.983381]]
2025-10-24T23:39:23.567Z,1761349163.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313622,0.949479,-0.011461],[-0.937422,0.311518,0.155551],[0.151262,-0.038040,0.987761]]
2025-10-24T23:39:23.968Z,1761349163.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251648,0.967067,-0.038140],[-0.959746,0.254434,0.118956],[0.124742,0.006670,0.992167]]
2025-10-24T23:39:24.370Z,1761349164.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268010,0.963352,-0.011123],[-0.956713,0.267487,0.114673],[0.113445,-0.020092,0.993341]]
2025-10-24T23:39:24.774Z,1761349164.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286071,0.957906,-0.024073],[-0.943836,0.286026,0.165417],[0.165339,-0.024600,0.985930]]
2025-10-24T23:39:25.178Z,1761349165.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239794,0.968820,-0.062344],[-0.943852,0.247683,0.218625],[0.227249,0.006418,0.973816]]
2025-10-24T23:39:25.584Z,1761349165.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239693,0.969971,-0.041278],[-0.934242,0.242012,0.261957],[0.264081,-0.024225,0.964196]]
2025-10-24T23:39:25.987Z,1761349165.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264738,0.964267,-0.010101],[-0.931641,0.258456,0.255432],[0.248915,-0.058212,0.966774]]
2025-10-24T23:39:26.391Z,1761349166.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257088,0.966322,0.011276],[-0.936880,0.246359,0.248118],[0.236984,-0.074353,0.968664]]
2025-10-24T23:39:26.449Z,1761349166.449 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:39:26.449Z,1761349166.449 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:39:26.449Z,1761349166.449 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:39:26.449Z,1761349166.449 [marl:UpdateRudder:A] Stopped
2025-10-24T23:39:26.449Z,1761349166.449 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:39:26.794Z,1761349166.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260572,0.965185,0.022791],[-0.926745,0.243437,0.286152],[0.270642,-0.095685,0.957913]]
2025-10-24T23:39:26.846Z,1761349166.846 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:39:26.846Z,1761349166.846 [marl:UpdateRudder:B] Stopped
2025-10-24T23:39:26.846Z,1761349166.846 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:39:26.846Z,1761349166.846 [marl:UpdateRudder] Stopped
2025-10-24T23:39:26.846Z,1761349166.846 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:39:27.200Z,1761349167.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260686,0.965404,0.006171],[-0.918032,0.245906,0.311043],[0.298765,-0.086750,0.950376]]
2025-10-24T23:39:27.602Z,1761349167.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247851,0.968423,0.026973],[-0.926192,0.228694,0.299778],[0.284143,-0.099283,0.953628]]
2025-10-24T23:39:28.006Z,1761349168.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226107,0.969059,0.098995],[-0.957774,0.202636,0.203981],[0.177609,-0.140937,0.973957]]
2025-10-24T23:39:28.112Z,1761349168.112 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:39:28.112Z,1761349168.112 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:39:28.112Z,1761349168.112 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:39:28.113Z,1761349168.113 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:39:28.113Z,1761349168.113 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:39:28.113Z,1761349168.113 [marl:UpdateCommandMode] Stopped
2025-10-24T23:39:28.113Z,1761349168.113 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:39:28.113Z,1761349168.113 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:39:28.113Z,1761349168.113 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:39:28.113Z,1761349168.113 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:39:28.114Z,1761349168.114 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:39:28.114Z,1761349168.114 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:39:28.114Z,1761349168.114 [marl:UpdateSpeed] Stopped
2025-10-24T23:39:28.114Z,1761349168.114 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:39:28.412Z,1761349168.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244682,0.959803,0.137512],[-0.968800,0.236236,0.074961],[0.039462,-0.151564,0.987659]]
2025-10-24T23:39:28.814Z,1761349168.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249938,0.963530,0.095613],[-0.968262,0.248653,0.025318],[0.000620,-0.098906,0.995097]]
2025-10-24T23:39:29.223Z,1761349169.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222633,0.974119,0.039063],[-0.974123,0.220675,0.048849],[0.038965,-0.048927,0.998042]]
2025-10-24T23:39:29.630Z,1761349169.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238635,0.969875,0.048945],[-0.965804,0.231769,0.116212],[0.101367,-0.075004,0.992018]]
2025-10-24T23:39:30.048Z,1761349170.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291685,0.955028,0.053307],[-0.953671,0.286072,0.093140],[0.073702,-0.078005,0.994225]]
2025-10-24T23:39:30.437Z,1761349170.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280482,0.959684,0.018345],[-0.956163,0.277675,0.093004],[0.084161,-0.043627,0.995497]]
2025-10-24T23:39:30.838Z,1761349170.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259782,0.964915,0.038102],[-0.964134,0.256944,0.066531],[0.054407,-0.054019,0.997057]]
2025-10-24T23:39:31.241Z,1761349171.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320508,0.942447,0.095230],[-0.947239,0.318502,0.035981],[0.003579,-0.101738,0.994805]]
2025-10-24T23:39:31.642Z,1761349171.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318833,0.943843,0.086640],[-0.946821,0.312989,0.074621],[0.043314,-0.105824,0.993441]]
2025-10-24T23:39:32.052Z,1761349172.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294756,0.950717,0.096209],[-0.954439,0.288006,0.078097],[0.046539,-0.114845,0.992293]]
2025-10-24T23:39:32.451Z,1761349172.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345189,0.936295,0.064781],[-0.937518,0.340785,0.070180],[0.043633,-0.084959,0.995429]]
2025-10-24T23:39:32.857Z,1761349172.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386687,0.922210,0.001021],[-0.921774,0.386470,0.031201],[0.028379,-0.013006,0.999513]]
2025-10-24T23:39:33.258Z,1761349173.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349188,0.937019,-0.007961],[-0.937036,0.349220,0.003007],[0.005598,0.006410,0.999964]]
2025-10-24T23:39:33.666Z,1761349173.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316898,0.945822,0.070686],[-0.946754,0.319916,-0.036205],[-0.056857,-0.055449,0.996841]]
2025-10-24T23:39:34.068Z,1761349174.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331032,0.935619,0.122621],[-0.940301,0.337959,-0.040215],[-0.079067,-0.101988,0.991638]]
2025-10-24T23:39:34.472Z,1761349174.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328666,0.940500,0.086243],[-0.944358,0.326017,0.043591],[0.012881,-0.095772,0.995320]]
2025-10-24T23:39:34.874Z,1761349174.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350430,0.935617,0.042662],[-0.931159,0.343138,0.123288],[0.100711,-0.082928,0.991454]]
2025-10-24T23:39:35.278Z,1761349175.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379136,0.925198,-0.016276],[-0.911835,0.376538,0.163636],[0.157525,-0.047199,0.986386]]
2025-10-24T23:39:35.685Z,1761349175.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366625,0.928868,-0.052825],[-0.914753,0.370249,0.161685],[0.169742,-0.010956,0.985428]]
2025-10-24T23:39:36.098Z,1761349176.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358696,0.933425,-0.007407],[-0.930453,0.358167,0.077292],[0.074799,-0.020833,0.996981]]
2025-10-24T23:39:36.490Z,1761349176.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369259,0.924430,0.095273],[-0.928811,0.370524,0.004697],[-0.030959,-0.090225,0.995440]]
2025-10-24T23:39:36.894Z,1761349176.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367629,0.915381,0.164094],[-0.929615,0.366615,0.037546],[-0.025791,-0.166347,0.985730]]
2025-10-24T23:39:37.298Z,1761349177.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401676,0.899929,0.169661],[-0.915765,0.395828,0.068509],[-0.005503,-0.182888,0.983118]]
2025-10-24T23:39:37.704Z,1761349177.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435298,0.892704,0.116597],[-0.899637,0.436239,0.018677],[-0.034191,-0.113025,0.993004]]
2025-10-24T23:39:38.106Z,1761349178.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410632,0.909456,0.065357],[-0.909567,0.413587,-0.040417],[-0.063789,-0.042850,0.997043]]
2025-10-24T23:39:38.514Z,1761349178.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401213,0.915443,0.031504],[-0.915612,0.401793,-0.014720],[-0.026133,-0.022940,0.999395]]
2025-10-24T23:39:38.915Z,1761349178.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433672,0.900534,0.031080],[-0.900565,0.432015,0.048435],[0.030191,-0.048994,0.998343]]
2025-10-24T23:39:39.320Z,1761349179.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453098,0.890300,0.045477],[-0.889352,0.447930,0.091715],[0.061284,-0.082002,0.994746]]
2025-10-24T23:39:39.345Z,1761349179.345 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:39:39.345Z,1761349179.345 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:39:39.345Z,1761349179.345 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:39:39.346Z,1761349179.346 [marl:UpdateRudder:A] Stopped
2025-10-24T23:39:39.346Z,1761349179.346 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:39:39.740Z,1761349179.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459692,0.887901,0.017738],[-0.877642,0.451145,0.161903],[0.135751,-0.089993,0.986647]]
2025-10-24T23:39:39.779Z,1761349179.779 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:39:39.779Z,1761349179.779 [marl:UpdateRudder:B] Stopped
2025-10-24T23:39:39.796Z,1761349179.796 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:39:39.796Z,1761349179.796 [marl:UpdateRudder] Stopped
2025-10-24T23:39:39.796Z,1761349179.796 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:39:40.126Z,1761349180.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442701,0.896667,-0.001759],[-0.883377,0.436474,0.170690],[0.153820,-0.074011,0.985323]]
2025-10-24T23:39:40.534Z,1761349180.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438573,0.898498,0.018829],[-0.896436,0.435890,0.080012],[0.063684,-0.051970,0.996616]]
2025-10-24T23:39:40.936Z,1761349180.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464045,0.885121,0.034983],[-0.884037,0.465252,-0.044939],[-0.056053,-0.010073,0.998377]]
2025-10-24T23:39:40.983Z,1761349180.983 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:39:40.983Z,1761349180.983 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:39:40.983Z,1761349180.983 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:39:40.983Z,1761349180.983 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:39:40.983Z,1761349180.983 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:39:40.983Z,1761349180.983 [marl:UpdateCommandMode] Stopped
2025-10-24T23:39:40.983Z,1761349180.983 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:39:40.983Z,1761349180.983 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:39:40.000Z,1761349181.000 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:39:41.000Z,1761349181.000 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:39:41.001Z,1761349181.001 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:39:41.001Z,1761349181.001 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:39:41.001Z,1761349181.001 [marl:UpdateSpeed] Stopped
2025-10-24T23:39:41.001Z,1761349181.001 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:39:41.339Z,1761349181.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461338,0.886022,0.046179],[-0.883485,0.463545,-0.067679],[-0.081371,-0.009575,0.996638]]
2025-10-24T23:39:41.742Z,1761349181.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473260,0.878194,0.069292],[-0.880409,0.474205,0.003143],[-0.030098,-0.062493,0.997591]]
2025-10-24T23:39:42.147Z,1761349182.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496156,0.865501,0.068824],[-0.868201,0.493887,0.047993],[0.007546,-0.083565,0.996474]]
2025-10-24T23:39:42.553Z,1761349182.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517498,0.855020,0.033712],[-0.855684,0.517154,0.018905],[-0.001270,-0.038630,0.999253]]
2025-10-24T23:39:42.955Z,1761349182.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530663,0.847450,-0.015041],[-0.847443,0.530814,0.008767],[0.015414,0.008094,0.999848]]
2025-10-24T23:39:43.358Z,1761349183.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510475,0.857183,-0.068203],[-0.857013,0.513649,0.041153],[0.070308,0.037443,0.996822]]
2025-10-24T23:39:43.762Z,1761349183.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522964,0.852320,-0.007701],[-0.850575,0.522435,0.059862],[0.055045,-0.024756,0.998177]]
2025-10-24T23:39:44.172Z,1761349184.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503648,0.859223,0.089861],[-0.863822,0.502344,0.038245],[-0.012280,-0.096886,0.995220]]
2025-10-24T23:39:44.571Z,1761349184.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490263,0.855778,0.165185],[-0.868726,0.495115,0.013290],[-0.070412,-0.150016,0.986173]]
2025-10-24T23:39:44.975Z,1761349184.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507786,0.850544,0.136849],[-0.856597,0.515389,-0.024792],[-0.091617,-0.104636,0.990282]]
2025-10-24T23:39:45.379Z,1761349185.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534770,0.844664,0.023739],[-0.844971,0.534764,0.007111],[-0.006689,-0.023861,0.999693]]
2025-10-24T23:39:45.784Z,1761349185.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556653,0.826552,-0.083364],[-0.823637,0.562203,0.074495],[0.108442,0.027194,0.993731]]
2025-10-24T23:39:46.190Z,1761349186.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566557,0.816347,-0.112209],[-0.811096,0.576500,0.098852],[0.145386,0.035007,0.988756]]
2025-10-24T23:39:46.590Z,1761349186.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540630,0.836817,-0.086358],[-0.837568,0.545021,0.037843],[0.078734,0.051871,0.995545]]
2025-10-24T23:39:46.999Z,1761349186.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497303,0.867508,0.010928],[-0.865497,0.496943,-0.062952],[-0.060042,0.021848,0.997957]]
2025-10-24T23:39:47.398Z,1761349187.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490142,0.871245,0.026327],[-0.871371,0.490520,-0.010137],[-0.021746,-0.017972,0.999602]]
2025-10-24T23:39:47.802Z,1761349187.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529229,0.848468,-0.004371],[-0.842293,0.525984,0.117823],[0.102268,-0.058674,0.993025]]
2025-10-24T23:39:48.211Z,1761349188.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523734,0.851700,-0.017590],[-0.837050,0.518342,0.175128],[0.158274,-0.076996,0.984389]]
2025-10-24T23:39:48.612Z,1761349188.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491545,0.870532,-0.023620],[-0.860131,0.489557,0.143207],[0.136229,-0.050076,0.989411]]
2025-10-24T23:39:48.972Z,1761349188.972 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:39:49.018Z,1761349189.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507987,0.860684,-0.034228],[-0.854711,0.508595,0.103924],[0.106854,-0.023537,0.993996]]
2025-10-24T23:39:49.419Z,1761349189.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522182,0.848159,-0.089172],[-0.841958,0.529343,0.104421],[0.135768,0.020552,0.990527]]
2025-10-24T23:39:49.822Z,1761349189.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495229,0.860489,-0.119615],[-0.853420,0.507611,0.118342],[0.162550,0.043476,0.985742]]
2025-10-24T23:39:49.976Z,1761349189.976 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:39:50.235Z,1761349190.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494800,0.862558,-0.105675],[-0.848690,0.505787,0.154615],[0.186814,0.013181,0.982307]]
2025-10-24T23:39:50.630Z,1761349190.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479941,0.871569,-0.100127],[-0.848695,0.490164,0.198633],[0.222201,-0.010355,0.974946]]
2025-10-24T23:39:51.035Z,1761349191.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452296,0.885893,-0.103059],[-0.849724,0.463138,0.251936],[0.270919,-0.026378,0.962241]]
2025-10-24T23:39:51.440Z,1761349191.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426973,0.898540,-0.101583],[-0.831477,0.434277,0.346482],[0.355443,-0.063475,0.932540]]
2025-10-24T23:39:51.849Z,1761349191.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429746,0.901240,-0.055541],[-0.832836,0.419390,0.361241],[0.348859,-0.108986,0.930817]]
2025-10-24T23:39:52.250Z,1761349192.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427486,0.903358,-0.034642],[-0.862269,0.418955,0.284550],[0.271564,-0.091770,0.958035]]
2025-10-24T23:39:52.304Z,1761349192.304 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:39:52.304Z,1761349192.304 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:39:52.304Z,1761349192.304 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:39:52.305Z,1761349192.305 [marl:UpdateRudder:A] Stopped
2025-10-24T23:39:52.305Z,1761349192.305 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:39:52.653Z,1761349192.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404821,0.913867,-0.031111],[-0.884000,0.399836,0.242228],[0.233803,-0.070557,0.969720]]
2025-10-24T23:39:52.705Z,1761349192.705 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:39:52.705Z,1761349192.705 [marl:UpdateRudder:B] Stopped
2025-10-24T23:39:52.705Z,1761349192.705 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:39:52.706Z,1761349192.706 [marl:UpdateRudder] Stopped
2025-10-24T23:39:52.706Z,1761349192.706 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:39:53.054Z,1761349193.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449883,0.892516,-0.031940],[-0.872219,0.446776,0.199060],[0.191935,-0.061695,0.979467]]
2025-10-24T23:39:53.460Z,1761349193.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465630,0.881668,-0.076490],[-0.874397,0.471667,0.113842],[0.136449,0.013875,0.990550]]
2025-10-24T23:39:53.879Z,1761349193.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408219,0.908237,-0.091996],[-0.898956,0.417481,0.132620],[0.158857,0.028563,0.986888]]
2025-10-24T23:39:53.955Z,1761349193.955 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:39:53.960Z,1761349193.960 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:39:53.960Z,1761349193.960 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:39:53.960Z,1761349193.960 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:39:53.960Z,1761349193.960 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:39:53.961Z,1761349193.961 [marl:UpdateCommandMode] Stopped
2025-10-24T23:39:53.961Z,1761349193.961 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:39:53.961Z,1761349193.961 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:39:53.961Z,1761349193.961 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:39:53.961Z,1761349193.961 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:39:53.961Z,1761349193.961 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:39:53.961Z,1761349193.961 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:39:53.961Z,1761349193.961 [marl:UpdateSpeed] Stopped
2025-10-24T23:39:53.961Z,1761349193.961 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:39:54.270Z,1761349194.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408529,0.910706,-0.060974],[-0.879686,0.410669,0.239801],[0.243428,-0.044328,0.968905]]
2025-10-24T23:39:54.675Z,1761349194.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478128,0.877841,-0.028086],[-0.844265,0.468184,0.260806],[0.242096,-0.100986,0.964983]]
2025-10-24T23:39:55.075Z,1761349195.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504745,0.863251,-0.005491],[-0.845719,0.495750,0.197461],[0.173180,-0.095023,0.980295]]
2025-10-24T23:39:55.157Z,1761349195.157 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:39:55.157Z,1761349195.157 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:39:55.484Z,1761349195.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481652,0.876241,-0.014618],[-0.868020,0.479296,0.129678],[0.120636,-0.049771,0.991448]]
2025-10-24T23:39:55.911Z,1761349195.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477770,0.878238,-0.020837],[-0.872762,0.477227,0.102663],[0.100107,-0.030864,0.994498]]
2025-10-24T23:39:56.297Z,1761349196.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487541,0.872203,-0.039568],[-0.865146,0.488706,0.112645],[0.117587,-0.020687,0.992847]]
2025-10-24T23:39:56.691Z,1761349196.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507806,0.859250,-0.061832],[-0.845580,0.510875,0.154923],[0.164706,-0.026387,0.985990]]
2025-10-24T23:39:57.094Z,1761349197.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525263,0.845995,-0.091607],[-0.824589,0.532622,0.190702],[0.210125,-0.024630,0.977364]]
2025-10-24T23:39:57.504Z,1761349197.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530132,0.845338,-0.066059],[-0.833143,0.533792,0.144703],[0.157585,-0.021675,0.987268]]
2025-10-24T23:39:57.928Z,1761349197.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542520,0.840006,0.007906],[-0.838311,0.540774,0.069269],[0.053911,-0.044207,0.997567]]
2025-10-24T23:39:57.000Z,1761349198.000 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:39:58.310Z,1761349198.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525391,0.850246,0.032348],[-0.850749,0.524327,0.036151],[0.013776,-0.046514,0.998823]]
2025-10-24T23:39:58.711Z,1761349198.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491977,0.868234,0.064260],[-0.869218,0.494021,-0.020083],[-0.049183,-0.045976,0.997731]]
2025-10-24T23:39:59.114Z,1761349199.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479867,0.875618,0.054968],[-0.872030,0.482908,-0.079767],[-0.096390,-0.009656,0.995297]]
2025-10-24T23:39:59.520Z,1761349199.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504811,0.863085,-0.015813],[-0.863230,0.504748,-0.008035],[0.001047,0.017707,0.999843]]
2025-10-24T23:39:59.934Z,1761349199.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532888,0.844234,-0.057449],[-0.844087,0.535118,0.034133],[0.059558,0.030303,0.997765]]
2025-10-24T23:40:00.331Z,1761349200.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543361,0.837218,-0.061841],[-0.837940,0.545366,0.020792],[0.051134,0.040522,0.997869]]
2025-10-24T23:40:00.730Z,1761349200.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531363,0.841762,-0.095338],[-0.840321,0.537990,0.066541],[0.107303,0.044757,0.993218]]
2025-10-24T23:40:01.136Z,1761349201.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496567,0.865488,-0.065973],[-0.863252,0.500361,0.066593],[0.090646,0.023883,0.995597]]
2025-10-24T23:40:01.539Z,1761349201.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459178,0.887124,0.046541],[-0.888276,0.457860,0.036472],[0.011046,-0.058088,0.998250]]
2025-10-24T23:40:01.943Z,1761349201.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413912,0.891851,0.182423],[-0.910289,0.407067,0.075299],[-0.007103,-0.197224,0.980333]]
2025-10-24T23:40:02.351Z,1761349202.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411114,0.878951,0.241725],[-0.911371,0.402028,0.088178],[-0.019676,-0.256552,0.966330]]
2025-10-24T23:40:02.752Z,1761349202.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424118,0.886474,0.185171],[-0.905607,0.415267,0.086193],[-0.000487,-0.204248,0.978919]]
2025-10-24T23:40:03.159Z,1761349203.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446834,0.889106,0.099142],[-0.894516,0.442367,0.064437],[0.013434,-0.117477,0.992985]]
2025-10-24T23:40:03.559Z,1761349203.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436701,0.899390,-0.019742],[-0.899606,0.436627,-0.008168],[0.001274,0.021327,0.999772]]
2025-10-24T23:40:03.966Z,1761349203.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430488,0.896047,-0.108538],[-0.902354,0.430034,-0.028773],[0.020893,0.110326,0.993676]]
2025-10-24T23:40:04.375Z,1761349204.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429307,0.888572,-0.161663],[-0.902097,0.430555,-0.029055],[0.043787,0.158309,0.986418]]
2025-10-24T23:40:04.787Z,1761349204.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387359,0.916480,-0.100082],[-0.920379,0.390715,0.015640],[0.053437,0.086055,0.994856]]
2025-10-24T23:40:05.183Z,1761349205.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408339,0.911056,0.056885],[-0.912651,0.408700,0.005672],[-0.018081,-0.054232,0.998365]]
2025-10-24T23:40:05.231Z,1761349205.231 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:40:05.231Z,1761349205.231 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:40:05.231Z,1761349205.231 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:40:05.231Z,1761349205.231 [marl:UpdateRudder:A] Stopped
2025-10-24T23:40:05.232Z,1761349205.232 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:40:05.587Z,1761349205.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387469,0.905373,0.173688],[-0.918047,0.396116,-0.016802],[-0.084013,-0.152944,0.984657]]
2025-10-24T23:40:05.640Z,1761349205.640 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:40:05.640Z,1761349205.640 [marl:UpdateRudder:B] Stopped
2025-10-24T23:40:05.640Z,1761349205.640 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:40:05.640Z,1761349205.640 [marl:UpdateRudder] Stopped
2025-10-24T23:40:05.640Z,1761349205.640 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:40:05.993Z,1761349205.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328476,0.905975,0.267043],[-0.935088,0.351771,-0.043221],[-0.133095,-0.235512,0.962715]]
2025-10-24T23:40:06.402Z,1761349206.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350675,0.908568,0.227006],[-0.934090,0.356710,0.015272],[-0.067099,-0.217399,0.973774]]
2025-10-24T23:40:06.798Z,1761349206.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402478,0.915415,0.005219],[-0.913219,0.401104,0.071735],[0.063574,-0.033638,0.997410]]
2025-10-24T23:40:06.839Z,1761349206.839 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:40:06.839Z,1761349206.839 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:40:06.839Z,1761349206.839 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:40:06.840Z,1761349206.840 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:40:06.840Z,1761349206.840 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:40:06.840Z,1761349206.840 [marl:UpdateCommandMode] Stopped
2025-10-24T23:40:06.840Z,1761349206.840 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:40:06.840Z,1761349206.840 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:40:06.840Z,1761349206.840 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:40:06.840Z,1761349206.840 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:40:06.841Z,1761349206.841 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:40:06.841Z,1761349206.841 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:40:06.841Z,1761349206.841 [marl:UpdateSpeed] Stopped
2025-10-24T23:40:06.841Z,1761349206.841 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:40:07.202Z,1761349207.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368145,0.908453,-0.197948],[-0.924904,0.379573,0.021854],[0.094989,0.175037,0.979969]]
2025-10-24T23:40:07.608Z,1761349207.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322394,0.917227,-0.234003],[-0.941032,0.337334,0.025762],[0.102567,0.211899,0.971895]]
2025-10-24T23:40:08.010Z,1761349208.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357580,0.923323,-0.140042],[-0.930626,0.364815,0.029054],[0.077916,0.119937,0.989719]]
2025-10-24T23:40:08.414Z,1761349208.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358401,0.933333,-0.020948],[-0.932135,0.359003,0.047344],[0.051708,0.002558,0.998659]]
2025-10-24T23:40:08.819Z,1761349208.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296636,0.937563,0.181610],[-0.953229,0.279141,0.115906],[0.057974,-0.207498,0.976516]]
2025-10-24T23:40:09.227Z,1761349209.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290986,0.885006,0.363445],[-0.953307,0.300302,0.032000],[-0.080823,-0.355786,0.931066]]
2025-10-24T23:40:09.626Z,1761349209.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322608,0.876136,0.358204],[-0.934506,0.354956,-0.026551],[-0.150409,-0.326178,0.933266]]
2025-10-24T23:40:10.030Z,1761349210.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287722,0.938804,0.189375],[-0.955748,0.294126,-0.006006],[-0.061339,-0.179266,0.981887]]
2025-10-24T23:40:10.438Z,1761349210.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229271,0.971647,0.057769],[-0.973203,0.227753,0.031708],[0.017652,-0.063491,0.997826]]
2025-10-24T23:40:10.840Z,1761349210.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247650,0.968532,-0.024805],[-0.968033,0.248411,0.034694],[0.039764,0.015420,0.999090]]
2025-10-24T23:40:11.242Z,1761349211.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254347,0.966174,-0.042609],[-0.966983,0.254789,0.005189],[0.015870,0.039883,0.999078]]
2025-10-24T23:40:11.647Z,1761349211.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228645,0.973307,-0.019854],[-0.973277,0.228989,0.017200],[0.021288,0.015391,0.999655]]
2025-10-24T23:40:12.051Z,1761349212.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238474,0.971148,0.001614],[-0.969124,0.237869,0.064930],[0.062672,-0.017048,0.997889]]
2025-10-24T23:40:12.476Z,1761349212.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157168,0.983679,0.087600],[-0.986917,0.153216,0.050190],[0.035949,-0.094342,0.994891]]
2025-10-24T23:40:13.262Z,1761349213.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148297,0.982776,0.110269],[-0.988756,0.149513,-0.002799],[-0.019237,-0.108614,0.993898]]
2025-10-24T23:40:13.676Z,1761349213.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145457,0.988876,0.031081],[-0.985193,0.141891,0.096237],[0.090757,-0.044619,0.994873]]
2025-10-24T23:40:14.077Z,1761349214.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117996,0.992687,0.025497],[-0.971261,0.110028,0.211060],[0.206712,-0.049668,0.977140]]
2025-10-24T23:40:14.493Z,1761349214.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123841,0.990855,0.053562],[-0.971022,0.109890,0.212229],[0.204402,-0.078293,0.975751]]
2025-10-24T23:40:14.883Z,1761349214.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126351,0.988259,0.085905],[-0.991937,0.125017,0.020760],[0.009777,-0.087835,0.996087]]
2025-10-24T23:40:15.287Z,1761349215.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094580,0.989439,0.109841],[-0.988005,0.106822,-0.111514],[-0.122070,-0.097977,0.987674]]
2025-10-24T23:40:15.690Z,1761349215.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060939,0.991246,0.117124],[-0.997735,0.063841,-0.021179],[-0.028471,-0.115568,0.992891]]
2025-10-24T23:40:16.091Z,1761349216.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061079,0.989796,0.128739],[-0.992435,0.046461,0.113645],[0.106504,-0.134706,0.985145]]
2025-10-24T23:40:16.494Z,1761349216.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084100,0.989719,0.115689],[-0.988740,0.068463,0.133062],[0.123773,-0.125577,0.984333]]
2025-10-24T23:40:16.899Z,1761349216.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147034,0.984474,0.095874],[-0.986116,0.138333,0.091867],[0.077178,-0.108050,0.991145]]
2025-10-24T23:40:17.302Z,1761349217.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201936,0.978090,0.050615],[-0.978211,0.198878,0.059585],[0.048213,-0.061545,0.996939]]
2025-10-24T23:40:17.706Z,1761349217.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146739,0.988003,0.048134],[-0.989125,0.147048,-0.002921],[-0.009964,-0.047182,0.998837]]
2025-10-24T23:40:18.110Z,1761349218.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059267,0.990326,0.125464],[-0.995503,0.067940,-0.066017],[-0.073902,-0.120987,0.989899]]
2025-10-24T23:40:18.226Z,1761349218.226 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:40:18.226Z,1761349218.226 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:40:18.226Z,1761349218.226 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:40:18.227Z,1761349218.227 [marl:UpdateRudder:A] Stopped
2025-10-24T23:40:18.227Z,1761349218.227 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:40:18.524Z,1761349218.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092500,0.974258,0.205586],[-0.994830,0.099121,-0.022120],[-0.041928,-0.202477,0.978389]]
2025-10-24T23:40:18.547Z,1761349218.547 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:40:18.547Z,1761349218.547 [marl:UpdateRudder:B] Stopped
2025-10-24T23:40:18.547Z,1761349218.547 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:40:18.547Z,1761349218.547 [marl:UpdateRudder] Stopped
2025-10-24T23:40:18.547Z,1761349218.547 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:40:18.918Z,1761349218.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179971,0.968953,0.169531],[-0.982548,0.168838,0.078063],[0.047016,-0.180621,0.982428]]
2025-10-24T23:40:19.322Z,1761349219.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178130,0.981912,0.064183],[-0.980764,0.171874,0.092533],[0.079828,-0.079431,0.993639]]
2025-10-24T23:40:19.727Z,1761349219.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169260,0.985429,0.016765],[-0.985347,0.168833,0.024223],[0.021039,-0.020619,0.999566]]
2025-10-24T23:40:19.795Z,1761349219.795 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:40:19.795Z,1761349219.795 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:40:19.795Z,1761349219.795 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:40:19.796Z,1761349219.796 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:40:19.796Z,1761349219.796 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:40:19.796Z,1761349219.796 [marl:UpdateCommandMode] Stopped
2025-10-24T23:40:19.796Z,1761349219.796 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:40:19.796Z,1761349219.796 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:40:19.797Z,1761349219.797 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:40:19.797Z,1761349219.797 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:40:19.797Z,1761349219.797 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:40:19.797Z,1761349219.797 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:40:19.797Z,1761349219.797 [marl:UpdateSpeed] Stopped
2025-10-24T23:40:19.797Z,1761349219.797 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:40:20.130Z,1761349220.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169338,0.985404,0.017451],[-0.984729,0.169895,-0.038014],[-0.040424,-0.010747,0.999125]]
2025-10-24T23:40:20.208Z,1761349220.208 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-10-24T23:40:20.534Z,1761349220.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136529,0.988048,0.071559],[-0.987146,0.141751,-0.073821],[-0.083082,-0.060560,0.994701]]
2025-10-24T23:40:20.946Z,1761349220.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123611,0.974821,0.185593],[-0.991823,0.127352,-0.008328],[-0.031754,-0.183046,0.982591]]
2025-10-24T23:40:21.212Z,1761349221.212 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:40:21.343Z,1761349221.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159866,0.960800,0.226506],[-0.985050,0.140353,0.099888],[0.064181,-0.239089,0.968874]]
2025-10-24T23:40:21.747Z,1761349221.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228441,0.959936,0.162289],[-0.971412,0.213688,0.103420],[0.064598,-0.181275,0.981309]]
2025-10-24T23:40:22.150Z,1761349222.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237375,0.968633,0.073507],[-0.970569,0.233325,0.059619],[0.040598,-0.085496,0.995511]]
2025-10-24T23:40:22.554Z,1761349222.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193545,0.979474,0.056310],[-0.981046,0.192665,0.020709],[0.009435,-0.059251,0.998199]]
2025-10-24T23:40:22.960Z,1761349222.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223344,0.972487,0.066231],[-0.974737,0.222662,0.017615],[0.002383,-0.068492,0.997649]]
2025-10-24T23:40:23.363Z,1761349223.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258256,0.965747,0.025218],[-0.965610,0.257232,0.037799],[0.030018,-0.034113,0.998967]]
2025-10-24T23:40:23.768Z,1761349223.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256870,0.966415,0.007776],[-0.966410,0.256922,-0.006604],[-0.008380,-0.005818,0.999948]]
2025-10-24T23:40:24.170Z,1761349224.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237496,0.970425,0.043249],[-0.970104,0.239235,-0.040794],[-0.049935,-0.032268,0.998231]]
2025-10-24T23:40:24.574Z,1761349224.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270870,0.958332,0.090719],[-0.962610,0.269995,0.022025],[-0.003387,-0.093293,0.995633]]
2025-10-24T23:40:24.979Z,1761349224.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316351,0.941424,0.116800],[-0.947157,0.306566,0.094398],[0.053061,-0.140491,0.988659]]
2025-10-24T23:40:25.386Z,1761349225.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309456,0.940264,0.141918],[-0.950822,0.303891,0.059897],[0.013191,-0.153475,0.988065]]
2025-10-24T23:40:25.787Z,1761349225.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295810,0.942676,0.154464],[-0.954189,0.299203,0.001343],[-0.044950,-0.147785,0.987998]]
2025-10-24T23:40:25.795Z,1761349225.795 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234022.00,A,3646.48760,N,12151.86269,W,0.894,159.22,241025,,,A*7E
2025-10-24T23:40:25.807Z,1761349225.807 [NAL9602](INFO): GPS fix at 20251024T234022: (36.774793, -121.864378)
2025-10-24T23:40:25.834Z,1761349225.834 [UniversalFixResidualReporter](INFO): Fix residual: 3.4 %DT, over the last 616.1 m. Residual distance 20.8 m at bearing -78.3 degrees. Fix at (36.7748, -121.8644) with 85.6 m made good.
2025-10-24T23:40:25.926Z,1761349225.926 [marl:NeedComms:C] Stopped
2025-10-24T23:40:25.926Z,1761349225.926 [marl:NeedComms:D] Running Loop=1
2025-10-24T23:40:25.936Z,1761349225.936 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761349248.00. Resetting abort timer.
2025-10-24T23:40:26.193Z,1761349226.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298429,0.948804,0.103497],[-0.954318,0.294961,0.047695],[0.014726,-0.113003,0.993486]]
2025-10-24T23:40:26.897Z,1761349226.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280353,0.959104,-0.039009],[-0.955026,0.282789,0.089198],[0.096582,0.012248,0.995250]]
2025-10-24T23:40:27.675Z,1761349227.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293589,0.954951,-0.043286],[-0.953801,0.295656,0.053390],[0.063783,0.025611,0.997635]]
2025-10-24T23:40:28.077Z,1761349228.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312310,0.948211,-0.057955],[-0.942682,0.316881,0.104582],[0.117531,0.021971,0.992826]]
2025-10-24T23:40:28.480Z,1761349228.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367216,0.929108,-0.043703],[-0.911160,0.368770,0.183835],[0.186919,-0.027687,0.981985]]
2025-10-24T23:40:28.895Z,1761349228.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401747,0.915732,0.005862],[-0.910220,0.398610,0.112293],[0.100493,-0.050449,0.993658]]
2025-10-24T23:40:29.295Z,1761349229.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363167,0.926971,0.093995],[-0.931510,0.363393,0.015316],[-0.019959,-0.093120,0.995455]]
2025-10-24T23:40:29.696Z,1761349229.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344414,0.921847,0.177699],[-0.931471,0.359174,-0.057919],[-0.117218,-0.145573,0.982379]]
2025-10-24T23:40:29.887Z,1761349229.887 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.007296
2025-10-24T23:40:30.106Z,1761349230.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395853,0.907399,0.141166],[-0.916237,0.400596,-0.005701],[-0.061723,-0.127085,0.989970]]
2025-10-24T23:40:30.502Z,1761349230.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413168,0.910574,0.012154],[-0.910410,0.412710,0.028710],[0.021127,-0.022927,0.999514]]
2025-10-24T23:40:30.934Z,1761349230.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399867,0.914880,-0.055675],[-0.916021,0.400996,0.010348],[0.031793,0.046862,0.998395]]
2025-10-24T23:40:31.310Z,1761349231.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382802,0.921203,-0.069623],[-0.923583,0.383355,-0.005776],[0.021369,0.066514,0.997557]]
2025-10-24T23:40:31.360Z,1761349231.360 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:40:31.360Z,1761349231.360 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:40:31.360Z,1761349231.360 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:40:31.361Z,1761349231.361 [marl:UpdateRudder:A] Stopped
2025-10-24T23:40:31.361Z,1761349231.361 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:40:31.710Z,1761349231.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351894,0.935693,-0.025488],[-0.933656,0.352810,0.061735],[0.066757,0.002073,0.997767]]
2025-10-24T23:40:31.742Z,1761349231.742 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:40:31.742Z,1761349231.742 [marl:UpdateRudder:B] Stopped
2025-10-24T23:40:31.742Z,1761349231.742 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:40:31.742Z,1761349231.742 [marl:UpdateRudder] Stopped
2025-10-24T23:40:31.742Z,1761349231.742 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:40:32.114Z,1761349232.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384763,0.920714,0.065137],[-0.921851,0.379776,0.077205],[0.046346,-0.089753,0.994885]]
2025-10-24T23:40:32.518Z,1761349232.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394417,0.913871,0.096310],[-0.918932,0.392202,0.041741],[0.000373,-0.104966,0.994476]]
2025-10-24T23:40:32.938Z,1761349232.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377736,0.920929,0.095942],[-0.925838,0.374349,0.051833],[0.011819,-0.108406,0.994036]]
2025-10-24T23:40:33.002Z,1761349233.002 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:40:33.002Z,1761349233.002 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:40:33.003Z,1761349233.003 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:40:33.003Z,1761349233.003 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:40:33.003Z,1761349233.003 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:40:33.003Z,1761349233.003 [marl:UpdateCommandMode] Stopped
2025-10-24T23:40:33.003Z,1761349233.003 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:40:33.003Z,1761349233.003 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:40:33.003Z,1761349233.003 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:40:33.003Z,1761349233.003 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:40:33.008Z,1761349233.008 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:40:33.008Z,1761349233.008 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:40:33.008Z,1761349233.008 [marl:UpdateSpeed] Stopped
2025-10-24T23:40:33.008Z,1761349233.008 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:40:33.327Z,1761349233.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391659,0.916888,0.076938],[-0.919842,0.388155,0.056801],[0.022216,-0.093017,0.995417]]
2025-10-24T23:40:33.730Z,1761349233.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399735,0.915988,0.034327],[-0.914551,0.396026,0.082222],[0.061720,-0.064261,0.996023]]
2025-10-24T23:40:34.135Z,1761349234.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387405,0.921907,-0.002352],[-0.906228,0.381283,0.182684],[0.169314,-0.068641,0.983169]]
2025-10-24T23:40:34.540Z,1761349234.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366360,0.930328,0.016437],[-0.908062,0.353626,0.224437],[0.202988,-0.097151,0.974350]]
2025-10-24T23:40:34.942Z,1761349234.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364483,0.929448,0.057267],[-0.909586,0.342170,0.235740],[0.199513,-0.138012,0.970127]]
2025-10-24T23:40:35.403Z,1761349235.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392583,0.918900,0.038737],[-0.896851,0.373150,0.237525],[0.203807,-0.127989,0.970609]]
2025-10-24T23:40:37.550Z,1761349237.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398691,0.908803,0.122973],[-0.916805,0.398282,0.028963],[-0.022656,-0.124290,0.991987]]
2025-10-24T23:40:37.847Z,1761349237.847 [DataOverHttps](INFO): Sending 83 bytes from file Logs/20251024T220733/Courier0021.lzma
2025-10-24T23:40:37.932Z,1761349237.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416369,0.896531,0.151229],[-0.907895,0.418875,0.016430],[-0.048616,-0.144141,0.988362]]
2025-10-24T23:40:38.323Z,1761349238.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430537,0.890885,0.144783],[-0.898515,0.438245,-0.024735],[-0.085486,-0.119440,0.989154]]
2025-10-24T23:40:38.722Z,1761349238.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417379,0.904122,0.091421],[-0.907629,0.419714,-0.007082],[-0.044773,-0.080020,0.995787]]
2025-10-24T23:40:38.846Z,1761349238.846 [DataOverHttps](INFO): Moved sent file to Logs/20251024T220733/Courier0021.lzma.bak
2025-10-24T23:40:38.846Z,1761349238.846 [DataOverHttps](INFO): SBD MOMSN=26232419
2025-10-24T23:40:39.127Z,1761349239.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369904,0.926518,0.068811],[-0.928614,0.371027,-0.003856],[-0.029104,-0.062473,0.997622]]
2025-10-24T23:40:39.533Z,1761349239.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383658,0.922607,0.040025],[-0.922445,0.384917,-0.030559],[-0.043601,-0.025197,0.998731]]
2025-10-24T23:40:39.938Z,1761349239.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419156,0.907600,-0.023874],[-0.907896,0.418839,-0.017256],[-0.005662,0.028908,0.999566]]
2025-10-24T23:40:40.339Z,1761349240.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386824,0.918794,-0.078645],[-0.920178,0.390168,0.032263],[0.060328,0.059888,0.996380]]
2025-10-24T23:40:40.742Z,1761349240.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329066,0.942273,-0.061942],[-0.939838,0.333177,0.075484],[0.091765,0.033376,0.995221]]
2025-10-24T23:40:41.148Z,1761349241.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324045,0.945762,0.023020],[-0.935683,0.316811,0.155329],[0.139612,-0.071873,0.987594]]
2025-10-24T23:40:41.550Z,1761349241.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372126,0.923543,0.092688],[-0.908418,0.341885,0.240608],[0.190523,-0.173736,0.966187]]
2025-10-24T23:40:41.555Z,1761349241.555 [NAL9602](INFO): SBD MO Status=1, MOMSN=2573, MT Status=0, MTMSN=0
2025-10-24T23:40:41.604Z,1761349241.604 [NAL9602](INFO): Sent 83 bytes from file Logs/20251024T220733/Courier0021.lzma
2025-10-24T23:40:41.604Z,1761349241.604 [NAL9602](INFO): Packets left to send: 0
2025-10-24T23:40:41.955Z,1761349241.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389144,0.918328,0.072392],[-0.904589,0.366109,0.218363],[0.174026,-0.150460,0.973179]]
2025-10-24T23:40:42.359Z,1761349242.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359103,0.931131,0.063559],[-0.929922,0.351186,0.109150],[0.079312,-0.098301,0.991991]]
2025-10-24T23:40:42.764Z,1761349242.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327190,0.943207,0.057502],[-0.944952,0.326814,0.016094],[-0.003613,-0.059603,0.998216]]
2025-10-24T23:40:42.771Z,1761349242.771 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234039.00,A,3646.48534,N,12151.86137,W,1.050,174.89,241025,,,A*70
2025-10-24T23:40:42.774Z,1761349242.774 [NAL9602](INFO): GPS fix at 20251024T234039: (36.774756, -121.864356)
2025-10-24T23:40:42.844Z,1761349242.844 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761349248.00. Resetting abort timer.
2025-10-24T23:40:43.166Z,1761349243.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307717,0.950565,0.041663],[-0.951203,0.308385,-0.010538],[-0.022866,-0.036387,0.999076]]
2025-10-24T23:40:43.575Z,1761349243.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319200,0.947623,0.011068],[-0.947205,0.319389,-0.028165],[-0.030225,-0.001493,0.999542]]
2025-10-24T23:40:43.974Z,1761349243.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339463,0.940611,-0.003997],[-0.938591,0.338448,-0.067079],[-0.061742,0.026522,0.997740]]
2025-10-24T23:40:44.389Z,1761349244.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333360,0.942749,0.009716],[-0.941935,0.333478,-0.039382],[-0.040368,0.003977,0.999177]]
2025-10-24T23:40:44.785Z,1761349244.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326945,0.944925,0.014932],[-0.943995,0.325798,0.052242],[0.044500,-0.031176,0.998523]]
2025-10-24T23:40:45.187Z,1761349245.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335934,0.941377,0.030949],[-0.932662,0.327877,0.150460],[0.131493,-0.079409,0.988131]]
2025-10-24T23:40:45.591Z,1761349245.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350747,0.935807,0.035257],[-0.921861,0.338406,0.188822],[0.164770,-0.098731,0.981378]]
2025-10-24T23:40:45.996Z,1761349245.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342816,0.939083,0.024504],[-0.933668,0.337729,0.119173],[0.103637,-0.063733,0.992571]]
2025-10-24T23:40:46.003Z,1761349246.003 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234042.00,A,3646.48570,N,12151.86064,W,1.205,174.89,241025,,,A*79
2025-10-24T23:40:46.006Z,1761349246.006 [NAL9602](INFO): GPS fix at 20251024T234042: (36.774762, -121.864344)
2025-10-24T23:40:46.115Z,1761349246.115 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:40:46.115Z,1761349246.115 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:40:46.124Z,1761349246.124 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:40:46.124Z,1761349246.124 [marl:UpdateRudder:A] Stopped
2025-10-24T23:40:46.124Z,1761349246.124 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:40:46.127Z,1761349246.127 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761349248.00. Resetting abort timer.
2025-10-24T23:40:46.404Z,1761349246.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320822,0.946955,0.018672],[-0.945192,0.318837,0.070395],[0.060708,-0.040233,0.997344]]
2025-10-24T23:40:46.458Z,1761349246.458 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:40:46.458Z,1761349246.458 [marl:UpdateRudder:B] Stopped
2025-10-24T23:40:46.458Z,1761349246.458 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:40:46.458Z,1761349246.458 [marl:UpdateRudder] Stopped
2025-10-24T23:40:46.458Z,1761349246.458 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:40:46.802Z,1761349246.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332940,0.942007,0.042117],[-0.941553,0.329686,0.069181],[0.051284,-0.062688,0.996715]]
2025-10-24T23:40:47.206Z,1761349247.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327215,0.943349,0.054990],[-0.944657,0.325109,0.043900],[0.023536,-0.066311,0.997521]]
2025-10-24T23:40:47.612Z,1761349247.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318631,0.946204,0.056320],[-0.947380,0.315974,0.051294],[0.030739,-0.069701,0.997094]]
2025-10-24T23:40:47.643Z,1761349247.643 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:40:47.643Z,1761349247.643 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:40:47.644Z,1761349247.644 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:40:47.644Z,1761349247.644 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:40:47.645Z,1761349247.645 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:40:47.645Z,1761349247.645 [marl:UpdateCommandMode] Stopped
2025-10-24T23:40:47.645Z,1761349247.645 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:40:47.645Z,1761349247.645 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:40:47.645Z,1761349247.645 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:40:47.645Z,1761349247.645 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:40:47.646Z,1761349247.646 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:40:47.646Z,1761349247.646 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:40:47.646Z,1761349247.646 [marl:UpdateSpeed] Stopped
2025-10-24T23:40:47.646Z,1761349247.646 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:40:48.014Z,1761349248.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347751,0.937463,0.015268],[-0.934646,0.345325,0.084779],[0.074205,-0.043752,0.996283]]
2025-10-24T23:40:48.419Z,1761349248.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339318,0.940100,-0.032787],[-0.933471,0.340820,0.111687],[0.116172,-0.007291,0.993202]]
2025-10-24T23:40:48.823Z,1761349248.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355310,0.932640,-0.062745],[-0.913956,0.360702,0.185954],[0.196061,-0.008725,0.980553]]
2025-10-24T23:40:48.835Z,1761349248.835 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234045.00,A,3646.48667,N,12151.86098,W,0.641,174.89,241025,,,A*7D
2025-10-24T23:40:48.837Z,1761349248.837 [NAL9602](INFO): GPS fix at 20251024T234045: (36.774778, -121.864350)
2025-10-24T23:40:48.886Z,1761349248.886 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761349248.00. Resetting abort timer.
2025-10-24T23:40:49.228Z,1761349249.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372369,0.920237,-0.120436],[-0.900208,0.389696,0.194324],[0.225758,0.036057,0.973516]]
2025-10-24T23:40:49.630Z,1761349249.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369728,0.922041,-0.114636],[-0.909595,0.384358,0.157815],[0.189574,0.045924,0.980792]]
2025-10-24T23:40:50.035Z,1761349250.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390052,0.918211,-0.068903],[-0.906470,0.396055,0.146466],[0.161776,0.005329,0.986813]]
2025-10-24T23:40:50.438Z,1761349250.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403900,0.914264,-0.031403],[-0.909565,0.405018,0.093013],[0.097758,-0.009005,0.995169]]
2025-10-24T23:40:50.851Z,1761349250.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388600,0.920976,0.028157],[-0.921395,0.388569,0.006792],[-0.004685,-0.028583,0.999580]]
2025-10-24T23:40:51.246Z,1761349251.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358352,0.931068,0.068530],[-0.933578,0.357070,0.030544],[0.003969,-0.074923,0.997181]]
2025-10-24T23:40:51.653Z,1761349251.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336381,0.936951,0.094713],[-0.941619,0.333117,0.048867],[0.014235,-0.105622,0.994305]]
2025-10-24T23:40:52.055Z,1761349252.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351823,0.928991,0.114870],[-0.932227,0.358836,-0.046802],[-0.084698,-0.090619,0.992277]]
2025-10-24T23:40:52.063Z,1761349252.063 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234048.00,A,3646.48673,N,12151.86059,W,0.175,174.89,241025,,,A*78
2025-10-24T23:40:52.066Z,1761349252.066 [NAL9602](INFO): GPS fix at 20251024T234048: (36.774779, -121.864343)
2025-10-24T23:40:52.140Z,1761349252.140 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761349248.00. Resetting abort timer.
2025-10-24T23:40:52.460Z,1761349252.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413326,0.908203,0.065790],[-0.905666,0.417518,-0.073805],[-0.094498,-0.029078,0.995100]]
2025-10-24T23:40:52.864Z,1761349252.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386811,0.914226,-0.120698],[-0.915338,0.396537,0.070107],[0.111955,0.083362,0.990211]]
2025-10-24T23:40:53.270Z,1761349253.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328888,0.905118,-0.269433],[-0.918852,0.372575,0.129994],[0.218044,0.204815,0.954205]]
2025-10-24T23:40:53.676Z,1761349253.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330552,0.916332,-0.225990],[-0.938876,0.343664,0.020190],[0.096165,0.205503,0.973920]]
2025-10-24T23:40:54.075Z,1761349254.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313962,0.944772,-0.093982],[-0.949034,0.315165,-0.002148],[0.027590,0.089867,0.995572]]
2025-10-24T23:40:54.478Z,1761349254.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284580,0.958648,0.003020],[-0.953583,0.282750,0.103598],[0.098460,-0.032362,0.994615]]
2025-10-24T23:40:54.889Z,1761349254.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267685,0.960352,0.077902],[-0.958066,0.256722,0.127291],[0.102245,-0.108709,0.988801]]
2025-10-24T23:40:54.899Z,1761349254.899 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234051.00,A,3646.48619,N,12151.85986,W,0.564,162.81,241025,,,A*7F
2025-10-24T23:40:54.905Z,1761349254.905 [NAL9602](INFO): GPS fix at 20251024T234051: (36.774770, -121.864331)
2025-10-24T23:40:54.986Z,1761349254.986 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761349248.00. Resetting abort timer.
2025-10-24T23:40:55.292Z,1761349255.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267511,0.958471,0.098851],[-0.958376,0.254047,0.130289],[0.099766,-0.129590,0.986536]]
2025-10-24T23:40:55.494Z,1761349255.494 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:40:55.494Z,1761349255.494 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:40:55.693Z,1761349255.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274141,0.960294,0.051786],[-0.946042,0.259614,0.193920],[0.172776,-0.102153,0.979650]]
2025-10-24T23:40:56.095Z,1761349256.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286409,0.957909,-0.019505],[-0.928901,0.282609,0.239322],[0.234761,-0.050426,0.970744]]
2025-10-24T23:40:56.499Z,1761349256.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281378,0.957741,-0.059650],[-0.935251,0.287622,0.206347],[0.214784,-0.002273,0.976659]]
2025-10-24T23:40:56.903Z,1761349256.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280731,0.958972,-0.039545],[-0.945066,0.283379,0.162931],[0.167452,-0.008367,0.985845]]
2025-10-24T23:40:57.311Z,1761349257.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310692,0.950487,-0.006643],[-0.935291,0.306955,0.176093],[0.169413,-0.048498,0.984351]]
2025-10-24T23:40:57.710Z,1761349257.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298865,0.953376,-0.041884],[-0.931945,0.301027,0.202140],[0.205324,-0.021379,0.978461]]
2025-10-24T23:40:57.893Z,1761349257.893 [DataOverHttps](INFO): Sending 677 bytes from file Logs/20251024T220733/Express0022.lzma
2025-10-24T23:40:58.119Z,1761349258.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273146,0.959766,-0.065116],[-0.934490,0.280798,0.218818],[0.228299,0.001081,0.973590]]
2025-10-24T23:40:58.124Z,1761349258.124 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234054.00,A,3646.48324,N,12151.86016,W,1.788,188.40,241025,,,A*7A
2025-10-24T23:40:58.126Z,1761349258.126 [NAL9602](INFO): GPS fix at 20251024T234054: (36.774721, -121.864336)
2025-10-24T23:40:58.182Z,1761349258.182 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:40:58.183Z,1761349258.183 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761349248.00. Resetting abort timer.
2025-10-24T23:40:58.525Z,1761349258.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286815,0.957335,-0.035309],[-0.903642,0.282598,0.321824],[0.318071,-0.060397,0.946141]]
2025-10-24T23:40:58.882Z,1761349258.882 [DataOverHttps](INFO): Moved sent file to Logs/20251024T220733/Express0022.lzma.bak
2025-10-24T23:40:58.883Z,1761349258.883 [DataOverHttps](INFO): SBD MOMSN=26232422
2025-10-24T23:40:58.929Z,1761349258.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267844,0.962306,-0.047194],[-0.889865,0.265864,0.370751],[0.369323,-0.057307,0.927532]]
2025-10-24T23:40:58.974Z,1761349258.974 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:40:58.974Z,1761349258.974 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:40:58.975Z,1761349258.975 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:40:58.975Z,1761349258.975 [marl:UpdateRudder:A] Stopped
2025-10-24T23:40:58.975Z,1761349258.975 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:40:59.335Z,1761349259.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229893,0.972010,-0.048428],[-0.892277,0.230381,0.388286],[0.388575,-0.046053,0.920266]]
2025-10-24T23:40:59.380Z,1761349259.380 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:40:59.380Z,1761349259.380 [marl:UpdateRudder:B] Stopped
2025-10-24T23:40:59.380Z,1761349259.380 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:40:59.381Z,1761349259.381 [marl:UpdateRudder] Stopped
2025-10-24T23:40:59.381Z,1761349259.381 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:40:59.734Z,1761349259.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224824,0.974126,-0.023083],[-0.889776,0.214897,0.402637],[0.397180,-0.069983,0.915068]]
2025-10-24T23:41:00.136Z,1761349260.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240628,0.970280,-0.025587],[-0.880733,0.229348,0.414377],[0.407930,-0.077175,0.909745]]
2025-10-24T23:41:00.201Z,1761349260.201 [marl:NeedComms:D] Stopped
2025-10-24T23:41:00.201Z,1761349260.201 [marl:NeedComms:E] Running Loop=1
2025-10-24T23:41:00.540Z,1761349260.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274522,0.959942,-0.056116],[-0.879191,0.274208,0.389657],[0.389435,-0.057633,0.919249]]
2025-10-24T23:41:00.586Z,1761349260.586 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:41:00.586Z,1761349260.586 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:41:00.586Z,1761349260.586 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:41:00.587Z,1761349260.587 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:41:00.587Z,1761349260.587 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:41:00.587Z,1761349260.587 [marl:UpdateCommandMode] Stopped
2025-10-24T23:41:00.587Z,1761349260.587 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:41:00.587Z,1761349260.587 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:41:00.587Z,1761349260.587 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:41:00.587Z,1761349260.587 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:41:00.600Z,1761349260.600 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:41:00.600Z,1761349260.600 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:41:00.602Z,1761349260.602 [marl:UpdateSpeed] Stopped
2025-10-24T23:41:00.602Z,1761349260.602 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:41:00.942Z,1761349260.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303229,0.945783,-0.116388],[-0.879862,0.324786,0.346924],[0.365916,-0.002792,0.930644]]
2025-10-24T23:41:00.951Z,1761349260.951 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234057.00,A,3646.48376,N,12151.85941,W,1.244,181.19,241025,,,A*76
2025-10-24T23:41:00.953Z,1761349260.953 [NAL9602](INFO): GPS fix at 20251024T234057: (36.774729, -121.864323)
2025-10-24T23:41:00.993Z,1761349260.993 [marl:NeedComms:E] Stopped
2025-10-24T23:41:00.994Z,1761349260.994 [marl:NeedComms](INFO): Completed marl:NeedComms
2025-10-24T23:41:00.994Z,1761349260.994 [marl:NeedComms] Stopped
2025-10-24T23:41:00.994Z,1761349260.994 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms
2025-10-24T23:41:00.994Z,1761349260.994 [marl:NeedComms:B.GoToSurface] Stopped
2025-10-24T23:41:00.995Z,1761349260.995 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-24T23:41:00.995Z,1761349260.995 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761349248.00. Resetting abort timer.
2025-10-24T23:41:01.353Z,1761349261.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271910,0.947060,-0.170709],[-0.890357,0.314896,0.328792],[0.365142,0.062590,0.928846]]
2025-10-24T23:41:01.752Z,1761349261.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245761,0.961208,-0.125224],[-0.897384,0.274455,0.345509],[0.366474,0.027461,0.930023]]
2025-10-24T23:41:02.154Z,1761349262.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239557,0.970299,-0.033648],[-0.904781,0.235682,0.354719],[0.352113,-0.054531,0.934367]]
2025-10-24T23:41:02.558Z,1761349262.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229027,0.972696,0.037544],[-0.912990,0.201271,0.354879],[0.337633,-0.115554,0.934158]]
2025-10-24T23:41:02.965Z,1761349262.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246742,0.967655,0.052562],[-0.900785,0.209014,0.380657],[0.357359,-0.141271,0.923221]]
2025-10-24T23:41:03.378Z,1761349263.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247526,0.968797,-0.012798],[-0.876665,0.229572,0.422796],[0.412541,-0.093433,0.906135]]
2025-10-24T23:41:03.771Z,1761349263.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237392,0.970038,-0.051691],[-0.885436,0.237961,0.399222],[0.399561,-0.049003,0.915396]]
2025-10-24T23:41:03.775Z,1761349263.775 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234100.00,A,3646.48502,N,12151.85903,W,0.661,181.19,241025,,,A*74
2025-10-24T23:41:03.787Z,1761349263.787 [NAL9602](INFO): GPS fix at 20251024T234100: (36.774750, -121.864317)
2025-10-24T23:41:03.809Z,1761349263.809 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761349248.00. Resetting abort timer.
2025-10-24T23:41:04.177Z,1761349264.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247791,0.967437,-0.051627],[-0.906908,0.250371,0.338869],[0.340760,-0.037148,0.939416]]
2025-10-24T23:41:04.578Z,1761349264.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289031,0.956852,-0.029917],[-0.916015,0.285506,0.281787],[0.278170,-0.054040,0.959011]]
2025-10-24T23:41:04.983Z,1761349264.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287730,0.956785,-0.042110],[-0.935763,0.290223,0.200297],[0.203862,-0.018227,0.978830]]
2025-10-24T23:41:05.390Z,1761349265.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231345,0.972705,-0.018024],[-0.962164,0.231501,0.143697],[0.143947,-0.015902,0.989458]]
2025-10-24T23:41:05.792Z,1761349265.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230398,0.971402,0.057398],[-0.960204,0.217380,0.175367],[0.157875,-0.095518,0.982828]]
2025-10-24T23:41:06.205Z,1761349266.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255739,0.963607,0.077844],[-0.943862,0.231459,0.235692],[0.209096,-0.133749,0.968705]]
2025-10-24T23:41:06.595Z,1761349266.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255821,0.965444,0.049740],[-0.936977,0.234955,0.258593],[0.237970,-0.112759,0.964705]]
2025-10-24T23:41:07.001Z,1761349267.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234156,0.971846,0.026191],[-0.952731,0.224020,0.205229],[0.193584,-0.073008,0.978363]]
2025-10-24T23:41:07.010Z,1761349267.010 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234103.00,A,3646.48487,N,12151.85859,W,0.700,154.66,241025,,,A*73
2025-10-24T23:41:07.016Z,1761349267.016 [NAL9602](INFO): GPS fix at 20251024T234103: (36.774748, -121.864310)
2025-10-24T23:41:07.087Z,1761349267.087 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761349248.00. Resetting abort timer.
2025-10-24T23:41:07.413Z,1761349267.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224989,0.972770,0.055672],[-0.968440,0.216966,0.122679],[0.107260,-0.081516,0.990884]]
2025-10-24T23:41:07.806Z,1761349267.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230530,0.969065,0.088145],[-0.965847,0.216866,0.141806],[0.118304,-0.117825,0.985962]]
2025-10-24T23:41:08.211Z,1761349268.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215779,0.975282,0.047594],[-0.957681,0.201872,0.205169],[0.190490,-0.089851,0.977569]]
2025-10-24T23:41:08.615Z,1761349268.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204475,0.978325,0.032719],[-0.959926,0.193860,0.202389],[0.191659,-0.072791,0.978759]]
2025-10-24T23:41:09.019Z,1761349269.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194361,0.979571,0.051611],[-0.967025,0.182513,0.177627],[0.164579,-0.084433,0.982744]]
2025-10-24T23:41:09.423Z,1761349269.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200915,0.976057,0.083345],[-0.973479,0.189432,0.128274],[0.109415,-0.106906,0.988230]]
2025-10-24T23:41:09.826Z,1761349269.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198260,0.971011,0.133528],[-0.980010,0.194087,0.043706],[0.016523,-0.139524,0.990081]]
2025-10-24T23:41:09.835Z,1761349269.835 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234109.00,A,3646.48384,N,12151.85812,W,0.544,129.38,241025,,,A*71
2025-10-24T23:41:09.839Z,1761349269.839 [NAL9602](INFO): GPS fix at 20251024T234109: (36.774731, -121.864302)
2025-10-24T23:41:09.948Z,1761349269.948 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761349248.00. Resetting abort timer.
2025-10-24T23:41:10.230Z,1761349270.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175015,0.965364,0.193498],[-0.980947,0.187806,-0.049716],[-0.084334,-0.181110,0.979840]]
2025-10-24T23:41:10.634Z,1761349270.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138395,0.966675,0.215375],[-0.982848,0.160820,-0.090261],[-0.121890,-0.199189,0.972351]]
2025-10-24T23:41:11.039Z,1761349271.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117254,0.967601,0.223608],[-0.991116,0.128247,-0.035240],[-0.062775,-0.217490,0.974042]]
2025-10-24T23:41:11.816Z,1761349271.816 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:41:11.879Z,1761349271.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105795,0.988437,0.108625],[-0.978069,0.083727,0.190710],[0.179410,-0.126419,0.975618]]
2025-10-24T23:41:11.997Z,1761349271.997 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:41:11.997Z,1761349271.997 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:41:11.997Z,1761349271.997 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:41:11.997Z,1761349271.997 [marl:UpdateRudder:A] Stopped
2025-10-24T23:41:11.998Z,1761349271.998 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:41:12.282Z,1761349272.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121126,0.989660,0.076822],[-0.967914,0.100590,0.230272],[0.220163,-0.102249,0.970089]]
2025-10-24T23:41:12.306Z,1761349272.306 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:41:12.306Z,1761349272.306 [marl:UpdateRudder:B] Stopped
2025-10-24T23:41:12.306Z,1761349272.306 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:41:12.306Z,1761349272.306 [marl:UpdateRudder] Stopped
2025-10-24T23:41:12.306Z,1761349272.306 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:41:12.683Z,1761349272.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165394,0.980684,0.104422],[-0.979553,0.151054,0.132886],[0.114546,-0.124265,0.985615]]
2025-10-24T23:41:13.082Z,1761349273.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147806,0.980639,0.128452],[-0.988993,0.145653,0.026043],[0.006830,-0.130887,0.991374]]
2025-10-24T23:41:13.087Z,1761349273.087 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234112.00,A,3646.48298,N,12151.85811,W,0.739,123.04,241025,,,A*79
2025-10-24T23:41:13.090Z,1761349273.090 [NAL9602](INFO): GPS fix at 20251024T234112: (36.774716, -121.864302)
2025-10-24T23:41:13.128Z,1761349273.128 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761349248.00. Resetting abort timer.
2025-10-24T23:41:13.548Z,1761349273.548 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:41:13.549Z,1761349273.549 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:41:13.549Z,1761349273.549 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:41:13.549Z,1761349273.549 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:41:13.549Z,1761349273.549 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:41:13.549Z,1761349273.549 [marl:UpdateCommandMode] Stopped
2025-10-24T23:41:13.549Z,1761349273.549 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:41:13.549Z,1761349273.549 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:41:13.550Z,1761349273.550 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:41:13.550Z,1761349273.550 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:41:13.550Z,1761349273.550 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:41:13.550Z,1761349273.550 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:41:13.550Z,1761349273.550 [marl:UpdateSpeed] Stopped
2025-10-24T23:41:13.550Z,1761349273.550 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:41:13.961Z,1761349273.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099739,0.970277,0.220489],[-0.983902,0.063150,0.167178],[0.148285,-0.233613,0.960956]]
2025-10-24T23:41:14.750Z,1761349274.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125851,0.954282,0.271121],[-0.959858,0.048077,0.276335],[0.250667,-0.295015,0.922026]]
2025-10-24T23:41:15.155Z,1761349275.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159152,0.953233,0.256938],[-0.946789,0.073622,0.313321],[0.279752,-0.293132,0.914228]]
2025-10-24T23:41:15.558Z,1761349275.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191861,0.957790,0.214075],[-0.936968,0.113855,0.330345],[0.292027,-0.263962,0.919263]]
2025-10-24T23:41:15.981Z,1761349275.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215688,0.963331,0.159597],[-0.939004,0.159789,0.304530],[0.267861,-0.215546,0.939037]]
2025-10-24T23:41:15.986Z,1761349275.986 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234115.00,A,3646.48257,N,12151.85844,W,0.991,169.15,241025,,,A*7F
2025-10-24T23:41:16.008Z,1761349276.008 [NAL9602](INFO): GPS fix at 20251024T234115: (36.774710, -121.864307)
2025-10-24T23:41:16.091Z,1761349276.091 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761349248.00. Resetting abort timer.
2025-10-24T23:41:17.067Z,1761349277.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225025,0.974149,0.019935],[-0.940004,0.211662,0.267565],[0.256429,-0.078948,0.963334]]
2025-10-24T23:41:17.472Z,1761349277.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229437,0.970357,0.075927],[-0.944194,0.202951,0.259440],[0.236340,-0.131215,0.962770]]
2025-10-24T23:41:17.925Z,1761349277.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202330,0.974614,0.095869],[-0.934777,0.163013,0.315624],[0.291984,-0.153476,0.944029]]
2025-10-24T23:41:18.683Z,1761349278.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223860,0.954568,0.196691],[-0.879839,0.111118,0.462099],[0.419249,-0.276502,0.864741]]
2025-10-24T23:41:19.084Z,1761349279.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231124,0.951342,0.203791],[-0.880816,0.115640,0.459120],[0.413214,-0.285616,0.864684]]
2025-10-24T23:41:19.091Z,1761349279.091 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234118.00,A,3646.48216,N,12151.85963,W,1.244,242.38,241025,,,A*74
2025-10-24T23:41:19.094Z,1761349279.094 [NAL9602](INFO): GPS fix at 20251024T234118: (36.774703, -121.864327)
2025-10-24T23:41:19.162Z,1761349279.162 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761349248.00. Resetting abort timer.
2025-10-24T23:41:19.495Z,1761349279.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224019,0.956984,0.184382],[-0.897577,0.128884,0.421597],[0.379697,-0.259943,0.887840]]
2025-10-24T23:41:19.570Z,1761349279.570 [marl:SendObservationData] Running Loop=1
2025-10-24T23:41:19.570Z,1761349279.570 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:41:19.570Z,1761349279.570 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:41:19.571Z,1761349279.571 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:41:19.576Z,1761349279.576 [marl:SendObservationData:A](INFO): Got test_good :  41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:41:19.576Z,1761349279.576 [marl:SendObservationData:A] Stopped
2025-10-24T23:41:19.577Z,1761349279.577 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:41:19.927Z,1761349279.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204443,0.960607,0.188248],[-0.919294,0.122345,0.374072],[0.336305,-0.249531,0.908093]]
2025-10-24T23:41:19.998Z,1761349279.998 [marl:SendObservationData:B] Stopped
2025-10-24T23:41:19.998Z,1761349279.998 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:41:20.295Z,1761349280.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172973,0.974025,0.146137],[-0.920815,0.107267,0.374958],[0.349543,-0.199422,0.915451]]
2025-10-24T23:41:20.351Z,1761349280.351 [marl:SendObservationData:C] Stopped
2025-10-24T23:41:20.351Z,1761349280.351 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:41:20.699Z,1761349280.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159973,0.975290,0.152377],[-0.906730,0.084166,0.413227],[0.390191,-0.204270,0.897789]]
2025-10-24T23:41:20.753Z,1761349280.753 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.014081 min 
2025-10-24T23:41:20.753Z,1761349280.753 [marl:SendObservationData:E] Stopped
2025-10-24T23:41:20.754Z,1761349280.754 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:41:20.754Z,1761349280.754 [marl:SendObservationData] Stopped
2025-10-24T23:41:20.754Z,1761349280.754 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:41:20.754Z,1761349280.754 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:41:21.104Z,1761349281.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163911,0.966788,0.196095],[-0.903835,0.067538,0.422518],[0.395242,-0.246493,0.884887]]
2025-10-24T23:41:21.507Z,1761349281.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165783,0.964857,0.203882],[-0.905835,0.067261,0.418257],[0.389845,-0.254023,0.885151]]
2025-10-24T23:41:21.931Z,1761349281.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155906,0.973947,0.164685],[-0.899448,0.071067,0.431210],[0.408272,-0.215354,0.887094]]
2025-10-24T23:41:21.941Z,1761349281.941 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234121.00,A,3646.48348,N,12151.86038,W,1.769,242.38,241025,,,A*7A
2025-10-24T23:41:21.943Z,1761349281.943 [NAL9602](INFO): GPS fix at 20251024T234121: (36.774725, -121.864340)
2025-10-24T23:41:22.005Z,1761349282.005 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761349248.00. Resetting abort timer.
2025-10-24T23:41:22.327Z,1761349282.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134801,0.981795,0.133820],[-0.888582,0.060017,0.454774],[0.438463,-0.180214,0.880496]]
2025-10-24T23:41:22.720Z,1761349282.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115183,0.980323,0.160311],[-0.889945,0.030147,0.455071],[0.441284,-0.195084,0.875906]]
2025-10-24T23:41:23.123Z,1761349283.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109220,0.970609,0.214452],[-0.903631,0.007062,0.428253],[0.414152,-0.240559,0.877844]]
2025-10-24T23:41:23.527Z,1761349283.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107541,0.968485,0.224661],[-0.914295,0.007580,0.404978],[0.390512,-0.248958,0.886296]]
2025-10-24T23:41:23.937Z,1761349283.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088197,0.973936,0.208973],[-0.923980,0.001615,0.382438],[0.372133,-0.226817,0.900040]]
2025-10-24T23:41:24.342Z,1761349284.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062275,0.977048,0.203711],[-0.933626,-0.015120,0.357929],[0.352794,-0.212480,0.911256]]
2025-10-24T23:41:24.739Z,1761349284.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035101,0.977475,0.208112],[-0.933375,-0.042361,0.356394],[0.357182,-0.206756,0.910864]]
2025-10-24T23:41:24.750Z,1761349284.750 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234124.00,A,3646.48499,N,12151.86019,W,1.788,242.38,241025,,,A*78
2025-10-24T23:41:24.753Z,1761349284.753 [NAL9602](INFO): GPS fix at 20251024T234124: (36.774750, -121.864336)
2025-10-24T23:41:24.776Z,1761349284.776 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761349248.00. Resetting abort timer.
2025-10-24T23:41:25.143Z,1761349285.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013451,0.970412,0.241079],[-0.922682,-0.080865,0.376986],[0.385326,-0.227510,0.894295]]
2025-10-24T23:41:25.195Z,1761349285.195 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:41:25.195Z,1761349285.195 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:41:25.195Z,1761349285.195 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:41:25.195Z,1761349285.195 [marl:UpdateRudder:A] Stopped
2025-10-24T23:41:25.195Z,1761349285.195 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:41:25.547Z,1761349285.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005890,0.953633,0.300913],[-0.915025,-0.116238,0.386287],[0.403354,-0.277618,0.871914]]
2025-10-24T23:41:25.574Z,1761349285.574 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:41:25.574Z,1761349285.574 [marl:UpdateRudder:B] Stopped
2025-10-24T23:41:25.574Z,1761349285.574 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:41:25.575Z,1761349285.575 [marl:UpdateRudder] Stopped
2025-10-24T23:41:25.575Z,1761349285.575 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:41:25.951Z,1761349285.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003809,0.938150,0.346208],[-0.916174,-0.135476,0.377189],[0.400763,-0.318623,0.858993]]
2025-10-24T23:41:26.355Z,1761349286.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002226,0.933731,0.357969],[-0.924126,-0.138694,0.356025],[0.382080,-0.330017,0.863194]]
2025-10-24T23:41:26.759Z,1761349286.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016848,0.940047,0.340630],[-0.937063,-0.133674,0.322558],[0.348753,-0.313757,0.883135]]
2025-10-24T23:41:26.818Z,1761349286.818 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:41:26.818Z,1761349286.818 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:41:26.818Z,1761349286.818 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:41:26.819Z,1761349286.819 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:41:26.819Z,1761349286.819 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:41:26.819Z,1761349286.819 [marl:UpdateCommandMode] Stopped
2025-10-24T23:41:26.819Z,1761349286.819 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:41:26.819Z,1761349286.819 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:41:26.819Z,1761349286.819 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:41:26.824Z,1761349286.824 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:41:26.825Z,1761349286.825 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:41:26.825Z,1761349286.825 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:41:26.825Z,1761349286.825 [marl:UpdateSpeed] Stopped
2025-10-24T23:41:26.825Z,1761349286.825 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:41:27.212Z,1761349287.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050291,0.948001,0.314269],[-0.947135,-0.145105,0.286148],[0.316870,-0.283264,0.905182]]
2025-10-24T23:41:27.610Z,1761349287.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083117,0.949713,0.301887],[-0.949402,-0.167532,0.265648],[0.302865,-0.264532,0.915585]]
2025-10-24T23:41:28.015Z,1761349288.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105400,0.943500,0.314164],[-0.944782,-0.193586,0.264409],[0.310288,-0.268948,0.911805]]
2025-10-24T23:41:28.020Z,1761349288.020 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234127.00,A,3646.48142,N,12151.86080,W,1.672,242.38,241025,,,A*7C
2025-10-24T23:41:28.022Z,1761349288.022 [NAL9602](INFO): GPS fix at 20251024T234127: (36.774690, -121.864347)
2025-10-24T23:41:28.102Z,1761349288.102 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761349248.00. Resetting abort timer.
2025-10-24T23:41:28.421Z,1761349288.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.116159,0.931237,0.345405],[-0.938977,-0.216322,0.267446],[0.323774,-0.293261,0.899538]]
2025-10-24T23:41:28.886Z,1761349288.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.116587,0.921009,0.371685],[-0.937864,-0.225245,0.263961],[0.326830,-0.317816,0.890042]]
2025-10-24T23:41:29.317Z,1761349289.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112170,0.920009,0.375501],[-0.942511,-0.218213,0.253094],[0.314788,-0.325524,0.891595]]
2025-10-24T23:41:29.702Z,1761349289.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109046,0.930086,0.350782],[-0.950335,-0.201028,0.237594],[0.291500,-0.307452,0.905815]]
2025-10-24T23:41:30.107Z,1761349290.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108676,0.945280,0.307630],[-0.957384,-0.182830,0.223582],[0.267592,-0.270222,0.924865]]
2025-10-24T23:41:30.564Z,1761349290.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109420,0.954753,0.276540],[-0.961458,-0.172260,0.214302],[0.252242,-0.242433,0.936803]]
2025-10-24T23:41:30.915Z,1761349290.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108831,0.958110,0.264918],[-0.964281,-0.166495,0.206015],[0.241492,-0.233035,0.942007]]
2025-10-24T23:41:30.925Z,1761349290.925 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234130.00,A,3646.47852,N,12151.86141,W,3.032,242.38,241025,,,A*71
2025-10-24T23:41:30.928Z,1761349290.928 [NAL9602](INFO): GPS fix at 20251024T234130: (36.774642, -121.864357)
2025-10-24T23:41:30.955Z,1761349290.955 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761349248.00. Resetting abort timer.
2025-10-24T23:41:31.325Z,1761349291.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106900,0.961226,0.254197],[-0.968562,-0.158437,0.191797],[0.224634,-0.225702,0.947944]]
2025-10-24T23:41:31.722Z,1761349291.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109164,0.966064,0.234102],[-0.973852,-0.151144,0.169608],[0.199235,-0.209466,0.957303]]
2025-10-24T23:41:32.132Z,1761349292.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.116608,0.969742,0.214483],[-0.978173,-0.149533,0.144281],[0.171988,-0.192977,0.966013]]
2025-10-24T23:41:32.535Z,1761349292.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126505,0.970131,0.206985],[-0.979880,-0.154686,0.126124],[0.154375,-0.186865,0.970180]]
2025-10-24T23:41:32.934Z,1761349292.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132151,0.969123,0.208176],[-0.979409,-0.160001,0.123118],[0.152624,-0.187620,0.970312]]
2025-10-24T23:41:33.743Z,1761349293.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115051,0.969448,0.216643],[-0.980869,-0.145346,0.129500],[0.157031,-0.197600,0.967624]]
2025-10-24T23:41:34.157Z,1761349294.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098891,0.970608,0.219408],[-0.985285,-0.126395,0.115054],[0.139405,-0.204802,0.968825]]
2025-10-24T23:41:34.567Z,1761349294.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090826,0.974723,0.204123],[-0.989574,-0.111342,0.091359],[0.111777,-0.193697,0.974673]]
2025-10-24T23:41:34.959Z,1761349294.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100982,0.978655,0.178988],[-0.990996,-0.114845,0.068836],[0.087923,-0.170425,0.981440]]
2025-10-24T23:41:35.365Z,1761349295.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126269,0.976861,0.172626],[-0.990400,-0.134010,0.033900],[0.056249,-0.166688,0.984404]]
2025-10-24T23:41:35.768Z,1761349295.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136542,0.973542,0.183230],[-0.989228,-0.143846,0.027117],[0.052757,-0.177553,0.982696]]
2025-10-24T23:41:36.171Z,1761349296.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142936,0.969014,0.201449],[-0.988233,-0.150929,0.024811],[0.054447,-0.195532,0.979185]]
2025-10-24T23:41:36.575Z,1761349296.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145212,0.961903,0.231639],[-0.987714,-0.154599,0.022799],[0.057741,-0.225483,0.972534]]
2025-10-24T23:41:36.978Z,1761349296.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142521,0.956630,0.254062],[-0.987873,-0.153455,0.023646],[0.061608,-0.247611,0.966899]]
2025-10-24T23:41:37.381Z,1761349297.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136492,0.954562,0.264918],[-0.988496,-0.148824,0.026953],[0.065154,-0.258192,0.963894]]
2025-10-24T23:41:37.790Z,1761349297.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127882,0.952887,0.275051],[-0.989646,-0.140825,0.027750],[0.065176,-0.268655,0.961029]]
2025-10-24T23:41:38.186Z,1761349298.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117910,0.948047,0.295472],[-0.991473,-0.129021,0.018323],[0.055493,-0.290792,0.955176]]
2025-10-24T23:41:38.237Z,1761349298.237 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:41:38.237Z,1761349298.237 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:41:38.237Z,1761349298.237 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:41:38.237Z,1761349298.237 [marl:UpdateRudder:A] Stopped
2025-10-24T23:41:38.238Z,1761349298.238 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:41:38.594Z,1761349298.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114077,0.944035,0.309491],[-0.992717,-0.120463,0.001536],[0.038732,-0.307062,0.950901]]
2025-10-24T23:41:38.623Z,1761349298.623 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:41:38.623Z,1761349298.623 [marl:UpdateRudder:B] Stopped
2025-10-24T23:41:38.623Z,1761349298.623 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:41:38.623Z,1761349298.623 [marl:UpdateRudder] Stopped
2025-10-24T23:41:38.623Z,1761349298.623 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:41:38.996Z,1761349298.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126290,0.948591,0.290217],[-0.991650,-0.128418,-0.011785],[0.026090,-0.289282,0.956888]]
2025-10-24T23:41:39.399Z,1761349299.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141813,0.955649,0.258116],[-0.989693,-0.142127,-0.017541],[0.019922,-0.257943,0.965955]]
2025-10-24T23:41:39.847Z,1761349299.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151893,0.958891,0.239702],[-0.988167,-0.152553,-0.015912],[0.021309,-0.239283,0.970716]]
2025-10-24T23:41:39.944Z,1761349299.944 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:41:39.945Z,1761349299.945 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:41:39.945Z,1761349299.945 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:41:39.945Z,1761349299.945 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:41:39.945Z,1761349299.945 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:41:39.945Z,1761349299.945 [marl:UpdateCommandMode] Stopped
2025-10-24T23:41:39.945Z,1761349299.945 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:41:39.945Z,1761349299.945 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:41:39.946Z,1761349299.946 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:41:39.946Z,1761349299.946 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:41:39.946Z,1761349299.946 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:41:39.946Z,1761349299.946 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:41:39.946Z,1761349299.946 [marl:UpdateSpeed] Stopped
2025-10-24T23:41:39.946Z,1761349299.946 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:41:40.206Z,1761349300.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153203,0.958803,0.239220],[-0.987864,-0.154856,-0.011990],[0.025549,-0.238154,0.970891]]
2025-10-24T23:41:40.615Z,1761349300.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147773,0.958155,0.245155],[-0.988612,-0.150236,-0.008730],[0.028466,-0.243654,0.969444]]
2025-10-24T23:41:41.015Z,1761349301.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138081,0.960012,0.243537],[-0.990041,-0.140597,-0.007110],[0.027415,-0.242094,0.969866]]
2025-10-24T23:41:41.419Z,1761349301.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127111,0.964004,0.233536],[-0.991665,-0.128510,-0.009281],[0.021065,-0.232769,0.972304]]
2025-10-24T23:41:41.822Z,1761349301.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119198,0.968544,0.218435],[-0.992817,-0.118546,-0.016138],[0.010264,-0.218789,0.975718]]
2025-10-24T23:41:42.232Z,1761349302.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119967,0.972309,0.200555],[-0.992777,-0.117243,-0.025449],[-0.001231,-0.202159,0.979352]]
2025-10-24T23:41:42.630Z,1761349302.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130956,0.975612,0.176159],[-0.991336,-0.127036,-0.033400],[-0.010207,-0.179006,0.983795]]
2025-10-24T23:41:43.034Z,1761349303.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144827,0.976627,0.158825],[-0.989308,-0.140146,-0.040351],[-0.017149,-0.162971,0.986482]]
2025-10-24T23:41:43.438Z,1761349303.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157704,0.973623,0.164887],[-0.987276,-0.152009,-0.046687],[-0.020391,-0.170152,0.985207]]
2025-10-24T23:41:43.537Z,1761349303.537 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:41:43.848Z,1761349303.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168921,0.967740,0.186937],[-0.985451,-0.162209,-0.050750],[-0.018790,-0.192789,0.981060]]
2025-10-24T23:41:44.247Z,1761349304.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175551,0.960797,0.214594],[-0.984345,-0.167832,-0.053826],[-0.015701,-0.220683,0.975219]]
2025-10-24T23:41:44.655Z,1761349304.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173414,0.954826,0.241321],[-0.984723,-0.164189,-0.057983],[-0.015741,-0.247689,0.968712]]
2025-10-24T23:41:45.054Z,1761349305.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170071,0.950863,0.258720],[-0.985278,-0.159443,-0.061685],[-0.017403,-0.265402,0.963981]]
2025-10-24T23:41:45.460Z,1761349305.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170174,0.949569,0.263361],[-0.985178,-0.158088,-0.066584],[-0.021592,-0.270788,0.962397]]
2025-10-24T23:41:45.882Z,1761349305.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173613,0.949431,0.261608],[-0.984364,-0.159269,-0.075239],[-0.029768,-0.270580,0.962237]]
2025-10-24T23:41:46.273Z,1761349306.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179539,0.950663,0.252993],[-0.982935,-0.162883,-0.085488],[-0.040062,-0.264024,0.963684]]
2025-10-24T23:41:46.675Z,1761349306.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186485,0.954099,0.234346],[-0.981158,-0.168598,-0.094358],[-0.050517,-0.247527,0.967563]]
2025-10-24T23:41:47.076Z,1761349307.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193040,0.957097,0.216104],[-0.979429,-0.174767,-0.100877],[-0.058782,-0.231131,0.971145]]
2025-10-24T23:41:47.478Z,1761349307.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199054,0.958214,0.205433],[-0.977993,-0.180864,-0.104009],[-0.062507,-0.221616,0.973129]]
2025-10-24T23:41:47.924Z,1761349307.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202874,0.957632,0.204409],[-0.977352,-0.185192,-0.102408],[-0.060215,-0.220555,0.973514]]
2025-10-24T23:41:48.291Z,1761349308.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203420,0.957238,0.205706],[-0.977773,-0.187711,-0.093405],[-0.050797,-0.220134,0.974146]]
2025-10-24T23:41:48.691Z,1761349308.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199350,0.955431,0.217742],[-0.979221,-0.185785,-0.081303],[-0.037226,-0.229425,0.972614]]
2025-10-24T23:41:49.094Z,1761349309.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191028,0.953213,0.234292],[-0.981199,-0.178748,-0.072780],[-0.027495,-0.243790,0.969438]]
2025-10-24T23:41:49.498Z,1761349309.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180930,0.953648,0.240457],[-0.983120,-0.168616,-0.071013],[-0.027177,-0.249247,0.968059]]
2025-10-24T23:41:49.928Z,1761349309.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169734,0.956254,0.238261],[-0.984889,-0.156158,-0.074884],[-0.034402,-0.247371,0.968310]]
2025-10-24T23:41:50.308Z,1761349310.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156787,0.959778,0.232905],[-0.986733,-0.142164,-0.078403],[-0.042139,-0.242108,0.969334]]
2025-10-24T23:41:50.710Z,1761349310.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144812,0.962861,0.227877],[-0.988470,-0.130482,-0.076825],[-0.044238,-0.236375,0.970654]]
2025-10-24T23:41:51.115Z,1761349311.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143344,0.964431,0.222094],[-0.988943,-0.130970,-0.069554],[-0.037992,-0.229609,0.972541]]
2025-10-24T23:41:51.157Z,1761349311.157 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:41:51.157Z,1761349311.157 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:41:51.157Z,1761349311.157 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:41:51.158Z,1761349311.158 [marl:UpdateRudder:A] Stopped
2025-10-24T23:41:51.158Z,1761349311.158 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:41:51.518Z,1761349311.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148156,0.964045,0.220604],[-0.988485,-0.137412,-0.063365],[-0.030773,-0.227452,0.973303]]
2025-10-24T23:41:51.574Z,1761349311.574 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:41:51.574Z,1761349311.574 [marl:UpdateRudder:B] Stopped
2025-10-24T23:41:51.575Z,1761349311.575 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:41:51.575Z,1761349311.575 [marl:UpdateRudder] Stopped
2025-10-24T23:41:51.575Z,1761349311.575 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:41:51.934Z,1761349311.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155603,0.960247,0.231763],[-0.987507,-0.145309,-0.060950],[-0.024850,-0.238351,0.970861]]
2025-10-24T23:41:52.327Z,1761349312.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163742,0.954869,0.247819],[-0.986326,-0.153697,-0.059491],[-0.018717,-0.254172,0.966978]]
2025-10-24T23:41:52.731Z,1761349312.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167786,0.949687,0.264467],[-0.985738,-0.158089,-0.057693],[-0.012981,-0.270375,0.962668]]
2025-10-24T23:41:52.785Z,1761349312.785 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:41:52.785Z,1761349312.785 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:41:52.785Z,1761349312.785 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:41:52.785Z,1761349312.785 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:41:52.785Z,1761349312.785 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:41:52.785Z,1761349312.785 [marl:UpdateCommandMode] Stopped
2025-10-24T23:41:52.785Z,1761349312.785 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:41:52.786Z,1761349312.786 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:41:52.786Z,1761349312.786 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:41:52.786Z,1761349312.786 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:41:52.786Z,1761349312.786 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:41:52.786Z,1761349312.786 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:41:52.786Z,1761349312.786 [marl:UpdateSpeed] Stopped
2025-10-24T23:41:52.786Z,1761349312.786 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:41:53.134Z,1761349313.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166690,0.944265,0.283862],[-0.985968,-0.157004,-0.056710],[-0.008981,-0.289332,0.957187]]
2025-10-24T23:41:53.540Z,1761349313.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160115,0.941674,0.295996],[-0.987055,-0.149924,-0.056970],[-0.009270,-0.301286,0.953489]]
2025-10-24T23:41:53.942Z,1761349313.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150270,0.944433,0.292343],[-0.988529,-0.139005,-0.059057],[-0.015138,-0.297864,0.954488]]
2025-10-24T23:41:54.346Z,1761349314.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141072,0.952225,0.270861],[-0.989628,-0.128144,-0.064929],[-0.027118,-0.277211,0.960426]]
2025-10-24T23:41:54.757Z,1761349314.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136591,0.960825,0.241162],[-0.989747,-0.122099,-0.074119],[-0.041769,-0.248813,0.967650]]
2025-10-24T23:41:55.154Z,1761349315.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141004,0.968617,0.204693],[-0.988695,-0.127123,-0.079514],[-0.050997,-0.213591,0.975591]]
2025-10-24T23:41:55.558Z,1761349315.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152825,0.971514,0.181120],[-0.987058,-0.141045,-0.076303],[-0.048583,-0.190437,0.980497]]
2025-10-24T23:41:55.829Z,1761349315.829 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:41:55.830Z,1761349315.830 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:41:55.962Z,1761349315.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166066,0.968186,0.187187],[-0.985544,-0.156496,-0.064899],[-0.033540,-0.195258,0.980178]]
2025-10-24T23:41:56.368Z,1761349316.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173274,0.961266,0.214346],[-0.984802,-0.166491,-0.049448],[-0.011846,-0.219657,0.975505]]
2025-10-24T23:41:56.776Z,1761349316.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168835,0.952586,0.253132],[-0.985628,-0.164661,-0.037747],[0.005724,-0.255866,0.966695]]
2025-10-24T23:41:57.174Z,1761349317.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152771,0.946261,0.285045],[-0.988210,-0.149226,-0.034251],[0.010126,-0.286917,0.957902]]
2025-10-24T23:41:57.578Z,1761349317.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140547,0.944637,0.296493],[-0.990057,-0.135828,-0.036565],[0.005732,-0.298684,0.954335]]
2025-10-24T23:41:57.983Z,1761349317.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142111,0.948164,0.284235],[-0.989847,-0.136874,-0.038310],[0.002580,-0.286793,0.957989]]
2025-10-24T23:41:58.388Z,1761349318.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144315,0.954451,0.261143],[-0.989515,-0.140733,-0.032465],[0.005765,-0.263090,0.964754]]
2025-10-24T23:41:58.434Z,1761349318.434 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:41:58.790Z,1761349318.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143130,0.959526,0.242537],[-0.989521,-0.143447,-0.016448],[0.019009,-0.242350,0.970003]]
2025-10-24T23:41:59.194Z,1761349319.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135110,0.961809,0.238052],[-0.990203,-0.139619,0.002103],[0.035259,-0.235436,0.971250]]
2025-10-24T23:41:59.598Z,1761349319.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120267,0.962159,0.244510],[-0.991668,-0.127885,0.015461],[0.046145,-0.240613,0.969524]]
2025-10-24T23:42:00.004Z,1761349320.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102618,0.963603,0.246860],[-0.993393,-0.112091,0.024595],[0.051371,-0.242705,0.968739]]
2025-10-24T23:42:00.406Z,1761349320.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085351,0.966971,0.240171],[-0.995010,-0.095224,0.029784],[0.051670,-0.236431,0.970273]]
2025-10-24T23:42:00.810Z,1761349320.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074717,0.973492,0.216173],[-0.995969,-0.083639,0.032413],[0.049634,-0.212879,0.975817]]
2025-10-24T23:42:01.215Z,1761349321.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073664,0.978566,0.192310],[-0.996152,-0.081380,0.032525],[0.047478,-0.189174,0.980795]]
2025-10-24T23:42:01.621Z,1761349321.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078054,0.981050,0.177336],[-0.995906,-0.084863,0.031130],[0.045589,-0.174180,0.983658]]
2025-10-24T23:42:02.022Z,1761349322.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086549,0.981110,0.173010],[-0.995171,-0.093215,0.030763],[0.046309,-0.169512,0.984439]]
2025-10-24T23:42:02.427Z,1761349322.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095680,0.979830,0.175436],[-0.994005,-0.103417,0.035479],[0.052906,-0.170990,0.983851]]
2025-10-24T23:42:02.830Z,1761349322.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099842,0.978761,0.179051],[-0.992841,-0.109855,0.046888],[0.065562,-0.173088,0.982722]]
2025-10-24T23:42:03.242Z,1761349323.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093902,0.977192,0.190469],[-0.992601,-0.106685,0.057987],[0.076984,-0.183614,0.979979]]
2025-10-24T23:42:03.640Z,1761349323.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084656,0.974735,0.206698],[-0.993111,-0.099408,0.062038],[0.081018,-0.200022,0.976436]]
2025-10-24T23:42:04.043Z,1761349324.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081127,0.971589,0.222334],[-0.993659,-0.096265,0.058097],[0.077849,-0.216211,0.973238]]
2025-10-24T23:42:04.098Z,1761349324.098 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:42:04.098Z,1761349324.098 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:42:04.098Z,1761349324.098 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:42:04.098Z,1761349324.098 [marl:UpdateRudder:A] Stopped
2025-10-24T23:42:04.099Z,1761349324.099 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:42:04.446Z,1761349324.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082792,0.970121,0.228058],[-0.994092,-0.096512,0.049661],[0.070187,-0.222599,0.972380]]
2025-10-24T23:42:04.502Z,1761349324.502 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:42:04.502Z,1761349324.502 [marl:UpdateRudder:B] Stopped
2025-10-24T23:42:04.502Z,1761349324.502 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:42:04.503Z,1761349324.503 [marl:UpdateRudder] Stopped
2025-10-24T23:42:04.503Z,1761349324.503 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:42:04.855Z,1761349324.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089660,0.972741,0.213858],[-0.993903,-0.101220,0.043711],[0.064167,-0.208635,0.975886]]
2025-10-24T23:42:05.295Z,1761349325.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100147,0.975180,0.197470],[-0.992914,-0.110712,0.043180],[0.063970,-0.191746,0.979358]]
2025-10-24T23:42:05.663Z,1761349325.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112579,0.974497,0.194117],[-0.991063,-0.124191,0.048683],[0.071549,-0.186901,0.979770]]
2025-10-24T23:42:05.705Z,1761349325.705 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:42:05.706Z,1761349325.706 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:42:05.706Z,1761349325.706 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:42:05.706Z,1761349325.706 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:42:05.706Z,1761349325.706 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:42:05.706Z,1761349325.706 [marl:UpdateCommandMode] Stopped
2025-10-24T23:42:05.706Z,1761349325.706 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:42:05.706Z,1761349325.706 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:42:05.706Z,1761349325.706 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:42:05.707Z,1761349325.707 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:42:05.707Z,1761349325.707 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:42:05.707Z,1761349325.707 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:42:05.707Z,1761349325.707 [marl:UpdateSpeed] Stopped
2025-10-24T23:42:05.707Z,1761349325.707 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:42:06.063Z,1761349326.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123308,0.969888,0.210031],[-0.988770,-0.138085,0.057149],[0.084430,-0.200625,0.976023]]
2025-10-24T23:42:06.466Z,1761349326.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128420,0.960830,0.245587],[-0.986945,-0.148092,0.063308],[0.097198,-0.234251,0.967305]]
2025-10-24T23:42:06.872Z,1761349326.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123823,0.952737,0.277417],[-0.986744,-0.147774,0.067078],[0.104902,-0.265434,0.958405]]
2025-10-24T23:42:07.275Z,1761349327.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111690,0.950331,0.290509],[-0.987851,-0.137964,0.071525],[0.108052,-0.278991,0.954195]]
2025-10-24T23:42:07.683Z,1761349327.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093724,0.956040,0.277855],[-0.989618,-0.120001,0.079089],[0.108955,-0.267558,0.957362]]
2025-10-24T23:42:08.082Z,1761349328.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071650,0.967372,0.243019],[-0.991402,-0.095817,0.089116],[0.109494,-0.234544,0.965919]]
2025-10-24T23:42:08.487Z,1761349328.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051051,0.979739,0.193665],[-0.992331,-0.071622,0.100748],[0.112577,-0.187036,0.975881]]
2025-10-24T23:42:08.890Z,1761349328.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029041,0.989331,0.142764],[-0.992656,-0.045324,0.112162],[0.117436,-0.138458,0.983381]]
2025-10-24T23:42:09.294Z,1761349329.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002862,0.993871,0.110510],[-0.992596,-0.016242,0.120370],[0.121428,-0.109347,0.986559]]
2025-10-24T23:42:09.698Z,1761349329.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026686,0.996111,0.083964],[-0.992091,0.016086,0.124484],[0.122650,-0.086622,0.988662]]
2025-10-24T23:42:10.103Z,1761349330.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055777,0.997518,0.042971],[-0.991268,0.050174,0.121948],[0.119489,-0.049397,0.991606]]
2025-10-24T23:42:10.508Z,1761349330.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082092,0.996615,0.004477],[-0.990272,0.081061,0.113096],[0.112351,-0.013718,0.993574]]
2025-10-24T23:42:10.911Z,1761349330.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105485,0.994104,-0.025096],[-0.988797,0.107535,0.103522],[0.105610,0.013895,0.994310]]
2025-10-24T23:42:11.292Z,1761349331.292 [ElevatorServo](ERROR): getPosition uart error serial timeout
2025-10-24T23:42:11.292Z,1761349331.292 [ElevatorServo](FAULT): Elevator uart error - getPosition.serial timeout
2025-10-24T23:42:11.292Z,1761349331.292 [ElevatorServo] Communications Fault, FailCount= 1
2025-10-24T23:42:11.292Z,1761349331.292 [ElevatorServo](ERROR): Communications Fault
2025-10-24T23:42:11.372Z,1761349331.372 [CBIT](ERROR): Communications Fault in component: ElevatorServo
2025-10-24T23:42:11.410Z,1761349331.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132594,0.988174,-0.077011],[-0.985271,0.139871,0.098375],[0.107983,0.062833,0.992165]]
2025-10-24T23:42:11.463Z,1761349331.463 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-10-24T23:42:11.463Z,1761349331.463 [ElevatorServo](INFO): Powering down
2025-10-24T23:42:11.649Z,1761349331.649 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.835724
2025-10-24T23:42:11.803Z,1761349331.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141893,0.985657,-0.091355],[-0.983748,0.150670,0.097666],[0.110030,0.076012,0.991017]]
2025-10-24T23:42:12.209Z,1761349332.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148892,0.984878,-0.088584],[-0.982646,0.157384,0.098165],[0.110622,0.072430,0.991220]]
2025-10-24T23:42:12.293Z,1761349332.293 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-10-24T23:42:12.413Z,1761349332.413 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-10-24T23:42:12.491Z,1761349332.491 [CBIT](INFO): Clearing failed state for component ElevatorServo
2025-10-24T23:42:12.492Z,1761349332.492 [ElevatorServo] No Fault, FailCount= 1
2025-10-24T23:42:12.611Z,1761349332.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153992,0.985566,-0.070330],[-0.981462,0.160793,0.104292],[0.114096,0.052966,0.992057]]
2025-10-24T23:42:12.652Z,1761349332.652 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:42:13.016Z,1761349333.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163401,0.985408,-0.047648],[-0.979339,0.167849,0.112796],[0.119148,0.028233,0.992475]]
2025-10-24T23:42:13.417Z,1761349333.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176523,0.983707,-0.034065],[-0.976749,0.179342,0.117467],[0.121663,0.012538,0.992492]]
2025-10-24T23:42:13.818Z,1761349333.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188892,0.981434,-0.033285],[-0.974516,0.191521,0.116782],[0.120989,0.010377,0.992600]]
2025-10-24T23:42:14.233Z,1761349334.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198384,0.979584,-0.032535],[-0.972729,0.200849,0.116004],[0.120171,0.008634,0.992716]]
2025-10-24T23:42:14.626Z,1761349334.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207173,0.977715,-0.033940],[-0.970583,0.209764,0.118181],[0.122667,0.008458,0.992412]]
2025-10-24T23:42:15.030Z,1761349335.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217104,0.975336,-0.039824],[-0.967493,0.220420,0.123983],[0.129703,0.011612,0.991485]]
2025-10-24T23:42:15.434Z,1761349335.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230625,0.972066,-0.043595],[-0.963145,0.234424,0.131900],[0.138435,0.011569,0.990304]]
2025-10-24T23:42:15.841Z,1761349335.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249651,0.967394,-0.042700],[-0.957703,0.253186,0.136752],[0.143104,0.006754,0.989685]]
2025-10-24T23:42:16.245Z,1761349336.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268198,0.962587,-0.038690],[-0.952467,0.270973,0.139210],[0.144486,-0.000485,0.989507]]
2025-10-24T23:42:16.649Z,1761349336.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283547,0.957961,-0.043733],[-0.947864,0.286892,0.138733],[0.145448,0.002116,0.989364]]
2025-10-24T23:42:17.050Z,1761349337.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296981,0.953113,-0.058118],[-0.943340,0.302282,0.136879],[0.148029,0.014175,0.988881]]
2025-10-24T23:42:17.095Z,1761349337.095 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:42:17.095Z,1761349337.095 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:42:17.095Z,1761349337.095 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:42:17.095Z,1761349337.095 [marl:UpdateRudder:A] Stopped
2025-10-24T23:42:17.095Z,1761349337.095 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:42:17.455Z,1761349337.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309405,0.948257,-0.071261],[-0.938253,0.316617,0.139411],[0.154760,0.023727,0.987667]]
2025-10-24T23:42:17.487Z,1761349337.487 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:42:17.487Z,1761349337.487 [marl:UpdateRudder:B] Stopped
2025-10-24T23:42:17.487Z,1761349337.487 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:42:17.487Z,1761349337.487 [marl:UpdateRudder] Stopped
2025-10-24T23:42:17.487Z,1761349337.487 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:42:17.874Z,1761349337.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322830,0.943584,-0.073694],[-0.932078,0.330481,0.148367],[0.164351,0.020791,0.986183]]
2025-10-24T23:42:18.263Z,1761349338.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337748,0.938260,-0.074802],[-0.924785,0.345589,0.159186],[0.175209,0.015411,0.984411]]
2025-10-24T23:42:18.671Z,1761349338.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354309,0.931363,-0.083832],[-0.916332,0.363673,0.167562],[0.186549,0.017449,0.982291]]
2025-10-24T23:42:18.734Z,1761349338.734 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:42:18.734Z,1761349338.734 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:42:18.734Z,1761349338.734 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:42:18.734Z,1761349338.734 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:42:18.734Z,1761349338.734 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:42:18.734Z,1761349338.734 [marl:UpdateCommandMode] Stopped
2025-10-24T23:42:18.735Z,1761349338.735 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:42:18.735Z,1761349338.735 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:42:18.735Z,1761349338.735 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:42:18.735Z,1761349338.735 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:42:18.735Z,1761349338.735 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:42:18.735Z,1761349338.735 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:42:18.735Z,1761349338.735 [marl:UpdateSpeed] Stopped
2025-10-24T23:42:18.735Z,1761349338.735 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:42:19.072Z,1761349339.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372105,0.922954,-0.098453],[-0.907089,0.384083,0.172251],[0.196794,0.025211,0.980121]]
2025-10-24T23:42:19.474Z,1761349339.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390198,0.912916,-0.119710],[-0.898033,0.406039,0.169319],[0.203181,0.041436,0.978264]]
2025-10-24T23:42:19.925Z,1761349339.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406176,0.903099,-0.139400],[-0.891105,0.425238,0.158442],[0.202367,0.059865,0.977478]]
2025-10-24T23:42:20.282Z,1761349340.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421218,0.896303,-0.138626],[-0.885950,0.439334,0.148590],[0.194085,0.060227,0.979134]]
2025-10-24T23:42:20.693Z,1761349340.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435488,0.891198,-0.126948],[-0.881733,0.450708,0.139316],[0.181375,0.051264,0.982077]]
2025-10-24T23:42:21.090Z,1761349341.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450584,0.886417,-0.106015],[-0.876793,0.461748,0.134251],[0.167954,0.032462,0.985260]]
2025-10-24T23:42:21.495Z,1761349341.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468430,0.880023,-0.078315],[-0.869667,0.474905,0.134698],[0.155730,0.005011,0.987787]]
2025-10-24T23:42:21.927Z,1761349341.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489387,0.870012,-0.059835],[-0.860045,0.492857,0.131963],[0.144300,-0.013120,0.989447]]
2025-10-24T23:42:22.304Z,1761349342.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510915,0.857475,-0.060843],[-0.849299,0.514449,0.118459],[0.132876,-0.008849,0.991093]]
2025-10-24T23:42:22.372Z,1761349342.372 [Radio_Surface](INFO): Powering down
2025-10-24T23:42:22.717Z,1761349342.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530111,0.845658,-0.062007],[-0.839383,0.533720,0.102861],[0.120079,-0.002480,0.992761]]
2025-10-24T23:42:23.111Z,1761349343.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543356,0.837945,-0.051103],[-0.832650,0.545684,0.094460],[0.107039,-0.008775,0.994216]]
2025-10-24T23:42:23.518Z,1761349343.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551590,0.833141,-0.040305],[-0.828444,0.552824,0.089806],[0.097102,-0.016146,0.995143]]
2025-10-24T23:42:23.933Z,1761349343.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558181,0.828851,-0.037939],[-0.824662,0.559240,0.084760],[0.091471,-0.016025,0.995679]]
2025-10-24T23:42:24.324Z,1761349344.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564964,0.824001,-0.042884],[-0.820098,0.566492,0.080787],[0.090862,-0.010473,0.995808]]
2025-10-24T23:42:24.727Z,1761349344.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571501,0.819017,-0.050974],[-0.815201,0.573758,0.079052],[0.093992,-0.003624,0.995566]]
2025-10-24T23:42:25.130Z,1761349345.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578342,0.813754,-0.057656],[-0.809714,0.581209,0.080987],[0.099414,-0.000153,0.995046]]
2025-10-24T23:42:25.537Z,1761349345.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586947,0.807408,-0.059881],[-0.802903,0.589991,0.085190],[0.104112,-0.001923,0.994564]]
2025-10-24T23:42:25.940Z,1761349345.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599281,0.798321,-0.059546],[-0.793408,0.602203,0.088631],[0.106615,-0.005870,0.994283]]
2025-10-24T23:42:26.343Z,1761349346.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614730,0.786205,-0.063159],[-0.781247,0.617946,0.088297],[0.108448,-0.004936,0.994090]]
2025-10-24T23:42:26.747Z,1761349346.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631015,0.772324,-0.073047],[-0.767821,0.635219,0.083355],[0.110778,0.003488,0.993839]]
2025-10-24T23:42:27.150Z,1761349347.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647441,0.757575,-0.083069],[-0.753677,0.652632,0.077727],[0.113097,0.012284,0.993508]]
2025-10-24T23:42:27.564Z,1761349347.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663237,0.742972,-0.090050],[-0.739612,0.669073,0.072900],[0.114412,0.018252,0.993266]]
2025-10-24T23:42:27.959Z,1761349347.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679455,0.727986,-0.091525],[-0.724777,0.685347,0.070691],[0.114189,0.018304,0.993290]]
2025-10-24T23:42:28.362Z,1761349348.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696483,0.711175,-0.095608],[-0.708404,0.702685,0.066319],[0.114347,0.021539,0.993207]]
2025-10-24T23:42:28.767Z,1761349348.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713099,0.693509,-0.102644],[-0.691468,0.719900,0.060135],[0.115598,0.028093,0.992899]]
2025-10-24T23:42:29.174Z,1761349349.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729035,0.675283,-0.111806],[-0.674384,0.736585,0.051466],[0.117108,0.037880,0.992397]]
2025-10-24T23:42:29.578Z,1761349349.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744695,0.655859,-0.123603],[-0.657072,0.752945,0.036465],[0.116982,0.054061,0.991662]]
2025-10-24T23:42:29.979Z,1761349349.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760125,0.635038,-0.137610],[-0.639574,0.768601,0.014061],[0.114696,0.077323,0.990387]]
2025-10-24T23:42:30.030Z,1761349350.030 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:42:30.030Z,1761349350.030 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:42:30.030Z,1761349350.030 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:42:30.031Z,1761349350.031 [marl:UpdateRudder:A] Stopped
2025-10-24T23:42:30.031Z,1761349350.031 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:42:30.382Z,1761349350.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774709,0.616639,-0.139940],[-0.622458,0.782648,0.002768],[0.111231,0.084962,0.990156]]
2025-10-24T23:42:30.447Z,1761349350.447 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:42:30.447Z,1761349350.447 [marl:UpdateRudder:B] Stopped
2025-10-24T23:42:30.447Z,1761349350.447 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:42:30.447Z,1761349350.447 [marl:UpdateRudder] Stopped
2025-10-24T23:42:30.447Z,1761349350.447 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:42:30.787Z,1761349350.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786981,0.601967,-0.135264],[-0.607057,0.794645,0.004492],[0.110191,0.078578,0.990799]]
2025-10-24T23:42:31.197Z,1761349351.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796827,0.589511,-0.132451],[-0.593463,0.804778,0.011614],[0.113440,0.069350,0.991121]]
2025-10-24T23:42:31.594Z,1761349351.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806077,0.576365,-0.134326],[-0.579585,0.814718,0.017756],[0.119672,0.063541,0.990778]]
2025-10-24T23:42:31.619Z,1761349351.619 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:42:31.619Z,1761349351.619 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:42:31.619Z,1761349351.619 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:42:31.619Z,1761349351.619 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:42:31.619Z,1761349351.619 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:42:31.619Z,1761349351.619 [marl:UpdateCommandMode] Stopped
2025-10-24T23:42:31.619Z,1761349351.619 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:42:31.619Z,1761349351.619 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:42:31.636Z,1761349351.636 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:42:31.637Z,1761349351.637 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:42:31.637Z,1761349351.637 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:42:31.637Z,1761349351.637 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:42:31.637Z,1761349351.637 [marl:UpdateSpeed] Stopped
2025-10-24T23:42:31.637Z,1761349351.637 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:42:31.999Z,1761349351.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814821,0.563512,-0.136092],[-0.566021,0.824063,0.023245],[0.125247,0.058090,0.990424]]
2025-10-24T23:42:32.402Z,1761349352.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823447,0.551519,-0.133273],[-0.552850,0.832733,0.030202],[0.127637,0.048810,0.990619]]
2025-10-24T23:42:32.806Z,1761349352.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831637,0.541109,-0.124826],[-0.540691,0.840262,0.040176],[0.126626,0.034080,0.991365]]
2025-10-24T23:42:33.212Z,1761349353.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838789,0.533747,-0.107457],[-0.530452,0.845615,0.059628],[0.122694,0.006985,0.992420]]
2025-10-24T23:42:33.625Z,1761349353.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844078,0.529404,-0.085221],[-0.523352,0.847960,0.084060],[0.116765,-0.026353,0.992810]]
2025-10-24T23:42:34.018Z,1761349354.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848604,0.525503,-0.060970],[-0.517727,0.848637,0.108513],[0.108766,-0.060519,0.992224]]
2025-10-24T23:42:34.422Z,1761349354.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851519,0.523063,-0.036329],[-0.514705,0.847101,0.132281],[0.099966,-0.093941,0.990546]]
2025-10-24T23:42:34.830Z,1761349354.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852341,0.522630,-0.019321],[-0.514773,0.844903,0.145423],[0.092327,-0.114004,0.989181]]
2025-10-24T23:42:35.231Z,1761349355.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850714,0.525530,-0.010143],[-0.518315,0.841929,0.150019],[0.087379,-0.122366,0.988631]]
2025-10-24T23:42:35.643Z,1761349355.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847196,0.531280,0.000275],[-0.524368,0.836091,0.161216],[0.085421,-0.136725,0.986919]]
2025-10-24T23:42:36.039Z,1761349356.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843663,0.536609,0.016836],[-0.529985,0.827422,0.185710],[0.085723,-0.165600,0.982460]]
2025-10-24T23:42:36.442Z,1761349356.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841117,0.540200,0.026572],[-0.533576,0.820766,0.204059],[0.088423,-0.185815,0.978598]]
2025-10-24T23:42:36.847Z,1761349356.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840019,0.541836,0.027952],[-0.534454,0.817505,0.214578],[0.093415,-0.195188,0.976307]]
2025-10-24T23:42:37.252Z,1761349357.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840451,0.541222,0.026853],[-0.532792,0.816288,0.223176],[0.098868,-0.201876,0.974408]]
2025-10-24T23:42:37.673Z,1761349357.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841910,0.538775,0.030141],[-0.530058,0.815238,0.233293],[0.101120,-0.212388,0.971939]]
2025-10-24T23:42:38.058Z,1761349358.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843673,0.535557,0.037336],[-0.527771,0.814646,0.240435],[0.098351,-0.222554,0.969947]]
2025-10-24T23:42:38.462Z,1761349358.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844689,0.533208,0.046796],[-0.527206,0.813689,0.244875],[0.092492,-0.231514,0.968425]]
2025-10-24T23:42:38.875Z,1761349358.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843932,0.533953,0.051700],[-0.529197,0.812854,0.243348],[0.087912,-0.232728,0.968560]]
2025-10-24T23:42:39.272Z,1761349359.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842565,0.536351,0.049108],[-0.531447,0.813117,0.237495],[0.087450,-0.226204,0.970147]]
2025-10-24T23:42:39.682Z,1761349359.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841396,0.539075,0.038088],[-0.532597,0.815207,0.227549],[0.091616,-0.211745,0.973021]]
2025-10-24T23:42:40.081Z,1761349360.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842609,0.538058,0.022435],[-0.529513,0.820198,0.216544],[0.098112,-0.194342,0.976015]]
2025-10-24T23:42:40.482Z,1761349360.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846646,0.531969,0.014112],[-0.522033,0.825101,0.216079],[0.103304,-0.190310,0.976274]]
2025-10-24T23:42:40.886Z,1761349360.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850196,0.526425,0.006493],[-0.515474,0.829876,0.213524],[0.107016,-0.184884,0.976916]]
2025-10-24T23:42:41.290Z,1761349361.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852871,0.522118,0.001816],[-0.510881,0.833787,0.209285],[0.107757,-0.179421,0.977853]]
2025-10-24T23:42:41.702Z,1761349361.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854944,0.518716,-0.002305],[-0.507900,0.838004,0.199468],[0.105399,-0.169363,0.979902]]
2025-10-24T23:42:42.098Z,1761349362.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856423,0.516261,-0.003613],[-0.506457,0.841476,0.188199],[0.100200,-0.159348,0.982124]]
2025-10-24T23:42:42.502Z,1761349362.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855863,0.517202,0.000684],[-0.508522,0.841257,0.183552],[0.094358,-0.157443,0.983010]]
2025-10-24T23:42:42.772Z,1761349362.772 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:42:42.908Z,1761349362.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853421,0.521042,0.013725],[-0.513664,0.836283,0.191782],[0.088449,-0.170720,0.981342]]
2025-10-24T23:42:43.376Z,1761349363.376 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:42:43.377Z,1761349363.377 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:42:43.377Z,1761349363.377 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:42:43.377Z,1761349363.377 [marl:UpdateRudder:A] Stopped
2025-10-24T23:42:43.377Z,1761349363.377 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:42:43.715Z,1761349363.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850346,0.524958,0.036495],[-0.520215,0.828159,0.208636],[0.079302,-0.196398,0.977312]]
2025-10-24T23:42:43.751Z,1761349363.751 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:42:43.751Z,1761349363.751 [marl:UpdateRudder:B] Stopped
2025-10-24T23:42:43.751Z,1761349363.751 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:42:43.751Z,1761349363.751 [marl:UpdateRudder] Stopped
2025-10-24T23:42:43.751Z,1761349363.751 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:42:43.776Z,1761349363.776 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-24T23:42:43.777Z,1761349363.777 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:42:44.118Z,1761349364.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849234,0.526791,0.035954],[-0.522095,0.827591,0.206180],[0.078858,-0.193867,0.977853]]
2025-10-24T23:42:44.522Z,1761349364.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849119,0.527319,0.030526],[-0.522367,0.829768,0.196515],[0.078297,-0.182810,0.980026]]
2025-10-24T23:42:44.928Z,1761349364.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851976,0.523063,0.023303],[-0.518225,0.836074,0.180065],[0.074703,-0.165487,0.983379]]
2025-10-24T23:42:44.952Z,1761349364.952 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:42:44.952Z,1761349364.952 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:42:44.952Z,1761349364.952 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:42:44.953Z,1761349364.953 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:42:44.953Z,1761349364.953 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:42:44.953Z,1761349364.953 [marl:UpdateCommandMode] Stopped
2025-10-24T23:42:44.953Z,1761349364.953 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:42:44.953Z,1761349364.953 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:42:44.953Z,1761349364.953 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:42:44.953Z,1761349364.953 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:42:44.954Z,1761349364.954 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:42:44.954Z,1761349364.954 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:42:44.954Z,1761349364.954 [marl:UpdateSpeed] Stopped
2025-10-24T23:42:44.954Z,1761349364.954 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:42:45.331Z,1761349365.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854098,0.519729,0.019944],[-0.515469,0.840741,0.165669],[0.069335,-0.151779,0.985980]]
2025-10-24T23:42:45.740Z,1761349365.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854491,0.518744,0.027379],[-0.515691,0.840760,0.164880],[0.062511,-0.155008,0.985933]]
2025-10-24T23:42:46.141Z,1761349366.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854092,0.518879,0.035942],[-0.517092,0.839637,0.166212],[0.056066,-0.160546,0.985435]]
2025-10-24T23:42:46.287Z,1761349366.287 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:42:46.287Z,1761349366.287 [DAT] No Fault, FailCount= 8
2025-10-24T23:42:46.352Z,1761349366.352 [DAT](INFO): Powering up
2025-10-24T23:42:46.352Z,1761349366.352 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:42:46.542Z,1761349366.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854054,0.518672,0.039641],[-0.517614,0.839794,0.163773],[0.051654,-0.160389,0.985701]]
2025-10-24T23:42:46.948Z,1761349366.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854850,0.517341,0.039871],[-0.516448,0.840913,0.161697],[0.050124,-0.158818,0.986035]]
2025-10-24T23:42:47.353Z,1761349367.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856558,0.514618,0.038423],[-0.513493,0.842545,0.162614],[0.051311,-0.159018,0.985941]]
2025-10-24T23:42:47.754Z,1761349367.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858935,0.511136,0.031151],[-0.509196,0.846057,0.157821],[0.054313,-0.151420,0.986976]]
2025-10-24T23:42:48.165Z,1761349368.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861406,0.507317,0.024673],[-0.504650,0.849355,0.154678],[0.057515,-0.145691,0.987657]]
2025-10-24T23:42:48.562Z,1761349368.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863587,0.503657,0.023414],[-0.500639,0.851053,0.158333],[0.059819,-0.148456,0.987108]]
2025-10-24T23:42:48.968Z,1761349368.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865647,0.499987,0.025836],[-0.496953,0.851839,0.165551],[0.060765,-0.156148,0.985863]]
2025-10-24T23:42:49.370Z,1761349369.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868089,0.495443,0.030950],[-0.492706,0.852336,0.175397],[0.060519,-0.167510,0.984011]]
2025-10-24T23:42:49.774Z,1761349369.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871370,0.489089,0.038812],[-0.487055,0.852786,0.188503],[0.059096,-0.183159,0.981305]]
2025-10-24T23:42:50.179Z,1761349370.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875029,0.481865,0.046165],[-0.480826,0.854174,0.197972],[0.055963,-0.195429,0.979120]]
2025-10-24T23:42:50.199Z,1761349370.199 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,   -99,  -87,A
2025-10-24T23:42:50.582Z,1761349370.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877862,0.476101,0.051831],[-0.476054,0.855681,0.202935],[0.052267,-0.202823,0.977820]]
2025-10-24T23:42:50.986Z,1761349370.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879466,0.472542,0.056951],[-0.473490,0.856434,0.205739],[0.048446,-0.207906,0.976948]]
2025-10-24T23:42:51.391Z,1761349371.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880681,0.469909,0.059893],[-0.471550,0.857569,0.205467],[0.045188,-0.209193,0.976830]]
2025-10-24T23:42:51.794Z,1761349371.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881798,0.467851,0.059568],[-0.469674,0.859629,0.201106],[0.042882,-0.205312,0.977757]]
2025-10-24T23:42:52.604Z,1761349372.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883693,0.464340,0.058959],[-0.466444,0.863128,0.193496],[0.038959,-0.198491,0.979328]]
2025-10-24T23:42:53.007Z,1761349373.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883886,0.464027,0.058513],[-0.466224,0.864236,0.189028],[0.037145,-0.194359,0.980227]]
2025-10-24T23:42:53.814Z,1761349373.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882166,0.466627,0.063577],[-0.469636,0.861642,0.192393],[0.034995,-0.199581,0.979256]]
2025-10-24T23:42:54.220Z,1761349374.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880702,0.469215,0.064815],[-0.472401,0.860067,0.192672],[0.034660,-0.200306,0.979120]]
2025-10-24T23:42:54.629Z,1761349374.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879112,0.472293,0.064041],[-0.475314,0.858843,0.190961],[0.035188,-0.198316,0.979506]]
2025-10-24T23:42:55.026Z,1761349375.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877897,0.474646,0.063311],[-0.477462,0.857608,0.191151],[0.036433,-0.198040,0.979517]]
2025-10-24T23:42:55.430Z,1761349375.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877700,0.474776,0.065038],[-0.477763,0.856414,0.195699],[0.037213,-0.202838,0.978505]]
2025-10-24T23:42:55.848Z,1761349375.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878127,0.473972,0.065141],[-0.476961,0.856627,0.196720],[0.037438,-0.203815,0.978293]]
2025-10-24T23:42:55.965Z,1761349375.965 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:42:55.965Z,1761349375.965 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:42:55.965Z,1761349375.965 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:42:55.965Z,1761349375.965 [marl:UpdateRudder:A] Stopped
2025-10-24T23:42:55.965Z,1761349375.965 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:42:56.066Z,1761349376.066 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:42:56.067Z,1761349376.067 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:42:56.238Z,1761349376.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879119,0.472534,0.062132],[-0.475121,0.858644,0.192327],[0.037532,-0.198598,0.979362]]
2025-10-24T23:42:56.316Z,1761349376.316 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:42:56.316Z,1761349376.316 [marl:UpdateRudder:B] Stopped
2025-10-24T23:42:56.316Z,1761349376.316 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:42:56.316Z,1761349376.316 [marl:UpdateRudder] Stopped
2025-10-24T23:42:56.316Z,1761349376.316 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:42:57.052Z,1761349377.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882809,0.467433,0.046409],[-0.467953,0.866576,0.173394],[0.040833,-0.174791,0.983759]]
2025-10-24T23:42:57.457Z,1761349377.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885303,0.463515,0.037320],[-0.462941,0.870943,0.164756],[0.043863,-0.163136,0.985628]]
2025-10-24T23:42:57.899Z,1761349377.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888483,0.458036,0.028309],[-0.456411,0.875534,0.158519],[0.047822,-0.153762,0.986950]]
2025-10-24T23:42:57.987Z,1761349377.987 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:42:57.987Z,1761349377.987 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:42:57.988Z,1761349377.988 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:42:57.988Z,1761349377.988 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:42:57.988Z,1761349377.988 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:42:57.988Z,1761349377.988 [marl:UpdateCommandMode] Stopped
2025-10-24T23:42:57.988Z,1761349377.988 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:42:57.988Z,1761349377.988 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:42:57.989Z,1761349377.989 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:42:57.989Z,1761349377.989 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:42:57.989Z,1761349377.989 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:42:57.989Z,1761349377.989 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:42:57.989Z,1761349377.989 [marl:UpdateSpeed] Stopped
2025-10-24T23:42:57.989Z,1761349377.989 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:42:58.267Z,1761349378.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891750,0.451988,0.022119],[-0.449537,0.879184,0.157963],[0.051950,-0.150807,0.987197]]
2025-10-24T23:42:58.463Z,1761349378.463 [DAT](INFO): DAT read: 

2025-10-24T23:42:58.464Z,1761349378.464 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:42:58.670Z,1761349378.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894619,0.446465,0.018028],[-0.443379,0.881985,0.159743],[0.055419,-0.150902,0.986994]]
2025-10-24T23:42:58.710Z,1761349378.710 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:42:59.066Z,1761349379.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896761,0.442173,0.017389],[-0.438700,0.883195,0.165857],[0.057980,-0.156363,0.985996]]
2025-10-24T23:42:59.471Z,1761349379.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897757,0.439900,0.022825],[-0.436513,0.881502,0.180032],[0.059076,-0.171589,0.983396]]
2025-10-24T23:42:59.944Z,1761349379.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897221,0.440510,0.030741],[-0.437524,0.877408,0.196794],[0.059718,-0.190018,0.979963]]
2025-10-24T23:42:59.954Z,1761349379.954 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050103311630,35.0, +15.2,   0.0,,  0.00, 776.68, 653.19, 724.68, 692.18
2025-10-24T23:43:00.225Z,1761349380.225 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:43:00.226Z,1761349380.226 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:43:00.227Z,1761349380.227 [DAT](INFO): DAT read: Oct 24 2025 23:42:28 

2025-10-24T23:43:00.296Z,1761349380.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896333,0.441885,0.036401],[-0.439198,0.873626,0.209483],[0.060766,-0.203754,0.977135]]
2025-10-24T23:43:00.687Z,1761349380.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895709,0.443064,0.037410],[-0.440155,0.871609,0.215779],[0.062997,-0.209742,0.975725]]
2025-10-24T23:43:01.086Z,1761349381.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895402,0.444017,0.033229],[-0.440150,0.871388,0.216681],[0.067255,-0.208642,0.975677]]
2025-10-24T23:43:01.245Z,1761349381.245 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:43:01.246Z,1761349381.246 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:43:01.247Z,1761349381.247 [DAT](INFO): commRate: 600
2025-10-24T23:43:01.490Z,1761349381.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895610,0.444160,0.024589],[-0.438750,0.872885,0.213472],[0.073352,-0.201976,0.976640]]
2025-10-24T23:43:01.930Z,1761349381.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897415,0.441022,0.012096],[-0.433840,0.877153,0.205876],[0.080186,-0.190003,0.978503]]
2025-10-24T23:43:02.300Z,1761349382.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899610,0.436695,-0.000386],[-0.427903,0.881673,0.198877],[0.087188,-0.178746,0.980024]]
2025-10-24T23:43:02.703Z,1761349382.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901356,0.432985,-0.009038],[-0.422989,0.884641,0.196189],[0.092942,-0.173013,0.980524]]
2025-10-24T23:43:03.115Z,1761349383.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902929,0.429675,-0.009919],[-0.419005,0.885175,0.202237],[0.095676,-0.178450,0.979286]]
2025-10-24T23:43:03.324Z,1761349383.324 [DAT](INFO): entering command mode
2025-10-24T23:43:03.510Z,1761349383.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905233,0.424865,-0.006508],[-0.414096,0.885516,0.210680],[0.095274,-0.188019,0.977533]]
2025-10-24T23:43:03.524Z,1761349383.524 [DAT](INFO): DAT read: 

2025-10-24T23:43:03.525Z,1761349383.525 [DAT](INFO): DAT read: user:1>

2025-10-24T23:43:03.525Z,1761349383.525 [DAT](INFO): setting verbose to 3
2025-10-24T23:43:03.777Z,1761349383.777 [DAT](INFO): DAT read: user:1>

2025-10-24T23:43:03.778Z,1761349383.778 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:43:03.778Z,1761349383.778 [DAT](INFO): set verbose to 3
2025-10-24T23:43:03.778Z,1761349383.778 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:43:03.933Z,1761349383.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908729,0.417385,-0.001208],[-0.406978,0.886706,0.219369],[0.092632,-0.198855,0.975641]]
2025-10-24T23:43:04.028Z,1761349384.028 [DAT](INFO): DAT read: user:2>

2025-10-24T23:43:04.029Z,1761349384.029 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:43:04.030Z,1761349384.030 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:43:04.030Z,1761349384.030 [DAT](INFO): setting transmit power to 8
2025-10-24T23:43:04.281Z,1761349384.281 [DAT](INFO): DAT read: user:3>

2025-10-24T23:43:04.282Z,1761349384.282 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:43:04.282Z,1761349384.282 [DAT](INFO): set transmit power to 8
2025-10-24T23:43:04.282Z,1761349384.282 [DAT](INFO): setting local address to 11
2025-10-24T23:43:04.319Z,1761349384.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910918,0.412583,0.001905],[-0.402222,0.886994,0.226846],[0.091902,-0.207404,0.973929]]
2025-10-24T23:43:04.533Z,1761349384.533 [DAT](INFO): DAT read: user:4>

2025-10-24T23:43:04.533Z,1761349384.533 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:43:04.534Z,1761349384.534 [DAT](INFO): set local address to 11
2025-10-24T23:43:04.535Z,1761349384.535 [DAT](INFO): Setting time to: 23:43:4 And date to:10/24/2025
2025-10-24T23:43:04.722Z,1761349384.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910990,0.412422,0.002393],[-0.401500,0.885508,0.233824],[0.094315,-0.213972,0.972276]]
2025-10-24T23:43:04.785Z,1761349384.785 [DAT](INFO): DAT read: user:5>

2025-10-24T23:43:04.787Z,1761349384.787 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:43:04  

2025-10-24T23:43:04.787Z,1761349384.787 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:43:04  

2025-10-24T23:43:04.788Z,1761349384.788 [DAT](INFO): setting remote address to 10
2025-10-24T23:43:04.790Z,1761349384.790 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:43:04.791Z,1761349384.791 [DAT](INFO): setting remote address to 0
2025-10-24T23:43:05.037Z,1761349385.037 [DAT](INFO): DAT read: user:6>

2025-10-24T23:43:05.038Z,1761349385.038 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:43:05.038Z,1761349385.038 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:43:05.039Z,1761349385.039 [DAT] Communications Fault, FailCount= 1
2025-10-24T23:43:05.039Z,1761349385.039 [DAT](ERROR): Communications Fault
2025-10-24T23:43:05.039Z,1761349385.039 [DAT](INFO): DAT read: user:7>

2025-10-24T23:43:05.040Z,1761349385.040 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:43:05.041Z,1761349385.041 [DAT](INFO): set remote address to 0
2025-10-24T23:43:05.041Z,1761349385.041 [DAT](INFO): setting remote address to 10
2025-10-24T23:43:05.041Z,1761349385.041 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:43:05.042Z,1761349385.042 [DAT](INFO): setting remote address to 0
2025-10-24T23:43:05.130Z,1761349385.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911318,0.411701,-0.001343],[-0.399684,0.885492,0.236974],[0.098751,-0.215422,0.971515]]
2025-10-24T23:43:05.275Z,1761349385.275 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:43:05.444Z,1761349385.444 [DAT](INFO): Powering down
2025-10-24T23:43:05.533Z,1761349385.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912295,0.409416,-0.009819],[-0.395852,0.887708,0.235108],[0.104974,-0.210601,0.971919]]
2025-10-24T23:43:05.939Z,1761349385.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914585,0.403853,-0.020911],[-0.388778,0.892322,0.229376],[0.111293,-0.201654,0.973113]]
2025-10-24T23:43:06.339Z,1761349386.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917074,0.397489,-0.031277],[-0.381075,0.896871,0.224511],[0.117292,-0.193974,0.973970]]
2025-10-24T23:43:06.463Z,1761349386.463 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:43:06.463Z,1761349386.463 [DAT] No Fault, FailCount= 1
2025-10-24T23:43:06.743Z,1761349386.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919127,0.392101,-0.038239],[-0.374648,0.899959,0.222962],[0.121838,-0.190604,0.974077]]
2025-10-24T23:43:07.147Z,1761349387.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920866,0.387735,-0.040834],[-0.369509,0.901365,0.225842],[0.124374,-0.192882,0.973308]]
2025-10-24T23:43:07.552Z,1761349387.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922094,0.384985,-0.039100],[-0.366228,0.900846,0.233138],[0.124978,-0.200656,0.971657]]
2025-10-24T23:43:07.954Z,1761349387.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922473,0.384358,-0.036234],[-0.365240,0.899276,0.240630],[0.125072,-0.208740,0.969940]]
2025-10-24T23:43:08.359Z,1761349388.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922510,0.384465,-0.034084],[-0.365062,0.897794,0.246365],[0.125319,-0.214831,0.968578]]
2025-10-24T23:43:08.504Z,1761349388.504 [DAT](INFO): Powering up
2025-10-24T23:43:08.504Z,1761349388.504 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:43:08.763Z,1761349388.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922592,0.384031,-0.036664],[-0.364524,0.898928,0.243004],[0.126279,-0.210828,0.969332]]
2025-10-24T23:43:08.791Z,1761349388.791 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:43:08.791Z,1761349388.791 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:43:08.791Z,1761349388.791 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:43:08.792Z,1761349388.792 [marl:UpdateRudder:A] Stopped
2025-10-24T23:43:08.792Z,1761349388.792 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:43:09.168Z,1761349389.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922594,0.383395,-0.042761],[-0.363749,0.901480,0.234564],[0.128479,-0.200853,0.971160]]
2025-10-24T23:43:09.198Z,1761349389.198 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:43:09.198Z,1761349389.198 [marl:UpdateRudder:B] Stopped
2025-10-24T23:43:09.198Z,1761349389.198 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:43:09.198Z,1761349389.198 [marl:UpdateRudder] Stopped
2025-10-24T23:43:09.198Z,1761349389.198 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:43:09.570Z,1761349389.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922145,0.383690,-0.049310],[-0.363501,0.903038,0.228887],[0.132351,-0.193143,0.972203]]
2025-10-24T23:43:09.978Z,1761349389.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920884,0.385654,-0.056948],[-0.364635,0.903784,0.224089],[0.137890,-0.185594,0.972903]]
2025-10-24T23:43:10.380Z,1761349390.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919692,0.387645,-0.062427],[-0.365542,0.903370,0.224280],[0.143336,-0.183449,0.972523]]
2025-10-24T23:43:10.783Z,1761349390.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919677,0.387389,-0.064221],[-0.364196,0.902638,0.229358],[0.146819,-0.187546,0.971221]]
2025-10-24T23:43:10.813Z,1761349390.813 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:43:10.813Z,1761349390.813 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:43:10.813Z,1761349390.813 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:43:10.814Z,1761349390.814 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:43:10.814Z,1761349390.814 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:43:10.814Z,1761349390.814 [marl:UpdateCommandMode] Stopped
2025-10-24T23:43:10.814Z,1761349390.814 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:43:10.814Z,1761349390.814 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:43:10.814Z,1761349390.814 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:43:10.814Z,1761349390.814 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:43:10.814Z,1761349390.814 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:43:10.815Z,1761349390.815 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:43:10.815Z,1761349390.815 [marl:UpdateSpeed] Stopped
2025-10-24T23:43:10.815Z,1761349390.815 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:43:11.186Z,1761349391.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920782,0.384820,-0.063832],[-0.360777,0.902361,0.235762],[0.148326,-0.194057,0.969712]]
2025-10-24T23:43:11.600Z,1761349391.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922487,0.380762,-0.063545],[-0.356130,0.902951,0.240522],[0.148959,-0.199248,0.968561]]
2025-10-24T23:43:12.000Z,1761349392.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925027,0.374046,-0.066443],[-0.349402,0.906312,0.237734],[0.149141,-0.196695,0.969055]]
2025-10-24T23:43:12.398Z,1761349392.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929820,0.359530,-0.078568],[-0.336368,0.916882,0.214907],[0.149303,-0.173397,0.973469]]
2025-10-24T23:43:12.803Z,1761349392.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936103,0.337566,-0.098792],[-0.317913,0.932215,0.172934],[0.150472,-0.130477,0.979966]]
2025-10-24T23:43:13.206Z,1761349393.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942676,0.311318,-0.120179],[-0.296598,0.946677,0.125823],[0.152942,-0.082966,0.984746]]
2025-10-24T23:43:13.614Z,1761349393.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948731,0.284845,-0.137012],[-0.274719,0.957464,0.088270],[0.156327,-0.046104,0.986629]]
2025-10-24T23:43:13.910Z,1761349393.910 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:43:14.014Z,1761349394.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954128,0.260180,-0.148141],[-0.253466,0.965300,0.062861],[0.159356,-0.022428,0.986966]]
2025-10-24T23:43:14.419Z,1761349394.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959070,0.238230,-0.153070],[-0.232700,0.971084,0.053345],[0.161353,-0.015542,0.986774]]
2025-10-24T23:43:14.823Z,1761349394.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963808,0.217253,-0.154515],[-0.211827,0.975978,0.050958],[0.161874,-0.016383,0.986676]]
2025-10-24T23:43:14.912Z,1761349394.912 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:43:15.231Z,1761349395.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968297,0.195888,-0.155009],[-0.190903,0.980504,0.046565],[0.161109,-0.015496,0.986815]]
2025-10-24T23:43:15.630Z,1761349395.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972198,0.175521,-0.154993],[-0.170818,0.984352,0.043268],[0.160162,-0.015590,0.986968]]
2025-10-24T23:43:16.438Z,1761349396.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977494,0.141618,-0.156362],[-0.137004,0.989764,0.039960],[0.160421,-0.017638,0.986891]]
2025-10-24T23:43:16.843Z,1761349396.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979267,0.125981,-0.158637],[-0.121672,0.991894,0.036633],[0.161966,-0.016572,0.986657]]
2025-10-24T23:43:17.248Z,1761349397.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980859,0.109231,-0.161194],[-0.105845,0.993946,0.029474],[0.163437,-0.011848,0.986483]]
2025-10-24T23:43:17.653Z,1761349397.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982270,0.091406,-0.163676],[-0.088934,0.995786,0.022387],[0.165032,-0.007433,0.986260]]
2025-10-24T23:43:18.054Z,1761349398.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983298,0.075940,-0.165406],[-0.073486,0.997077,0.020916],[0.166511,-0.008411,0.986004]]
2025-10-24T23:43:18.459Z,1761349398.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984083,0.061454,-0.166746],[-0.058762,0.998050,0.021040],[0.167714,-0.010907,0.985775]]
2025-10-24T23:43:18.864Z,1761349398.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984550,0.046837,-0.168723],[-0.044353,0.998845,0.018463],[0.169393,-0.010694,0.985491]]
2025-10-24T23:43:19.266Z,1761349399.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984743,0.031682,-0.171104],[-0.029706,0.999459,0.014096],[0.171458,-0.008798,0.985152]]
2025-10-24T23:43:19.675Z,1761349399.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984697,0.017285,-0.173417],[-0.015185,0.999794,0.013430],[0.173613,-0.010591,0.984757]]
2025-10-24T23:43:20.083Z,1761349400.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984460,0.003052,-0.175585],[-0.001174,0.999941,0.010799],[0.175607,-0.010425,0.984405]]
2025-10-24T23:43:20.098Z,1761349400.098 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,  -265,  +858,   :WE,  -265,  +858,   +77,A
2025-10-24T23:43:20.479Z,1761349400.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984023,-0.011667,-0.177657],[0.012693,0.999909,0.004642],[0.177586,-0.006823,0.984082]]
2025-10-24T23:43:20.512Z,1761349400.512 [marl:SendObservationData] Running Loop=1
2025-10-24T23:43:20.512Z,1761349400.512 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:43:20.512Z,1761349400.512 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:43:20.513Z,1761349400.513 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:43:20.515Z,1761349400.515 [marl:SendObservationData:A](INFO): Got test_good :  41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:43:20.515Z,1761349400.515 [marl:SendObservationData:A] Stopped
2025-10-24T23:43:20.515Z,1761349400.515 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:43:20.604Z,1761349400.604 [DAT](INFO): DAT read: 

2025-10-24T23:43:20.605Z,1761349400.605 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:43:20.882Z,1761349400.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983429,-0.026691,-0.179319],[0.026818,0.999639,-0.001716],[0.179300,-0.003121,0.983790]]
2025-10-24T23:43:20.913Z,1761349400.913 [marl:SendObservationData:B] Stopped
2025-10-24T23:43:20.913Z,1761349400.913 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:43:21.286Z,1761349401.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982634,-0.041659,-0.180820],[0.041211,0.999131,-0.006235],[0.180922,-0.001325,0.983496]]
2025-10-24T23:43:21.336Z,1761349401.336 [marl:SendObservationData:C] Stopped
2025-10-24T23:43:21.336Z,1761349401.336 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:43:21.691Z,1761349401.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981627,-0.056997,-0.182097],[0.056204,0.998374,-0.009516],[0.182343,-0.000893,0.983235]]
2025-10-24T23:43:21.740Z,1761349401.740 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:43:21.740Z,1761349401.740 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:43:21.740Z,1761349401.740 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:43:21.741Z,1761349401.741 [marl:UpdateRudder:A] Stopped
2025-10-24T23:43:21.741Z,1761349401.741 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:43:21.742Z,1761349401.742 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.009359 min 
2025-10-24T23:43:21.742Z,1761349401.742 [marl:SendObservationData:E] Stopped
2025-10-24T23:43:21.743Z,1761349401.743 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:43:21.743Z,1761349401.743 [marl:SendObservationData] Stopped
2025-10-24T23:43:21.743Z,1761349401.743 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:43:21.743Z,1761349401.743 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:43:22.096Z,1761349402.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980359,-0.073064,-0.183190],[0.071887,0.997327,-0.013066],[0.183655,-0.000359,0.982991]]
2025-10-24T23:43:22.167Z,1761349402.167 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:43:22.168Z,1761349402.168 [marl:UpdateRudder:B] Stopped
2025-10-24T23:43:22.168Z,1761349402.168 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:43:22.168Z,1761349402.168 [marl:UpdateRudder] Stopped
2025-10-24T23:43:22.168Z,1761349402.168 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:43:22.369Z,1761349402.369 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:43:22.370Z,1761349402.370 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:43:22.371Z,1761349402.371 [DAT](INFO): DAT read: Oct 24 2025 23:43:16 

2025-10-24T23:43:22.506Z,1761349402.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978720,-0.089219,-0.184792],[0.087979,0.996011,-0.014913],[0.185385,-0.001662,0.982665]]
2025-10-24T23:43:22.902Z,1761349402.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976648,-0.106860,-0.186387],[0.105093,0.994274,-0.019366],[0.187389,-0.000674,0.982285]]
2025-10-24T23:43:23.307Z,1761349403.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974174,-0.125302,-0.187843],[0.123050,0.992119,-0.023646],[0.189326,-0.000079,0.981914]]
2025-10-24T23:43:23.377Z,1761349403.377 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:43:23.378Z,1761349403.378 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:43:23.379Z,1761349403.379 [DAT](INFO): commRate: 600
2025-10-24T23:43:23.711Z,1761349403.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971431,-0.143377,-0.189118],[0.140506,0.989667,-0.028571],[0.191260,0.001182,0.981539]]
2025-10-24T23:43:23.747Z,1761349403.747 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:43:23.747Z,1761349403.747 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:43:23.747Z,1761349403.747 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:43:23.768Z,1761349403.768 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:43:23.768Z,1761349403.768 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:43:23.768Z,1761349403.768 [marl:UpdateCommandMode] Stopped
2025-10-24T23:43:23.768Z,1761349403.768 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:43:23.768Z,1761349403.768 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:43:23.768Z,1761349403.768 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:43:23.768Z,1761349403.768 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:43:23.769Z,1761349403.769 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:43:23.769Z,1761349403.769 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:43:23.769Z,1761349403.769 [marl:UpdateSpeed] Stopped
2025-10-24T23:43:23.769Z,1761349403.769 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:43:24.114Z,1761349404.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968369,-0.162173,-0.189633],[0.158540,0.986757,-0.034277],[0.192680,0.003129,0.981257]]
2025-10-24T23:43:24.522Z,1761349404.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965151,-0.180370,-0.189608],[0.176401,0.983594,-0.037748],[0.193306,0.002985,0.981134]]
2025-10-24T23:43:24.927Z,1761349404.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961614,-0.198957,-0.188982],[0.194719,0.980005,-0.040926],[0.193346,0.002557,0.981127]]
2025-10-24T23:43:25.327Z,1761349405.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957612,-0.218583,-0.187621],[0.213751,0.975811,-0.045865],[0.193108,0.003817,0.981170]]
2025-10-24T23:43:25.444Z,1761349405.444 [DAT](INFO): entering command mode
2025-10-24T23:43:25.645Z,1761349405.645 [DAT](INFO): DAT read: 

2025-10-24T23:43:25.645Z,1761349405.645 [DAT](INFO): DAT read: user:1>

2025-10-24T23:43:25.646Z,1761349405.646 [DAT](INFO): setting verbose to 3
2025-10-24T23:43:25.730Z,1761349405.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953321,-0.238061,-0.185756],[0.232632,0.971236,-0.050824],[0.192512,0.005239,0.981281]]
2025-10-24T23:43:25.900Z,1761349405.900 [DAT](INFO): DAT read: user:1>

2025-10-24T23:43:25.904Z,1761349405.904 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:43:25.905Z,1761349405.905 [DAT](INFO): set verbose to 3
2025-10-24T23:43:25.906Z,1761349405.906 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:43:26.148Z,1761349406.148 [DAT](INFO): DAT read: user:2>

2025-10-24T23:43:26.149Z,1761349406.149 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:43:26.150Z,1761349406.150 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:43:26.150Z,1761349406.150 [DAT](INFO): setting transmit power to 8
2025-10-24T23:43:26.402Z,1761349406.402 [DAT](INFO): DAT read: user:3>

2025-10-24T23:43:26.403Z,1761349406.403 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:43:26.403Z,1761349406.403 [DAT](INFO): set transmit power to 8
2025-10-24T23:43:26.404Z,1761349406.404 [DAT](INFO): setting local address to 11
2025-10-24T23:43:26.546Z,1761349406.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943961,-0.273604,-0.184603],[0.268470,0.961842,-0.052753],[0.191992,0.000236,0.981396]]
2025-10-24T23:43:26.657Z,1761349406.657 [DAT](INFO): DAT read: user:4>

2025-10-24T23:43:26.658Z,1761349406.658 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:43:26.658Z,1761349406.658 [DAT](INFO): set local address to 11
2025-10-24T23:43:26.661Z,1761349406.661 [DAT](INFO): Setting time to: 23:43:26 And date to:10/24/2025
2025-10-24T23:43:26.904Z,1761349406.904 [DAT](INFO): DAT read: user:5>

2025-10-24T23:43:26.905Z,1761349406.905 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:43:26  

2025-10-24T23:43:26.906Z,1761349406.906 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:43:26  

2025-10-24T23:43:26.906Z,1761349406.906 [DAT](INFO): setting remote address to 10
2025-10-24T23:43:26.907Z,1761349406.907 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:43:26.907Z,1761349406.907 [DAT](INFO): setting remote address to 0
2025-10-24T23:43:26.943Z,1761349406.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939194,-0.289383,-0.184855],[0.284524,0.957209,-0.052887],[0.192250,-0.002925,0.981342]]
2025-10-24T23:43:27.157Z,1761349407.157 [DAT](INFO): DAT read: user:6>

2025-10-24T23:43:27.158Z,1761349407.158 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:43:27.158Z,1761349407.158 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:43:27.158Z,1761349407.158 [DAT] Communications Fault, FailCount= 2
2025-10-24T23:43:27.158Z,1761349407.158 [DAT](ERROR): Communications Fault
2025-10-24T23:43:27.159Z,1761349407.159 [DAT](INFO): DAT read: user:7>

2025-10-24T23:43:27.164Z,1761349407.164 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:43:27.164Z,1761349407.164 [DAT](INFO): set remote address to 0
2025-10-24T23:43:27.164Z,1761349407.164 [DAT](INFO): setting remote address to 10
2025-10-24T23:43:27.166Z,1761349407.166 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:43:27.167Z,1761349407.167 [DAT](INFO): setting remote address to 0
2025-10-24T23:43:27.346Z,1761349407.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934291,-0.304464,-0.185479],[0.299438,0.952516,-0.055231],[0.193487,-0.003937,0.981095]]
2025-10-24T23:43:27.515Z,1761349407.515 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:43:27.588Z,1761349407.588 [DAT](INFO): Powering down
2025-10-24T23:43:27.752Z,1761349407.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929121,-0.318517,-0.187835],[0.314064,0.947875,-0.053826],[0.195188,-0.008981,0.980725]]
2025-10-24T23:43:28.154Z,1761349408.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923669,-0.333718,-0.188328],[0.329122,0.942618,-0.056120],[0.196250,-0.010146,0.980501]]
2025-10-24T23:43:28.567Z,1761349408.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917544,-0.351111,-0.186638],[0.345584,0.936306,-0.062467],[0.196684,-0.007182,0.980441]]
2025-10-24T23:43:28.703Z,1761349408.703 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:43:28.703Z,1761349408.703 [DAT] No Fault, FailCount= 2
2025-10-24T23:43:28.962Z,1761349408.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911033,-0.369279,-0.183445],[0.362398,0.929317,-0.070980],[0.196690,-0.001815,0.980464]]
2025-10-24T23:43:29.368Z,1761349409.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904247,-0.386889,-0.180706],[0.379125,0.922125,-0.077130],[0.196474,0.001235,0.980508]]
2025-10-24T23:43:29.770Z,1761349409.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897650,-0.402516,-0.179461],[0.394596,0.915413,-0.079453],[0.196262,0.000506,0.980551]]
2025-10-24T23:43:30.174Z,1761349410.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891660,-0.415917,-0.178759],[0.408248,0.909400,-0.079526],[0.195640,-0.002068,0.980674]]
2025-10-24T23:43:30.581Z,1761349410.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885885,-0.428038,-0.178862],[0.420927,0.903739,-0.077948],[0.195010,-0.006235,0.980782]]
2025-10-24T23:43:30.636Z,1761349410.636 [DAT](INFO): Powering up
2025-10-24T23:43:30.636Z,1761349410.636 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:43:30.984Z,1761349410.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879940,-0.440121,-0.178882],[0.433312,0.897892,-0.077663],[0.194798,-0.009173,0.980801]]
2025-10-24T23:43:31.387Z,1761349411.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874040,-0.451792,-0.178714],[0.445024,0.892058,-0.078650],[0.194957,-0.010789,0.980752]]
2025-10-24T23:43:31.790Z,1761349411.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868535,-0.462971,-0.176933],[0.455516,0.886334,-0.083170],[0.195327,-0.008359,0.980703]]
2025-10-24T23:43:32.194Z,1761349412.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863851,-0.473500,-0.171928],[0.464448,0.880794,-0.092144],[0.195063,-0.000253,0.980791]]
2025-10-24T23:43:32.602Z,1761349412.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859875,-0.482328,-0.167257],[0.472268,0.875974,-0.098145],[0.193851,0.005402,0.981016]]
2025-10-24T23:43:33.003Z,1761349413.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855848,-0.490612,-0.163781],[0.480408,0.871352,-0.099765],[0.191657,0.006702,0.981439]]
2025-10-24T23:43:33.406Z,1761349413.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851141,-0.499604,-0.161103],[0.489774,0.866239,-0.098750],[0.188889,0.005146,0.981985]]
2025-10-24T23:43:33.810Z,1761349413.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844427,-0.511237,-0.159934],[0.501915,0.859438,-0.097199],[0.187145,0.001804,0.982331]]
2025-10-24T23:43:34.622Z,1761349414.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829276,-0.534966,-0.161594],[0.526723,0.844842,-0.093834],[0.186720,-0.007301,0.982386]]
2025-10-24T23:43:34.662Z,1761349414.662 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:43:34.662Z,1761349414.662 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:43:34.662Z,1761349414.662 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:43:34.663Z,1761349414.663 [marl:UpdateRudder:A] Stopped
2025-10-24T23:43:34.663Z,1761349414.663 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:43:35.029Z,1761349415.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820876,-0.547689,-0.161862],[0.539623,0.836622,-0.094186],[0.187002,-0.010030,0.982308]]
2025-10-24T23:43:35.067Z,1761349415.067 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:43:35.067Z,1761349415.067 [marl:UpdateRudder:B] Stopped
2025-10-24T23:43:35.067Z,1761349415.067 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:43:35.067Z,1761349415.067 [marl:UpdateRudder] Stopped
2025-10-24T23:43:35.067Z,1761349415.067 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:43:35.427Z,1761349415.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812396,-0.560369,-0.161244],[0.552159,0.828172,-0.096190],[0.187439,-0.010888,0.982216]]
2025-10-24T23:43:35.831Z,1761349415.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803572,-0.573440,-0.159497],[0.564827,0.819185,-0.099527],[0.187730,-0.010111,0.982169]]
2025-10-24T23:43:36.234Z,1761349416.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794549,-0.586969,-0.155432],[0.577524,0.809585,-0.105067],[0.187507,-0.006285,0.982243]]
2025-10-24T23:43:36.641Z,1761349416.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784591,-0.601353,-0.150966],[0.591188,0.798978,-0.110140],[0.186851,-0.002834,0.982384]]
2025-10-24T23:43:36.702Z,1761349416.702 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:43:36.702Z,1761349416.702 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:43:36.702Z,1761349416.702 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:43:36.703Z,1761349416.703 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:43:36.703Z,1761349416.703 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:43:36.703Z,1761349416.703 [marl:UpdateCommandMode] Stopped
2025-10-24T23:43:36.703Z,1761349416.703 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:43:36.703Z,1761349416.703 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:43:36.703Z,1761349416.703 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:43:36.703Z,1761349416.703 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:43:36.703Z,1761349416.703 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:43:36.720Z,1761349416.720 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:43:36.724Z,1761349416.724 [marl:UpdateSpeed] Stopped
2025-10-24T23:43:36.724Z,1761349416.724 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:43:37.047Z,1761349417.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773883,-0.616458,-0.145209],[0.605440,0.787386,-0.116043],[0.185871,0.001889,0.982572]]
2025-10-24T23:43:37.448Z,1761349417.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762446,-0.631634,-0.140409],[0.620119,0.775254,-0.120144],[0.184740,0.004533,0.982777]]
2025-10-24T23:43:37.855Z,1761349417.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751480,-0.645001,-0.138749],[0.633692,0.764178,-0.120277],[0.183608,0.002462,0.982996]]
2025-10-24T23:43:38.255Z,1761349418.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742525,-0.654439,-0.142714],[0.644390,0.756083,-0.114454],[0.182807,-0.006979,0.983124]]
2025-10-24T23:43:38.665Z,1761349418.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736039,-0.659369,-0.153227],[0.651853,0.751417,-0.102277],[0.182576,-0.024602,0.982884]]
2025-10-24T23:43:39.064Z,1761349419.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731661,-0.659839,-0.171125],[0.656582,0.749644,-0.083264],[0.183224,-0.051436,0.981725]]
2025-10-24T23:43:39.467Z,1761349419.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729277,-0.656164,-0.193917],[0.658911,0.749875,-0.059371],[0.184371,-0.084476,0.979220]]
2025-10-24T23:43:40.689Z,1761349420.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732078,-0.633728,-0.249901],[0.654767,0.755829,0.001404],[0.187993,-0.164655,0.968270]]
2025-10-24T23:43:41.084Z,1761349421.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734539,-0.626324,-0.261096],[0.651714,0.758329,0.014361],[0.189002,-0.180708,0.965206]]
2025-10-24T23:43:41.488Z,1761349421.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737066,-0.620423,-0.267970],[0.648667,0.760728,0.022902],[0.189643,-0.190703,0.963155]]
2025-10-24T23:43:42.713Z,1761349422.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742104,-0.612766,-0.271660],[0.643545,0.764691,0.033129],[0.187436,-0.199411,0.961823]]
2025-10-24T23:43:42.741Z,1761349422.741 [DAT](INFO): DAT read: 

2025-10-24T23:43:42.741Z,1761349422.741 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:43:43.107Z,1761349423.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742137,-0.613005,-0.271031],[0.643984,0.764246,0.034819],[0.185790,-0.200380,0.961940]]
2025-10-24T23:43:43.527Z,1761349423.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741414,-0.614718,-0.269123],[0.645413,0.763022,0.035207],[0.183704,-0.199798,0.962462]]
2025-10-24T23:43:43.930Z,1761349423.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740646,-0.616791,-0.266482],[0.646972,0.761703,0.035148],[0.181301,-0.198439,0.963199]]
2025-10-24T23:43:44.329Z,1761349424.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739723,-0.618635,-0.264765],[0.648659,0.760229,0.035969],[0.179031,-0.198349,0.963642]]
2025-10-24T23:43:44.525Z,1761349424.525 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:43:44.526Z,1761349424.526 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:43:44.526Z,1761349424.526 [DAT](INFO): DAT read: Oct 24 2025 23:43:38 

2025-10-24T23:43:44.718Z,1761349424.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739098,-0.619923,-0.263495],[0.649911,0.759107,0.037040],[0.177059,-0.198625,0.963949]]
2025-10-24T23:43:45.044Z,1761349425.044 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:43:45.123Z,1761349425.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738496,-0.621680,-0.261032],[0.651067,0.758151,0.036330],[0.175316,-0.196779,0.964646]]
2025-10-24T23:43:45.528Z,1761349425.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738320,-0.622563,-0.259421],[0.651655,0.757640,0.036431],[0.173867,-0.195951,0.965077]]
2025-10-24T23:43:45.533Z,1761349425.533 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:43:45.534Z,1761349425.534 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:43:45.535Z,1761349425.535 [DAT](INFO): commRate: 600
2025-10-24T23:43:45.936Z,1761349425.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738729,-0.622737,-0.257833],[0.651495,0.757780,0.036383],[0.172724,-0.194854,0.965504]]
2025-10-24T23:43:46.048Z,1761349426.048 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:43:46.335Z,1761349426.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739139,-0.623286,-0.255319],[0.651387,0.757914,0.035519],[0.171372,-0.192565,0.966204]]
2025-10-24T23:43:46.738Z,1761349426.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739444,-0.624026,-0.252615],[0.651406,0.757947,0.034438],[0.169978,-0.190020,0.966954]]
2025-10-24T23:43:47.152Z,1761349427.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739748,-0.624749,-0.249921],[0.651557,0.757830,0.034149],[0.168063,-0.188100,0.967664]]
2025-10-24T23:43:47.546Z,1761349427.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738725,-0.627005,-0.247286],[0.653237,0.756411,0.033524],[0.166031,-0.186302,0.968362]]
2025-10-24T23:43:47.584Z,1761349427.584 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:43:47.584Z,1761349427.584 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:43:47.585Z,1761349427.585 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:43:47.585Z,1761349427.585 [marl:UpdateRudder:A] Stopped
2025-10-24T23:43:47.585Z,1761349427.585 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:43:47.600Z,1761349427.600 [DAT](INFO): entering command mode
2025-10-24T23:43:47.800Z,1761349427.800 [DAT](INFO): DAT read: 

2025-10-24T23:43:47.801Z,1761349427.801 [DAT](INFO): DAT read: user:1>

2025-10-24T23:43:47.801Z,1761349427.801 [DAT](INFO): setting verbose to 3
2025-10-24T23:43:47.950Z,1761349427.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736896,-0.630052,-0.244989],[0.655880,0.754128,0.033371],[0.163728,-0.185274,0.968951]]
2025-10-24T23:43:48.019Z,1761349428.019 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:43:48.019Z,1761349428.019 [marl:UpdateRudder:B] Stopped
2025-10-24T23:43:48.019Z,1761349428.019 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:43:48.019Z,1761349428.019 [marl:UpdateRudder] Stopped
2025-10-24T23:43:48.019Z,1761349428.019 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:43:48.053Z,1761349428.053 [DAT](INFO): DAT read: user:1>

2025-10-24T23:43:48.054Z,1761349428.054 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:43:48.054Z,1761349428.054 [DAT](INFO): set verbose to 3
2025-10-24T23:43:48.054Z,1761349428.054 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:43:48.305Z,1761349428.305 [DAT](INFO): DAT read: user:2>

2025-10-24T23:43:48.306Z,1761349428.306 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:43:48.307Z,1761349428.307 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:43:48.307Z,1761349428.307 [DAT](INFO): setting transmit power to 8
2025-10-24T23:43:48.375Z,1761349428.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734107,-0.633884,-0.243472],[0.659618,0.750829,0.034056],[0.161218,-0.185599,0.969310]]
2025-10-24T23:43:48.557Z,1761349428.557 [DAT](INFO): DAT read: user:3>

2025-10-24T23:43:48.557Z,1761349428.557 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:43:48.558Z,1761349428.558 [DAT](INFO): set transmit power to 8
2025-10-24T23:43:48.558Z,1761349428.558 [DAT](INFO): setting local address to 11
2025-10-24T23:43:48.762Z,1761349428.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731056,-0.637718,-0.242638],[0.663550,0.747307,0.035121],[0.158928,-0.186678,0.969481]]
2025-10-24T23:43:48.809Z,1761349428.809 [DAT](INFO): DAT read: user:4>

2025-10-24T23:43:48.810Z,1761349428.810 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:43:48.810Z,1761349428.810 [DAT](INFO): set local address to 11
2025-10-24T23:43:48.811Z,1761349428.811 [DAT](INFO): Setting time to: 23:43:48 And date to:10/24/2025
2025-10-24T23:43:49.061Z,1761349429.061 [DAT](INFO): DAT read: user:5>

2025-10-24T23:43:49.062Z,1761349429.062 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:43:48  

2025-10-24T23:43:49.062Z,1761349429.062 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:43:48  

2025-10-24T23:43:49.063Z,1761349429.063 [DAT](INFO): setting remote address to 10
2025-10-24T23:43:49.063Z,1761349429.063 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:43:49.063Z,1761349429.063 [DAT](INFO): setting remote address to 0
2025-10-24T23:43:49.162Z,1761349429.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727671,-0.642132,-0.241166],[0.667720,0.743599,0.034794],[0.156988,-0.186350,0.969860]]
2025-10-24T23:43:49.313Z,1761349429.313 [DAT](INFO): DAT read: user:6>

2025-10-24T23:43:49.314Z,1761349429.314 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:43:49.314Z,1761349429.314 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:43:49.314Z,1761349429.314 [DAT] Communications Fault, FailCount= 3
2025-10-24T23:43:49.314Z,1761349429.314 [DAT](ERROR): Communications Fault
2025-10-24T23:43:49.315Z,1761349429.315 [DAT](INFO): DAT read: user:7>

2025-10-24T23:43:49.316Z,1761349429.316 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:43:49.317Z,1761349429.317 [DAT](INFO): set remote address to 0
2025-10-24T23:43:49.317Z,1761349429.317 [DAT](INFO): setting remote address to 10
2025-10-24T23:43:49.317Z,1761349429.317 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:43:49.317Z,1761349429.317 [DAT](INFO): setting remote address to 0
2025-10-24T23:43:49.567Z,1761349429.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724046,-0.646553,-0.240262],[0.672017,0.739730,0.034532],[0.155402,-0.186463,0.970094]]
2025-10-24T23:43:49.599Z,1761349429.599 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:43:49.599Z,1761349429.599 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:43:49.599Z,1761349429.599 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:43:49.599Z,1761349429.599 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:43:49.600Z,1761349429.600 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:43:49.600Z,1761349429.600 [marl:UpdateCommandMode] Stopped
2025-10-24T23:43:49.600Z,1761349429.600 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:43:49.600Z,1761349429.600 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:43:49.600Z,1761349429.600 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:43:49.601Z,1761349429.601 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:43:49.601Z,1761349429.601 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:43:49.601Z,1761349429.601 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:43:49.601Z,1761349429.601 [marl:UpdateSpeed] Stopped
2025-10-24T23:43:49.601Z,1761349429.601 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:43:49.644Z,1761349429.644 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:43:49.720Z,1761349429.720 [DAT](INFO): Powering down
2025-10-24T23:43:49.977Z,1761349429.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720859,-0.650240,-0.239897],[0.675712,0.736356,0.034537],[0.154192,-0.186998,0.970184]]
2025-10-24T23:43:50.374Z,1761349430.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717904,-0.653953,-0.238660],[0.679125,0.733250,0.033667],[0.152981,-0.186249,0.970519]]
2025-10-24T23:43:50.778Z,1761349430.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714656,-0.658104,-0.236994],[0.682756,0.729952,0.031861],[0.152026,-0.184578,0.970989]]
2025-10-24T23:43:50.916Z,1761349430.916 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:43:50.916Z,1761349430.916 [DAT] No Fault, FailCount= 3
2025-10-24T23:43:51.188Z,1761349431.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711838,-0.661693,-0.235476],[0.685845,0.727127,0.030049],[0.151338,-0.182890,0.971416]]
2025-10-24T23:43:51.589Z,1761349431.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709091,-0.664907,-0.234707],[0.688848,0.724317,0.029196],[0.150590,-0.182380,0.971628]]
2025-10-24T23:43:51.997Z,1761349431.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707156,-0.666769,-0.235266],[0.690972,0.722262,0.029937],[0.149963,-0.183732,0.971470]]
2025-10-24T23:43:52.394Z,1761349432.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706399,-0.667409,-0.235722],[0.691794,0.721453,0.030451],[0.149739,-0.184582,0.971343]]
2025-10-24T23:43:52.768Z,1761349432.768 [DAT](INFO): Powering up
2025-10-24T23:43:52.768Z,1761349432.768 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:43:52.806Z,1761349432.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706946,-0.666631,-0.236286],[0.691336,0.721828,0.031929],[0.149273,-0.185925,0.971159]]
2025-10-24T23:43:53.207Z,1761349433.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707882,-0.665682,-0.236157],[0.690373,0.722739,0.032131],[0.149291,-0.185781,0.971183]]
2025-10-24T23:43:53.607Z,1761349433.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709832,-0.663970,-0.235122],[0.688503,0.724498,0.032654],[0.148664,-0.185061,0.971417]]
2025-10-24T23:43:54.011Z,1761349434.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712717,-0.661651,-0.232923],[0.685811,0.727018,0.033302],[0.147305,-0.183476,0.971925]]
2025-10-24T23:43:54.414Z,1761349434.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716345,-0.658833,-0.229758],[0.682461,0.730123,0.034159],[0.145246,-0.181270,0.972648]]
2025-10-24T23:43:54.825Z,1761349434.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720636,-0.654836,-0.227758],[0.678555,0.733574,0.037849],[0.142293,-0.181821,0.972982]]
2025-10-24T23:43:55.303Z,1761349435.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725337,-0.650926,-0.224012],[0.674325,0.737294,0.041020],[0.138462,-0.180810,0.973723]]
2025-10-24T23:43:55.626Z,1761349435.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729720,-0.646994,-0.221149],[0.670468,0.740519,0.045864],[0.134092,-0.181741,0.974161]]
2025-10-24T23:43:56.031Z,1761349436.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732817,-0.644654,-0.217717],[0.667903,0.742617,0.049237],[0.129939,-0.181495,0.974769]]
2025-10-24T23:43:56.251Z,1761349436.251 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:43:56.251Z,1761349436.251 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:43:56.436Z,1761349436.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734251,-0.643899,-0.215103],[0.667044,0.743182,0.052273],[0.126202,-0.181865,0.975191]]
2025-10-24T23:43:56.838Z,1761349436.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734917,-0.643491,-0.214047],[0.666908,0.743032,0.056007],[0.123004,-0.183910,0.975217]]
2025-10-24T23:43:57.242Z,1761349437.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735759,-0.642645,-0.213696],[0.666483,0.743103,0.059986],[0.120248,-0.186560,0.975057]]
2025-10-24T23:43:57.648Z,1761349437.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737006,-0.641486,-0.212878],[0.665545,0.743678,0.063187],[0.117779,-0.188249,0.975034]]
2025-10-24T23:43:58.052Z,1761349438.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738817,-0.639545,-0.212442],[0.663954,0.744768,0.066978],[0.115385,-0.190536,0.974876]]
2025-10-24T23:43:58.466Z,1761349438.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741254,-0.637415,-0.210343],[0.661675,0.746575,0.069372],[0.112818,-0.190601,0.975163]]
2025-10-24T23:43:58.859Z,1761349438.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743288,-0.635730,-0.208254],[0.659837,0.747978,0.071725],[0.110172,-0.190726,0.975441]]
2025-10-24T23:43:58.899Z,1761349438.899 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:43:59.262Z,1761349439.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744965,-0.634473,-0.206085],[0.658436,0.748957,0.074335],[0.107185,-0.191070,0.975707]]
2025-10-24T23:43:59.673Z,1761349439.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745807,-0.634177,-0.203942],[0.658015,0.749048,0.077098],[0.103868,-0.191697,0.975942]]
2025-10-24T23:44:00.477Z,1761349440.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743297,-0.638760,-0.198733],[0.661826,0.745443,0.079377],[0.097441,-0.190527,0.976834]]
2025-10-24T23:44:00.527Z,1761349440.527 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:44:00.527Z,1761349440.527 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:44:00.527Z,1761349440.527 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:44:00.528Z,1761349440.528 [marl:UpdateRudder:A] Stopped
2025-10-24T23:44:00.528Z,1761349440.528 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:44:00.878Z,1761349440.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740372,-0.642661,-0.197067],[0.665524,0.742021,0.080519],[0.094482,-0.190767,0.977078]]
2025-10-24T23:44:00.943Z,1761349440.943 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:44:00.944Z,1761349440.944 [marl:UpdateRudder:B] Stopped
2025-10-24T23:44:00.944Z,1761349440.944 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:44:00.944Z,1761349440.944 [marl:UpdateRudder] Stopped
2025-10-24T23:44:00.944Z,1761349440.944 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:44:01.284Z,1761349441.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736694,-0.647226,-0.195910],[0.669934,0.737969,0.081180],[0.092033,-0.191051,0.977256]]
2025-10-24T23:44:01.688Z,1761349441.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732706,-0.651919,-0.195302],[0.674540,0.733732,0.081442],[0.090206,-0.191412,0.977356]]
2025-10-24T23:44:02.091Z,1761349442.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728665,-0.656823,-0.193986],[0.679153,0.729514,0.081004],[0.088310,-0.190771,0.977654]]
2025-10-24T23:44:02.494Z,1761349442.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724828,-0.661597,-0.192132],[0.683506,0.725515,0.080287],[0.086277,-0.189518,0.978079]]
2025-10-24T23:44:02.538Z,1761349442.538 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:44:02.538Z,1761349442.538 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:44:02.539Z,1761349442.539 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:44:02.539Z,1761349442.539 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:44:02.539Z,1761349442.539 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:44:02.539Z,1761349442.539 [marl:UpdateCommandMode] Stopped
2025-10-24T23:44:02.539Z,1761349442.539 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:44:02.539Z,1761349442.539 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:44:02.539Z,1761349442.539 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:44:02.539Z,1761349442.539 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:44:02.544Z,1761349442.544 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:44:02.544Z,1761349442.544 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:44:02.544Z,1761349442.544 [marl:UpdateSpeed] Stopped
2025-10-24T23:44:02.544Z,1761349442.544 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:44:02.899Z,1761349442.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721296,-0.665905,-0.190532],[0.687506,0.721730,0.080255],[0.084070,-0.188879,0.978395]]
2025-10-24T23:44:03.302Z,1761349443.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717673,-0.670368,-0.188552],[0.691605,0.717781,0.080448],[0.081409,-0.188139,0.978763]]
2025-10-24T23:44:03.706Z,1761349443.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713926,-0.675139,-0.185733],[0.695789,0.713793,0.079861],[0.078658,-0.186246,0.979349]]
2025-10-24T23:44:04.111Z,1761349444.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709843,-0.680019,-0.183568],[0.700253,0.709419,0.079817],[0.075950,-0.185202,0.979761]]
2025-10-24T23:44:04.516Z,1761349444.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705504,-0.685202,-0.181006],[0.704896,0.704886,0.079102],[0.073388,-0.183397,0.980296]]
2025-10-24T23:44:04.864Z,1761349444.864 [DAT](INFO): DAT read: 

2025-10-24T23:44:04.865Z,1761349444.865 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:44:04.956Z,1761349444.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700680,-0.690623,-0.179127],[0.709892,0.699963,0.078140],[0.071417,-0.181912,0.980718]]
2025-10-24T23:44:05.322Z,1761349445.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696342,-0.695293,-0.177978],[0.714273,0.695603,0.077148],[0.070162,-0.180846,0.981006]]
2025-10-24T23:44:05.727Z,1761349445.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693042,-0.698697,-0.177527],[0.717543,0.692303,0.076482],[0.069465,-0.180388,0.981139]]
2025-10-24T23:44:06.131Z,1761349446.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690588,-0.701455,-0.176206],[0.719920,0.690043,0.074539],[0.069304,-0.178330,0.981527]]
2025-10-24T23:44:06.535Z,1761349446.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689061,-0.703253,-0.175016],[0.721346,0.688787,0.072331],[0.069682,-0.176088,0.981905]]
2025-10-24T23:44:06.629Z,1761349446.629 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:44:06.630Z,1761349446.630 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:44:06.631Z,1761349446.631 [DAT](INFO): DAT read: Oct 24 2025 23:44:00 

2025-10-24T23:44:06.946Z,1761349446.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688593,-0.703957,-0.174024],[0.721698,0.688670,0.069892],[0.070645,-0.173720,0.982258]]
2025-10-24T23:44:07.345Z,1761349447.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688980,-0.703995,-0.172330],[0.721194,0.689533,0.066502],[0.072010,-0.170102,0.982792]]
2025-10-24T23:44:07.637Z,1761349447.637 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:44:07.638Z,1761349447.638 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:44:07.639Z,1761349447.639 [DAT](INFO): commRate: 600
2025-10-24T23:44:07.746Z,1761349447.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689881,-0.703180,-0.172052],[0.720209,0.690719,0.064854],[0.073235,-0.168655,0.982951]]
2025-10-24T23:44:08.152Z,1761349448.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691740,-0.701557,-0.171210],[0.718336,0.692796,0.063463],[0.074090,-0.166886,0.983189]]
2025-10-24T23:44:08.555Z,1761349448.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694392,-0.698812,-0.171700],[0.715772,0.695319,0.064817],[0.074091,-0.167906,0.983015]]
2025-10-24T23:44:08.960Z,1761349448.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697604,-0.695544,-0.171952],[0.712800,0.698039,0.068251],[0.072558,-0.170179,0.982738]]
2025-10-24T23:44:09.363Z,1761349449.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701541,-0.691585,-0.171902],[0.709155,0.701295,0.072697],[0.070277,-0.172905,0.982428]]
2025-10-24T23:44:09.704Z,1761349449.704 [DAT](INFO): entering command mode
2025-10-24T23:44:09.767Z,1761349449.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705850,-0.687142,-0.172081],[0.705162,0.704674,0.078613],[0.067243,-0.176834,0.981941]]
2025-10-24T23:44:09.907Z,1761349449.907 [DAT](INFO): DAT read: 

2025-10-24T23:44:09.931Z,1761349449.931 [DAT](INFO): DAT read: user:1>

2025-10-24T23:44:09.940Z,1761349449.940 [DAT](INFO): setting verbose to 3
2025-10-24T23:44:10.156Z,1761349450.156 [DAT](INFO): DAT read: user:1>

2025-10-24T23:44:10.157Z,1761349450.157 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:44:10.158Z,1761349450.158 [DAT](INFO): set verbose to 3
2025-10-24T23:44:10.158Z,1761349450.158 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:44:10.201Z,1761349450.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709820,-0.682891,-0.172669],[0.701537,0.707394,0.086247],[0.063247,-0.182354,0.981197]]
2025-10-24T23:44:10.409Z,1761349450.409 [DAT](INFO): DAT read: user:2>

2025-10-24T23:44:10.411Z,1761349450.411 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:44:10.411Z,1761349450.411 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:44:10.412Z,1761349450.412 [DAT](INFO): setting transmit power to 8
2025-10-24T23:44:10.574Z,1761349450.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713493,-0.679030,-0.172760],[0.698277,0.709440,0.095422],[0.057768,-0.188717,0.980331]]
2025-10-24T23:44:10.661Z,1761349450.661 [DAT](INFO): DAT read: user:3>

2025-10-24T23:44:10.662Z,1761349450.662 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:44:10.663Z,1761349450.663 [DAT](INFO): set transmit power to 8
2025-10-24T23:44:10.663Z,1761349450.663 [DAT](INFO): setting local address to 11
2025-10-24T23:44:10.913Z,1761349450.913 [DAT](INFO): DAT read: user:4>

2025-10-24T23:44:10.915Z,1761349450.915 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:44:10.915Z,1761349450.915 [DAT](INFO): set local address to 11
2025-10-24T23:44:10.917Z,1761349450.917 [DAT](INFO): Setting time to: 23:44:10 And date to:10/24/2025
2025-10-24T23:44:10.983Z,1761349450.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715226,-0.677115,-0.173112],[0.696939,0.709511,0.104257],[0.052231,-0.195216,0.979369]]
2025-10-24T23:44:11.165Z,1761349451.165 [DAT](INFO): DAT read: user:5>

2025-10-24T23:44:11.165Z,1761349451.165 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:44:10  

2025-10-24T23:44:11.166Z,1761349451.166 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:44:10  

2025-10-24T23:44:11.166Z,1761349451.166 [DAT](INFO): setting remote address to 10
2025-10-24T23:44:11.167Z,1761349451.167 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:44:11.167Z,1761349451.167 [DAT](INFO): setting remote address to 0
2025-10-24T23:44:11.383Z,1761349451.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713739,-0.678858,-0.172419],[0.698759,0.707044,0.108742],[0.048087,-0.198093,0.979003]]
2025-10-24T23:44:11.418Z,1761349451.418 [DAT](INFO): DAT read: user:6>

2025-10-24T23:44:11.419Z,1761349451.419 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:44:11.420Z,1761349451.420 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:44:11.421Z,1761349451.421 [DAT] Communications Fault, FailCount= 4
2025-10-24T23:44:11.421Z,1761349451.421 [DAT](ERROR): Communications Fault
2025-10-24T23:44:11.422Z,1761349451.422 [DAT](INFO): DAT read: user:7>

2025-10-24T23:44:11.423Z,1761349451.423 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:44:11.424Z,1761349451.424 [DAT](INFO): set remote address to 0
2025-10-24T23:44:11.424Z,1761349451.424 [DAT](INFO): setting remote address to 10
2025-10-24T23:44:11.425Z,1761349451.425 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:44:11.425Z,1761349451.425 [DAT](INFO): setting remote address to 0
2025-10-24T23:44:11.583Z,1761349451.583 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:44:11.828Z,1761349451.828 [DAT](INFO): Powering down
2025-10-24T23:44:12.192Z,1761349452.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704589,-0.688346,-0.172438],[0.708330,0.696856,0.112523],[0.042710,-0.201425,0.978572]]
2025-10-24T23:44:12.594Z,1761349452.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699321,-0.694042,-0.171045],[0.713664,0.691453,0.112147],[0.040435,-0.200496,0.978860]]
2025-10-24T23:44:12.998Z,1761349452.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693666,-0.700114,-0.169314],[0.719258,0.685876,0.110642],[0.038666,-0.198529,0.979332]]
2025-10-24T23:44:13.091Z,1761349453.091 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:44:13.091Z,1761349453.091 [DAT] No Fault, FailCount= 4
2025-10-24T23:44:13.409Z,1761349453.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687074,-0.706770,-0.168538],[0.725630,0.679358,0.109242],[0.037288,-0.197354,0.979623]]
2025-10-24T23:44:13.477Z,1761349453.477 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:44:13.477Z,1761349453.477 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:44:13.477Z,1761349453.477 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:44:13.478Z,1761349453.478 [marl:UpdateRudder:A] Stopped
2025-10-24T23:44:13.478Z,1761349453.478 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:44:13.808Z,1761349453.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680037,-0.713756,-0.167635],[0.732279,0.672529,0.107109],[0.036290,-0.195593,0.980013]]
2025-10-24T23:44:13.838Z,1761349453.838 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:44:13.838Z,1761349453.838 [marl:UpdateRudder:B] Stopped
2025-10-24T23:44:13.838Z,1761349453.838 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:44:13.839Z,1761349453.839 [marl:UpdateRudder] Stopped
2025-10-24T23:44:13.839Z,1761349453.839 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:44:14.210Z,1761349454.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673246,-0.720260,-0.167228],[0.738546,0.666010,0.104785],[0.035903,-0.194051,0.980334]]
2025-10-24T23:44:14.615Z,1761349454.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667037,-0.726204,-0.166402],[0.744157,0.660206,0.101775],[0.035950,-0.191717,0.980792]]
2025-10-24T23:44:14.896Z,1761349454.896 [DAT](INFO): Powering up
2025-10-24T23:44:14.897Z,1761349454.897 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:44:15.019Z,1761349455.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661940,-0.730767,-0.166780],[0.748682,0.655340,0.100024],[0.036203,-0.191075,0.980908]]
2025-10-24T23:44:15.428Z,1761349455.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658494,-0.733750,-0.167322],[0.751693,0.652079,0.098749],[0.036650,-0.190800,0.980944]]
2025-10-24T23:44:15.471Z,1761349455.471 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:44:15.471Z,1761349455.471 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:44:15.471Z,1761349455.471 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:44:15.488Z,1761349455.488 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:44:15.488Z,1761349455.488 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:44:15.488Z,1761349455.488 [marl:UpdateCommandMode] Stopped
2025-10-24T23:44:15.488Z,1761349455.488 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:44:15.488Z,1761349455.488 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:44:15.488Z,1761349455.488 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:44:15.489Z,1761349455.489 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:44:15.489Z,1761349455.489 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:44:15.489Z,1761349455.489 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:44:15.489Z,1761349455.489 [marl:UpdateSpeed] Stopped
2025-10-24T23:44:15.489Z,1761349455.489 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:44:16.172Z,1761349456.172 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:44:16.236Z,1761349456.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656895,-0.735421,-0.166269],[0.753099,0.650643,0.097492],[0.036484,-0.189259,0.981249]]
2025-10-24T23:44:16.634Z,1761349456.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660238,-0.731863,-0.168709],[0.750177,0.653478,0.100997],[0.036331,-0.193244,0.980478]]
2025-10-24T23:44:17.038Z,1761349457.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668257,-0.721967,-0.179434],[0.743018,0.659676,0.112929],[0.036837,-0.208788,0.977267]]
2025-10-24T23:44:17.176Z,1761349457.176 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:44:17.443Z,1761349457.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679579,-0.706628,-0.197102],[0.732613,0.667659,0.132326],[0.038092,-0.234325,0.971412]]
2025-10-24T23:44:17.851Z,1761349457.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693228,-0.687539,-0.216161],[0.719640,0.676727,0.155432],[0.039416,-0.263308,0.963906]]
2025-10-24T23:44:18.251Z,1761349458.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707180,-0.666926,-0.234746],[0.705840,0.685223,0.179610],[0.041067,-0.292710,0.955319]]
2025-10-24T23:44:19.059Z,1761349459.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732552,-0.626417,-0.266401],[0.679175,0.698878,0.224255],[0.045705,-0.345211,0.937411]]
2025-10-24T23:44:19.906Z,1761349459.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753662,-0.591217,-0.287152],[0.655173,0.710586,0.256548],[0.052371,-0.381485,0.922890]]
2025-10-24T23:44:20.681Z,1761349460.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772019,-0.561432,-0.297962],[0.632662,0.723803,0.275405],[0.061045,-0.401127,0.913986]]
2025-10-24T23:44:21.079Z,1761349461.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781321,-0.546813,-0.300887],[0.620690,0.731301,0.282741],[0.065433,-0.407669,0.910782]]
2025-10-24T23:44:21.490Z,1761349461.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790844,-0.532832,-0.301091],[0.608013,0.740204,0.287087],[0.069899,-0.410108,0.909354]]
2025-10-24T23:44:21.961Z,1761349461.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809519,-0.505852,-0.297981],[0.581829,0.759061,0.292064],[0.078444,-0.409805,0.908794]]
2025-10-24T23:44:22.356Z,1761349462.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819097,-0.492219,-0.294620],[0.567722,0.769225,0.293231],[0.082296,-0.407447,0.909513]]
2025-10-24T23:44:22.803Z,1761349462.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828776,-0.478375,-0.290323],[0.553066,0.779196,0.294911],[0.085141,-0.404983,0.910352]]
2025-10-24T23:44:23.217Z,1761349463.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838520,-0.464160,-0.285375],[0.537910,0.788634,0.297840],[0.086810,-0.403251,0.910962]]
2025-10-24T23:44:23.633Z,1761349463.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848308,-0.449802,-0.279376],[0.522266,0.797705,0.301504],[0.087243,-0.401677,0.911616]]
2025-10-24T23:44:24.057Z,1761349464.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858071,-0.435651,-0.271888],[0.506186,0.806755,0.304831],[0.086547,-0.399193,0.912773]]
2025-10-24T23:44:24.456Z,1761349464.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866968,-0.422268,-0.264681],[0.490941,0.814974,0.307888],[0.085697,-0.396872,0.913865]]
2025-10-24T23:44:24.862Z,1761349464.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875843,-0.408277,-0.257310],[0.475178,0.822702,0.312037],[0.084292,-0.395563,0.914562]]
2025-10-24T23:44:25.271Z,1761349465.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883943,-0.395273,-0.249809],[0.460223,0.829938,0.315273],[0.082707,-0.393651,0.915532]]
2025-10-24T23:44:25.674Z,1761349465.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891672,-0.382826,-0.241588],[0.445369,0.837428,0.316798],[0.081034,-0.390075,0.917210]]
2025-10-24T23:44:26.078Z,1761349466.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898215,-0.372079,-0.234022],[0.432364,0.843804,0.317895],[0.079187,-0.386721,0.918791]]
2025-10-24T23:44:26.474Z,1761349466.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904090,-0.362019,-0.227078],[0.420262,0.849529,0.318874],[0.077471,-0.383723,0.920193]]
2025-10-24T23:44:26.511Z,1761349466.511 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:44:26.511Z,1761349466.511 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:44:26.512Z,1761349466.512 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:44:26.512Z,1761349466.512 [marl:UpdateRudder:A] Stopped
2025-10-24T23:44:26.512Z,1761349466.512 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:44:26.900Z,1761349466.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909703,-0.351832,-0.220581],[0.408243,0.854964,0.319958],[0.076017,-0.381117,0.921396]]
2025-10-24T23:44:26.937Z,1761349466.937 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:44:26.937Z,1761349466.937 [marl:UpdateRudder:B] Stopped
2025-10-24T23:44:26.937Z,1761349466.937 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:44:26.937Z,1761349466.937 [marl:UpdateRudder] Stopped
2025-10-24T23:44:26.937Z,1761349466.937 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:44:27.001Z,1761349467.001 [DAT](INFO): DAT read: 

2025-10-24T23:44:27.002Z,1761349467.002 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:44:27.282Z,1761349467.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915077,-0.341547,-0.214428],[0.396295,0.860101,0.321211],[0.074721,-0.378910,0.922412]]
2025-10-24T23:44:27.690Z,1761349467.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920339,-0.330973,-0.208405],[0.384175,0.864949,0.322912],[0.073385,-0.377252,0.923198]]
2025-10-24T23:44:28.090Z,1761349468.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925696,-0.319826,-0.201984],[0.371458,0.869451,0.325689],[0.071452,-0.376518,0.923650]]
2025-10-24T23:44:28.494Z,1761349468.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930636,-0.310661,-0.193406],[0.359559,0.874563,0.325358],[0.068070,-0.372331,0.925600]]
2025-10-24T23:44:28.535Z,1761349468.535 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:44:28.535Z,1761349468.535 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:44:28.535Z,1761349468.535 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:44:28.535Z,1761349468.535 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:44:28.535Z,1761349468.535 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:44:28.535Z,1761349468.535 [marl:UpdateCommandMode] Stopped
2025-10-24T23:44:28.535Z,1761349468.535 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:44:28.541Z,1761349468.541 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:44:28.541Z,1761349468.541 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:44:28.541Z,1761349468.541 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:44:28.541Z,1761349468.541 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:44:28.541Z,1761349468.541 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:44:28.542Z,1761349468.542 [marl:UpdateSpeed] Stopped
2025-10-24T23:44:28.542Z,1761349468.542 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:44:28.769Z,1761349468.769 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:44:28.770Z,1761349468.770 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:44:28.771Z,1761349468.771 [DAT](INFO): DAT read: Oct 24 2025 23:44:22 

2025-10-24T23:44:28.899Z,1761349468.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934382,-0.306104,-0.182291],[0.350640,0.880738,0.318359],[0.063100,-0.361388,0.930278]]
2025-10-24T23:44:29.310Z,1761349469.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936701,-0.306460,-0.169332],[0.345468,0.887617,0.304611],[0.056951,-0.343828,0.937304]]
2025-10-24T23:44:29.707Z,1761349469.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938440,-0.308356,-0.155716],[0.341813,0.894066,0.289499],[0.049952,-0.324903,0.944427]]
2025-10-24T23:44:29.777Z,1761349469.777 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:44:29.779Z,1761349469.779 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:44:29.779Z,1761349469.779 [DAT](INFO): commRate: 600
2025-10-24T23:44:30.110Z,1761349470.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939490,-0.311856,-0.141789],[0.339941,0.899898,0.273172],[0.042406,-0.304842,0.951458]]
2025-10-24T23:44:30.514Z,1761349470.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940386,-0.315152,-0.127879],[0.338393,0.904704,0.258844],[0.034118,-0.286687,0.957417]]
2025-10-24T23:44:30.920Z,1761349470.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941401,-0.317484,-0.113878],[0.336333,0.909020,0.246095],[0.025386,-0.269975,0.962533]]
2025-10-24T23:44:31.327Z,1761349471.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942496,-0.318760,-0.100470],[0.333824,0.912441,0.236669],[0.016232,-0.256599,0.966382]]
2025-10-24T23:44:31.726Z,1761349471.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943663,-0.318941,-0.088185],[0.330827,0.915228,0.230024],[0.007345,-0.246239,0.969181]]
2025-10-24T23:44:31.844Z,1761349471.844 [DAT](INFO): entering command mode
2025-10-24T23:44:32.044Z,1761349472.044 [DAT](INFO): DAT read: 

2025-10-24T23:44:32.045Z,1761349472.045 [DAT](INFO): DAT read: user:1>

2025-10-24T23:44:32.045Z,1761349472.045 [DAT](INFO): setting verbose to 3
2025-10-24T23:44:32.131Z,1761349472.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944933,-0.318178,-0.076574],[0.327258,0.917377,0.226544],[-0.001834,-0.239129,0.970986]]
2025-10-24T23:44:32.297Z,1761349472.297 [DAT](INFO): DAT read: user:1>

2025-10-24T23:44:32.298Z,1761349472.298 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:44:32.298Z,1761349472.298 [DAT](INFO): set verbose to 3
2025-10-24T23:44:32.298Z,1761349472.298 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:44:32.537Z,1761349472.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946419,-0.316302,-0.065155],[0.322760,0.919649,0.223766],[-0.010858,-0.232806,0.972463]]
2025-10-24T23:44:32.549Z,1761349472.549 [DAT](INFO): DAT read: user:2>

2025-10-24T23:44:32.550Z,1761349472.550 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:44:32.550Z,1761349472.550 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:44:32.550Z,1761349472.550 [DAT](INFO): setting transmit power to 8
2025-10-24T23:44:32.801Z,1761349472.801 [DAT](INFO): DAT read: user:3>

2025-10-24T23:44:32.802Z,1761349472.802 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:44:32.802Z,1761349472.802 [DAT](INFO): set transmit power to 8
2025-10-24T23:44:32.802Z,1761349472.802 [DAT](INFO): setting local address to 11
2025-10-24T23:44:32.938Z,1761349472.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947846,-0.314063,-0.054338],[0.318116,0.921601,0.222382],[-0.019764,-0.228069,0.973444]]
2025-10-24T23:44:33.053Z,1761349473.053 [DAT](INFO): DAT read: user:4>

2025-10-24T23:44:33.054Z,1761349473.054 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:44:33.054Z,1761349473.054 [DAT](INFO): set local address to 11
2025-10-24T23:44:33.055Z,1761349473.055 [DAT](INFO): Setting time to: 23:44:33 And date to:10/24/2025
2025-10-24T23:44:33.305Z,1761349473.305 [DAT](INFO): DAT read: user:5>

2025-10-24T23:44:33.305Z,1761349473.305 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:44:33  

2025-10-24T23:44:33.306Z,1761349473.306 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:44:33  

2025-10-24T23:44:33.306Z,1761349473.306 [DAT](INFO): setting remote address to 10
2025-10-24T23:44:33.307Z,1761349473.307 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:44:33.307Z,1761349473.307 [DAT](INFO): setting remote address to 0
2025-10-24T23:44:33.371Z,1761349473.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949052,-0.312069,-0.043746],[0.313814,0.923340,0.221277],[-0.028661,-0.223731,0.974229]]
2025-10-24T23:44:33.560Z,1761349473.560 [DAT](INFO): DAT read: user:6>

2025-10-24T23:44:33.561Z,1761349473.561 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:44:33.561Z,1761349473.561 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:44:33.562Z,1761349473.562 [DAT] Communications Fault, FailCount= 5
2025-10-24T23:44:33.562Z,1761349473.562 [DAT](ERROR): Communications Fault
2025-10-24T23:44:33.562Z,1761349473.562 [DAT](INFO): DAT read: user:7>

2025-10-24T23:44:33.563Z,1761349473.563 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:44:33.564Z,1761349473.564 [DAT](INFO): set remote address to 0
2025-10-24T23:44:33.564Z,1761349473.564 [DAT](INFO): setting remote address to 10
2025-10-24T23:44:33.565Z,1761349473.565 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:44:33.565Z,1761349473.565 [DAT](INFO): setting remote address to 0
2025-10-24T23:44:33.660Z,1761349473.660 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:44:33.746Z,1761349473.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950033,-0.310299,-0.033939],[0.309957,0.924907,0.220169],[-0.036927,-0.219687,0.974871]]
2025-10-24T23:44:33.968Z,1761349473.968 [DAT](INFO): Powering down
2025-10-24T23:44:34.150Z,1761349474.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950758,-0.308925,-0.025014],[0.306641,0.925844,0.220872],[-0.045074,-0.217666,0.974982]]
2025-10-24T23:44:34.554Z,1761349474.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951083,-0.308470,-0.016928],[0.304385,0.926304,0.222061],[-0.052818,-0.216351,0.974886]]
2025-10-24T23:44:34.977Z,1761349474.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950840,-0.309526,-0.009877],[0.303820,0.926185,0.223326],[-0.059977,-0.215348,0.974694]]
2025-10-24T23:44:35.228Z,1761349475.228 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:44:35.228Z,1761349475.228 [DAT] No Fault, FailCount= 5
2025-10-24T23:44:35.366Z,1761349475.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950189,-0.311648,-0.004120],[0.304487,0.925369,0.225788],[-0.066554,-0.215795,0.974168]]
2025-10-24T23:44:35.775Z,1761349475.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949217,-0.314623,0.000732],[0.306166,0.924232,0.228161],[-0.072461,-0.216350,0.973623]]
2025-10-24T23:44:36.182Z,1761349476.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947997,-0.318245,0.004576],[0.308627,0.922669,0.231152],[-0.077785,-0.217719,0.972907]]
2025-10-24T23:44:36.576Z,1761349476.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946796,-0.321740,0.007803],[0.311029,0.920968,0.234688],[-0.082694,-0.219775,0.972039]]
2025-10-24T23:44:36.979Z,1761349476.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945822,-0.324502,0.010949],[0.312741,0.919568,0.237884],[-0.087263,-0.221571,0.971232]]
2025-10-24T23:44:37.016Z,1761349477.016 [DAT](INFO): Powering up
2025-10-24T23:44:37.016Z,1761349477.016 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:44:37.383Z,1761349477.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945109,-0.326470,0.013660],[0.313648,0.918125,0.242222],[-0.091620,-0.224642,0.970125]]
2025-10-24T23:44:37.787Z,1761349477.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944807,-0.327209,0.016552],[0.313388,0.917322,0.245576],[-0.095539,-0.226835,0.969236]]
2025-10-24T23:44:38.192Z,1761349478.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945182,-0.325986,0.019090],[0.311151,0.916822,0.250244],[-0.099078,-0.230586,0.967995]]
2025-10-24T23:44:38.594Z,1761349478.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946203,-0.322763,0.022906],[0.306785,0.917360,0.253640],[-0.102878,-0.232967,0.967028]]
2025-10-24T23:44:38.999Z,1761349478.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947221,-0.319460,0.026774],[0.302274,0.917831,0.257325],[-0.106780,-0.235651,0.965954]]
2025-10-24T23:44:39.421Z,1761349479.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948241,-0.316015,0.031194],[0.297830,0.919129,0.257875],[-0.110164,-0.235237,0.965675]]
2025-10-24T23:44:39.474Z,1761349479.474 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:44:39.474Z,1761349479.474 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:44:39.475Z,1761349479.475 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:44:39.475Z,1761349479.475 [marl:UpdateRudder:A] Stopped
2025-10-24T23:44:39.475Z,1761349479.475 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:44:39.808Z,1761349479.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949197,-0.312765,0.034683],[0.293815,0.920320,0.258231],[-0.112685,-0.234922,0.965460]]
2025-10-24T23:44:39.916Z,1761349479.916 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:44:39.917Z,1761349479.917 [marl:UpdateRudder:B] Stopped
2025-10-24T23:44:39.917Z,1761349479.917 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:44:39.918Z,1761349479.918 [marl:UpdateRudder] Stopped
2025-10-24T23:44:39.918Z,1761349479.918 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:44:40.615Z,1761349480.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950420,-0.308199,0.041407],[0.287978,0.922563,0.256800],[-0.117346,-0.232144,0.965577]]
2025-10-24T23:44:41.036Z,1761349481.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950684,-0.307013,0.044075],[0.286301,0.923301,0.256021],[-0.119296,-0.230776,0.965666]]
2025-10-24T23:44:41.423Z,1761349481.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950639,-0.306782,0.046579],[0.285650,0.923842,0.254792],[-0.121197,-0.228910,0.965873]]
2025-10-24T23:44:41.468Z,1761349481.468 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:44:41.468Z,1761349481.468 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:44:41.468Z,1761349481.468 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:44:41.472Z,1761349481.472 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:44:41.472Z,1761349481.472 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:44:41.472Z,1761349481.472 [marl:UpdateCommandMode] Stopped
2025-10-24T23:44:41.472Z,1761349481.472 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:44:41.472Z,1761349481.472 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:44:41.472Z,1761349481.472 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:44:41.473Z,1761349481.473 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:44:41.473Z,1761349481.473 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:44:41.473Z,1761349481.473 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:44:41.473Z,1761349481.473 [marl:UpdateSpeed] Stopped
2025-10-24T23:44:41.473Z,1761349481.473 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:44:41.837Z,1761349481.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950519,-0.306831,0.048664],[0.285250,0.924035,0.254544],[-0.123070,-0.228067,0.965836]]
2025-10-24T23:44:42.233Z,1761349482.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950374,-0.307050,0.050103],[0.285182,0.924161,0.254163],[-0.124344,-0.227261,0.965863]]
2025-10-24T23:44:42.634Z,1761349482.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950154,-0.307586,0.050980],[0.285590,0.924219,0.253493],[-0.125088,-0.226298,0.965993]]
2025-10-24T23:44:43.038Z,1761349483.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949852,-0.308475,0.051225],[0.286487,0.924127,0.252813],[-0.125325,-0.225459,0.966158]]
2025-10-24T23:44:43.442Z,1761349483.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949513,-0.309486,0.051417],[0.287548,0.924053,0.251877],[-0.125465,-0.224375,0.966392]]
2025-10-24T23:44:43.852Z,1761349483.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949145,-0.310653,0.051170],[0.288869,0.923912,0.250882],[-0.125214,-0.223342,0.966664]]
2025-10-24T23:44:44.250Z,1761349484.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949061,-0.310933,0.051025],[0.289249,0.923950,0.250302],[-0.124972,-0.222793,0.966822]]
2025-10-24T23:44:44.659Z,1761349484.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949221,-0.310636,0.049840],[0.289232,0.923969,0.250252],[-0.123788,-0.223129,0.966897]]
2025-10-24T23:44:45.058Z,1761349485.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949903,-0.308827,0.048069],[0.287650,0.923989,0.251997],[-0.122239,-0.225545,0.966533]]
2025-10-24T23:44:45.464Z,1761349485.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950706,-0.306483,0.047181],[0.285449,0.924403,0.252979],[-0.121148,-0.227041,0.966321]]
2025-10-24T23:44:45.904Z,1761349485.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951864,-0.303102,0.045649],[0.282240,0.924781,0.255186],[-0.119563,-0.230019,0.965814]]
2025-10-24T23:44:46.270Z,1761349486.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953321,-0.298713,0.044164],[0.278225,0.925780,0.255973],[-0.117349,-0.231737,0.965675]]
2025-10-24T23:44:46.679Z,1761349486.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954638,-0.294675,0.042803],[0.274810,0.927235,0.254390],[-0.114651,-0.231088,0.966154]]
2025-10-24T23:44:47.079Z,1761349487.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955856,-0.290935,0.041193],[0.271733,0.928566,0.252838],[-0.111810,-0.230483,0.966631]]
2025-10-24T23:44:47.297Z,1761349487.297 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:44:47.484Z,1761349487.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956883,-0.287765,0.039570],[0.269241,0.929797,0.250971],[-0.109012,-0.229497,0.967185]]
2025-10-24T23:44:48.297Z,1761349488.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957879,-0.284845,0.036495],[0.267730,0.931750,0.245283],[-0.103872,-0.225180,0.968764]]
2025-10-24T23:44:48.301Z,1761349488.301 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:44:48.695Z,1761349488.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958030,-0.284594,0.034405],[0.268243,0.932313,0.242567],[-0.101110,-0.223158,0.969524]]
2025-10-24T23:44:49.099Z,1761349489.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958069,-0.284720,0.032227],[0.269113,0.932719,0.240027],[-0.098399,-0.221289,0.970231]]
2025-10-24T23:44:49.112Z,1761349489.112 [DAT](INFO): DAT read: 

2025-10-24T23:44:49.113Z,1761349489.113 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:44:49.502Z,1761349489.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957823,-0.285832,0.029587],[0.270976,0.932683,0.238065],[-0.095642,-0.220007,0.970798]]
2025-10-24T23:44:49.943Z,1761349489.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957225,-0.288079,0.027021],[0.274017,0.932550,0.235083],[-0.092921,-0.217623,0.971600]]
2025-10-24T23:44:50.326Z,1761349490.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956568,-0.290492,0.024340],[0.277324,0.932570,0.231093],[-0.089829,-0.214306,0.972627]]
2025-10-24T23:44:50.727Z,1761349490.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955567,-0.294039,0.020794],[0.281811,0.931960,0.228110],[-0.086452,-0.212114,0.973413]]
2025-10-24T23:44:50.877Z,1761349490.877 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:44:50.878Z,1761349490.878 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:44:50.879Z,1761349490.879 [DAT](INFO): DAT read: Oct 24 2025 23:44:45 

2025-10-24T23:44:51.118Z,1761349491.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954516,-0.297674,0.016997],[0.286423,0.931289,0.225082],[-0.082830,-0.209976,0.974192]]
2025-10-24T23:44:51.522Z,1761349491.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953337,-0.301642,0.012653],[0.291369,0.930228,0.223114],[-0.079071,-0.209016,0.974710]]
2025-10-24T23:44:51.888Z,1761349491.888 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:44:51.893Z,1761349491.893 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:44:51.894Z,1761349491.894 [DAT](INFO): commRate: 600
2025-10-24T23:44:51.951Z,1761349491.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952153,-0.305528,0.007520],[0.296266,0.928772,0.222731],[-0.075035,-0.209846,0.974851]]
2025-10-24T23:44:52.333Z,1761349492.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951118,-0.308816,0.002646],[0.300518,0.927467,0.222471],[-0.071157,-0.210801,0.974936]]
2025-10-24T23:44:52.400Z,1761349492.400 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:44:52.401Z,1761349492.401 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:44:52.401Z,1761349492.401 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:44:52.401Z,1761349492.401 [marl:UpdateRudder:A] Stopped
2025-10-24T23:44:52.401Z,1761349492.401 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:44:52.745Z,1761349492.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950304,-0.311310,-0.002806],[0.303976,0.925894,0.224317],[-0.067234,-0.214023,0.974512]]
2025-10-24T23:44:52.775Z,1761349492.775 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-24T23:44:52.776Z,1761349492.776 [marl:UpdateRudder:B] Stopped
2025-10-24T23:44:52.776Z,1761349492.776 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:44:52.776Z,1761349492.776 [marl:UpdateRudder] Stopped
2025-10-24T23:44:52.776Z,1761349492.776 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:44:53.138Z,1761349493.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950035,-0.312040,-0.008004],[0.305623,0.924673,0.227099],[-0.063463,-0.218199,0.973839]]
2025-10-24T23:44:53.542Z,1761349493.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950048,-0.311859,-0.012401],[0.306285,0.923959,0.229106],[-0.059991,-0.221460,0.973323]]
2025-10-24T23:44:53.956Z,1761349493.956 [DAT](INFO): entering command mode
2025-10-24T23:44:53.957Z,1761349493.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950367,-0.310672,-0.016880],[0.306006,0.923534,0.231183],[-0.056233,-0.224874,0.972764]]
2025-10-24T23:44:54.152Z,1761349494.152 [DAT](INFO): DAT read: 

2025-10-24T23:44:54.153Z,1761349494.153 [DAT](INFO): DAT read: user:1>

2025-10-24T23:44:54.153Z,1761349494.153 [DAT](INFO): setting verbose to 3
2025-10-24T23:44:54.350Z,1761349494.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950640,-0.309566,-0.021268],[0.305794,0.923013,0.233530],[-0.052663,-0.228507,0.972117]]
2025-10-24T23:44:54.395Z,1761349494.395 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:44:54.395Z,1761349494.395 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:44:54.396Z,1761349494.396 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:44:54.396Z,1761349494.396 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:44:54.396Z,1761349494.396 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:44:54.396Z,1761349494.396 [marl:UpdateCommandMode] Stopped
2025-10-24T23:44:54.396Z,1761349494.396 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:44:54.397Z,1761349494.397 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:44:54.397Z,1761349494.397 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:44:54.397Z,1761349494.397 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:44:54.397Z,1761349494.397 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:44:54.397Z,1761349494.397 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:44:54.397Z,1761349494.397 [marl:UpdateSpeed] Stopped
2025-10-24T23:44:54.397Z,1761349494.397 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:44:54.405Z,1761349494.405 [DAT](INFO): DAT read: user:1>

2025-10-24T23:44:54.406Z,1761349494.406 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:44:54.406Z,1761349494.406 [DAT](INFO): set verbose to 3
2025-10-24T23:44:54.406Z,1761349494.406 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:44:54.657Z,1761349494.657 [DAT](INFO): DAT read: user:2>

2025-10-24T23:44:54.658Z,1761349494.658 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:44:54.659Z,1761349494.659 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:44:54.659Z,1761349494.659 [DAT](INFO): setting transmit power to 8
2025-10-24T23:44:54.758Z,1761349494.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951065,-0.307914,-0.025762],[0.305085,0.922566,0.236209],[-0.048965,-0.232510,0.971361]]
2025-10-24T23:44:54.909Z,1761349494.909 [DAT](INFO): DAT read: user:3>

2025-10-24T23:44:54.911Z,1761349494.911 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:44:54.911Z,1761349494.911 [DAT](INFO): set transmit power to 8
2025-10-24T23:44:54.911Z,1761349494.911 [DAT](INFO): setting local address to 11
2025-10-24T23:44:55.159Z,1761349495.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951421,-0.306419,-0.030101],[0.304500,0.921954,0.239333],[-0.045584,-0.236872,0.970471]]
2025-10-24T23:44:55.161Z,1761349495.161 [DAT](INFO): DAT read: user:4>

2025-10-24T23:44:55.161Z,1761349495.161 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:44:55.162Z,1761349495.162 [DAT](INFO): set local address to 11
2025-10-24T23:44:55.163Z,1761349495.163 [DAT](INFO): Setting time to: 23:44:55 And date to:10/24/2025
2025-10-24T23:44:55.413Z,1761349495.413 [DAT](INFO): DAT read: user:5>

2025-10-24T23:44:55.414Z,1761349495.414 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:44:55  

2025-10-24T23:44:55.414Z,1761349495.414 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:44:55  

2025-10-24T23:44:55.415Z,1761349495.415 [DAT](INFO): setting remote address to 10
2025-10-24T23:44:55.415Z,1761349495.415 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:44:55.415Z,1761349495.415 [DAT](INFO): setting remote address to 0
2025-10-24T23:44:55.563Z,1761349495.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951904,-0.304409,-0.034831],[0.303559,0.921542,0.242099],[-0.041599,-0.241028,0.969626]]
2025-10-24T23:44:55.665Z,1761349495.665 [DAT](INFO): DAT read: user:6>

2025-10-24T23:44:55.666Z,1761349495.666 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:44:55.667Z,1761349495.667 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:44:55.667Z,1761349495.667 [DAT] Communications Fault, FailCount= 6
2025-10-24T23:44:55.667Z,1761349495.667 [DAT](ERROR): Communications Fault
2025-10-24T23:44:55.669Z,1761349495.669 [DAT](INFO): DAT read: user:7>

2025-10-24T23:44:55.670Z,1761349495.670 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:44:55.670Z,1761349495.670 [DAT](INFO): set remote address to 0
2025-10-24T23:44:55.671Z,1761349495.671 [DAT](INFO): setting remote address to 10
2025-10-24T23:44:55.671Z,1761349495.671 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:44:55.674Z,1761349495.674 [DAT](INFO): setting remote address to 0
2025-10-24T23:44:55.756Z,1761349495.756 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:44:55.966Z,1761349495.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953170,-0.299637,-0.041041],[0.300202,0.920922,0.248557],[-0.036681,-0.249238,0.967747]]
2025-10-24T23:44:56.080Z,1761349496.080 [DAT](INFO): Powering down
2025-10-24T23:44:56.372Z,1761349496.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956123,-0.288652,-0.050081],[0.291345,0.918886,0.266020],[-0.030768,-0.268939,0.962666]]
2025-10-24T23:44:56.513Z,1761349496.513 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:44:56.513Z,1761349496.513 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:44:56.794Z,1761349496.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967098,-0.244010,-0.071977],[0.253981,0.909726,0.328470],[-0.014671,-0.335943,0.941768]]
2025-10-24T23:44:57.047Z,1761349497.047 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:44:57.047Z,1761349497.047 [DAT] No Fault, FailCount= 6
2025-10-24T23:44:57.183Z,1761349497.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974303,-0.210467,-0.080232],[0.225188,0.902447,0.367260],[-0.004891,-0.375890,0.926651]]
2025-10-24T23:44:57.587Z,1761349497.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981099,-0.173936,-0.084795],[0.193425,0.894124,0.403893],[0.005566,-0.412661,0.910868]]
2025-10-24T23:44:57.993Z,1761349497.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986962,-0.136543,-0.085217],[0.160144,0.886113,0.434922],[0.016126,-0.442898,0.896427]]
2025-10-24T23:44:58.395Z,1761349498.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991592,-0.099044,-0.083277],[0.126395,0.879254,0.459279],[0.027733,-0.465944,0.884380]]
2025-10-24T23:44:58.801Z,1761349498.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994834,-0.062607,-0.079912],[0.093354,0.873459,0.477864],[0.039882,-0.482855,0.874792]]
2025-10-24T23:44:59.128Z,1761349499.128 [DAT](INFO): Powering up
2025-10-24T23:44:59.128Z,1761349499.128 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:44:59.201Z,1761349499.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996654,-0.028694,-0.076529],[0.062691,0.869148,0.490562],[0.052439,-0.493719,0.868039]]
2025-10-24T23:44:59.227Z,1761349499.227 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:44:59.630Z,1761349499.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997319,0.003043,-0.073110],[0.034056,0.865025,0.500572],[0.064765,-0.501720,0.862602]]
2025-10-24T23:45:00.457Z,1761349500.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995864,0.062281,-0.066155],[-0.019616,0.858305,0.512764],[0.088717,-0.509346,0.855977]]
2025-10-24T23:45:00.862Z,1761349500.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993999,0.090185,-0.061905],[-0.045667,0.856378,0.514326],[0.099399,-0.508412,0.855358]]
2025-10-24T23:45:01.273Z,1761349501.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991460,0.117519,-0.056531],[-0.071718,0.853408,0.516286],[0.108918,-0.507823,0.854548]]
2025-10-24T23:45:01.670Z,1761349501.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988200,0.144490,-0.050823],[-0.098579,0.853929,0.510967],[0.117229,-0.499928,0.858097]]
2025-10-24T23:45:02.066Z,1761349502.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984129,0.171680,-0.044910],[-0.126469,0.856062,0.501162],[0.124485,-0.487529,0.864187]]
2025-10-24T23:45:02.485Z,1761349502.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979256,0.199033,-0.037988],[-0.155101,0.856924,0.491554],[0.130389,-0.475465,0.870018]]
2025-10-24T23:45:02.888Z,1761349502.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973491,0.226707,-0.030337],[-0.184444,0.856518,0.482034],[0.135264,-0.463660,0.875627]]
2025-10-24T23:45:03.290Z,1761349503.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966861,0.254247,-0.023202],[-0.213921,0.856390,0.469930],[0.139348,-0.449394,0.882399]]
2025-10-24T23:45:03.695Z,1761349503.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959592,0.280916,-0.016422],[-0.242736,0.855869,0.456692],[0.142347,-0.434252,0.889473]]
2025-10-24T23:45:04.157Z,1761349504.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951737,0.306834,-0.007102],[-0.271017,0.851049,0.449739],[0.144039,-0.426108,0.893132]]
2025-10-24T23:45:04.560Z,1761349504.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942792,0.333352,0.004310],[-0.300183,0.843217,0.445955],[0.145026,-0.421737,0.895045]]
2025-10-24T23:45:05.006Z,1761349505.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932491,0.360685,0.019176],[-0.330965,0.831984,0.445269],[0.144648,-0.421556,0.895191]]
2025-10-24T23:45:05.387Z,1761349505.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920830,0.388400,0.034888],[-0.362624,0.819930,0.442966],[0.143442,-0.420547,0.895860]]
2025-10-24T23:45:05.419Z,1761349505.419 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:45:05.419Z,1761349505.419 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:45:05.419Z,1761349505.419 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:45:05.419Z,1761349505.419 [marl:UpdateRudder:A] Stopped
2025-10-24T23:45:05.419Z,1761349505.419 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:45:05.791Z,1761349505.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907635,0.416443,0.052661],[-0.395386,0.806052,0.440397],[0.140953,-0.420542,0.896257]]
2025-10-24T23:45:05.863Z,1761349505.863 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-24T23:45:05.864Z,1761349505.864 [marl:UpdateRudder:B] Stopped
2025-10-24T23:45:05.864Z,1761349505.864 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:45:05.865Z,1761349505.865 [marl:UpdateRudder] Stopped
2025-10-24T23:45:05.865Z,1761349505.865 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:45:06.199Z,1761349506.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893455,0.443922,0.068350],[-0.427439,0.793617,0.432976],[0.137964,-0.416060,0.898810]]
2025-10-24T23:45:06.598Z,1761349506.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877889,0.471733,0.082334],[-0.459501,0.781449,0.422134],[0.134794,-0.408419,0.902787]]
2025-10-24T23:45:07.002Z,1761349507.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861091,0.499725,0.093788],[-0.490938,0.769173,0.409088],[0.132292,-0.398307,0.907662]]
2025-10-24T23:45:07.054Z,1761349507.054 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:45:07.054Z,1761349507.054 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:45:07.054Z,1761349507.054 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:45:07.055Z,1761349507.055 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:45:07.055Z,1761349507.055 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:45:07.055Z,1761349507.055 [marl:UpdateCommandMode] Stopped
2025-10-24T23:45:07.055Z,1761349507.055 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:45:07.406Z,1761349507.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843539,0.526793,0.104555],[-0.521086,0.755638,0.396838],[0.130046,-0.389230,0.911914]]
2025-10-24T23:45:07.463Z,1761349507.463 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:45:07.463Z,1761349507.463 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:45:07.463Z,1761349507.463 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:45:07.463Z,1761349507.463 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:45:07.463Z,1761349507.463 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:45:07.463Z,1761349507.463 [marl:UpdateSpeed] Stopped
2025-10-24T23:45:07.463Z,1761349507.463 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:45:07.812Z,1761349507.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825676,0.552528,0.113892],[-0.549450,0.741834,0.384429],[0.127919,-0.379992,0.916102]]
2025-10-24T23:45:08.215Z,1761349508.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808326,0.575118,0.125889],[-0.575244,0.726022,0.376810],[0.125312,-0.377002,0.917696]]
2025-10-24T23:45:08.619Z,1761349508.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790282,0.595969,0.142391],[-0.600405,0.706769,0.374155],[0.122347,-0.381180,0.916369]]
2025-10-24T23:45:09.023Z,1761349509.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772239,0.614587,0.161024],[-0.624112,0.686410,0.373263],[0.118874,-0.388745,0.913644]]
2025-10-24T23:45:09.432Z,1761349509.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753968,0.631437,0.181161],[-0.646779,0.665304,0.372892],[0.114931,-0.398320,0.910018]]
2025-10-24T23:45:09.830Z,1761349509.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734904,0.647200,0.202603],[-0.669004,0.642909,0.372962],[0.111126,-0.409633,0.905457]]
2025-10-24T23:45:10.278Z,1761349510.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714685,0.662382,0.224665],[-0.691102,0.619275,0.372660],[0.107714,-0.421601,0.900361]]
2025-10-24T23:45:10.638Z,1761349510.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693297,0.678341,0.243296],[-0.712953,0.596406,0.368778],[0.105054,-0.429131,0.897112]]
2025-10-24T23:45:11.044Z,1761349511.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670565,0.693899,0.262387],[-0.734663,0.572028,0.364766],[0.103018,-0.437366,0.893363]]
2025-10-24T23:45:11.225Z,1761349511.225 [DAT](INFO): DAT read: 

2025-10-24T23:45:11.227Z,1761349511.227 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:45:11.446Z,1761349511.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646859,0.710399,0.277322],[-0.755878,0.549040,0.356656],[0.101108,-0.440328,0.892126]]
2025-10-24T23:45:11.932Z,1761349511.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622345,0.727261,0.289444],[-0.776406,0.526593,0.346257],[0.099400,-0.440218,0.892372]]
2025-10-24T23:45:12.274Z,1761349512.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596677,0.743888,0.301009],[-0.796520,0.503368,0.334927],[0.097630,-0.439603,0.892870]]
2025-10-24T23:45:12.727Z,1761349512.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570070,0.760209,0.311611],[-0.816073,0.480029,0.321864],[0.095101,-0.437782,0.894037]]
2025-10-24T23:45:12.989Z,1761349512.989 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:45:12.990Z,1761349512.990 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:45:12.991Z,1761349512.991 [DAT](INFO): DAT read: Oct 24 2025 23:45:07 

2025-10-24T23:45:13.143Z,1761349513.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542312,0.777234,0.319069],[-0.835134,0.457125,0.305922],[0.091918,-0.432371,0.896999]]
2025-10-24T23:45:13.552Z,1761349513.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513363,0.794171,0.325193],[-0.853665,0.433796,0.288232],[0.087838,-0.425574,0.900651]]
2025-10-24T23:45:13.950Z,1761349513.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483087,0.811499,0.328780],[-0.871626,0.410105,0.268481],[0.083038,-0.416273,0.905440]]
2025-10-24T23:45:13.999Z,1761349513.999 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:45:14.000Z,1761349514.000 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:45:14.001Z,1761349514.001 [DAT](INFO): commRate: 600
2025-10-24T23:45:14.355Z,1761349514.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451485,0.829998,0.327511],[-0.888849,0.386208,0.246559],[0.078156,-0.402425,0.912111]]
2025-10-24T23:45:14.760Z,1761349514.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419194,0.846487,0.328233],[-0.904934,0.360382,0.226316],[0.073284,-0.391900,0.917085]]
2025-10-24T23:45:15.163Z,1761349515.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386219,0.860336,0.332650],[-0.919853,0.332412,0.208263],[0.068599,-0.386424,0.919767]]
2025-10-24T23:45:15.566Z,1761349515.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353824,0.872997,0.335685],[-0.933118,0.304908,0.190585],[0.064027,-0.380667,0.922493]]
2025-10-24T23:45:15.970Z,1761349515.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322171,0.883350,0.340438],[-0.944815,0.277454,0.174196],[0.059421,-0.377771,0.923990]]
2025-10-24T23:45:16.064Z,1761349516.064 [DAT](INFO): entering command mode
2025-10-24T23:45:16.264Z,1761349516.264 [DAT](INFO): DAT read: 

2025-10-24T23:45:16.265Z,1761349516.265 [DAT](INFO): DAT read: user:1>

2025-10-24T23:45:16.265Z,1761349516.265 [DAT](INFO): setting verbose to 3
2025-10-24T23:45:16.374Z,1761349516.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291378,0.891299,0.347397],[-0.955047,0.250303,0.158852],[0.054630,-0.378066,0.924165]]
2025-10-24T23:45:16.517Z,1761349516.517 [DAT](INFO): DAT read: user:1>

2025-10-24T23:45:16.518Z,1761349516.518 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:45:16.518Z,1761349516.518 [DAT](INFO): set verbose to 3
2025-10-24T23:45:16.518Z,1761349516.518 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:45:16.769Z,1761349516.769 [DAT](INFO): DAT read: user:2>

2025-10-24T23:45:16.770Z,1761349516.770 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:45:16.770Z,1761349516.770 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:45:16.770Z,1761349516.770 [DAT](INFO): setting transmit power to 8
2025-10-24T23:45:17.021Z,1761349517.021 [DAT](INFO): DAT read: user:3>

2025-10-24T23:45:17.022Z,1761349517.022 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:45:17.022Z,1761349517.022 [DAT](INFO): set transmit power to 8
2025-10-24T23:45:17.022Z,1761349517.022 [DAT](INFO): setting local address to 11
2025-10-24T23:45:17.182Z,1761349517.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230316,0.900330,0.369269],[-0.972104,0.195563,0.129497],[0.044375,-0.388793,0.920256]]
2025-10-24T23:45:17.273Z,1761349517.273 [DAT](INFO): DAT read: user:4>

2025-10-24T23:45:17.274Z,1761349517.274 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:45:17.275Z,1761349517.275 [DAT](INFO): set local address to 11
2025-10-24T23:45:17.276Z,1761349517.276 [DAT](INFO): Setting time to: 23:45:17 And date to:10/24/2025
2025-10-24T23:45:17.524Z,1761349517.524 [DAT](INFO): DAT read: user:5>

2025-10-24T23:45:17.525Z,1761349517.525 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:45:17  

2025-10-24T23:45:17.526Z,1761349517.526 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:45:17  

2025-10-24T23:45:17.526Z,1761349517.526 [DAT](INFO): setting remote address to 10
2025-10-24T23:45:17.527Z,1761349517.527 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:45:17.527Z,1761349517.527 [DAT](INFO): setting remote address to 0
2025-10-24T23:45:17.607Z,1761349517.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166839,0.902853,0.396259],[-0.985390,0.138730,0.098795],[0.034224,-0.406952,0.912808]]
2025-10-24T23:45:17.777Z,1761349517.777 [DAT](INFO): DAT read: user:6>

2025-10-24T23:45:17.778Z,1761349517.778 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:45:17.779Z,1761349517.779 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:45:17.779Z,1761349517.779 [DAT] Communications Fault, FailCount= 7
2025-10-24T23:45:17.779Z,1761349517.779 [DAT](ERROR): Communications Fault
2025-10-24T23:45:17.781Z,1761349517.781 [DAT](INFO): DAT read: user:7>

2025-10-24T23:45:17.782Z,1761349517.782 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:45:17.782Z,1761349517.782 [DAT](INFO): set remote address to 0
2025-10-24T23:45:17.783Z,1761349517.783 [DAT](INFO): setting remote address to 10
2025-10-24T23:45:17.783Z,1761349517.783 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:45:17.783Z,1761349517.783 [DAT](INFO): setting remote address to 0
2025-10-24T23:45:17.807Z,1761349517.807 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:45:18.053Z,1761349518.053 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:45:18.053Z,1761349518.053 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:45:18.053Z,1761349518.053 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:45:18.054Z,1761349518.054 [marl:UpdateRudder:A] Stopped
2025-10-24T23:45:18.054Z,1761349518.054 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:45:18.193Z,1761349518.193 [DAT](INFO): Powering down
2025-10-24T23:45:18.406Z,1761349518.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096654,0.905784,0.412569],[-0.994979,0.077104,0.063817],[0.025993,-0.416665,0.908688]]
2025-10-24T23:45:18.428Z,1761349518.428 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:45:18.472Z,1761349518.472 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-24T23:45:18.472Z,1761349518.472 [marl:UpdateRudder:B] Stopped
2025-10-24T23:45:18.472Z,1761349518.472 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:45:18.472Z,1761349518.472 [marl:UpdateRudder] Stopped
2025-10-24T23:45:18.472Z,1761349518.472 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:45:18.807Z,1761349518.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060189,0.907913,0.414814],[-0.997930,0.045304,0.045640],[0.022644,-0.416702,0.908761]]
2025-10-24T23:45:19.080Z,1761349519.080 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:45:19.080Z,1761349519.080 [DAT] No Fault, FailCount= 7
2025-10-24T23:45:19.217Z,1761349519.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022830,0.911484,0.410703],[-0.999539,0.012584,0.027633],[0.020019,-0.411144,0.911351]]
2025-10-24T23:45:19.432Z,1761349519.432 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:45:19.615Z,1761349519.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014349,0.915289,0.402542],[-0.999744,-0.020167,0.010220],[0.017472,-0.402292,0.915345]]
2025-10-24T23:45:20.029Z,1761349520.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051739,0.917951,0.393306],[-0.998550,-0.053411,-0.006698],[0.014858,-0.393083,0.919383]]
2025-10-24T23:45:20.095Z,1761349520.095 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:45:20.095Z,1761349520.095 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:45:20.100Z,1761349520.100 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:45:20.100Z,1761349520.100 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:45:20.100Z,1761349520.100 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:45:20.100Z,1761349520.100 [marl:UpdateCommandMode] Stopped
2025-10-24T23:45:20.100Z,1761349520.100 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:45:20.420Z,1761349520.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089440,0.920025,0.381516],[-0.995918,-0.087281,-0.022999],[0.012139,-0.382015,0.924076]]
2025-10-24T23:45:20.467Z,1761349520.467 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:45:20.467Z,1761349520.467 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:45:20.467Z,1761349520.467 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:45:20.472Z,1761349520.472 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:45:20.472Z,1761349520.472 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:45:20.472Z,1761349520.472 [marl:UpdateSpeed] Stopped
2025-10-24T23:45:20.472Z,1761349520.472 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:45:20.822Z,1761349520.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126681,0.918008,0.375784],[-0.991902,-0.120719,-0.039474],[0.009127,-0.377741,0.925866]]
2025-10-24T23:45:21.229Z,1761349521.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164643,0.913782,0.371344],[-0.986335,-0.154797,-0.056397],[0.005948,-0.375555,0.926781]]
2025-10-24T23:45:21.244Z,1761349521.244 [DAT](INFO): Powering up
2025-10-24T23:45:21.244Z,1761349521.244 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:45:21.631Z,1761349521.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202164,0.904635,0.375186],[-0.979348,-0.187751,-0.075009],[0.002585,-0.382602,0.923910]]
2025-10-24T23:45:21.710Z,1761349521.710 [marl:SendObservationData] Running Loop=1
2025-10-24T23:45:21.710Z,1761349521.710 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:45:21.710Z,1761349521.710 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:45:21.711Z,1761349521.711 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:45:21.717Z,1761349521.717 [marl:SendObservationData:A](INFO): Got test_good :  41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:45:21.717Z,1761349521.717 [marl:SendObservationData:A] Stopped
2025-10-24T23:45:21.717Z,1761349521.717 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:45:22.034Z,1761349522.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238543,0.894607,0.377856],[-0.971132,-0.219558,-0.093260],[-0.000469,-0.389195,0.921155]]
2025-10-24T23:45:22.099Z,1761349522.099 [marl:SendObservationData:B] Stopped
2025-10-24T23:45:22.099Z,1761349522.099 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:45:22.439Z,1761349522.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274347,0.883207,0.380367],[-0.961625,-0.250576,-0.111758],[-0.003395,-0.396431,0.918058]]
2025-10-24T23:45:22.493Z,1761349522.493 [marl:SendObservationData:C] Stopped
2025-10-24T23:45:22.494Z,1761349522.494 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:45:22.843Z,1761349522.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308558,0.869267,0.386221],[-0.951189,-0.279536,-0.130766],[-0.005708,-0.407718,0.913090]]
2025-10-24T23:45:22.869Z,1761349522.869 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.012718 min 
2025-10-24T23:45:22.869Z,1761349522.869 [marl:SendObservationData:E] Stopped
2025-10-24T23:45:22.870Z,1761349522.870 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:45:22.870Z,1761349522.870 [marl:SendObservationData] Stopped
2025-10-24T23:45:22.870Z,1761349522.870 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:45:22.870Z,1761349522.870 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:45:23.249Z,1761349523.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340276,0.854909,0.391591],[-0.940296,-0.306057,-0.148903],[-0.007449,-0.418880,0.908011]]
2025-10-24T23:45:23.654Z,1761349523.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369713,0.841803,0.393294],[-0.929105,-0.330972,-0.164988],[-0.008718,-0.426410,0.904488]]
2025-10-24T23:45:24.054Z,1761349524.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396880,0.828279,0.395524],[-0.917819,-0.353576,-0.180533],[-0.009684,-0.434670,0.900538]]
2025-10-24T23:45:24.461Z,1761349524.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421640,0.815253,0.396965],[-0.906703,-0.374015,-0.194942],[-0.010456,-0.442125,0.896893]]
2025-10-24T23:45:24.862Z,1761349524.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445018,0.807026,0.388160],[-0.895451,-0.395575,-0.204175],[-0.011228,-0.438440,0.898690]]
2025-10-24T23:45:25.266Z,1761349525.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466665,0.801379,0.374187],[-0.884344,-0.416763,-0.210344],[-0.012618,-0.429070,0.903183]]
2025-10-24T23:45:25.682Z,1761349525.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488044,0.794291,0.361822],[-0.872699,-0.437203,-0.217370],[-0.014466,-0.421848,0.906551]]
2025-10-24T23:45:26.083Z,1761349526.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510088,0.788337,0.343999],[-0.859964,-0.459749,-0.221570],[-0.016519,-0.408847,0.912453]]
2025-10-24T23:45:26.482Z,1761349526.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533993,0.780221,0.325740],[-0.845273,-0.483947,-0.226513],[-0.019089,-0.396296,0.917924]]
2025-10-24T23:45:26.878Z,1761349526.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560032,0.768939,0.308378],[-0.828182,-0.509781,-0.232890],[-0.021873,-0.385819,0.922315]]
2025-10-24T23:45:27.282Z,1761349527.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586710,0.755652,0.291138],[-0.809402,-0.535982,-0.239985],[-0.025300,-0.376450,0.926092]]
2025-10-24T23:45:27.697Z,1761349527.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614574,0.740415,0.272182],[-0.788326,-0.563762,-0.246404],[-0.028995,-0.366002,0.930162]]
2025-10-24T23:45:28.097Z,1761349528.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641489,0.721862,0.259630],[-0.766416,-0.588439,-0.257578],[-0.033159,-0.364218,0.930723]]
2025-10-24T23:45:28.498Z,1761349528.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667609,0.701534,0.249294],[-0.743584,-0.611579,-0.270285],[-0.037152,-0.365816,0.929946]]
2025-10-24T23:45:28.902Z,1761349528.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692272,0.680277,0.240797],[-0.720480,-0.632670,-0.283965],[-0.040830,-0.370070,0.928106]]
2025-10-24T23:45:29.306Z,1761349529.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715830,0.657904,0.233988],[-0.696862,-0.651774,-0.299288],[-0.044395,-0.377296,0.925028]]
2025-10-24T23:45:29.713Z,1761349529.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737197,0.635461,0.229631],[-0.673989,-0.667570,-0.316369],[-0.047745,-0.387995,0.920424]]
2025-10-24T23:45:30.114Z,1761349530.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757783,0.613160,0.223157],[-0.650545,-0.683448,-0.331195],[-0.050559,-0.396147,0.916794]]
2025-10-24T23:45:30.519Z,1761349530.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777413,0.590807,0.215816],[-0.626767,-0.698813,-0.344708],[-0.052841,-0.403247,0.913564]]
2025-10-24T23:45:30.922Z,1761349530.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796435,0.567875,0.207868],[-0.602247,-0.713759,-0.357557],[-0.054680,-0.409959,0.910464]]
2025-10-24T23:45:30.982Z,1761349530.982 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:45:30.982Z,1761349530.982 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:45:30.982Z,1761349530.982 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:45:30.982Z,1761349530.982 [marl:UpdateRudder:A] Stopped
2025-10-24T23:45:30.982Z,1761349530.982 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:45:31.330Z,1761349531.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814795,0.544637,0.198696],[-0.577024,-0.728653,-0.368928],[-0.056152,-0.415253,0.907971]]
2025-10-24T23:45:31.390Z,1761349531.390 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-24T23:45:31.390Z,1761349531.390 [marl:UpdateRudder:B] Stopped
2025-10-24T23:45:31.391Z,1761349531.391 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:45:31.391Z,1761349531.391 [marl:UpdateRudder] Stopped
2025-10-24T23:45:31.391Z,1761349531.391 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:45:31.730Z,1761349531.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831895,0.522200,0.187771],[-0.551938,-0.743490,-0.377608],[-0.057581,-0.417768,0.906727]]
2025-10-24T23:45:32.134Z,1761349532.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848057,0.500256,0.174768],[-0.526582,-0.758706,-0.383505],[-0.059253,-0.417264,0.906852]]
2025-10-24T23:45:32.538Z,1761349532.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862958,0.479166,0.160324],[-0.501623,-0.774364,-0.385661],[-0.060646,-0.413231,0.908605]]
2025-10-24T23:45:32.944Z,1761349532.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876542,0.458557,0.146289],[-0.477296,-0.788841,-0.387192],[-0.062151,-0.409213,0.910320]]
2025-10-24T23:45:32.968Z,1761349532.968 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:45:32.968Z,1761349532.968 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:45:32.968Z,1761349532.968 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:45:32.969Z,1761349532.969 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:45:32.969Z,1761349532.969 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:45:32.969Z,1761349532.969 [marl:UpdateCommandMode] Stopped
2025-10-24T23:45:32.969Z,1761349532.969 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:45:32.969Z,1761349532.969 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:45:32.969Z,1761349532.969 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:45:32.969Z,1761349532.969 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:45:32.969Z,1761349532.969 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:45:32.970Z,1761349532.970 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:45:32.970Z,1761349532.970 [marl:UpdateSpeed] Stopped
2025-10-24T23:45:32.970Z,1761349532.970 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:45:33.347Z,1761349533.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889603,0.437602,0.130805],[-0.452294,-0.804219,-0.385567],[-0.063529,-0.402164,0.913361]]
2025-10-24T23:45:33.357Z,1761349533.357 [DAT](INFO): DAT read: 

2025-10-24T23:45:33.357Z,1761349533.357 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:45:33.750Z,1761349533.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902019,0.415761,0.116208],[-0.426821,-0.818575,-0.384394],[-0.064691,-0.396331,0.915826]]
2025-10-24T23:45:34.165Z,1761349534.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913865,0.393188,0.101260],[-0.400671,-0.832997,-0.381548],[-0.065671,-0.389255,0.918786]]
2025-10-24T23:45:34.559Z,1761349534.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925324,0.369246,0.086217],[-0.373231,-0.846842,-0.378890],[-0.066892,-0.382774,0.921417]]
2025-10-24T23:45:34.962Z,1761349534.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936369,0.343683,0.071386],[-0.344312,-0.859722,-0.377264],[-0.068287,-0.377837,0.923350]]
2025-10-24T23:45:35.125Z,1761349535.125 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:45:35.126Z,1761349535.126 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:45:35.126Z,1761349535.126 [DAT](INFO): DAT read: Oct 24 2025 23:45:29 

2025-10-24T23:45:35.366Z,1761349535.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946747,0.316815,0.057441],[-0.314271,-0.870451,-0.378879],[-0.070035,-0.376754,0.923662]]
2025-10-24T23:45:35.770Z,1761349535.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956392,0.288782,0.043809],[-0.283081,-0.879464,-0.382634],[-0.071970,-0.378349,0.922861]]
2025-10-24T23:45:36.129Z,1761349536.129 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:45:36.131Z,1761349536.131 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:45:36.132Z,1761349536.132 [DAT](INFO): commRate: 600
2025-10-24T23:45:36.194Z,1761349536.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964942,0.260679,0.030542],[-0.251733,-0.886281,-0.388763],[-0.074273,-0.382823,0.920831]]
2025-10-24T23:45:36.580Z,1761349536.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972531,0.232177,0.016675],[-0.219861,-0.892685,-0.393414],[-0.076456,-0.386273,0.919210]]
2025-10-24T23:45:36.982Z,1761349536.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978956,0.204041,0.003412],[-0.188292,-0.896695,-0.400605],[-0.078681,-0.392818,0.916244]]
2025-10-24T23:45:37.387Z,1761349537.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984278,0.176350,-0.009885],[-0.157120,-0.899765,-0.407106],[-0.080687,-0.399152,0.913327]]
2025-10-24T23:45:37.790Z,1761349537.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988485,0.149584,-0.022831],[-0.126944,-0.901893,-0.412884],[-0.082353,-0.405232,0.910497]]
2025-10-24T23:45:38.196Z,1761349538.196 [DAT](INFO): entering command mode
2025-10-24T23:45:38.198Z,1761349538.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991713,0.123482,-0.035471],[-0.097519,-0.903244,-0.417899],[-0.083642,-0.410977,0.907801]]
2025-10-24T23:45:38.397Z,1761349538.397 [DAT](INFO): DAT read: 

2025-10-24T23:45:38.398Z,1761349538.398 [DAT](INFO): DAT read: ur:1>

2025-10-24T23:45:38.398Z,1761349538.398 [DAT](INFO): unknown deviceResponse_: ur:1>

2025-10-24T23:45:38.398Z,1761349538.398 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:38.598Z,1761349538.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994039,0.097792,-0.048190],[-0.068664,-0.904926,-0.419992],[-0.084680,-0.414180,0.906247]]
2025-10-24T23:45:38.649Z,1761349538.649 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:38.901Z,1761349538.901 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:39.002Z,1761349539.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995540,0.072187,-0.060744],[-0.040009,-0.906125,-0.421115],[-0.085441,-0.416806,0.904971]]
2025-10-24T23:45:39.153Z,1761349539.153 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:39.404Z,1761349539.404 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:39.409Z,1761349539.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996216,0.047613,-0.072702],[-0.012736,-0.907519,-0.419818],[-0.085968,-0.417304,0.904692]]
2025-10-24T23:45:39.657Z,1761349539.657 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:39.812Z,1761349539.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996155,0.022236,-0.084741],[0.014988,-0.909739,-0.414911],[-0.086318,-0.414585,0.905907]]
2025-10-24T23:45:39.910Z,1761349539.910 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:40.162Z,1761349540.162 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:40.214Z,1761349540.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995313,-0.002843,-0.096660],[0.042539,-0.910528,-0.411252],[-0.086842,-0.413437,0.906382]]
2025-10-24T23:45:40.412Z,1761349540.412 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:40.628Z,1761349540.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993757,-0.028331,-0.107909],[0.069912,-0.911896,-0.404424],[-0.086944,-0.409443,0.908183]]
2025-10-24T23:45:40.665Z,1761349540.665 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:40.916Z,1761349540.916 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:41.024Z,1761349541.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991472,-0.053236,-0.118953],[0.096861,-0.911682,-0.399317],[-0.087189,-0.407433,0.909063]]
2025-10-24T23:45:41.171Z,1761349541.171 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:41.420Z,1761349541.420 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:41.428Z,1761349541.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988497,-0.077649,-0.129788],[0.123330,-0.910563,-0.394543],[-0.087544,-0.406011,0.909665]]
2025-10-24T23:45:41.673Z,1761349541.673 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:41.831Z,1761349541.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984804,-0.102504,-0.140189],[0.149871,-0.909466,-0.387828],[-0.087744,-0.402945,0.911009]]
2025-10-24T23:45:41.925Z,1761349541.925 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:42.176Z,1761349542.176 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:42.236Z,1761349542.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980345,-0.127655,-0.150424],[0.176593,-0.907738,-0.380561],[-0.087965,-0.399645,0.912440]]
2025-10-24T23:45:42.430Z,1761349542.430 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:42.663Z,1761349542.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975345,-0.151580,-0.160391],[0.202221,-0.904892,-0.374536],[-0.088364,-0.397737,0.913235]]
2025-10-24T23:45:42.681Z,1761349542.681 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:42.933Z,1761349542.933 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:43.043Z,1761349543.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969534,-0.175748,-0.170637],[0.228080,-0.901770,-0.367137],[-0.089352,-0.394871,0.914381]]
2025-10-24T23:45:43.184Z,1761349543.184 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:43.436Z,1761349543.436 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:43.447Z,1761349543.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963057,-0.199412,-0.180988],[0.253637,-0.897512,-0.360749],[-0.090501,-0.393327,0.914934]]
2025-10-24T23:45:43.688Z,1761349543.688 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:43.861Z,1761349543.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955749,-0.222613,-0.192321],[0.279476,-0.891196,-0.357299],[-0.091856,-0.395237,0.913975]]
2025-10-24T23:45:43.940Z,1761349543.940 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:43.946Z,1761349543.946 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:45:43.946Z,1761349543.946 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:45:43.947Z,1761349543.947 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:45:43.947Z,1761349543.947 [marl:UpdateRudder:A] Stopped
2025-10-24T23:45:43.947Z,1761349543.947 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:45:44.192Z,1761349544.192 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:44.254Z,1761349544.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947553,-0.246314,-0.203649],[0.305624,-0.884707,-0.351977],[-0.093473,-0.395757,0.913586]]
2025-10-24T23:45:44.307Z,1761349544.307 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-24T23:45:44.307Z,1761349544.307 [marl:UpdateRudder:B] Stopped
2025-10-24T23:45:44.324Z,1761349544.324 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:45:44.324Z,1761349544.324 [marl:UpdateRudder] Stopped
2025-10-24T23:45:44.324Z,1761349544.324 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:45:44.444Z,1761349544.444 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:44.664Z,1761349544.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938771,-0.269118,-0.215139],[0.331175,-0.877056,-0.347988],[-0.095039,-0.397930,0.912480]]
2025-10-24T23:45:44.696Z,1761349544.696 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:44.948Z,1761349544.948 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:45.063Z,1761349545.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929277,-0.291944,-0.226302],[0.356664,-0.868553,-0.344103],[-0.096097,-0.400481,0.911252]]
2025-10-24T23:45:45.200Z,1761349545.200 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:45.452Z,1761349545.452 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:45.471Z,1761349545.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918913,-0.315110,-0.237285],[0.382392,-0.859264,-0.339769],[-0.096826,-0.402954,0.910084]]
2025-10-24T23:45:45.534Z,1761349545.534 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:45:45.534Z,1761349545.534 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:45:45.535Z,1761349545.535 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:45:45.535Z,1761349545.535 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:45:45.535Z,1761349545.535 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:45:45.535Z,1761349545.535 [marl:UpdateCommandMode] Stopped
2025-10-24T23:45:45.535Z,1761349545.535 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:45:45.535Z,1761349545.535 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:45:45.535Z,1761349545.535 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:45:45.535Z,1761349545.535 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:45:45.540Z,1761349545.540 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:45:45.540Z,1761349545.540 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:45:45.540Z,1761349545.540 [marl:UpdateSpeed] Stopped
2025-10-24T23:45:45.540Z,1761349545.540 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:45:45.704Z,1761349545.704 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:45.912Z,1761349545.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907560,-0.338889,-0.247971],[0.408582,-0.848959,-0.335157],[-0.096937,-0.405491,0.908945]]
2025-10-24T23:45:45.956Z,1761349545.956 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:46.208Z,1761349546.208 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:46.275Z,1761349546.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895415,-0.362647,-0.258301],[0.434696,-0.837533,-0.331026],[-0.096290,-0.408688,0.907580]]
2025-10-24T23:45:46.461Z,1761349546.461 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:46.683Z,1761349546.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882182,-0.386704,-0.268727],[0.461194,-0.824807,-0.327099],[-0.095158,-0.412496,0.905976]]
2025-10-24T23:45:46.716Z,1761349546.716 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:46.968Z,1761349546.968 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:47.085Z,1761349547.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867818,-0.411326,-0.278751],[0.487858,-0.811775,-0.320959],[-0.094264,-0.414526,0.905142]]
2025-10-24T23:45:47.220Z,1761349547.220 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:47.472Z,1761349547.472 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:47.487Z,1761349547.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851979,-0.436414,-0.289266],[0.515130,-0.797523,-0.314003],[-0.093661,-0.416534,0.904283]]
2025-10-24T23:45:47.724Z,1761349547.724 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:47.923Z,1761349547.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834884,-0.461646,-0.299754],[0.542457,-0.782419,-0.305878],[-0.093326,-0.417976,0.903652]]
2025-10-24T23:45:47.976Z,1761349547.976 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:48.228Z,1761349548.228 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:48.294Z,1761349548.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817034,-0.485964,-0.310314],[0.568964,-0.766749,-0.297282],[-0.093465,-0.419447,0.902955]]
2025-10-24T23:45:48.483Z,1761349548.483 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:48.710Z,1761349548.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798143,-0.509624,-0.321326],[0.595069,-0.750185,-0.288297],[-0.094131,-0.421314,0.902017]]
2025-10-24T23:45:48.732Z,1761349548.732 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:48.984Z,1761349548.984 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:49.125Z,1761349549.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778118,-0.533759,-0.331111],[0.620860,-0.733490,-0.276632],[-0.095212,-0.420826,0.902131]]
2025-10-24T23:45:49.237Z,1761349549.237 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:49.489Z,1761349549.489 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:49.560Z,1761349549.560 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:45:49.566Z,1761349549.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757546,-0.556353,-0.341460],[0.645609,-0.715875,-0.265915],[-0.096500,-0.421893,0.901496]]
2025-10-24T23:45:49.740Z,1761349549.740 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:49.992Z,1761349549.992 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:50.041Z,1761349550.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713816,-0.601246,-0.359123],[0.693312,-0.679105,-0.241110],[-0.098916,-0.421093,0.901608]]
2025-10-24T23:45:50.244Z,1761349550.244 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:50.496Z,1761349550.496 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:50.542Z,1761349550.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691440,-0.622649,-0.366359],[0.715427,-0.660613,-0.227494],[-0.100373,-0.419401,0.902235]]
2025-10-24T23:45:50.564Z,1761349550.564 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:45:50.751Z,1761349550.751 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:50.922Z,1761349550.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668377,-0.643221,-0.373550],[0.736836,-0.641222,-0.214259],[-0.101713,-0.418450,0.902526]]
2025-10-24T23:45:51.000Z,1761349551.000 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:51.252Z,1761349551.252 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:51.327Z,1761349551.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645324,-0.663877,-0.377920],[0.756944,-0.622360,-0.199259],[-0.102919,-0.414651,0.904142]]
2025-10-24T23:45:51.504Z,1761349551.504 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:51.745Z,1761349551.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621887,-0.684318,-0.380743],[0.776171,-0.603189,-0.183633],[-0.103997,-0.409721,0.906264]]
2025-10-24T23:45:51.756Z,1761349551.756 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:52.008Z,1761349552.008 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:52.134Z,1761349552.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597990,-0.702679,-0.385551],[0.794553,-0.582923,-0.169958],[-0.105320,-0.407974,0.906898]]
2025-10-24T23:45:52.260Z,1761349552.260 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:52.512Z,1761349552.512 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:52.538Z,1761349552.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573937,-0.719964,-0.390190],[0.811949,-0.562261,-0.156848],[-0.106463,-0.406835,0.907277]]
2025-10-24T23:45:52.764Z,1761349552.764 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:52.943Z,1761349552.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549800,-0.735566,-0.395807],[0.828329,-0.541195,-0.144844],[-0.107666,-0.407494,0.906839]]
2025-10-24T23:45:53.017Z,1761349553.017 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:53.268Z,1761349553.268 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:45:53.269Z,1761349553.269 [DAT](FAULT): failed to enter command mode
2025-10-24T23:45:53.349Z,1761349553.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525851,-0.749801,-0.401595],[0.843597,-0.520105,-0.133545],[-0.108739,-0.409010,0.906028]]
2025-10-24T23:45:53.572Z,1761349553.572 [DAT](INFO): entering command mode
2025-10-24T23:45:53.754Z,1761349553.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501914,-0.762797,-0.407705],[0.857903,-0.498977,-0.122576],[-0.109935,-0.411294,0.904849]]
2025-10-24T23:45:53.773Z,1761349553.773 [DAT](INFO): DAT read: user:1>

2025-10-24T23:45:53.773Z,1761349553.773 [DAT](INFO): DAT read: Command '+++' not found

2025-10-24T23:45:53.774Z,1761349553.774 [DAT](INFO): DAT read: Error

2025-10-24T23:45:53.774Z,1761349553.774 [DAT](INFO): setting verbose to 3
2025-10-24T23:45:54.025Z,1761349554.025 [DAT](INFO): DAT read: user:2>

2025-10-24T23:45:54.025Z,1761349554.025 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:45:54.026Z,1761349554.026 [DAT](INFO): set verbose to 3
2025-10-24T23:45:54.026Z,1761349554.026 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:45:54.154Z,1761349554.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477713,-0.776479,-0.410939],[0.871514,-0.477804,-0.110304],[-0.110700,-0.410833,0.904965]]
2025-10-24T23:45:54.277Z,1761349554.277 [DAT](INFO): DAT read: user:3>

2025-10-24T23:45:54.277Z,1761349554.277 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:45:54.278Z,1761349554.278 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:45:54.278Z,1761349554.278 [DAT](INFO): setting transmit power to 8
2025-10-24T23:45:54.529Z,1761349554.529 [DAT](INFO): DAT read: user:4>

2025-10-24T23:45:54.530Z,1761349554.530 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:45:54.530Z,1761349554.530 [DAT](INFO): set transmit power to 8
2025-10-24T23:45:54.530Z,1761349554.530 [DAT](INFO): setting local address to 11
2025-10-24T23:45:54.583Z,1761349554.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453479,-0.789048,-0.414438],[0.884335,-0.456228,-0.099031],[-0.110938,-0.411411,0.904673]]
2025-10-24T23:45:54.782Z,1761349554.782 [DAT](INFO): DAT read: user:5>

2025-10-24T23:45:54.783Z,1761349554.783 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:45:54.783Z,1761349554.783 [DAT](INFO): set local address to 11
2025-10-24T23:45:54.784Z,1761349554.784 [DAT](INFO): Setting time to: 23:45:54 And date to:10/24/2025
2025-10-24T23:45:54.964Z,1761349554.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429349,-0.800420,-0.418316],[0.896367,-0.434275,-0.089052],[-0.110386,-0.413199,0.903926]]
2025-10-24T23:45:55.033Z,1761349555.033 [DAT](INFO): DAT read: user:6>

2025-10-24T23:45:55.034Z,1761349555.034 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:45:54  

2025-10-24T23:45:55.034Z,1761349555.034 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:45:54  

2025-10-24T23:45:55.035Z,1761349555.035 [DAT](INFO): setting remote address to 10
2025-10-24T23:45:55.035Z,1761349555.035 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:45:55.035Z,1761349555.035 [DAT](INFO): setting remote address to 0
2025-10-24T23:45:55.286Z,1761349555.286 [DAT](INFO): DAT read: user:7>

2025-10-24T23:45:55.287Z,1761349555.287 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:45:55.288Z,1761349555.288 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:45:55.288Z,1761349555.288 [DAT] Communications Fault, FailCount= 8
2025-10-24T23:45:55.288Z,1761349555.288 [DAT](ERROR): Communications Fault
2025-10-24T23:45:55.290Z,1761349555.290 [DAT](INFO): DAT read: user:8>

2025-10-24T23:45:55.291Z,1761349555.291 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:45:55.291Z,1761349555.291 [DAT](INFO): set remote address to 0
2025-10-24T23:45:55.292Z,1761349555.292 [DAT](INFO): setting remote address to 10
2025-10-24T23:45:55.292Z,1761349555.292 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:45:55.293Z,1761349555.293 [DAT](INFO): setting remote address to 0
2025-10-24T23:45:55.316Z,1761349555.316 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:45:55.316Z,1761349555.316 [CBIT](FAULT): Communications Fault in component: DAT
2025-10-24T23:45:55.378Z,1761349555.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405269,-0.811938,-0.420135],[0.907620,-0.412377,-0.078561],[-0.109468,-0.413161,0.904055]]
2025-10-24T23:45:55.696Z,1761349555.696 [DAT](INFO): Powering down
2025-10-24T23:45:56.227Z,1761349556.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356359,-0.834288,-0.420680],[0.928322,-0.367200,-0.058156],[-0.105954,-0.411251,0.905343]]
2025-10-24T23:45:56.547Z,1761349556.547 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:45:56.548Z,1761349556.548 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:45:57.057Z,1761349557.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303809,-0.854319,-0.421709],[0.947194,-0.318504,-0.037138],[-0.102588,-0.410723,0.905970]]
2025-10-24T23:45:57.119Z,1761349557.119 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:45:57.119Z,1761349557.119 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:45:57.124Z,1761349557.124 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:45:57.125Z,1761349557.125 [marl:UpdateRudder:A] Stopped
2025-10-24T23:45:57.125Z,1761349557.125 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:45:57.458Z,1761349557.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276678,-0.863477,-0.421730],[0.955612,-0.293472,-0.026060],[-0.101264,-0.410221,0.906347]]
2025-10-24T23:45:57.509Z,1761349557.509 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:45:57.509Z,1761349557.509 [marl:UpdateRudder:B] Stopped
2025-10-24T23:45:57.509Z,1761349557.509 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:45:57.509Z,1761349557.509 [marl:UpdateRudder] Stopped
2025-10-24T23:45:57.509Z,1761349557.509 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:45:57.891Z,1761349557.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249183,-0.872184,-0.420954],[0.963216,-0.268354,-0.014165],[-0.100610,-0.408999,0.906971]]
2025-10-24T23:45:58.268Z,1761349558.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221132,-0.880825,-0.418626],[0.970047,-0.242912,-0.001303],[-0.100541,-0.406375,0.908158]]
2025-10-24T23:45:58.675Z,1761349558.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193687,-0.889409,-0.414049],[0.975892,-0.217944,0.011651],[-0.100602,-0.401811,0.910180]]
2025-10-24T23:45:58.711Z,1761349558.711 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:45:58.711Z,1761349558.711 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:45:58.711Z,1761349558.711 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:45:58.711Z,1761349558.711 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:45:58.711Z,1761349558.711 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:45:58.712Z,1761349558.712 [marl:UpdateCommandMode] Stopped
2025-10-24T23:45:58.712Z,1761349558.712 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:45:58.712Z,1761349558.712 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:45:58.712Z,1761349558.712 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:45:58.712Z,1761349558.712 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:45:58.713Z,1761349558.713 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:45:58.713Z,1761349558.713 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:45:58.713Z,1761349558.713 [marl:UpdateSpeed] Stopped
2025-10-24T23:45:58.713Z,1761349558.713 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:45:59.083Z,1761349559.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167509,-0.896207,-0.410796],[0.980662,-0.194244,0.023888],[-0.101203,-0.398851,0.911414]]
2025-10-24T23:45:59.479Z,1761349559.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143562,-0.901682,-0.407871],[0.984350,-0.172664,0.035237],[-0.102198,-0.396429,0.912360]]
2025-10-24T23:45:59.509Z,1761349559.509 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:45:59.917Z,1761349559.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121245,-0.907676,-0.401777],[0.987245,-0.152345,0.046248],[-0.103187,-0.391045,0.914569]]
2025-10-24T23:46:00.286Z,1761349560.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099621,-0.912046,-0.397804],[0.989574,-0.132605,0.056207],[-0.104015,-0.388057,0.915747]]
2025-10-24T23:46:00.691Z,1761349560.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078805,-0.915696,-0.394068],[0.991423,-0.113331,0.065083],[-0.104256,-0.385560,0.916774]]
2025-10-24T23:46:01.095Z,1761349561.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057644,-0.918351,-0.391546],[0.992821,-0.093904,0.074082],[-0.104801,-0.384464,0.917172]]
2025-10-24T23:46:01.500Z,1761349561.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036716,-0.920792,-0.388323],[0.993775,-0.074544,0.082797],[-0.105186,-0.382866,0.917796]]
2025-10-24T23:46:01.926Z,1761349561.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015562,-0.923185,-0.384040],[0.994259,-0.054952,0.091809],[-0.105860,-0.380406,0.918741]]
2025-10-24T23:46:02.307Z,1761349562.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005962,-0.924757,-0.380511],[0.994223,-0.035300,0.101367],[-0.107172,-0.378917,0.919204]]
2025-10-24T23:46:02.714Z,1761349562.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027104,-0.926885,-0.374366],[0.993678,-0.015835,0.111146],[-0.108948,-0.375011,0.920596]]
2025-10-24T23:46:03.115Z,1761349563.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048527,-0.928357,-0.368509],[0.992581,0.003643,0.121530],[-0.111481,-0.371672,0.921646]]
2025-10-24T23:46:03.518Z,1761349563.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068670,-0.929432,-0.362548],[0.991021,0.021759,0.131927],[-0.114728,-0.368351,0.922580]]
2025-10-24T23:46:03.931Z,1761349563.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087141,-0.930120,-0.356769],[0.989128,0.038198,0.142010],[-0.118459,-0.365265,0.923336]]
2025-10-24T23:46:04.743Z,1761349564.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123150,-0.929426,-0.347852],[0.984389,0.069993,0.161490],[-0.125746,-0.362309,0.923537]]
2025-10-24T23:46:05.138Z,1761349565.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138777,-0.928330,-0.344884],[0.982010,0.083968,0.169131],[-0.128050,-0.362151,0.923282]]
2025-10-24T23:46:05.546Z,1761349565.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154270,-0.926421,-0.343430],[0.979508,0.097853,0.176036],[-0.129478,-0.363549,0.922533]]
2025-10-24T23:46:05.947Z,1761349565.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169707,-0.924014,-0.342634],[0.976921,0.111974,0.181899],[-0.129711,-0.365596,0.921691]]
2025-10-24T23:46:06.354Z,1761349566.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185340,-0.920920,-0.342863],[0.974198,0.126465,0.186936],[-0.128793,-0.368663,0.920597]]
2025-10-24T23:46:06.754Z,1761349566.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202179,-0.917340,-0.342946],[0.971060,0.142312,0.191807],[-0.127147,-0.371800,0.919564]]
2025-10-24T23:46:07.160Z,1761349567.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220453,-0.913318,-0.342419],[0.967336,0.159676,0.196887],[-0.125145,-0.374639,0.918686]]
2025-10-24T23:46:07.567Z,1761349567.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240937,-0.908286,-0.342004],[0.962695,0.178943,0.202972],[-0.123157,-0.378149,0.917516]]
2025-10-24T23:46:07.966Z,1761349567.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263153,-0.903242,-0.338976],[0.957061,0.200124,0.209726],[-0.121596,-0.379611,0.917120]]
2025-10-24T23:46:08.374Z,1761349568.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286606,-0.897547,-0.335061],[0.950421,0.222324,0.217423],[-0.120655,-0.380763,0.916767]]
2025-10-24T23:46:08.778Z,1761349568.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311236,-0.890934,-0.330710],[0.942638,0.245226,0.226489],[-0.120688,-0.382231,0.916152]]
2025-10-24T23:46:09.179Z,1761349569.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335906,-0.883893,-0.325423],[0.933991,0.267908,0.236404],[-0.121772,-0.383352,0.915540]]
2025-10-24T23:46:09.582Z,1761349569.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359629,-0.876348,-0.320440],[0.924841,0.289193,0.247054],[-0.123836,-0.385204,0.914485]]
2025-10-24T23:46:09.628Z,1761349569.628 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:46:09.628Z,1761349569.628 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:46:09.629Z,1761349569.629 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:46:09.629Z,1761349569.629 [marl:UpdateRudder:A] Stopped
2025-10-24T23:46:09.629Z,1761349569.629 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:46:09.986Z,1761349569.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381879,-0.868677,-0.315546],[0.915534,0.308885,0.257658],[-0.126355,-0.387287,0.913260]]
2025-10-24T23:46:10.094Z,1761349570.094 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:46:10.094Z,1761349570.094 [marl:UpdateRudder:B] Stopped
2025-10-24T23:46:10.094Z,1761349570.094 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:46:10.094Z,1761349570.094 [marl:UpdateRudder] Stopped
2025-10-24T23:46:10.094Z,1761349570.094 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:46:10.394Z,1761349570.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402176,-0.861029,-0.311260],[0.906434,0.326565,0.267828],[-0.128961,-0.389850,0.911803]]
2025-10-24T23:46:10.799Z,1761349570.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420424,-0.853814,-0.306994],[0.897735,0.342373,0.277224],[-0.131591,-0.392151,0.910440]]
2025-10-24T23:46:11.199Z,1761349571.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436347,-0.846985,-0.303675],[0.889807,0.356085,0.285390],[-0.133587,-0.394741,0.909029]]
2025-10-24T23:46:11.611Z,1761349571.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450489,-0.840401,-0.301307],[0.882629,0.368482,0.291869],[-0.134261,-0.397426,0.907759]]
2025-10-24T23:46:11.663Z,1761349571.663 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:46:11.663Z,1761349571.663 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:46:11.663Z,1761349571.663 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:46:11.663Z,1761349571.663 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:46:11.664Z,1761349571.664 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:46:11.664Z,1761349571.664 [marl:UpdateCommandMode] Stopped
2025-10-24T23:46:11.664Z,1761349571.664 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:46:11.664Z,1761349571.664 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:46:11.664Z,1761349571.664 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:46:11.665Z,1761349571.665 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:46:11.665Z,1761349571.665 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:46:11.665Z,1761349571.665 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:46:11.665Z,1761349571.665 [marl:UpdateSpeed] Stopped
2025-10-24T23:46:11.665Z,1761349571.665 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:46:12.426Z,1761349572.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477790,-0.827357,-0.295291],[0.868431,0.394162,0.300771],[-0.132453,-0.400145,0.906830]]
2025-10-24T23:46:12.825Z,1761349572.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490694,-0.821726,-0.289804],[0.861481,0.407655,0.302766],[-0.130651,-0.398226,0.907935]]
2025-10-24T23:46:13.226Z,1761349573.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501715,-0.818738,-0.279194],[0.855198,0.420933,0.302411],[-0.130074,-0.390491,0.911371]]
2025-10-24T23:46:13.630Z,1761349573.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509083,-0.820596,-0.259727],[0.850650,0.433656,0.297216],[-0.131262,-0.372244,0.918806]]
2025-10-24T23:46:14.046Z,1761349574.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510948,-0.828707,-0.228422],[0.849024,0.444933,0.284945],[-0.134504,-0.339528,0.930930]]
2025-10-24T23:46:14.438Z,1761349574.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506638,-0.841537,-0.187440],[0.850755,0.452735,0.266920],[-0.139762,-0.294697,0.945315]]
2025-10-24T23:46:14.842Z,1761349574.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495430,-0.857425,-0.139180],[0.856338,0.455221,0.243843],[-0.145720,-0.239993,0.959776]]
2025-10-24T23:46:15.246Z,1761349575.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478684,-0.873492,-0.088731],[0.864804,0.451635,0.219408],[-0.151577,-0.181762,0.971590]]
2025-10-24T23:46:15.657Z,1761349575.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458766,-0.887528,-0.042744],[0.874692,0.442620,0.197487],[-0.156356,-0.127988,0.979373]]
2025-10-24T23:46:16.055Z,1761349576.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436580,-0.899660,-0.003216],[0.885460,0.429050,0.178539],[-0.159245,-0.080795,0.983927]]
2025-10-24T23:46:16.458Z,1761349576.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413326,-0.910039,0.031469],[0.896349,0.412709,0.161957],[-0.160375,-0.038733,0.986296]]
2025-10-24T23:46:16.868Z,1761349576.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389525,-0.919265,0.056759],[0.907135,0.393584,0.148992],[-0.159302,-0.006548,0.987208]]
2025-10-24T23:46:17.274Z,1761349577.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347465,-0.933677,0.086695],[0.925467,0.356347,0.128562],[-0.150929,0.035563,0.987905]]
2025-10-24T23:46:17.681Z,1761349577.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330329,-0.939493,0.090750],[0.932852,0.339607,0.120224],[-0.143769,0.044943,0.988590]]
2025-10-24T23:46:18.079Z,1761349578.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316231,-0.944348,0.090583],[0.938882,0.325223,0.112828],[-0.136009,0.049367,0.989477]]
2025-10-24T23:46:18.483Z,1761349578.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304780,-0.948394,0.087516],[0.943719,0.313111,0.106565],[-0.128468,0.050111,0.990447]]
2025-10-24T23:46:18.886Z,1761349578.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295544,-0.951772,0.082366],[0.947561,0.303021,0.101516],[-0.121579,0.048044,0.991418]]
2025-10-24T23:46:19.287Z,1761349579.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287310,-0.955048,0.073046],[0.950849,0.293578,0.098475],[-0.115493,0.041162,0.992455]]
2025-10-24T23:46:19.691Z,1761349579.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279307,-0.958007,0.064889],[0.953865,0.284581,0.095686],[-0.110134,0.035169,0.993294]]
2025-10-24T23:46:20.094Z,1761349580.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270241,-0.960905,0.060267],[0.957027,0.274936,0.092249],[-0.105212,0.032747,0.993910]]
2025-10-24T23:46:20.514Z,1761349580.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259659,-0.964093,0.055694],[0.960463,0.263819,0.088940],[-0.100439,0.030398,0.994479]]
2025-10-24T23:46:20.708Z,1761349580.708 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:46:20.903Z,1761349580.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246973,-0.967587,0.052721],[0.964337,0.250759,0.084701],[-0.095176,0.029922,0.995011]]
2025-10-24T23:46:21.307Z,1761349581.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232895,-0.971171,0.050853],[0.968367,0.236405,0.079866],[-0.089585,0.030644,0.995508]]
2025-10-24T23:46:21.710Z,1761349581.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218067,-0.974647,0.050103],[0.972354,0.221374,0.074309],[-0.083516,0.032514,0.995976]]
2025-10-24T23:46:21.713Z,1761349581.713 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:46:22.117Z,1761349582.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202819,-0.978016,0.048460],[0.976159,0.205845,0.068855],[-0.077317,0.033340,0.996449]]
2025-10-24T23:46:22.523Z,1761349582.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187581,-0.981144,0.046586],[0.979667,0.190314,0.063505],[-0.071174,0.033727,0.996894]]
2025-10-24T23:46:22.560Z,1761349582.560 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:46:22.560Z,1761349582.560 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:46:22.560Z,1761349582.560 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:46:22.561Z,1761349582.561 [marl:UpdateRudder:A] Stopped
2025-10-24T23:46:22.561Z,1761349582.561 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:46:22.922Z,1761349582.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172140,-0.984007,0.045804],[0.982920,0.174650,0.058006],[-0.065078,0.035037,0.997265]]
2025-10-24T23:46:22.963Z,1761349582.963 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:46:22.963Z,1761349582.963 [marl:UpdateRudder:B] Stopped
2025-10-24T23:46:22.963Z,1761349582.963 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:46:22.963Z,1761349582.963 [marl:UpdateRudder] Stopped
2025-10-24T23:46:22.968Z,1761349582.968 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:46:23.327Z,1761349583.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156439,-0.986667,0.044891],[0.985915,0.158719,0.052732],[-0.059154,0.036009,0.997599]]
2025-10-24T23:46:23.733Z,1761349583.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140564,-0.989072,0.044487],[0.988626,0.142644,0.047661],[-0.053486,0.037281,0.997872]]
2025-10-24T23:46:24.134Z,1761349584.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123777,-0.991303,0.044691],[0.991171,0.125666,0.042287],[-0.047535,0.039062,0.998105]]
2025-10-24T23:46:24.190Z,1761349584.190 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:46:24.190Z,1761349584.190 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:46:24.190Z,1761349584.190 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:46:24.190Z,1761349584.190 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:46:24.191Z,1761349584.191 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:46:24.191Z,1761349584.191 [marl:UpdateCommandMode] Stopped
2025-10-24T23:46:24.191Z,1761349584.191 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:46:24.191Z,1761349584.191 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:46:24.191Z,1761349584.191 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:46:24.191Z,1761349584.191 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:46:24.191Z,1761349584.191 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:46:24.191Z,1761349584.191 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:46:24.192Z,1761349584.192 [marl:UpdateSpeed] Stopped
2025-10-24T23:46:24.192Z,1761349584.192 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:46:24.539Z,1761349584.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106004,-0.993401,0.043783],[0.993503,0.107642,0.036934],[-0.041403,0.039583,0.998358]]
2025-10-24T23:46:24.942Z,1761349584.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087811,-0.995216,0.042831],[0.995527,0.089181,0.031183],[-0.034854,0.039901,0.998596]]
2025-10-24T23:46:25.346Z,1761349585.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069273,-0.996738,0.041406],[0.997209,0.070345,0.025027],[-0.027858,0.039557,0.998829]]
2025-10-24T23:46:25.751Z,1761349585.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051387,-0.997854,0.040590],[0.998464,0.052176,0.018635],[-0.020713,0.039570,0.999002]]
2025-10-24T23:46:26.165Z,1761349586.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034439,-0.998558,0.041169],[0.999314,0.034968,0.012212],[-0.013634,0.040720,0.999078]]
2025-10-24T23:46:26.566Z,1761349586.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018731,-0.998926,0.042383],[0.999803,0.018995,0.005825],[-0.006624,0.042266,0.999084]]
2025-10-24T23:46:26.975Z,1761349586.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004544,-0.999159,0.040745],[0.999990,0.004526,-0.000526],[0.000341,0.040747,0.999169]]
2025-10-24T23:46:27.366Z,1761349587.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008101,-0.999259,0.037621],[0.999941,-0.008365,-0.006859],[0.007169,0.037563,0.999269]]
2025-10-24T23:46:27.770Z,1761349587.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019761,-0.999212,0.034414],[0.999707,-0.020229,-0.013310],[0.013995,0.034140,0.999319]]
2025-10-24T23:46:28.175Z,1761349588.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031109,-0.999065,0.030011],[0.999300,-0.031713,-0.019844],[0.020778,0.029373,0.999353]]
2025-10-24T23:46:28.585Z,1761349588.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042546,-0.998724,0.027224],[0.998719,-0.043262,-0.026248],[0.027392,0.026073,0.999285]]
2025-10-24T23:46:28.990Z,1761349588.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054611,-0.998212,0.024280],[0.997937,-0.055385,-0.032460],[0.033747,0.022457,0.999178]]
2025-10-24T23:46:29.387Z,1761349589.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067582,-0.997462,0.022407],[0.996920,-0.068407,-0.038360],[0.039796,0.019746,0.999013]]
2025-10-24T23:46:29.790Z,1761349589.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081860,-0.996433,0.020505],[0.995591,-0.082702,-0.044267],[0.045805,0.016791,0.998809]]
2025-10-24T23:46:30.195Z,1761349590.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097476,-0.995022,0.020737],[0.993915,-0.098399,-0.049494],[0.051288,0.015786,0.998559]]
2025-10-24T23:46:30.598Z,1761349590.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114421,-0.993191,0.021895],[0.991810,-0.115465,-0.054592],[0.056749,0.015469,0.998269]]
2025-10-24T23:46:31.002Z,1761349591.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132671,-0.990907,0.022378],[0.989224,-0.133789,-0.059471],[0.061924,0.014246,0.997979]]
2025-10-24T23:46:31.406Z,1761349591.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151809,-0.988121,0.023909],[0.986138,-0.153055,-0.064080],[0.066978,0.013850,0.997658]]
2025-10-24T23:46:32.214Z,1761349592.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190827,-0.981231,0.027770],[0.978443,-0.192408,-0.075019],[0.078954,0.012855,0.996795]]
2025-10-24T23:46:32.619Z,1761349592.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210052,-0.977182,0.031527],[0.973879,-0.211969,-0.081415],[0.086240,0.013602,0.996182]]
2025-10-24T23:46:33.022Z,1761349593.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228506,-0.972892,0.035592],[0.968970,-0.230820,-0.088429],[0.094248,0.014281,0.995446]]
2025-10-24T23:46:33.427Z,1761349593.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245498,-0.968574,0.039934],[0.963908,-0.248278,-0.096125],[0.103019,0.014895,0.994568]]
2025-10-24T23:46:33.830Z,1761349593.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260274,-0.964589,0.042736],[0.959056,-0.263393,-0.104094],[0.111664,0.013893,0.993649]]
2025-10-24T23:46:34.235Z,1761349594.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272394,-0.961154,0.044550],[0.954734,-0.275746,-0.111564],[0.119514,0.012144,0.992758]]
2025-10-24T23:46:34.639Z,1761349594.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282560,-0.958101,0.046936],[0.950880,-0.286209,-0.117949],[0.126440,0.011302,0.991910]]
2025-10-24T23:46:35.068Z,1761349595.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291441,-0.955408,0.047512],[0.947353,-0.295156,-0.124120],[0.132609,0.008837,0.991129]]
2025-10-24T23:46:35.455Z,1761349595.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299803,-0.952861,0.046632],[0.944024,-0.303363,-0.129576],[0.137615,0.005174,0.990472]]
2025-10-24T23:46:35.490Z,1761349595.490 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:46:35.490Z,1761349595.490 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:46:35.491Z,1761349595.491 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:46:35.491Z,1761349595.491 [marl:UpdateRudder:A] Stopped
2025-10-24T23:46:35.491Z,1761349595.491 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:46:35.897Z,1761349595.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308247,-0.950207,0.045722],[0.940760,-0.311614,-0.133667],[0.141259,0.001811,0.989971]]
2025-10-24T23:46:35.990Z,1761349595.990 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:46:35.990Z,1761349595.990 [marl:UpdateRudder:B] Stopped
2025-10-24T23:46:35.990Z,1761349595.990 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:46:35.990Z,1761349595.990 [marl:UpdateRudder] Stopped
2025-10-24T23:46:35.990Z,1761349595.990 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:46:36.254Z,1761349596.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317368,-0.947224,0.045206],[0.937362,-0.320570,-0.136337],[0.143633,-0.000894,0.989631]]
2025-10-24T23:46:36.673Z,1761349596.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327875,-0.943668,0.044602],[0.933453,-0.330873,-0.138524],[0.145478,-0.003785,0.989354]]
2025-10-24T23:46:37.065Z,1761349597.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340331,-0.939229,0.044990],[0.928695,-0.343239,-0.140402],[0.147312,-0.006001,0.989072]]
2025-10-24T23:46:37.107Z,1761349597.107 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:46:37.107Z,1761349597.107 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:46:37.107Z,1761349597.107 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:46:37.107Z,1761349597.107 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:46:37.111Z,1761349597.111 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:46:37.111Z,1761349597.111 [marl:UpdateCommandMode] Stopped
2025-10-24T23:46:37.128Z,1761349597.128 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:46:37.128Z,1761349597.128 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:46:37.128Z,1761349597.128 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:46:37.128Z,1761349597.128 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:46:37.128Z,1761349597.128 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:46:37.128Z,1761349597.128 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:46:37.129Z,1761349597.129 [marl:UpdateSpeed] Stopped
2025-10-24T23:46:37.129Z,1761349597.129 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:46:37.473Z,1761349597.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354323,-0.933842,0.048926],[0.923040,-0.357649,-0.141716],[0.149839,-0.005052,0.988698]]
2025-10-24T23:46:37.921Z,1761349597.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368393,-0.928210,0.052082],[0.917095,-0.372023,-0.143302],[0.152390,-0.005027,0.988308]]
2025-10-24T23:46:38.275Z,1761349598.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381672,-0.922736,0.053708],[0.911193,-0.385375,-0.145648],[0.155092,-0.006651,0.987878]]
2025-10-24T23:46:38.685Z,1761349598.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392272,-0.918489,0.050007],[0.906178,-0.395209,-0.150505],[0.158000,-0.013723,0.987344]]
2025-10-24T23:46:39.083Z,1761349599.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398249,-0.916407,0.039943],[0.903000,-0.399331,-0.158508],[0.161208,-0.027057,0.986549]]
2025-10-24T23:46:39.486Z,1761349599.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399965,-0.916295,0.020780],[0.901703,-0.397455,-0.170181],[0.164195,-0.049330,0.985194]]
2025-10-24T23:46:39.935Z,1761349599.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399455,-0.916740,-0.004804],[0.901504,-0.391853,-0.183690],[0.166514,-0.077706,0.982973]]
2025-10-24T23:46:40.290Z,1761349600.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398004,-0.916727,-0.034690],[0.901897,-0.384086,-0.197637],[0.167855,-0.109947,0.979661]]
2025-10-24T23:46:40.694Z,1761349600.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396433,-0.915932,-0.062530],[0.902525,-0.376339,-0.209327],[0.168197,-0.139419,0.975844]]
2025-10-24T23:46:41.098Z,1761349601.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395518,-0.914412,-0.086120],[0.903028,-0.370044,-0.218191],[0.167648,-0.164067,0.972099]]
2025-10-24T23:46:41.503Z,1761349601.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395664,-0.912382,-0.104923],[0.903143,-0.365811,-0.224754],[0.166680,-0.183688,0.968750]]
2025-10-24T23:46:41.938Z,1761349601.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396664,-0.910463,-0.117114],[0.902943,-0.363999,-0.228473],[0.165387,-0.196374,0.966480]]
2025-10-24T23:46:42.311Z,1761349602.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398173,-0.908740,-0.125097],[0.902512,-0.363693,-0.230650],[0.164104,-0.204741,0.964962]]
2025-10-24T23:46:42.714Z,1761349602.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400109,-0.907218,-0.129880],[0.901841,-0.364532,-0.231945],[0.163079,-0.209935,0.964019]]
2025-10-24T23:46:43.119Z,1761349603.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402134,-0.906223,-0.130570],[0.901089,-0.366451,-0.231847],[0.162257,-0.210889,0.963949]]
2025-10-24T23:46:43.522Z,1761349603.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404238,-0.905540,-0.128801],[0.900302,-0.369082,-0.230728],[0.161395,-0.209229,0.964456]]
2025-10-24T23:46:43.938Z,1761349603.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406209,-0.905141,-0.125357],[0.899641,-0.372102,-0.228442],[0.160126,-0.205572,0.965453]]
2025-10-24T23:46:44.331Z,1761349604.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408536,-0.904523,-0.122217],[0.898812,-0.375373,-0.226347],[0.158859,-0.202321,0.966349]]
2025-10-24T23:46:44.736Z,1761349604.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410006,-0.904375,-0.118321],[0.898455,-0.378127,-0.223155],[0.157076,-0.197801,0.967575]]
2025-10-24T23:46:45.138Z,1761349605.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411333,-0.904139,-0.115491],[0.898201,-0.380518,-0.220092],[0.155047,-0.194266,0.968618]]
2025-10-24T23:46:45.543Z,1761349605.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412653,-0.903891,-0.112690],[0.897945,-0.382883,-0.217015],[0.153011,-0.190741,0.969642]]
2025-10-24T23:46:45.953Z,1761349605.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413969,-0.903515,-0.110866],[0.897692,-0.385006,-0.214290],[0.150930,-0.188233,0.970458]]
2025-10-24T23:46:46.352Z,1761349606.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415592,-0.903010,-0.108882],[0.897183,-0.387318,-0.212244],[0.149486,-0.185894,0.971132]]
2025-10-24T23:46:46.754Z,1761349606.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417070,-0.902526,-0.107240],[0.896629,-0.389273,-0.211004],[0.148691,-0.184158,0.971585]]
2025-10-24T23:46:47.158Z,1761349607.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417466,-0.902280,-0.107768],[0.896477,-0.389566,-0.211112],[0.148499,-0.184743,0.971503]]
2025-10-24T23:46:47.562Z,1761349607.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416995,-0.902382,-0.108730],[0.896826,-0.389057,-0.210564],[0.147707,-0.185316,0.971515]]
2025-10-24T23:46:47.968Z,1761349607.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415985,-0.902865,-0.108592],[0.897413,-0.388274,-0.209508],[0.146994,-0.184604,0.971758]]
2025-10-24T23:46:48.028Z,1761349608.028 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:46:48.028Z,1761349608.028 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:46:48.029Z,1761349608.029 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:46:48.029Z,1761349608.029 [marl:UpdateRudder:A] Stopped
2025-10-24T23:46:48.029Z,1761349608.029 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:46:48.370Z,1761349608.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414807,-0.903312,-0.109375],[0.898083,-0.387131,-0.208749],[0.146223,-0.184818,0.971834]]
2025-10-24T23:46:48.408Z,1761349608.408 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:46:48.408Z,1761349608.408 [marl:UpdateRudder:B] Stopped
2025-10-24T23:46:48.408Z,1761349608.408 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:46:48.409Z,1761349608.409 [marl:UpdateRudder] Stopped
2025-10-24T23:46:48.409Z,1761349608.409 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:46:48.775Z,1761349608.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413697,-0.903758,-0.109890],[0.898703,-0.386091,-0.208009],[0.145562,-0.184811,0.971934]]
2025-10-24T23:46:49.179Z,1761349609.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412712,-0.903805,-0.113157],[0.899352,-0.384654,-0.207863],[0.144342,-0.187555,0.971591]]
2025-10-24T23:46:49.583Z,1761349609.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412221,-0.903670,-0.115996],[0.899908,-0.383970,-0.206721],[0.142268,-0.189601,0.971500]]
2025-10-24T23:46:49.986Z,1761349609.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412114,-0.903340,-0.118905],[0.900348,-0.383734,-0.205236],[0.139770,-0.191637,0.971463]]
2025-10-24T23:46:50.035Z,1761349610.035 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:46:50.035Z,1761349610.035 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:46:50.035Z,1761349610.035 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:46:50.036Z,1761349610.036 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:46:50.036Z,1761349610.036 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:46:50.036Z,1761349610.036 [marl:UpdateCommandMode] Stopped
2025-10-24T23:46:50.036Z,1761349610.036 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:46:50.036Z,1761349610.036 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:46:50.037Z,1761349610.037 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:46:50.037Z,1761349610.037 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:46:50.037Z,1761349610.037 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:46:50.037Z,1761349610.037 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:46:50.037Z,1761349610.037 [marl:UpdateSpeed] Stopped
2025-10-24T23:46:50.037Z,1761349610.037 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:46:50.390Z,1761349610.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412122,-0.902956,-0.121760],[0.900751,-0.383661,-0.203596],[0.137124,-0.193582,0.971454]]
2025-10-24T23:46:50.794Z,1761349610.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413336,-0.902221,-0.123090],[0.900531,-0.384997,-0.202043],[0.134898,-0.194358,0.971611]]
2025-10-24T23:46:51.199Z,1761349611.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416321,-0.901448,-0.118611],[0.899604,-0.389478,-0.197532],[0.131868,-0.188940,0.973094]]
2025-10-24T23:46:51.604Z,1761349611.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423894,-0.899899,-0.102443],[0.896568,-0.400890,-0.188291],[0.128375,-0.171663,0.976756]]
2025-10-24T23:46:51.848Z,1761349611.848 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:46:52.007Z,1761349612.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434713,-0.897290,-0.076787],[0.891947,-0.417212,-0.174253],[0.124319,-0.144240,0.981702]]
2025-10-24T23:46:52.418Z,1761349612.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447826,-0.892838,-0.047869],[0.886021,-0.435944,-0.157858],[0.120074,-0.113106,0.986301]]
2025-10-24T23:46:52.815Z,1761349612.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461870,-0.886742,-0.019116],[0.879352,-0.454993,-0.140435],[0.115832,-0.081672,0.989905]]
2025-10-24T23:46:52.868Z,1761349612.868 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:46:53.219Z,1761349613.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476095,-0.879371,0.006272],[0.872305,-0.473149,-0.123346],[0.111435,-0.053254,0.992344]]
2025-10-24T23:46:53.623Z,1761349613.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490667,-0.870984,0.025140],[0.864770,-0.490299,-0.108537],[0.106860,-0.031516,0.993774]]
2025-10-24T23:46:54.026Z,1761349614.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505760,-0.861767,0.039538],[0.856580,-0.507098,-0.095515],[0.102362,-0.014440,0.994642]]
2025-10-24T23:46:54.430Z,1761349614.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521186,-0.852011,0.049431],[0.847816,-0.523520,-0.084467],[0.097845,-0.002115,0.995199]]
2025-10-24T23:46:54.836Z,1761349614.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537178,-0.841658,0.055240],[0.838249,-0.539982,-0.075874],[0.093689,0.005547,0.995586]]
2025-10-24T23:46:55.238Z,1761349615.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553639,-0.830606,0.059815],[0.827863,-0.556739,-0.068440],[0.090148,0.011627,0.995861]]
2025-10-24T23:46:55.643Z,1761349615.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570068,-0.819317,0.061169],[0.816995,-0.573171,-0.063195],[0.086837,0.013949,0.996125]]
2025-10-24T23:46:56.047Z,1761349616.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586464,-0.807619,0.061732],[0.805590,-0.589513,-0.059160],[0.084170,0.015035,0.996338]]
2025-10-24T23:46:56.452Z,1761349616.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602393,-0.795845,0.061262],[0.793945,-0.605329,-0.056823],[0.082306,0.014409,0.996503]]
2025-10-24T23:46:56.854Z,1761349616.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617052,-0.784513,0.061527],[0.782727,-0.619947,-0.054817],[0.081148,0.014334,0.996599]]
2025-10-24T23:46:56.939Z,1761349616.939 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:46:56.939Z,1761349616.939 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:46:57.258Z,1761349617.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630785,-0.773526,0.061391],[0.771775,-0.633621,-0.053727],[0.080457,0.013490,0.996667]]
2025-10-24T23:46:57.666Z,1761349617.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643805,-0.762742,0.061151],[0.760988,-0.646586,-0.053146],[0.080077,0.012320,0.996713]]
2025-10-24T23:46:58.068Z,1761349618.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655365,-0.752867,0.060730],[0.751123,-0.658076,-0.052440],[0.079446,0.011248,0.996776]]
2025-10-24T23:46:58.470Z,1761349618.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665739,-0.743722,0.060573],[0.742037,-0.668401,-0.051197],[0.078563,0.010863,0.996850]]
2025-10-24T23:46:58.879Z,1761349618.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675210,-0.735202,0.059747],[0.733564,-0.677774,-0.050066],[0.077304,0.010023,0.996957]]
2025-10-24T23:46:59.278Z,1761349619.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684253,-0.726979,0.057434],[0.725278,-0.686621,-0.050235],[0.075955,0.007282,0.997085]]
2025-10-24T23:46:59.686Z,1761349619.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692883,-0.718902,0.055613],[0.717170,-0.695092,-0.050139],[0.074701,0.005143,0.997193]]
2025-10-24T23:46:59.725Z,1761349619.725 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:47:00.098Z,1761349620.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700895,-0.711209,0.054106],[0.709478,-0.702972,-0.049717],[0.073394,0.003541,0.997297]]
2025-10-24T23:47:00.490Z,1761349620.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709327,-0.702877,0.053086],[0.701175,-0.711307,-0.048949],[0.072166,0.002502,0.997389]]
2025-10-24T23:47:00.898Z,1761349620.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718058,-0.694082,0.051403],[0.692379,-0.719896,-0.048603],[0.070739,0.000691,0.997495]]
2025-10-24T23:47:00.957Z,1761349620.957 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:47:00.958Z,1761349620.958 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:47:00.958Z,1761349620.958 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:47:00.958Z,1761349620.958 [marl:UpdateRudder:A] Stopped
2025-10-24T23:47:00.958Z,1761349620.958 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:47:01.300Z,1761349621.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726247,-0.685573,0.050536],[0.683923,-0.728004,-0.047547],[0.069387,0.000032,0.997590]]
2025-10-24T23:47:01.377Z,1761349621.377 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:47:01.377Z,1761349621.377 [marl:UpdateRudder:B] Stopped
2025-10-24T23:47:01.377Z,1761349621.377 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:47:01.377Z,1761349621.377 [marl:UpdateRudder] Stopped
2025-10-24T23:47:01.377Z,1761349621.377 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:47:01.702Z,1761349621.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734826,-0.676506,0.048676],[0.674896,-0.736435,-0.046677],[0.067424,-0.001448,0.997723]]
2025-10-24T23:47:02.107Z,1761349622.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743746,-0.666728,0.048120],[0.665297,-0.745301,-0.043662],[0.064974,-0.000459,0.997887]]
2025-10-24T23:47:02.511Z,1761349622.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752941,-0.656362,0.047629],[0.655134,-0.754446,-0.040143],[0.062282,0.000979,0.998058]]
2025-10-24T23:47:02.922Z,1761349622.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773647,-0.632198,0.042387],[0.631201,-0.774807,-0.035498],[0.055284,-0.000708,0.998470]]
2025-10-24T23:47:02.947Z,1761349622.947 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:47:02.947Z,1761349622.947 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:47:02.947Z,1761349622.947 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:47:02.947Z,1761349622.947 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:47:02.948Z,1761349622.948 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:47:02.951Z,1761349622.951 [marl:UpdateCommandMode] Stopped
2025-10-24T23:47:02.952Z,1761349622.952 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:47:02.952Z,1761349622.952 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:47:02.952Z,1761349622.952 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:47:02.952Z,1761349622.952 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:47:02.952Z,1761349622.952 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:47:02.953Z,1761349622.953 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:47:02.953Z,1761349622.953 [marl:UpdateSpeed] Stopped
2025-10-24T23:47:02.953Z,1761349622.953 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:47:03.323Z,1761349623.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785308,-0.617833,0.039653],[0.616935,-0.786307,-0.033361],[0.051791,-0.001735,0.998656]]
2025-10-24T23:47:03.727Z,1761349623.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797433,-0.602202,0.038133],[0.601457,-0.798343,-0.029966],[0.048489,-0.000961,0.998823]]
2025-10-24T23:47:04.131Z,1761349624.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809649,-0.585792,0.036291],[0.585170,-0.810462,-0.026989],[0.045222,-0.000615,0.998977]]
2025-10-24T23:47:04.535Z,1761349624.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821871,-0.568684,0.033558],[0.568123,-0.822554,-0.025332],[0.042009,-0.001755,0.999116]]
2025-10-24T23:47:04.935Z,1761349624.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833805,-0.551206,0.030667],[0.550690,-0.834363,-0.024047],[0.038843,-0.003162,0.999240]]
2025-10-24T23:47:05.339Z,1761349625.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845417,-0.533342,0.028562],[0.532886,-0.845891,-0.022381],[0.036096,-0.003701,0.999341]]
2025-10-24T23:47:05.743Z,1761349625.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856659,-0.515189,0.026752],[0.514755,-0.857063,-0.021671],[0.034093,-0.004794,0.999407]]
2025-10-24T23:47:06.147Z,1761349626.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867523,-0.496701,0.026288],[0.496305,-0.867909,-0.020368],[0.032932,-0.004623,0.999447]]
2025-10-24T23:47:06.550Z,1761349626.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878027,-0.477941,0.025322],[0.477522,-0.878369,-0.020984],[0.032271,-0.006332,0.999459]]
2025-10-24T23:47:06.954Z,1761349626.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887745,-0.459631,0.025457],[0.459208,-0.888084,-0.020844],[0.032189,-0.006814,0.999459]]
2025-10-24T23:47:07.365Z,1761349627.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896486,-0.442315,0.025889],[0.441908,-0.896836,-0.020059],[0.032091,-0.006542,0.999464]]
2025-10-24T23:47:07.764Z,1761349627.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903971,-0.426807,0.025903],[0.426423,-0.904321,-0.019167],[0.031605,-0.006281,0.999481]]
2025-10-24T23:47:08.166Z,1761349628.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910554,-0.412605,0.025465],[0.412236,-0.910888,-0.018589],[0.030865,-0.006429,0.999503]]
2025-10-24T23:47:08.570Z,1761349628.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916544,-0.399200,0.024205],[0.398840,-0.916835,-0.018447],[0.029556,-0.007253,0.999537]]
2025-10-24T23:47:08.978Z,1761349628.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922017,-0.386461,0.023075],[0.386111,-0.922272,-0.018238],[0.028330,-0.007906,0.999567]]
2025-10-24T23:47:09.381Z,1761349629.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927283,-0.373717,0.021929],[0.373396,-0.927508,-0.017439],[0.026856,-0.007983,0.999607]]
2025-10-24T23:47:09.782Z,1761349629.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932193,-0.361336,0.021268],[0.361053,-0.932407,-0.016033],[0.025623,-0.007267,0.999645]]
2025-10-24T23:47:10.186Z,1761349630.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936828,-0.349177,0.020690],[0.348920,-0.937032,-0.015057],[0.024644,-0.006886,0.999673]]
2025-10-24T23:47:10.591Z,1761349630.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941202,-0.337266,0.019755],[0.337024,-0.941383,-0.014584],[0.023515,-0.007069,0.999699]]
2025-10-24T23:47:11.003Z,1761349631.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945469,-0.325152,0.019120],[0.324945,-0.945641,-0.013170],[0.022363,-0.006239,0.999730]]
2025-10-24T23:47:11.398Z,1761349631.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949474,-0.313291,0.018661],[0.313117,-0.949643,-0.011673],[0.021379,-0.005240,0.999758]]
2025-10-24T23:47:11.802Z,1761349631.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953426,-0.301108,0.017687],[0.300966,-0.953580,-0.010254],[0.019953,-0.004454,0.999791]]
2025-10-24T23:47:12.208Z,1761349632.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957367,-0.288408,0.016397],[0.288309,-0.957503,-0.008144],[0.018049,-0.003069,0.999832]]
2025-10-24T23:47:12.611Z,1761349632.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961140,-0.275674,0.014629],[0.275617,-0.961250,-0.005828],[0.015669,-0.001570,0.999876]]
2025-10-24T23:47:13.015Z,1761349633.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964956,-0.262125,0.012242],[0.262079,-0.965032,-0.005190],[0.013175,-0.001800,0.999912]]
2025-10-24T23:47:13.422Z,1761349633.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969005,-0.246845,0.009847],[0.246803,-0.969051,-0.005337],[0.010859,-0.002741,0.999937]]
2025-10-24T23:47:13.825Z,1761349633.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973227,-0.229713,0.007754],[0.229684,-0.973255,-0.004550],[0.008592,-0.002648,0.999960]]
2025-10-24T23:47:13.919Z,1761349633.919 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:47:13.919Z,1761349633.919 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:47:13.924Z,1761349633.924 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:47:13.924Z,1761349633.924 [marl:UpdateRudder:A] Stopped
2025-10-24T23:47:13.924Z,1761349633.924 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:47:14.228Z,1761349634.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977247,-0.212014,0.006106],[0.211999,-0.977265,-0.003059],[0.006616,-0.001695,0.999977]]
2025-10-24T23:47:14.271Z,1761349634.271 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:47:14.272Z,1761349634.272 [marl:UpdateRudder:B] Stopped
2025-10-24T23:47:14.272Z,1761349634.272 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:47:14.272Z,1761349634.272 [marl:UpdateRudder] Stopped
2025-10-24T23:47:14.272Z,1761349634.272 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:47:14.630Z,1761349634.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980984,-0.194033,0.004557],[0.194020,-0.980992,-0.003159],[0.005083,-0.002215,0.999985]]
2025-10-24T23:47:15.035Z,1761349635.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984458,-0.175588,0.003326],[0.175577,-0.984460,-0.003315],[0.003856,-0.002680,0.999989]]
2025-10-24T23:47:15.445Z,1761349635.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987543,-0.157328,0.002479],[0.157323,-0.987545,-0.002031],[0.002767,-0.001616,0.999995]]
2025-10-24T23:47:15.855Z,1761349635.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990148,-0.140012,0.001614],[0.140011,-0.990150,-0.000615],[0.001684,-0.000383,0.999999]]
2025-10-24T23:47:15.941Z,1761349635.941 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:47:15.941Z,1761349635.941 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:47:15.941Z,1761349635.941 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:47:15.941Z,1761349635.941 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:47:15.942Z,1761349635.942 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:47:15.942Z,1761349635.942 [marl:UpdateCommandMode] Stopped
2025-10-24T23:47:15.942Z,1761349635.942 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:47:15.942Z,1761349635.942 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:47:15.942Z,1761349635.942 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:47:15.942Z,1761349635.942 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:47:15.942Z,1761349635.942 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:47:15.942Z,1761349635.942 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:47:15.942Z,1761349635.942 [marl:UpdateSpeed] Stopped
2025-10-24T23:47:15.943Z,1761349635.943 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:47:16.246Z,1761349636.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992456,-0.122600,0.000333],[0.122600,-0.992456,-0.000049],[0.000337,-0.000008,1.000000]]
2025-10-24T23:47:16.653Z,1761349636.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994401,-0.105671,-0.000644],[0.105670,-0.994400,0.001539],[-0.000804,0.001462,0.999999]]
2025-10-24T23:47:17.058Z,1761349637.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996038,-0.088916,-0.001658],[0.088913,-0.996038,0.001685],[-0.001801,0.001531,0.999997]]
2025-10-24T23:47:17.469Z,1761349637.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997435,-0.071526,-0.002797],[0.071521,-0.997438,0.001695],[-0.002911,0.001490,0.999995]]
2025-10-24T23:47:17.889Z,1761349637.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998508,-0.054440,-0.004153],[0.054432,-0.998516,0.001916],[-0.004251,0.001687,0.999990]]
2025-10-24T23:47:18.266Z,1761349638.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999308,-0.036820,-0.005312],[0.036810,-0.999320,0.001952],[-0.005381,0.001755,0.999984]]
2025-10-24T23:47:18.675Z,1761349638.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999802,-0.018968,-0.006097],[0.018963,-0.999820,0.000854],[-0.006112,0.000738,0.999981]]
2025-10-24T23:47:19.076Z,1761349639.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999976,-0.000653,-0.006899],[0.000651,-1.000000,0.000289],[-0.006899,0.000284,0.999976]]
2025-10-24T23:47:19.483Z,1761349639.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999839,0.016296,-0.007533],[-0.016308,-0.999866,0.001501],[-0.007507,0.001623,0.999970]]
2025-10-24T23:47:19.921Z,1761349639.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999453,0.032014,-0.008346],[-0.032029,-0.999486,0.001647],[-0.008289,0.001914,0.999964]]
2025-10-24T23:47:20.286Z,1761349640.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998827,0.047524,-0.009297],[-0.047544,-0.998867,0.001936],[-0.009195,0.002376,0.999955]]
2025-10-24T23:47:20.693Z,1761349640.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998004,0.062322,-0.010234],[-0.062360,-0.998048,0.003450],[-0.009999,0.004081,0.999942]]
2025-10-24T23:47:21.095Z,1761349641.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996976,0.076804,-0.011792],[-0.076865,-0.997030,0.004844],[-0.011385,0.005736,0.999919]]
2025-10-24T23:47:21.502Z,1761349641.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995733,0.091214,-0.013960],[-0.091324,-0.995793,0.007467],[-0.013220,0.008710,0.999875]]
2025-10-24T23:47:21.923Z,1761349641.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994228,0.106049,-0.016278],[-0.106198,-0.994308,0.008552],[-0.015279,0.010231,0.999831]]
2025-10-24T23:47:22.315Z,1761349642.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992419,0.121468,-0.018725],[-0.121642,-0.992538,0.008424],[-0.017562,0.010638,0.999789]]
2025-10-24T23:47:22.711Z,1761349642.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990209,0.138027,-0.020857],[-0.138213,-0.990372,0.007732],[-0.019589,0.010539,0.999753]]
2025-10-24T23:47:22.742Z,1761349642.742 [marl:SendObservationData] Running Loop=1
2025-10-24T23:47:22.742Z,1761349642.742 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:47:22.742Z,1761349642.742 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:47:22.743Z,1761349642.743 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:47:22.745Z,1761349642.745 [marl:SendObservationData:A](INFO): Got test_good :  41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:47:22.745Z,1761349642.745 [marl:SendObservationData:A] Stopped
2025-10-24T23:47:22.745Z,1761349642.745 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:47:22.996Z,1761349642.996 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:47:23.114Z,1761349643.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987526,0.155765,-0.023013],[-0.155943,-0.987747,0.006185],[-0.021768,0.009697,0.999716]]
2025-10-24T23:47:23.160Z,1761349643.160 [marl:SendObservationData:B] Stopped
2025-10-24T23:47:23.160Z,1761349643.160 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:47:23.518Z,1761349643.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984384,0.174179,-0.025511],[-0.174367,-0.984666,0.005343],[-0.024189,0.009708,0.999660]]
2025-10-24T23:47:23.565Z,1761349643.565 [marl:SendObservationData:C] Stopped
2025-10-24T23:47:23.565Z,1761349643.565 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:47:23.932Z,1761349643.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980993,0.192056,-0.027707],[-0.192241,-0.981339,0.004158],[-0.026391,0.009405,0.999607]]
2025-10-24T23:47:23.998Z,1761349643.998 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.011100 min 
2025-10-24T23:47:23.998Z,1761349643.998 [marl:SendObservationData:E] Stopped
2025-10-24T23:47:23.999Z,1761349643.999 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:47:23.999Z,1761349643.999 [marl:SendObservationData] Stopped
2025-10-24T23:47:23.999Z,1761349643.999 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:47:23.999Z,1761349643.999 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:47:24.000Z,1761349644.000 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:47:24.332Z,1761349644.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977136,0.210563,-0.029469],[-0.210741,-0.977537,0.003028],[-0.028170,0.009169,0.999561]]
2025-10-24T23:47:24.730Z,1761349644.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972866,0.229218,-0.031468],[-0.229423,-0.973322,0.003014],[-0.029937,0.010151,0.999500]]
2025-10-24T23:47:25.135Z,1761349645.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968411,0.247130,-0.033286],[-0.247370,-0.968916,0.003257],[-0.031446,0.011388,0.999441]]
2025-10-24T23:47:25.546Z,1761349645.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963910,0.263939,-0.034843],[-0.264221,-0.964455,0.003666],[-0.032637,0.012740,0.999386]]
2025-10-24T23:47:25.944Z,1761349645.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959743,0.278487,-0.036580],[-0.278847,-0.960322,0.005030],[-0.033728,0.015028,0.999318]]
2025-10-24T23:47:26.347Z,1761349646.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955654,0.291979,-0.038393],[-0.292433,-0.956263,0.006660],[-0.034769,0.017592,0.999241]]
2025-10-24T23:47:26.750Z,1761349646.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951793,0.304165,-0.039674],[-0.304679,-0.952426,0.007494],[-0.035507,0.019220,0.999185]]
2025-10-24T23:47:26.802Z,1761349646.802 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:47:26.802Z,1761349646.802 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:47:26.802Z,1761349646.802 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:47:26.803Z,1761349646.803 [marl:UpdateRudder:A] Stopped
2025-10-24T23:47:26.803Z,1761349646.803 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:47:27.155Z,1761349647.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947960,0.315770,-0.040755],[-0.316307,-0.948629,0.007296],[-0.036357,0.019808,0.999143]]
2025-10-24T23:47:27.186Z,1761349647.186 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:47:27.186Z,1761349647.186 [marl:UpdateRudder:B] Stopped
2025-10-24T23:47:27.186Z,1761349647.186 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:47:27.186Z,1761349647.186 [marl:UpdateRudder] Stopped
2025-10-24T23:47:27.186Z,1761349647.186 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:47:27.566Z,1761349647.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944208,0.326688,-0.041792],[-0.327245,-0.944913,0.007080],[-0.037176,0.020361,0.999101]]
2025-10-24T23:47:27.962Z,1761349647.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940430,0.337270,-0.042899],[-0.337835,-0.941183,0.006467],[-0.038195,0.020574,0.999059]]
2025-10-24T23:47:28.366Z,1761349648.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936667,0.347410,-0.044279],[-0.347987,-0.937482,0.005815],[-0.039491,0.020855,0.999002]]
2025-10-24T23:47:28.771Z,1761349648.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932824,0.357438,-0.045574],[-0.358015,-0.933703,0.004934],[-0.040789,0.020919,0.998949]]
2025-10-24T23:47:28.829Z,1761349648.829 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:47:28.829Z,1761349648.829 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:47:28.829Z,1761349648.829 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:47:28.830Z,1761349648.830 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:47:28.830Z,1761349648.830 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:47:28.830Z,1761349648.830 [marl:UpdateCommandMode] Stopped
2025-10-24T23:47:28.830Z,1761349648.830 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:47:28.830Z,1761349648.830 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:47:28.830Z,1761349648.830 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:47:28.830Z,1761349648.830 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:47:28.831Z,1761349648.831 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:47:28.831Z,1761349648.831 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:47:28.831Z,1761349648.831 [marl:UpdateSpeed] Stopped
2025-10-24T23:47:28.831Z,1761349648.831 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:47:29.176Z,1761349649.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928726,0.367859,-0.046337],[-0.368369,-0.929676,0.002685],[-0.042091,0.019562,0.998922]]
2025-10-24T23:47:29.579Z,1761349649.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924362,0.378561,-0.047389],[-0.378968,-0.925410,-0.000441],[-0.044021,0.017551,0.998876]]
2025-10-24T23:47:29.982Z,1761349649.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920969,0.386916,-0.045950],[-0.386889,-0.922074,-0.009858],[-0.046183,0.008698,0.998895]]
2025-10-24T23:47:30.387Z,1761349650.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918789,0.392563,-0.041496],[-0.391754,-0.919690,-0.026445],[-0.048545,-0.008041,0.998789]]
2025-10-24T23:47:30.801Z,1761349650.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917752,0.395713,-0.033794],[-0.393895,-0.917799,-0.049919],[-0.050770,-0.032502,0.998181]]
2025-10-24T23:47:31.194Z,1761349651.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916979,0.398241,-0.023543],[-0.395389,-0.915094,-0.079182],[-0.053078,-0.063300,0.996582]]
2025-10-24T23:47:31.598Z,1761349651.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916176,0.400598,-0.011946],[-0.396951,-0.911137,-0.110721],[-0.055239,-0.096698,0.993780]]
2025-10-24T23:47:32.004Z,1761349652.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915611,0.402063,-0.001409],[-0.397988,-0.906818,-0.138875],[-0.057114,-0.126595,0.990309]]
2025-10-24T23:47:32.407Z,1761349652.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914494,0.404512,0.008363],[-0.400313,-0.901615,-0.163828],[-0.058730,-0.153168,0.986453]]
2025-10-24T23:47:32.811Z,1761349652.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912718,0.408250,0.016631],[-0.404135,-0.896028,-0.183872],[-0.060164,-0.174545,0.982809]]
2025-10-24T23:47:33.214Z,1761349653.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910405,0.413087,0.022827],[-0.409125,-0.890729,-0.198036],[-0.061474,-0.189633,0.979929]]
2025-10-24T23:47:33.625Z,1761349653.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907513,0.419155,0.026981],[-0.415332,-0.885952,-0.206369],[-0.062597,-0.198489,0.978102]]
2025-10-24T23:47:34.024Z,1761349654.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904277,0.425947,0.029203],[-0.422161,-0.881835,-0.210109],[-0.063743,-0.202325,0.977242]]
2025-10-24T23:47:34.427Z,1761349654.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900697,0.433397,0.030211],[-0.429586,-0.878085,-0.210769],[-0.064819,-0.202817,0.977069]]
2025-10-24T23:47:34.830Z,1761349654.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897145,0.440688,0.030422],[-0.436847,-0.874888,-0.209130],[-0.065545,-0.200909,0.977415]]
2025-10-24T23:47:35.236Z,1761349655.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894004,0.447118,0.029043],[-0.443166,-0.872825,-0.204400],[-0.066041,-0.195606,0.978456]]
2025-10-24T23:47:35.638Z,1761349655.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891368,0.452479,0.026945],[-0.448376,-0.871442,-0.198865],[-0.066501,-0.189343,0.979657]]
2025-10-24T23:47:36.042Z,1761349656.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889659,0.455984,0.024195],[-0.451766,-0.871246,-0.191933],[-0.066439,-0.181685,0.981110]]
2025-10-24T23:47:36.447Z,1761349656.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889150,0.457102,0.021675],[-0.452844,-0.872069,-0.185549],[-0.065912,-0.174796,0.982396]]
2025-10-24T23:47:36.851Z,1761349656.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889008,0.457430,0.020527],[-0.453185,-0.872577,-0.182295],[-0.065476,-0.171365,0.983030]]
2025-10-24T23:47:37.264Z,1761349657.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889294,0.456884,0.020327],[-0.452682,-0.873050,-0.181281],[-0.065078,-0.170414,0.983221]]
2025-10-24T23:47:37.663Z,1761349657.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889925,0.455629,0.020853],[-0.451522,-0.873595,-0.181548],[-0.064502,-0.170980,0.983161]]
2025-10-24T23:47:38.063Z,1761349658.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890462,0.454528,0.021946],[-0.450583,-0.873934,-0.182248],[-0.063658,-0.172173,0.983008]]
2025-10-24T23:47:38.468Z,1761349658.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891218,0.452960,0.023612],[-0.449158,-0.874096,-0.184970],[-0.063145,-0.175454,0.982460]]
2025-10-24T23:47:38.870Z,1761349658.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892238,0.450859,0.025265],[-0.447221,-0.874525,-0.187614],[-0.062492,-0.178695,0.981918]]
2025-10-24T23:47:39.278Z,1761349659.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893321,0.448644,0.026362],[-0.445140,-0.875218,-0.189326],[-0.061867,-0.180864,0.981560]]
2025-10-24T23:47:39.683Z,1761349659.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894630,0.445966,0.027398],[-0.442593,-0.876123,-0.191104],[-0.061222,-0.183094,0.981187]]
2025-10-24T23:47:39.733Z,1761349659.733 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:47:39.734Z,1761349659.734 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:47:39.734Z,1761349659.734 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:47:39.734Z,1761349659.734 [marl:UpdateRudder:A] Stopped
2025-10-24T23:47:39.734Z,1761349659.734 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:47:40.084Z,1761349660.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896177,0.442785,0.028438],[-0.439547,-0.877221,-0.193086],[-0.060550,-0.185539,0.980770]]
2025-10-24T23:47:40.210Z,1761349660.210 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:47:40.210Z,1761349660.210 [marl:UpdateRudder:B] Stopped
2025-10-24T23:47:40.212Z,1761349660.212 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:47:40.212Z,1761349660.212 [marl:UpdateRudder] Stopped
2025-10-24T23:47:40.212Z,1761349660.212 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:47:40.890Z,1761349660.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899173,0.436533,0.030430],[-0.433583,-0.879386,-0.196687],[-0.059101,-0.190049,0.979994]]
2025-10-24T23:47:41.295Z,1761349661.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900500,0.433681,0.031948],[-0.430934,-0.880120,-0.199209],[-0.058276,-0.193155,0.979436]]
2025-10-24T23:47:41.704Z,1761349661.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900977,0.432532,0.034016],[-0.430016,-0.879806,-0.202551],[-0.057683,-0.197121,0.978681]]
2025-10-24T23:47:41.734Z,1761349661.734 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:47:41.734Z,1761349661.734 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:47:41.735Z,1761349661.735 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:47:41.735Z,1761349661.735 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:47:41.735Z,1761349661.735 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:47:41.735Z,1761349661.735 [marl:UpdateCommandMode] Stopped
2025-10-24T23:47:41.736Z,1761349661.736 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:47:41.736Z,1761349661.736 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:47:41.736Z,1761349661.736 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:47:41.737Z,1761349661.737 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:47:41.737Z,1761349661.737 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:47:41.737Z,1761349661.737 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:47:41.737Z,1761349661.737 [marl:UpdateSpeed] Stopped
2025-10-24T23:47:41.737Z,1761349661.737 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:47:42.102Z,1761349662.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900709,0.432879,0.036605],[-0.430645,-0.878608,-0.206381],[-0.057177,-0.201653,0.977787]]
2025-10-24T23:47:42.506Z,1761349662.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899696,0.434741,0.039343],[-0.432821,-0.876741,-0.209743],[-0.056691,-0.205733,0.976965]]
2025-10-24T23:47:42.911Z,1761349662.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898115,0.437794,0.041558],[-0.436127,-0.874580,-0.211902],[-0.056423,-0.208437,0.976407]]
2025-10-24T23:47:43.315Z,1761349663.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895721,0.442425,0.044091],[-0.441038,-0.871576,-0.214105],[-0.056297,-0.211224,0.975815]]
2025-10-24T23:47:43.718Z,1761349663.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892892,0.447968,0.045486],[-0.446746,-0.868752,-0.213746],[-0.056235,-0.211172,0.975830]]
2025-10-24T23:47:44.122Z,1761349664.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889638,0.454170,0.047676],[-0.453184,-0.865164,-0.214747],[-0.056284,-0.212653,0.975505]]
2025-10-24T23:47:44.526Z,1761349664.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886048,0.460927,0.049650],[-0.460167,-0.861446,-0.214839],[-0.056254,-0.213206,0.975387]]
2025-10-24T23:47:44.932Z,1761349664.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882525,0.467538,0.050569],[-0.466947,-0.858464,-0.212134],[-0.055769,-0.210827,0.975931]]
2025-10-24T23:47:45.335Z,1761349665.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879361,0.473456,0.050633],[-0.472906,-0.856006,-0.208838],[-0.055534,-0.207589,0.976639]]
2025-10-24T23:47:45.746Z,1761349665.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876798,0.478218,0.050318],[-0.477689,-0.854242,-0.205142],[-0.055119,-0.203905,0.977438]]
2025-10-24T23:47:46.147Z,1761349666.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874717,0.482019,0.050271],[-0.481576,-0.852875,-0.201717],[-0.054356,-0.200655,0.978153]]
2025-10-24T23:47:46.548Z,1761349666.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873014,0.485045,0.050769],[-0.484772,-0.851686,-0.199064],[-0.053316,-0.198397,0.978670]]
2025-10-24T23:47:46.950Z,1761349666.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871928,0.487022,0.050508],[-0.486854,-0.851376,-0.195274],[-0.052101,-0.194855,0.979447]]
2025-10-24T23:47:47.354Z,1761349667.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870498,0.489532,0.050902],[-0.489534,-0.850499,-0.192372],[-0.050880,-0.192378,0.980001]]
2025-10-24T23:47:47.759Z,1761349667.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868844,0.492307,0.052383],[-0.492631,-0.849158,-0.190382],[-0.049245,-0.191218,0.980312]]
2025-10-24T23:47:48.174Z,1761349668.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866542,0.495991,0.055654],[-0.497044,-0.847464,-0.186420],[-0.045298,-0.189204,0.980893]]
2025-10-24T23:47:48.573Z,1761349668.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865775,0.497136,0.057345],[-0.498553,-0.846918,-0.184867],[-0.043338,-0.188643,0.981089]]
2025-10-24T23:47:48.975Z,1761349668.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865620,0.497186,0.059219],[-0.499013,-0.846946,-0.183489],[-0.041073,-0.188383,0.981236]]
2025-10-24T23:47:49.379Z,1761349669.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865784,0.496597,0.061719],[-0.498934,-0.847138,-0.182818],[-0.038503,-0.189074,0.981208]]
2025-10-24T23:47:49.789Z,1761349669.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865647,0.496566,0.063861],[-0.499347,-0.847113,-0.181803],[-0.036179,-0.189266,0.981259]]
2025-10-24T23:47:50.188Z,1761349670.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865597,0.496404,0.065762],[-0.499568,-0.847109,-0.181211],[-0.034246,-0.189709,0.981243]]
2025-10-24T23:47:50.586Z,1761349670.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865402,0.496523,0.067417],[-0.500018,-0.846969,-0.180625],[-0.032584,-0.190023,0.981239]]
2025-10-24T23:47:50.990Z,1761349670.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865171,0.496640,0.069481],[-0.500514,-0.846602,-0.180971],[-0.031054,-0.191347,0.981031]]
2025-10-24T23:47:51.394Z,1761349671.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864926,0.496825,0.071192],[-0.501015,-0.846251,-0.181225],[-0.029791,-0.192414,0.980861]]
2025-10-24T23:47:51.801Z,1761349671.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864260,0.497906,0.071724],[-0.502221,-0.845869,-0.179664],[-0.028787,-0.191298,0.981110]]
2025-10-24T23:47:52.206Z,1761349672.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863427,0.499121,0.073299],[-0.503712,-0.844985,-0.179652],[-0.027732,-0.192037,0.980996]]
2025-10-24T23:47:52.606Z,1761349672.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861956,0.501283,0.075803],[-0.506287,-0.843272,-0.180458],[-0.026538,-0.193925,0.980657]]
2025-10-24T23:47:52.655Z,1761349672.655 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:47:52.655Z,1761349672.655 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:47:52.656Z,1761349672.656 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:47:52.657Z,1761349672.657 [marl:UpdateRudder:A] Stopped
2025-10-24T23:47:52.657Z,1761349672.657 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:47:53.011Z,1761349673.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859531,0.504865,0.079490],[-0.510480,-0.840504,-0.181559],[-0.024851,-0.196634,0.980162]]
2025-10-24T23:47:53.034Z,1761349673.034 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:47:53.035Z,1761349673.035 [marl:UpdateRudder:B] Stopped
2025-10-24T23:47:53.035Z,1761349673.035 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:47:53.035Z,1761349673.035 [marl:UpdateRudder] Stopped
2025-10-24T23:47:53.035Z,1761349673.035 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:47:53.416Z,1761349673.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856206,0.509719,0.084244],[-0.516123,-0.836659,-0.183355],[-0.022976,-0.200470,0.979430]]
2025-10-24T23:47:53.818Z,1761349673.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852203,0.515589,0.088980],[-0.522795,-0.832340,-0.184108],[-0.020863,-0.203416,0.978870]]
2025-10-24T23:47:54.120Z,1761349674.120 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:47:54.227Z,1761349674.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847743,0.522101,0.093501],[-0.530075,-0.827696,-0.184229],[-0.018796,-0.205742,0.978426]]
2025-10-24T23:47:54.626Z,1761349674.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842855,0.529323,0.097017],[-0.537878,-0.823010,-0.182599],[-0.016808,-0.206088,0.978389]]
2025-10-24T23:47:54.694Z,1761349674.694 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:47:54.694Z,1761349674.694 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:47:54.695Z,1761349674.695 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:47:54.695Z,1761349674.695 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:47:54.695Z,1761349674.695 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:47:54.695Z,1761349674.695 [marl:UpdateCommandMode] Stopped
2025-10-24T23:47:54.696Z,1761349674.696 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:47:54.696Z,1761349674.696 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:47:54.696Z,1761349674.696 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:47:54.696Z,1761349674.696 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:47:54.697Z,1761349674.697 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:47:54.697Z,1761349674.697 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:47:54.697Z,1761349674.697 [marl:UpdateSpeed] Stopped
2025-10-24T23:47:54.697Z,1761349674.697 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:47:55.032Z,1761349675.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838747,0.535437,0.099049],[-0.544318,-0.819471,-0.179402],[-0.014891,-0.204387,0.978777]]
2025-10-24T23:47:55.125Z,1761349675.125 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:47:55.434Z,1761349675.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835566,0.540376,0.099109],[-0.549227,-0.817225,-0.174623],[-0.013367,-0.200343,0.979635]]
2025-10-24T23:47:55.842Z,1761349675.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833046,0.544544,0.097503],[-0.553071,-0.815942,-0.168380],[-0.012134,-0.194194,0.980888]]
2025-10-24T23:47:56.245Z,1761349676.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832035,0.546589,0.094645],[-0.554620,-0.816395,-0.160922],[-0.010691,-0.186385,0.982419]]
2025-10-24T23:47:56.653Z,1761349676.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832521,0.546341,0.091760],[-0.553915,-0.818123,-0.154443],[-0.009308,-0.179404,0.983731]]
2025-10-24T23:47:57.050Z,1761349677.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833958,0.544356,0.090502],[-0.551770,-0.820202,-0.151057],[-0.007999,-0.175911,0.984374]]
2025-10-24T23:47:57.191Z,1761349677.191 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:47:57.191Z,1761349677.191 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:47:57.454Z,1761349677.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836178,0.540969,0.090327],[-0.548416,-0.822663,-0.149886],[-0.006775,-0.174868,0.984569]]
2025-10-24T23:47:57.877Z,1761349677.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838867,0.536657,0.091112],[-0.544308,-0.825269,-0.150533],[-0.005593,-0.175870,0.984398]]
2025-10-24T23:47:58.262Z,1761349678.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841776,0.531637,0.093676],[-0.539811,-0.827648,-0.153633],[-0.004147,-0.179892,0.983678]]
2025-10-24T23:47:58.671Z,1761349678.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844543,0.526623,0.097028],[-0.535482,-0.829744,-0.157428],[-0.002397,-0.184912,0.982752]]
2025-10-24T23:47:59.071Z,1761349679.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846779,0.522421,0.100204],[-0.531944,-0.831441,-0.160442],[-0.000505,-0.189161,0.981946]]
2025-10-24T23:47:59.477Z,1761349679.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847970,0.519754,0.103937],[-0.530044,-0.831906,-0.164275],[0.001083,-0.194391,0.980923]]
2025-10-24T23:47:59.913Z,1761349679.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846981,0.520460,0.108367],[-0.531617,-0.830132,-0.168119],[0.002460,-0.200003,0.979792]]
2025-10-24T23:47:59.966Z,1761349679.966 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:48:00.282Z,1761349680.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843135,0.525486,0.113965],[-0.537692,-0.825248,-0.172782],[0.003255,-0.206957,0.978345]]
2025-10-24T23:48:00.694Z,1761349680.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838085,0.532511,0.118515],[-0.545526,-0.819592,-0.175126],[0.003877,-0.211423,0.977387]]
2025-10-24T23:48:01.092Z,1761349681.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832790,0.539983,0.121985],[-0.553573,-0.814026,-0.175839],[0.004349,-0.213965,0.976832]]
2025-10-24T23:48:01.495Z,1761349681.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828001,0.546769,0.124327],[-0.560703,-0.809369,-0.174737],[0.005086,-0.214393,0.976734]]
2025-10-24T23:48:01.923Z,1761349681.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823853,0.552807,0.125183],[-0.566773,-0.805783,-0.171705],[0.005950,-0.212410,0.977162]]
2025-10-24T23:48:02.303Z,1761349682.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819225,0.559308,0.126670],[-0.573434,-0.801517,-0.169540],[0.006703,-0.211528,0.977349]]
2025-10-24T23:48:02.710Z,1761349682.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814664,0.565732,0.127553],[-0.579881,-0.797588,-0.166107],[0.007762,-0.209287,0.977823]]
2025-10-24T23:48:03.110Z,1761349683.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810274,0.572060,0.127288],[-0.585984,-0.794114,-0.161260],[0.008830,-0.205254,0.978669]]
2025-10-24T23:48:03.514Z,1761349683.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806432,0.577609,0.126629],[-0.591240,-0.791264,-0.156003],[0.010088,-0.200673,0.979606]]
2025-10-24T23:48:03.929Z,1761349683.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803088,0.582306,0.126367],[-0.595753,-0.788706,-0.151730],[0.011314,-0.197136,0.980311]]
2025-10-24T23:48:04.324Z,1761349684.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800574,0.586026,0.125123],[-0.599099,-0.787189,-0.146333],[0.012740,-0.192111,0.981290]]
2025-10-24T23:48:04.726Z,1761349684.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799254,0.588172,0.123483],[-0.600824,-0.786861,-0.140927],[0.014275,-0.186828,0.982289]]
2025-10-24T23:48:05.157Z,1761349685.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799411,0.588378,0.121463],[-0.600577,-0.787941,-0.135854],[0.015772,-0.181551,0.983255]]
2025-10-24T23:48:05.535Z,1761349685.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799924,0.587875,0.120519],[-0.599854,-0.789076,-0.132420],[0.017252,-0.178220,0.983840]]
2025-10-24T23:48:05.579Z,1761349685.579 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:48:05.579Z,1761349685.579 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:48:05.579Z,1761349685.579 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:48:05.580Z,1761349685.580 [marl:UpdateRudder:A] Stopped
2025-10-24T23:48:05.580Z,1761349685.580 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:48:05.939Z,1761349685.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800546,0.587014,0.120587],[-0.598974,-0.790128,-0.130112],[0.018902,-0.176389,0.984139]]
2025-10-24T23:48:05.982Z,1761349685.982 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:48:05.982Z,1761349685.982 [marl:UpdateRudder:B] Stopped
2025-10-24T23:48:05.982Z,1761349685.982 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:48:05.982Z,1761349685.982 [marl:UpdateRudder] Stopped
2025-10-24T23:48:05.982Z,1761349685.982 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:48:06.342Z,1761349686.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800803,0.586432,0.121703],[-0.598576,-0.790602,-0.129058],[0.020535,-0.176199,0.984140]]
2025-10-24T23:48:06.746Z,1761349686.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800685,0.586194,0.123617],[-0.598682,-0.790501,-0.129183],[0.021993,-0.177442,0.983886]]
2025-10-24T23:48:07.151Z,1761349687.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800300,0.586189,0.126103],[-0.599149,-0.789962,-0.130306],[0.023233,-0.179839,0.983422]]
2025-10-24T23:48:07.556Z,1761349687.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799693,0.586312,0.129346],[-0.599925,-0.788940,-0.132905],[0.024122,-0.183880,0.982653]]
2025-10-24T23:48:07.579Z,1761349687.579 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:48:07.580Z,1761349687.580 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:48:07.580Z,1761349687.580 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:48:07.580Z,1761349687.580 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:48:07.580Z,1761349687.580 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:48:07.581Z,1761349687.581 [marl:UpdateCommandMode] Stopped
2025-10-24T23:48:07.581Z,1761349687.581 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:48:07.581Z,1761349687.581 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:48:07.581Z,1761349687.581 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:48:07.581Z,1761349687.581 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:48:07.581Z,1761349687.581 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:48:07.581Z,1761349687.581 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:48:07.581Z,1761349687.581 [marl:UpdateSpeed] Stopped
2025-10-24T23:48:07.582Z,1761349687.582 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:48:07.958Z,1761349687.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798994,0.586818,0.131350],[-0.600827,-0.788051,-0.134101],[0.024818,-0.186064,0.982224]]
2025-10-24T23:48:08.366Z,1761349688.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797999,0.587727,0.133321],[-0.602124,-0.786853,-0.135309],[0.025379,-0.188252,0.981793]]
2025-10-24T23:48:08.768Z,1761349688.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796765,0.589062,0.134803],[-0.603739,-0.785497,-0.135990],[0.025781,-0.189738,0.981496]]
2025-10-24T23:48:09.182Z,1761349689.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795582,0.590306,0.136335],[-0.605276,-0.784204,-0.136619],[0.026268,-0.191212,0.981197]]
2025-10-24T23:48:09.574Z,1761349689.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794206,0.591922,0.137351],[-0.607059,-0.782854,-0.136447],[0.026760,-0.191748,0.981079]]
2025-10-24T23:48:09.979Z,1761349689.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792604,0.593581,0.139430],[-0.609119,-0.781111,-0.137258],[0.027436,-0.193720,0.980673]]
2025-10-24T23:48:10.393Z,1761349690.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791288,0.595100,0.140429],[-0.610794,-0.779906,-0.136667],[0.028191,-0.193916,0.980613]]
2025-10-24T23:48:10.786Z,1761349690.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789877,0.596785,0.141216],[-0.612592,-0.778595,-0.136092],[0.028732,-0.194003,0.980580]]
2025-10-24T23:48:11.191Z,1761349691.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787904,0.599147,0.142236],[-0.615117,-0.776612,-0.136034],[0.028958,-0.194674,0.980441]]
2025-10-24T23:48:11.594Z,1761349691.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786321,0.600997,0.143184],[-0.617119,-0.775072,-0.135751],[0.029392,-0.195105,0.980342]]
2025-10-24T23:48:12.000Z,1761349692.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784193,0.603570,0.144031],[-0.619795,-0.773082,-0.134901],[0.029926,-0.195058,0.980335]]
2025-10-24T23:48:12.407Z,1761349692.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782237,0.605945,0.144691],[-0.622254,-0.771173,-0.134504],[0.030080,-0.195249,0.980292]]
2025-10-24T23:48:12.807Z,1761349692.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780318,0.608383,0.144822],[-0.624658,-0.769371,-0.133680],[0.030093,-0.194777,0.980386]]
2025-10-24T23:48:13.211Z,1761349693.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779365,0.609647,0.144641],[-0.625837,-0.768591,-0.132649],[0.030301,-0.193904,0.980552]]
2025-10-24T23:48:13.617Z,1761349693.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778928,0.610586,0.143022],[-0.626376,-0.768562,-0.130251],[0.030392,-0.191042,0.981111]]
2025-10-24T23:48:14.019Z,1761349694.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779215,0.610400,0.142249],[-0.626010,-0.769051,-0.129123],[0.030580,-0.189664,0.981373]]
2025-10-24T23:48:14.427Z,1761349694.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779653,0.609661,0.143021],[-0.625454,-0.769362,-0.129959],[0.030804,-0.190776,0.981150]]
2025-10-24T23:48:14.826Z,1761349694.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779912,0.609149,0.143789],[-0.625112,-0.769557,-0.130452],[0.031189,-0.191626,0.980972]]
2025-10-24T23:48:15.233Z,1761349695.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780004,0.608737,0.145026],[-0.624959,-0.769604,-0.130902],[0.031927,-0.192739,0.980730]]
2025-10-24T23:48:15.643Z,1761349695.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778512,0.610027,0.147601],[-0.626776,-0.767909,-0.132163],[0.032722,-0.195403,0.980177]]
2025-10-24T23:48:16.038Z,1761349696.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775804,0.612677,0.150848],[-0.630089,-0.764905,-0.133821],[0.033395,-0.198866,0.979458]]
2025-10-24T23:48:16.443Z,1761349696.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771882,0.616621,0.154845],[-0.634845,-0.760658,-0.135539],[0.034208,-0.202923,0.978597]]
2025-10-24T23:48:16.847Z,1761349696.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767341,0.621642,0.157320],[-0.640289,-0.756138,-0.135224],[0.034895,-0.204493,0.978246]]
2025-10-24T23:48:17.252Z,1761349697.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762484,0.627071,0.159373],[-0.646045,-0.751317,-0.134718],[0.035262,-0.205682,0.977983]]
2025-10-24T23:48:17.660Z,1761349697.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757968,0.632381,0.159933],[-0.651312,-0.747161,-0.132452],[0.035736,-0.204561,0.978201]]
2025-10-24T23:48:18.058Z,1761349698.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754325,0.636649,0.160223],[-0.655513,-0.743801,-0.130629],[0.036009,-0.203565,0.978399]]
2025-10-24T23:48:18.470Z,1761349698.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751798,0.640025,0.158643],[-0.658388,-0.741883,-0.127019],[0.036399,-0.199942,0.979131]]
2025-10-24T23:48:18.524Z,1761349698.524 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:48:18.525Z,1761349698.525 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:48:18.525Z,1761349698.525 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:48:18.525Z,1761349698.525 [marl:UpdateRudder:A] Stopped
2025-10-24T23:48:18.525Z,1761349698.525 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:48:18.868Z,1761349698.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750433,0.642278,0.155976],[-0.659892,-0.741399,-0.121945],[0.037317,-0.194439,0.980204]]
2025-10-24T23:48:18.910Z,1761349698.910 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:48:18.910Z,1761349698.910 [marl:UpdateRudder:B] Stopped
2025-10-24T23:48:18.911Z,1761349698.911 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:48:18.911Z,1761349698.911 [marl:UpdateRudder] Stopped
2025-10-24T23:48:18.911Z,1761349698.911 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:48:19.270Z,1761349699.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749404,0.644053,0.153588],[-0.660998,-0.741190,-0.117125],[0.038403,-0.189295,0.981169]]
2025-10-24T23:48:19.679Z,1761349699.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748235,0.645741,0.152196],[-0.662259,-0.740639,-0.113434],[0.039474,-0.185668,0.981819]]
2025-10-24T23:48:20.078Z,1761349700.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746338,0.647797,0.152769],[-0.664331,-0.739042,-0.111716],[0.040534,-0.184867,0.981927]]
2025-10-24T23:48:20.489Z,1761349700.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743575,0.650857,0.153238],[-0.667384,-0.736523,-0.110149],[0.041172,-0.184173,0.982031]]
2025-10-24T23:48:20.518Z,1761349700.518 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:48:20.518Z,1761349700.518 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:48:20.518Z,1761349700.518 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:48:20.519Z,1761349700.519 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:48:20.519Z,1761349700.519 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:48:20.519Z,1761349700.519 [marl:UpdateCommandMode] Stopped
2025-10-24T23:48:20.519Z,1761349700.519 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:48:20.519Z,1761349700.519 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:48:20.519Z,1761349700.519 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:48:20.519Z,1761349700.519 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:48:20.519Z,1761349700.519 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:48:20.520Z,1761349700.520 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:48:20.520Z,1761349700.520 [marl:UpdateSpeed] Stopped
2025-10-24T23:48:20.520Z,1761349700.520 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:48:20.886Z,1761349700.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740929,0.653782,0.153602],[-0.670284,-0.734117,-0.108590],[0.041767,-0.183415,0.982148]]
2025-10-24T23:48:21.294Z,1761349701.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738126,0.656759,0.154392],[-0.673334,-0.731476,-0.107532],[0.042311,-0.183330,0.982141]]
2025-10-24T23:48:21.695Z,1761349701.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734600,0.660950,0.153323],[-0.677155,-0.728404,-0.104350],[0.042711,-0.180479,0.982651]]
2025-10-24T23:48:22.098Z,1761349702.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728299,0.669261,0.147209],[-0.683942,-0.723245,-0.095606],[0.042483,-0.170313,0.984474]]
2025-10-24T23:48:22.502Z,1761349702.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720810,0.680261,0.132957],[-0.691875,-0.717690,-0.078926],[0.041732,-0.148880,0.987974]]
2025-10-24T23:48:22.907Z,1761349702.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712084,0.692689,0.114538],[-0.700915,-0.710817,-0.058803],[0.040683,-0.122154,0.991677]]
2025-10-24T23:48:23.315Z,1761349703.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702415,0.705291,0.095799],[-0.710650,-0.702471,-0.038873],[0.039880,-0.095385,0.994641]]
2025-10-24T23:48:23.714Z,1761349703.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691408,0.718080,0.079481],[-0.721391,-0.692185,-0.021784],[0.039373,-0.072398,0.996598]]
2025-10-24T23:48:24.125Z,1761349704.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678519,0.731520,0.067008],[-0.733557,-0.679565,-0.009208],[0.038801,-0.055402,0.997710]]
2025-10-24T23:48:24.526Z,1761349704.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662718,0.746518,0.059301],[-0.747891,-0.663819,-0.001484],[0.038258,-0.045334,0.998239]]
2025-10-24T23:48:24.927Z,1761349704.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645234,0.762154,0.052869],[-0.763053,-0.646319,0.004674],[0.037733,-0.037326,0.998590]]
2025-10-24T23:48:25.244Z,1761349705.244 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:48:25.331Z,1761349705.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626625,0.777821,0.048313],[-0.778423,-0.627674,0.009073],[0.037382,-0.031922,0.998791]]
2025-10-24T23:48:25.734Z,1761349705.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607348,0.793179,0.044665],[-0.793559,-0.608359,0.012770],[0.037301,-0.027688,0.998920]]
2025-10-24T23:48:26.139Z,1761349706.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589294,0.806946,0.039643],[-0.807061,-0.590220,0.017136],[0.037226,-0.021896,0.999067]]
2025-10-24T23:48:26.249Z,1761349706.249 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:48:26.550Z,1761349706.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572952,0.818889,0.033877],[-0.818750,-0.573746,0.021540],[0.037076,-0.015396,0.999194]]
2025-10-24T23:48:26.946Z,1761349706.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558864,0.828753,0.028965],[-0.828435,-0.559525,0.025048],[0.036965,-0.009997,0.999267]]
2025-10-24T23:48:27.350Z,1761349707.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546497,0.837080,0.025246],[-0.836638,-0.547048,0.027844],[0.037119,-0.005905,0.999293]]
2025-10-24T23:48:27.755Z,1761349707.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535229,0.844364,0.024060],[-0.843868,-0.535750,0.029313],[0.037641,-0.004615,0.999281]]
2025-10-24T23:48:28.161Z,1761349708.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523787,0.851461,0.025698],[-0.850976,-0.524378,0.029455],[0.038555,-0.006440,0.999236]]
2025-10-24T23:48:28.563Z,1761349708.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511226,0.858984,0.028180],[-0.858540,-0.511917,0.029148],[0.039464,-0.009292,0.999178]]
2025-10-24T23:48:28.967Z,1761349708.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496943,0.867220,0.031251],[-0.866854,-0.497755,0.028359],[0.040149,-0.012997,0.999109]]
2025-10-24T23:48:29.376Z,1761349709.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481061,0.876033,0.033860],[-0.875719,-0.481985,0.028392],[0.041192,-0.015993,0.999023]]
2025-10-24T23:48:29.776Z,1761349709.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463224,0.885520,0.035750],[-0.885254,-0.464235,0.028486],[0.041822,-0.018452,0.998955]]
2025-10-24T23:48:30.179Z,1761349710.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444662,0.894981,0.035842],[-0.894699,-0.445700,0.029418],[0.042303,-0.018987,0.998924]]
2025-10-24T23:48:30.586Z,1761349710.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426356,0.903875,0.035094],[-0.903572,-0.427380,0.030057],[0.042166,-0.018895,0.998932]]
2025-10-24T23:48:30.987Z,1761349710.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408697,0.912031,0.034135],[-0.911717,-0.409694,0.030393],[0.041704,-0.018700,0.998955]]
2025-10-24T23:48:31.393Z,1761349711.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392105,0.919342,0.032607],[-0.918995,-0.393054,0.030941],[0.041262,-0.017833,0.998989]]
2025-10-24T23:48:31.458Z,1761349711.458 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:48:31.458Z,1761349711.458 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:48:31.458Z,1761349711.458 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:48:31.459Z,1761349711.459 [marl:UpdateRudder:A] Stopped
2025-10-24T23:48:31.459Z,1761349711.459 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:48:31.794Z,1761349711.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376991,0.925711,0.030608],[-0.925321,-0.377874,0.031519],[0.040744,-0.016439,0.999034]]
2025-10-24T23:48:31.842Z,1761349711.842 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:48:31.843Z,1761349711.843 [marl:UpdateRudder:B] Stopped
2025-10-24T23:48:31.843Z,1761349711.843 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:48:31.843Z,1761349711.843 [marl:UpdateRudder] Stopped
2025-10-24T23:48:31.843Z,1761349711.843 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:48:32.198Z,1761349712.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363247,0.931240,0.029030],[-0.930827,-0.364076,0.031776],[0.040160,-0.015480,0.999073]]
2025-10-24T23:48:32.618Z,1761349712.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350851,0.936016,0.027872],[-0.935583,-0.351644,0.032103],[0.039850,-0.014813,0.999096]]
2025-10-24T23:48:33.006Z,1761349713.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338931,0.940441,0.026390],[-0.939964,-0.339682,0.032916],[0.039920,-0.013649,0.999110]]
2025-10-24T23:48:33.410Z,1761349713.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327177,0.944594,0.026429],[-0.944099,-0.327945,0.033601],[0.040407,-0.013958,0.999086]]
2025-10-24T23:48:33.458Z,1761349713.458 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:48:33.459Z,1761349713.459 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:48:33.459Z,1761349713.459 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:48:33.459Z,1761349713.459 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:48:33.459Z,1761349713.459 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:48:33.459Z,1761349713.459 [marl:UpdateCommandMode] Stopped
2025-10-24T23:48:33.459Z,1761349713.459 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:48:33.459Z,1761349713.459 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:48:33.460Z,1761349713.460 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:48:33.460Z,1761349713.460 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:48:33.460Z,1761349713.460 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:48:33.460Z,1761349713.460 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:48:33.461Z,1761349713.461 [marl:UpdateSpeed] Stopped
2025-10-24T23:48:33.461Z,1761349713.461 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:48:33.821Z,1761349713.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300608,0.953390,0.026128],[-0.952829,-0.301408,0.035652],[0.041865,-0.014178,0.999023]]
2025-10-24T23:48:34.224Z,1761349714.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285590,0.957997,0.026069],[-0.957410,-0.286409,0.036547],[0.042479,-0.014521,0.998992]]
2025-10-24T23:48:34.634Z,1761349714.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269127,0.962753,0.026005],[-0.962158,-0.269962,0.037062],[0.042702,-0.015047,0.998975]]
2025-10-24T23:48:35.031Z,1761349715.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252329,0.967277,0.026548],[-0.966698,-0.253199,0.037227],[0.042731,-0.016270,0.998954]]
2025-10-24T23:48:35.433Z,1761349715.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235708,0.971418,0.028074],[-0.970886,-0.236651,0.037110],[0.042693,-0.018510,0.998917]]
2025-10-24T23:48:35.835Z,1761349715.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217756,0.975546,0.029882],[-0.975082,-0.218778,0.036766],[0.042405,-0.021132,0.998877]]
2025-10-24T23:48:36.240Z,1761349716.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199320,0.979405,0.032217],[-0.979027,-0.200442,0.036446],[0.042153,-0.024277,0.998816]]
2025-10-24T23:48:36.642Z,1761349716.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180611,0.983054,0.031386],[-0.982659,-0.181717,0.036892],[0.041970,-0.024178,0.998826]]
2025-10-24T23:48:37.046Z,1761349717.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161208,0.986450,0.030472],[-0.986039,-0.162292,0.037256],[0.041697,-0.024041,0.998841]]
2025-10-24T23:48:37.453Z,1761349717.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141095,0.989586,0.028493],[-0.989126,-0.142119,0.037839],[0.041494,-0.022844,0.998878]]
2025-10-24T23:48:37.876Z,1761349717.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120819,0.992346,0.025539],[-0.991810,-0.121748,0.038608],[0.041421,-0.020666,0.998928]]
2025-10-24T23:48:38.258Z,1761349718.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100522,0.994689,0.022107],[-0.994073,-0.101335,0.039377],[0.041408,-0.018017,0.998980]]
2025-10-24T23:48:38.666Z,1761349718.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080556,0.996607,0.016889],[-0.995881,-0.081182,0.040368],[0.041602,-0.013567,0.999042]]
2025-10-24T23:48:39.075Z,1761349719.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060648,0.998098,0.011078],[-0.997284,-0.061056,0.041193],[0.041791,-0.008550,0.999090]]
2025-10-24T23:48:39.470Z,1761349719.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040804,0.999147,0.006392],[-0.998279,-0.041037,0.041901],[0.042127,-0.004671,0.999101]]
2025-10-24T23:48:39.907Z,1761349719.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021275,0.999772,0.001922],[-0.998863,-0.021337,0.042622],[0.042654,-0.001013,0.999089]]
2025-10-24T23:48:40.278Z,1761349720.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002472,0.999995,-0.001986],[-0.999064,-0.002384,0.043181],[0.043176,0.002091,0.999065]]
2025-10-24T23:48:40.694Z,1761349720.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015256,0.999867,-0.005689],[-0.998931,0.015489,0.043559],[0.043641,0.005018,0.999035]]
2025-10-24T23:48:41.088Z,1761349721.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031585,0.999464,-0.008659],[-0.998538,0.031934,0.043613],[0.043867,0.007269,0.999011]]
2025-10-24T23:48:41.490Z,1761349721.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046338,0.998863,-0.011230],[-0.997952,0.046787,0.043634],[0.044110,0.009185,0.998985]]
2025-10-24T23:48:41.920Z,1761349721.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059450,0.998156,-0.012231],[-0.997248,0.059930,0.043640],[0.044293,0.009602,0.998972]]
2025-10-24T23:48:42.300Z,1761349722.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070994,0.997384,-0.013630],[-0.996496,0.071524,0.043370],[0.044232,0.010503,0.998966]]
2025-10-24T23:48:42.702Z,1761349722.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081340,0.996580,-0.014574],[-0.995726,0.081894,0.042691],[0.043738,0.011039,0.998982]]
2025-10-24T23:48:43.106Z,1761349723.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090727,0.995763,-0.014973],[-0.994938,0.091284,0.042010],[0.043199,0.011086,0.999005]]
2025-10-24T23:48:43.519Z,1761349723.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099218,0.994939,-0.015882],[-0.994123,0.099806,0.041924],[0.043296,0.011629,0.998995]]
2025-10-24T23:48:43.927Z,1761349723.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106820,0.994144,-0.016355],[-0.993295,0.107431,0.042696],[0.044203,0.011684,0.998954]]
2025-10-24T23:48:44.320Z,1761349724.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113772,0.993346,-0.017861],[-0.992444,0.114463,0.044203],[0.045953,0.012697,0.998863]]
2025-10-24T23:48:44.345Z,1761349724.345 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:48:44.345Z,1761349724.345 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:48:44.346Z,1761349724.346 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:48:44.346Z,1761349724.346 [marl:UpdateRudder:A] Stopped
2025-10-24T23:48:44.346Z,1761349724.346 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:48:44.722Z,1761349724.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121098,0.992454,-0.019230],[-0.991453,0.121878,0.046550],[0.048542,0.013428,0.998731]]
2025-10-24T23:48:44.765Z,1761349724.765 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:48:44.765Z,1761349724.765 [marl:UpdateRudder:B] Stopped
2025-10-24T23:48:44.765Z,1761349724.765 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:48:44.765Z,1761349724.765 [marl:UpdateRudder] Stopped
2025-10-24T23:48:44.765Z,1761349724.765 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:48:45.126Z,1761349725.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129866,0.991331,-0.019948],[-0.990202,0.130707,0.049155],[0.051336,0.013369,0.998592]]
2025-10-24T23:48:45.531Z,1761349725.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141694,0.989702,-0.020327],[-0.988467,0.142566,0.051071],[0.053443,0.012856,0.998488]]
2025-10-24T23:48:45.936Z,1761349725.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155631,0.987588,-0.021179],[-0.986275,0.156549,0.052472],[0.055136,0.012722,0.998398]]
2025-10-24T23:48:46.339Z,1761349726.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171004,0.984989,-0.023548],[-0.983648,0.172045,0.053274],[0.056526,0.014053,0.998302]]
2025-10-24T23:48:46.386Z,1761349726.386 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:48:46.387Z,1761349726.387 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:48:46.387Z,1761349726.387 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:48:46.387Z,1761349726.387 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:48:46.387Z,1761349726.387 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:48:46.387Z,1761349726.387 [marl:UpdateCommandMode] Stopped
2025-10-24T23:48:46.387Z,1761349726.387 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:48:46.387Z,1761349726.387 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:48:46.388Z,1761349726.388 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:48:46.388Z,1761349726.388 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:48:46.388Z,1761349726.388 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:48:46.388Z,1761349726.388 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:48:46.388Z,1761349726.388 [marl:UpdateSpeed] Stopped
2025-10-24T23:48:46.388Z,1761349726.388 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:48:46.742Z,1761349726.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187911,0.981843,-0.025967],[-0.980518,0.189066,0.053278],[0.057220,0.015450,0.998242]]
2025-10-24T23:48:47.147Z,1761349727.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205276,0.978280,-0.028801],[-0.976986,0.206570,0.053172],[0.057967,0.017224,0.998170]]
2025-10-24T23:48:47.558Z,1761349727.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223271,0.974298,-0.029879],[-0.972971,0.224612,0.053635],[0.058968,0.017097,0.998113]]
2025-10-24T23:48:47.954Z,1761349727.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240960,0.970071,-0.030025],[-0.968677,0.242297,0.054384],[0.060032,0.015981,0.998069]]
2025-10-24T23:48:48.359Z,1761349728.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259370,0.965239,-0.032256],[-0.963815,0.260827,0.055042],[0.061542,0.016812,0.997963]]
2025-10-24T23:48:48.766Z,1761349728.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277906,0.960011,-0.033880],[-0.958515,0.279455,0.056156],[0.063379,0.016869,0.997847]]
2025-10-24T23:48:49.168Z,1761349729.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296789,0.954301,-0.035011],[-0.952732,0.298396,0.057115],[0.064952,0.016405,0.997754]]
2025-10-24T23:48:49.570Z,1761349729.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315597,0.948157,-0.037382],[-0.946598,0.317328,0.057060],[0.065964,0.017378,0.997671]]
2025-10-24T23:48:49.974Z,1761349729.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333345,0.942021,-0.038446],[-0.940465,0.335113,0.056789],[0.066380,0.017227,0.997646]]
2025-10-24T23:48:50.380Z,1761349730.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349066,0.936306,-0.038513],[-0.934759,0.350803,0.056235],[0.066164,0.016370,0.997674]]
2025-10-24T23:48:50.782Z,1761349730.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362597,0.931183,-0.037703],[-0.929636,0.364249,0.055678],[0.065580,0.014862,0.997737]]
2025-10-24T23:48:51.186Z,1761349731.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374019,0.926679,-0.037105],[-0.925136,0.375605,0.055173],[0.065065,0.013691,0.997787]]
2025-10-24T23:48:51.591Z,1761349731.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383881,0.922718,-0.035030],[-0.921101,0.385322,0.055682],[0.064877,0.010891,0.997834]]
2025-10-24T23:48:51.995Z,1761349731.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392864,0.918978,-0.033740],[-0.917262,0.394215,0.056783],[0.065483,0.008640,0.997816]]
2025-10-24T23:48:52.400Z,1761349732.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401815,0.915098,-0.033762],[-0.913280,0.403161,0.058145],[0.066820,0.007471,0.997737]]
2025-10-24T23:48:52.802Z,1761349732.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411506,0.910801,-0.033244],[-0.908813,0.412812,0.060373],[0.068711,0.005369,0.997622]]
2025-10-24T23:48:53.206Z,1761349733.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422662,0.905696,-0.032726],[-0.903547,0.423916,0.062434],[0.070420,0.003181,0.997512]]
2025-10-24T23:48:53.611Z,1761349733.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435875,0.899375,-0.033735],[-0.897159,0.437170,0.063147],[0.071541,0.002741,0.997434]]
2025-10-24T23:48:54.025Z,1761349734.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450542,0.892060,-0.035233],[-0.889849,0.451907,0.062847],[0.071985,0.003037,0.997401]]
2025-10-24T23:48:54.422Z,1761349734.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465931,0.884040,-0.037162],[-0.881883,0.467394,0.061849],[0.072046,0.003956,0.997393]]
2025-10-24T23:48:54.822Z,1761349734.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481274,0.875671,-0.039694],[-0.873580,0.482877,0.060731],[0.072348,0.005448,0.997365]]
2025-10-24T23:48:55.226Z,1761349735.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497034,0.866654,-0.043227],[-0.864702,0.498843,0.058700],[0.072436,0.008202,0.997339]]
2025-10-24T23:48:55.632Z,1761349735.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512784,0.857280,-0.046083],[-0.855444,0.514750,0.056999],[0.072585,0.010194,0.997310]]
2025-10-24T23:48:56.037Z,1761349736.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528683,0.847367,-0.049637],[-0.845726,0.530843,0.054347],[0.072401,0.013246,0.997288]]
2025-10-24T23:48:56.376Z,1761349736.376 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:48:56.439Z,1761349736.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544411,0.837206,-0.051982],[-0.835724,0.546678,0.052040],[0.071986,0.015111,0.997291]]
2025-10-24T23:48:56.843Z,1761349736.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559629,0.827073,-0.052584],[-0.825702,0.561882,0.050039],[0.070932,0.015416,0.997362]]
2025-10-24T23:48:57.247Z,1761349737.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573488,0.817517,-0.052709],[-0.816231,0.575701,0.048314],[0.069843,0.015315,0.997440]]
2025-10-24T23:48:57.271Z,1761349737.271 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:48:57.271Z,1761349737.271 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:48:57.271Z,1761349737.271 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:48:57.272Z,1761349737.272 [marl:UpdateRudder:A] Stopped
2025-10-24T23:48:57.272Z,1761349737.272 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:48:57.360Z,1761349737.360 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:48:57.360Z,1761349737.360 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:48:57.380Z,1761349737.380 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:48:57.653Z,1761349737.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585403,0.809104,-0.051519],[-0.807832,0.587502,0.047420],[0.068635,0.013859,0.997546]]
2025-10-24T23:48:57.706Z,1761349737.706 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:48:57.706Z,1761349737.706 [marl:UpdateRudder:B] Stopped
2025-10-24T23:48:57.707Z,1761349737.707 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:48:57.707Z,1761349737.707 [marl:UpdateRudder] Stopped
2025-10-24T23:48:57.707Z,1761349737.707 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:48:58.054Z,1761349738.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596165,0.801291,-0.050190],[-0.800058,0.598141,0.046200],[0.067041,0.012612,0.997671]]
2025-10-24T23:48:58.458Z,1761349738.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606205,0.793880,-0.047654],[-0.792650,0.607988,0.045349],[0.064975,0.010282,0.997834]]
2025-10-24T23:48:58.869Z,1761349738.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615008,0.787235,-0.045010],[-0.785987,0.616605,0.044980],[0.063163,0.007714,0.997973]]
2025-10-24T23:48:59.266Z,1761349739.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623226,0.780861,-0.042961],[-0.779583,0.624681,0.044985],[0.061964,0.005456,0.998063]]
2025-10-24T23:48:59.296Z,1761349739.296 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:48:59.296Z,1761349739.296 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:48:59.296Z,1761349739.296 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:48:59.297Z,1761349739.297 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:48:59.297Z,1761349739.297 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:48:59.297Z,1761349739.297 [marl:UpdateCommandMode] Stopped
2025-10-24T23:48:59.297Z,1761349739.297 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:48:59.297Z,1761349739.297 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:48:59.297Z,1761349739.297 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:48:59.297Z,1761349739.297 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:48:59.297Z,1761349739.297 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:48:59.298Z,1761349739.298 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:48:59.298Z,1761349739.298 [marl:UpdateSpeed] Stopped
2025-10-24T23:48:59.298Z,1761349739.298 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:48:59.674Z,1761349739.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631368,0.774330,-0.042280],[-0.773050,0.632767,0.044715],[0.061377,0.004453,0.998105]]
2025-10-24T23:49:00.075Z,1761349740.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639552,0.767543,-0.043023],[-0.766304,0.640978,0.043880],[0.061256,0.004905,0.998110]]
2025-10-24T23:49:00.131Z,1761349740.131 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:49:00.490Z,1761349740.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647598,0.760702,-0.044145],[-0.759510,0.649076,0.042955],[0.061330,0.005711,0.998101]]
2025-10-24T23:49:00.884Z,1761349740.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656458,0.752901,-0.046935],[-0.751859,0.658077,0.040531],[0.061403,0.008681,0.998075]]
2025-10-24T23:49:01.286Z,1761349741.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666344,0.743971,-0.049917],[-0.743139,0.668099,0.037254],[0.061066,0.012272,0.998058]]
2025-10-24T23:49:01.691Z,1761349741.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677827,0.733315,-0.052916],[-0.732769,0.679688,0.032782],[0.060006,0.016555,0.998061]]
2025-10-24T23:49:02.094Z,1761349742.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690827,0.720878,-0.055615],[-0.720653,0.692744,0.027658],[0.058465,0.020972,0.998069]]
2025-10-24T23:49:02.511Z,1761349742.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704631,0.707253,-0.057341],[-0.707304,0.706538,0.022886],[0.056700,0.024432,0.998092]]
2025-10-24T23:49:02.902Z,1761349742.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718904,0.692661,-0.058299],[-0.692936,0.720758,0.018633],[0.054926,0.027002,0.998125]]
2025-10-24T23:49:03.307Z,1761349743.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733430,0.677217,-0.058794],[-0.677679,0.735210,0.014737],[0.053206,0.029035,0.998161]]
2025-10-24T23:49:03.711Z,1761349743.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748059,0.661003,-0.059012],[-0.661647,0.749740,0.010664],[0.051292,0.031068,0.998200]]
2025-10-24T23:49:04.114Z,1761349744.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762383,0.644562,-0.057544],[-0.645251,0.763927,0.008156],[0.049216,0.030912,0.998310]]
2025-10-24T23:49:04.518Z,1761349744.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776604,0.627525,-0.055664],[-0.628226,0.778007,0.006022],[0.047086,0.030293,0.998431]]
2025-10-24T23:49:04.922Z,1761349744.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790315,0.610251,-0.054727],[-0.611009,0.791616,0.003567],[0.045500,0.030620,0.998495]]
2025-10-24T23:49:05.328Z,1761349745.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803602,0.592738,-0.053727],[-0.593526,0.804813,0.001579],[0.044176,0.030620,0.998554]]
2025-10-24T23:49:05.730Z,1761349745.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816452,0.575122,-0.051383],[-0.575843,0.817560,0.000947],[0.042553,0.028816,0.998679]]
2025-10-24T23:49:06.134Z,1761349746.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828501,0.557810,-0.049345],[-0.558493,0.829510,-0.000055],[0.040901,0.027605,0.998782]]
2025-10-24T23:49:06.539Z,1761349746.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839575,0.541239,-0.046621],[-0.541821,0.840494,0.000184],[0.039284,0.025106,0.998913]]
2025-10-24T23:49:06.944Z,1761349746.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849435,0.526039,-0.041763],[-0.526426,0.850218,0.001979],[0.036549,0.020304,0.999126]]
2025-10-24T23:49:07.347Z,1761349747.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857914,0.512583,-0.035246],[-0.512767,0.858517,0.004313],[0.032471,0.014373,0.999369]]
2025-10-24T23:49:07.750Z,1761349747.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865299,0.500476,-0.027962],[-0.500493,0.865713,0.006920],[0.027670,0.008006,0.999585]]
2025-10-24T23:49:08.154Z,1761349748.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871909,0.489224,-0.020865],[-0.489148,0.872155,0.008951],[0.022577,0.002402,0.999742]]
2025-10-24T23:49:08.559Z,1761349748.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877864,0.478684,-0.014674],[-0.478593,0.877986,0.009451],[0.017407,-0.001274,0.999848]]
2025-10-24T23:49:08.970Z,1761349748.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883431,0.468457,-0.009887],[-0.468402,0.883484,0.007455],[0.012228,-0.001955,0.999923]]
2025-10-24T23:49:09.366Z,1761349749.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888573,0.458697,-0.006016],[-0.458676,0.888592,0.004590],[0.007451,-0.001319,0.999971]]
2025-10-24T23:49:09.771Z,1761349749.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893377,0.449301,-0.002671],[-0.449298,0.893381,0.001616],[0.003112,-0.000244,0.999995]]
2025-10-24T23:49:10.200Z,1761349750.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898035,0.439923,-0.000256],[-0.439923,0.898032,-0.002438],[-0.000843,0.002302,0.999997]]
2025-10-24T23:49:10.269Z,1761349750.269 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:49:10.269Z,1761349750.269 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:49:10.269Z,1761349750.269 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:49:10.270Z,1761349750.270 [marl:UpdateRudder:A] Stopped
2025-10-24T23:49:10.270Z,1761349750.270 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:49:10.578Z,1761349750.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902874,0.429899,0.002202],[-0.429874,0.902860,-0.007293],[-0.005123,0.005638,0.999971]]
2025-10-24T23:49:10.634Z,1761349750.634 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:49:10.634Z,1761349750.634 [marl:UpdateRudder:B] Stopped
2025-10-24T23:49:10.634Z,1761349750.634 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:49:10.634Z,1761349750.634 [marl:UpdateRudder] Stopped
2025-10-24T23:49:10.634Z,1761349750.634 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:49:10.986Z,1761349750.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907840,0.419275,0.005889],[-0.419206,0.907833,-0.010251],[-0.009644,0.006838,0.999930]]
2025-10-24T23:49:11.386Z,1761349751.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912828,0.408233,0.009539],[-0.408087,0.912833,-0.014212],[-0.014510,0.009080,0.999853]]
2025-10-24T23:49:11.793Z,1761349751.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917842,0.396719,0.013393],[-0.396468,0.917871,-0.018034],[-0.019447,0.011242,0.999748]]
2025-10-24T23:49:12.194Z,1761349752.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922966,0.384462,0.017964],[-0.384096,0.923059,-0.020793],[-0.024576,0.012291,0.999622]]
2025-10-24T23:49:12.243Z,1761349752.243 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:49:12.243Z,1761349752.243 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:49:12.243Z,1761349752.243 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:49:12.243Z,1761349752.243 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:49:12.243Z,1761349752.243 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:49:12.243Z,1761349752.243 [marl:UpdateCommandMode] Stopped
2025-10-24T23:49:12.243Z,1761349752.243 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:49:12.243Z,1761349752.243 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:49:12.244Z,1761349752.244 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:49:12.244Z,1761349752.244 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:49:12.244Z,1761349752.244 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:49:12.244Z,1761349752.244 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:49:12.244Z,1761349752.244 [marl:UpdateSpeed] Stopped
2025-10-24T23:49:12.245Z,1761349752.245 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:49:12.598Z,1761349752.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928229,0.371386,0.021510],[-0.370828,0.928338,-0.025969],[-0.029613,0.016129,0.999431]]
2025-10-24T23:49:13.003Z,1761349753.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933868,0.356704,0.025565],[-0.355943,0.934026,-0.029997],[-0.034579,0.018913,0.999223]]
2025-10-24T23:49:13.407Z,1761349753.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939252,0.341848,0.030744],[-0.340964,0.939577,-0.030632],[-0.039358,0.018289,0.999058]]
2025-10-24T23:49:13.810Z,1761349753.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943380,0.329465,0.038564],[-0.328761,0.944120,-0.023529],[-0.044161,0.009518,0.998979]]
2025-10-24T23:49:14.618Z,1761349754.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947671,0.313287,0.061410],[-0.314637,0.949117,0.013457],[-0.054069,-0.032075,0.998022]]
2025-10-24T23:49:15.024Z,1761349755.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948518,0.307720,0.074983],[-0.311135,0.949570,0.038875],[-0.059239,-0.060204,0.996427]]
2025-10-24T23:49:15.426Z,1761349755.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948876,0.302942,0.088660],[-0.309043,0.948781,0.065624],[-0.064239,-0.089669,0.993898]]
2025-10-24T23:49:15.830Z,1761349755.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948695,0.299436,0.101561],[-0.308567,0.946872,0.090665],[-0.069017,-0.117352,0.990689]]
2025-10-24T23:49:16.640Z,1761349756.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948169,0.293220,0.122466],[-0.308104,0.942637,0.128484],[-0.077767,-0.159556,0.984121]]
2025-10-24T23:49:17.042Z,1761349757.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947957,0.290343,0.130689],[-0.307667,0.940957,0.141211],[-0.081973,-0.174070,0.981315]]
2025-10-24T23:49:17.457Z,1761349757.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947820,0.288042,0.136634],[-0.307079,0.940030,0.148479],[-0.085672,-0.182689,0.979431]]
2025-10-24T23:49:17.876Z,1761349757.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948599,0.281783,0.144076],[-0.302594,0.940912,0.152055],[-0.092716,-0.187836,0.977815]]
2025-10-24T23:49:18.667Z,1761349758.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949200,0.278703,0.146095],[-0.299736,0.942136,0.150129],[-0.095799,-0.186293,0.977813]]
2025-10-24T23:49:19.070Z,1761349759.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950423,0.272355,0.150064],[-0.293778,0.944625,0.146209],[-0.101933,-0.183046,0.977806]]
2025-10-24T23:49:19.481Z,1761349759.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951096,0.269072,0.151709],[-0.290686,0.945777,0.144937],[-0.104485,-0.181949,0.977741]]
2025-10-24T23:49:19.906Z,1761349759.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951597,0.266530,0.153053],[-0.288292,0.946670,0.143885],[-0.106541,-0.181044,0.977687]]
2025-10-24T23:49:20.279Z,1761349760.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951726,0.265351,0.154294],[-0.287256,0.947113,0.143046],[-0.108177,-0.180462,0.977615]]
2025-10-24T23:49:20.686Z,1761349760.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951673,0.264875,0.155434],[-0.286929,0.947295,0.142493],[-0.109499,-0.180206,0.977515]]
2025-10-24T23:49:21.083Z,1761349761.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951874,0.263713,0.156180],[-0.285925,0.947577,0.142636],[-0.110378,-0.180428,0.977375]]
2025-10-24T23:49:21.490Z,1761349761.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951892,0.263452,0.156508],[-0.285693,0.947691,0.142344],[-0.110820,-0.180210,0.977365]]
2025-10-24T23:49:21.927Z,1761349761.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952114,0.262590,0.156606],[-0.284852,0.947945,0.142336],[-0.111078,-0.180130,0.977351]]
2025-10-24T23:49:22.295Z,1761349762.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952428,0.261848,0.155935],[-0.283903,0.948345,0.141564],[-0.110812,-0.179100,0.977570]]
2025-10-24T23:49:22.698Z,1761349762.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952709,0.261117,0.155444],[-0.283156,0.948475,0.142193],[-0.110306,-0.179483,0.977557]]
2025-10-24T23:49:23.102Z,1761349763.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952811,0.260584,0.155717],[-0.282868,0.948303,0.143897],[-0.110169,-0.181154,0.977265]]
2025-10-24T23:49:23.142Z,1761349763.142 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:49:23.142Z,1761349763.142 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:49:23.142Z,1761349763.142 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:49:23.142Z,1761349763.142 [marl:UpdateRudder:A] Stopped
2025-10-24T23:49:23.142Z,1761349763.142 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:49:23.510Z,1761349763.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952453,0.261468,0.156423],[-0.284031,0.947749,0.145251],[-0.110271,-0.182774,0.976951]]
2025-10-24T23:49:23.570Z,1761349763.570 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:49:23.570Z,1761349763.570 [marl:UpdateRudder:B] Stopped
2025-10-24T23:49:23.570Z,1761349763.570 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:49:23.570Z,1761349763.570 [marl:UpdateRudder] Stopped
2025-10-24T23:49:23.570Z,1761349763.570 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:49:23.931Z,1761349763.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951897,0.263280,0.156764],[-0.286071,0.946899,0.146788],[-0.109794,-0.184572,0.976667]]
2025-10-24T23:49:23.989Z,1761349763.989 [marl:SendObservationData] Running Loop=1
2025-10-24T23:49:23.989Z,1761349763.989 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:49:23.989Z,1761349763.989 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:49:23.990Z,1761349763.990 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:49:23.991Z,1761349763.991 [marl:SendObservationData:A](INFO): Got test_good :  41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:49:23.991Z,1761349763.991 [marl:SendObservationData:A] Stopped
2025-10-24T23:49:23.991Z,1761349763.991 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:49:24.314Z,1761349764.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951212,0.265452,0.157261],[-0.288487,0.945941,0.148224],[-0.109414,-0.186360,0.976370]]
2025-10-24T23:49:24.350Z,1761349764.350 [marl:SendObservationData:B] Stopped
2025-10-24T23:49:24.350Z,1761349764.350 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:49:24.718Z,1761349764.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950565,0.267436,0.157811],[-0.290542,0.945342,0.148030],[-0.109597,-0.186563,0.976311]]
2025-10-24T23:49:24.771Z,1761349764.771 [marl:SendObservationData:C] Stopped
2025-10-24T23:49:24.771Z,1761349764.771 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:49:25.123Z,1761349765.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949989,0.269505,0.157760],[-0.292384,0.945061,0.146188],[-0.109694,-0.185003,0.976597]]
2025-10-24T23:49:25.178Z,1761349765.178 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:49:25.178Z,1761349765.178 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:49:25.178Z,1761349765.178 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:49:25.178Z,1761349765.178 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:49:25.179Z,1761349765.179 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:49:25.179Z,1761349765.179 [marl:UpdateCommandMode] Stopped
2025-10-24T23:49:25.179Z,1761349765.179 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:49:25.179Z,1761349765.179 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:49:25.179Z,1761349765.179 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:49:25.179Z,1761349765.179 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:49:25.179Z,1761349765.179 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:49:25.179Z,1761349765.179 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:49:25.179Z,1761349765.179 [marl:UpdateSpeed] Stopped
2025-10-24T23:49:25.180Z,1761349765.180 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:49:25.182Z,1761349765.182 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.013079 min 
2025-10-24T23:49:25.182Z,1761349765.182 [marl:SendObservationData:E] Stopped
2025-10-24T23:49:25.182Z,1761349765.182 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:49:25.182Z,1761349765.182 [marl:SendObservationData] Stopped
2025-10-24T23:49:25.183Z,1761349765.183 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:49:25.183Z,1761349765.183 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:49:25.530Z,1761349765.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949545,0.271279,0.157393],[-0.293801,0.945002,0.143706],[-0.109753,-0.182698,0.977024]]
2025-10-24T23:49:26.335Z,1761349766.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949318,0.273000,0.155774],[-0.294510,0.945720,0.137393],[-0.109811,-0.176306,0.978191]]
2025-10-24T23:49:26.738Z,1761349766.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949804,0.271771,0.154960],[-0.292823,0.946650,0.134569],[-0.110121,-0.173190,0.978713]]
2025-10-24T23:49:27.142Z,1761349767.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950266,0.270624,0.154132],[-0.291268,0.947463,0.132198],[-0.110258,-0.170517,0.979167]]
2025-10-24T23:49:27.508Z,1761349767.508 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:49:27.566Z,1761349767.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950890,0.269081,0.152981],[-0.289265,0.948403,0.129836],[-0.110151,-0.167712,0.979663]]
2025-10-24T23:49:27.951Z,1761349767.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951528,0.267110,0.152465],[-0.287284,0.948917,0.130479],[-0.109825,-0.167955,0.979658]]
2025-10-24T23:49:28.355Z,1761349768.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952096,0.265508,0.151717],[-0.285852,0.948982,0.133121],[-0.108632,-0.170112,0.979419]]
2025-10-24T23:49:28.512Z,1761349768.512 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:49:28.758Z,1761349768.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952529,0.264468,0.150818],[-0.284986,0.948822,0.136088],[-0.107109,-0.172609,0.979150]]
2025-10-24T23:49:29.164Z,1761349769.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953207,0.263203,0.148730],[-0.283654,0.948825,0.138825],[-0.104580,-0.174516,0.979085]]
2025-10-24T23:49:29.582Z,1761349769.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954171,0.261365,0.145762],[-0.281420,0.949321,0.139973],[-0.101791,-0.174579,0.979368]]
2025-10-24T23:49:29.970Z,1761349769.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955389,0.258838,0.142248],[-0.278340,0.950149,0.140515],[-0.098787,-0.173840,0.979807]]
2025-10-24T23:49:30.375Z,1761349770.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957030,0.254633,0.138767],[-0.273656,0.951343,0.141631],[-0.095951,-0.173520,0.980145]]
2025-10-24T23:49:30.780Z,1761349770.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958910,0.249499,0.135065],[-0.268033,0.952741,0.142976],[-0.093010,-0.173303,0.980467]]
2025-10-24T23:49:31.183Z,1761349771.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960949,0.243393,0.131672],[-0.261580,0.954196,0.145213],[-0.090297,-0.173985,0.980600]]
2025-10-24T23:49:31.591Z,1761349771.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962965,0.236912,0.128731],[-0.254921,0.955497,0.148462],[-0.087830,-0.175780,0.980504]]
2025-10-24T23:49:32.403Z,1761349772.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966528,0.224548,0.124100],[-0.242611,0.957263,0.157441],[-0.083443,-0.182280,0.979700]]
2025-10-24T23:49:32.798Z,1761349772.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967731,0.219907,0.123035],[-0.238446,0.957053,0.164903],[-0.081488,-0.188919,0.978606]]
2025-10-24T23:49:33.202Z,1761349773.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968665,0.216543,0.121645],[-0.235431,0.956557,0.171960],[-0.079123,-0.195210,0.977565]]
2025-10-24T23:49:33.610Z,1761349773.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969545,0.213708,0.119628],[-0.232669,0.956227,0.177467],[-0.076466,-0.199896,0.976829]]
2025-10-24T23:49:34.012Z,1761349774.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970022,0.212942,0.117101],[-0.231665,0.955825,0.180913],[-0.073404,-0.202617,0.976503]]
2025-10-24T23:49:34.419Z,1761349774.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970638,0.211951,0.113750],[-0.230171,0.955749,0.183209],[-0.069885,-0.204011,0.976471]]
2025-10-24T23:49:34.819Z,1761349774.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971370,0.210825,0.109513],[-0.228197,0.956210,0.183270],[-0.066080,-0.203013,0.976944]]
2025-10-24T23:49:35.233Z,1761349775.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972149,0.209136,0.105773],[-0.225905,0.956354,0.185349],[-0.062394,-0.204082,0.976964]]
2025-10-24T23:49:35.642Z,1761349775.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972779,0.208132,0.101889],[-0.224178,0.956576,0.186298],[-0.058690,-0.204068,0.977196]]
2025-10-24T23:49:36.030Z,1761349776.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973367,0.207206,0.098093],[-0.222570,0.956672,0.187727],[-0.054944,-0.204560,0.977311]]
2025-10-24T23:49:36.077Z,1761349776.077 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:49:36.077Z,1761349776.077 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:49:36.078Z,1761349776.078 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:49:36.078Z,1761349776.078 [marl:UpdateRudder:A] Stopped
2025-10-24T23:49:36.078Z,1761349776.078 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:49:36.434Z,1761349776.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973882,0.206678,0.094008],[-0.221236,0.956897,0.188158],[-0.051068,-0.204042,0.977629]]
2025-10-24T23:49:36.483Z,1761349776.483 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:49:36.483Z,1761349776.483 [marl:UpdateRudder:B] Stopped
2025-10-24T23:49:36.483Z,1761349776.483 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:49:36.483Z,1761349776.483 [marl:UpdateRudder] Stopped
2025-10-24T23:49:36.483Z,1761349776.483 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:49:36.838Z,1761349776.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974150,0.206934,0.090609],[-0.220790,0.957008,0.188114],[-0.047786,-0.203257,0.977959]]
2025-10-24T23:49:37.243Z,1761349777.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974344,0.207443,0.087297],[-0.220571,0.957246,0.187156],[-0.044741,-0.201610,0.978444]]
2025-10-24T23:49:37.662Z,1761349777.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974492,0.208129,0.083952],[-0.220532,0.957431,0.186256],[-0.041613,-0.200019,0.978908]]
2025-10-24T23:49:38.051Z,1761349778.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974575,0.208948,0.080896],[-0.220708,0.957464,0.185877],[-0.038616,-0.199005,0.979237]]
2025-10-24T23:49:38.099Z,1761349778.099 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:49:38.099Z,1761349778.099 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:49:38.099Z,1761349778.099 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:49:38.100Z,1761349778.100 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:49:38.100Z,1761349778.100 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:49:38.100Z,1761349778.100 [marl:UpdateCommandMode] Stopped
2025-10-24T23:49:38.100Z,1761349778.100 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:49:38.100Z,1761349778.100 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:49:38.100Z,1761349778.100 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:49:38.101Z,1761349778.101 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:49:38.101Z,1761349778.101 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:49:38.101Z,1761349778.101 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:49:38.101Z,1761349778.101 [marl:UpdateSpeed] Stopped
2025-10-24T23:49:38.101Z,1761349778.101 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:49:38.454Z,1761349778.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974781,0.209148,0.077839],[-0.220259,0.957759,0.184886],[-0.035882,-0.197368,0.979673]]
2025-10-24T23:49:38.859Z,1761349778.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975172,0.208522,0.074557],[-0.218967,0.958223,0.184017],[-0.033071,-0.195774,0.980091]]
2025-10-24T23:49:39.263Z,1761349779.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975753,0.207055,0.070950],[-0.216762,0.959082,0.182143],[-0.030333,-0.193106,0.980709]]
2025-10-24T23:49:39.671Z,1761349779.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976611,0.204229,0.067249],[-0.213220,0.960210,0.180372],[-0.027736,-0.190492,0.981297]]
2025-10-24T23:49:40.071Z,1761349780.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977485,0.201056,0.064025],[-0.209460,0.961233,0.179327],[-0.025488,-0.188701,0.981704]]
2025-10-24T23:49:40.474Z,1761349780.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978475,0.197238,0.060695],[-0.205019,0.962636,0.176914],[-0.023533,-0.185550,0.982353]]
2025-10-24T23:49:40.887Z,1761349780.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979387,0.193476,0.058030],[-0.200837,0.963411,0.177492],[-0.021567,-0.185488,0.982410]]
2025-10-24T23:49:41.283Z,1761349781.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980257,0.189817,0.055373],[-0.196777,0.963948,0.179120],[-0.019376,-0.186480,0.982268]]
2025-10-24T23:49:41.689Z,1761349781.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980919,0.187114,0.052794],[-0.193654,0.964418,0.179990],[-0.017237,-0.186779,0.982251]]
2025-10-24T23:49:42.090Z,1761349782.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981477,0.184795,0.050533],[-0.190981,0.964606,0.181831],[-0.015143,-0.188114,0.982031]]
2025-10-24T23:49:42.495Z,1761349782.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981832,0.183361,0.048839],[-0.189300,0.964267,0.185347],[-0.013108,-0.191225,0.981459]]
2025-10-24T23:49:42.898Z,1761349782.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982203,0.181913,0.046750],[-0.187507,0.964139,0.187819],[-0.010906,-0.193243,0.981090]]
2025-10-24T23:49:43.302Z,1761349783.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982540,0.180741,0.044123],[-0.185856,0.964316,0.188550],[-0.008470,-0.193459,0.981072]]
2025-10-24T23:49:43.706Z,1761349783.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982886,0.179481,0.041505],[-0.184110,0.964760,0.187993],[-0.006302,-0.192417,0.981293]]
2025-10-24T23:49:44.112Z,1761349784.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983511,0.176707,0.038479],[-0.180800,0.965634,0.186717],[-0.004163,-0.190595,0.981660]]
2025-10-24T23:49:44.515Z,1761349784.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984317,0.172904,0.034997],[-0.176398,0.967015,0.183752],[-0.002071,-0.187043,0.982350]]
2025-10-24T23:49:44.918Z,1761349784.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985271,0.168147,0.031098],[-0.170998,0.968415,0.181472],[0.000398,-0.184117,0.982904]]
2025-10-24T23:49:45.322Z,1761349785.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986245,0.162939,0.027781],[-0.165267,0.969256,0.182292],[0.002776,-0.184376,0.982852]]
2025-10-24T23:49:45.730Z,1761349785.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987310,0.156923,0.024382],[-0.158726,0.970237,0.182882],[0.005042,-0.184431,0.982833]]
2025-10-24T23:49:46.130Z,1761349786.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988203,0.151583,0.021837],[-0.152976,0.970250,0.187654],[0.007258,-0.188781,0.981992]]
2025-10-24T23:49:46.534Z,1761349786.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988745,0.148325,0.019582],[-0.149308,0.969893,0.192391],[0.009544,-0.193150,0.981123]]
2025-10-24T23:49:46.939Z,1761349786.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989015,0.146754,0.017658],[-0.147328,0.969048,0.198090],[0.011959,-0.198516,0.980025]]
2025-10-24T23:49:47.351Z,1761349787.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989054,0.146683,0.015978],[-0.146853,0.968072,0.203154],[0.014332,-0.203276,0.979016]]
2025-10-24T23:49:47.746Z,1761349787.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989057,0.146836,0.014307],[-0.146615,0.967485,0.206098],[0.016420,-0.205940,0.978427]]
2025-10-24T23:49:48.151Z,1761349788.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989165,0.146289,0.012362],[-0.145667,0.967483,0.206777],[0.018289,-0.206337,0.978310]]
2025-10-24T23:49:48.555Z,1761349788.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989518,0.144092,0.009578],[-0.142978,0.968235,0.205130],[0.020284,-0.204350,0.978688]]
2025-10-24T23:49:48.959Z,1761349788.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990114,0.140115,0.006553],[-0.138519,0.969347,0.202924],[0.022080,-0.201826,0.979172]]
2025-10-24T23:49:49.030Z,1761349789.030 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:49:49.031Z,1761349789.031 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:49:49.031Z,1761349789.031 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:49:49.031Z,1761349789.031 [marl:UpdateRudder:A] Stopped
2025-10-24T23:49:49.031Z,1761349789.031 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:49:49.366Z,1761349789.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990924,0.134385,0.003327],[-0.132354,0.971024,0.198985],[0.023510,-0.197619,0.979997]]
2025-10-24T23:49:49.415Z,1761349789.415 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:49:49.415Z,1761349789.415 [marl:UpdateRudder:B] Stopped
2025-10-24T23:49:49.415Z,1761349789.415 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:49:49.415Z,1761349789.415 [marl:UpdateRudder] Stopped
2025-10-24T23:49:49.415Z,1761349789.415 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:49:49.766Z,1761349789.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991776,0.127987,-0.000233],[-0.125505,0.972899,0.194208],[0.025083,-0.192582,0.980960]]
2025-10-24T23:49:50.172Z,1761349790.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992568,0.121659,-0.002839],[-0.118795,0.973735,0.194239],[0.026395,-0.192458,0.980950]]
2025-10-24T23:49:50.574Z,1761349790.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993130,0.116900,-0.005247],[-0.113631,0.974127,0.195356],[0.027949,-0.193417,0.980718]]
2025-10-24T23:49:50.979Z,1761349790.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993464,0.113959,-0.006600],[-0.110364,0.973677,0.199430],[0.029153,-0.197398,0.979890]]
2025-10-24T23:49:51.022Z,1761349791.022 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:49:51.023Z,1761349791.023 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:49:51.023Z,1761349791.023 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:49:51.023Z,1761349791.023 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:49:51.023Z,1761349791.023 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:49:51.023Z,1761349791.023 [marl:UpdateCommandMode] Stopped
2025-10-24T23:49:51.023Z,1761349791.023 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:49:51.023Z,1761349791.023 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:49:51.024Z,1761349791.024 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:49:51.024Z,1761349791.024 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:49:51.024Z,1761349791.024 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:49:51.024Z,1761349791.024 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:49:51.024Z,1761349791.024 [marl:UpdateSpeed] Stopped
2025-10-24T23:49:51.024Z,1761349791.024 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:49:51.382Z,1761349791.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993580,0.112845,-0.008016],[-0.108912,0.973302,0.202042],[0.030602,-0.199872,0.979344]]
2025-10-24T23:49:51.793Z,1761349791.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993499,0.113464,-0.009298],[-0.109166,0.972664,0.204955],[0.032298,-0.202607,0.978727]]
2025-10-24T23:49:52.190Z,1761349792.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993036,0.117366,-0.010196],[-0.112556,0.970757,0.212043],[0.034785,-0.209419,0.977207]]
2025-10-24T23:49:52.594Z,1761349792.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992039,0.125542,-0.009889],[-0.119973,0.966056,0.228785],[0.038275,-0.225777,0.973427]]
2025-10-24T23:49:52.999Z,1761349792.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990376,0.138196,-0.007565],[-0.131792,0.958353,0.253359],[0.042263,-0.249924,0.967343]]
2025-10-24T23:49:53.404Z,1761349793.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988082,0.153893,-0.003250],[-0.146700,0.947875,0.282865],[0.046612,-0.279017,0.959154]]
2025-10-24T23:49:53.806Z,1761349793.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985156,0.171644,0.002447],[-0.163856,0.936015,0.311492],[0.051175,-0.307269,0.950246]]
2025-10-24T23:49:54.211Z,1761349794.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981709,0.190166,0.009235],[-0.182056,0.923439,0.337810],[0.055712,-0.333313,0.941169]]
2025-10-24T23:49:54.615Z,1761349794.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977614,0.209713,0.017059],[-0.201597,0.910392,0.361310],[0.060241,-0.356661,0.932290]]
2025-10-24T23:49:55.018Z,1761349795.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973070,0.229178,0.024744],[-0.221171,0.898006,0.380353],[0.064948,-0.375583,0.924510]]
2025-10-24T23:49:55.442Z,1761349795.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968158,0.248357,0.031445],[-0.240367,0.887123,0.394001],[0.069957,-0.389013,0.918572]]
2025-10-24T23:49:55.846Z,1761349795.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963128,0.266471,0.037109],[-0.258422,0.877897,0.403132],[0.074845,-0.397858,0.914389]]
2025-10-24T23:49:56.319Z,1761349796.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952883,0.300114,0.044109],[-0.291345,0.864997,0.408533],[0.084453,-0.402135,0.911677]]
2025-10-24T23:49:56.719Z,1761349796.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947924,0.315105,0.046363],[-0.305872,0.860066,0.408325],[0.088790,-0.401242,0.911659]]
2025-10-24T23:49:57.121Z,1761349797.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942858,0.329590,0.048874],[-0.320094,0.855264,0.407507],[0.092510,-0.399866,0.911893]]
2025-10-24T23:49:57.522Z,1761349797.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937561,0.344026,0.051240],[-0.334286,0.850551,0.405975],[0.096084,-0.397755,0.912447]]
2025-10-24T23:49:57.724Z,1761349797.724 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:49:57.724Z,1761349797.724 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:49:57.930Z,1761349797.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932201,0.357883,0.054046],[-0.348050,0.845401,0.405164],[0.099311,-0.396506,0.912645]]
2025-10-24T23:49:58.402Z,1761349798.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926723,0.371482,0.056442],[-0.361499,0.840498,0.403586],[0.102486,-0.394416,0.913199]]
2025-10-24T23:49:58.653Z,1761349798.653 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:49:58.810Z,1761349798.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921458,0.384106,0.058115],[-0.373806,0.835954,0.401808],[0.105755,-0.391973,0.913878]]
2025-10-24T23:49:59.265Z,1761349799.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916350,0.395884,0.059825],[-0.385301,0.831324,0.400553],[0.108839,-0.390097,0.914318]]
2025-10-24T23:49:59.657Z,1761349799.657 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:49:59.676Z,1761349799.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911534,0.406731,0.060623],[-0.395774,0.827671,0.397898],[0.111661,-0.386691,0.915424]]
2025-10-24T23:50:00.081Z,1761349800.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906761,0.416884,0.063178],[-0.406036,0.822945,0.397363],[0.113662,-0.385966,0.915484]]
2025-10-24T23:50:00.132Z,1761349800.132 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:50:00.509Z,1761349800.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901835,0.426948,0.066394],[-0.416458,0.817961,0.396865],[0.115133,-0.385557,0.915473]]
2025-10-24T23:50:00.907Z,1761349800.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896637,0.436887,0.071921],[-0.427372,0.811504,0.398515],[0.115742,-0.388061,0.914337]]
2025-10-24T23:50:01.318Z,1761349801.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891376,0.446435,0.078381],[-0.438350,0.805068,0.399644],[0.115313,-0.390591,0.913313]]
2025-10-24T23:50:01.715Z,1761349801.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885910,0.455826,0.085939],[-0.449638,0.798365,0.400550],[0.113970,-0.393493,0.912236]]
2025-10-24T23:50:02.120Z,1761349802.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880074,0.465239,0.094990],[-0.461455,0.790827,0.402059],[0.111933,-0.397675,0.910673]]
2025-10-24T23:50:02.162Z,1761349802.162 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:50:02.162Z,1761349802.162 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:50:02.162Z,1761349802.162 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:50:02.163Z,1761349802.163 [marl:UpdateRudder:A] Stopped
2025-10-24T23:50:02.163Z,1761349802.163 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:50:02.522Z,1761349802.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873334,0.475888,0.104007],[-0.474627,0.783264,0.401529],[0.109618,-0.400034,0.909921]]
2025-10-24T23:50:02.558Z,1761349802.558 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:50:02.558Z,1761349802.558 [marl:UpdateRudder:B] Stopped
2025-10-24T23:50:02.558Z,1761349802.558 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:50:02.558Z,1761349802.558 [marl:UpdateRudder] Stopped
2025-10-24T23:50:02.558Z,1761349802.558 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:50:02.927Z,1761349802.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865601,0.487843,0.112894],[-0.489126,0.775497,0.399200],[0.107198,-0.400767,0.909887]]
2025-10-24T23:50:03.331Z,1761349803.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856763,0.501224,0.121370],[-0.505013,0.767741,0.394381],[0.104492,-0.399185,0.910897]]
2025-10-24T23:50:03.737Z,1761349803.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847288,0.515153,0.129311],[-0.521384,0.760271,0.387487],[0.101304,-0.395734,0.912761]]
2025-10-24T23:50:04.219Z,1761349804.219 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:50:04.219Z,1761349804.219 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:50:04.219Z,1761349804.219 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:50:04.219Z,1761349804.219 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:50:04.220Z,1761349804.220 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:50:04.220Z,1761349804.220 [marl:UpdateCommandMode] Stopped
2025-10-24T23:50:04.220Z,1761349804.220 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:50:04.220Z,1761349804.220 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:50:04.220Z,1761349804.220 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:50:04.220Z,1761349804.220 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:50:04.221Z,1761349804.221 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:50:04.221Z,1761349804.221 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:50:04.221Z,1761349804.221 [marl:UpdateSpeed] Stopped
2025-10-24T23:50:04.221Z,1761349804.221 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:50:04.542Z,1761349804.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828670,0.541696,0.140965],[-0.551782,0.748256,0.368307],[0.094032,-0.382987,0.918955]]
2025-10-24T23:50:04.969Z,1761349804.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819205,0.555051,0.144295],[-0.566351,0.743365,0.355885],[0.090270,-0.373265,0.923323]]
2025-10-24T23:50:05.371Z,1761349805.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809304,0.568814,0.146553],[-0.580907,0.738092,0.343174],[0.087033,-0.362865,0.927768]]
2025-10-24T23:50:05.776Z,1761349805.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799134,0.582838,0.147258],[-0.595126,0.732419,0.330739],[0.084912,-0.351942,0.932162]]
2025-10-24T23:50:06.178Z,1761349806.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788001,0.597438,0.148735],[-0.609864,0.724333,0.321571],[0.084385,-0.344106,0.935131]]
2025-10-24T23:50:06.582Z,1761349806.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775537,0.613008,0.150877],[-0.625479,0.713727,0.315230],[0.085554,-0.338843,0.936945]]
2025-10-24T23:50:06.988Z,1761349806.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762113,0.628509,0.155438],[-0.641491,0.700539,0.312624],[0.087596,-0.337967,0.937073]]
2025-10-24T23:50:07.396Z,1761349807.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748998,0.642318,0.162574],[-0.656503,0.686314,0.313011],[0.089476,-0.341175,0.935732]]
2025-10-24T23:50:07.802Z,1761349807.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737590,0.653046,0.171733],[-0.669253,0.673185,0.314519],[0.089787,-0.346918,0.933588]]
2025-10-24T23:50:08.199Z,1761349808.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728127,0.661092,0.181078],[-0.679738,0.662401,0.314931],[0.088252,-0.352396,0.931681]]
2025-10-24T23:50:08.603Z,1761349808.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718421,0.668552,0.192119],[-0.690290,0.651110,0.315526],[0.085855,-0.359298,0.929265]]
2025-10-24T23:50:09.023Z,1761349809.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707982,0.676140,0.203952],[-0.701330,0.639150,0.315632],[0.083055,-0.366499,0.926704]]
2025-10-24T23:50:09.434Z,1761349809.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696083,0.684905,0.215345],[-0.713451,0.626295,0.314234],[0.080351,-0.372371,0.924599]]
2025-10-24T23:50:09.954Z,1761349809.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668046,0.706582,0.233358],[-0.740431,0.600012,0.302899],[0.074005,-0.375136,0.924011]]
2025-10-24T23:50:10.373Z,1761349810.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653231,0.718219,0.239690],[-0.753894,0.587600,0.293887],[0.070233,-0.372677,0.925300]]
2025-10-24T23:50:10.778Z,1761349810.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638325,0.730258,0.243444],[-0.766886,0.575957,0.283126],[0.066542,-0.367420,0.927672]]
2025-10-24T23:50:11.173Z,1761349811.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623484,0.741670,0.247373],[-0.779298,0.564056,0.273013],[0.062954,-0.362997,0.929661]]
2025-10-24T23:50:11.575Z,1761349811.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609372,0.751900,0.251619],[-0.790689,0.552678,0.263359],[0.058955,-0.359436,0.931306]]
2025-10-24T23:50:11.979Z,1761349811.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596213,0.760585,0.256983],[-0.800947,0.541632,0.255183],[0.054898,-0.357973,0.932117]]
2025-10-24T23:50:12.383Z,1761349812.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583202,0.768749,0.262491],[-0.810734,0.530606,0.247320],[0.050848,-0.357048,0.932701]]
2025-10-24T23:50:12.797Z,1761349812.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570262,0.776072,0.269285],[-0.820147,0.519340,0.240093],[0.046479,-0.357769,0.932652]]
2025-10-24T23:50:13.190Z,1761349813.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556847,0.782860,0.277582],[-0.829555,0.507283,0.233458],[0.041952,-0.360271,0.931904]]
2025-10-24T23:50:13.595Z,1761349813.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542813,0.789322,0.286923],[-0.839024,0.494464,0.227036],[0.037331,-0.363973,0.930661]]
2025-10-24T23:50:13.999Z,1761349813.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528563,0.795904,0.295225],[-0.848267,0.481839,0.219714],[0.032620,-0.366563,0.929821]]
2025-10-24T23:50:14.403Z,1761349814.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513802,0.802511,0.303287],[-0.857453,0.468849,0.212025],[0.027957,-0.368993,0.929012]]
2025-10-24T23:50:14.809Z,1761349814.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498657,0.809488,0.309953],[-0.866473,0.455702,0.203861],[0.023776,-0.370223,0.928639]]
2025-10-24T23:50:15.211Z,1761349815.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483414,0.816524,0.315593],[-0.875166,0.442611,0.195394],[0.019859,-0.370653,0.928559]]
2025-10-24T23:50:15.292Z,1761349815.292 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:50:15.292Z,1761349815.292 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:50:15.292Z,1761349815.292 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:50:15.293Z,1761349815.293 [marl:UpdateRudder:A] Stopped
2025-10-24T23:50:15.293Z,1761349815.293 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:50:15.615Z,1761349815.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468588,0.823332,0.320233],[-0.883270,0.430025,0.186851],[0.016132,-0.370409,0.928729]]
2025-10-24T23:50:15.677Z,1761349815.677 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:50:15.677Z,1761349815.677 [marl:UpdateRudder:B] Stopped
2025-10-24T23:50:15.677Z,1761349815.677 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:50:15.677Z,1761349815.677 [marl:UpdateRudder] Stopped
2025-10-24T23:50:15.677Z,1761349815.677 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:50:16.019Z,1761349816.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454351,0.829436,0.324963],[-0.890736,0.417913,0.178712],[0.012424,-0.370654,0.928688]]
2025-10-24T23:50:16.424Z,1761349816.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439908,0.835679,0.328819],[-0.897998,0.405700,0.170313],[0.008925,-0.370201,0.928909]]
2025-10-24T23:50:16.826Z,1761349816.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424850,0.842090,0.332245],[-0.905251,0.393259,0.160833],[0.004778,-0.369095,0.929379]]
2025-10-24T23:50:16.858Z,1761349816.858 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:50:16.858Z,1761349816.858 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:50:16.859Z,1761349816.859 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:50:16.859Z,1761349816.859 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:50:16.859Z,1761349816.859 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:50:16.859Z,1761349816.859 [marl:UpdateCommandMode] Stopped
2025-10-24T23:50:16.859Z,1761349816.859 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:50:16.859Z,1761349816.859 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:50:16.859Z,1761349816.859 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:50:16.859Z,1761349816.859 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:50:16.860Z,1761349816.860 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:50:16.860Z,1761349816.860 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:50:16.860Z,1761349816.860 [marl:UpdateSpeed] Stopped
2025-10-24T23:50:16.860Z,1761349816.860 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:50:17.230Z,1761349817.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411283,0.848902,0.331983],[-0.911507,0.383448,0.148736],[-0.001036,-0.363777,0.931485]]
2025-10-24T23:50:17.635Z,1761349817.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400455,0.857380,0.323318],[-0.916275,0.378020,0.132439],[-0.008670,-0.349284,0.936977]]
2025-10-24T23:50:18.041Z,1761349818.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391495,0.867310,0.307416],[-0.920018,0.375205,0.113083],[-0.017266,-0.327100,0.944832]]
2025-10-24T23:50:18.443Z,1761349818.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383755,0.877123,0.288769],[-0.923059,0.373281,0.092859],[-0.026343,-0.302186,0.952885]]
2025-10-24T23:50:18.847Z,1761349818.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376700,0.885879,0.270770],[-0.925658,0.371160,0.073467],[-0.035416,-0.278315,0.959837]]
2025-10-24T23:50:19.257Z,1761349819.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370966,0.893373,0.253513],[-0.927604,0.369408,0.055580],[-0.043996,-0.255778,0.965734]]
2025-10-24T23:50:19.661Z,1761349819.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365346,0.899787,0.238550],[-0.929424,0.366882,0.039595],[-0.051893,-0.236180,0.970323]]
2025-10-24T23:50:20.059Z,1761349820.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359674,0.905609,0.224738],[-0.931221,0.363578,0.025259],[-0.058835,-0.218366,0.974092]]
2025-10-24T23:50:20.463Z,1761349820.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354461,0.910359,0.213549],[-0.932772,0.360250,0.012521],[-0.065533,-0.203630,0.976852]]
2025-10-24T23:50:20.867Z,1761349820.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349880,0.913690,0.206772],[-0.933993,0.357288,0.001621],[-0.072396,-0.193691,0.978388]]
2025-10-24T23:50:21.273Z,1761349821.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345776,0.916674,0.200370],[-0.934931,0.354706,-0.009348],[-0.079641,-0.184100,0.979676]]
2025-10-24T23:50:21.680Z,1761349821.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342010,0.918706,0.197504],[-0.935640,0.352435,-0.019168],[-0.087217,-0.178237,0.980115]]
2025-10-24T23:50:22.079Z,1761349822.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338623,0.920210,0.196335],[-0.936174,0.350434,-0.027830],[-0.094412,-0.174380,0.980142]]
2025-10-24T23:50:22.483Z,1761349822.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336361,0.920481,0.198937],[-0.936278,0.349571,-0.034414],[-0.101220,-0.174685,0.979408]]
2025-10-24T23:50:22.887Z,1761349822.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335318,0.920303,0.201507],[-0.935961,0.349809,-0.040129],[-0.107420,-0.175146,0.978665]]
2025-10-24T23:50:23.292Z,1761349823.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335661,0.919265,0.205629],[-0.935204,0.351351,-0.044120],[-0.112806,-0.177496,0.977635]]
2025-10-24T23:50:23.695Z,1761349823.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336816,0.917383,0.212045],[-0.934214,0.353696,-0.046295],[-0.117470,-0.182502,0.976163]]
2025-10-24T23:50:24.099Z,1761349824.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338933,0.915142,0.218266],[-0.932938,0.356877,-0.047603],[-0.121458,-0.187495,0.974728]]
2025-10-24T23:50:24.503Z,1761349824.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341884,0.912396,0.225052],[-0.931356,0.360896,-0.048275],[-0.125266,-0.193099,0.973150]]
2025-10-24T23:50:24.907Z,1761349824.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345642,0.908917,0.233240],[-0.929372,0.365918,-0.048704],[-0.129614,-0.199933,0.971199]]
2025-10-24T23:50:25.311Z,1761349825.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349839,0.904885,0.242477],[-0.927056,0.371652,-0.049414],[-0.134831,-0.207503,0.968898]]
2025-10-24T23:50:25.717Z,1761349825.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353875,0.901249,0.250044],[-0.924650,0.377331,-0.051428],[-0.140698,-0.213005,0.966868]]
2025-10-24T23:50:26.119Z,1761349826.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356715,0.898436,0.256060],[-0.922633,0.381824,-0.054393],[-0.146638,-0.216847,0.965129]]
2025-10-24T23:50:26.525Z,1761349826.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357178,0.897306,0.259355],[-0.921681,0.383607,-0.057869],[-0.151417,-0.218373,0.964047]]
2025-10-24T23:50:26.926Z,1761349826.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356445,0.897419,0.259974],[-0.921442,0.383683,-0.061084],[-0.154565,-0.217778,0.963682]]
2025-10-24T23:50:27.331Z,1761349827.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355973,0.897546,0.260182],[-0.921311,0.383678,-0.063061],[-0.156426,-0.217261,0.963498]]
2025-10-24T23:50:27.743Z,1761349827.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356521,0.897485,0.259642],[-0.921031,0.384266,-0.063571],[-0.156825,-0.216475,0.963610]]
2025-10-24T23:50:28.139Z,1761349828.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356660,0.897788,0.258398],[-0.921059,0.384200,-0.063564],[-0.156343,-0.215329,0.963945]]
2025-10-24T23:50:28.226Z,1761349828.226 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:50:28.227Z,1761349828.227 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:50:28.227Z,1761349828.227 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:50:28.227Z,1761349828.227 [marl:UpdateRudder:A] Stopped
2025-10-24T23:50:28.228Z,1761349828.228 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:50:28.546Z,1761349828.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356523,0.898542,0.255957],[-0.921383,0.383522,-0.062963],[-0.154740,-0.213386,0.964636]]
2025-10-24T23:50:28.591Z,1761349828.591 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:50:28.591Z,1761349828.591 [marl:UpdateRudder:B] Stopped
2025-10-24T23:50:28.591Z,1761349828.591 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:50:28.596Z,1761349828.596 [marl:UpdateRudder] Stopped
2025-10-24T23:50:28.596Z,1761349828.596 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:50:28.947Z,1761349828.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355143,0.899037,0.256137],[-0.922177,0.381832,-0.061594],[-0.153177,-0.214329,0.964676]]
2025-10-24T23:50:29.353Z,1761349829.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352611,0.900488,0.254531],[-0.923412,0.378895,-0.061229],[-0.151577,-0.213447,0.965124]]
2025-10-24T23:50:29.755Z,1761349829.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349070,0.902270,0.253100],[-0.925067,0.374920,-0.060710],[-0.149669,-0.212943,0.965533]]
2025-10-24T23:50:29.797Z,1761349829.797 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:50:29.798Z,1761349829.798 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:50:29.798Z,1761349829.798 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:50:29.798Z,1761349829.798 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:50:29.798Z,1761349829.798 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:50:29.799Z,1761349829.799 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:50:29.799Z,1761349829.799 [marl:UpdateCommandMode] Stopped
2025-10-24T23:50:29.799Z,1761349829.799 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:50:29.799Z,1761349829.799 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:50:29.799Z,1761349829.799 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:50:29.799Z,1761349829.799 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:50:29.799Z,1761349829.799 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:50:29.799Z,1761349829.799 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:50:29.800Z,1761349829.800 [marl:UpdateSpeed] Stopped
2025-10-24T23:50:29.800Z,1761349829.800 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:50:30.158Z,1761349830.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344540,0.904906,0.249876],[-0.927009,0.369954,-0.061557],[-0.148145,-0.210428,0.966319]]
2025-10-24T23:50:30.571Z,1761349830.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339644,0.907630,0.246678],[-0.929084,0.364592,-0.062253],[-0.146440,-0.208041,0.967096]]
2025-10-24T23:50:30.800Z,1761349830.800 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:50:30.967Z,1761349830.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334125,0.910416,0.243933],[-0.931428,0.358544,-0.062358],[-0.144233,-0.206370,0.967785]]
2025-10-24T23:50:31.371Z,1761349831.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328648,0.913022,0.241623],[-0.933820,0.352415,-0.061520],[-0.141320,-0.205414,0.968418]]
2025-10-24T23:50:31.775Z,1761349831.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323617,0.915422,0.239319],[-0.936024,0.346706,-0.060457],[-0.138317,-0.204443,0.969057]]
2025-10-24T23:50:32.180Z,1761349832.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319794,0.917466,0.236618],[-0.937769,0.342162,-0.059291],[-0.135359,-0.202932,0.969792]]
2025-10-24T23:50:32.586Z,1761349832.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317126,0.918396,0.236603],[-0.939159,0.338822,-0.056388],[-0.131953,-0.204326,0.969969]]
2025-10-24T23:50:32.987Z,1761349832.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315606,0.919376,0.234819],[-0.940133,0.336511,-0.053950],[-0.128620,-0.203734,0.970541]]
2025-10-24T23:50:33.391Z,1761349833.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315216,0.919545,0.234681],[-0.940730,0.335372,-0.050522],[-0.125163,-0.204847,0.970759]]
2025-10-24T23:50:33.796Z,1761349833.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316036,0.919074,0.235423],[-0.940951,0.335382,-0.046157],[-0.121378,-0.206935,0.970796]]
2025-10-24T23:50:34.209Z,1761349834.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317667,0.918306,0.236224],[-0.940931,0.336086,-0.041179],[-0.117206,-0.209189,0.970826]]
2025-10-24T23:50:34.603Z,1761349834.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320233,0.916056,0.241438],[-0.940623,0.337755,-0.033899],[-0.112600,-0.216247,0.969824]]
2025-10-24T23:50:35.007Z,1761349835.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323653,0.913141,0.247835],[-0.940004,0.340183,-0.025824],[-0.107891,-0.224608,0.968458]]
2025-10-24T23:50:35.411Z,1761349835.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327590,0.909887,0.254538],[-0.939198,0.342947,-0.017173],[-0.102918,-0.233436,0.966910]]
2025-10-24T23:50:35.814Z,1761349835.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331978,0.906179,0.261972],[-0.938110,0.346225,-0.008819],[-0.098693,-0.242831,0.965035]]
2025-10-24T23:50:36.221Z,1761349836.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337079,0.902057,0.269574],[-0.936653,0.350258,-0.000843],[-0.095181,-0.252213,0.962979]]
2025-10-24T23:50:36.628Z,1761349836.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341447,0.898165,0.276973],[-0.935351,0.353667,0.006213],[-0.092376,-0.261189,0.960858]]
2025-10-24T23:50:37.027Z,1761349837.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343832,0.895828,0.281553],[-0.934738,0.355153,0.011496],[-0.089696,-0.267131,0.959477]]
2025-10-24T23:50:37.430Z,1761349837.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344116,0.894952,0.283980],[-0.934903,0.354566,0.015477],[-0.086838,-0.270820,0.958705]]
2025-10-24T23:50:37.840Z,1761349837.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343126,0.895864,0.282298],[-0.935504,0.352900,0.017163],[-0.084247,-0.269980,0.959173]]
2025-10-24T23:50:38.241Z,1761349838.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341376,0.898168,0.277050],[-0.936343,0.350680,0.016879],[-0.081996,-0.265176,0.960707]]
2025-10-24T23:50:38.643Z,1761349838.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339195,0.901392,0.269146],[-0.937347,0.348044,0.015674],[-0.079547,-0.257600,0.962972]]
2025-10-24T23:50:39.046Z,1761349839.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335926,0.905385,0.259676],[-0.938809,0.344128,0.014641],[-0.076106,-0.248704,0.965585]]
2025-10-24T23:50:39.451Z,1761349839.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331861,0.909812,0.249222],[-0.940630,0.339121,0.014533],[-0.071294,-0.239249,0.968337]]
2025-10-24T23:50:39.886Z,1761349839.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326833,0.914112,0.239957],[-0.942858,0.332787,0.016475],[-0.064794,-0.231630,0.970644]]
2025-10-24T23:50:40.297Z,1761349840.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321920,0.917853,0.232192],[-0.945035,0.326347,0.020187],[-0.057246,-0.225929,0.972460]]
2025-10-24T23:50:40.668Z,1761349840.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319140,0.920445,0.225677],[-0.946392,0.322072,0.024733],[-0.049919,-0.221472,0.973888]]
2025-10-24T23:50:41.067Z,1761349841.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318707,0.921456,0.222137],[-0.946855,0.320260,0.029996],[-0.043502,-0.219891,0.974554]]
2025-10-24T23:50:41.110Z,1761349841.110 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:50:41.110Z,1761349841.110 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:50:41.110Z,1761349841.110 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:50:41.110Z,1761349841.110 [marl:UpdateRudder:A] Stopped
2025-10-24T23:50:41.110Z,1761349841.110 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:50:41.472Z,1761349841.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320042,0.921455,0.220213],[-0.946641,0.320350,0.035311],[-0.038008,-0.219764,0.974813]]
2025-10-24T23:50:41.502Z,1761349841.502 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:50:41.502Z,1761349841.502 [marl:UpdateRudder:B] Stopped
2025-10-24T23:50:41.502Z,1761349841.502 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:50:41.502Z,1761349841.502 [marl:UpdateRudder] Stopped
2025-10-24T23:50:41.502Z,1761349841.502 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:50:41.924Z,1761349841.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322213,0.920388,0.221507],[-0.946089,0.321256,0.041364],[-0.033089,-0.222893,0.974281]]
2025-10-24T23:50:42.279Z,1761349842.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324622,0.919246,0.222727],[-0.945419,0.322405,0.047294],[-0.028333,-0.225923,0.973733]]
2025-10-24T23:50:42.696Z,1761349842.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327009,0.918084,0.224025],[-0.944727,0.323509,0.053231],[-0.023603,-0.229049,0.973129]]
2025-10-24T23:50:42.750Z,1761349842.750 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:50:42.750Z,1761349842.750 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:50:42.750Z,1761349842.750 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:50:42.751Z,1761349842.751 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:50:42.751Z,1761349842.751 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:50:42.751Z,1761349842.751 [marl:UpdateCommandMode] Stopped
2025-10-24T23:50:42.751Z,1761349842.751 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:50:42.751Z,1761349842.751 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:50:42.751Z,1761349842.751 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:50:42.751Z,1761349842.751 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:50:42.751Z,1761349842.751 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:50:42.752Z,1761349842.752 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:50:42.752Z,1761349842.752 [marl:UpdateSpeed] Stopped
2025-10-24T23:50:42.752Z,1761349842.752 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:50:43.087Z,1761349843.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329392,0.916728,0.226077],[-0.944004,0.324539,0.059421],[-0.018898,-0.232990,0.972295]]
2025-10-24T23:50:43.491Z,1761349843.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332580,0.915386,0.226845],[-0.942973,0.326311,0.065744],[-0.013841,-0.235774,0.971709]]
2025-10-24T23:50:43.928Z,1761349843.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336767,0.913812,0.227013],[-0.941549,0.329010,0.072372],[-0.008555,-0.238116,0.971199]]
2025-10-24T23:50:44.300Z,1761349844.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340804,0.911982,0.228344],[-0.940129,0.331374,0.079673],[-0.003006,-0.241826,0.970315]]
2025-10-24T23:50:44.709Z,1761349844.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345701,0.909569,0.230598],[-0.938342,0.334464,0.087455],[0.002420,-0.246613,0.969111]]
2025-10-24T23:50:45.510Z,1761349845.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355944,0.904481,0.234985],[-0.934431,0.341272,0.101845],[0.011923,-0.255829,0.966649]]
2025-10-24T23:50:45.931Z,1761349845.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359745,0.902654,0.236221],[-0.932913,0.343619,0.107701],[0.016047,-0.259118,0.965712]]
2025-10-24T23:50:46.320Z,1761349846.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361929,0.902137,0.234854],[-0.931994,0.344814,0.111759],[0.019841,-0.259332,0.965585]]
2025-10-24T23:50:46.723Z,1761349846.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362896,0.902923,0.230298],[-0.931543,0.345403,0.113683],[0.023101,-0.255788,0.966457]]
2025-10-24T23:50:47.126Z,1761349847.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362434,0.904839,0.223401],[-0.931640,0.344984,0.114159],[0.026226,-0.249504,0.968018]]
2025-10-24T23:50:47.531Z,1761349847.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360584,0.907620,0.214953],[-0.932270,0.343497,0.113499],[0.029178,-0.241320,0.970007]]
2025-10-24T23:50:47.940Z,1761349847.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357707,0.911097,0.204811],[-0.933260,0.341097,0.112595],[0.032725,-0.231418,0.972304]]
2025-10-24T23:50:48.339Z,1761349848.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353820,0.914332,0.196998],[-0.934573,0.337230,0.113352],[0.037208,-0.224215,0.973829]]
2025-10-24T23:50:48.743Z,1761349848.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349145,0.917699,0.189542],[-0.936091,0.332333,0.115275],[0.042797,-0.217677,0.975082]]
2025-10-24T23:50:49.151Z,1761349849.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344355,0.920416,0.185079],[-0.937541,0.326768,0.119329],[0.049354,-0.214610,0.975452]]
2025-10-24T23:50:49.551Z,1761349849.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341111,0.922377,0.181284],[-0.938371,0.322692,0.123814],[0.055705,-0.212346,0.975606]]
2025-10-24T23:50:49.955Z,1761349849.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339786,0.923095,0.180115],[-0.938512,0.320338,0.128760],[0.061160,-0.212791,0.975182]]
2025-10-24T23:50:50.359Z,1761349850.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339969,0.922948,0.180524],[-0.938131,0.319396,0.133775],[0.065808,-0.214834,0.974431]]
2025-10-24T23:50:50.768Z,1761349850.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340743,0.922135,0.183198],[-0.937571,0.318851,0.138909],[0.069680,-0.219093,0.973213]]
2025-10-24T23:50:51.178Z,1761349851.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342174,0.921084,0.185800],[-0.936503,0.318164,0.147426],[0.076677,-0.224448,0.971465]]
2025-10-24T23:50:51.577Z,1761349851.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343719,0.920100,0.187814],[-0.935656,0.318503,0.151999],[0.080034,-0.227974,0.970372]]
2025-10-24T23:50:51.979Z,1761349851.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345945,0.918707,0.190526],[-0.934570,0.319428,0.156668],[0.083072,-0.232258,0.969100]]
2025-10-24T23:50:52.383Z,1761349852.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349023,0.916571,0.195142],[-0.933225,0.321003,0.161398],[0.085291,-0.238443,0.967404]]
2025-10-24T23:50:52.788Z,1761349852.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351710,0.914830,0.198458],[-0.932038,0.322470,0.165286],[0.087212,-0.243103,0.966072]]
2025-10-24T23:50:53.187Z,1761349853.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353692,0.913585,0.200662],[-0.931164,0.323604,0.167971],[0.088521,-0.246259,0.965153]]
2025-10-24T23:50:53.591Z,1761349853.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354472,0.913186,0.201101],[-0.930828,0.324155,0.168767],[0.088928,-0.247014,0.964923]]
2025-10-24T23:50:53.997Z,1761349853.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354007,0.913661,0.199755],[-0.930933,0.323765,0.168938],[0.089678,-0.245764,0.965173]]
2025-10-24T23:50:54.079Z,1761349854.079 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:50:54.079Z,1761349854.079 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:50:54.079Z,1761349854.079 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:50:54.079Z,1761349854.079 [marl:UpdateRudder:A] Stopped
2025-10-24T23:50:54.079Z,1761349854.079 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:50:54.400Z,1761349854.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352684,0.914826,0.196744],[-0.931352,0.322838,0.168400],[0.090540,-0.242630,0.965885]]
2025-10-24T23:50:54.469Z,1761349854.469 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:50:54.469Z,1761349854.469 [marl:UpdateRudder:B] Stopped
2025-10-24T23:50:54.469Z,1761349854.469 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:50:54.469Z,1761349854.469 [marl:UpdateRudder] Stopped
2025-10-24T23:50:54.469Z,1761349854.469 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:50:54.802Z,1761349854.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351343,0.916036,0.193483],[-0.931771,0.321933,0.167814],[0.091435,-0.239242,0.966645]]
2025-10-24T23:50:55.206Z,1761349855.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349950,0.917525,0.188897],[-0.932173,0.321131,0.167118],[0.092674,-0.234568,0.967672]]
2025-10-24T23:50:55.388Z,1761349855.388 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:50:55.388Z,1761349855.388 [DAT] No Fault, FailCount= 8
2025-10-24T23:50:55.600Z,1761349855.600 [DAT](INFO): Powering up
2025-10-24T23:50:55.600Z,1761349855.600 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:50:55.613Z,1761349855.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348997,0.918692,0.184950],[-0.932430,0.320690,0.166533],[0.093681,-0.230572,0.968535]]
2025-10-24T23:50:55.679Z,1761349855.679 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:50:55.680Z,1761349855.680 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:50:55.680Z,1761349855.680 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:50:55.681Z,1761349855.681 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:50:55.681Z,1761349855.681 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:50:55.681Z,1761349855.681 [marl:UpdateCommandMode] Stopped
2025-10-24T23:50:55.681Z,1761349855.681 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:50:55.681Z,1761349855.681 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:50:55.681Z,1761349855.681 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:50:55.681Z,1761349855.681 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:50:55.682Z,1761349855.682 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:50:55.682Z,1761349855.682 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:50:55.682Z,1761349855.682 [marl:UpdateSpeed] Stopped
2025-10-24T23:50:55.682Z,1761349855.682 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:50:56.017Z,1761349856.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348640,0.919753,0.180292],[-0.932553,0.321163,0.164923],[0.093785,-0.225630,0.969688]]
2025-10-24T23:50:56.418Z,1761349856.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347763,0.920737,0.176933],[-0.932879,0.320923,0.163539],[0.093794,-0.221930,0.970541]]
2025-10-24T23:50:56.822Z,1761349856.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344994,0.921985,0.175849],[-0.933928,0.318515,0.162257],[0.093588,-0.220208,0.970953]]
2025-10-24T23:50:57.227Z,1761349857.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338102,0.923669,0.180341],[-0.936433,0.311107,0.162191],[0.093705,-0.223714,0.970140]]
2025-10-24T23:50:57.644Z,1761349857.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326418,0.924925,0.194844],[-0.940442,0.297079,0.165266],[0.094975,-0.237186,0.966811]]
2025-10-24T23:50:57.924Z,1761349857.924 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:50:57.925Z,1761349857.925 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:50:58.034Z,1761349858.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311446,0.924891,0.218123],[-0.945267,0.278028,0.170795],[0.097322,-0.259378,0.960860]]
2025-10-24T23:50:58.438Z,1761349858.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294442,0.923642,0.245335],[-0.950346,0.255931,0.177037],[0.100730,-0.285280,0.953136]]
2025-10-24T23:50:58.842Z,1761349858.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276831,0.921692,0.271749],[-0.955184,0.233095,0.182458],[0.104827,-0.310081,0.944913]]
2025-10-24T23:50:59.247Z,1761349859.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260158,0.918818,0.296802],[-0.959393,0.211277,0.186887],[0.109008,-0.333370,0.936473]]
2025-10-24T23:50:59.668Z,1761349859.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244435,0.914610,0.322087],[-0.963032,0.190193,0.190778],[0.113229,-0.356813,0.927289]]
2025-10-24T23:51:00.059Z,1761349860.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230087,0.909540,0.346118],[-0.966180,0.170944,0.193067],[0.116435,-0.378835,0.918111]]
2025-10-24T23:51:00.137Z,1761349860.137 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:51:00.517Z,1761349860.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215893,0.905280,0.365866],[-0.969143,0.153021,0.193252],[0.118962,-0.396299,0.910382]]
2025-10-24T23:51:00.922Z,1761349860.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202366,0.902285,0.380697],[-0.971826,0.137056,0.191756],[0.120841,-0.408776,0.904599]]
2025-10-24T23:51:00.928Z,1761349860.928 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:51:01.324Z,1761349861.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188470,0.901227,0.390216],[-0.974453,0.122191,0.188444],[0.122150,-0.415763,0.901233]]
2025-10-24T23:51:01.726Z,1761349861.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173792,0.901319,0.396763],[-0.977029,0.107352,0.184092],[0.123333,-0.419643,0.899271]]
2025-10-24T23:51:01.932Z,1761349861.932 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:51:02.136Z,1761349862.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157799,0.903807,0.397783],[-0.979589,0.092480,0.178476],[0.124521,-0.417827,0.899953]]
2025-10-24T23:51:02.535Z,1761349862.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140615,0.907535,0.395737],[-0.982020,0.076997,0.172360],[0.125952,-0.412858,0.902044]]
2025-10-24T23:51:03.381Z,1761349863.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104566,0.915960,0.387406],[-0.986048,0.044754,0.160335],[0.129523,-0.398766,0.907860]]
2025-10-24T23:51:03.800Z,1761349863.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086518,0.919326,0.383867],[-0.987638,0.028592,0.154124],[0.130715,-0.392456,0.910435]]
2025-10-24T23:51:04.203Z,1761349864.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069731,0.922274,0.380195],[-0.988867,0.013684,0.148171],[0.131451,-0.386294,0.912961]]
2025-10-24T23:51:04.621Z,1761349864.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053137,0.924686,0.377005],[-0.989914,-0.000873,0.141664],[0.131324,-0.380731,0.915313]]
2025-10-24T23:51:05.011Z,1761349865.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036259,0.926342,0.374935],[-0.990785,-0.015669,0.134531],[0.130497,-0.376358,0.917238]]
2025-10-24T23:51:05.415Z,1761349865.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018182,0.927938,0.372290],[-0.991406,-0.031514,0.126967],[0.129550,-0.371399,0.919391]]
2025-10-24T23:51:05.818Z,1761349865.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001056,0.929230,0.369500],[-0.991707,-0.048459,0.119032],[0.128514,-0.366310,0.921575]]
2025-10-24T23:51:06.225Z,1761349866.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021800,0.930757,0.364989],[-0.991618,-0.066633,0.110693],[0.127348,-0.359517,0.924408]]
2025-10-24T23:51:06.631Z,1761349866.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043526,0.931247,0.361779],[-0.991061,-0.085956,0.102023],[0.126106,-0.354104,0.926665]]
2025-10-24T23:51:06.704Z,1761349866.704 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:51:06.704Z,1761349866.704 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:51:06.704Z,1761349866.704 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:51:06.705Z,1761349866.705 [marl:UpdateRudder:A] Stopped
2025-10-24T23:51:06.705Z,1761349866.705 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:51:07.030Z,1761349867.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065422,0.930106,0.361417],[-0.990003,-0.105857,0.093217],[0.124960,-0.351705,0.927733]]
2025-10-24T23:51:07.085Z,1761349867.085 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:51:07.085Z,1761349867.085 [marl:UpdateRudder:B] Stopped
2025-10-24T23:51:07.086Z,1761349867.086 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:51:07.086Z,1761349867.086 [marl:UpdateRudder] Stopped
2025-10-24T23:51:07.086Z,1761349867.086 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:51:07.435Z,1761349867.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086811,0.928162,0.361911],[-0.988508,-0.125384,0.084447],[0.123758,-0.350421,0.928380]]
2025-10-24T23:51:07.709Z,1761349867.709 [DAT](INFO): DAT read: 

2025-10-24T23:51:07.710Z,1761349867.710 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:51:08.305Z,1761349868.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125619,0.921505,0.367488],[-0.984863,-0.160428,0.065630],[0.119434,-0.353681,0.927710]]
2025-10-24T23:51:08.703Z,1761349868.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144053,0.917062,0.371815],[-0.982642,-0.176947,0.055723],[0.116893,-0.357333,0.926633]]
2025-10-24T23:51:08.747Z,1761349868.747 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:51:08.747Z,1761349868.747 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:51:08.747Z,1761349868.747 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:51:08.747Z,1761349868.747 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:51:08.747Z,1761349868.747 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:51:08.747Z,1761349868.747 [marl:UpdateCommandMode] Stopped
2025-10-24T23:51:08.748Z,1761349868.748 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:51:08.748Z,1761349868.748 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:51:08.748Z,1761349868.748 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:51:08.748Z,1761349868.748 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:51:08.748Z,1761349868.748 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:51:08.749Z,1761349868.749 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:51:08.749Z,1761349868.749 [marl:UpdateSpeed] Stopped
2025-10-24T23:51:08.749Z,1761349868.749 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:51:09.113Z,1761349869.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161925,0.912453,0.375779],[-0.980220,-0.192637,0.045374],[0.113791,-0.360999,0.925598]]
2025-10-24T23:51:09.473Z,1761349869.473 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:51:09.474Z,1761349869.474 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:51:09.475Z,1761349869.475 [DAT](INFO): DAT read: Oct 24 2025 23:50:24 

2025-10-24T23:51:09.530Z,1761349869.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178734,0.907574,0.379952],[-0.977687,-0.207148,0.034888],[0.110370,-0.365239,0.924348]]
2025-10-24T23:51:09.938Z,1761349869.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196177,0.903133,0.381922],[-0.974661,-0.222286,0.024999],[0.107474,-0.367340,0.923856]]
2025-10-24T23:51:10.481Z,1761349870.481 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:51:10.482Z,1761349870.482 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:51:10.483Z,1761349870.483 [DAT](INFO): commRate: 600
2025-10-24T23:51:10.790Z,1761349870.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231122,0.893615,0.384753],[-0.967714,-0.252020,0.004027],[0.100564,-0.371400,0.923011]]
2025-10-24T23:51:11.192Z,1761349871.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262789,0.885321,0.383600],[-0.960478,-0.277853,-0.016719],[0.091783,-0.372833,0.923348]]
2025-10-24T23:51:11.603Z,1761349871.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277735,0.881688,0.381431],[-0.956724,-0.289755,-0.026851],[0.086848,-0.372382,0.924007]]
2025-10-24T23:51:12.011Z,1761349872.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292168,0.878152,0.378797],[-0.952839,-0.301273,-0.036498],[0.082071,-0.371596,0.924760]]
2025-10-24T23:51:12.403Z,1761349872.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306769,0.874734,0.375145],[-0.948631,-0.313055,-0.045770],[0.077405,-0.369915,0.925835]]
2025-10-24T23:51:12.548Z,1761349872.548 [DAT](INFO): entering command mode
2025-10-24T23:51:12.748Z,1761349872.748 [DAT](INFO): DAT read: 

2025-10-24T23:51:12.749Z,1761349872.749 [DAT](INFO): DAT read: user:1>

2025-10-24T23:51:12.749Z,1761349872.749 [DAT](INFO): setting verbose to 3
2025-10-24T23:51:12.824Z,1761349872.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321086,0.871301,0.371132],[-0.944251,-0.324636,-0.054778],[0.072754,-0.368030,0.926963]]
2025-10-24T23:51:13.001Z,1761349873.001 [DAT](INFO): DAT read: user:1>

2025-10-24T23:51:13.002Z,1761349873.002 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:51:13.003Z,1761349873.003 [DAT](INFO): set verbose to 3
2025-10-24T23:51:13.003Z,1761349873.003 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:51:13.212Z,1761349873.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335329,0.867696,0.366958],[-0.939613,-0.336317,-0.063383],[0.068417,-0.366053,0.928075]]
2025-10-24T23:51:13.253Z,1761349873.253 [DAT](INFO): DAT read: user:2>

2025-10-24T23:51:13.254Z,1761349873.254 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:51:13.254Z,1761349873.254 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:51:13.254Z,1761349873.254 [DAT](INFO): setting transmit power to 8
2025-10-24T23:51:13.505Z,1761349873.505 [DAT](INFO): DAT read: user:3>

2025-10-24T23:51:13.506Z,1761349873.506 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:51:13.506Z,1761349873.506 [DAT](INFO): set transmit power to 8
2025-10-24T23:51:13.507Z,1761349873.507 [DAT](INFO): setting local address to 11
2025-10-24T23:51:13.615Z,1761349873.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348551,0.864421,0.362337],[-0.935104,-0.347090,-0.071480],[0.063975,-0.363737,0.929302]]
2025-10-24T23:51:13.757Z,1761349873.757 [DAT](INFO): DAT read: user:4>

2025-10-24T23:51:13.757Z,1761349873.757 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:51:13.758Z,1761349873.758 [DAT](INFO): set local address to 11
2025-10-24T23:51:13.759Z,1761349873.759 [DAT](INFO): Setting time to: 23:51:13 And date to:10/24/2025
2025-10-24T23:51:14.009Z,1761349874.009 [DAT](INFO): DAT read: user:5>

2025-10-24T23:51:14.010Z,1761349874.010 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:51:13  

2025-10-24T23:51:14.010Z,1761349874.010 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:51:13  

2025-10-24T23:51:14.011Z,1761349874.011 [DAT](INFO): setting remote address to 10
2025-10-24T23:51:14.011Z,1761349874.011 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:51:14.011Z,1761349874.011 [DAT](INFO): setting remote address to 0
2025-10-24T23:51:14.034Z,1761349874.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362572,0.860724,0.357345],[-0.930067,-0.358580,-0.079970],[0.059304,-0.361350,0.930542]]
2025-10-24T23:51:14.261Z,1761349874.261 [DAT](INFO): DAT read: user:6>

2025-10-24T23:51:14.262Z,1761349874.262 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:51:14.262Z,1761349874.262 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:51:14.262Z,1761349874.262 [DAT] Communications Fault, FailCount= 1
2025-10-24T23:51:14.262Z,1761349874.262 [DAT](ERROR): Communications Fault
2025-10-24T23:51:14.263Z,1761349874.263 [DAT](INFO): DAT read: user:7>

2025-10-24T23:51:14.264Z,1761349874.264 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:51:14.265Z,1761349874.265 [DAT](INFO): set remote address to 0
2025-10-24T23:51:14.265Z,1761349874.265 [DAT](INFO): setting remote address to 10
2025-10-24T23:51:14.265Z,1761349874.265 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:51:14.265Z,1761349874.265 [DAT](INFO): setting remote address to 0
2025-10-24T23:51:14.375Z,1761349874.375 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:51:14.425Z,1761349874.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376428,0.856344,0.353521],[-0.924842,-0.369787,-0.089022],[0.054494,-0.360462,0.931181]]
2025-10-24T23:51:14.669Z,1761349874.669 [DAT](INFO): Powering down
2025-10-24T23:51:14.827Z,1761349874.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391178,0.851383,0.349468],[-0.918953,-0.381995,-0.098005],[0.050055,-0.359482,0.931809]]
2025-10-24T23:51:15.231Z,1761349875.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406877,0.846058,0.344436],[-0.912333,-0.395281,-0.106774],[0.045812,-0.357684,0.932718]]
2025-10-24T23:51:15.635Z,1761349875.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422767,0.840499,0.338865],[-0.905289,-0.408800,-0.115473],[0.041473,-0.355589,0.933722]]
2025-10-24T23:51:15.865Z,1761349875.865 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:51:15.865Z,1761349875.865 [DAT] No Fault, FailCount= 1
2025-10-24T23:51:16.046Z,1761349876.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439104,0.834600,0.332611],[-0.897672,-0.422825,-0.124115],[0.037050,-0.353075,0.934861]]
2025-10-24T23:51:16.442Z,1761349876.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456335,0.828094,0.325607],[-0.889196,-0.437966,-0.132351],[0.033006,-0.349924,0.936196]]
2025-10-24T23:51:16.846Z,1761349876.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473511,0.820593,0.320021],[-0.880302,-0.452969,-0.141020],[0.029240,-0.348489,0.936857]]
2025-10-24T23:51:17.250Z,1761349877.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489963,0.812948,0.314726],[-0.871367,-0.467328,-0.149411],[0.025617,-0.347448,0.937349]]
2025-10-24T23:51:17.659Z,1761349877.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505810,0.805324,0.309206],[-0.862361,-0.481234,-0.157312],[0.022113,-0.346218,0.937894]]
2025-10-24T23:51:17.716Z,1761349877.716 [DAT](INFO): Powering up
2025-10-24T23:51:17.716Z,1761349877.716 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:51:18.078Z,1761349878.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519828,0.797627,0.305891],[-0.854069,-0.493023,-0.165814],[0.018554,-0.347447,0.937516]]
2025-10-24T23:51:18.463Z,1761349878.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532613,0.789995,0.303696],[-0.846228,-0.503380,-0.174662],[0.014892,-0.350023,0.936623]]
2025-10-24T23:51:18.867Z,1761349878.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545258,0.782520,0.300593],[-0.838191,-0.513832,-0.182793],[0.011415,-0.351623,0.936072]]
2025-10-24T23:51:19.270Z,1761349879.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557564,0.774973,0.297554],[-0.830096,-0.523891,-0.190994],[0.007871,-0.353490,0.935405]]
2025-10-24T23:51:19.330Z,1761349879.330 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:51:19.330Z,1761349879.330 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:51:19.331Z,1761349879.331 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:51:19.331Z,1761349879.331 [marl:UpdateRudder:A] Stopped
2025-10-24T23:51:19.331Z,1761349879.331 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:51:19.681Z,1761349879.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569966,0.767262,0.294020],[-0.821657,-0.534083,-0.199088],[0.004278,-0.355057,0.934835]]
2025-10-24T23:51:19.706Z,1761349879.706 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:51:19.706Z,1761349879.706 [marl:UpdateRudder:B] Stopped
2025-10-24T23:51:19.706Z,1761349879.706 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:51:19.706Z,1761349879.706 [marl:UpdateRudder] Stopped
2025-10-24T23:51:19.706Z,1761349879.706 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:51:20.081Z,1761349880.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583442,0.759061,0.288827],[-0.812153,-0.545884,-0.205954],[0.001334,-0.354734,0.934966]]
2025-10-24T23:51:20.482Z,1761349880.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597420,0.750398,0.282829],[-0.801927,-0.558214,-0.212863],[-0.001853,-0.353976,0.935253]]
2025-10-24T23:51:20.886Z,1761349880.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610727,0.742232,0.275869],[-0.791822,-0.569993,-0.219378],[-0.005586,-0.352419,0.935826]]
2025-10-24T23:51:21.292Z,1761349881.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621414,0.737006,0.265831],[-0.783410,-0.579885,-0.223613],[-0.010653,-0.347211,0.937727]]
2025-10-24T23:51:21.339Z,1761349881.339 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:51:21.339Z,1761349881.339 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:51:21.339Z,1761349881.339 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:51:21.356Z,1761349881.356 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:51:21.356Z,1761349881.356 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:51:21.356Z,1761349881.356 [marl:UpdateCommandMode] Stopped
2025-10-24T23:51:21.356Z,1761349881.356 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:51:21.356Z,1761349881.356 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:51:21.356Z,1761349881.356 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:51:21.357Z,1761349881.357 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:51:21.357Z,1761349881.357 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:51:21.357Z,1761349881.357 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:51:21.357Z,1761349881.357 [marl:UpdateSpeed] Stopped
2025-10-24T23:51:21.357Z,1761349881.357 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:51:21.694Z,1761349881.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628397,0.736530,0.250281],[-0.777706,-0.587784,-0.222899],[-0.017061,-0.334714,0.942165]]
2025-10-24T23:51:22.099Z,1761349882.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632495,0.739365,0.230845],[-0.774175,-0.593991,-0.218696],[-0.024576,-0.317039,0.948094]]
2025-10-24T23:51:22.503Z,1761349882.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634788,0.743319,0.211002],[-0.772013,-0.598723,-0.213370],[-0.032270,-0.298341,0.953914]]
2025-10-24T23:51:22.908Z,1761349882.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636154,0.747479,0.191270],[-0.770477,-0.602289,-0.208837],[-0.040901,-0.280221,0.959064]]
2025-10-24T23:51:23.310Z,1761349883.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637574,0.751018,0.171672],[-0.768797,-0.605939,-0.204424],[-0.049504,-0.262317,0.963711]]
2025-10-24T23:51:23.714Z,1761349883.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639082,0.753622,0.153714],[-0.766951,-0.609345,-0.201211],[-0.057972,-0.246481,0.967412]]
2025-10-24T23:51:24.118Z,1761349884.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641220,0.755111,0.136543],[-0.764506,-0.613319,-0.198419],[-0.066084,-0.231618,0.970560]]
2025-10-24T23:51:24.526Z,1761349884.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643611,0.755597,0.121810],[-0.761761,-0.617026,-0.197481],[-0.074056,-0.219891,0.972709]]
2025-10-24T23:51:24.926Z,1761349884.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646062,0.755360,0.109699],[-0.758869,-0.620220,-0.198608],[-0.081983,-0.211560,0.973920]]
2025-10-24T23:51:24.965Z,1761349884.965 [marl:SendObservationData] Running Loop=1
2025-10-24T23:51:24.965Z,1761349884.965 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:51:24.965Z,1761349884.965 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:51:24.966Z,1761349884.966 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:51:24.967Z,1761349884.967 [marl:SendObservationData:A](INFO): Got test_good :  41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:51:24.967Z,1761349884.967 [marl:SendObservationData:A] Stopped
2025-10-24T23:51:24.967Z,1761349884.967 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:51:25.331Z,1761349885.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647983,0.755049,0.100094],[-0.756340,-0.622385,-0.201459],[-0.089815,-0.206247,0.974369]]
2025-10-24T23:51:25.386Z,1761349885.386 [marl:SendObservationData:B] Stopped
2025-10-24T23:51:25.386Z,1761349885.386 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:51:25.736Z,1761349885.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649841,0.754556,0.091391],[-0.753828,-0.624450,-0.204464],[-0.097210,-0.201762,0.974599]]
2025-10-24T23:51:25.767Z,1761349885.767 [marl:SendObservationData:C] Stopped
2025-10-24T23:51:25.767Z,1761349885.767 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:51:26.140Z,1761349886.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650879,0.754255,0.086351],[-0.751963,-0.624858,-0.210010],[-0.104444,-0.201624,0.973879]]
2025-10-24T23:51:26.223Z,1761349886.223 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.010249 min 
2025-10-24T23:51:26.223Z,1761349886.223 [marl:SendObservationData:E] Stopped
2025-10-24T23:51:26.223Z,1761349886.223 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:51:26.224Z,1761349886.224 [marl:SendObservationData] Stopped
2025-10-24T23:51:26.224Z,1761349886.224 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:51:26.224Z,1761349886.224 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:51:26.558Z,1761349886.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651129,0.754454,0.082650],[-0.750751,-0.624270,-0.216008],[-0.111372,-0.202699,0.972887]]
2025-10-24T23:51:26.947Z,1761349886.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650594,0.755229,0.079728],[-0.750225,-0.622868,-0.221806],[-0.117854,-0.204120,0.971826]]
2025-10-24T23:51:27.350Z,1761349887.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649345,0.756460,0.078226],[-0.750344,-0.620531,-0.227872],[-0.123834,-0.206664,0.970544]]
2025-10-24T23:51:27.756Z,1761349887.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647771,0.757900,0.077336],[-0.750741,-0.617778,-0.233962],[-0.129543,-0.209613,0.969165]]
2025-10-24T23:51:28.158Z,1761349888.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646599,0.759088,0.075464],[-0.750915,-0.615960,-0.238162],[-0.134303,-0.210662,0.968289]]
2025-10-24T23:51:28.567Z,1761349888.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645974,0.759925,0.072328],[-0.750639,-0.615127,-0.241163],[-0.138775,-0.210078,0.967786]]
2025-10-24T23:51:28.966Z,1761349888.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646016,0.760255,0.068386],[-0.749846,-0.615296,-0.243189],[-0.142808,-0.208383,0.967565]]
2025-10-24T23:51:29.372Z,1761349889.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646279,0.760330,0.064969],[-0.748801,-0.615461,-0.245978],[-0.147038,-0.207619,0.967096]]
2025-10-24T23:51:29.774Z,1761349889.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646993,0.760105,0.060327],[-0.747342,-0.616452,-0.247927],[-0.151262,-0.205492,0.966899]]
2025-10-24T23:51:29.813Z,1761349889.813 [DAT](INFO): DAT read: 

2025-10-24T23:51:29.813Z,1761349889.813 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:51:30.178Z,1761349890.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647889,0.759502,0.058282],[-0.745785,-0.616889,-0.251501],[-0.155062,-0.206411,0.966101]]
2025-10-24T23:51:30.587Z,1761349890.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648451,0.759145,0.056653],[-0.744528,-0.616927,-0.255107],[-0.158712,-0.207604,0.965252]]
2025-10-24T23:51:30.988Z,1761349890.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647978,0.759630,0.055552],[-0.744136,-0.615830,-0.258872],[-0.162436,-0.209081,0.964313]]
2025-10-24T23:51:31.390Z,1761349891.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646668,0.760689,0.056321],[-0.744587,-0.613502,-0.263068],[-0.165560,-0.212054,0.963132]]
2025-10-24T23:51:31.577Z,1761349891.577 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:51:31.578Z,1761349891.578 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:51:31.579Z,1761349891.579 [DAT](INFO): DAT read: Oct 24 2025 23:51:25 

2025-10-24T23:51:31.794Z,1761349891.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645355,0.761746,0.057093],[-0.745236,-0.611428,-0.266044],[-0.167750,-0.214241,0.962269]]
2025-10-24T23:51:32.062Z,1761349892.062 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:51:32.199Z,1761349892.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644569,0.762283,0.058778],[-0.745854,-0.610054,-0.267462],[-0.168024,-0.216238,0.961774]]
2025-10-24T23:51:32.264Z,1761349892.264 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:51:32.264Z,1761349892.264 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:51:32.264Z,1761349892.264 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:51:32.264Z,1761349892.264 [marl:UpdateRudder:A] Stopped
2025-10-24T23:51:32.264Z,1761349892.264 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:51:32.585Z,1761349892.585 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:51:32.586Z,1761349892.586 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:51:32.586Z,1761349892.586 [DAT](INFO): commRate: 600
2025-10-24T23:51:32.615Z,1761349892.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644272,0.762445,0.059924],[-0.746134,-0.609415,-0.268136],[-0.167920,-0.217464,0.961516]]
2025-10-24T23:51:32.686Z,1761349892.686 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:51:32.686Z,1761349892.686 [marl:UpdateRudder:B] Stopped
2025-10-24T23:51:32.686Z,1761349892.686 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:51:32.686Z,1761349892.686 [marl:UpdateRudder] Stopped
2025-10-24T23:51:32.686Z,1761349892.686 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:51:33.017Z,1761349893.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645065,0.761793,0.059683],[-0.745579,-0.610378,-0.267490],[-0.167343,-0.217047,0.961710]]
2025-10-24T23:51:33.084Z,1761349893.084 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:51:33.411Z,1761349893.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646826,0.760362,0.058874],[-0.744305,-0.612568,-0.266029],[-0.166214,-0.215895,0.962165]]
2025-10-24T23:51:33.421Z,1761349893.421 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-10-24T23:51:33.421Z,1761349893.421 [NAL9602] Data Fault, FailCount= 1
2025-10-24T23:51:33.421Z,1761349893.421 [NAL9602](ERROR): Data Fault
2025-10-24T23:51:33.479Z,1761349893.479 [marl:NeedComms] Running Loop=1
2025-10-24T23:51:33.479Z,1761349893.479 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms
2025-10-24T23:51:33.479Z,1761349893.479 [marl:NeedComms:B.GoToSurface] Running Loop=1
2025-10-24T23:51:33.479Z,1761349893.479 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-24T23:51:33.480Z,1761349893.480 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-24T23:51:33.480Z,1761349893.480 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-24T23:51:33.481Z,1761349893.481 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-24T23:51:33.481Z,1761349893.481 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-24T23:51:33.481Z,1761349893.481 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-24T23:51:33.482Z,1761349893.482 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-24T23:51:33.482Z,1761349893.482 [marl:NeedComms:A] Running Loop=1
2025-10-24T23:51:33.483Z,1761349893.483 [marl:NeedComms:A](ERROR): caught uninitialized data element exception.
2025-10-24T23:51:33.483Z,1761349893.483 [marl:NeedComms:A](INFO): last time_fix was:  nan second since 1970/01/01T00:00:00Z 
2025-10-24T23:51:33.488Z,1761349893.488 [marl:NeedComms:A] Stopped
2025-10-24T23:51:33.537Z,1761349893.537 [CBIT](ERROR): Data Fault in component: NAL9602
2025-10-24T23:51:33.815Z,1761349893.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649295,0.758373,0.057331],[-0.742494,-0.615765,-0.263698],[-0.164679,-0.213786,0.962900]]
2025-10-24T23:51:33.819Z,1761349893.819 [NAL9602](INFO): Powering down
2025-10-24T23:51:34.218Z,1761349894.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652501,0.755628,0.057175],[-0.740111,-0.619262,-0.262203],[-0.162721,-0.213404,0.963318]]
2025-10-24T23:51:34.269Z,1761349894.269 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:51:34.269Z,1761349894.269 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:51:34.269Z,1761349894.269 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:51:34.270Z,1761349894.270 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:51:34.270Z,1761349894.270 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:51:34.270Z,1761349894.270 [marl:UpdateCommandMode] Stopped
2025-10-24T23:51:34.270Z,1761349894.270 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:51:34.270Z,1761349894.270 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:51:34.270Z,1761349894.270 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:51:34.270Z,1761349894.270 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:51:34.270Z,1761349894.270 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:51:34.271Z,1761349894.271 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:51:34.271Z,1761349894.271 [marl:UpdateSpeed] Stopped
2025-10-24T23:51:34.271Z,1761349894.271 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:51:34.625Z,1761349894.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655763,0.752820,0.056888],[-0.737675,-0.622888,-0.260472],[-0.160654,-0.212773,0.963804]]
2025-10-24T23:51:34.652Z,1761349894.652 [DAT](INFO): entering command mode
2025-10-24T23:51:34.853Z,1761349894.853 [DAT](INFO): DAT read: 

2025-10-24T23:51:34.853Z,1761349894.853 [DAT](INFO): DAT read: user:1>

2025-10-24T23:51:34.854Z,1761349894.854 [DAT](INFO): setting verbose to 3
2025-10-24T23:51:35.047Z,1761349895.047 [CBIT](INFO): Clearing failed state for component NAL9602
2025-10-24T23:51:35.047Z,1761349895.047 [NAL9602] No Fault, FailCount= 1
2025-10-24T23:51:35.077Z,1761349895.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659566,0.749411,0.057927],[-0.734802,-0.626643,-0.259585],[-0.158236,-0.213779,0.963981]]
2025-10-24T23:51:35.105Z,1761349895.105 [DAT](INFO): DAT read: user:1>

2025-10-24T23:51:35.106Z,1761349895.106 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:51:35.106Z,1761349895.106 [DAT](INFO): set verbose to 3
2025-10-24T23:51:35.106Z,1761349895.106 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:51:35.358Z,1761349895.358 [DAT](INFO): DAT read: user:2>

2025-10-24T23:51:35.359Z,1761349895.359 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:51:35.359Z,1761349895.359 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:51:35.360Z,1761349895.360 [DAT](INFO): setting transmit power to 8
2025-10-24T23:51:35.470Z,1761349895.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665675,0.743630,0.062378],[-0.729897,-0.631416,-0.261850],[-0.155333,-0.219836,0.963091]]
2025-10-24T23:51:35.609Z,1761349895.609 [DAT](INFO): DAT read: user:3>

2025-10-24T23:51:35.610Z,1761349895.610 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:51:35.612Z,1761349895.612 [DAT](INFO): set transmit power to 8
2025-10-24T23:51:35.613Z,1761349895.613 [DAT](INFO): setting local address to 11
2025-10-24T23:51:35.863Z,1761349895.863 [DAT](INFO): DAT read: user:4>

2025-10-24T23:51:35.866Z,1761349895.866 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:51:35.867Z,1761349895.867 [DAT](INFO): set local address to 11
2025-10-24T23:51:35.870Z,1761349895.870 [DAT](INFO): Setting time to: 23:51:35 And date to:10/24/2025
2025-10-24T23:51:35.943Z,1761349895.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675228,0.733960,0.073277],[-0.721758,-0.636965,-0.270814],[-0.152091,-0.235749,0.959839]]
2025-10-24T23:51:36.113Z,1761349896.113 [DAT](INFO): DAT read: user:5>

2025-10-24T23:51:36.114Z,1761349896.114 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:51:35  

2025-10-24T23:51:36.115Z,1761349896.115 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:51:35  

2025-10-24T23:51:36.116Z,1761349896.116 [DAT](INFO): setting remote address to 10
2025-10-24T23:51:36.116Z,1761349896.116 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:51:36.117Z,1761349896.117 [DAT](INFO): setting remote address to 0
2025-10-24T23:51:36.365Z,1761349896.365 [DAT](INFO): DAT read: user:6>

2025-10-24T23:51:36.366Z,1761349896.366 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:51:36.366Z,1761349896.366 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:51:36.366Z,1761349896.366 [DAT] Communications Fault, FailCount= 2
2025-10-24T23:51:36.366Z,1761349896.366 [DAT](ERROR): Communications Fault
2025-10-24T23:51:36.367Z,1761349896.367 [DAT](INFO): DAT read: user:7>

2025-10-24T23:51:36.368Z,1761349896.368 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:51:36.369Z,1761349896.369 [DAT](INFO): set remote address to 0
2025-10-24T23:51:36.369Z,1761349896.369 [DAT](INFO): setting remote address to 10
2025-10-24T23:51:36.369Z,1761349896.369 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:51:36.369Z,1761349896.369 [DAT](INFO): setting remote address to 0
2025-10-24T23:51:36.483Z,1761349896.483 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:51:36.541Z,1761349896.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701469,0.705396,0.101772],[-0.696212,-0.647681,-0.309514],[-0.152414,-0.287969,0.945433]]
2025-10-24T23:51:36.772Z,1761349896.772 [DAT](INFO): Powering down
2025-10-24T23:51:36.919Z,1761349896.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715724,0.689226,0.112725],[-0.680671,-0.652303,-0.333448],[-0.156291,-0.315385,0.936005]]
2025-10-24T23:51:37.322Z,1761349897.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729362,0.673396,0.120701],[-0.664822,-0.656043,-0.357238],[-0.161378,-0.340801,0.926181]]
2025-10-24T23:51:37.728Z,1761349897.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742957,0.657691,0.124331],[-0.648098,-0.660436,-0.379200],[-0.167284,-0.362309,0.916924]]
2025-10-24T23:51:37.947Z,1761349897.947 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:51:37.947Z,1761349897.947 [DAT] No Fault, FailCount= 2
2025-10-24T23:51:38.534Z,1761349898.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765740,0.631493,0.121896],[-0.617484,-0.668851,-0.413947],[-0.179875,-0.392244,0.902103]]
2025-10-24T23:51:38.938Z,1761349898.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775187,0.620907,0.116444],[-0.603641,-0.673672,-0.426361],[-0.186285,-0.400799,0.897027]]
2025-10-24T23:51:39.344Z,1761349899.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783747,0.611515,0.108586],[-0.590490,-0.679475,-0.435471],[-0.192516,-0.405418,0.893630]]
2025-10-24T23:51:39.746Z,1761349899.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791806,0.602935,0.097529],[-0.577501,-0.687081,-0.440922],[-0.198837,-0.405448,0.892231]]
2025-10-24T23:51:39.820Z,1761349899.820 [DAT](INFO): Powering up
2025-10-24T23:51:39.820Z,1761349899.820 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:51:40.150Z,1761349900.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799662,0.594546,0.083999],[-0.564271,-0.696264,-0.443638],[-0.205277,-0.402158,0.892261]]
2025-10-24T23:51:40.555Z,1761349900.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808143,0.584932,0.068995],[-0.549539,-0.706676,-0.445664],[-0.211926,-0.398076,0.892538]]
2025-10-24T23:51:40.961Z,1761349900.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817224,0.573933,0.052402],[-0.533188,-0.718416,-0.446753],[-0.218760,-0.393037,0.893121]]
2025-10-24T23:51:41.364Z,1761349901.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826841,0.561444,0.033379],[-0.515026,-0.731961,-0.446074],[-0.226014,-0.386023,0.894374]]
2025-10-24T23:51:41.766Z,1761349901.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836635,0.547601,0.013262],[-0.495349,-0.746025,-0.445057],[-0.233819,-0.378920,0.895404]]
2025-10-24T23:51:42.170Z,1761349902.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846179,0.532859,-0.006538],[-0.474811,-0.759456,-0.444726],[-0.241941,-0.373214,0.895643]]
2025-10-24T23:51:42.576Z,1761349902.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855174,0.517649,-0.026772],[-0.453889,-0.772784,-0.443610],[-0.250323,-0.367212,0.895820]]
2025-10-24T23:51:42.991Z,1761349902.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863416,0.502421,-0.045663],[-0.433162,-0.784695,-0.443423],[-0.258617,-0.363079,0.895149]]
2025-10-24T23:51:43.382Z,1761349903.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870861,0.487500,-0.062818],[-0.412922,-0.794916,-0.444527],[-0.266641,-0.361182,0.893560]]
2025-10-24T23:51:43.842Z,1761349903.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877285,0.473539,-0.078308],[-0.393828,-0.803449,-0.446509],[-0.274355,-0.360876,0.891346]]
2025-10-24T23:51:44.355Z,1761349904.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882481,0.461182,-0.092402],[-0.376432,-0.810297,-0.449130],[-0.282004,-0.361566,0.888676]]
2025-10-24T23:51:44.832Z,1761349904.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890797,0.438262,-0.120030],[-0.344382,-0.823467,-0.450892],[-0.296449,-0.360317,0.884471]]
2025-10-24T23:51:45.241Z,1761349905.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894261,0.426945,-0.134222],[-0.328713,-0.830107,-0.450412],[-0.303720,-0.358665,0.882674]]
2025-10-24T23:51:45.263Z,1761349905.263 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:51:45.263Z,1761349905.263 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:51:45.264Z,1761349905.264 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:51:45.264Z,1761349905.264 [marl:UpdateRudder:A] Stopped
2025-10-24T23:51:45.264Z,1761349905.264 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:51:45.637Z,1761349905.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897202,0.415955,-0.148359],[-0.313411,-0.836403,-0.449670],[-0.311130,-0.356947,0.880788]]
2025-10-24T23:51:45.685Z,1761349905.685 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:51:45.685Z,1761349905.685 [marl:UpdateRudder:B] Stopped
2025-10-24T23:51:45.685Z,1761349905.685 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:51:45.685Z,1761349905.685 [marl:UpdateRudder] Stopped
2025-10-24T23:51:45.685Z,1761349905.685 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:51:46.040Z,1761349906.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899371,0.405837,-0.162566],[-0.299107,-0.842394,-0.448226],[-0.318852,-0.354497,0.879014]]
2025-10-24T23:51:46.509Z,1761349906.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901018,0.396132,-0.176766],[-0.285098,-0.847911,-0.446952],[-0.326934,-0.352316,0.876919]]
2025-10-24T23:51:46.911Z,1761349906.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902238,0.387436,-0.189370],[-0.271946,-0.851978,-0.447413],[-0.334683,-0.352175,0.874048]]
2025-10-24T23:51:47.332Z,1761349907.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903394,0.378641,-0.201270],[-0.259521,-0.856424,-0.446303],[-0.341361,-0.350954,0.871954]]
2025-10-24T23:51:47.740Z,1761349907.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904410,0.370103,-0.212288],[-0.247520,-0.860389,-0.445493],[-0.347529,-0.350363,0.869753]]
2025-10-24T23:51:47.763Z,1761349907.763 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:51:47.763Z,1761349907.763 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:51:47.763Z,1761349907.763 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:51:47.763Z,1761349907.763 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:51:47.764Z,1761349907.764 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:51:47.764Z,1761349907.764 [marl:UpdateCommandMode] Stopped
2025-10-24T23:51:47.764Z,1761349907.764 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:51:47.764Z,1761349907.764 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:51:47.764Z,1761349907.764 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:51:47.764Z,1761349907.764 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:51:47.765Z,1761349907.765 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:51:47.765Z,1761349907.765 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:51:47.765Z,1761349907.765 [marl:UpdateSpeed] Stopped
2025-10-24T23:51:47.765Z,1761349907.765 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:51:48.139Z,1761349908.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905567,0.361508,-0.221949],[-0.235708,-0.863815,-0.445270],[-0.352691,-0.350906,0.867452]]
2025-10-24T23:51:48.543Z,1761349908.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906948,0.351843,-0.231628],[-0.223579,-0.868093,-0.443201],[-0.357011,-0.350173,0.865980]]
2025-10-24T23:51:48.963Z,1761349908.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908666,0.340617,-0.241467],[-0.210331,-0.873019,-0.439998],[-0.360677,-0.349023,0.864925]]
2025-10-24T23:51:49.350Z,1761349909.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910509,0.327656,-0.252221],[-0.195671,-0.878788,-0.435252],[-0.364262,-0.346949,0.864257]]
2025-10-24T23:51:49.754Z,1761349909.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912370,0.313284,-0.263505],[-0.179309,-0.884488,-0.430731],[-0.368008,-0.345737,0.863155]]
2025-10-24T23:51:50.573Z,1761349910.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915498,0.284248,-0.284721],[-0.145543,-0.893755,-0.424286],[-0.375073,-0.346993,0.859602]]
2025-10-24T23:51:50.978Z,1761349910.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916822,0.271145,-0.293117],[-0.129981,-0.896765,-0.422986],[-0.377548,-0.349703,0.857418]]
2025-10-24T23:51:51.370Z,1761349911.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918076,0.258671,-0.300376],[-0.115340,-0.899280,-0.421891],[-0.379253,-0.352683,0.855442]]
2025-10-24T23:51:51.781Z,1761349911.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919443,0.246366,-0.306476],[-0.101773,-0.901933,-0.419712],[-0.379824,-0.354711,0.854350]]
2025-10-24T23:51:51.918Z,1761349911.918 [DAT](INFO): DAT read: 

2025-10-24T23:51:51.919Z,1761349911.919 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:51:52.189Z,1761349912.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920788,0.233504,-0.312452],[-0.089096,-0.905755,-0.414331],[-0.379753,-0.353673,0.854812]]
2025-10-24T23:51:52.582Z,1761349912.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921941,0.219969,-0.318807],[-0.076525,-0.910309,-0.406793],[-0.379695,-0.350643,0.856085]]
2025-10-24T23:51:52.986Z,1761349912.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922663,0.206007,-0.325965],[-0.064373,-0.915757,-0.396541],[-0.380195,-0.344891,0.858197]]
2025-10-24T23:51:53.391Z,1761349913.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922904,0.191633,-0.333954],[-0.052056,-0.921484,-0.384913],[-0.381495,-0.337854,0.860416]]
2025-10-24T23:51:53.681Z,1761349913.681 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:51:53.682Z,1761349913.682 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:51:53.683Z,1761349913.683 [DAT](INFO): DAT read: Oct 24 2025 23:51:47 

2025-10-24T23:51:53.800Z,1761349913.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922589,0.178087,-0.342219],[-0.039772,-0.926255,-0.374792],[-0.383728,-0.332168,0.861636]]
2025-10-24T23:51:54.611Z,1761349914.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920449,0.152484,-0.359892],[-0.012809,-0.932036,-0.362138],[-0.390653,-0.328720,0.859845]]
2025-10-24T23:51:54.689Z,1761349914.689 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:51:54.690Z,1761349914.690 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:51:54.691Z,1761349914.691 [DAT](INFO): commRate: 600
2025-10-24T23:51:55.008Z,1761349915.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918899,0.138327,-0.369445],[0.002816,-0.934184,-0.356781],[-0.394482,-0.328886,0.858031]]
2025-10-24T23:51:55.411Z,1761349915.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917223,0.122942,-0.378928],[0.020282,-0.935543,-0.352629],[-0.397857,-0.331125,0.855609]]
2025-10-24T23:51:55.814Z,1761349915.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915546,0.106595,-0.387831],[0.038848,-0.936299,-0.349049],[-0.400332,-0.334637,0.853084]]
2025-10-24T23:51:56.221Z,1761349916.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913924,0.089990,-0.395783],[0.057465,-0.936601,-0.345653],[-0.401797,-0.338644,0.850811]]
2025-10-24T23:51:56.620Z,1761349916.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912564,0.074241,-0.402138],[0.074681,-0.936588,-0.342381],[-0.402057,-0.342477,0.849152]]
2025-10-24T23:51:56.756Z,1761349916.756 [DAT](INFO): entering command mode
2025-10-24T23:51:56.957Z,1761349916.957 [DAT](INFO): DAT read: 

2025-10-24T23:51:56.958Z,1761349916.958 [DAT](INFO): DAT read: user:1>

2025-10-24T23:51:56.959Z,1761349916.959 [DAT](INFO): setting verbose to 3
2025-10-24T23:51:57.030Z,1761349917.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911694,0.061141,-0.406294],[0.088928,-0.936062,-0.340410],[-0.401130,-0.346481,0.847966]]
2025-10-24T23:51:57.211Z,1761349917.211 [DAT](INFO): DAT read: user:1>

2025-10-24T23:51:57.212Z,1761349917.212 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:51:57.213Z,1761349917.213 [DAT](INFO): set verbose to 3
2025-10-24T23:51:57.213Z,1761349917.213 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:51:57.429Z,1761349917.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911504,0.051196,-0.408093],[0.100366,-0.934539,-0.341413],[-0.398858,-0.352158,0.846698]]
2025-10-24T23:51:57.461Z,1761349917.461 [DAT](INFO): DAT read: user:2>

2025-10-24T23:51:57.462Z,1761349917.462 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:51:57.462Z,1761349917.462 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:51:57.462Z,1761349917.462 [DAT](INFO): setting transmit power to 8
2025-10-24T23:51:57.713Z,1761349917.713 [DAT](INFO): DAT read: user:3>

2025-10-24T23:51:57.714Z,1761349917.714 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:51:57.714Z,1761349917.714 [DAT](INFO): set transmit power to 8
2025-10-24T23:51:57.714Z,1761349917.714 [DAT](INFO): setting local address to 11
2025-10-24T23:51:57.830Z,1761349917.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911676,0.041273,-0.408832],[0.110600,-0.933578,-0.340881],[-0.395745,-0.355989,0.846556]]
2025-10-24T23:51:57.941Z,1761349917.941 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:51:57.942Z,1761349917.942 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:51:57.942Z,1761349917.942 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:51:57.942Z,1761349917.942 [marl:UpdateRudder:A] Stopped
2025-10-24T23:51:57.943Z,1761349917.943 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:51:57.965Z,1761349917.965 [DAT](INFO): DAT read: user:4>

2025-10-24T23:51:57.966Z,1761349917.966 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:51:57.966Z,1761349917.966 [DAT](INFO): set local address to 11
2025-10-24T23:51:57.967Z,1761349917.967 [DAT](INFO): Setting time to: 23:51:57 And date to:10/24/2025
2025-10-24T23:51:58.087Z,1761349918.087 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:51:58.087Z,1761349918.087 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:51:58.217Z,1761349918.217 [DAT](INFO): DAT read: user:5>

2025-10-24T23:51:58.217Z,1761349918.217 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:51:57  

2025-10-24T23:51:58.218Z,1761349918.218 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:51:57  

2025-10-24T23:51:58.218Z,1761349918.218 [DAT](INFO): setting remote address to 10
2025-10-24T23:51:58.219Z,1761349918.219 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:51:58.219Z,1761349918.219 [DAT](INFO): setting remote address to 0
2025-10-24T23:51:58.242Z,1761349918.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912104,0.031817,-0.408722],[0.120156,-0.932453,-0.340727],[-0.391955,-0.359888,0.846671]]
2025-10-24T23:51:58.331Z,1761349918.331 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:51:58.331Z,1761349918.331 [marl:UpdateRudder:B] Stopped
2025-10-24T23:51:58.331Z,1761349918.331 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:51:58.331Z,1761349918.331 [marl:UpdateRudder] Stopped
2025-10-24T23:51:58.332Z,1761349918.332 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:51:58.469Z,1761349918.469 [DAT](INFO): DAT read: user:6>

2025-10-24T23:51:58.470Z,1761349918.470 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:51:58.470Z,1761349918.470 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:51:58.470Z,1761349918.470 [DAT] Communications Fault, FailCount= 3
2025-10-24T23:51:58.471Z,1761349918.471 [DAT](ERROR): Communications Fault
2025-10-24T23:51:58.471Z,1761349918.471 [DAT](INFO): DAT read: user:7>

2025-10-24T23:51:58.472Z,1761349918.472 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:51:58.473Z,1761349918.473 [DAT](INFO): set remote address to 0
2025-10-24T23:51:58.473Z,1761349918.473 [DAT](INFO): setting remote address to 10
2025-10-24T23:51:58.473Z,1761349918.473 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:51:58.474Z,1761349918.474 [DAT](INFO): setting remote address to 0
2025-10-24T23:51:58.799Z,1761349918.799 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:51:58.876Z,1761349918.876 [DAT](INFO): Powering down
2025-10-24T23:51:59.043Z,1761349919.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913676,0.009611,-0.406329],[0.138680,-0.932355,-0.333891],[-0.382052,-0.361418,0.850537]]
2025-10-24T23:51:59.461Z,1761349919.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914989,-0.003341,-0.403465],[0.147752,-0.933280,-0.327348],[-0.375452,-0.359133,0.854435]]
2025-10-24T23:51:59.893Z,1761349919.893 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:51:59.893Z,1761349919.893 [DAT] No Fault, FailCount= 3
2025-10-24T23:51:59.955Z,1761349919.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916513,-0.016224,-0.399676],[0.157244,-0.933349,-0.322697],[-0.367802,-0.358603,0.857978]]
2025-10-24T23:52:00.355Z,1761349920.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917914,-0.029825,-0.395657],[0.167253,-0.933335,-0.317667],[-0.359806,-0.357766,0.861709]]
2025-10-24T23:52:00.403Z,1761349920.403 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:52:00.403Z,1761349920.403 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:52:00.403Z,1761349920.403 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:52:00.408Z,1761349920.408 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:52:00.408Z,1761349920.408 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:52:00.408Z,1761349920.408 [marl:UpdateCommandMode] Stopped
2025-10-24T23:52:00.408Z,1761349920.408 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:52:00.408Z,1761349920.408 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:52:00.409Z,1761349920.409 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:52:00.409Z,1761349920.409 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:52:00.409Z,1761349920.409 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:52:00.409Z,1761349920.409 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:52:00.409Z,1761349920.409 [marl:UpdateSpeed] Stopped
2025-10-24T23:52:00.409Z,1761349920.409 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:52:00.411Z,1761349920.411 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:52:00.750Z,1761349920.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918968,-0.043586,-0.391915],[0.176815,-0.933905,-0.310736],[-0.352468,-0.354853,0.865936]]
2025-10-24T23:52:01.156Z,1761349921.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919677,-0.057674,-0.388416],[0.185830,-0.935303,-0.301123],[-0.345920,-0.349115,0.870895]]
2025-10-24T23:52:01.558Z,1761349921.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920622,-0.070882,-0.383967],[0.191963,-0.938496,-0.287011],[-0.340007,-0.337936,0.877607]]
2025-10-24T23:52:01.925Z,1761349921.925 [DAT](INFO): Powering up
2025-10-24T23:52:01.925Z,1761349921.925 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:52:01.963Z,1761349921.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921267,-0.085628,-0.379389],[0.196966,-0.943842,-0.265267],[-0.335369,-0.319108,0.886396]]
2025-10-24T23:52:02.366Z,1761349922.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922271,-0.098173,-0.373869],[0.199375,-0.949440,-0.242514],[-0.331158,-0.298204,0.895214]]
2025-10-24T23:52:02.772Z,1761349922.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923273,-0.107246,-0.368869],[0.200872,-0.953282,-0.225619],[-0.327439,-0.282403,0.901683]]
2025-10-24T23:52:03.174Z,1761349923.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924565,-0.111088,-0.364471],[0.201446,-0.954449,-0.220106],[-0.323418,-0.276924,0.904828]]
2025-10-24T23:52:03.228Z,1761349923.228 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:52:03.579Z,1761349923.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926378,-0.111492,-0.359714],[0.201454,-0.953727,-0.223205],[-0.318183,-0.279238,0.905972]]
2025-10-24T23:52:03.982Z,1761349923.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928360,-0.113301,-0.353991],[0.201888,-0.953374,-0.224318],[-0.312071,-0.279714,0.907949]]
2025-10-24T23:52:03.993Z,1761349923.993 [NAL9602](INFO): Powering up NAL9602
2025-10-24T23:52:04.232Z,1761349924.232 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:52:04.396Z,1761349924.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930281,-0.117331,-0.347578],[0.202403,-0.954372,-0.219561],[-0.305957,-0.274605,0.911582]]
2025-10-24T23:52:04.791Z,1761349924.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932050,-0.122428,-0.341019],[0.203162,-0.955897,-0.212097],[-0.300012,-0.266967,0.915817]]
2025-10-24T23:52:05.195Z,1761349925.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933957,-0.125966,-0.334450],[0.203439,-0.956795,-0.207741],[-0.293832,-0.262061,0.919232]]
2025-10-24T23:52:05.599Z,1761349925.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935586,-0.130428,-0.328127],[0.204436,-0.957768,-0.202201],[-0.287897,-0.256258,0.922739]]
2025-10-24T23:52:06.004Z,1761349926.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937032,-0.132912,-0.322962],[0.204881,-0.958107,-0.200136],[-0.282832,-0.253703,0.925009]]
2025-10-24T23:52:06.411Z,1761349926.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938209,-0.133869,-0.319129],[0.204293,-0.958574,-0.198497],[-0.279336,-0.251427,0.926691]]
2025-10-24T23:52:06.810Z,1761349926.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938827,-0.134853,-0.316888],[0.203056,-0.959943,-0.193074],[-0.278158,-0.245609,0.928603]]
2025-10-24T23:52:07.214Z,1761349927.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938691,-0.136846,-0.316437],[0.201924,-0.962173,-0.182892],[-0.279439,-0.235576,0.930816]]
2025-10-24T23:52:07.620Z,1761349927.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937503,-0.139150,-0.318944],[0.202194,-0.963793,-0.173842],[-0.283206,-0.227466,0.931694]]
2025-10-24T23:52:08.022Z,1761349928.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935138,-0.142999,-0.324142],[0.204789,-0.964766,-0.165192],[-0.289099,-0.220858,0.931474]]
2025-10-24T23:52:08.434Z,1761349928.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931780,-0.149090,-0.330996],[0.209790,-0.965254,-0.155798],[-0.296267,-0.214609,0.930682]]
2025-10-24T23:52:08.831Z,1761349928.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928092,-0.156368,-0.337927],[0.216292,-0.965133,-0.147435],[-0.303090,-0.209924,0.929553]]
2025-10-24T23:52:09.241Z,1761349929.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924651,-0.162754,-0.344286],[0.223011,-0.964253,-0.143113],[-0.308686,-0.209109,0.927893]]
2025-10-24T23:52:09.638Z,1761349929.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922086,-0.166869,-0.349158],[0.228324,-0.963069,-0.142708],[-0.312450,-0.211311,0.926133]]
2025-10-24T23:52:10.043Z,1761349930.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920595,-0.166208,-0.353385],[0.230658,-0.961620,-0.148603],[-0.315123,-0.218314,0.923600]]
2025-10-24T23:52:10.451Z,1761349930.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919203,-0.166597,-0.356806],[0.232234,-0.961097,-0.149534],[-0.318013,-0.220315,0.922133]]
2025-10-24T23:52:10.856Z,1761349930.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916952,-0.171504,-0.360257],[0.235936,-0.961199,-0.142933],[-0.321765,-0.216060,0.921838]]
2025-10-24T23:52:10.879Z,1761349930.879 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:52:10.879Z,1761349930.879 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:52:10.879Z,1761349930.879 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:52:10.880Z,1761349930.880 [marl:UpdateRudder:A] Stopped
2025-10-24T23:52:10.880Z,1761349930.880 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:52:11.275Z,1761349931.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912112,-0.168786,-0.373582],[0.239859,-0.958763,-0.152450],[-0.332445,-0.228658,0.914984]]
2025-10-24T23:52:11.298Z,1761349931.298 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:52:11.298Z,1761349931.298 [marl:UpdateRudder:B] Stopped
2025-10-24T23:52:11.298Z,1761349931.298 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:52:11.298Z,1761349931.298 [marl:UpdateRudder] Stopped
2025-10-24T23:52:11.299Z,1761349931.299 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:52:11.676Z,1761349931.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909695,-0.167048,-0.380197],[0.240538,-0.958264,-0.154501],[-0.338520,-0.232001,0.911910]]
2025-10-24T23:52:12.070Z,1761349932.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907404,-0.165304,-0.386383],[0.240440,-0.958258,-0.154697],[-0.344682,-0.233274,0.909273]]
2025-10-24T23:52:12.479Z,1761349932.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905435,-0.163077,-0.391910],[0.239814,-0.958320,-0.155282],[-0.350252,-0.234583,0.906804]]
2025-10-24T23:52:13.039Z,1761349933.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903669,-0.160521,-0.397007],[0.238860,-0.958412,-0.156182],[-0.355426,-0.235966,0.904429]]
2025-10-24T23:52:13.472Z,1761349933.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901650,-0.159662,-0.401915],[0.239258,-0.958334,-0.156047],[-0.360254,-0.236861,0.902283]]
2025-10-24T23:52:13.511Z,1761349933.511 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:52:13.511Z,1761349933.511 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:52:13.511Z,1761349933.511 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:52:13.512Z,1761349933.512 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:52:13.512Z,1761349933.512 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:52:13.512Z,1761349933.512 [marl:UpdateCommandMode] Stopped
2025-10-24T23:52:13.512Z,1761349933.512 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:52:13.513Z,1761349933.513 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:52:13.513Z,1761349933.513 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:52:13.513Z,1761349933.513 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:52:13.513Z,1761349933.513 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:52:13.513Z,1761349933.513 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:52:13.513Z,1761349933.513 [marl:UpdateSpeed] Stopped
2025-10-24T23:52:13.513Z,1761349933.513 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:52:13.939Z,1761349933.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899502,-0.161015,-0.406166],[0.240452,-0.958608,-0.152491],[-0.364801,-0.234830,0.900986]]
2025-10-24T23:52:14.025Z,1761349934.025 [DAT](INFO): DAT read: 

2025-10-24T23:52:14.025Z,1761349934.025 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:52:14.341Z,1761349934.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895952,-0.168882,-0.410790],[0.246202,-0.958631,-0.142870],[-0.369668,-0.229142,0.900466]]
2025-10-24T23:52:15.146Z,1761349935.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883683,-0.185295,-0.429849],[0.272116,-0.950555,-0.149660],[-0.380864,-0.249221,0.890411]]
2025-10-24T23:52:15.150Z,1761349935.150 [NAL9602](INFO): NAL9602 initialized
2025-10-24T23:52:15.551Z,1761349935.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876023,-0.188937,-0.443720],[0.288484,-0.942598,-0.168184],[-0.386473,-0.275340,0.880242]]
2025-10-24T23:52:15.793Z,1761349935.793 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:52:15.794Z,1761349935.794 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:52:15.795Z,1761349935.795 [DAT](INFO): DAT read: Oct 24 2025 23:52:09 

2025-10-24T23:52:16.003Z,1761349936.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867978,-0.191327,-0.458266],[0.306582,-0.932401,-0.191402],[-0.390667,-0.306629,0.867962]]
2025-10-24T23:52:16.426Z,1761349936.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860337,-0.196942,-0.470143],[0.326407,-0.921291,-0.211381],[-0.391508,-0.335317,0.856903]]
2025-10-24T23:52:16.809Z,1761349936.809 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:52:16.810Z,1761349936.810 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:52:16.810Z,1761349936.810 [DAT](INFO): commRate: 600
2025-10-24T23:52:16.916Z,1761349936.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853471,-0.221336,-0.471802],[0.363773,-0.901298,-0.235226],[-0.373170,-0.372387,0.849748]]
2025-10-24T23:52:17.298Z,1761349937.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854902,-0.238137,-0.460905],[0.377310,-0.895157,-0.237344],[-0.356062,-0.376810,0.855123]]
2025-10-24T23:52:17.694Z,1761349937.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856551,-0.255557,-0.448343],[0.388125,-0.891589,-0.233299],[-0.340116,-0.373845,0.862879]]
2025-10-24T23:52:18.099Z,1761349938.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856798,-0.268471,-0.440250],[0.395557,-0.889912,-0.227136],[-0.330804,-0.368754,0.868671]]
2025-10-24T23:52:18.535Z,1761349938.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853595,-0.276680,-0.441389],[0.401714,-0.889051,-0.219575],[-0.331665,-0.364741,0.870036]]
2025-10-24T23:52:18.876Z,1761349938.876 [DAT](INFO): entering command mode
2025-10-24T23:52:18.939Z,1761349938.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844517,-0.279575,-0.456758],[0.410478,-0.885721,-0.216811],[-0.343945,-0.370590,0.862766]]
2025-10-24T23:52:19.076Z,1761349939.076 [DAT](INFO): DAT read: 

2025-10-24T23:52:19.077Z,1761349939.077 [DAT](INFO): DAT read: user:1>

2025-10-24T23:52:19.077Z,1761349939.077 [DAT](INFO): setting verbose to 3
2025-10-24T23:52:19.329Z,1761349939.329 [DAT](INFO): DAT read: user:1>

2025-10-24T23:52:19.330Z,1761349939.330 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:52:19.330Z,1761349939.330 [DAT](INFO): set verbose to 3
2025-10-24T23:52:19.330Z,1761349939.330 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:52:19.352Z,1761349939.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829367,-0.283464,-0.481454],[0.424383,-0.880103,-0.212881],[-0.363385,-0.380878,0.850226]]
2025-10-24T23:52:19.581Z,1761349939.581 [DAT](INFO): DAT read: user:2>

2025-10-24T23:52:19.581Z,1761349939.581 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:52:19.582Z,1761349939.582 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:52:19.582Z,1761349939.582 [DAT](INFO): setting transmit power to 8
2025-10-24T23:52:19.748Z,1761349939.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810881,-0.294029,-0.505983],[0.443543,-0.872817,-0.203618],[-0.381761,-0.389535,0.838165]]
2025-10-24T23:52:19.833Z,1761349939.833 [DAT](INFO): DAT read: user:3>

2025-10-24T23:52:19.836Z,1761349939.836 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:52:19.837Z,1761349939.837 [DAT](INFO): set transmit power to 8
2025-10-24T23:52:19.838Z,1761349939.838 [DAT](INFO): setting local address to 11
2025-10-24T23:52:20.087Z,1761349940.087 [DAT](INFO): DAT read: user:4>

2025-10-24T23:52:20.087Z,1761349940.087 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:52:20.088Z,1761349940.088 [DAT](INFO): set local address to 11
2025-10-24T23:52:20.089Z,1761349940.089 [DAT](INFO): Setting time to: 23:52:20 And date to:10/24/2025
2025-10-24T23:52:20.338Z,1761349940.338 [DAT](INFO): DAT read: user:5>

2025-10-24T23:52:20.339Z,1761349940.339 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:52:20  

2025-10-24T23:52:20.339Z,1761349940.339 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:52:20  

2025-10-24T23:52:20.340Z,1761349940.340 [DAT](INFO): setting remote address to 10
2025-10-24T23:52:20.342Z,1761349940.342 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:52:20.342Z,1761349940.342 [DAT](INFO): setting remote address to 0
2025-10-24T23:52:20.589Z,1761349940.589 [DAT](INFO): DAT read: user:6>

2025-10-24T23:52:20.590Z,1761349940.590 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:52:20.590Z,1761349940.590 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-24T23:52:20.590Z,1761349940.590 [DAT] Communications Fault, FailCount= 4
2025-10-24T23:52:20.590Z,1761349940.590 [DAT](ERROR): Communications Fault
2025-10-24T23:52:20.591Z,1761349940.591 [DAT](INFO): DAT read: user:7>

2025-10-24T23:52:20.592Z,1761349940.592 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:52:20.593Z,1761349940.593 [DAT](INFO): set remote address to 0
2025-10-24T23:52:20.593Z,1761349940.593 [DAT](INFO): setting remote address to 10
2025-10-24T23:52:20.593Z,1761349940.593 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:52:20.593Z,1761349940.593 [DAT](INFO): setting remote address to 0
2025-10-24T23:52:20.748Z,1761349940.748 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:52:20.770Z,1761349940.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784459,-0.330708,-0.524648],[0.487055,-0.852217,-0.191061],[-0.383929,-0.405412,0.829602]]
2025-10-24T23:52:20.996Z,1761349940.996 [DAT](INFO): Powering down
2025-10-24T23:52:21.207Z,1761349941.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782007,-0.354777,-0.512443],[0.505853,-0.841594,-0.189295],[-0.364112,-0.407251,0.837597]]
2025-10-24T23:52:21.606Z,1761349941.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785870,-0.379506,-0.488246],[0.519786,-0.833111,-0.189072],[-0.335009,-0.402369,0.851979]]
2025-10-24T23:52:22.011Z,1761349942.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792121,-0.401515,-0.459706],[0.528912,-0.827439,-0.188671],[-0.304625,-0.392594,0.867798]]
2025-10-24T23:52:22.407Z,1761349942.407 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:52:22.407Z,1761349942.407 [DAT] No Fault, FailCount= 4
2025-10-24T23:52:22.429Z,1761349942.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794209,-0.420422,-0.438721],[0.537181,-0.823258,-0.183530],[-0.284021,-0.381434,0.879682]]
2025-10-24T23:52:23.306Z,1761349943.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769893,-0.454966,-0.447516],[0.558065,-0.820130,-0.126296],[-0.309561,-0.346977,0.885313]]
2025-10-24T23:52:23.703Z,1761349943.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757133,-0.461158,-0.462691],[0.563897,-0.818948,-0.106509],[-0.329802,-0.341552,0.880098]]
2025-10-24T23:52:24.129Z,1761349944.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744401,-0.469283,-0.475017],[0.573520,-0.813674,-0.094914],[-0.341967,-0.343085,0.874843]]
2025-10-24T23:52:24.196Z,1761349944.196 [DAT](INFO): Powering up
2025-10-24T23:52:24.196Z,1761349944.196 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:52:24.536Z,1761349944.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731749,-0.482969,-0.480920],[0.589757,-0.802373,-0.091560],[-0.341657,-0.350625,0.871971]]
2025-10-24T23:52:24.560Z,1761349944.560 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:52:24.561Z,1761349944.561 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:52:24.561Z,1761349944.561 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:52:24.563Z,1761349944.563 [marl:UpdateRudder:A] Stopped
2025-10-24T23:52:24.563Z,1761349944.563 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:52:24.934Z,1761349944.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722052,-0.499148,-0.479054],[0.609159,-0.786946,-0.098196],[-0.327974,-0.362722,0.872276]]
2025-10-24T23:52:24.982Z,1761349944.982 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:52:24.982Z,1761349944.982 [marl:UpdateRudder:B] Stopped
2025-10-24T23:52:24.982Z,1761349944.982 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:52:24.982Z,1761349944.982 [marl:UpdateRudder] Stopped
2025-10-24T23:52:24.982Z,1761349944.982 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:52:25.367Z,1761349945.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715013,-0.517895,-0.469618],[0.628519,-0.770341,-0.107413],[-0.306138,-0.371966,0.876311]]
2025-10-24T23:52:25.742Z,1761349945.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707270,-0.540108,-0.456127],[0.647119,-0.754393,-0.110131],[-0.284616,-0.373061,0.883074]]
2025-10-24T23:52:26.148Z,1761349946.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696809,-0.561662,-0.446087],[0.664625,-0.739456,-0.107136],[-0.269688,-0.371134,0.888554]]
2025-10-24T23:52:26.561Z,1761349946.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685016,-0.572734,-0.450255],[0.678749,-0.726262,-0.108825],[-0.264675,-0.380157,0.886244]]
2025-10-24T23:52:26.621Z,1761349946.621 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:52:26.621Z,1761349946.621 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:52:26.621Z,1761349946.621 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:52:26.622Z,1761349946.622 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:52:26.622Z,1761349946.622 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:52:26.622Z,1761349946.622 [marl:UpdateCommandMode] Stopped
2025-10-24T23:52:26.622Z,1761349946.622 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:52:26.622Z,1761349946.622 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:52:26.622Z,1761349946.622 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:52:26.622Z,1761349946.622 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:52:26.623Z,1761349946.623 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:52:26.623Z,1761349946.623 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:52:26.623Z,1761349946.623 [marl:UpdateSpeed] Stopped
2025-10-24T23:52:26.623Z,1761349946.623 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:52:26.955Z,1761349946.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674253,-0.575707,-0.462541],[0.687546,-0.717972,-0.108614],[-0.269562,-0.391252,0.879920]]
2025-10-24T23:52:27.411Z,1761349947.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664130,-0.582576,-0.468548],[0.692826,-0.715096,-0.092902],[-0.280934,-0.386321,0.878540]]
2025-10-24T23:52:27.918Z,1761349947.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654889,-0.594800,-0.466191],[0.696833,-0.714012,-0.067900],[-0.292479,-0.369324,0.882075]]
2025-10-24T23:52:28.786Z,1761349948.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630381,-0.620552,-0.466407],[0.711351,-0.702318,-0.027009],[-0.310806,-0.348805,0.884158]]
2025-10-24T23:52:29.191Z,1761349949.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617147,-0.630278,-0.471041],[0.720791,-0.692940,-0.017172],[-0.315580,-0.350119,0.881944]]
2025-10-24T23:52:29.595Z,1761349949.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607895,-0.636520,-0.474664],[0.729511,-0.683748,-0.017375],[-0.313491,-0.356835,0.879996]]
2025-10-24T23:52:30.001Z,1761349950.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596211,-0.650284,-0.470812],[0.742598,-0.669556,-0.015597],[-0.305092,-0.358923,0.882096]]
2025-10-24T23:52:30.500Z,1761349950.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562537,-0.687176,-0.459718],[0.774231,-0.632902,-0.001347],[-0.290031,-0.356686,0.888064]]
2025-10-24T23:52:30.901Z,1761349950.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545798,-0.697465,-0.464378],[0.784159,-0.620475,0.010266],[-0.295295,-0.358543,0.885578]]
2025-10-24T23:52:31.409Z,1761349951.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536504,-0.699263,-0.472436],[0.787355,-0.616238,0.017978],[-0.303704,-0.362329,0.881182]]
2025-10-24T23:52:31.810Z,1761349951.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536182,-0.700227,-0.471372],[0.786788,-0.616853,0.021375],[-0.305735,-0.359409,0.881675]]
2025-10-24T23:52:32.313Z,1761349952.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538209,-0.707420,-0.458135],[0.786688,-0.616711,0.028094],[-0.302411,-0.345289,0.888439]]
2025-10-24T23:52:32.717Z,1761349952.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532597,-0.716711,-0.450185],[0.789074,-0.612850,0.042155],[-0.306108,-0.332778,0.891940]]
2025-10-24T23:52:33.930Z,1761349953.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469455,-0.740832,-0.480395],[0.825741,-0.561033,0.058250],[-0.312671,-0.369336,0.875116]]
2025-10-24T23:52:34.337Z,1761349954.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459649,-0.753377,-0.470261],[0.845340,-0.533475,0.028384],[-0.272256,-0.384483,0.882071]]
2025-10-24T23:52:34.354Z,1761349954.354 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:52:34.734Z,1761349954.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453475,-0.769225,-0.450170],[0.856373,-0.516006,0.019062],[-0.246953,-0.376870,0.892739]]
2025-10-24T23:52:35.138Z,1761349955.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442539,-0.781624,-0.439571],[0.859386,-0.509674,0.041089],[-0.256155,-0.359578,0.897267]]
2025-10-24T23:52:35.357Z,1761349955.357 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:52:35.543Z,1761349955.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420327,-0.788506,-0.448981],[0.860284,-0.503639,0.079116],[-0.288507,-0.352997,0.890032]]
2025-10-24T23:52:35.563Z,1761349955.563 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-10-24T23:52:35.601Z,1761349955.601 [marl:NeedComms:C] Running Loop=1
2025-10-24T23:52:36.004Z,1761349956.004 [Radio_Surface](INFO): Powering up
2025-10-24T23:52:36.121Z,1761349956.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380225,-0.789367,-0.482005],[0.849155,-0.504479,0.156324],[-0.366559,-0.349859,0.862110]]
2025-10-24T23:52:36.292Z,1761349956.292 [DAT](INFO): DAT read: 

2025-10-24T23:52:36.293Z,1761349956.293 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:52:36.685Z,1761349956.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375926,-0.775271,-0.507577],[0.833394,-0.522343,0.180589],[-0.405134,-0.355124,0.842468]]
2025-10-24T23:52:37.066Z,1761349957.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333037,-0.766871,-0.548630],[0.850268,-0.495759,0.176827],[-0.407592,-0.407592,0.817152]]
2025-10-24T23:52:37.471Z,1761349957.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262439,-0.791040,-0.552613],[0.912629,-0.389489,0.124123],[-0.313423,-0.471756,0.824143]]
2025-10-24T23:52:37.918Z,1761349957.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242416,-0.830093,-0.502176],[0.954102,-0.297800,0.031687],[-0.175851,-0.471446,0.864185]]
2025-10-24T23:52:38.001Z,1761349958.001 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:52:38.001Z,1761349958.001 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:52:38.002Z,1761349958.002 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:52:38.002Z,1761349958.002 [marl:UpdateRudder:A] Stopped
2025-10-24T23:52:38.002Z,1761349958.002 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:52:38.057Z,1761349958.057 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:52:38.058Z,1761349958.058 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:52:38.059Z,1761349958.059 [DAT](INFO): DAT read: Oct 24 2025 23:52:32 

2025-10-24T23:52:38.278Z,1761349958.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291606,-0.854955,-0.428973],[0.952600,-0.300217,-0.049214],[-0.086709,-0.422991,0.901976]]
2025-10-24T23:52:38.311Z,1761349958.311 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:52:38.311Z,1761349958.311 [marl:UpdateRudder:B] Stopped
2025-10-24T23:52:38.312Z,1761349958.312 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:52:38.312Z,1761349958.312 [marl:UpdateRudder] Stopped
2025-10-24T23:52:38.312Z,1761349958.312 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:52:38.686Z,1761349958.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332903,-0.874027,-0.353911],[0.936271,-0.351005,-0.013843],[-0.112125,-0.335965,0.935176]]
2025-10-24T23:52:39.065Z,1761349959.065 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:52:39.066Z,1761349959.066 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:52:39.067Z,1761349959.067 [DAT](INFO): commRate: 600
2025-10-24T23:52:39.103Z,1761349959.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297055,-0.898524,-0.323131],[0.943912,-0.327423,0.042720],[-0.144185,-0.292317,0.945390]]
2025-10-24T23:52:39.492Z,1761349959.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233353,-0.936242,-0.262675],[0.968236,-0.248666,0.026156],[-0.089806,-0.248228,0.964530]]
2025-10-24T23:52:39.921Z,1761349959.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211467,-0.955025,-0.207869],[0.977385,-0.206842,-0.043996],[-0.000978,-0.212471,0.977167]]
2025-10-24T23:52:39.992Z,1761349959.992 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:52:39.992Z,1761349959.992 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:52:39.992Z,1761349959.992 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:52:39.992Z,1761349959.992 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:52:39.993Z,1761349959.993 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:52:39.993Z,1761349959.993 [marl:UpdateCommandMode] Stopped
2025-10-24T23:52:39.993Z,1761349959.993 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:52:39.993Z,1761349959.993 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:52:39.993Z,1761349959.993 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:52:39.993Z,1761349959.993 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:52:39.993Z,1761349959.993 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:52:39.993Z,1761349959.993 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:52:39.993Z,1761349959.993 [marl:UpdateSpeed] Stopped
2025-10-24T23:52:39.994Z,1761349959.994 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:52:40.299Z,1761349960.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223751,-0.964005,-0.143631],[0.972841,-0.211933,-0.093087],[0.059296,-0.160559,0.985244]]
2025-10-24T23:52:40.703Z,1761349960.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227462,-0.968136,-0.104759],[0.973672,-0.224464,-0.039726],[0.014946,-0.111037,0.993704]]
2025-10-24T23:52:41.107Z,1761349961.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230261,-0.965482,-0.121756],[0.971227,-0.235823,0.033240],[-0.060806,-0.110599,0.992003]]
2025-10-24T23:52:41.132Z,1761349961.132 [DAT](INFO): entering command mode
2025-10-24T23:52:41.256Z,1761349961.256 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-10-24T23:52:41.257Z,1761349961.257 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-10-24T23:52:41.333Z,1761349961.333 [DAT](INFO): DAT read: 

2025-10-24T23:52:41.334Z,1761349961.334 [DAT](INFO): DAT read: user:1>

2025-10-24T23:52:41.335Z,1761349961.335 [DAT](INFO): setting verbose to 3
2025-10-24T23:52:41.511Z,1761349961.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229325,-0.955510,-0.185503],[0.970055,-0.240028,0.037148],[-0.080021,-0.171429,0.981941]]
2025-10-24T23:52:41.585Z,1761349961.585 [DAT](INFO): DAT read: user:1>

2025-10-24T23:52:41.586Z,1761349961.586 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:52:41.586Z,1761349961.586 [DAT](INFO): set verbose to 3
2025-10-24T23:52:41.587Z,1761349961.587 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:52:41.839Z,1761349961.839 [DAT](INFO): DAT read: user:2>

2025-10-24T23:52:41.841Z,1761349961.841 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:52:41.841Z,1761349961.841 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:52:41.841Z,1761349961.841 [DAT](INFO): setting transmit power to 8
2025-10-24T23:52:41.946Z,1761349961.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237625,-0.954602,-0.179640],[0.969235,-0.245232,0.021067],[-0.064164,-0.169107,0.983507]]
2025-10-24T23:52:42.090Z,1761349962.090 [DAT](INFO): DAT read: user:3>

2025-10-24T23:52:42.091Z,1761349962.091 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:52:42.091Z,1761349962.091 [DAT](INFO): set transmit power to 8
2025-10-24T23:52:42.091Z,1761349962.091 [DAT](INFO): setting local address to 11
2025-10-24T23:52:42.318Z,1761349962.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212055,-0.968631,-0.129565],[0.977239,-0.211005,-0.021937],[-0.006090,-0.131267,0.991328]]
2025-10-24T23:52:42.341Z,1761349962.341 [DAT](INFO): DAT read: user:4>

2025-10-24T23:52:42.342Z,1761349962.342 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:52:42.343Z,1761349962.343 [DAT](INFO): set local address to 11
2025-10-24T23:52:42.344Z,1761349962.344 [DAT](INFO): Setting time to: 23:52:42 And date to:10/24/2025
2025-10-24T23:52:42.593Z,1761349962.593 [DAT](INFO): DAT read: user:5>

2025-10-24T23:52:42.593Z,1761349962.593 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:52:42  

2025-10-24T23:52:42.594Z,1761349962.594 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:52:42  

2025-10-24T23:52:42.595Z,1761349962.595 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:52:42.595Z,1761349962.595 [DAT](INFO): setting remote address to 0
2025-10-24T23:52:42.722Z,1761349962.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184025,-0.979069,-0.086939],[0.981891,-0.179062,-0.061868],[0.045006,-0.096750,0.994291]]
2025-10-24T23:52:42.846Z,1761349962.846 [DAT](INFO): DAT read: user:6>

2025-10-24T23:52:42.848Z,1761349962.848 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:52:42.849Z,1761349962.849 [DAT](INFO): set remote address to 0
2025-10-24T23:52:42.849Z,1761349962.849 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:52:42.849Z,1761349962.849 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T23:52:43.097Z,1761349963.097 [DAT](INFO): DAT read: user:7>

2025-10-24T23:52:43.097Z,1761349963.097 [DAT](INFO): DAT read: Tx time:23:52:42.6585

2025-10-24T23:52:43.098Z,1761349963.098 [DAT](INFO): Ping request sent.
2025-10-24T23:52:43.098Z,1761349963.098 [DAT](INFO): transmitted an acoustic signal
2025-10-24T23:52:43.098Z,1761349963.098 [DAT](INFO): publishing transmit ping time
2025-10-24T23:52:43.099Z,1761349963.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000938
2025-10-24T23:52:43.137Z,1761349963.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180846,-0.981939,-0.055582],[0.981656,-0.176747,-0.071503],[0.060387,-0.067494,0.995891]]
2025-10-24T23:52:43.351Z,1761349963.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252654
2025-10-24T23:52:43.530Z,1761349963.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157426,-0.986746,-0.039354],[0.983614,-0.153131,-0.095158],[0.087871,-0.053689,0.994684]]
2025-10-24T23:52:43.601Z,1761349963.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503009
2025-10-24T23:52:43.856Z,1761349963.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757417
2025-10-24T23:52:43.934Z,1761349963.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123569,-0.992225,-0.014828],[0.984899,-0.120803,-0.124022],[0.121266,-0.029929,0.992169]]
2025-10-24T23:52:44.105Z,1761349964.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006959
2025-10-24T23:52:44.349Z,1761349964.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103951,-0.994473,0.014764],[0.991932,-0.104746,-0.071410],[0.072562,0.007221,0.997338]]
2025-10-24T23:52:44.358Z,1761349964.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259699
2025-10-24T23:52:44.609Z,1761349964.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511075
2025-10-24T23:52:44.746Z,1761349964.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104990,-0.994171,-0.024522],[0.994172,-0.105534,0.022018],[-0.024478,-0.022068,0.999457]]
2025-10-24T23:52:44.862Z,1761349964.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763953
2025-10-24T23:52:45.113Z,1761349965.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015027
2025-10-24T23:52:45.146Z,1761349965.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102402,-0.990374,-0.093129],[0.993674,-0.106183,0.036580],[-0.046117,-0.088793,0.994982]]
2025-10-24T23:52:45.365Z,1761349965.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267459
2025-10-24T23:52:45.550Z,1761349965.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073951,-0.985413,-0.153270],[0.997159,-0.075268,0.002803],[-0.014299,-0.152627,0.988180]]
2025-10-24T23:52:45.617Z,1761349965.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519303
2025-10-24T23:52:45.871Z,1761349965.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773311
2025-10-24T23:52:45.954Z,1761349965.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074025,-0.985980,-0.149543],[0.996241,-0.066347,-0.055700],[0.044997,-0.153104,0.987185]]
2025-10-24T23:52:46.121Z,1761349966.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022924
2025-10-24T23:52:46.363Z,1761349966.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093487,-0.993417,-0.066201],[0.991289,-0.086679,-0.099164],[0.092773,-0.074895,0.992867]]
2025-10-24T23:52:46.373Z,1761349966.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275034
2025-10-24T23:52:46.625Z,1761349966.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527042
2025-10-24T23:52:46.762Z,1761349966.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042341,-0.999010,-0.013682],[0.987003,-0.039699,-0.155721],[0.155023,-0.020097,0.987706]]
2025-10-24T23:52:46.878Z,1761349966.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780098
2025-10-24T23:52:47.129Z,1761349967.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030825
2025-10-24T23:52:47.166Z,1761349967.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032136,-0.998574,0.042625],[0.977153,0.022425,-0.211349],[0.210091,0.048443,0.976481]]
2025-10-24T23:52:47.381Z,1761349967.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283032
2025-10-24T23:52:47.571Z,1761349967.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050807,-0.994374,0.092946],[0.973171,0.028381,-0.228327],[0.224404,0.102053,0.969138]]
2025-10-24T23:52:47.635Z,1761349967.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.537361
2025-10-24T23:52:47.887Z,1761349967.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788892
2025-10-24T23:52:47.975Z,1761349967.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090985,-0.993764,0.064452],[0.987016,0.081386,-0.138476],[0.132367,0.076215,0.988266]]
2025-10-24T23:52:48.137Z,1761349968.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039026
2025-10-24T23:52:48.378Z,1761349968.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145804,-0.988975,-0.025872],[0.989313,0.145749,0.004030],[-0.000215,-0.026183,0.999657]]
2025-10-24T23:52:48.393Z,1761349968.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294694
2025-10-24T23:52:48.648Z,1761349968.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.549829
2025-10-24T23:52:48.782Z,1761349968.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154916,-0.981384,-0.113518],[0.987792,0.155772,0.001344],[0.016364,-0.112341,0.993535]]
2025-10-24T23:52:48.898Z,1761349968.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799743
2025-10-24T23:52:49.149Z,1761349969.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050957
2025-10-24T23:52:49.186Z,1761349969.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098103,-0.984167,-0.147618],[0.989428,0.112377,-0.091668],[0.106806,-0.137064,0.984787]]
2025-10-24T23:52:49.401Z,1761349969.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302986
2025-10-24T23:52:49.592Z,1761349969.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036611,-0.991790,-0.122524],[0.996567,0.045345,-0.069267],[0.074254,-0.119567,0.990045]]
2025-10-24T23:52:49.654Z,1761349969.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555762
2025-10-24T23:52:49.907Z,1761349969.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.808698
2025-10-24T23:52:49.994Z,1761349969.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082047,-0.987948,-0.131248],[0.994719,0.089325,-0.050553],[0.061668,-0.126407,0.990060]]
2025-10-24T23:52:50.157Z,1761349970.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058994
2025-10-24T23:52:50.406Z,1761349970.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184456,-0.973161,-0.137599],[0.966665,0.204929,-0.153504],[0.177583,-0.104697,0.978521]]
2025-10-24T23:52:50.409Z,1761349970.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311113
2025-10-24T23:52:50.661Z,1761349970.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563248
2025-10-24T23:52:50.810Z,1761349970.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259487,-0.960668,-0.098912],[0.915979,0.277275,-0.290003],[0.306023,-0.015349,0.951900]]
2025-10-24T23:52:50.913Z,1761349970.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814858
2025-10-24T23:52:50.930Z,1761349970.930 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:52:50.930Z,1761349970.930 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:52:50.930Z,1761349970.930 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:52:50.931Z,1761349970.931 [marl:UpdateRudder:A] Stopped
2025-10-24T23:52:50.931Z,1761349970.931 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:52:51.165Z,1761349971.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066958
2025-10-24T23:52:51.206Z,1761349971.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329962,-0.942866,-0.046133],[0.899498,0.328860,-0.287671],[0.286407,0.053424,0.956617]]
2025-10-24T23:52:51.260Z,1761349971.260 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:52:51.260Z,1761349971.260 [marl:UpdateRudder:B] Stopped
2025-10-24T23:52:51.260Z,1761349971.260 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:52:51.260Z,1761349971.260 [marl:UpdateRudder] Stopped
2025-10-24T23:52:51.260Z,1761349971.260 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:52:51.417Z,1761349971.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318896
2025-10-24T23:52:51.610Z,1761349971.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374004,-0.927151,0.022634],[0.926064,0.372020,-0.063299],[0.050267,0.044635,0.997738]]
2025-10-24T23:52:51.669Z,1761349971.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571538
2025-10-24T23:52:51.921Z,1761349971.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822988
2025-10-24T23:52:52.015Z,1761349972.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355064,-0.934548,-0.023448],[0.931899,0.351846,0.088141],[-0.074122,-0.053147,0.995832]]
2025-10-24T23:52:52.173Z,1761349972.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074876
2025-10-24T23:52:52.422Z,1761349972.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336165,-0.934958,-0.113347],[0.941727,0.332166,0.053065],[-0.011964,-0.124581,0.992137]]
2025-10-24T23:52:52.426Z,1761349972.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327677
2025-10-24T23:52:52.678Z,1761349972.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579860
2025-10-24T23:52:52.830Z,1761349972.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290679,-0.942798,-0.163211],[0.955840,0.293848,0.004921],[0.043320,-0.157434,0.986579]]
2025-10-24T23:52:52.867Z,1761349972.867 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:52:52.868Z,1761349972.868 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:52:52.868Z,1761349972.868 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:52:52.868Z,1761349972.868 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:52:52.868Z,1761349972.868 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:52:52.868Z,1761349972.868 [marl:UpdateCommandMode] Stopped
2025-10-24T23:52:52.869Z,1761349972.869 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:52:52.869Z,1761349972.869 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:52:52.869Z,1761349972.869 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:52:52.869Z,1761349972.869 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:52:52.869Z,1761349972.869 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:52:52.869Z,1761349972.869 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:52:52.869Z,1761349972.869 [marl:UpdateSpeed] Stopped
2025-10-24T23:52:52.869Z,1761349972.869 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:52:52.929Z,1761349972.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831452
2025-10-24T23:52:53.180Z,1761349973.180 [DAT](INFO): Reached modem response timeout
2025-10-24T23:52:53.228Z,1761349973.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249829,-0.953984,-0.165832],[0.967284,0.253686,-0.002146],[0.044117,-0.159871,0.986152]]
2025-10-24T23:52:53.630Z,1761349973.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283747,-0.953865,-0.098126],[0.958059,0.286294,-0.012632],[0.040142,-0.090426,0.995094]]
2025-10-24T23:52:54.034Z,1761349974.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353489,-0.935382,-0.010261],[0.932383,0.353199,-0.076884],[0.075540,0.017611,0.996987]]
2025-10-24T23:52:54.439Z,1761349974.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411164,-0.910937,0.033724],[0.907860,0.405884,-0.105118],[0.082067,0.073838,0.993888]]
2025-10-24T23:52:54.855Z,1761349974.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407724,-0.912025,0.044404],[0.913016,0.406522,-0.033781],[0.012758,0.054315,0.998442]]
2025-10-24T23:52:55.247Z,1761349975.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374962,-0.927002,0.008431],[0.926524,0.375042,0.029944],[-0.030920,-0.003416,0.999516]]
2025-10-24T23:52:55.449Z,1761349975.449 [DAT](INFO): DAT read: Response Not Received

2025-10-24T23:52:55.449Z,1761349975.449 [DAT](INFO): response not received
2025-10-24T23:52:55.449Z,1761349975.449 [DAT](ERROR): No response from remote modem.
2025-10-24T23:52:55.449Z,1761349975.449 [DAT](INFO): Failure count cleared after critical for DAT
2025-10-24T23:52:55.653Z,1761349975.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375485,-0.926314,-0.030892],[0.925768,0.376441,-0.035290],[0.044318,-0.015348,0.998900]]
2025-10-24T23:52:56.055Z,1761349976.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410645,-0.910244,-0.053166],[0.906384,0.413856,-0.084803],[0.099195,-0.013365,0.994978]]
2025-10-24T23:52:56.463Z,1761349976.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418210,-0.908032,-0.024057],[0.906825,0.418895,-0.046850],[0.052618,-0.002222,0.998612]]
2025-10-24T23:52:56.862Z,1761349976.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420059,-0.907300,0.018910],[0.907402,0.419624,-0.023176],[0.013092,0.026894,0.999553]]
2025-10-24T23:52:57.267Z,1761349977.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421558,-0.906045,0.037021],[0.906783,0.420937,-0.023604],[0.005803,0.043521,0.999036]]
2025-10-24T23:52:57.676Z,1761349977.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440942,-0.897451,0.012373],[0.897153,0.441114,0.023140],[-0.026225,0.000897,0.999656]]
2025-10-24T23:52:58.075Z,1761349978.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482603,-0.875837,-0.002057],[0.872653,0.480646,0.086351],[-0.074641,-0.043469,0.996263]]
2025-10-24T23:52:58.197Z,1761349978.197 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:52:58.198Z,1761349978.198 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:52:58.487Z,1761349978.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474607,-0.879864,-0.024253],[0.878545,0.471849,0.074278],[-0.053911,-0.056561,0.996943]]
2025-10-24T23:52:58.882Z,1761349978.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438104,-0.894784,-0.086176],[0.897919,0.440131,-0.005101],[0.042493,-0.075144,0.996267]]
2025-10-24T23:52:59.287Z,1761349979.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438986,-0.892973,-0.099451],[0.891069,0.446884,-0.079319],[0.115273,-0.053798,0.991876]]
2025-10-24T23:52:59.701Z,1761349979.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487221,-0.873083,-0.018512],[0.866666,0.486026,-0.112549],[0.107262,0.038793,0.993474]]
2025-10-24T23:53:00.094Z,1761349980.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509327,-0.858180,0.064127],[0.853467,0.494161,-0.165528],[0.110364,0.139038,0.984118]]
2025-10-24T23:53:00.500Z,1761349980.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528709,-0.845978,0.069190],[0.839003,0.508515,-0.193614],[0.128609,0.160416,0.978635]]
2025-10-24T23:53:00.564Z,1761349980.564 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:53:00.749Z,1761349980.749 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:53:00.749Z,1761349980.749 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T23:53:00.903Z,1761349980.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557695,-0.829800,0.020208],[0.826658,0.553056,-0.103755],[0.074920,0.074569,0.994398]]
2025-10-24T23:53:01.001Z,1761349981.001 [DAT](INFO): DAT read: user:8>

2025-10-24T23:53:01.001Z,1761349981.001 [DAT](INFO): DAT read: Tx time:23:53:00.5585

2025-10-24T23:53:01.002Z,1761349981.002 [DAT](INFO): Ping request sent.
2025-10-24T23:53:01.002Z,1761349981.002 [DAT](INFO): transmitted an acoustic signal
2025-10-24T23:53:01.002Z,1761349981.002 [DAT](INFO): publishing transmit ping time
2025-10-24T23:53:01.003Z,1761349981.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000936
2025-10-24T23:53:01.253Z,1761349981.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250985
2025-10-24T23:53:01.331Z,1761349981.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503545,-0.852467,-0.140507],[0.859085,0.511301,-0.023337],[0.091736,-0.108956,0.989805]]
2025-10-24T23:53:01.505Z,1761349981.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502899
2025-10-24T23:53:01.715Z,1761349981.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496178,-0.849535,-0.179157],[0.845136,0.519858,-0.124468],[0.198876,-0.089654,0.975915]]
2025-10-24T23:53:01.758Z,1761349981.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756470
2025-10-24T23:53:02.009Z,1761349982.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006916
2025-10-24T23:53:02.119Z,1761349982.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546233,-0.826113,-0.138446],[0.814579,0.562404,-0.141994],[0.195166,-0.035214,0.980138]]
2025-10-24T23:53:02.261Z,1761349982.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258924
2025-10-24T23:53:02.513Z,1761349982.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510966
2025-10-24T23:53:02.525Z,1761349982.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562446,-0.826340,-0.028571],[0.824909,0.563158,-0.048767],[0.056388,0.003861,0.998401]]
2025-10-24T23:53:02.765Z,1761349982.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762903
2025-10-24T23:53:02.927Z,1761349982.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505837,-0.859983,0.067513],[0.861978,0.500866,-0.078274],[0.033500,0.097789,0.994643]]
2025-10-24T23:53:03.017Z,1761349983.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015546
2025-10-24T23:53:03.272Z,1761349983.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269796
2025-10-24T23:53:03.331Z,1761349983.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517314,-0.852833,0.071156],[0.850329,0.502846,-0.155197],[0.096577,0.140792,0.985318]]
2025-10-24T23:53:03.521Z,1761349983.521 [DAT](INFO): DAT read: Rx Time:23:53:02.6349

2025-10-24T23:53:03.521Z,1761349983.521 [DAT](INFO): Rx dataTimestamp_ set to:1761349983.520990
2025-10-24T23:53:03.522Z,1761349983.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519934
2025-10-24T23:53:03.731Z,1761349983.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576327,-0.814227,0.069866],[0.815844,0.568292,-0.106968],[0.047392,0.118648,0.991805]]
2025-10-24T23:53:03.773Z,1761349983.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771008
2025-10-24T23:53:03.782Z,1761349983.782 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:53:03.783Z,1761349983.783 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:53:03.783Z,1761349983.783 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:53:03.783Z,1761349983.783 [marl:UpdateRudder:A] Stopped
2025-10-24T23:53:03.783Z,1761349983.783 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:53:04.030Z,1761349984.030 [DAT](INFO): DAT read: 23:53:02.6349 LVL= 29360, 24193, 25202, 32755, AGC= 58, IDX= 112, 0.00,-1.196,-0.306,-2.574,-1.099, PHS= 0.005, 0.838,-1.520, RAW=   9.6,   6.6, CAL=   9.5,   6.2, ROT= 140.5,  -6.2

2025-10-24T23:53:04.032Z,1761349984.032 [DAT](INFO): got valid direction response:
 23:53:02.6349 LVL= 29360, 24193, 25202, 32755, AGC= 58, IDX= 112, 0.00,-1.196,-0.306,-2.574,-1.099, PHS= 0.005, 0.838,-1.520, RAW=   9.6,   6.6, CAL=   9.5,   6.2, ROT= 140.5,  -6.2

2025-10-24T23:53:04.033Z,1761349984.033 [DAT](INFO): DAT read: Bearing 185, -21 (Remote)

2025-10-24T23:53:04.033Z,1761349984.033 [DAT](INFO): Remote Bearing received:Bearing 185, -21 (Remote)

2025-10-24T23:53:04.034Z,1761349984.034 [DAT](INFO): DAT read: Bearing  37.3,  39.6 (Local)

2025-10-24T23:53:04.034Z,1761349984.034 [DAT](INFO): Local bearing/azimuth received:
 Bearing  37.3,  39.6 (Local)

2025-10-24T23:53:04.035Z,1761349984.035 [DAT](INFO): DAT read: Range 11 to 20 : 35.4 m  (Round-trip  47.2 ms) speed  0.0 m/s

2025-10-24T23:53:04.036Z,1761349984.036 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-24T23:53:04.037Z,1761349984.037 [DAT](INFO): direction in FSK: [-0.767111,0.632358,0.107999]
2025-10-24T23:53:04.037Z,1761349984.037 [DAT](INFO): publishing direction and range info
2025-10-24T23:53:04.135Z,1761349984.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537370,-0.841735,0.052113],[0.842474,0.538598,0.012214],[-0.038349,0.037340,0.998567]]
2025-10-24T23:53:04.275Z,1761349984.275 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:53:04.275Z,1761349984.275 [marl:UpdateRudder:B] Stopped
2025-10-24T23:53:04.275Z,1761349984.275 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:53:04.275Z,1761349984.275 [marl:UpdateRudder] Stopped
2025-10-24T23:53:04.275Z,1761349984.275 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:53:04.326Z,1761349984.326 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350016.00. Resetting abort timer.
2025-10-24T23:53:04.541Z,1761349984.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443686,-0.892690,-0.079037],[0.894907,0.446032,-0.014051],[0.047796,-0.064496,0.996773]]
2025-10-24T23:53:04.942Z,1761349984.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466948,-0.868467,-0.166508],[0.865911,0.487251,-0.113064],[0.179324,-0.091386,0.979536]]
2025-10-24T23:53:05.346Z,1761349985.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532263,-0.841373,-0.093742],[0.832887,0.540269,-0.120037],[0.151642,-0.014185,0.988334]]
2025-10-24T23:53:05.496Z,1761349985.496 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:53:05.752Z,1761349985.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499828,-0.863563,0.066563],[0.864642,0.493002,-0.096663],[0.050659,0.105868,0.993089]]
2025-10-24T23:53:05.780Z,1761349985.780 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:53:05.780Z,1761349985.780 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:53:05.780Z,1761349985.780 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:53:05.781Z,1761349985.781 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:53:05.781Z,1761349985.781 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:53:05.781Z,1761349985.781 [marl:UpdateCommandMode] Stopped
2025-10-24T23:53:05.781Z,1761349985.781 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:53:05.781Z,1761349985.781 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:53:05.781Z,1761349985.781 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:53:05.781Z,1761349985.781 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:53:05.782Z,1761349985.782 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:53:05.782Z,1761349985.782 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:53:05.782Z,1761349985.782 [marl:UpdateSpeed] Stopped
2025-10-24T23:53:05.782Z,1761349985.782 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:53:06.154Z,1761349986.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450285,-0.878460,0.159847],[0.892087,0.450180,-0.038966],[-0.037730,0.160143,0.986372]]
2025-10-24T23:53:06.500Z,1761349986.500 [DataOverHttps](INFO): Radio surface powered ON.
2025-10-24T23:53:06.500Z,1761349986.500 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:53:06.559Z,1761349986.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412472,-0.904861,0.105325],[0.908367,0.417270,0.027491],[-0.068824,0.084335,0.994058]]
2025-10-24T23:53:06.963Z,1761349986.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387458,-0.921842,0.009185],[0.920964,0.387497,0.040898],[-0.041260,-0.007387,0.999121]]
2025-10-24T23:53:07.368Z,1761349987.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411876,-0.910135,-0.044857],[0.911216,0.411013,0.027434],[-0.006532,-0.052174,0.998617]]
2025-10-24T23:53:07.770Z,1761349987.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411283,-0.908928,-0.068526],[0.908547,0.414842,-0.049493],[0.073413,-0.041903,0.996421]]
2025-10-24T23:53:08.174Z,1761349988.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403409,-0.914295,-0.036403],[0.902155,0.404070,-0.151144],[0.152900,0.028132,0.987841]]
2025-10-24T23:53:08.580Z,1761349988.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460459,-0.887619,0.010465],[0.872818,0.450569,-0.187556],[0.161763,0.095496,0.982198]]
2025-10-24T23:53:08.984Z,1761349988.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505781,-0.862530,0.015109],[0.858371,0.501443,-0.108416],[0.085935,0.067804,0.993991]]
2025-10-24T23:53:09.386Z,1761349989.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477241,-0.878251,-0.030258],[0.878578,0.477577,-0.004604],[0.018494,-0.024386,0.999532]]
2025-10-24T23:53:09.798Z,1761349989.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467702,-0.882614,-0.047408],[0.883872,0.467323,0.019458],[0.004981,-0.051003,0.998686]]
2025-10-24T23:53:10.197Z,1761349990.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465399,-0.883545,-0.052464],[0.880429,0.468211,-0.074988],[0.090819,-0.011291,0.995803]]
2025-10-24T23:53:10.600Z,1761349990.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471179,-0.878161,-0.082604],[0.864125,0.478359,-0.156397],[0.176856,0.002311,0.984234]]
2025-10-24T23:53:11.002Z,1761349991.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487387,-0.870058,-0.073843],[0.864702,0.492683,-0.097744],[0.121424,-0.016213,0.992468]]
2025-10-24T23:53:11.406Z,1761349991.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492988,-0.869713,0.023703],[0.868645,0.490478,-0.069907],[0.049173,0.055053,0.997272]]
2025-10-24T23:53:11.815Z,1761349991.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515392,-0.850376,0.105981],[0.856674,0.508106,-0.089097],[0.021916,0.136712,0.990368]]
2025-10-24T23:53:12.214Z,1761349992.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520106,-0.841843,0.144188],[0.853375,0.519167,-0.047081],[-0.035222,0.147534,0.988430]]
2025-10-24T23:53:12.618Z,1761349992.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480623,-0.865259,0.142575],[0.872134,0.488613,0.025314],[-0.091567,0.112178,0.989460]]
2025-10-24T23:53:13.022Z,1761349993.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440049,-0.897859,0.014351],[0.897374,0.439115,-0.043564],[0.032812,0.032049,0.998948]]
2025-10-24T23:53:13.428Z,1761349993.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444607,-0.884745,-0.139827],[0.874823,0.462435,-0.144353],[0.192377,-0.058143,0.979597]]
2025-10-24T23:53:13.843Z,1761349993.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463052,-0.876679,-0.130452],[0.876593,0.474734,-0.078816],[0.131027,-0.077857,0.988317]]
2025-10-24T23:53:14.234Z,1761349994.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470120,-0.881656,-0.040872],[0.882351,0.468377,0.045594],[-0.021055,-0.057498,0.998124]]
2025-10-24T23:53:14.640Z,1761349994.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457888,-0.888059,-0.041101],[0.888925,0.456715,0.034979],[-0.012292,-0.052552,0.998543]]
2025-10-24T23:53:15.044Z,1761349995.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450517,-0.890961,-0.056773],[0.890799,0.452834,-0.037653],[0.059257,-0.033610,0.997677]]
2025-10-24T23:53:15.447Z,1761349995.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470320,-0.882468,-0.007045],[0.878569,0.468964,-0.090499],[0.083166,0.036374,0.995872]]
2025-10-24T23:53:15.863Z,1761349995.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493852,-0.867687,0.056833],[0.866521,0.485634,-0.115329],[0.072470,0.106202,0.991700]]
2025-10-24T23:53:16.254Z,1761349996.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493844,-0.866332,0.074749],[0.865171,0.480922,-0.142104],[0.087161,0.134848,0.987025]]
2025-10-24T23:53:16.670Z,1761349996.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488922,-0.871115,0.045976],[0.868260,0.480882,-0.121969],[0.084140,0.099553,0.991468]]
2025-10-24T23:53:16.698Z,1761349996.698 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:53:16.698Z,1761349996.698 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:53:16.698Z,1761349996.698 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:53:16.699Z,1761349996.699 [marl:UpdateRudder:A] Stopped
2025-10-24T23:53:16.699Z,1761349996.699 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:53:17.063Z,1761349997.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498007,-0.867171,-0.001746],[0.867112,0.497995,-0.010895],[0.010317,0.003912,0.999939]]
2025-10-24T23:53:17.094Z,1761349997.094 [marl:UpdateRudder:B](INFO): Updating rudder angle  -13.750987 arcdeg 
2025-10-24T23:53:17.094Z,1761349997.094 [marl:UpdateRudder:B] Stopped
2025-10-24T23:53:17.094Z,1761349997.094 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:53:17.094Z,1761349997.094 [marl:UpdateRudder] Stopped
2025-10-24T23:53:17.094Z,1761349997.094 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:53:17.469Z,1761349997.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495730,-0.865793,-0.068219],[0.868347,0.492769,0.056137],[-0.014987,-0.087067,0.996090]]
2025-10-24T23:53:17.918Z,1761349997.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527987,-0.843191,-0.101282],[0.848211,0.529480,0.013740],[0.042041,-0.093163,0.994763]]
2025-10-24T23:53:18.285Z,1761349998.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552279,-0.831095,-0.065343],[0.830988,0.555086,-0.036600],[0.066689,-0.034086,0.997191]]
2025-10-24T23:53:18.347Z,1761349998.347 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:53:18.347Z,1761349998.347 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:53:18.347Z,1761349998.347 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:53:18.347Z,1761349998.347 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:53:18.347Z,1761349998.347 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:53:18.347Z,1761349998.347 [marl:UpdateCommandMode] Stopped
2025-10-24T23:53:18.347Z,1761349998.347 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:53:18.348Z,1761349998.348 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:53:18.348Z,1761349998.348 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:53:18.348Z,1761349998.348 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:53:18.348Z,1761349998.348 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:53:18.348Z,1761349998.348 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:53:18.348Z,1761349998.348 [marl:UpdateSpeed] Stopped
2025-10-24T23:53:18.349Z,1761349998.349 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:53:18.683Z,1761349998.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540851,-0.841102,-0.005296],[0.838845,0.539841,-0.070075],[0.061800,0.033458,0.997528]]
2025-10-24T23:53:19.082Z,1761349999.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525425,-0.850360,0.028577],[0.850416,0.523808,-0.049173],[0.026846,0.050139,0.998381]]
2025-10-24T23:53:19.489Z,1761349999.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507936,-0.860732,-0.033783],[0.861290,0.508095,0.004336],[0.013433,-0.031300,0.999420]]
2025-10-24T23:53:19.919Z,1761349999.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533437,-0.842656,-0.073325],[0.843355,0.536508,-0.030200],[0.064788,-0.045729,0.996851]]
2025-10-24T23:53:20.298Z,1761350000.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591142,-0.805761,0.036054],[0.803570,0.584506,-0.112379],[0.069477,0.095404,0.993011]]
2025-10-24T23:53:20.699Z,1761350000.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620859,-0.770838,0.142630],[0.783266,0.602539,-0.153105],[0.032079,0.206773,0.977863]]
2025-10-24T23:53:21.104Z,1761350001.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619366,-0.776634,0.114998],[0.784972,0.609914,-0.108738],[0.014310,0.157619,0.987396]]
2025-10-24T23:53:21.516Z,1761350001.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594947,-0.803195,-0.030261],[0.803743,0.594229,0.029811],[-0.005962,-0.042058,0.999097]]
2025-10-24T23:53:21.927Z,1761350001.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561217,-0.808546,-0.176883],[0.827666,0.548780,0.117517],[0.002052,-0.212353,0.977191]]
2025-10-24T23:53:22.314Z,1761350002.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577220,-0.791244,-0.201865],[0.816249,0.566204,0.114677],[0.023559,-0.230966,0.972677]]
2025-10-24T23:53:22.722Z,1761350002.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586854,-0.803012,-0.103801],[0.809348,0.585507,0.046244],[0.023642,-0.111150,0.993522]]
2025-10-24T23:53:23.124Z,1761350003.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595089,-0.803342,0.022588],[0.802998,0.593224,-0.057262],[0.032601,0.052215,0.998104]]
2025-10-24T23:53:23.530Z,1761350003.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610458,-0.781015,0.131744],[0.791933,0.599025,-0.118372],[0.013532,0.176594,0.984191]]
2025-10-24T23:53:23.931Z,1761350003.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593058,-0.788968,0.160662],[0.805143,0.579806,-0.124781],[0.005296,0.203358,0.979090]]
2025-10-24T23:53:24.335Z,1761350004.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589460,-0.804078,0.077430],[0.803146,0.573094,-0.162850],[0.086569,0.158181,0.983608]]
2025-10-24T23:53:24.741Z,1761350004.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611956,-0.790232,-0.032300],[0.773764,0.606658,-0.182360],[0.163702,0.086604,0.982701]]
2025-10-24T23:53:24.748Z,1761350004.748 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,235321.00,A,3646.54376,N,12151.89198,W,1.497,99.98,241025,,,A*41
2025-10-24T23:53:24.752Z,1761350004.752 [NAL9602](INFO): GPS fix at 20251024T235321: (36.775729, -121.864866)
2025-10-24T23:53:24.772Z,1761350004.772 [UniversalFixResidualReporter](INFO): Fix residual: 1.8 %DT, over the last 593.8 m. Residual distance 10.9 m at bearing -159.9 degrees. Fix at (36.7757, -121.8649) with 129.1 m made good.
2025-10-24T23:53:24.804Z,1761350004.804 [marl:NeedComms:C] Stopped
2025-10-24T23:53:24.804Z,1761350004.804 [marl:NeedComms:D] Running Loop=1
2025-10-24T23:53:24.806Z,1761350004.806 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761350016.00. Resetting abort timer.
2025-10-24T23:53:25.143Z,1761350005.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654239,-0.754858,-0.046472],[0.742247,0.652665,-0.151980],[0.145053,0.064938,0.987291]]
2025-10-24T23:53:25.549Z,1761350005.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709877,-0.704274,-0.008587],[0.700037,0.706845,-0.101573],[0.077605,0.066094,0.994791]]
2025-10-24T23:53:25.950Z,1761350005.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685726,-0.727390,0.026141],[0.727859,0.685291,-0.024440],[-0.000137,0.035786,0.999359]]
2025-10-24T23:53:26.058Z,1761350006.058 [marl:SendObservationData] Running Loop=1
2025-10-24T23:53:26.058Z,1761350006.058 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:53:26.058Z,1761350006.058 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:53:26.059Z,1761350006.059 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:53:26.065Z,1761350006.065 [marl:SendObservationData:A](INFO): Got test_good :  41da3f04600000004051400000000000404263478006654ac05e775b64d4be443fcaadbb800000004041b33340000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:53:26.065Z,1761350006.065 [marl:SendObservationData:A] Stopped
2025-10-24T23:53:26.065Z,1761350006.065 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:53:26.366Z,1761350006.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637772,-0.770214,-0.004105],[0.769332,0.637280,-0.044742],[0.037077,0.025377,0.998990]]
2025-10-24T23:53:26.411Z,1761350006.411 [marl:SendObservationData:B] Stopped
2025-10-24T23:53:26.428Z,1761350006.428 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:53:26.767Z,1761350006.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665161,-0.744901,-0.051790],[0.738023,0.666392,-0.106043],[0.113504,0.032313,0.993012]]
2025-10-24T23:53:26.823Z,1761350006.823 [marl:SendObservationData:C] Stopped
2025-10-24T23:53:26.823Z,1761350006.823 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:53:27.163Z,1761350007.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719893,-0.691462,-0.060281],[0.686172,0.722074,-0.088190],[0.104507,0.022124,0.994278]]
2025-10-24T23:53:27.231Z,1761350007.231 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.010748 min 
2025-10-24T23:53:27.231Z,1761350007.231 [marl:SendObservationData:E] Stopped
2025-10-24T23:53:27.232Z,1761350007.232 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:53:27.232Z,1761350007.232 [marl:SendObservationData] Stopped
2025-10-24T23:53:27.232Z,1761350007.232 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:53:27.232Z,1761350007.232 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:53:27.574Z,1761350007.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717194,-0.696845,0.006379],[0.696225,0.716101,-0.049696],[0.030062,0.040083,0.998744]]
2025-10-24T23:53:27.970Z,1761350007.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713986,-0.697596,0.059868],[0.699871,0.708623,-0.089633],[0.020104,0.105897,0.994174]]
2025-10-24T23:53:28.374Z,1761350008.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734063,-0.677201,0.050493],[0.675271,0.720060,-0.159760],[0.071832,0.151370,0.985864]]
2025-10-24T23:53:28.782Z,1761350008.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743427,-0.668763,-0.008461],[0.653519,0.729055,-0.203451],[0.142229,0.145722,0.979048]]
2025-10-24T23:53:30.914Z,1761350010.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779608,-0.625539,0.030197],[0.624687,0.773312,-0.108422],[0.044470,0.103390,0.993646]]
2025-10-24T23:53:31.011Z,1761350011.011 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:53:31.011Z,1761350011.011 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:53:31.011Z,1761350011.011 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:53:31.012Z,1761350011.012 [marl:UpdateRudder:A] Stopped
2025-10-24T23:53:31.012Z,1761350011.012 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:53:31.310Z,1761350011.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797957,-0.601670,0.035472],[0.602087,0.793059,-0.092458],[0.027498,0.095134,0.995085]]
2025-10-24T23:53:31.366Z,1761350011.366 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:53:31.366Z,1761350011.366 [marl:UpdateRudder:B] Stopped
2025-10-24T23:53:31.366Z,1761350011.366 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:53:31.366Z,1761350011.366 [marl:UpdateRudder] Stopped
2025-10-24T23:53:31.366Z,1761350011.366 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:53:31.714Z,1761350011.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789351,-0.612705,0.038944],[0.613940,0.787929,-0.047392],[-0.001648,0.061318,0.998117]]
2025-10-24T23:53:32.121Z,1761350012.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791670,-0.610709,-0.017151],[0.610784,0.791797,-0.001033],[0.014211,-0.009658,0.999852]]
2025-10-24T23:53:32.524Z,1761350012.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802044,-0.592134,-0.078117],[0.595885,0.802202,0.037317],[0.040569,-0.076478,0.996246]]
2025-10-24T23:53:32.926Z,1761350012.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805850,-0.589363,-0.057067],[0.590236,0.807228,-0.001904],[0.047188,-0.032148,0.998369]]
2025-10-24T23:53:32.962Z,1761350012.962 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:53:32.963Z,1761350012.963 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:53:32.963Z,1761350012.963 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:53:32.963Z,1761350012.963 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:53:32.963Z,1761350012.963 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:53:32.963Z,1761350012.963 [marl:UpdateCommandMode] Stopped
2025-10-24T23:53:32.963Z,1761350012.963 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:53:32.963Z,1761350012.963 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:53:32.964Z,1761350012.964 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:53:32.964Z,1761350012.964 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:53:32.964Z,1761350012.964 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:53:32.964Z,1761350012.964 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:53:32.964Z,1761350012.964 [marl:UpdateSpeed] Stopped
2025-10-24T23:53:32.964Z,1761350012.964 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:53:33.331Z,1761350013.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813896,-0.579148,0.046475],[0.579841,0.804586,-0.128161],[0.036831,0.131258,0.990664]]
2025-10-24T23:53:33.739Z,1761350013.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806114,-0.578072,0.126543],[0.591451,0.780150,-0.203842],[0.019112,0.239164,0.970791]]
2025-10-24T23:53:34.150Z,1761350014.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825496,-0.564372,-0.006397],[0.564403,0.825485,0.004828],[0.002556,-0.007596,0.999968]]
2025-10-24T23:53:34.953Z,1761350014.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843682,-0.533241,-0.062087],[0.536238,0.842566,0.050305],[0.025488,-0.075735,0.996802]]
2025-10-24T23:53:35.355Z,1761350015.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814601,-0.578348,0.044039],[0.579967,0.811122,-0.075630],[0.008019,0.087149,0.996163]]
2025-10-24T23:53:35.764Z,1761350015.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816966,-0.564904,0.115976],[0.576593,0.796528,-0.181888],[0.010372,0.215467,0.976456]]
2025-10-24T23:53:36.162Z,1761350016.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843222,-0.520115,0.135854],[0.537431,0.810006,-0.234644],[0.011999,0.270869,0.962541]]
2025-10-24T23:53:36.564Z,1761350016.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856581,-0.505541,0.103430],[0.515568,0.830144,-0.212250],[0.021439,0.235134,0.971726]]
2025-10-24T23:53:36.637Z,1761350016.637 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:53:36.967Z,1761350016.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854905,-0.518224,0.024125],[0.515667,0.843756,-0.148873],[0.056794,0.139713,0.988562]]
2025-10-24T23:53:37.372Z,1761350017.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856094,-0.514834,-0.045272],[0.512870,0.857095,-0.048508],[0.063776,0.018309,0.997796]]
2025-10-24T23:53:37.640Z,1761350017.640 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:53:37.774Z,1761350017.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866260,-0.489749,-0.098690],[0.496335,0.866176,0.058228],[0.056966,-0.099424,0.993413]]
2025-10-24T23:53:38.178Z,1761350018.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880547,-0.461246,-0.109037],[0.471572,0.875672,0.104012],[0.047506,-0.143007,0.988581]]
2025-10-24T23:53:38.583Z,1761350018.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879749,-0.467784,-0.084967],[0.473643,0.877833,0.071215],[0.041273,-0.102896,0.993836]]
2025-10-24T23:53:38.988Z,1761350018.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876315,-0.480684,-0.031863],[0.480051,0.876865,-0.025687],[0.040287,0.007214,0.999162]]
2025-10-24T23:53:39.390Z,1761350019.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891086,-0.453741,0.009184],[0.449812,0.880319,-0.150691],[0.060290,0.138410,0.988538]]
2025-10-24T23:53:39.794Z,1761350019.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913516,-0.406374,0.018663],[0.400511,0.890403,-0.216271],[0.071269,0.205042,0.976155]]
2025-10-24T23:53:40.201Z,1761350020.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917929,-0.395458,0.031922],[0.394196,0.899970,-0.186181],[0.044898,0.183485,0.981997]]
2025-10-24T23:53:40.602Z,1761350020.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924423,-0.379412,0.038593],[0.381366,0.919241,-0.097755],[0.001613,0.105085,0.994462]]
2025-10-24T23:53:41.006Z,1761350021.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932802,-0.357851,0.042709],[0.359454,0.932359,-0.038722],[-0.025964,0.051472,0.998337]]
2025-10-24T23:53:41.411Z,1761350021.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925306,-0.378878,0.016134],[0.379190,0.924935,-0.026643],[-0.004828,0.030771,0.999515]]
2025-10-24T23:53:41.814Z,1761350021.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919244,-0.393490,-0.012502],[0.393364,0.919312,-0.011397],[0.015978,0.005559,0.999857]]
2025-10-24T23:53:42.223Z,1761350022.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950670,-0.309473,-0.021305],[0.309928,0.950481,0.023042],[0.013119,-0.028508,0.999507]]
2025-10-24T23:53:42.622Z,1761350022.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974196,-0.219726,-0.051609],[0.221560,0.974590,0.032939],[0.043061,-0.043523,0.998124]]
2025-10-24T23:53:43.028Z,1761350023.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972430,-0.230422,-0.035856],[0.231046,0.972838,0.014296],[0.031588,-0.022186,0.999255]]
2025-10-24T23:53:43.431Z,1761350023.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958937,-0.277777,-0.057274],[0.272274,0.958156,-0.088342],[0.079417,0.069121,0.994442]]
2025-10-24T23:53:43.470Z,1761350023.470 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:53:43.470Z,1761350023.470 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:53:43.470Z,1761350023.470 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:53:43.470Z,1761350023.470 [marl:UpdateRudder:A] Stopped
2025-10-24T23:53:43.471Z,1761350023.471 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:53:43.839Z,1761350023.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971166,-0.230134,-0.062252],[0.217624,0.962379,-0.162685],[0.097349,0.144447,0.984712]]
2025-10-24T23:53:43.950Z,1761350023.950 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:53:43.950Z,1761350023.950 [marl:UpdateRudder:B] Stopped
2025-10-24T23:53:43.950Z,1761350023.950 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:53:43.950Z,1761350023.950 [marl:UpdateRudder] Stopped
2025-10-24T23:53:43.950Z,1761350023.950 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:53:44.250Z,1761350024.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979461,-0.195417,-0.049685],[0.185175,0.969282,-0.161874],[0.079791,0.149348,0.985560]]
2025-10-24T23:53:44.659Z,1761350024.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984011,-0.140042,-0.110050],[0.123774,0.981972,-0.142868],[0.128073,0.126962,0.983604]]
2025-10-24T23:53:45.046Z,1761350025.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988169,-0.014441,-0.152689],[-0.003507,0.993169,-0.116631],[0.153330,0.115787,0.981368]]
2025-10-24T23:53:45.450Z,1761350025.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990052,0.115290,-0.080656],[-0.118957,0.992001,-0.042234],[0.075141,0.051408,0.995847]]
2025-10-24T23:53:45.875Z,1761350025.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991165,0.131222,-0.019333],[-0.129534,0.988979,0.071712],[0.028530,-0.068574,0.997238]]
2025-10-24T23:53:45.938Z,1761350025.938 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:53:45.939Z,1761350025.939 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:53:45.939Z,1761350025.939 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:53:45.939Z,1761350025.939 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:53:45.939Z,1761350025.939 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:53:45.939Z,1761350025.939 [marl:UpdateCommandMode] Stopped
2025-10-24T23:53:45.939Z,1761350025.939 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:53:45.939Z,1761350025.939 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:53:45.939Z,1761350025.939 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:53:45.940Z,1761350025.940 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:53:45.940Z,1761350025.940 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:53:45.940Z,1761350025.940 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:53:45.940Z,1761350025.940 [marl:UpdateSpeed] Stopped
2025-10-24T23:53:45.940Z,1761350025.940 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:53:46.260Z,1761350026.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993158,0.116781,0.000330],[-0.115092,0.978313,0.172214],[0.019789,-0.171073,0.985060]]
2025-10-24T23:53:46.669Z,1761350026.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991020,0.131909,0.021896],[-0.133657,0.982018,0.133327],[-0.003915,-0.135056,0.990830]]
2025-10-24T23:53:47.068Z,1761350027.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982331,0.187056,-0.006056],[-0.186569,0.981304,0.047278],[0.014786,-0.045313,0.998863]]
2025-10-24T23:53:47.073Z,1761350027.073 [NAL9602](INFO): SBD MO Status=2, MOMSN=2574, MT Status=2, MTMSN=0
2025-10-24T23:53:47.073Z,1761350027.073 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-24T23:53:47.471Z,1761350027.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969107,0.244432,-0.032951],[-0.246102,0.967156,-0.063590],[0.016325,0.069735,0.997432]]
2025-10-24T23:53:47.911Z,1761350027.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966845,0.250401,-0.050110],[-0.255086,0.956187,-0.143658],[0.011942,0.151677,0.988358]]
2025-10-24T23:53:48.279Z,1761350028.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961676,0.268500,-0.055553],[-0.274116,0.946118,-0.172399],[0.006271,0.181020,0.983459]]
2025-10-24T23:53:48.284Z,1761350028.284 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,235347.00,A,3646.54368,N,12151.88530,W,0.233,85.10,241025,,,A*4D
2025-10-24T23:53:48.286Z,1761350028.286 [NAL9602](INFO): GPS fix at 20251024T235347: (36.775728, -121.864755)
2025-10-24T23:53:48.325Z,1761350028.325 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761350016.00. Resetting abort timer.
2025-10-24T23:53:48.690Z,1761350028.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954200,0.299043,-0.008647],[-0.296320,0.940742,-0.164919],[-0.041183,0.159928,0.986269]]
2025-10-24T23:53:49.088Z,1761350029.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959778,0.276329,0.049688],[-0.271607,0.958652,-0.084951],[-0.071108,0.068038,0.995145]]
2025-10-24T23:53:49.491Z,1761350029.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964786,0.261253,-0.030583],[-0.260772,0.965217,0.018827],[0.034438,-0.010189,0.999355]]
2025-10-24T23:53:49.918Z,1761350029.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934449,0.328066,-0.138486],[-0.315188,0.942969,0.107082],[0.165718,-0.056414,0.984558]]
2025-10-24T23:53:50.306Z,1761350030.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904296,0.405187,-0.134437],[-0.399818,0.914215,0.066010],[0.149650,-0.005943,0.988721]]
2025-10-24T23:53:50.719Z,1761350030.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901262,0.424630,-0.086119],[-0.426893,0.904258,-0.008910],[0.074090,0.044794,0.996245]]
2025-10-24T23:53:51.106Z,1761350031.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901527,0.429307,-0.054257],[-0.427782,0.903094,0.037731],[0.065198,-0.010805,0.997814]]
2025-10-24T23:53:51.510Z,1761350031.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886759,0.458857,0.055749],[-0.461594,0.885405,0.054682],[-0.024270,-0.074223,0.996946]]
2025-10-24T23:53:51.924Z,1761350031.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887024,0.447597,0.113337],[-0.451935,0.891932,0.014577],[-0.094564,-0.064151,0.993450]]
2025-10-24T23:53:52.320Z,1761350032.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892795,0.448924,0.037206],[-0.449035,0.893495,-0.005763],[-0.035831,-0.011562,0.999291]]
2025-10-24T23:53:54.457Z,1761350034.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858584,0.512646,-0.005293],[-0.510219,0.855437,0.088905],[0.050104,-0.073631,0.996026]]
2025-10-24T23:53:54.839Z,1761350034.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835315,0.549606,0.013477],[-0.548163,0.830748,0.096824],[0.042019,-0.088266,0.995210]]
2025-10-24T23:53:55.246Z,1761350035.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820814,0.570743,0.022731],[-0.569614,0.814934,0.106875],[0.042474,-0.100673,0.994013]]
2025-10-24T23:53:55.649Z,1761350035.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823935,0.561663,0.075272],[-0.566082,0.821888,0.063650],[-0.026115,-0.095054,0.995130]]
2025-10-24T23:53:56.051Z,1761350036.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845686,0.525882,0.090907],[-0.523838,0.850521,-0.046983],[-0.102026,-0.007888,0.994750]]
2025-10-24T23:53:56.456Z,1761350036.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861472,0.506122,0.041313],[-0.493783,0.853894,-0.164451],[-0.118509,0.121270,0.985520]]
2025-10-24T23:53:56.863Z,1761350036.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867526,0.492458,-0.069882],[-0.496712,0.850411,-0.173432],[-0.025980,0.185168,0.982363]]
2025-10-24T23:53:57.264Z,1761350037.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846695,0.516067,-0.129548],[-0.527044,0.846859,-0.071088],[0.073023,0.128467,0.989022]]
2025-10-24T23:53:57.670Z,1761350037.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818780,0.565934,-0.096528],[-0.567106,0.823459,0.017495],[0.089388,0.040417,0.995176]]
2025-10-24T23:53:58.072Z,1761350038.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808869,0.584080,-0.067683],[-0.582659,0.811673,0.041174],[0.078986,0.006132,0.996857]]
2025-10-24T23:53:58.151Z,1761350038.151 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:53:58.151Z,1761350038.151 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:53:58.151Z,1761350038.151 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:53:58.155Z,1761350038.155 [marl:UpdateRudder:A] Stopped
2025-10-24T23:53:58.155Z,1761350038.155 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:53:58.201Z,1761350038.201 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:53:58.201Z,1761350038.201 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:53:58.475Z,1761350038.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797140,0.602910,-0.032663],[-0.601711,0.797716,0.039909],[0.050117,-0.012159,0.998669]]
2025-10-24T23:53:58.522Z,1761350038.522 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:53:58.522Z,1761350038.522 [marl:UpdateRudder:B] Stopped
2025-10-24T23:53:58.522Z,1761350038.522 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:53:58.522Z,1761350038.522 [marl:UpdateRudder] Stopped
2025-10-24T23:53:58.522Z,1761350038.522 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:53:58.879Z,1761350038.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779334,0.625866,0.030516],[-0.626386,0.776831,0.064614],[0.016734,-0.069471,0.997444]]
2025-10-24T23:53:59.284Z,1761350039.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789310,0.613417,0.026619],[-0.613783,0.787162,0.060383],[0.016086,-0.064000,0.997820]]
2025-10-24T23:53:59.704Z,1761350039.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789827,0.612111,-0.038640],[-0.611460,0.790771,0.028253],[0.047849,0.001312,0.998854]]
2025-10-24T23:54:00.092Z,1761350040.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754787,0.649117,-0.094570],[-0.653802,0.756145,-0.028077],[0.053283,0.083022,0.995122]]
2025-10-24T23:54:00.495Z,1761350040.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710769,0.696864,-0.095857],[-0.700152,0.713993,-0.000938],[0.067788,0.067781,0.995395]]
2025-10-24T23:54:00.543Z,1761350040.543 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:54:00.543Z,1761350040.543 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:54:00.543Z,1761350040.543 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:54:00.543Z,1761350040.543 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:54:00.548Z,1761350040.548 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:54:00.548Z,1761350040.548 [marl:UpdateCommandMode] Stopped
2025-10-24T23:54:00.548Z,1761350040.548 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:54:00.548Z,1761350040.548 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:54:00.548Z,1761350040.548 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:54:00.548Z,1761350040.548 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:54:00.549Z,1761350040.549 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:54:00.549Z,1761350040.549 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:54:00.549Z,1761350040.549 [marl:UpdateSpeed] Stopped
2025-10-24T23:54:00.549Z,1761350040.549 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:54:00.902Z,1761350040.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690156,0.722020,-0.048709],[-0.718170,0.691642,0.076575],[0.088978,-0.017867,0.995873]]
2025-10-24T23:54:00.927Z,1761350040.927 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:54:01.037Z,1761350041.037 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:54:01.037Z,1761350041.037 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T23:54:01.289Z,1761350041.289 [DAT](INFO): DAT read: user:9>

2025-10-24T23:54:01.289Z,1761350041.289 [DAT](INFO): DAT read: Tx time:23:54:00.8606

2025-10-24T23:54:01.290Z,1761350041.290 [DAT](INFO): Ping request sent.
2025-10-24T23:54:01.290Z,1761350041.290 [DAT](INFO): transmitted an acoustic signal
2025-10-24T23:54:01.290Z,1761350041.290 [DAT](INFO): publishing transmit ping time
2025-10-24T23:54:01.291Z,1761350041.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000957
2025-10-24T23:54:01.321Z,1761350041.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732917,0.680185,-0.013459],[-0.678411,0.732200,0.060347],[0.050902,-0.035099,0.998087]]
2025-10-24T23:54:01.541Z,1761350041.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251002
2025-10-24T23:54:01.725Z,1761350041.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730817,0.681653,-0.035423],[-0.681323,0.731635,0.022563],[0.041297,0.007645,0.999118]]
2025-10-24T23:54:01.793Z,1761350041.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503169
2025-10-24T23:54:02.045Z,1761350042.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754962
2025-10-24T23:54:02.297Z,1761350042.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007078
2025-10-24T23:54:02.519Z,1761350042.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713829,0.700020,0.020526],[-0.700314,0.713643,0.016544],[-0.003067,-0.026185,0.999652]]
2025-10-24T23:54:02.549Z,1761350042.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259059
2025-10-24T23:54:02.801Z,1761350042.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510914
2025-10-24T23:54:02.927Z,1761350042.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695450,0.717105,0.045935],[-0.717199,0.696653,-0.017349],[-0.044442,-0.020879,0.998794]]
2025-10-24T23:54:03.053Z,1761350043.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763005
2025-10-24T23:54:03.305Z,1761350043.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014961
2025-10-24T23:54:03.327Z,1761350043.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650779,0.758675,0.029979],[-0.758972,0.651120,-0.002204],[-0.021192,-0.021319,0.999548]]
2025-10-24T23:54:03.557Z,1761350043.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267588
2025-10-24T23:54:03.731Z,1761350043.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647255,0.762174,0.012322],[-0.761628,0.645958,0.051573],[0.031348,-0.042766,0.998593]]
2025-10-24T23:54:03.809Z,1761350043.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519105
2025-10-24T23:54:04.061Z,1761350044.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770980
2025-10-24T23:54:04.136Z,1761350044.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651929,0.758243,0.007451],[-0.758139,0.651587,0.025704],[0.014635,-0.022407,0.999642]]
2025-10-24T23:54:04.313Z,1761350044.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022980
2025-10-24T23:54:04.539Z,1761350044.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667414,0.744636,0.008682],[-0.743974,0.667240,-0.035958],[-0.032569,0.017540,0.999316]]
2025-10-24T23:54:04.565Z,1761350044.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275109
2025-10-24T23:54:04.817Z,1761350044.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526941
2025-10-24T23:54:04.943Z,1761350044.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669283,0.742919,0.011466],[-0.738809,0.667060,-0.095874],[-0.078875,0.055695,0.995327]]
2025-10-24T23:54:05.069Z,1761350045.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779031
2025-10-24T23:54:05.321Z,1761350045.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031009
2025-10-24T23:54:05.347Z,1761350045.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652715,0.757175,-0.025480],[-0.756367,0.649361,-0.078983],[-0.043258,0.070826,0.996550]]
2025-10-24T23:54:05.573Z,1761350045.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282957
2025-10-24T23:54:05.751Z,1761350045.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642044,0.761689,-0.087234],[-0.761907,0.646574,0.037948],[0.085308,0.042100,0.995465]]
2025-10-24T23:54:05.825Z,1761350045.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535591
2025-10-24T23:54:06.077Z,1761350046.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787032
2025-10-24T23:54:06.155Z,1761350046.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604847,0.792887,-0.074092],[-0.789285,0.609246,0.076483],[0.105783,0.012219,0.994314]]
2025-10-24T23:54:06.329Z,1761350046.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039142
2025-10-24T23:54:06.560Z,1761350046.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618463,0.785245,0.029908],[-0.785787,0.617679,0.031799],[0.006496,-0.043168,0.999047]]
2025-10-24T23:54:06.582Z,1761350046.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292433
2025-10-24T23:54:06.833Z,1761350046.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542978
2025-10-24T23:54:06.963Z,1761350046.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677971,0.731914,0.068237],[-0.732942,0.680161,-0.013271],[-0.056126,-0.041016,0.997581]]
2025-10-24T23:54:07.085Z,1761350047.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794949
2025-10-24T23:54:07.338Z,1761350047.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047858
2025-10-24T23:54:07.367Z,1761350047.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629175,0.777240,-0.006139],[-0.777135,0.628907,-0.023184],[-0.014159,0.019358,0.999712]]
2025-10-24T23:54:07.589Z,1761350047.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298959
2025-10-24T23:54:07.764Z,1761350047.764 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:54:07.772Z,1761350047.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549467,0.835486,-0.007056],[-0.835444,0.549511,0.008430],[0.010920,0.001263,0.999940]]
2025-10-24T23:54:07.841Z,1761350047.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551086
2025-10-24T23:54:08.093Z,1761350048.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803609
2025-10-24T23:54:08.191Z,1761350048.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504232,0.861381,0.061423],[-0.863203,0.500675,0.064839],[0.025098,-0.085714,0.996004]]
2025-10-24T23:54:08.345Z,1761350048.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055063
2025-10-24T23:54:08.597Z,1761350048.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306801
2025-10-24T23:54:08.768Z,1761350048.768 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:54:08.849Z,1761350048.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559004
2025-10-24T23:54:08.989Z,1761350048.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586753,0.808280,0.049036],[-0.806300,0.588766,-0.056874],[-0.074841,-0.006166,0.997176]]
2025-10-24T23:54:09.101Z,1761350049.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811005
2025-10-24T23:54:09.353Z,1761350049.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062951
2025-10-24T23:54:09.398Z,1761350049.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538750,0.842455,-0.004265],[-0.841471,0.538353,0.045863],[0.040933,-0.021120,0.998939]]
2025-10-24T23:54:09.606Z,1761350049.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315749
2025-10-24T23:54:09.798Z,1761350049.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485409,0.872831,0.050443],[-0.865718,0.471791,0.167170],[0.122112,-0.124815,0.984637]]
2025-10-24T23:54:09.860Z,1761350049.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.569284
2025-10-24T23:54:10.109Z,1761350050.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819001
2025-10-24T23:54:10.201Z,1761350050.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499204,0.854193,0.145426],[-0.861330,0.470916,0.190654],[0.094372,-0.220436,0.970825]]
2025-10-24T23:54:10.361Z,1761350050.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070984
2025-10-24T23:54:10.601Z,1761350050.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508169,0.850573,0.135241],[-0.861206,0.500131,0.090514],[0.009351,-0.162467,0.986670]]
2025-10-24T23:54:10.613Z,1761350050.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323155
2025-10-24T23:54:10.865Z,1761350050.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574940
2025-10-24T23:54:11.010Z,1761350051.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535347,0.844099,0.030017],[-0.843276,0.536163,-0.037622],[-0.047851,-0.005171,0.998841]]
2025-10-24T23:54:11.071Z,1761350051.071 [NAL9602](INFO): SBD MO Status=2, MOMSN=2574, MT Status=2, MTMSN=0
2025-10-24T23:54:11.071Z,1761350051.071 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-24T23:54:11.091Z,1761350051.091 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:54:11.117Z,1761350051.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827047
2025-10-24T23:54:11.117Z,1761350051.117 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:54:11.118Z,1761350051.118 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:54:11.118Z,1761350051.118 [marl:UpdateRudder:A] Stopped
2025-10-24T23:54:11.118Z,1761350051.118 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:54:11.368Z,1761350051.368 [DAT](INFO): Reached modem response timeout
2025-10-24T23:54:11.407Z,1761350051.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522072,0.848809,-0.083451],[-0.852204,0.515187,-0.091271],[-0.034478,0.118768,0.992323]]
2025-10-24T23:54:11.478Z,1761350051.478 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:54:11.478Z,1761350051.478 [marl:UpdateRudder:B] Stopped
2025-10-24T23:54:11.478Z,1761350051.478 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:54:11.478Z,1761350051.478 [marl:UpdateRudder] Stopped
2025-10-24T23:54:11.478Z,1761350051.478 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:54:11.811Z,1761350051.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463929,0.875275,-0.136613],[-0.884930,0.465004,-0.025899],[0.040857,0.132908,0.990286]]
2025-10-24T23:54:12.215Z,1761350052.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446898,0.891220,-0.077519],[-0.884921,0.453110,0.107734],[0.131139,0.020452,0.991153]]
2025-10-24T23:54:12.239Z,1761350052.239 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,235411.00,A,3646.54500,N,12151.87874,W,0.603,96.96,241025,,,A*48
2025-10-24T23:54:12.241Z,1761350052.241 [NAL9602](INFO): GPS fix at 20251024T235411: (36.775750, -121.864646)
2025-10-24T23:54:12.317Z,1761350052.317 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761350016.00. Resetting abort timer.
2025-10-24T23:54:12.621Z,1761350052.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494317,0.869276,-0.003286],[-0.856637,0.487765,0.168103],[0.147731,-0.080281,0.985764]]
2025-10-24T23:54:13.024Z,1761350053.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536482,0.843668,0.020272],[-0.832483,0.525124,0.176686],[0.138419,-0.111665,0.984058]]
2025-10-24T23:54:13.431Z,1761350053.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507902,0.861386,-0.007081],[-0.841593,0.497952,0.209201],[0.183729,-0.100294,0.977847]]
2025-10-24T23:54:13.473Z,1761350053.473 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:54:13.473Z,1761350053.473 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:54:13.473Z,1761350053.473 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:54:13.474Z,1761350053.474 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:54:13.474Z,1761350053.474 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:54:13.474Z,1761350053.474 [marl:UpdateCommandMode] Stopped
2025-10-24T23:54:13.474Z,1761350053.474 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:54:13.474Z,1761350053.474 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:54:13.474Z,1761350053.474 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:54:13.474Z,1761350053.474 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:54:13.474Z,1761350053.474 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:54:13.475Z,1761350053.475 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:54:13.475Z,1761350053.475 [marl:UpdateSpeed] Stopped
2025-10-24T23:54:13.475Z,1761350053.475 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:54:13.637Z,1761350053.637 [DAT](INFO): DAT read: Response Not Received

2025-10-24T23:54:13.637Z,1761350053.637 [DAT](INFO): response not received
2025-10-24T23:54:13.637Z,1761350053.637 [DAT](ERROR): No response from remote modem.
2025-10-24T23:54:13.831Z,1761350053.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457008,0.889446,0.005356],[-0.872957,0.447365,0.194447],[0.170554,-0.093539,0.980898]]
2025-10-24T23:54:14.236Z,1761350054.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483889,0.874440,0.034726],[-0.874126,0.481054,0.067012],[0.041893,-0.062781,0.997148]]
2025-10-24T23:54:14.639Z,1761350054.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560898,0.825585,-0.061663],[-0.827636,0.560998,-0.017317],[0.020296,0.060747,0.997947]]
2025-10-24T23:54:15.044Z,1761350055.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528640,0.820750,-0.216584],[-0.845207,0.532552,-0.044870],[0.078515,0.206778,0.975232]]
2025-10-24T23:54:15.455Z,1761350055.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483325,0.841625,-0.240967],[-0.873422,0.482268,-0.067471],[0.059425,0.243076,0.968185]]
2025-10-24T23:54:15.865Z,1761350055.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480662,0.852962,-0.203519],[-0.871879,0.489673,-0.006910],[0.093764,0.180765,0.979047]]
2025-10-24T23:54:16.263Z,1761350056.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443344,0.886989,-0.129214],[-0.880549,0.457928,0.122211],[0.167570,0.059598,0.984057]]
2025-10-24T23:54:18.397Z,1761350058.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338377,0.939919,0.045302],[-0.939646,0.340086,-0.037500],[-0.050653,-0.029879,0.998269]]
2025-10-24T23:54:18.790Z,1761350058.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367637,0.929458,-0.030842],[-0.928684,0.368670,0.040353],[0.048877,0.013808,0.998709]]
2025-10-24T23:54:19.195Z,1761350059.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395772,0.918081,-0.022187],[-0.918242,0.395244,-0.024769],[-0.013971,0.030176,0.999447]]
2025-10-24T23:54:19.599Z,1761350059.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368425,0.929046,0.033698],[-0.928352,0.369586,-0.039612],[-0.049256,-0.016689,0.998647]]
2025-10-24T23:54:20.002Z,1761350060.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331505,0.932720,0.141905],[-0.943450,0.327348,0.052388],[0.002411,-0.151247,0.988493]]
2025-10-24T23:54:20.409Z,1761350060.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319589,0.919252,0.229867],[-0.945660,0.294084,0.138712],[0.059911,-0.261707,0.963286]]
2025-10-24T23:54:20.810Z,1761350060.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316665,0.921530,0.224734],[-0.943576,0.281837,0.173876],[0.096893,-0.267114,0.958781]]
2025-10-24T23:54:21.214Z,1761350061.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371991,0.914977,0.156336],[-0.918508,0.338513,0.204335],[0.134040,-0.219606,0.966337]]
2025-10-24T23:54:21.618Z,1761350061.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409272,0.910297,0.062089],[-0.909693,0.401857,0.104736],[0.070390,-0.099347,0.992560]]
2025-10-24T23:54:22.023Z,1761350062.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382835,0.923141,-0.035343],[-0.923399,0.381230,-0.044702],[-0.027793,0.049749,0.998375]]
2025-10-24T23:54:22.426Z,1761350062.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373337,0.925642,-0.061693],[-0.921976,0.362841,-0.135305],[-0.102859,0.107394,0.988881]]
2025-10-24T23:54:22.831Z,1761350062.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352439,0.932802,-0.075283],[-0.933857,0.345326,-0.093071],[-0.060820,0.103105,0.992809]]
2025-10-24T23:54:23.234Z,1761350063.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311970,0.948003,-0.062963],[-0.950088,0.311468,-0.017897],[0.002644,0.065404,0.997855]]
2025-10-24T23:54:23.647Z,1761350063.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324666,0.945509,0.024578],[-0.943949,0.325549,-0.054577],[-0.059604,-0.005481,0.998207]]
2025-10-24T23:54:24.043Z,1761350064.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334255,0.931849,0.141181],[-0.925578,0.352800,-0.137250],[-0.177705,-0.084798,0.980424]]
2025-10-24T23:54:24.447Z,1761350064.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347951,0.920737,0.176561],[-0.921112,0.370820,-0.118515],[-0.174593,-0.121395,0.977129]]
2025-10-24T23:54:24.851Z,1761350064.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383696,0.918521,0.095378],[-0.923250,0.383758,0.018428],[-0.019676,-0.095128,0.995271]]
2025-10-24T23:54:25.256Z,1761350065.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387135,0.921488,-0.031420],[-0.911318,0.387595,0.138814],[0.140094,-0.025106,0.989820]]
2025-10-24T23:54:25.668Z,1761350065.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326795,0.942856,-0.065012],[-0.929930,0.333063,0.155881],[0.168626,0.009516,0.985634]]
2025-10-24T23:54:25.711Z,1761350065.711 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:54:25.711Z,1761350065.711 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:54:25.711Z,1761350065.711 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:54:25.712Z,1761350065.712 [marl:UpdateRudder:A] Stopped
2025-10-24T23:54:25.712Z,1761350065.712 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:54:26.062Z,1761350066.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262437,0.963940,-0.044119],[-0.961052,0.265209,0.077736],[0.086634,0.022000,0.995997]]
2025-10-24T23:54:26.155Z,1761350066.155 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:54:26.155Z,1761350066.155 [marl:UpdateRudder:B] Stopped
2025-10-24T23:54:26.160Z,1761350066.160 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:54:26.160Z,1761350066.160 [marl:UpdateRudder] Stopped
2025-10-24T23:54:26.160Z,1761350066.160 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:54:26.466Z,1761350066.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255488,0.966811,0.001104],[-0.965981,0.255221,0.041748],[0.040081,-0.011733,0.999128]]
2025-10-24T23:54:26.872Z,1761350066.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235612,0.970013,0.059678],[-0.971837,0.234884,0.019032],[0.004444,-0.062482,0.998036]]
2025-10-24T23:54:27.274Z,1761350067.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227378,0.968916,0.097472],[-0.973794,0.226747,0.017651],[-0.004999,-0.098931,0.995082]]
2025-10-24T23:54:27.682Z,1761350067.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264259,0.960598,0.086136],[-0.963776,0.259676,0.060854],[0.036088,-0.099097,0.994423]]
2025-10-24T23:54:28.086Z,1761350068.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284486,0.958001,0.036084],[-0.955611,0.280365,0.090567],[0.076647,-0.060247,0.995236]]
2025-10-24T23:54:28.178Z,1761350068.178 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:54:28.178Z,1761350068.178 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:54:28.178Z,1761350068.178 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:54:28.178Z,1761350068.178 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:54:28.179Z,1761350068.179 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:54:28.179Z,1761350068.179 [marl:UpdateCommandMode] Stopped
2025-10-24T23:54:28.179Z,1761350068.179 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:54:28.179Z,1761350068.179 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:54:28.179Z,1761350068.179 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:54:28.179Z,1761350068.179 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:54:28.179Z,1761350068.179 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:54:28.179Z,1761350068.179 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:54:28.179Z,1761350068.179 [marl:UpdateSpeed] Stopped
2025-10-24T23:54:28.184Z,1761350068.184 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:54:28.486Z,1761350068.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252855,0.967501,0.002371],[-0.962206,0.251214,0.105125],[0.101113,-0.028863,0.994456]]
2025-10-24T23:54:28.890Z,1761350068.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227443,0.973443,0.026041],[-0.971323,0.224882,0.077196],[0.069290,-0.042852,0.996676]]
2025-10-24T23:54:29.294Z,1761350069.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220309,0.973980,0.053176],[-0.974648,0.217622,0.051983],[0.039058,-0.063280,0.997231]]
2025-10-24T23:54:29.306Z,1761350069.306 [NAL9602](INFO): SBD MO Status=1, MOMSN=2574, MT Status=0, MTMSN=0
2025-10-24T23:54:29.360Z,1761350069.360 [NAL9602](INFO): Sent 83 bytes from file Logs/20251024T220733/Courier0024.lzma
2025-10-24T23:54:29.360Z,1761350069.360 [NAL9602](INFO): Packets left to send: 0
2025-10-24T23:54:29.700Z,1761350069.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187031,0.980199,0.065026],[-0.978522,0.180052,0.100380],[0.086685,-0.082403,0.992822]]
2025-10-24T23:54:30.306Z,1761350070.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227267,0.970802,0.076764],[-0.964150,0.213219,0.157965],[0.136986,-0.109912,0.984456]]
2025-10-24T23:54:30.644Z,1761350070.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226308,0.973734,0.025044],[-0.962976,0.219793,0.156101],[0.146497,-0.059444,0.987423]]
2025-10-24T23:54:32.782Z,1761350072.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190344,0.979519,0.065660],[-0.967783,0.175993,0.180063],[0.164820,-0.097818,0.981461]]
2025-10-24T23:54:33.170Z,1761350073.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166392,0.980258,0.106803],[-0.977340,0.149578,0.149776],[0.130844,-0.129304,0.982934]]
2025-10-24T23:54:33.575Z,1761350073.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141671,0.983638,0.111288],[-0.986953,0.131663,0.092679],[0.076510,-0.122966,0.989457]]
2025-10-24T23:54:33.978Z,1761350073.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129867,0.989161,0.068525],[-0.989064,0.124361,0.079292],[0.069911,-0.078073,0.994493]]
2025-10-24T23:54:34.384Z,1761350074.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155165,0.987523,0.026867],[-0.979198,0.150143,0.136487],[0.130750,-0.047486,0.990277]]
2025-10-24T23:54:34.787Z,1761350074.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152082,0.988316,-0.010076],[-0.967717,0.150970,0.201820],[0.200983,-0.020943,0.979371]]
2025-10-24T23:54:35.190Z,1761350075.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132804,0.991109,0.008112],[-0.971294,0.128511,0.200184],[0.197362,-0.034464,0.979725]]
2025-10-24T23:54:35.595Z,1761350075.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159809,0.984792,0.068162],[-0.974903,0.146607,0.167542],[0.155001,-0.093226,0.983506]]
2025-10-24T23:54:36.000Z,1761350076.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169327,0.979247,0.111374],[-0.977389,0.152326,0.146654],[0.126645,-0.133688,0.982898]]
2025-10-24T23:54:36.403Z,1761350076.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158459,0.974690,0.157705],[-0.984903,0.144762,0.094918],[0.069686,-0.170365,0.982914]]
2025-10-24T23:54:36.806Z,1761350076.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152352,0.975922,0.156095],[-0.988283,0.151913,0.014811],[-0.009259,-0.156522,0.987631]]
2025-10-24T23:54:37.214Z,1761350077.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151806,0.979708,0.130868],[-0.986276,0.158841,-0.045051],[-0.064924,-0.122233,0.990376]]
2025-10-24T23:54:37.623Z,1761350077.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197245,0.975045,0.101893],[-0.978868,0.201601,-0.034278],[-0.053964,-0.092978,0.994205]]
2025-10-24T23:54:38.018Z,1761350078.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122885,0.989992,0.069394],[-0.991372,0.119242,0.054425],[0.045605,-0.075483,0.996104]]
2025-10-24T23:54:38.422Z,1761350078.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041574,0.994828,0.092678],[-0.996077,0.034016,0.081696],[0.078121,-0.095711,0.992339]]
2025-10-24T23:54:38.827Z,1761350078.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142470,0.982730,0.118085],[-0.989024,0.136621,0.056276],[0.039171,-0.124807,0.991408]]
2025-10-24T23:54:38.888Z,1761350078.888 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:54:39.235Z,1761350079.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193676,0.979649,0.052698],[-0.981063,0.193279,0.012581],[0.002140,-0.054137,0.998531]]
2025-10-24T23:54:39.637Z,1761350079.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122169,0.991796,0.037612],[-0.991345,0.123774,-0.043772],[-0.048068,-0.031939,0.998333]]
2025-10-24T23:54:39.893Z,1761350079.893 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:54:40.039Z,1761350080.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061465,0.988806,0.135961],[-0.998082,0.061902,0.001020],[-0.007408,-0.135763,0.990714]]
2025-10-24T23:54:40.461Z,1761350080.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087213,0.973191,0.212822],[-0.994202,0.071540,0.080280],[0.062903,-0.218589,0.973787]]
2025-10-24T23:54:40.528Z,1761350080.528 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:54:40.528Z,1761350080.528 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:54:40.528Z,1761350080.528 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:54:40.529Z,1761350080.529 [marl:UpdateRudder:A] Stopped
2025-10-24T23:54:40.529Z,1761350080.529 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:54:40.848Z,1761350080.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140965,0.969590,0.200060],[-0.988815,0.127946,0.076639],[0.048712,-0.208626,0.976782]]
2025-10-24T23:54:40.878Z,1761350080.878 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:54:40.878Z,1761350080.878 [marl:UpdateRudder:B] Stopped
2025-10-24T23:54:40.878Z,1761350080.878 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:54:40.878Z,1761350080.878 [marl:UpdateRudder] Stopped
2025-10-24T23:54:40.878Z,1761350080.878 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:54:41.250Z,1761350081.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173469,0.978718,0.109636],[-0.984836,0.172101,0.021887],[0.002553,-0.111771,0.993731]]
2025-10-24T23:54:41.658Z,1761350081.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204391,0.978653,0.021490],[-0.978817,0.204594,-0.007684],[-0.011917,-0.019465,0.999740]]
2025-10-24T23:54:42.058Z,1761350082.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192395,0.981004,-0.024809],[-0.980502,0.191144,-0.045597],[-0.039989,0.033098,0.998652]]
2025-10-24T23:54:42.464Z,1761350082.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108044,0.993826,0.025210],[-0.993945,0.108497,-0.017349],[-0.019977,-0.023183,0.999532]]
2025-10-24T23:54:42.470Z,1761350082.470 [NAL9602](INFO): SBD MO Status=1, MOMSN=2575, MT Status=0, MTMSN=0
2025-10-24T23:54:42.528Z,1761350082.528 [NAL9602](INFO): Sent 332 bytes from file Logs/20251024T220733/Express0025.lzma
2025-10-24T23:54:42.528Z,1761350082.528 [NAL9602](INFO): Packets left to send: 2
2025-10-24T23:54:42.866Z,1761350082.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108268,0.978915,0.173216],[-0.994121,0.106400,0.020064],[0.001211,-0.174370,0.984680]]
2025-10-24T23:54:43.262Z,1761350083.262 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:54:43.262Z,1761350083.262 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:54:43.262Z,1761350083.262 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:54:43.262Z,1761350083.262 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:54:43.262Z,1761350083.262 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:54:43.263Z,1761350083.263 [marl:UpdateCommandMode] Stopped
2025-10-24T23:54:43.263Z,1761350083.263 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:54:43.263Z,1761350083.263 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:54:43.263Z,1761350083.263 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:54:43.263Z,1761350083.263 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:54:43.263Z,1761350083.263 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:54:43.263Z,1761350083.263 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:54:43.263Z,1761350083.263 [marl:UpdateSpeed] Stopped
2025-10-24T23:54:43.268Z,1761350083.268 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:54:43.343Z,1761350083.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205956,0.947379,0.245062],[-0.978281,0.193338,0.074747],[0.023434,-0.255134,0.966622]]
2025-10-24T23:54:43.730Z,1761350083.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247488,0.956241,0.156056],[-0.965192,0.229264,0.125864],[0.084578,-0.181774,0.979696]]
2025-10-24T23:54:45.998Z,1761350085.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225219,0.974155,-0.017285],[-0.961829,0.225130,0.155566],[0.155437,-0.018411,0.987674]]
2025-10-24T23:54:46.395Z,1761350086.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252526,0.967161,0.028809],[-0.964443,0.253993,-0.073059],[-0.077977,-0.009336,0.996911]]
2025-10-24T23:54:46.800Z,1761350086.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242234,0.967233,0.076047],[-0.969479,0.244363,-0.019919],[-0.037850,-0.068901,0.996905]]
2025-10-24T23:54:47.202Z,1761350087.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223700,0.965843,0.130788],[-0.973241,0.214123,0.083381],[0.052529,-0.145941,0.987898]]
2025-10-24T23:54:47.612Z,1761350087.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267872,0.943240,0.196321],[-0.962258,0.251773,0.103298],[0.048007,-0.216582,0.975083]]
2025-10-24T23:54:48.011Z,1761350088.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293702,0.941436,0.165643],[-0.952365,0.273307,0.135294],[0.082100,-0.197489,0.976861]]
2025-10-24T23:54:48.416Z,1761350088.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236483,0.964031,0.121324],[-0.967472,0.222079,0.121154],[0.089852,-0.146028,0.985192]]
2025-10-24T23:54:48.818Z,1761350088.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202918,0.967120,0.153304],[-0.978503,0.206163,-0.005405],[-0.036833,-0.148912,0.988164]]
2025-10-24T23:54:49.222Z,1761350089.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224833,0.964402,0.139208],[-0.966396,0.238970,-0.094718],[-0.124612,-0.113234,0.985723]]
2025-10-24T23:54:49.627Z,1761350089.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214446,0.975671,0.045598],[-0.974835,0.216706,-0.052302],[-0.060911,-0.033234,0.997590]]
2025-10-24T23:54:50.032Z,1761350090.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167668,0.985447,-0.027957],[-0.979920,0.169698,0.104688],[0.107908,0.009843,0.994112]]
2025-10-24T23:54:50.434Z,1761350090.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179131,0.983067,-0.038630],[-0.968682,0.183100,0.167716],[0.171949,0.007377,0.985078]]
2025-10-24T23:54:50.838Z,1761350090.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209026,0.977889,-0.006446],[-0.971088,0.208340,0.116545],[0.115311,-0.018102,0.993165]]
2025-10-24T23:54:51.243Z,1761350091.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234291,0.971335,0.040199],[-0.970907,0.231684,0.060514],[0.049466,-0.053208,0.997357]]
2025-10-24T23:54:51.648Z,1761350091.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194371,0.972163,0.130836],[-0.979621,0.199260,-0.025253],[-0.050620,-0.123262,0.991082]]
2025-10-24T23:54:52.052Z,1761350092.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196077,0.962645,0.186731],[-0.975778,0.210384,-0.059966],[-0.097011,-0.170450,0.980579]]
2025-10-24T23:54:52.454Z,1761350092.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204742,0.972612,0.110031],[-0.976687,0.210411,-0.042532],[-0.064519,-0.098758,0.993018]]
2025-10-24T23:54:52.858Z,1761350092.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162810,0.986238,0.028777],[-0.985842,0.163791,-0.035877],[-0.040097,-0.022529,0.998942]]
2025-10-24T23:54:53.263Z,1761350093.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129091,0.991496,0.016466],[-0.991191,0.129511,-0.027684],[-0.029581,-0.012747,0.999481]]
2025-10-24T23:54:53.673Z,1761350093.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144182,0.988610,0.043152],[-0.989543,0.143864,0.010400],[0.004074,-0.044201,0.999014]]
2025-10-24T23:54:54.073Z,1761350094.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176330,0.983253,0.046050],[-0.981517,0.172098,0.083709],[0.074382,-0.059960,0.995426]]
2025-10-24T23:54:54.475Z,1761350094.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176775,0.982756,0.054237],[-0.982259,0.172644,0.073227],[0.062600,-0.066219,0.995839]]
2025-10-24T23:54:54.878Z,1761350094.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105282,0.988973,0.104154],[-0.994313,0.106382,-0.005042],[-0.016067,-0.103031,0.994548]]
2025-10-24T23:54:55.283Z,1761350095.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090424,0.983349,0.157631],[-0.995025,0.095850,-0.027150],[-0.041807,-0.154391,0.987125]]
2025-10-24T23:54:55.312Z,1761350095.312 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:54:55.312Z,1761350095.312 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:54:55.312Z,1761350095.312 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:54:55.313Z,1761350095.313 [marl:UpdateRudder:A] Stopped
2025-10-24T23:54:55.313Z,1761350095.313 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:54:55.688Z,1761350095.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132688,0.985826,0.102673],[-0.990928,0.129714,0.035146],[0.021329,-0.106405,0.994094]]
2025-10-24T23:54:55.719Z,1761350095.719 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:54:55.719Z,1761350095.719 [marl:UpdateRudder:B] Stopped
2025-10-24T23:54:55.720Z,1761350095.720 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:54:55.720Z,1761350095.720 [marl:UpdateRudder] Stopped
2025-10-24T23:54:55.720Z,1761350095.720 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:54:56.096Z,1761350096.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126249,0.991958,0.008973],[-0.990520,0.125562,0.055709],[0.054134,-0.015921,0.998407]]
2025-10-24T23:54:56.494Z,1761350096.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127453,0.991511,-0.025731],[-0.991843,0.127362,-0.005147],[-0.001826,0.026177,0.999656]]
2025-10-24T23:54:56.506Z,1761350096.506 [NAL9602](INFO): SBD MO Status=1, MOMSN=2576, MT Status=0, MTMSN=0
2025-10-24T23:54:56.560Z,1761350096.560 [NAL9602](INFO): Sent 332 bytes from file Logs/20251024T220733/Express0025.lzma
2025-10-24T23:54:56.560Z,1761350096.560 [NAL9602](INFO): Packets left to send: 1
2025-10-24T23:54:56.900Z,1761350096.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110054,0.993853,0.011988],[-0.993921,0.110083,-0.001793],[-0.003101,-0.011718,0.999927]]
2025-10-24T23:54:57.468Z,1761350097.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010159,0.968435,0.249061],[-0.999629,0.003538,0.027017],[0.025283,-0.249243,0.968111]]
2025-10-24T23:54:59.525Z,1761350099.525 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:54:59.525Z,1761350099.525 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:54:59.746Z,1761350099.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026005,0.998051,0.056719],[-0.998004,0.022655,0.058939],[0.057539,-0.058139,0.996649]]
2025-10-24T23:54:59.780Z,1761350099.780 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:54:59.781Z,1761350099.781 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:54:59.781Z,1761350099.781 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:54:59.781Z,1761350099.781 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:54:59.781Z,1761350099.781 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:54:59.781Z,1761350099.781 [marl:UpdateCommandMode] Stopped
2025-10-24T23:54:59.781Z,1761350099.781 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:54:59.781Z,1761350099.781 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:54:59.781Z,1761350099.781 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:54:59.782Z,1761350099.782 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:54:59.782Z,1761350099.782 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:54:59.782Z,1761350099.782 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:54:59.782Z,1761350099.782 [marl:UpdateSpeed] Stopped
2025-10-24T23:54:59.782Z,1761350099.782 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:55:00.144Z,1761350100.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052289,0.990605,0.126362],[-0.998445,0.054310,-0.012600],[-0.019344,-0.125507,0.991904]]
2025-10-24T23:55:00.546Z,1761350100.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056035,0.992177,0.111557],[-0.998325,0.057292,-0.008092],[-0.014420,-0.110916,0.993725]]
2025-10-24T23:55:00.954Z,1761350100.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023677,0.995190,0.095056],[-0.999651,0.024681,-0.009403],[-0.011704,-0.094800,0.995428]]
2025-10-24T23:55:00.999Z,1761350100.999 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:55:01.033Z,1761350101.033 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:55:01.033Z,1761350101.033 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T23:55:01.285Z,1761350101.285 [DAT](INFO): DAT read: user:10>

2025-10-24T23:55:01.286Z,1761350101.286 [DAT](INFO): DAT read: Tx time:23:55:00.8606

2025-10-24T23:55:01.286Z,1761350101.286 [DAT](INFO): Ping request sent.
2025-10-24T23:55:01.286Z,1761350101.286 [DAT](INFO): transmitted an acoustic signal
2025-10-24T23:55:01.286Z,1761350101.286 [DAT](INFO): publishing transmit ping time
2025-10-24T23:55:01.287Z,1761350101.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000963
2025-10-24T23:55:01.389Z,1761350101.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023131,0.996317,0.082562],[-0.997645,0.017670,0.066279],[0.064576,-0.083900,0.994380]]
2025-10-24T23:55:01.537Z,1761350101.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250785
2025-10-24T23:55:01.759Z,1761350101.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036020,0.997500,0.060796],[-0.990236,0.027427,0.136677],[0.134667,-0.065125,0.988748]]
2025-10-24T23:55:01.789Z,1761350101.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502916
2025-10-24T23:55:02.041Z,1761350102.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754881
2025-10-24T23:55:02.162Z,1761350102.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050302,0.996369,0.068685],[-0.996641,0.045627,0.068004],[0.064623,-0.071875,0.995318]]
2025-10-24T23:55:02.293Z,1761350102.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006819
2025-10-24T23:55:02.545Z,1761350102.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258819
2025-10-24T23:55:02.573Z,1761350102.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059299,0.994774,0.083119],[-0.997782,0.056543,0.035130],[0.030247,-0.085018,0.995920]]
2025-10-24T23:55:02.797Z,1761350102.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510870
2025-10-24T23:55:02.974Z,1761350102.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054491,0.993938,0.095489],[-0.993190,0.044089,0.107845],[0.102981,-0.100715,0.989571]]
2025-10-24T23:55:03.049Z,1761350103.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763264
2025-10-24T23:55:03.301Z,1761350103.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015449
2025-10-24T23:55:03.385Z,1761350103.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051187,0.987329,0.150204],[-0.988420,0.028572,0.149026],[0.142846,-0.156093,0.977359]]
2025-10-24T23:55:03.554Z,1761350103.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267554
2025-10-24T23:55:03.778Z,1761350103.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053645,0.979936,0.191958],[-0.992756,0.031641,0.115911],[0.107511,-0.196785,0.974534]]
2025-10-24T23:55:03.805Z,1761350103.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518872
2025-10-24T23:55:04.057Z,1761350104.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771009
2025-10-24T23:55:04.182Z,1761350104.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020145,0.983320,0.180764],[-0.997092,0.006468,0.075937],[0.073501,-0.181768,0.980591]]
2025-10-24T23:55:04.309Z,1761350104.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022892
2025-10-24T23:55:04.562Z,1761350104.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275522
2025-10-24T23:55:04.596Z,1761350104.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036515,0.976267,0.213470],[-0.999331,0.035180,0.010051],[0.002302,-0.213694,0.976898]]
2025-10-24T23:55:04.813Z,1761350104.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526825
2025-10-24T23:55:04.996Z,1761350104.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100118,0.982966,0.154122],[-0.994473,0.103784,-0.015906],[-0.031630,-0.151678,0.987924]]
2025-10-24T23:55:05.066Z,1761350105.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779423
2025-10-24T23:55:05.317Z,1761350105.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030804
2025-10-24T23:55:05.398Z,1761350105.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083472,0.995936,0.033835],[-0.996509,0.083467,0.001579],[-0.001251,-0.033848,0.999426]]
2025-10-24T23:55:05.570Z,1761350105.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284230
2025-10-24T23:55:05.799Z,1761350105.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033185,0.999337,0.015008],[-0.999449,0.033179,0.000643],[0.000145,-0.015021,0.999887]]
2025-10-24T23:55:05.821Z,1761350105.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534996
2025-10-24T23:55:06.073Z,1761350106.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787026
2025-10-24T23:55:06.204Z,1761350106.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025793,0.997030,0.072572],[-0.999570,0.026734,-0.012031],[-0.013935,-0.072231,0.997291]]
2025-10-24T23:55:06.325Z,1761350106.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038774
2025-10-24T23:55:06.577Z,1761350106.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290900
2025-10-24T23:55:06.607Z,1761350106.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053901,0.986913,0.151979],[-0.996590,0.062690,-0.053645],[-0.062471,-0.148569,0.986927]]
2025-10-24T23:55:06.829Z,1761350106.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542797
2025-10-24T23:55:07.011Z,1761350107.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002814,0.963747,0.266802],[-0.999364,0.006773,-0.035005],[-0.035543,-0.266731,0.963115]]
2025-10-24T23:55:07.018Z,1761350107.018 [NAL9602](INFO): SBD MO Status=1, MOMSN=2577, MT Status=0, MTMSN=0
2025-10-24T23:55:07.073Z,1761350107.073 [NAL9602](INFO): Sent 185 bytes from file Logs/20251024T220733/Express0025.lzma
2025-10-24T23:55:07.073Z,1761350107.073 [NAL9602](INFO): Packets left to send: 0
2025-10-24T23:55:07.081Z,1761350107.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794796
2025-10-24T23:55:07.333Z,1761350107.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046920
2025-10-24T23:55:07.419Z,1761350107.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004995,0.922481,0.386011],[-0.999797,-0.012144,0.016085],[0.019526,-0.385852,0.922354]]
2025-10-24T23:55:07.585Z,1761350107.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298926
2025-10-24T23:55:07.820Z,1761350107.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066279,0.918572,0.389657],[-0.997783,0.063365,0.020343],[-0.006004,-0.390141,0.920735]]
2025-10-24T23:55:07.837Z,1761350107.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551238
2025-10-24T23:55:08.089Z,1761350108.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802849
2025-10-24T23:55:08.222Z,1761350108.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109203,0.967083,0.229839],[-0.994007,0.105074,0.030167],[0.005023,-0.231756,0.972761]]
2025-10-24T23:55:08.341Z,1761350108.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054844
2025-10-24T23:55:08.593Z,1761350108.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306819
2025-10-24T23:55:08.627Z,1761350108.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131784,0.990393,0.041889],[-0.990734,0.130194,0.038674],[0.032849,-0.046598,0.998374]]
2025-10-24T23:55:08.845Z,1761350108.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558841
2025-10-24T23:55:09.034Z,1761350109.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154975,0.983395,-0.094426],[-0.987438,0.157170,0.016228],[0.030800,0.090725,0.995400]]
2025-10-24T23:55:09.097Z,1761350109.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810885
2025-10-24T23:55:09.349Z,1761350109.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062750
2025-10-24T23:55:09.435Z,1761350109.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115499,0.982967,-0.142957],[-0.992279,0.120725,0.028412],[0.045186,0.138572,0.989321]]
2025-10-24T23:55:09.601Z,1761350109.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314900
2025-10-24T23:55:09.842Z,1761350109.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107431,0.993056,-0.047942],[-0.994006,0.108266,0.015171],[0.020256,0.046025,0.998735]]
2025-10-24T23:55:09.855Z,1761350109.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.568690
2025-10-24T23:55:10.012Z,1761350110.012 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:55:10.105Z,1761350110.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818798
2025-10-24T23:55:10.243Z,1761350110.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102250,0.986829,0.125357],[-0.994397,0.104797,-0.013885],[-0.026839,-0.123235,0.992015]]
2025-10-24T23:55:10.317Z,1761350110.317 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:55:10.317Z,1761350110.317 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:55:10.317Z,1761350110.317 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:55:10.318Z,1761350110.318 [marl:UpdateRudder:A] Stopped
2025-10-24T23:55:10.318Z,1761350110.318 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:55:10.357Z,1761350110.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071021
2025-10-24T23:55:10.609Z,1761350110.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322765
2025-10-24T23:55:10.658Z,1761350110.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180098,0.958094,0.222757],[-0.978778,0.152042,0.137394],[0.097768,-0.242774,0.965144]]
2025-10-24T23:55:10.712Z,1761350110.712 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:55:10.712Z,1761350110.712 [marl:UpdateRudder:B] Stopped
2025-10-24T23:55:10.712Z,1761350110.712 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:55:10.712Z,1761350110.712 [marl:UpdateRudder] Stopped
2025-10-24T23:55:10.712Z,1761350110.712 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:55:10.861Z,1761350110.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574822
2025-10-24T23:55:11.016Z,1761350111.016 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:55:11.062Z,1761350111.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174166,0.979698,0.099282],[-0.983928,0.169108,0.057338],[0.039385,-0.107673,0.993406]]
2025-10-24T23:55:11.113Z,1761350111.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826920
2025-10-24T23:55:11.364Z,1761350111.364 [DAT](INFO): Reached modem response timeout
2025-10-24T23:55:11.459Z,1761350111.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122542,0.990578,0.061143],[-0.992055,0.124026,-0.021086],[-0.028471,-0.058074,0.997906]]
2025-10-24T23:55:11.890Z,1761350111.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119818,0.988042,0.097037],[-0.992796,0.119324,0.010894],[-0.000815,-0.097643,0.995221]]
2025-10-24T23:55:12.268Z,1761350112.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124491,0.987714,0.094466],[-0.988301,0.114983,0.100196],[0.088103,-0.105835,0.990473]]
2025-10-24T23:55:12.298Z,1761350112.298 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:55:12.298Z,1761350112.298 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:55:12.299Z,1761350112.299 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:55:12.299Z,1761350112.299 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:55:12.299Z,1761350112.299 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:55:12.299Z,1761350112.299 [marl:UpdateCommandMode] Stopped
2025-10-24T23:55:12.299Z,1761350112.299 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:55:12.299Z,1761350112.299 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:55:12.299Z,1761350112.299 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:55:12.299Z,1761350112.299 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:55:12.300Z,1761350112.300 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:55:12.300Z,1761350112.300 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:55:12.300Z,1761350112.300 [marl:UpdateSpeed] Stopped
2025-10-24T23:55:12.300Z,1761350112.300 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:55:12.673Z,1761350112.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129174,0.989389,0.066515],[-0.978456,0.116278,0.170594],[0.161049,-0.087119,0.983094]]
2025-10-24T23:55:13.072Z,1761350113.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174616,0.984635,0.001793],[-0.973773,0.172419,0.148453],[0.145863,-0.027668,0.988918]]
2025-10-24T23:55:13.484Z,1761350113.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162025,0.986279,-0.031633],[-0.985405,0.163410,0.047681],[0.052196,0.023446,0.998362]]
2025-10-24T23:55:13.633Z,1761350113.633 [DAT](INFO): DAT read: Response Not Received

2025-10-24T23:55:13.633Z,1761350113.633 [DAT](INFO): response not received
2025-10-24T23:55:13.633Z,1761350113.633 [DAT](ERROR): No response from remote modem.
2025-10-24T23:55:13.914Z,1761350113.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159976,0.986013,0.046746],[-0.987060,0.160315,-0.003569],[-0.011013,-0.045571,0.998900]]
2025-10-24T23:55:14.283Z,1761350114.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177167,0.977421,0.115155],[-0.983983,0.173566,0.040662],[0.019757,-0.120515,0.992515]]
2025-10-24T23:55:14.288Z,1761350114.288 [NAL9602](INFO): SBD MO Status=0, MOMSN=2578, MT Status=0, MTMSN=0
2025-10-24T23:55:14.379Z,1761350114.379 [marl:NeedComms:D] Stopped
2025-10-24T23:55:14.379Z,1761350114.379 [marl:NeedComms:E] Running Loop=1
2025-10-24T23:55:14.688Z,1761350114.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177118,0.970073,0.166098],[-0.983856,0.170126,0.055532],[0.025613,-0.173253,0.984544]]
2025-10-24T23:55:15.095Z,1761350115.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145149,0.972912,0.179927],[-0.989362,0.140933,0.036069],[0.009734,-0.183248,0.983018]]
2025-10-24T23:55:15.495Z,1761350115.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142845,0.977701,0.153933],[-0.989678,0.139284,0.033730],[0.011538,-0.157162,0.987505]]
2025-10-24T23:55:15.503Z,1761350115.503 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,235514.00,A,3646.53970,N,12151.87009,W,0.836,138.10,241025,,,A*71
2025-10-24T23:55:15.505Z,1761350115.505 [NAL9602](INFO): GPS fix at 20251024T235514: (36.775662, -121.864502)
2025-10-24T23:55:15.616Z,1761350115.616 [marl:NeedComms:E] Stopped
2025-10-24T23:55:15.617Z,1761350115.617 [marl:NeedComms](INFO): Completed marl:NeedComms
2025-10-24T23:55:15.617Z,1761350115.617 [marl:NeedComms] Stopped
2025-10-24T23:55:15.617Z,1761350115.617 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms
2025-10-24T23:55:15.617Z,1761350115.617 [marl:NeedComms:B.GoToSurface] Stopped
2025-10-24T23:55:15.617Z,1761350115.617 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-24T23:55:15.618Z,1761350115.618 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761350144.00. Resetting abort timer.
2025-10-24T23:55:15.927Z,1761350115.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115752,0.982826,0.143714],[-0.993267,0.115216,0.012073],[-0.004693,-0.144144,0.989546]]
2025-10-24T23:55:16.304Z,1761350116.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059228,0.986112,0.155162],[-0.998141,0.056262,0.023444],[0.014389,-0.156262,0.987611]]
2025-10-24T23:55:16.707Z,1761350116.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114256,0.982897,0.144430],[-0.993325,0.110710,0.032383],[0.015840,-0.147166,0.988985]]
2025-10-24T23:55:17.111Z,1761350117.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191024,0.980559,0.044884],[-0.981569,0.190556,0.014517],[0.005682,-0.046830,0.998887]]
2025-10-24T23:55:17.515Z,1761350117.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215438,0.974499,-0.062749],[-0.975859,0.217208,0.022808],[0.035856,0.056321,0.997769]]
2025-10-24T23:55:17.955Z,1761350117.955 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,235517.00,A,3646.53928,N,12151.86988,W,0.933,132.86,241025,,,A*7F
2025-10-24T23:55:17.961Z,1761350117.961 [NAL9602](INFO): GPS fix at 20251024T235517: (36.775655, -121.864498)
2025-10-24T23:55:18.120Z,1761350118.120 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761350144.00. Resetting abort timer.
2025-10-24T23:55:18.471Z,1761350118.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171199,0.985222,-0.005276],[-0.985222,0.171165,-0.006289],[-0.005293,0.006275,0.999966]]
2025-10-24T23:55:18.855Z,1761350118.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189615,0.981199,0.035987],[-0.981231,0.188056,0.042670],[0.035100,-0.043403,0.998441]]
2025-10-24T23:55:19.258Z,1761350119.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135972,0.984928,0.106905],[-0.987897,0.126663,0.089537],[0.074647,-0.117786,0.990229]]
2025-10-24T23:55:19.669Z,1761350119.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097415,0.975205,0.198710],[-0.993055,0.082008,0.084360],[0.065972,-0.205548,0.976421]]
2025-10-24T23:55:20.071Z,1761350120.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136837,0.970589,0.198073],[-0.988951,0.122342,0.083715],[0.057020,-0.207340,0.976606]]
2025-10-24T23:55:20.470Z,1761350120.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195895,0.975411,0.100991],[-0.979068,0.188745,0.076162],[0.055227,-0.113797,0.991968]]
2025-10-24T23:55:20.875Z,1761350120.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139545,0.990059,0.017608],[-0.989905,0.139034,0.027520],[0.024798,-0.021271,0.999466]]
2025-10-24T23:55:20.881Z,1761350120.881 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,235520.00,A,3646.53904,N,12151.86938,W,1.069,162.71,241025,,,A*74
2025-10-24T23:55:20.883Z,1761350120.883 [NAL9602](INFO): GPS fix at 20251024T235520: (36.775651, -121.864490)
2025-10-24T23:55:20.974Z,1761350120.974 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761350144.00. Resetting abort timer.
2025-10-24T23:55:21.278Z,1761350121.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079168,0.995842,0.045066],[-0.996642,0.078120,0.024558],[0.020936,-0.046859,0.998682]]
2025-10-24T23:55:21.687Z,1761350121.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103023,0.982635,0.154320],[-0.994292,0.097408,0.043535],[0.027747,-0.157924,0.987061]]
2025-10-24T23:55:21.874Z,1761350121.874 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.008051
2025-10-24T23:55:22.086Z,1761350122.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171985,0.967341,0.186208],[-0.983804,0.158970,0.082814],[0.050508,-0.197435,0.979014]]
2025-10-24T23:55:22.490Z,1761350122.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170155,0.969680,0.175408],[-0.981255,0.150386,0.120514],[0.090482,-0.192626,0.977092]]
2025-10-24T23:55:22.864Z,1761350122.864 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:55:22.897Z,1761350122.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120090,0.981070,0.151921],[-0.990191,0.107361,0.089412],[0.071409,-0.161168,0.984340]]
2025-10-24T23:55:23.301Z,1761350123.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157419,0.972852,0.169643],[-0.986680,0.162080,-0.013898],[-0.041016,-0.165196,0.985407]]
2025-10-24T23:55:23.325Z,1761350123.325 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:55:23.325Z,1761350123.325 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:55:23.325Z,1761350123.325 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:55:23.326Z,1761350123.326 [marl:UpdateRudder:A] Stopped
2025-10-24T23:55:23.326Z,1761350123.326 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:55:23.702Z,1761350123.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198737,0.977119,0.075773],[-0.977463,0.203235,-0.057107],[-0.071200,-0.062716,0.995488]]
2025-10-24T23:55:23.750Z,1761350123.750 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:55:23.750Z,1761350123.750 [marl:UpdateRudder:B] Stopped
2025-10-24T23:55:23.751Z,1761350123.751 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:55:23.751Z,1761350123.751 [marl:UpdateRudder] Stopped
2025-10-24T23:55:23.751Z,1761350123.751 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:55:24.107Z,1761350124.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094723,0.995501,0.002311],[-0.993204,0.094661,-0.067705],[-0.067619,0.004118,0.997703]]
2025-10-24T23:55:24.113Z,1761350124.113 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,235523.00,A,3646.53857,N,12151.86969,W,0.758,177.23,241025,,,A*73
2025-10-24T23:55:24.115Z,1761350124.115 [NAL9602](INFO): GPS fix at 20251024T235523: (36.775643, -121.864495)
2025-10-24T23:55:24.179Z,1761350124.179 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761350144.00. Resetting abort timer.
2025-10-24T23:55:24.519Z,1761350124.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051866,0.993329,0.102998],[-0.997442,0.056607,-0.043654],[-0.049193,-0.100470,0.993723]]
2025-10-24T23:55:24.923Z,1761350124.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109698,0.986439,0.122082],[-0.993215,0.104015,0.052015],[0.038611,-0.126960,0.991156]]
2025-10-24T23:55:25.318Z,1761350125.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156497,0.985319,0.068235],[-0.983018,0.148683,0.107559],[0.095834,-0.083909,0.991854]]
2025-10-24T23:55:25.383Z,1761350125.383 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:55:25.383Z,1761350125.383 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:55:25.388Z,1761350125.388 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:55:25.388Z,1761350125.388 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:55:25.388Z,1761350125.388 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:55:25.388Z,1761350125.388 [marl:UpdateCommandMode] Stopped
2025-10-24T23:55:25.388Z,1761350125.388 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:55:25.389Z,1761350125.389 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:55:25.389Z,1761350125.389 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:55:25.389Z,1761350125.389 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:55:25.389Z,1761350125.389 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:55:25.389Z,1761350125.389 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:55:25.389Z,1761350125.389 [marl:UpdateSpeed] Stopped
2025-10-24T23:55:25.389Z,1761350125.389 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:55:25.787Z,1761350125.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094558,0.994053,0.054020],[-0.989593,0.087945,0.113895],[0.108467,-0.064228,0.992023]]
2025-10-24T23:55:26.662Z,1761350126.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073158,0.994079,0.080346],[-0.996205,0.069030,0.053004],[0.047144,-0.083919,0.995357]]
2025-10-24T23:55:27.179Z,1761350127.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058984,0.989227,0.133981],[-0.998104,0.056076,0.025378],[0.017592,-0.135224,0.990659]]
2025-10-24T23:55:27.197Z,1761350127.197 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,235526.00,A,3646.53820,N,12151.86885,W,0.914,136.96,241025,,,A*78
2025-10-24T23:55:27.199Z,1761350127.199 [NAL9602](INFO): GPS fix at 20251024T235526: (36.775637, -121.864481)
2025-10-24T23:55:27.266Z,1761350127.266 [marl:SendObservationData] Running Loop=1
2025-10-24T23:55:27.266Z,1761350127.266 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:55:27.266Z,1761350127.266 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:55:27.267Z,1761350127.267 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:55:27.276Z,1761350127.276 [marl:SendObservationData:A](INFO): Got test_good :  41da3f04600000004051400000000000404263478006654ac05e775b64d4be443fcaadbb800000004041b33340000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:55:27.276Z,1761350127.276 [marl:SendObservationData:A] Stopped
2025-10-24T23:55:27.276Z,1761350127.276 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:55:27.277Z,1761350127.277 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761350144.00. Resetting abort timer.
2025-10-24T23:55:27.581Z,1761350127.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067460,0.985326,0.156787],[-0.994353,0.053493,0.091656],[0.081924,-0.162085,0.983370]]
2025-10-24T23:55:27.662Z,1761350127.662 [marl:SendObservationData:B] Stopped
2025-10-24T23:55:27.662Z,1761350127.662 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:55:27.982Z,1761350127.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072865,0.981477,0.177183],[-0.992227,0.053368,0.112420],[0.100882,-0.183997,0.977736]]
2025-10-24T23:55:28.114Z,1761350128.114 [marl:SendObservationData:C] Stopped
2025-10-24T23:55:28.114Z,1761350128.114 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:55:28.389Z,1761350128.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070343,0.980466,0.183680],[-0.987896,0.042952,0.149053],[0.138252,-0.191942,0.971620]]
2025-10-24T23:55:28.479Z,1761350128.479 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.013988 min 
2025-10-24T23:55:28.479Z,1761350128.479 [marl:SendObservationData:E] Stopped
2025-10-24T23:55:28.505Z,1761350128.505 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:55:28.505Z,1761350128.505 [marl:SendObservationData] Stopped
2025-10-24T23:55:28.505Z,1761350128.505 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:55:28.505Z,1761350128.505 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:55:28.823Z,1761350128.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054232,0.978041,0.201232],[-0.991798,0.029402,0.124387],[0.115739,-0.206328,0.971614]]
2025-10-24T23:55:29.623Z,1761350129.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083975,0.981946,0.169502],[-0.985361,0.056502,0.160849],[0.148367,-0.180528,0.972315]]
2025-10-24T23:55:30.036Z,1761350130.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086048,0.988133,0.127239],[-0.981727,0.062339,0.179793],[0.169728,-0.140384,0.975441]]
2025-10-24T23:55:30.050Z,1761350130.050 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,235529.00,A,3646.53799,N,12151.86877,W,0.719,168.19,241025,,,A*78
2025-10-24T23:55:30.060Z,1761350130.060 [NAL9602](INFO): GPS fix at 20251024T235529: (36.775633, -121.864480)
2025-10-24T23:55:30.182Z,1761350130.182 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761350144.00. Resetting abort timer.
2025-10-24T23:55:30.475Z,1761350130.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085608,0.983391,0.160040],[-0.992566,0.070230,0.099405],[0.086514,-0.167360,0.982093]]
2025-10-24T23:55:30.871Z,1761350130.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062070,0.973101,0.221860],[-0.997376,0.052178,0.050179],[0.037253,-0.224392,0.973787]]
2025-10-24T23:55:31.274Z,1761350131.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042040,0.964308,0.261424],[-0.996233,0.020594,0.084241],[0.075851,-0.263981,0.961541]]
2025-10-24T23:55:32.083Z,1761350132.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042808,0.972003,0.231036],[-0.964008,-0.020551,0.265079],[0.262406,-0.234068,0.936139]]
2025-10-24T23:55:32.486Z,1761350132.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091864,0.962604,0.254864],[-0.982654,0.046228,0.179593],[0.161095,-0.266941,0.950153]]
2025-10-24T23:55:32.890Z,1761350132.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104508,0.969293,0.222598],[-0.991779,0.084957,0.095691],[0.073841,-0.230769,0.970203]]
2025-10-24T23:55:32.896Z,1761350132.896 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,235532.00,A,3646.53769,N,12151.86916,W,0.875,204.11,241025,,,A*7F
2025-10-24T23:55:32.898Z,1761350132.898 [NAL9602](INFO): GPS fix at 20251024T235532: (36.775628, -121.864486)
2025-10-24T23:55:32.936Z,1761350132.936 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761350144.00. Resetting abort timer.
2025-10-24T23:55:33.296Z,1761350133.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101414,0.974871,0.198346],[-0.991978,0.083968,0.094495],[0.075466,-0.206338,0.975566]]
2025-10-24T23:55:33.698Z,1761350133.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075188,0.978652,0.191275],[-0.995726,0.063369,0.067183],[0.053628,-0.195509,0.979235]]
2025-10-24T23:55:34.518Z,1761350134.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105432,0.975508,0.193049],[-0.994244,0.107129,0.001661],[-0.019061,-0.192113,0.981188]]
2025-10-24T23:55:34.836Z,1761350134.836 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:55:34.912Z,1761350134.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106456,0.979726,0.169719],[-0.988709,0.122406,-0.086440],[-0.105462,-0.158600,0.981694]]
2025-10-24T23:55:35.314Z,1761350135.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108523,0.982764,0.149662],[-0.991425,0.118023,-0.056107],[-0.072803,-0.142289,0.987144]]
2025-10-24T23:55:35.718Z,1761350135.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082311,0.981789,0.171216],[-0.994752,0.070460,0.074185],[0.060770,-0.176424,0.982436]]
2025-10-24T23:55:36.123Z,1761350136.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089386,0.960757,0.262595],[-0.991631,0.061188,0.113680],[0.093151,-0.270558,0.958186]]
2025-10-24T23:55:36.128Z,1761350136.128 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,235535.00,A,3646.53754,N,12151.87028,W,1.127,277.50,241025,,,A*7D
2025-10-24T23:55:36.131Z,1761350136.131 [NAL9602](INFO): GPS fix at 20251024T235535: (36.775626, -121.864505)
2025-10-24T23:55:36.206Z,1761350136.206 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:55:36.206Z,1761350136.206 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:55:36.206Z,1761350136.206 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:55:36.207Z,1761350136.207 [marl:UpdateRudder:A] Stopped
2025-10-24T23:55:36.207Z,1761350136.207 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:55:36.213Z,1761350136.213 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761350144.00. Resetting abort timer.
2025-10-24T23:55:36.533Z,1761350136.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143109,0.949816,0.278153],[-0.989646,0.134200,0.050913],[0.011030,-0.282558,0.959187]]
2025-10-24T23:55:36.590Z,1761350136.590 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:55:36.590Z,1761350136.590 [marl:UpdateRudder:B] Stopped
2025-10-24T23:55:36.590Z,1761350136.590 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:55:36.591Z,1761350136.591 [marl:UpdateRudder] Stopped
2025-10-24T23:55:36.591Z,1761350136.591 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:55:36.936Z,1761350136.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143083,0.969931,0.196878],[-0.988904,0.132079,0.068001],[0.039953,-0.204423,0.978067]]
2025-10-24T23:55:37.343Z,1761350137.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141342,0.982316,0.122788],[-0.986497,0.129392,0.100410],[0.082746,-0.135322,0.987340]]
2025-10-24T23:55:37.743Z,1761350137.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153009,0.981716,0.113238],[-0.985194,0.142569,0.095217],[0.077332,-0.126131,0.988995]]
2025-10-24T23:55:38.253Z,1761350138.253 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:55:38.253Z,1761350138.253 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:55:38.253Z,1761350138.253 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:55:38.253Z,1761350138.253 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:55:38.254Z,1761350138.254 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:55:38.254Z,1761350138.254 [marl:UpdateCommandMode] Stopped
2025-10-24T23:55:38.254Z,1761350138.254 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:55:38.254Z,1761350138.254 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:55:38.254Z,1761350138.254 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:55:38.254Z,1761350138.254 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:55:38.254Z,1761350138.254 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:55:38.254Z,1761350138.254 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:55:38.254Z,1761350138.254 [marl:UpdateSpeed] Stopped
2025-10-24T23:55:38.255Z,1761350138.255 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:55:38.555Z,1761350138.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191242,0.962763,0.191087],[-0.978816,0.172559,0.110198],[0.073120,-0.208113,0.975368]]
2025-10-24T23:55:38.955Z,1761350138.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197968,0.957834,0.208239],[-0.977609,0.177474,0.113065],[0.071340,-0.225959,0.971521]]
2025-10-24T23:55:38.963Z,1761350138.963 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,235538.00,A,3646.53750,N,12151.87094,W,0.641,293.11,241025,,,A*7A
2025-10-24T23:55:38.965Z,1761350138.965 [NAL9602](INFO): GPS fix at 20251024T235538: (36.775625, -121.864516)
2025-10-24T23:55:39.056Z,1761350139.056 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761350144.00. Resetting abort timer.
2025-10-24T23:55:39.362Z,1761350139.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200396,0.965841,0.164296],[-0.976870,0.184214,0.108579],[0.074605,-0.182254,0.980417]]
2025-10-24T23:55:39.763Z,1761350139.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186365,0.972247,0.141434],[-0.981540,0.177951,0.070086],[0.042973,-0.151885,0.987464]]
2025-10-24T23:55:40.571Z,1761350140.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179453,0.964771,0.192388],[-0.958529,0.127460,0.254906],[0.221404,-0.230153,0.947634]]
2025-10-24T23:55:40.995Z,1761350140.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214420,0.922103,0.322103],[-0.932177,0.094715,0.349391],[0.291667,-0.375173,0.879872]]
2025-10-24T23:55:41.380Z,1761350141.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253975,0.863235,0.436259],[-0.935878,0.105453,0.336173],[0.244192,-0.493664,0.834665]]
2025-10-24T23:55:41.799Z,1761350141.799 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,235541.00,A,3646.53725,N,12151.87088,W,1.263,215.03,241025,,,A*73
2025-10-24T23:55:41.805Z,1761350141.805 [NAL9602](INFO): GPS fix at 20251024T235541: (36.775621, -121.864515)
2025-10-24T23:55:41.909Z,1761350141.909 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761350144.00. Resetting abort timer.
2025-10-24T23:55:42.590Z,1761350142.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312238,0.948327,0.056415],[-0.909675,0.281336,0.305519],[0.273860,-0.146713,0.950513]]
2025-10-24T23:55:43.004Z,1761350143.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299647,0.954023,-0.007185],[-0.923249,0.291863,0.249853],[0.240462,-0.068234,0.968257]]
2025-10-24T23:55:43.402Z,1761350143.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282673,0.959216,-0.001108],[-0.928403,0.273883,0.251110],[0.241172,-0.069953,0.967958]]
2025-10-24T23:55:43.638Z,1761350143.638 [DAT](INFO): setting remote address to 10
2025-10-24T23:55:43.802Z,1761350143.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259318,0.965782,0.004281],[-0.920561,0.245830,0.303536],[0.292098,-0.082654,0.952810]]
2025-10-24T23:55:43.891Z,1761350143.891 [DAT](INFO): DAT read: user:11>

2025-10-24T23:55:43.895Z,1761350143.895 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:55:43.897Z,1761350143.897 [DAT](INFO): set remote address to 10
2025-10-24T23:55:43.898Z,1761350143.898 [DAT](INFO): entering online mode
2025-10-24T23:55:44.141Z,1761350144.141 [DAT](INFO): DAT read: user:12>

2025-10-24T23:55:44.142Z,1761350144.142 [DAT](INFO): DAT read: 

2025-10-24T23:55:44.143Z,1761350144.143 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:55:44.143Z,1761350144.143 [DAT](INFO): commRate: 600
2025-10-24T23:55:44.143Z,1761350144.143 [DAT](INFO): online mode acknowledged
2025-10-24T23:55:44.144Z,1761350144.144 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:55:44.611Z,1761350144.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302838,0.950467,0.070004],[-0.859978,0.240870,0.449910],[0.410763,-0.196452,0.890326]]
2025-10-24T23:55:45.016Z,1761350145.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313444,0.946205,0.080302],[-0.864219,0.249192,0.437069],[0.393546,-0.206395,0.895836]]
2025-10-24T23:55:45.028Z,1761350145.028 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,235544.00,A,3646.53806,N,12151.87169,W,1.866,277.30,241025,,,A*7D
2025-10-24T23:55:45.030Z,1761350145.030 [NAL9602](INFO): GPS fix at 20251024T235544: (36.775634, -121.864528)
2025-10-24T23:55:45.044Z,1761350145.044 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:55:45.055Z,1761350145.055 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761350144.00. Resetting abort timer.
2025-10-24T23:55:45.822Z,1761350145.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325519,0.941100,0.091482],[-0.871163,0.260896,0.415942],[0.367576,-0.215093,0.904778]]
2025-10-24T23:55:46.254Z,1761350146.254 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050103   -304.60,     +3960.82,       +42.65,  20.00,  0.00
2025-10-24T23:55:46.630Z,1761350146.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316094,0.947773,0.042550],[-0.860291,0.267432,0.434027],[0.399980,-0.173799,0.899895]]
2025-10-24T23:55:47.034Z,1761350147.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317099,0.946821,0.054578],[-0.861914,0.263698,0.433090],[0.395667,-0.184374,0.899697]]
2025-10-24T23:55:47.417Z,1761350147.417 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:55:47.0593

2025-10-24T23:55:47.417Z,1761350147.417 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:55:47.443Z,1761350147.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316273,0.947232,0.052190],[-0.861538,0.263759,0.433800],[0.397144,-0.182163,0.899496]]
2025-10-24T23:55:47.856Z,1761350147.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320375,0.945907,0.051191],[-0.856017,0.265939,0.443295],[0.405702,-0.185841,0.894913]]
2025-10-24T23:55:47.874Z,1761350147.874 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,235547.00,A,3646.54215,N,12151.88007,W,13.957,299.35,241025,,,A*42
2025-10-24T23:55:47.882Z,1761350147.882 [NAL9602](INFO): GPS fix at 20251024T235547: (36.775703, -121.864668)
2025-10-24T23:55:47.958Z,1761350147.958 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761350144.00. Resetting abort timer.
2025-10-24T23:55:48.654Z,1761350148.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326402,0.943453,0.057945],[-0.854897,0.268500,0.443913],[0.403253,-0.194431,0.894194]]
2025-10-24T23:55:49.054Z,1761350149.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329236,0.942363,0.059635],[-0.854217,0.270336,0.444109],[0.402390,-0.197158,0.893986]]
2025-10-24T23:55:49.106Z,1761350149.106 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:55:49.106Z,1761350149.106 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:55:49.106Z,1761350149.106 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:55:49.107Z,1761350149.107 [marl:UpdateRudder:A] Stopped
2025-10-24T23:55:49.107Z,1761350149.107 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:55:49.465Z,1761350149.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335294,0.940537,0.054477],[-0.850897,0.277502,0.446057],[0.404415,-0.195914,0.893345]]
2025-10-24T23:55:49.503Z,1761350149.503 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:55:49.503Z,1761350149.503 [marl:UpdateRudder:B] Stopped
2025-10-24T23:55:49.503Z,1761350149.503 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:55:49.503Z,1761350149.503 [marl:UpdateRudder] Stopped
2025-10-24T23:55:49.503Z,1761350149.503 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:55:49.909Z,1761350149.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329651,0.943238,0.040401],[-0.856239,0.280670,0.433681],[0.397725,-0.177556,0.900160]]
2025-10-24T23:55:50.678Z,1761350150.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332611,0.941283,0.057941],[-0.853213,0.274179,0.443682],[0.401744,-0.197009,0.894310]]
2025-10-24T23:55:51.077Z,1761350151.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343424,0.935800,0.079615],[-0.850720,0.274042,0.448527],[0.397913,-0.221765,0.890216]]
2025-10-24T23:55:51.146Z,1761350151.146 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:55:51.146Z,1761350151.146 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:55:51.146Z,1761350151.146 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:55:51.146Z,1761350151.146 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:55:51.146Z,1761350151.146 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:55:51.146Z,1761350151.146 [marl:UpdateCommandMode] Stopped
2025-10-24T23:55:51.147Z,1761350151.147 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:55:51.147Z,1761350151.147 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:55:51.147Z,1761350151.147 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:55:51.147Z,1761350151.147 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:55:51.147Z,1761350151.147 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:55:51.147Z,1761350151.147 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:55:51.147Z,1761350151.147 [marl:UpdateSpeed] Stopped
2025-10-24T23:55:51.147Z,1761350151.147 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:55:51.490Z,1761350151.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351012,0.932515,0.084885],[-0.857064,0.283448,0.430231],[0.377136,-0.223768,0.898719]]
2025-10-24T23:55:51.918Z,1761350151.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348997,0.934989,0.063218],[-0.876247,0.301665,0.375751],[0.332252,-0.186530,0.924562]]
2025-10-24T23:55:52.698Z,1761350152.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341973,0.938252,0.052318],[-0.878890,0.299640,0.371171],[0.332575,-0.172912,0.927090]]
2025-10-24T23:55:53.103Z,1761350153.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330215,0.941542,0.066765],[-0.864912,0.273496,0.420866],[0.378003,-0.196721,0.904663]]
2025-10-24T23:55:53.504Z,1761350153.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333566,0.938939,0.084420],[-0.858206,0.265380,0.439381],[0.390149,-0.219013,0.894325]]
2025-10-24T23:55:53.922Z,1761350153.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347686,0.931011,0.111058],[-0.858338,0.268383,0.437294],[0.377319,-0.247366,0.892435]]
2025-10-24T23:55:53.927Z,1761350153.927 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,235553.00,A,3646.55368,N,12151.90650,W,15.240,300.65,241025,,,A*4F
2025-10-24T23:55:53.929Z,1761350153.929 [NAL9602](INFO): GPS fix at 20251024T235553: (36.775895, -121.865108)
2025-10-24T23:55:53.969Z,1761350153.969 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   58,  +110,A
2025-10-24T23:55:54.017Z,1761350154.017 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761350144.00. Resetting abort timer.
2025-10-24T23:55:54.316Z,1761350154.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358654,0.926201,0.116275],[-0.865444,0.283247,0.413252],[0.349820,-0.248844,0.903163]]
2025-10-24T23:55:54.713Z,1761350154.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360791,0.927509,0.097758],[-0.875506,0.300695,0.378248],[0.321433,-0.222056,0.920528]]
2025-10-24T23:55:55.115Z,1761350155.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355404,0.931254,0.080341],[-0.884027,0.306968,0.352514],[0.303617,-0.196309,0.932352]]
2025-10-24T23:55:55.539Z,1761350155.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346545,0.934735,0.078590],[-0.888455,0.300197,0.347174],[0.300923,-0.190135,0.934502]]
2025-10-24T23:55:55.929Z,1761350155.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337222,0.937576,0.085045],[-0.889145,0.287507,0.356036],[0.309359,-0.195680,0.930595]]
2025-10-24T23:55:56.331Z,1761350156.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329916,0.939049,0.096653],[-0.888170,0.274079,0.368830],[0.319859,-0.207527,0.924458]]
2025-10-24T23:55:56.730Z,1761350156.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332039,0.936807,0.110191],[-0.886748,0.270178,0.375075],[0.321601,-0.222251,0.920422]]
2025-10-24T23:55:57.135Z,1761350157.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344639,0.931670,0.114955],[-0.886060,0.282408,0.367618],[0.310034,-0.228553,0.922845]]
2025-10-24T23:55:57.508Z,1761350157.508 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:55:57.541Z,1761350157.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350481,0.929468,0.115121],[-0.888716,0.291263,0.354049],[0.295546,-0.226397,0.928115]]
2025-10-24T23:55:57.762Z,1761350157.762 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:55:57.762Z,1761350157.762 [DAT](INFO): #Outgoing data=41
2025-10-24T23:55:57.762Z,1761350157.762 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:55:57.950Z,1761350157.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348626,0.929861,0.117547],[-0.893240,0.291644,0.342148],[0.283868,-0.224280,0.932265]]
2025-10-24T23:55:58.013Z,1761350158.013 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:55:58.350Z,1761350158.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344602,0.932889,0.104728],[-0.897124,0.294415,0.329375],[0.276437,-0.207457,0.938373]]
2025-10-24T23:55:58.750Z,1761350158.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340951,0.935837,0.089224],[-0.899409,0.297112,0.320605],[0.273524,-0.189559,0.943001]]
2025-10-24T23:55:59.156Z,1761350159.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339943,0.936542,0.085608],[-0.900056,0.297601,0.318328],[0.272651,-0.185266,0.944107]]
2025-10-24T23:55:59.558Z,1761350159.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344091,0.933429,0.101545],[-0.899776,0.296898,0.319773],[0.268337,-0.201398,0.942037]]
2025-10-24T23:55:59.719Z,1761350159.719 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:55:59.720Z,1761350159.720 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:55:59.971Z,1761350159.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350387,0.929336,0.116458],[-0.900095,0.299737,0.316207],[0.258956,-0.215618,0.941515]]
2025-10-24T23:56:00.377Z,1761350160.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356252,0.926075,0.124379],[-0.901745,0.305868,0.305452],[0.244828,-0.220976,0.944049]]
2025-10-24T23:56:00.770Z,1761350160.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360049,0.924873,0.122374],[-0.904265,0.313702,0.289647],[0.229498,-0.214945,0.949278]]
2025-10-24T23:56:01.174Z,1761350161.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360952,0.924594,0.121816],[-0.906884,0.317543,0.276998],[0.217429,-0.210456,0.953117]]
2025-10-24T23:56:01.227Z,1761350161.227 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:56:01.289Z,1761350161.289 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:56:00.9093

2025-10-24T23:56:01.289Z,1761350161.289 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:56:01.290Z,1761350161.290 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:56:01.344Z,1761350161.344 [DAT](INFO): entering command mode
2025-10-24T23:56:01.541Z,1761350161.541 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:56:01.541Z,1761350161.541 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:56:01.578Z,1761350161.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362953,0.923171,0.126574],[-0.908371,0.320270,0.268868],[0.207673,-0.212562,0.954824]]
2025-10-24T23:56:01.793Z,1761350161.793 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:56:01.793Z,1761350161.793 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:56:01.982Z,1761350161.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370134,0.919231,0.134217],[-0.908125,0.327588,0.260760],[0.195730,-0.218402,0.956028]]
2025-10-24T23:56:02.035Z,1761350162.035 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:56:02.035Z,1761350162.035 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:56:02.035Z,1761350162.035 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:56:02.045Z,1761350162.045 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:56:02.045Z,1761350162.045 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:56:02.056Z,1761350162.056 [marl:UpdateRudder:A] Stopped
2025-10-24T23:56:02.056Z,1761350162.056 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:56:02.297Z,1761350162.297 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:56:02.297Z,1761350162.297 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:56:02.390Z,1761350162.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378008,0.915655,0.136695],[-0.907870,0.337703,0.248454],[0.181336,-0.218018,0.958950]]
2025-10-24T23:56:02.449Z,1761350162.449 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:56:02.449Z,1761350162.449 [marl:UpdateRudder:B] Stopped
2025-10-24T23:56:02.449Z,1761350162.449 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:56:02.449Z,1761350162.449 [marl:UpdateRudder] Stopped
2025-10-24T23:56:02.449Z,1761350162.449 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:56:02.550Z,1761350162.550 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:56:02.550Z,1761350162.550 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:56:02.790Z,1761350162.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384559,0.914486,0.125817],[-0.908222,0.350457,0.228720],[0.165067,-0.202226,0.965328]]
2025-10-24T23:56:02.801Z,1761350162.801 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:56:02.801Z,1761350162.801 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:56:03.053Z,1761350163.053 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:56:03.053Z,1761350163.053 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:56:03.199Z,1761350163.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388448,0.913841,0.118330],[-0.909408,0.359479,0.209169],[0.148611,-0.188862,0.970694]]
2025-10-24T23:56:03.305Z,1761350163.305 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:56:03.305Z,1761350163.305 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:56:03.557Z,1761350163.557 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:56:03.557Z,1761350163.557 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:56:03.810Z,1761350163.810 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:56:03.811Z,1761350163.811 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:56:04.056Z,1761350164.056 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:56:04.056Z,1761350164.056 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:56:04.056Z,1761350164.056 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:56:04.057Z,1761350164.057 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:56:04.057Z,1761350164.057 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:56:04.057Z,1761350164.057 [marl:UpdateCommandMode] Stopped
2025-10-24T23:56:04.057Z,1761350164.057 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:56:04.057Z,1761350164.057 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:56:04.057Z,1761350164.057 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:56:04.057Z,1761350164.057 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:56:04.058Z,1761350164.058 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:56:04.058Z,1761350164.058 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:56:04.058Z,1761350164.058 [marl:UpdateSpeed] Stopped
2025-10-24T23:56:04.058Z,1761350164.058 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:56:04.061Z,1761350164.061 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:56:04.061Z,1761350164.061 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:56:04.313Z,1761350164.313 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:56:04.313Z,1761350164.313 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:56:04.407Z,1761350164.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389572,0.914472,0.109429],[-0.916117,0.372550,0.148108],[0.094673,-0.157948,0.982899]]
2025-10-24T23:56:04.569Z,1761350164.569 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:56:04.2594

2025-10-24T23:56:04.570Z,1761350164.570 [DAT](DEBUG): Re-entering command mode due to unexpected online mode.
2025-10-24T23:56:04.570Z,1761350164.570 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:56:04.624Z,1761350164.624 [DAT](INFO): entering command mode
2025-10-24T23:56:04.810Z,1761350164.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388332,0.913372,0.122272],[-0.918492,0.372888,0.131632],[0.074636,-0.163423,0.983729]]
2025-10-24T23:56:04.817Z,1761350164.817 [DAT](INFO): DAT read: 

2025-10-24T23:56:04.817Z,1761350164.817 [DAT](INFO): DAT read: user:13>

2025-10-24T23:56:04.818Z,1761350164.818 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:56:04.818Z,1761350164.818 [DAT](INFO): setting remote address to 0
2025-10-24T23:56:05.069Z,1761350165.069 [DAT](INFO): DAT read: user:13>

2025-10-24T23:56:05.070Z,1761350165.070 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:56:05.070Z,1761350165.070 [DAT](INFO): set remote address to 0
2025-10-24T23:56:05.070Z,1761350165.070 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:56:05.071Z,1761350165.071 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T23:56:05.277Z,1761350165.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388202,0.912579,0.128448],[-0.919743,0.374867,0.116396],[0.058069,-0.163325,0.984862]]
2025-10-24T23:56:05.321Z,1761350165.321 [DAT](INFO): DAT read: user:14>

2025-10-24T23:56:05.322Z,1761350165.322 [DAT](INFO): DAT read: Tx time:23:56:04.9106

2025-10-24T23:56:05.323Z,1761350165.323 [DAT](INFO): Ping request sent.
2025-10-24T23:56:05.323Z,1761350165.323 [DAT](INFO): transmitted an acoustic signal
2025-10-24T23:56:05.323Z,1761350165.323 [DAT](INFO): publishing transmit ping time
2025-10-24T23:56:05.325Z,1761350165.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002333
2025-10-24T23:56:05.573Z,1761350165.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250050
2025-10-24T23:56:05.825Z,1761350165.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502070
2025-10-24T23:56:06.077Z,1761350166.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754082
2025-10-24T23:56:06.099Z,1761350166.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394542,0.914051,0.094059],[-0.917749,0.386915,0.089625],[0.045529,-0.121683,0.991524]]
2025-10-24T23:56:06.329Z,1761350166.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006258
2025-10-24T23:56:06.502Z,1761350166.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399540,0.913972,0.070878],[-0.915587,0.394017,0.080315],[0.045479,-0.096984,0.994246]]
2025-10-24T23:56:06.581Z,1761350166.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258369
2025-10-24T23:56:06.833Z,1761350166.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510030
2025-10-24T23:56:06.906Z,1761350166.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405121,0.912424,0.057966],[-0.913275,0.400923,0.072037],[0.042489,-0.082123,0.995716]]
2025-10-24T23:56:07.085Z,1761350167.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762041
2025-10-24T23:56:07.312Z,1761350167.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414719,0.908575,0.049988],[-0.909373,0.411876,0.058294],[0.032376,-0.069634,0.997047]]
2025-10-24T23:56:07.337Z,1761350167.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014121
2025-10-24T23:56:07.589Z,1761350167.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266649
2025-10-24T23:56:07.714Z,1761350167.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425193,0.904053,0.043574],[-0.904885,0.423542,0.042367],[0.019846,-0.057443,0.998151]]
2025-10-24T23:56:07.841Z,1761350167.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518106
2025-10-24T23:56:08.093Z,1761350168.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769998
2025-10-24T23:56:08.118Z,1761350168.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434888,0.899820,0.034578],[-0.900419,0.434073,0.028746],[0.010857,-0.043636,0.998989]]
2025-10-24T23:56:08.345Z,1761350168.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022144
2025-10-24T23:56:08.522Z,1761350168.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445654,0.894954,0.021219],[-0.895169,0.445297,0.019576],[0.008071,-0.027719,0.999583]]
2025-10-24T23:56:08.597Z,1761350168.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274017
2025-10-24T23:56:08.849Z,1761350168.849 [DAT](INFO): DAT read: Rx Time:23:56:07.9441

2025-10-24T23:56:08.849Z,1761350168.849 [DAT](INFO): Rx dataTimestamp_ set to:1761350168.849006
2025-10-24T23:56:08.850Z,1761350168.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527072
2025-10-24T23:56:08.935Z,1761350168.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459478,0.888132,0.010034],[-0.888135,0.459297,0.016196],[0.009776,-0.016353,0.999818]]
2025-10-24T23:56:09.101Z,1761350169.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778054
2025-10-24T23:56:09.332Z,1761350169.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475934,0.879480,0.001330],[-0.879375,0.475852,0.016223],[0.013635,-0.008890,0.999867]]
2025-10-24T23:56:09.359Z,1761350169.359 [DAT](INFO): DAT read: 23:56:07.9441 LVL= 25280, 22321, 20466, 25747, AGC= 60, IDX= 153,-0.27, 2.572,-2.067,-1.656,-2.168, PHS=-1.441, 0.147, 0.468, RAW= 260.9,   9.4, CAL= 260.1,   9.3, ROT= 249.9,  -9.3

2025-10-24T23:56:09.360Z,1761350169.360 [DAT](INFO): got valid direction response:
 23:56:07.9441 LVL= 25280, 22321, 20466, 25747, AGC= 60, IDX= 153,-0.27, 2.572,-2.067,-1.656,-2.168, PHS=-1.441, 0.147, 0.468, RAW= 260.9,   9.4, CAL= 260.1,   9.3, ROT= 249.9,  -9.3

2025-10-24T23:56:09.361Z,1761350169.361 [DAT](INFO): DAT read: Bearing 155, -10 (Remote)

2025-10-24T23:56:09.361Z,1761350169.361 [DAT](INFO): Remote Bearing received:Bearing 155, -10 (Remote)

2025-10-24T23:56:09.362Z,1761350169.362 [DAT](INFO): DAT read: Bearing 266.3, -67.6 (Local)

2025-10-24T23:56:09.362Z,1761350169.362 [DAT](INFO): Local bearing/azimuth received:
 Bearing 266.3, -67.6 (Local)

2025-10-24T23:56:09.364Z,1761350169.364 [DAT](INFO): DAT read: Range 11 to 20 : 753.2 m  (Round-trip  1004.3 ms) speed -0.4 m/s

2025-10-24T23:56:09.364Z,1761350169.364 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-24T23:56:09.365Z,1761350169.365 [DAT](INFO): direction in FSK: [-0.339143,-0.926750,0.161604]
2025-10-24T23:56:09.366Z,1761350169.366 [DAT](INFO): publishing direction and range info
2025-10-24T23:56:09.488Z,1761350169.488 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350144.00. Resetting abort timer.
2025-10-24T23:56:09.734Z,1761350169.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493733,0.869606,-0.003665],[-0.869447,0.493717,0.017483],[0.017013,-0.005446,0.999840]]
2025-10-24T23:56:10.139Z,1761350170.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511258,0.859414,-0.004754],[-0.859238,0.511254,0.018133],[0.018014,-0.005186,0.999824]]
2025-10-24T23:56:10.554Z,1761350170.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527925,0.849237,-0.009596],[-0.849158,0.528009,0.011755],[0.015049,0.001943,0.999885]]
2025-10-24T23:56:10.958Z,1761350170.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544402,0.838736,-0.012197],[-0.838780,0.544465,0.002361],[0.008621,0.008945,0.999923]]
2025-10-24T23:56:11.351Z,1761350171.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561911,0.827160,-0.007901],[-0.827197,0.561895,-0.004295],[0.000887,0.008949,0.999960]]
2025-10-24T23:56:11.374Z,1761350171.374 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:56:11.625Z,1761350171.625 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:56:11.625Z,1761350171.625 [DAT](INFO): #Outgoing data=42
2025-10-24T23:56:11.625Z,1761350171.625 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:56:11.754Z,1761350171.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581032,0.813870,0.004225],[-0.813858,0.581046,-0.004496],[-0.006114,-0.000826,0.999981]]
2025-10-24T23:56:11.879Z,1761350171.879 [DAT](INFO): setting remote address to 10
2025-10-24T23:56:12.129Z,1761350172.129 [DAT](INFO): DAT read: user:15>

2025-10-24T23:56:12.130Z,1761350172.130 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:56:12.131Z,1761350172.131 [DAT](INFO): set remote address to 10
2025-10-24T23:56:12.131Z,1761350172.131 [DAT](INFO): entering online mode
2025-10-24T23:56:12.381Z,1761350172.381 [DAT](INFO): DAT read: user:16>

2025-10-24T23:56:12.381Z,1761350172.381 [DAT](INFO): DAT read: 

2025-10-24T23:56:12.382Z,1761350172.382 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:56:12.383Z,1761350172.383 [DAT](INFO): commRate: 600
2025-10-24T23:56:12.383Z,1761350172.383 [DAT](INFO): online mode acknowledged
2025-10-24T23:56:12.383Z,1761350172.383 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:56:12.563Z,1761350172.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618115,0.785446,0.031763],[-0.785894,0.618355,0.002785],[-0.017453,-0.026684,0.999492]]
2025-10-24T23:56:12.970Z,1761350172.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628762,0.776829,0.034578],[-0.777311,0.629116,0.000835],[-0.021105,-0.027403,0.999402]]
2025-10-24T23:56:13.371Z,1761350173.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635235,0.771385,0.037970],[-0.771915,0.635724,-0.001076],[-0.024968,-0.028626,0.999278]]
2025-10-24T23:56:13.776Z,1761350173.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640816,0.766435,0.043958],[-0.767125,0.641495,-0.001768],[-0.029554,-0.032589,0.999032]]
2025-10-24T23:56:14.178Z,1761350174.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648296,0.759492,0.053703],[-0.760606,0.649214,0.000476],[-0.034503,-0.041155,0.998557]]
2025-10-24T23:56:14.582Z,1761350174.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657950,0.750720,0.059345],[-0.752085,0.659066,0.001019],[-0.038348,-0.045303,0.998237]]
2025-10-24T23:56:14.990Z,1761350174.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668272,0.741596,0.058719],[-0.742848,0.669460,-0.000743],[-0.039861,-0.043123,0.998274]]
2025-10-24T23:56:15.057Z,1761350175.057 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:56:15.058Z,1761350175.058 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:56:15.058Z,1761350175.058 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:56:15.058Z,1761350175.058 [marl:UpdateRudder:A] Stopped
2025-10-24T23:56:15.058Z,1761350175.058 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:56:15.164Z,1761350175.164 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:56:15.392Z,1761350175.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677050,0.734113,0.051776],[-0.734953,0.678107,-0.004003],[-0.038048,-0.035343,0.998651]]
2025-10-24T23:56:15.466Z,1761350175.466 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:56:15.466Z,1761350175.466 [marl:UpdateRudder:B] Stopped
2025-10-24T23:56:15.466Z,1761350175.466 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:56:15.466Z,1761350175.466 [marl:UpdateRudder] Stopped
2025-10-24T23:56:15.466Z,1761350175.466 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:56:15.658Z,1761350175.658 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:56:15.3094

2025-10-24T23:56:15.658Z,1761350175.658 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:56:16.168Z,1761350176.168 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:56:16.604Z,1761350176.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707587,0.706233,0.023563],[-0.705957,0.707975,-0.019892],[-0.030731,-0.002559,0.999524]]
2025-10-24T23:56:16.636Z,1761350176.636 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:56:16.637Z,1761350176.637 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:56:16.637Z,1761350176.637 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:56:16.637Z,1761350176.637 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:56:16.637Z,1761350176.637 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:56:16.637Z,1761350176.637 [marl:UpdateCommandMode] Stopped
2025-10-24T23:56:16.637Z,1761350176.637 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:56:16.637Z,1761350176.637 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:56:16.638Z,1761350176.638 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:56:16.638Z,1761350176.638 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:56:16.638Z,1761350176.638 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:56:16.638Z,1761350176.638 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:56:16.638Z,1761350176.638 [marl:UpdateSpeed] Stopped
2025-10-24T23:56:16.638Z,1761350176.638 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:56:17.009Z,1761350177.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720191,0.693503,0.019480],[-0.693149,0.720449,-0.022308],[-0.029505,0.002563,0.999561]]
2025-10-24T23:56:17.418Z,1761350177.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733752,0.679296,0.012854],[-0.678868,0.733787,-0.026355],[-0.027335,0.010612,0.999570]]
2025-10-24T23:56:17.814Z,1761350177.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748064,0.663623,0.002175],[-0.663207,0.747703,-0.033114],[-0.023602,0.023329,0.999449]]
2025-10-24T23:56:18.220Z,1761350178.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760827,0.648938,-0.004632],[-0.648693,0.760299,-0.033797],[-0.018411,0.028718,0.999418]]
2025-10-24T23:56:18.622Z,1761350178.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770059,0.637923,-0.007925],[-0.637871,0.769657,-0.027345],[-0.011344,0.026113,0.999595]]
2025-10-24T23:56:19.026Z,1761350179.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775521,0.631320,-0.001348],[-0.631305,0.775483,-0.008995],[-0.004633,0.007827,0.999959]]
2025-10-24T23:56:19.438Z,1761350179.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776674,0.629633,0.018422],[-0.629901,0.776400,0.020669],[-0.001289,-0.027657,0.999617]]
2025-10-24T23:56:19.841Z,1761350179.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775134,0.629991,0.047733],[-0.631789,0.773295,0.053455],[-0.003235,-0.071592,0.997429]]
2025-10-24T23:56:20.239Z,1761350180.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773740,0.628809,0.076975],[-0.633442,0.769623,0.080198],[-0.008812,-0.110811,0.993802]]
2025-10-24T23:56:20.643Z,1761350180.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772947,0.627163,0.096019],[-0.634368,0.766642,0.099181],[-0.011410,-0.137573,0.990426]]
2025-10-24T23:56:21.048Z,1761350181.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772080,0.627206,0.102496],[-0.635483,0.763793,0.113053],[-0.007378,-0.152421,0.988288]]
2025-10-24T23:56:21.454Z,1761350181.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771148,0.629179,0.097283],[-0.636653,0.761645,0.120708],[0.001852,-0.155020,0.987910]]
2025-10-24T23:56:21.883Z,1761350181.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772942,0.628281,0.088454],[-0.634391,0.762991,0.124071],[0.010462,-0.152014,0.988323]]
2025-10-24T23:56:22.209Z,1761350182.209 [DAT](INFO): DAT read: Rx Time:23:56:21.3743

2025-10-24T23:56:22.209Z,1761350182.209 [DAT](INFO): Rx dataTimestamp_ set to:1761350182.209084
2025-10-24T23:56:22.669Z,1761350182.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781128,0.619161,0.080490],[-0.623990,0.769637,0.135261],[0.021800,-0.155881,0.987535]]
2025-10-24T23:56:22.970Z,1761350182.970 [DAT](INFO): DAT read: 23:56:21.3743 LVL= 29072, 32753, 20210, 30867, AGC= 56, IDX= 240,-0.04,-0.665,-0.289, 1.388,-0.063, PHS=-0.499,-0.181, 1.407, RAW= 219.0,  -8.3, CAL= 217.7, -12.0, ROT= 292.3,  12.0

2025-10-24T23:56:22.971Z,1761350182.971 [DAT](INFO): got valid direction response:
 23:56:21.3743 LVL= 29072, 32753, 20210, 30867, AGC= 56, IDX= 240,-0.04,-0.665,-0.289, 1.388,-0.063, PHS=-0.499,-0.181, 1.407, RAW= 219.0,  -8.3, CAL= 217.7, -12.0, ROT= 292.3,  12.0

2025-10-24T23:56:22.972Z,1761350182.972 [DAT](INFO): DAT read: 

2025-10-24T23:56:22.972Z,1761350182.972 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T23:56:22.973Z,1761350182.973 [DAT](INFO): Got DATA 2
2025-10-24T23:56:22.973Z,1761350182.973 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T23:56:22.973Z,1761350182.973 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T23:56:22.974Z,1761350182.974 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T23:56:22.975Z,1761350182.975 [DAT](INFO): DAT read: CRC:Pass MPD:03.8 PSNR:14.6 AGC:41 SPD:+0.9 CCERR:011

2025-10-24T23:56:22.975Z,1761350182.975 [DAT](INFO): Got CRC:Pass
2025-10-24T23:56:22.975Z,1761350182.975 [DAT](INFO): Got CRC:Pass
2025-10-24T23:56:22.975Z,1761350182.975 [DAT](INFO): Incoming data is intended for us
2025-10-24T23:56:22.975Z,1761350182.975 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T23:56:22.975Z,1761350182.975 [DAT](INFO): Got ack
2025-10-24T23:56:22.976Z,1761350182.976 [DAT](INFO): DAT read: 

2025-10-24T23:56:22.976Z,1761350182.976 [DAT](INFO): DAT read: <EOP>

2025-10-24T23:56:22.977Z,1761350182.977 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:56:22.977Z,1761350182.977 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-24T23:56:22.978Z,1761350182.978 [DAT](INFO): direction in FSK: [0.371164,-0.904992,-0.207912]
2025-10-24T23:56:23.067Z,1761350183.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784976,0.612573,0.092563],[-0.619086,0.769977,0.154494],[0.023367,-0.178578,0.983648]]
2025-10-24T23:56:23.144Z,1761350183.144 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350144.00. Resetting abort timer.
2025-10-24T23:56:23.217Z,1761350183.217 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:56:23.217Z,1761350183.217 [DAT](INFO): #Outgoing data=43
2025-10-24T23:56:23.218Z,1761350183.218 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:56:23.468Z,1761350183.468 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:56:23.482Z,1761350183.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786199,0.609215,0.103670],[-0.617499,0.767894,0.170393],[0.024199,-0.197979,0.979907]]
2025-10-24T23:56:23.919Z,1761350183.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784837,0.609990,0.109284],[-0.619096,0.763984,0.181792],[0.027400,-0.210334,0.977245]]
2025-10-24T23:56:24.304Z,1761350184.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784680,0.609075,0.115343],[-0.619064,0.760273,0.196836],[0.032196,-0.225858,0.973628]]
2025-10-24T23:56:24.686Z,1761350184.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786895,0.605976,0.116571],[-0.615887,0.759452,0.209562],[0.038459,-0.236698,0.970822]]
2025-10-24T23:56:25.087Z,1761350185.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791262,0.602070,0.106847],[-0.609786,0.763945,0.211068],[0.045453,-0.232164,0.971614]]
2025-10-24T23:56:25.493Z,1761350185.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794703,0.599581,0.094606],[-0.604654,0.768274,0.210112],[0.053296,-0.224181,0.973089]]
2025-10-24T23:56:26.299Z,1761350186.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795527,0.599854,0.085509],[-0.602233,0.767237,0.220595],[0.066719,-0.226985,0.971610]]
2025-10-24T23:56:26.702Z,1761350186.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794843,0.599154,0.096115],[-0.603264,0.763108,0.231814],[0.065546,-0.242239,0.968000]]
2025-10-24T23:56:26.745Z,1761350186.745 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:56:26.4094

2025-10-24T23:56:26.745Z,1761350186.745 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:56:27.112Z,1761350187.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794727,0.596283,0.113377],[-0.604252,0.759602,0.240590],[0.057339,-0.259712,0.963982]]
2025-10-24T23:56:27.511Z,1761350187.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795452,0.592386,0.127812],[-0.604296,0.759465,0.240913],[0.045645,-0.268871,0.962094]]
2025-10-24T23:56:27.549Z,1761350187.549 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:56:27.549Z,1761350187.549 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:56:27.549Z,1761350187.549 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:56:27.550Z,1761350187.550 [marl:UpdateRudder:A] Stopped
2025-10-24T23:56:27.550Z,1761350187.550 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:56:27.924Z,1761350187.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796801,0.589649,0.131991],[-0.603173,0.763198,0.231758],[0.035920,-0.264278,0.963777]]
2025-10-24T23:56:27.978Z,1761350187.978 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:56:27.978Z,1761350187.978 [marl:UpdateRudder:B] Stopped
2025-10-24T23:56:27.978Z,1761350187.978 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:56:27.978Z,1761350187.978 [marl:UpdateRudder] Stopped
2025-10-24T23:56:27.978Z,1761350187.978 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:56:28.319Z,1761350188.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798628,0.588819,0.124439],[-0.601055,0.769916,0.214389],[0.030429,-0.246011,0.968789]]
2025-10-24T23:56:28.723Z,1761350188.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799526,0.589990,0.112560],[-0.599896,0.775127,0.198251],[0.029718,-0.226031,0.973667]]
2025-10-24T23:56:28.759Z,1761350188.759 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:56:28.759Z,1761350188.759 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:56:28.759Z,1761350188.759 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:56:28.761Z,1761350188.761 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:56:28.761Z,1761350188.761 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:56:28.761Z,1761350188.761 [marl:UpdateCommandMode] Stopped
2025-10-24T23:56:28.761Z,1761350188.761 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:56:28.761Z,1761350188.761 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:56:28.761Z,1761350188.761 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:56:28.762Z,1761350188.762 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:56:28.762Z,1761350188.762 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:56:28.762Z,1761350188.762 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:56:28.762Z,1761350188.762 [marl:UpdateSpeed] Stopped
2025-10-24T23:56:28.762Z,1761350188.762 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:56:29.127Z,1761350189.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797885,0.594864,0.097553],[-0.601844,0.776946,0.184766],[0.034117,-0.206134,0.977929]]
2025-10-24T23:56:29.532Z,1761350189.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801828,0.592032,0.081057],[-0.596499,0.784951,0.167455],[0.035513,-0.182621,0.982542]]
2025-10-24T23:56:29.941Z,1761350189.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805165,0.588879,0.070215],[-0.592169,0.791861,0.149309],[0.032324,-0.161798,0.986294]]
2025-10-24T23:56:30.351Z,1761350190.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803793,0.590268,0.074167],[-0.594286,0.790980,0.145514],[0.027227,-0.161040,0.986572]]
2025-10-24T23:56:30.747Z,1761350190.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801810,0.591670,0.083829],[-0.597244,0.788741,0.145558],[0.020003,-0.166776,0.985792]]
2025-10-24T23:56:31.151Z,1761350191.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800070,0.592217,0.095750],[-0.599786,0.786442,0.147534],[0.012070,-0.175467,0.984411]]
2025-10-24T23:56:31.554Z,1761350191.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798746,0.591122,0.112157],[-0.601650,0.783264,0.156573],[0.004705,-0.192541,0.981278]]
2025-10-24T23:56:31.956Z,1761350191.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797299,0.591141,0.121925],[-0.603584,0.780842,0.161159],[0.000064,-0.202084,0.979368]]
2025-10-24T23:56:32.359Z,1761350192.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796371,0.591993,0.123849],[-0.604807,0.780066,0.160329],[-0.001697,-0.202586,0.979263]]
2025-10-24T23:56:32.762Z,1761350192.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797565,0.590979,0.120970],[-0.603232,0.781670,0.158441],[-0.000924,-0.199340,0.979930]]
2025-10-24T23:56:33.166Z,1761350193.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800383,0.589002,0.111641],[-0.599477,0.785176,0.155325],[0.003829,-0.191246,0.981535]]
2025-10-24T23:56:33.299Z,1761350193.299 [DAT](INFO): DAT read: Rx Time:23:56:32.4733

2025-10-24T23:56:33.299Z,1761350193.299 [DAT](INFO): Rx dataTimestamp_ set to:1761350193.298786
2025-10-24T23:56:33.571Z,1761350193.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804061,0.585595,0.102779],[-0.594437,0.788505,0.157808],[0.011370,-0.187983,0.982106]]
2025-10-24T23:56:33.974Z,1761350193.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807798,0.581364,0.097359],[-0.589156,0.790986,0.165034],[0.018935,-0.190674,0.981471]]
2025-10-24T23:56:34.058Z,1761350194.058 [DAT](INFO): DAT read: 23:56:32.4732 LVL= 32752, 32753, 32754, 32755, AGC= 47, IDX= 436,-0.45, 2.923,-2.529,-1.576,-2.513, PHS=-0.745, 0.029, 0.893, RAW= 238.2,  -2.5, CAL= 235.0,  -3.6, ROT= 275.0,   3.6

2025-10-24T23:56:34.059Z,1761350194.059 [DAT](INFO): got valid direction response:
 23:56:32.4732 LVL= 32752, 32753, 32754, 32755, AGC= 47, IDX= 436,-0.45, 2.923,-2.529,-1.576,-2.513, PHS=-0.745, 0.029, 0.893, RAW= 238.2,  -2.5, CAL= 235.0,  -3.6, ROT= 275.0,   3.6

2025-10-24T23:56:34.060Z,1761350194.060 [DAT](INFO): DAT read: 

2025-10-24T23:56:34.061Z,1761350194.061 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T23:56:34.061Z,1761350194.061 [DAT](INFO): Got DATA 2
2025-10-24T23:56:34.062Z,1761350194.062 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T23:56:34.062Z,1761350194.062 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T23:56:34.062Z,1761350194.062 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T23:56:34.063Z,1761350194.063 [DAT](INFO): DAT read: CRC:Pass MPD:03.2 PSNR:12.7 AGC:45 SPD:+0.4 CCERR:011

2025-10-24T23:56:34.064Z,1761350194.064 [DAT](INFO): Got CRC:Pass
2025-10-24T23:56:34.064Z,1761350194.064 [DAT](INFO): Got CRC:Pass
2025-10-24T23:56:34.064Z,1761350194.064 [DAT](INFO): Incoming data is intended for us
2025-10-24T23:56:34.064Z,1761350194.064 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T23:56:34.064Z,1761350194.064 [DAT](INFO): Got ack
2025-10-24T23:56:34.064Z,1761350194.064 [DAT](INFO): DAT read: 

2025-10-24T23:56:34.065Z,1761350194.065 [DAT](INFO): DAT read: <EOP>

2025-10-24T23:56:34.065Z,1761350194.065 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:56:34.065Z,1761350194.065 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-24T23:56:34.066Z,1761350194.066 [DAT](INFO): direction in FSK: [0.086984,-0.994229,-0.062791]
2025-10-24T23:56:34.102Z,1761350194.102 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350144.00. Resetting abort timer.
2025-10-24T23:56:34.305Z,1761350194.305 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:56:34.305Z,1761350194.305 [DAT](INFO): #Outgoing data=43
2025-10-24T23:56:34.305Z,1761350194.305 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:56:34.391Z,1761350194.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811176,0.576584,0.097689],[-0.584321,0.792352,0.175347],[0.023698,-0.199319,0.979648]]
2025-10-24T23:56:34.557Z,1761350194.557 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:56:34.783Z,1761350194.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813830,0.571558,0.104893],[-0.580624,0.792466,0.186744],[0.023611,-0.212881,0.976793]]
2025-10-24T23:56:35.186Z,1761350195.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814453,0.568617,0.115498],[-0.579871,0.790670,0.196447],[0.020383,-0.226970,0.973688]]
2025-10-24T23:56:35.594Z,1761350195.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813686,0.568534,0.121173],[-0.581070,0.789577,0.197296],[0.016494,-0.230947,0.972827]]
2025-10-24T23:56:35.994Z,1761350195.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813344,0.569393,0.119424],[-0.581576,0.790265,0.193006],[0.015520,-0.226435,0.973903]]
2025-10-24T23:56:36.402Z,1761350196.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813088,0.571609,0.110230],[-0.581781,0.791227,0.188391],[0.020470,-0.217308,0.975888]]
2025-10-24T23:56:36.802Z,1761350196.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813595,0.573400,0.096311],[-0.580680,0.792898,0.184725],[0.029557,-0.206217,0.978060]]
2025-10-24T23:56:37.213Z,1761350197.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816472,0.572247,0.076862],[-0.576081,0.798433,0.175030],[0.038791,-0.187186,0.981558]]
2025-10-24T23:56:37.611Z,1761350197.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822328,0.565945,0.059020],[-0.567131,0.806756,0.165855],[0.046250,-0.169859,0.984382]]
2025-10-24T23:56:37.837Z,1761350197.837 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:56:37.4593

2025-10-24T23:56:37.837Z,1761350197.837 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:56:38.014Z,1761350198.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830187,0.556001,0.040641],[-0.554923,0.817193,0.155744],[0.053382,-0.151849,0.986961]]
2025-10-24T23:56:38.418Z,1761350198.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838415,0.544574,0.022361],[-0.541497,0.827609,0.147795],[0.061979,-0.136021,0.988765]]
2025-10-24T23:56:38.824Z,1761350198.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844513,0.535533,0.001486],[-0.530522,0.836226,0.138824],[0.073102,-0.118027,0.990316]]
2025-10-24T23:56:39.226Z,1761350199.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846771,0.531750,-0.014864],[-0.524983,0.839852,0.137994],[0.085862,-0.109046,0.990322]]
2025-10-24T23:56:39.630Z,1761350199.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845454,0.533584,-0.022246],[-0.525273,0.838361,0.145737],[0.096413,-0.111529,0.989073]]
2025-10-24T23:56:40.035Z,1761350200.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842471,0.538585,-0.012994],[-0.529179,0.831801,0.167563],[0.101055,-0.134291,0.985776]]
2025-10-24T23:56:40.098Z,1761350200.098 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:56:40.098Z,1761350200.098 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:56:40.098Z,1761350200.098 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:56:40.098Z,1761350200.098 [marl:UpdateRudder:A] Stopped
2025-10-24T23:56:40.099Z,1761350200.099 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:56:40.440Z,1761350200.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840469,0.541743,0.011246],[-0.532672,0.822234,0.200478],[0.099360,-0.174486,0.979634]]
2025-10-24T23:56:40.470Z,1761350200.470 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:56:40.470Z,1761350200.470 [marl:UpdateRudder:B] Stopped
2025-10-24T23:56:40.470Z,1761350200.470 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:56:40.470Z,1761350200.470 [marl:UpdateRudder] Stopped
2025-10-24T23:56:40.470Z,1761350200.470 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:56:40.843Z,1761350200.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840122,0.541285,0.034727],[-0.533650,0.813424,0.231429],[0.097021,-0.212961,0.972232]]
2025-10-24T23:56:41.246Z,1761350201.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838534,0.542780,0.047443],[-0.535510,0.804977,0.255425],[0.100449,-0.239589,0.965664]]
2025-10-24T23:56:41.655Z,1761350201.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835903,0.546794,0.047778],[-0.537849,0.798638,0.269993],[0.109473,-0.251385,0.961676]]
2025-10-24T23:56:41.728Z,1761350201.728 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:56:41.729Z,1761350201.729 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:56:41.729Z,1761350201.729 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:56:41.729Z,1761350201.729 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:56:41.729Z,1761350201.729 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:56:41.729Z,1761350201.729 [marl:UpdateCommandMode] Stopped
2025-10-24T23:56:41.729Z,1761350201.729 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:56:41.729Z,1761350201.729 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:56:41.729Z,1761350201.729 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:56:41.730Z,1761350201.730 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:56:41.730Z,1761350201.730 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:56:41.730Z,1761350201.730 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:56:41.730Z,1761350201.730 [marl:UpdateSpeed] Stopped
2025-10-24T23:56:41.730Z,1761350201.730 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:56:42.054Z,1761350202.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837554,0.544875,0.040182],[-0.533735,0.800276,0.273286],[0.116750,-0.250338,0.961093]]
2025-10-24T23:56:42.458Z,1761350202.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839049,0.543034,0.033317],[-0.530220,0.802455,0.273739],[0.121914,-0.247346,0.961227]]
2025-10-24T23:56:42.875Z,1761350202.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840171,0.541447,0.030781],[-0.528126,0.803959,0.273373],[0.123271,-0.245936,0.961415]]
2025-10-24T23:56:43.268Z,1761350203.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842448,0.537757,0.033141],[-0.525046,0.805625,0.274400],[0.120861,-0.248568,0.961044]]
2025-10-24T23:56:43.677Z,1761350203.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847789,0.529699,0.025923],[-0.517539,0.815675,0.258510],[0.115788,-0.232578,0.965661]]
2025-10-24T23:56:44.075Z,1761350204.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855973,0.516916,0.010355],[-0.505312,0.832184,0.228318],[0.109404,-0.200667,0.973531]]
2025-10-24T23:56:44.297Z,1761350204.297 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.255402
2025-10-24T23:56:44.385Z,1761350204.385 [DAT](INFO): DAT read: Rx Time:23:56:43.5743

2025-10-24T23:56:44.385Z,1761350204.385 [DAT](INFO): Rx dataTimestamp_ set to:1761350204.385025
2025-10-24T23:56:44.887Z,1761350204.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875103,0.481880,-0.044572],[-0.472626,0.870813,0.135312],[0.104018,-0.097346,0.989800]]
2025-10-24T23:56:45.146Z,1761350205.146 [DAT](INFO): DAT read: 23:56:43.5743 LVL= 32752, 25905, 29538, 32755, AGC= 53, IDX= 447, 0.10,-2.256,-0.873,-0.295,-1.104, PHS=-1.050, 0.275, 0.765, RAW= 254.9,   0.1, CAL= 250.9,  -2.7, ROT= 259.1,   2.7

2025-10-24T23:56:45.147Z,1761350205.147 [DAT](INFO): got valid direction response:
 23:56:43.5743 LVL= 32752, 25905, 29538, 32755, AGC= 53, IDX= 447, 0.10,-2.256,-0.873,-0.295,-1.104, PHS=-1.050, 0.275, 0.765, RAW= 254.9,   0.1, CAL= 250.9,  -2.7, ROT= 259.1,   2.7

2025-10-24T23:56:45.148Z,1761350205.148 [DAT](INFO): DAT read: 

2025-10-24T23:56:45.148Z,1761350205.148 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T23:56:45.149Z,1761350205.149 [DAT](INFO): Got DATA 2
2025-10-24T23:56:45.153Z,1761350205.153 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T23:56:45.154Z,1761350205.154 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T23:56:45.155Z,1761350205.155 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T23:56:45.168Z,1761350205.168 [DAT](INFO): DAT read: CRC:Pass MPD:03.4 PSNR:13.1 AGC:51 SPD:-0.4 CCERR:011

2025-10-24T23:56:45.168Z,1761350205.168 [DAT](INFO): Got CRC:Pass
2025-10-24T23:56:45.169Z,1761350205.169 [DAT](INFO): Got CRC:Pass
2025-10-24T23:56:45.169Z,1761350205.169 [DAT](INFO): Incoming data is intended for us
2025-10-24T23:56:45.169Z,1761350205.169 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T23:56:45.169Z,1761350205.169 [DAT](INFO): Got ack
2025-10-24T23:56:45.169Z,1761350205.169 [DAT](INFO): DAT read: 

2025-10-24T23:56:45.170Z,1761350205.170 [DAT](INFO): DAT read: <EOP>

2025-10-24T23:56:45.170Z,1761350205.170 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:56:45.170Z,1761350205.170 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-10-24T23:56:45.171Z,1761350205.171 [DAT](INFO): direction in FSK: [-0.188885,-0.980869,-0.047106]
2025-10-24T23:56:45.287Z,1761350205.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884432,0.460504,-0.075600],[-0.453974,0.886537,0.089217],[0.108108,-0.044586,0.993139]]
2025-10-24T23:56:45.300Z,1761350205.300 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:56:45.343Z,1761350205.343 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350144.00. Resetting abort timer.
2025-10-24T23:56:45.395Z,1761350205.395 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:56:45.395Z,1761350205.395 [DAT](INFO): #Outgoing data=43
2025-10-24T23:56:45.395Z,1761350205.395 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:56:45.645Z,1761350205.645 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:56:45.691Z,1761350205.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893554,0.437068,-0.102624],[-0.434092,0.899428,0.050928],[0.114562,-0.000959,0.993416]]
2025-10-24T23:56:46.094Z,1761350206.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902226,0.413369,-0.122938],[-0.414174,0.909975,0.020147],[0.120198,0.032741,0.992210]]
2025-10-24T23:56:46.499Z,1761350206.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910564,0.391837,-0.131672],[-0.395060,0.918653,0.001781],[0.121659,0.050397,0.991292]]
2025-10-24T23:56:46.906Z,1761350206.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918217,0.374271,-0.129610],[-0.377969,0.925808,-0.004278],[0.118393,0.052917,0.991556]]
2025-10-24T23:56:47.309Z,1761350207.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923944,0.363621,-0.118773],[-0.365509,0.930787,0.006258],[0.112828,0.037631,0.992902]]
2025-10-24T23:56:47.444Z,1761350207.444 [Radio_Surface](INFO): Powering down
2025-10-24T23:56:47.710Z,1761350207.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928497,0.356442,-0.104131],[-0.355809,0.934218,0.025224],[0.106272,0.013630,0.994244]]
2025-10-24T23:56:48.114Z,1761350208.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933239,0.347012,-0.092988],[-0.344884,0.937853,0.038569],[0.100592,-0.003924,0.994920]]
2025-10-24T23:56:48.518Z,1761350208.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938055,0.334809,-0.089192],[-0.332194,0.942223,0.043150],[0.098486,-0.010848,0.995079]]
2025-10-24T23:56:48.921Z,1761350208.921 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:56:48.5593

2025-10-24T23:56:48.921Z,1761350208.921 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:56:48.926Z,1761350208.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942663,0.320320,-0.093710],[-0.318224,0.947296,0.036917],[0.100597,-0.004979,0.994915]]
2025-10-24T23:56:49.327Z,1761350209.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946844,0.305117,-0.101931],[-0.303806,0.952307,0.028522],[0.105772,0.003962,0.994383]]
2025-10-24T23:56:49.730Z,1761350209.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950913,0.289411,-0.109574],[-0.288378,0.957177,0.025513],[0.112265,0.007338,0.993651]]
2025-10-24T23:56:50.134Z,1761350210.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955440,0.270434,-0.118322],[-0.270225,0.962627,0.018118],[0.118800,0.014663,0.992810]]
2025-10-24T23:56:50.540Z,1761350210.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960253,0.249217,-0.125718],[-0.249864,0.968220,0.010856],[0.124428,0.020987,0.992007]]
2025-10-24T23:56:50.948Z,1761350210.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965240,0.227393,-0.128855],[-0.228322,0.973555,0.007710],[0.127201,0.021978,0.991633]]
2025-10-24T23:56:51.356Z,1761350211.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970688,0.203965,-0.127137],[-0.204961,0.978756,0.005340],[0.125525,0.020875,0.991871]]
2025-10-24T23:56:51.750Z,1761350211.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975514,0.182145,-0.123272],[-0.182849,0.983125,0.005680],[0.122226,0.016999,0.992357]]
2025-10-24T23:56:52.155Z,1761350212.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978085,0.168806,-0.121876],[-0.168830,0.985592,0.010198],[0.121842,0.010601,0.992493]]
2025-10-24T23:56:52.559Z,1761350212.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980083,0.155654,-0.123322],[-0.155874,0.987745,0.007923],[0.123044,0.011458,0.992335]]
2025-10-24T23:56:52.963Z,1761350212.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981832,0.141678,-0.126230],[-0.142007,0.989845,0.006435],[0.125859,0.011608,0.991980]]
2025-10-24T23:56:52.996Z,1761350212.996 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:56:52.997Z,1761350212.997 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:56:52.997Z,1761350212.997 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:56:52.997Z,1761350212.997 [marl:UpdateRudder:A] Stopped
2025-10-24T23:56:52.997Z,1761350212.997 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:56:53.369Z,1761350213.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983703,0.124688,-0.129542],[-0.125899,0.992042,-0.001168],[0.128366,0.017458,0.991573]]
2025-10-24T23:56:53.485Z,1761350213.485 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:56:53.486Z,1761350213.486 [marl:UpdateRudder:B] Stopped
2025-10-24T23:56:53.486Z,1761350213.486 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:56:53.486Z,1761350213.486 [marl:UpdateRudder] Stopped
2025-10-24T23:56:53.486Z,1761350213.486 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:56:53.770Z,1761350213.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985621,0.105433,-0.132039],[-0.107676,0.994136,-0.009939],[0.130217,0.024014,0.991195]]
2025-10-24T23:56:54.175Z,1761350214.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987234,0.088797,-0.132227],[-0.091022,0.995790,-0.010872],[0.130705,0.022769,0.991160]]
2025-10-24T23:56:54.578Z,1761350214.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988463,0.075812,-0.131122],[-0.077603,0.996947,-0.008599],[0.130070,0.018675,0.991329]]
2025-10-24T23:56:54.624Z,1761350214.624 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:56:54.624Z,1761350214.624 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:56:54.624Z,1761350214.624 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:56:54.625Z,1761350214.625 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:56:54.625Z,1761350214.625 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:56:54.625Z,1761350214.625 [marl:UpdateCommandMode] Stopped
2025-10-24T23:56:54.625Z,1761350214.625 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:56:54.625Z,1761350214.625 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:56:54.625Z,1761350214.625 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:56:54.625Z,1761350214.625 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:56:54.626Z,1761350214.626 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:56:54.626Z,1761350214.626 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:56:54.626Z,1761350214.626 [marl:UpdateSpeed] Stopped
2025-10-24T23:56:54.626Z,1761350214.626 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:56:54.983Z,1761350214.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989422,0.065564,-0.129406],[-0.066737,0.997759,-0.004744],[0.128805,0.013329,0.991580]]
2025-10-24T23:56:55.386Z,1761350215.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990220,0.057176,-0.127257],[-0.057157,0.998358,0.003801],[0.127265,0.003510,0.991862]]
2025-10-24T23:56:55.485Z,1761350215.485 [DAT](INFO): DAT read: Rx Time:23:56:54.6784

2025-10-24T23:56:55.485Z,1761350215.485 [DAT](INFO): Rx dataTimestamp_ set to:1761350215.485057
2025-10-24T23:56:56.194Z,1761350216.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991214,0.040178,-0.126017],[-0.038289,0.999116,0.017375],[0.126603,-0.012397,0.991876]]
2025-10-24T23:56:56.246Z,1761350216.246 [DAT](INFO): DAT read: 23:56:54.6784 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 473, 0.02,-1.533, 0.549,-0.351,-0.216, PHS=-1.215, 0.810,-0.180, RAW= 299.2,   6.7, CAL= 296.9,   5.6, ROT= 213.1,  -5.6

2025-10-24T23:56:56.247Z,1761350216.247 [DAT](INFO): got valid direction response:
 23:56:54.6784 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 473, 0.02,-1.533, 0.549,-0.351,-0.216, PHS=-1.215, 0.810,-0.180, RAW= 299.2,   6.7, CAL= 296.9,   5.6, ROT= 213.1,  -5.6

2025-10-24T23:56:56.249Z,1761350216.249 [DAT](INFO): DAT read: 

2025-10-24T23:56:56.249Z,1761350216.249 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T23:56:56.249Z,1761350216.249 [DAT](INFO): Got DATA 2
2025-10-24T23:56:56.250Z,1761350216.250 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T23:56:56.250Z,1761350216.250 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T23:56:56.251Z,1761350216.251 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T23:56:56.252Z,1761350216.252 [DAT](INFO): DAT read: CRC:Pass MPD:03.6 PSNR:14.5 AGC:49 SPD:-1.1 CCERR:011

2025-10-24T23:56:56.252Z,1761350216.252 [DAT](INFO): Got CRC:Pass
2025-10-24T23:56:56.252Z,1761350216.252 [DAT](INFO): Got CRC:Pass
2025-10-24T23:56:56.252Z,1761350216.252 [DAT](INFO): Incoming data is intended for us
2025-10-24T23:56:56.252Z,1761350216.252 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T23:56:56.253Z,1761350216.253 [DAT](INFO): Got ack
2025-10-24T23:56:56.253Z,1761350216.253 [DAT](INFO): DAT read: 

2025-10-24T23:56:56.253Z,1761350216.253 [DAT](INFO): DAT read: <EOP>

2025-10-24T23:56:56.254Z,1761350216.254 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:56:56.254Z,1761350216.254 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-10-24T23:56:56.255Z,1761350216.255 [DAT](INFO): direction in FSK: [-0.833721,-0.543496,0.097583]
2025-10-24T23:56:56.317Z,1761350216.317 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350272.00. Resetting abort timer.
2025-10-24T23:56:56.493Z,1761350216.493 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:56:56.493Z,1761350216.493 [DAT](INFO): #Outgoing data=43
2025-10-24T23:56:56.493Z,1761350216.493 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:56:56.598Z,1761350216.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991269,0.031448,-0.128052],[-0.029999,0.999462,0.013230],[0.128399,-0.009273,0.991679]]
2025-10-24T23:56:56.745Z,1761350216.745 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:56:57.004Z,1761350217.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991219,0.023419,-0.130137],[-0.021954,0.999678,0.012681],[0.130392,-0.009713,0.991415]]
2025-10-24T23:56:57.407Z,1761350217.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991324,0.011429,-0.130942],[-0.010456,0.999912,0.008120],[0.131024,-0.006680,0.991357]]
2025-10-24T23:56:57.811Z,1761350217.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991413,-0.007670,-0.130540],[0.007993,0.999966,0.001952],[0.130521,-0.002979,0.991441]]
2025-10-24T23:56:58.618Z,1761350218.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990317,-0.045431,-0.131184],[0.045977,0.998942,0.001131],[0.130993,-0.007151,0.991358]]
2025-10-24T23:56:59.027Z,1761350219.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989391,-0.062336,-0.131221],[0.062971,0.998015,0.000696],[0.130917,-0.008952,0.991353]]
2025-10-24T23:56:59.430Z,1761350219.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988214,-0.080079,-0.130459],[0.079848,0.996782,-0.007009],[0.130600,-0.003490,0.991429]]
2025-10-24T23:56:59.843Z,1761350219.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986613,-0.099912,-0.128887],[0.097858,0.994953,-0.022185],[0.130453,0.009275,0.991411]]
2025-10-24T23:57:00.021Z,1761350220.021 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:56:59.6593

2025-10-24T23:57:00.022Z,1761350220.022 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:57:00.045Z,1761350220.045 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:57:00.045Z,1761350220.045 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:57:00.238Z,1761350220.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984544,-0.121593,-0.126050],[0.117475,0.992285,-0.039629],[0.129896,0.024209,0.991232]]
2025-10-24T23:57:00.640Z,1761350220.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982284,-0.141806,-0.122515],[0.137119,0.989490,-0.045918],[0.127738,0.028306,0.991404]]
2025-10-24T23:57:01.044Z,1761350221.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979853,-0.161205,-0.117901],[0.156557,0.986515,-0.047732],[0.124005,0.028312,0.991878]]
2025-10-24T23:57:01.446Z,1761350221.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977296,-0.179750,-0.112171],[0.175359,0.983337,-0.047940],[0.118919,0.027182,0.992532]]
2025-10-24T23:57:01.492Z,1761350221.492 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:57:01.533Z,1761350221.533 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:57:01.584Z,1761350221.584 [DAT](INFO): entering command mode
2025-10-24T23:57:01.785Z,1761350221.785 [DAT](INFO): DAT read: 

2025-10-24T23:57:01.785Z,1761350221.785 [DAT](INFO): DAT read: user:17>

2025-10-24T23:57:01.786Z,1761350221.786 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:57:01.786Z,1761350221.786 [DAT](INFO): setting remote address to 0
2025-10-24T23:57:01.923Z,1761350221.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974700,-0.195548,-0.108266],[0.192251,0.980522,-0.040194],[0.114017,0.018363,0.993309]]
2025-10-24T23:57:02.038Z,1761350222.038 [DAT](INFO): DAT read: user:17>

2025-10-24T23:57:02.039Z,1761350222.039 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:57:02.040Z,1761350222.040 [DAT](INFO): set remote address to 0
2025-10-24T23:57:02.041Z,1761350222.041 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:57:02.041Z,1761350222.041 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T23:57:02.256Z,1761350222.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972336,-0.208075,-0.106150],[0.206222,0.978097,-0.028265],[0.109706,0.005593,0.993948]]
2025-10-24T23:57:02.289Z,1761350222.289 [DAT](INFO): DAT read: user:18>

2025-10-24T23:57:02.290Z,1761350222.290 [DAT](INFO): DAT read: Tx time:23:57:01.8605

2025-10-24T23:57:02.290Z,1761350222.290 [DAT](INFO): Ping request sent.
2025-10-24T23:57:02.290Z,1761350222.290 [DAT](INFO): transmitted an acoustic signal
2025-10-24T23:57:02.290Z,1761350222.290 [DAT](INFO): publishing transmit ping time
2025-10-24T23:57:02.291Z,1761350222.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000993
2025-10-24T23:57:02.541Z,1761350222.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250797
2025-10-24T23:57:02.663Z,1761350222.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969802,-0.220616,-0.103987],[0.219528,0.975359,-0.021934],[0.106263,-0.001557,0.994337]]
2025-10-24T23:57:02.794Z,1761350222.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503454
2025-10-24T23:57:03.045Z,1761350223.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754867
2025-10-24T23:57:03.062Z,1761350223.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967218,-0.233372,-0.100136],[0.231740,0.972380,-0.027795],[0.103857,0.003678,0.994585]]
2025-10-24T23:57:03.297Z,1761350223.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007155
2025-10-24T23:57:03.470Z,1761350223.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964259,-0.247521,-0.094546],[0.244939,0.968786,-0.038189],[0.101047,0.013666,0.994788]]
2025-10-24T23:57:03.549Z,1761350223.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259123
2025-10-24T23:57:03.801Z,1761350223.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510860
2025-10-24T23:57:03.922Z,1761350223.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960682,-0.263328,-0.088028],[0.260239,0.964490,-0.045108],[0.096780,0.020426,0.995096]]
2025-10-24T23:57:04.053Z,1761350224.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763176
2025-10-24T23:57:04.275Z,1761350224.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957058,-0.278165,-0.081635],[0.274948,0.960233,-0.048541],[0.091891,0.024011,0.995480]]
2025-10-24T23:57:04.306Z,1761350224.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015827
2025-10-24T23:57:04.557Z,1761350224.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266807
2025-10-24T23:57:04.682Z,1761350224.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953117,-0.292850,-0.076200],[0.289720,0.955827,-0.049563],[0.087349,0.025163,0.995860]]
2025-10-24T23:57:04.826Z,1761350224.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.535636
2025-10-24T23:57:05.077Z,1761350225.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786815
2025-10-24T23:57:05.085Z,1761350225.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949877,-0.303685,-0.074226],[0.301535,0.952661,-0.038896],[0.082525,0.014565,0.996483]]
2025-10-24T23:57:05.330Z,1761350225.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039943
2025-10-24T23:57:05.486Z,1761350225.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946360,-0.315014,-0.071888],[0.313445,0.949052,-0.032448],[0.078447,0.008175,0.996885]]
2025-10-24T23:57:05.584Z,1761350225.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.294449
2025-10-24T23:57:05.836Z,1761350225.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.546053
2025-10-24T23:57:06.034Z,1761350226.034 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:57:06.034Z,1761350226.034 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:57:06.034Z,1761350226.034 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:57:06.035Z,1761350226.035 [marl:UpdateRudder:A] Stopped
2025-10-24T23:57:06.035Z,1761350226.035 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:57:06.085Z,1761350226.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.794889
2025-10-24T23:57:06.294Z,1761350226.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936836,-0.343648,-0.065152],[0.341663,0.938978,-0.039840],[0.074867,0.015064,0.997080]]
2025-10-24T23:57:06.337Z,1761350226.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.046844
2025-10-24T23:57:06.355Z,1761350226.355 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-24T23:57:06.355Z,1761350226.355 [marl:UpdateRudder:B] Stopped
2025-10-24T23:57:06.355Z,1761350226.355 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:57:06.355Z,1761350226.355 [marl:UpdateRudder] Stopped
2025-10-24T23:57:06.356Z,1761350226.356 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:57:06.589Z,1761350226.589 [DAT](INFO): DAT read: Rx Time:23:57:05.7847

2025-10-24T23:57:06.589Z,1761350226.589 [DAT](INFO): Rx dataTimestamp_ set to:1761350226.589055
2025-10-24T23:57:06.590Z,1761350226.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.299929
2025-10-24T23:57:06.700Z,1761350226.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930952,-0.359655,-0.063060],[0.357348,0.932883,-0.045069],[0.075037,0.019423,0.996992]]
2025-10-24T23:57:06.841Z,1761350226.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.550892
2025-10-24T23:57:07.094Z,1761350227.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.803760
2025-10-24T23:57:07.104Z,1761350227.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924075,-0.377456,-0.060110],[0.374705,0.925668,-0.052288],[0.075378,0.025794,0.996821]]
2025-10-24T23:57:07.372Z,1761350227.372 [DAT](INFO): DAT read: 23:57:05.7847 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 442,-0.25,-0.478, 1.436,-0.151, 0.132, PHS=-0.508, 1.349,-0.327, RAW= 324.9,  -5.9, CAL= 324.3,  -9.1, ROT= 185.7,   9.1

2025-10-24T23:57:07.373Z,1761350227.373 [DAT](INFO): got valid direction response:
 23:57:05.7847 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 442,-0.25,-0.478, 1.436,-0.151, 0.132, PHS=-0.508, 1.349,-0.327, RAW= 324.9,  -5.9, CAL= 324.3,  -9.1, ROT= 185.7,   9.1

2025-10-24T23:57:07.373Z,1761350227.373 [DAT](INFO): DAT read: 

2025-10-24T23:57:07.374Z,1761350227.374 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T23:57:07.374Z,1761350227.374 [DAT](INFO): Got DATA 2
2025-10-24T23:57:07.375Z,1761350227.375 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T23:57:07.375Z,1761350227.375 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T23:57:07.375Z,1761350227.375 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T23:57:07.404Z,1761350227.404 [DAT](INFO): DAT read: CRC:Pass MPD:03.6 PSNR:08.5 AGC:58 SPD:-1.9 CCERR:006

2025-10-24T23:57:07.404Z,1761350227.404 [DAT](INFO): Got CRC:Pass
2025-10-24T23:57:07.404Z,1761350227.404 [DAT](INFO): Got CRC:Pass
2025-10-24T23:57:07.404Z,1761350227.404 [DAT](INFO): Incoming data is intended for us
2025-10-24T23:57:07.404Z,1761350227.404 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T23:57:07.405Z,1761350227.405 [DAT](INFO): Got ack
2025-10-24T23:57:07.405Z,1761350227.405 [DAT](INFO): DAT read: 

2025-10-24T23:57:07.405Z,1761350227.405 [DAT](INFO): DAT read: <EOP>

2025-10-24T23:57:07.406Z,1761350227.406 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:57:07.406Z,1761350227.406 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-24T23:57:07.407Z,1761350227.407 [DAT](INFO): direction in FSK: [-0.982532,-0.098070,-0.158158]
2025-10-24T23:57:07.507Z,1761350227.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916594,-0.395661,-0.057516],[0.392489,0.917850,-0.059190],[0.076210,0.031679,0.996588]]
2025-10-24T23:57:07.597Z,1761350227.597 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:57:07.597Z,1761350227.597 [DAT](INFO): #Outgoing data=43
2025-10-24T23:57:07.597Z,1761350227.597 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:57:07.711Z,1761350227.711 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:57:07.711Z,1761350227.711 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:57:07.711Z,1761350227.711 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:57:07.711Z,1761350227.711 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:57:07.712Z,1761350227.712 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:57:07.712Z,1761350227.712 [marl:UpdateCommandMode] Stopped
2025-10-24T23:57:07.712Z,1761350227.712 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:57:07.712Z,1761350227.712 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:57:07.712Z,1761350227.712 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:57:07.712Z,1761350227.712 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:57:07.713Z,1761350227.713 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:57:07.713Z,1761350227.713 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:57:07.713Z,1761350227.713 [marl:UpdateSpeed] Stopped
2025-10-24T23:57:07.713Z,1761350227.713 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:57:07.715Z,1761350227.715 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350272.00. Resetting abort timer.
2025-10-24T23:57:07.851Z,1761350227.851 [DAT](INFO): setting remote address to 10
2025-10-24T23:57:08.101Z,1761350228.101 [DAT](INFO): DAT read: user:19>

2025-10-24T23:57:08.102Z,1761350228.102 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:57:08.102Z,1761350228.102 [DAT](INFO): set remote address to 10
2025-10-24T23:57:08.102Z,1761350228.102 [DAT](INFO): entering online mode
2025-10-24T23:57:08.140Z,1761350228.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900841,-0.429791,-0.061363],[0.427231,0.902718,-0.050734],[0.077198,0.019487,0.996825]]
2025-10-24T23:57:08.353Z,1761350228.353 [DAT](INFO): DAT read: user:20>

2025-10-24T23:57:08.353Z,1761350228.353 [DAT](INFO): DAT read: 

2025-10-24T23:57:08.354Z,1761350228.354 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:57:08.355Z,1761350228.355 [DAT](INFO): commRate: 600
2025-10-24T23:57:08.355Z,1761350228.355 [DAT](INFO): online mode acknowledged
2025-10-24T23:57:08.355Z,1761350228.355 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:57:08.528Z,1761350228.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892490,-0.447233,-0.058692],[0.444570,0.894161,-0.053228],[0.076285,0.021413,0.996856]]
2025-10-24T23:57:08.937Z,1761350228.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883753,-0.464821,-0.054048],[0.461807,0.884967,-0.059722],[0.075591,0.027820,0.996751]]
2025-10-24T23:57:09.335Z,1761350229.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876705,-0.477823,-0.055434],[0.475034,0.878149,-0.056541],[0.075696,0.023236,0.996860]]
2025-10-24T23:57:09.735Z,1761350229.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873076,-0.483101,-0.065970],[0.481646,0.875564,-0.037469],[0.075862,0.000939,0.997118]]
2025-10-24T23:57:10.140Z,1761350230.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873661,-0.479572,-0.082016],[0.480632,0.876889,-0.007582],[0.075555,-0.032796,0.996602]]
2025-10-24T23:57:10.543Z,1761350230.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878738,-0.466013,-0.103206],[0.471389,0.881253,0.034417],[0.074911,-0.078894,0.994064]]
2025-10-24T23:57:10.951Z,1761350230.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887478,-0.442345,-0.129285],[0.454922,0.885735,0.092299],[0.073685,-0.140727,0.987303]]
2025-10-24T23:57:11.350Z,1761350231.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898567,-0.410613,-0.154835],[0.432752,0.887668,0.157386],[0.072817,-0.208427,0.975323]]
2025-10-24T23:57:11.629Z,1761350231.629 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:57:11.2593

2025-10-24T23:57:11.630Z,1761350231.630 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:57:11.755Z,1761350231.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911693,-0.372131,-0.174166],[0.404324,0.887944,0.219264],[0.073055,-0.270321,0.959994]]
2025-10-24T23:57:12.160Z,1761350232.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924956,-0.330256,-0.188118],[0.372572,0.885710,0.276962],[0.075149,-0.326265,0.942286]]
2025-10-24T23:57:12.385Z,1761350232.385 [DAT](INFO): Reached modem response timeout
2025-10-24T23:57:12.562Z,1761350232.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937792,-0.283630,-0.200250],[0.338151,0.876939,0.341515],[0.078744,-0.387984,0.918296]]
2025-10-24T23:57:12.966Z,1761350232.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949255,-0.235094,-0.208914],[0.302891,0.862220,0.405997],[0.084683,-0.448673,0.889675]]
2025-10-24T23:57:13.370Z,1761350233.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958702,-0.189381,-0.212193],[0.268739,0.847442,0.457845],[0.093114,-0.495961,0.863338]]
2025-10-24T23:57:13.776Z,1761350233.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966472,-0.147842,-0.209942],[0.235120,0.838161,0.492143],[0.103206,-0.525003,0.844820]]
2025-10-24T23:57:14.178Z,1761350234.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972527,-0.112322,-0.203901],[0.202913,0.838315,0.506018],[0.114097,-0.533491,0.838075]]
2025-10-24T23:57:14.583Z,1761350234.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976974,-0.081589,-0.197143],[0.173076,0.843388,0.508666],[0.124766,-0.531074,0.838089]]
2025-10-24T23:57:15.392Z,1761350235.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982623,-0.026531,-0.183709],[0.116289,0.859407,0.497893],[0.144671,-0.510604,0.847558]]
2025-10-24T23:57:15.428Z,1761350235.428 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:57:16.198Z,1761350236.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984742,0.029683,-0.171469],[0.059225,0.869357,0.490623],[0.163631,-0.493292,0.854335]]
2025-10-24T23:57:16.435Z,1761350236.435 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-24T23:57:16.435Z,1761350236.435 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:57:16.603Z,1761350236.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985154,0.059330,-0.161097],[0.028601,0.868547,0.494781],[0.169276,-0.492043,0.853955]]
2025-10-24T23:57:17.037Z,1761350237.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985022,0.088587,-0.147929],[-0.002884,0.866272,0.499564],[0.172402,-0.491655,0.853553]]
2025-10-24T23:57:17.434Z,1761350237.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983973,0.117756,-0.133906],[-0.035451,0.865132,0.500290],[0.174759,-0.487524,0.855441]]
2025-10-24T23:57:17.957Z,1761350237.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981838,0.147572,-0.119231],[-0.068991,0.863158,0.500199],[0.176731,-0.482888,0.857663]]
2025-10-24T23:57:17.959Z,1761350237.959 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-10-24T23:57:18.181Z,1761350238.181 [DAT](INFO): DAT read: Rx Time:23:57:17.3918

2025-10-24T23:57:18.181Z,1761350238.181 [DAT](INFO): Rx dataTimestamp_ set to:1761350238.181037
2025-10-24T23:57:18.437Z,1761350238.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973527,0.208089,-0.094576],[-0.137682,0.864137,0.484056],[0.182453,-0.458221,0.869911]]
2025-10-24T23:57:18.852Z,1761350238.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967149,0.240119,-0.083467],[-0.172920,0.862076,0.476366],[0.186339,-0.446283,0.875277]]
2025-10-24T23:57:18.904Z,1761350238.904 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:57:18.905Z,1761350238.905 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:57:18.905Z,1761350238.905 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:57:18.905Z,1761350238.905 [marl:UpdateRudder:A] Stopped
2025-10-24T23:57:18.905Z,1761350238.905 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:57:18.953Z,1761350238.953 [DAT](INFO): DAT read: 23:57:17.3918 LVL= 32720, 25569, 25570, 32755, AGC= 61, IDX=   3,-0.02, 0.749, 2.717, 1.740, 1.782, PHS=-0.931, 0.980,-0.086, RAW= 303.8,   0.5, CAL= 302.1,  -3.3, ROT= 207.9,   3.3

2025-10-24T23:57:18.954Z,1761350238.954 [DAT](INFO): got valid direction response:
 23:57:17.3918 LVL= 32720, 25569, 25570, 32755, AGC= 61, IDX=   3,-0.02, 0.749, 2.717, 1.740, 1.782, PHS=-0.931, 0.980,-0.086, RAW= 303.8,   0.5, CAL= 302.1,  -3.3, ROT= 207.9,   3.3

2025-10-24T23:57:18.954Z,1761350238.954 [DAT](INFO): DAT read: 

2025-10-24T23:57:18.955Z,1761350238.955 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T23:57:18.955Z,1761350238.955 [DAT](INFO): Got DATA 2
2025-10-24T23:57:18.960Z,1761350238.960 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T23:57:18.961Z,1761350238.961 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T23:57:18.961Z,1761350238.961 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T23:57:18.962Z,1761350238.962 [DAT](INFO): DAT read: CRC:Pass MPD:03.3 PSNR:13.4 AGC:60 SPD:-1.1 CCERR:011

2025-10-24T23:57:18.962Z,1761350238.962 [DAT](INFO): Got CRC:Pass
2025-10-24T23:57:18.962Z,1761350238.962 [DAT](INFO): Got CRC:Pass
2025-10-24T23:57:18.962Z,1761350238.962 [DAT](INFO): Incoming data is intended for us
2025-10-24T23:57:18.963Z,1761350238.963 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T23:57:18.963Z,1761350238.963 [DAT](INFO): Got ack
2025-10-24T23:57:18.963Z,1761350238.963 [DAT](INFO): DAT read: 

2025-10-24T23:57:18.963Z,1761350238.963 [DAT](INFO): DAT read: <EOP>

2025-10-24T23:57:18.968Z,1761350238.968 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:57:18.968Z,1761350238.968 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-24T23:57:18.969Z,1761350238.969 [DAT](INFO): direction in FSK: [-0.882300,-0.467154,-0.057564]
2025-10-24T23:57:19.192Z,1761350239.192 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:57:19.193Z,1761350239.193 [DAT](INFO): #Outgoing data=43
2025-10-24T23:57:19.193Z,1761350239.193 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:57:19.238Z,1761350239.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960005,0.270895,-0.070754],[-0.206748,0.856298,0.473296],[0.188800,-0.439738,0.878058]]
2025-10-24T23:57:19.275Z,1761350239.275 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:57:19.276Z,1761350239.276 [marl:UpdateRudder:B] Stopped
2025-10-24T23:57:19.276Z,1761350239.276 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:57:19.276Z,1761350239.276 [marl:UpdateRudder] Stopped
2025-10-24T23:57:19.277Z,1761350239.277 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:57:19.280Z,1761350239.280 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350272.00. Resetting abort timer.
2025-10-24T23:57:19.442Z,1761350239.442 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:57:19.643Z,1761350239.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952018,0.300799,-0.056409],[-0.240314,0.848875,0.470808],[0.189503,-0.434662,0.880430]]
2025-10-24T23:57:20.054Z,1761350240.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943099,0.330306,-0.038239],[-0.274353,0.837954,0.471766],[0.187869,-0.434431,0.880894]]
2025-10-24T23:57:20.454Z,1761350240.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933631,0.357659,-0.020306],[-0.307693,0.829647,0.465845],[0.183460,-0.428680,0.884633]]
2025-10-24T23:57:20.498Z,1761350240.498 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:57:20.498Z,1761350240.498 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:57:20.498Z,1761350240.498 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:57:20.498Z,1761350240.498 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:57:20.498Z,1761350240.498 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:57:20.498Z,1761350240.498 [marl:UpdateCommandMode] Stopped
2025-10-24T23:57:20.498Z,1761350240.498 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:57:20.499Z,1761350240.499 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:57:20.499Z,1761350240.499 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:57:20.499Z,1761350240.499 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:57:20.499Z,1761350240.499 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:57:20.499Z,1761350240.499 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:57:20.499Z,1761350240.499 [marl:UpdateSpeed] Stopped
2025-10-24T23:57:20.499Z,1761350240.499 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:57:20.855Z,1761350240.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924064,0.382164,-0.007492],[-0.339144,0.828769,0.445111],[0.176315,-0.408771,0.895444]]
2025-10-24T23:57:21.258Z,1761350241.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914978,0.403491,0.003131],[-0.366996,0.828947,0.422091],[0.167715,-0.387354,0.906548]]
2025-10-24T23:57:21.669Z,1761350241.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906547,0.421898,0.013203],[-0.390991,0.827528,0.402894],[0.159054,-0.370404,0.915152]]
2025-10-24T23:57:22.075Z,1761350242.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899799,0.435943,0.017767],[-0.409204,0.829080,0.381023],[0.151374,-0.350114,0.924395]]
2025-10-24T23:57:22.472Z,1761350242.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895981,0.443803,0.016021],[-0.419720,0.834471,0.357062],[0.145096,-0.326645,0.933943]]
2025-10-24T23:57:22.717Z,1761350242.717 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:57:22.3593

2025-10-24T23:57:22.717Z,1761350242.717 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:57:22.875Z,1761350242.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895568,0.444859,0.007646],[-0.422411,0.844728,0.328638],[0.139739,-0.297547,0.944425]]
2025-10-24T23:57:23.287Z,1761350243.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898633,0.438689,-0.003185],[-0.417862,0.858136,0.298319],[0.133603,-0.266749,0.954461]]
2025-10-24T23:57:23.688Z,1761350243.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904709,0.425777,-0.014701],[-0.407302,0.874541,0.263215],[0.124928,-0.232145,0.964625]]
2025-10-24T23:57:24.086Z,1761350244.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913142,0.406810,-0.026016],[-0.391423,0.892849,0.222729],[0.113837,-0.193200,0.974533]]
2025-10-24T23:57:24.491Z,1761350244.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922924,0.383252,-0.036467],[-0.371716,0.911764,0.174681],[0.100196,-0.147662,0.983949]]
2025-10-24T23:57:24.895Z,1761350244.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933471,0.356509,-0.039157],[-0.348469,0.927376,0.136171],[0.084860,-0.113466,0.989911]]
2025-10-24T23:57:25.302Z,1761350245.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942053,0.333636,-0.034975],[-0.328066,0.938031,0.111672],[0.070065,-0.093727,0.993129]]
2025-10-24T23:57:25.702Z,1761350245.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948321,0.315643,-0.032511],[-0.312038,0.946253,0.085069],[0.057615,-0.070529,0.995844]]
2025-10-24T23:57:26.106Z,1761350246.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954063,0.297961,-0.031350],[-0.295791,0.953389,0.059637],[0.047658,-0.047624,0.997728]]
2025-10-24T23:57:26.513Z,1761350246.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959354,0.280504,-0.030943],[-0.279203,0.959376,0.040540],[0.041058,-0.030253,0.998699]]
2025-10-24T23:57:26.914Z,1761350246.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964370,0.262823,-0.030244],[-0.262029,0.964659,0.027817],[0.036486,-0.018901,0.999155]]
2025-10-24T23:57:27.319Z,1761350247.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968853,0.245687,-0.031026],[-0.245336,0.969326,0.014719],[0.033691,-0.006648,0.999410]]
2025-10-24T23:57:27.723Z,1761350247.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972830,0.229340,-0.031709],[-0.229493,0.973310,-0.001212],[0.030585,0.008456,0.999496]]
2025-10-24T23:57:28.128Z,1761350248.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976146,0.214970,-0.030464],[-0.215514,0.976372,-0.015837],[0.026340,0.022024,0.999410]]
2025-10-24T23:57:28.171Z,1761350248.171 [marl:SendObservationData] Running Loop=1
2025-10-24T23:57:28.171Z,1761350248.171 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:57:28.171Z,1761350248.171 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:57:28.172Z,1761350248.172 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:57:28.173Z,1761350248.173 [marl:SendObservationData:A](INFO): Got test_good :  41da3f04a0000000405140000000000040426359634297cfc05e77623f076034401c124ea000000040878999a0000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:57:28.173Z,1761350248.173 [marl:SendObservationData:A] Stopped
2025-10-24T23:57:28.173Z,1761350248.173 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:57:28.531Z,1761350248.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978890,0.202810,-0.025344],[-0.203245,0.978998,-0.015931],[0.021581,0.020746,0.999552]]
2025-10-24T23:57:28.579Z,1761350248.579 [marl:SendObservationData:B] Stopped
2025-10-24T23:57:28.579Z,1761350248.579 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:57:28.934Z,1761350248.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980808,0.194174,-0.017689],[-0.194231,0.980955,-0.001510],[0.017059,0.004916,0.999842]]
2025-10-24T23:57:28.980Z,1761350248.980 [marl:SendObservationData:C] Stopped
2025-10-24T23:57:28.980Z,1761350248.980 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:57:29.278Z,1761350249.278 [DAT](INFO): DAT read: Rx Time:23:57:28.4972

2025-10-24T23:57:29.278Z,1761350249.278 [DAT](INFO): Rx dataTimestamp_ set to:1761350249.277808
2025-10-24T23:57:29.347Z,1761350249.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982593,0.185449,-0.010898],[-0.185343,0.982622,0.010099],[0.012582,-0.007904,0.999890]]
2025-10-24T23:57:29.399Z,1761350249.399 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.007739 min 
2025-10-24T23:57:29.399Z,1761350249.399 [marl:SendObservationData:E] Stopped
2025-10-24T23:57:29.399Z,1761350249.399 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:57:29.399Z,1761350249.399 [marl:SendObservationData] Stopped
2025-10-24T23:57:29.400Z,1761350249.400 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:57:29.400Z,1761350249.400 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:57:29.744Z,1761350249.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984728,0.174010,-0.005643],[-0.173888,0.984607,0.017686],[0.008633,-0.016435,0.999828]]
2025-10-24T23:57:30.049Z,1761350250.049 [DAT](INFO): DAT read: 23:57:28.4972 LVL= 32752, 32369, 32754, 32755, AGC= 57, IDX= 474, 0.10, 1.052, 3.115, 2.145, 2.183, PHS=-1.030, 0.976,-0.082, RAW= 301.8,   1.6, CAL= 299.9,  -2.3, ROT= 210.1,   2.3

2025-10-24T23:57:30.050Z,1761350250.050 [DAT](INFO): got valid direction response:
 23:57:28.4972 LVL= 32752, 32369, 32754, 32755, AGC= 57, IDX= 474, 0.10, 1.052, 3.115, 2.145, 2.183, PHS=-1.030, 0.976,-0.082, RAW= 301.8,   1.6, CAL= 299.9,  -2.3, ROT= 210.1,   2.3

2025-10-24T23:57:30.050Z,1761350250.050 [DAT](INFO): DAT read: 

2025-10-24T23:57:30.051Z,1761350250.051 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T23:57:30.051Z,1761350250.051 [DAT](INFO): Got DATA 2
2025-10-24T23:57:30.068Z,1761350250.068 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T23:57:30.069Z,1761350250.069 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T23:57:30.069Z,1761350250.069 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T23:57:30.070Z,1761350250.070 [DAT](INFO): DAT read: CRC:Pass MPD:03.5 PSNR:11.7 AGC:54 SPD:-1.6 CCERR:010

2025-10-24T23:57:30.070Z,1761350250.070 [DAT](INFO): Got CRC:Pass
2025-10-24T23:57:30.070Z,1761350250.070 [DAT](INFO): Got CRC:Pass
2025-10-24T23:57:30.070Z,1761350250.070 [DAT](INFO): Incoming data is intended for us
2025-10-24T23:57:30.071Z,1761350250.071 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T23:57:30.071Z,1761350250.071 [DAT](INFO): Got ack
2025-10-24T23:57:30.071Z,1761350250.071 [DAT](INFO): DAT read: 

2025-10-24T23:57:30.071Z,1761350250.071 [DAT](INFO): DAT read: <EOP>

2025-10-24T23:57:30.072Z,1761350250.072 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:57:30.072Z,1761350250.072 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-24T23:57:30.073Z,1761350250.073 [DAT](INFO): direction in FSK: [-0.864454,-0.501107,-0.040132]
2025-10-24T23:57:30.147Z,1761350250.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987246,0.159149,-0.004026],[-0.159045,0.987086,0.019146],[0.007021,-0.018262,0.999809]]
2025-10-24T23:57:30.284Z,1761350250.284 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350272.00. Resetting abort timer.
2025-10-24T23:57:30.289Z,1761350250.289 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:57:30.289Z,1761350250.289 [DAT](INFO): #Outgoing data=43
2025-10-24T23:57:30.290Z,1761350250.290 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:57:30.541Z,1761350250.541 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:57:30.566Z,1761350250.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989980,0.141090,-0.005745],[-0.140982,0.989879,0.016210],[0.007974,-0.015238,0.999852]]
2025-10-24T23:57:30.955Z,1761350250.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992747,0.119868,-0.009253],[-0.119802,0.992770,0.007362],[0.010069,-0.006200,0.999930]]
2025-10-24T23:57:31.358Z,1761350251.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995223,0.096811,-0.012608],[-0.096895,0.995275,-0.006197],[0.011948,0.007389,0.999901]]
2025-10-24T23:57:31.769Z,1761350251.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997202,0.073207,-0.015121],[-0.073551,0.997011,-0.023670],[0.013343,0.024716,0.999605]]
2025-10-24T23:57:31.827Z,1761350251.827 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:57:31.827Z,1761350251.827 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:57:31.827Z,1761350251.827 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:57:31.827Z,1761350251.827 [marl:UpdateRudder:A] Stopped
2025-10-24T23:57:31.827Z,1761350251.827 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:57:32.166Z,1761350252.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998566,0.051049,-0.016148],[-0.051640,0.997919,-0.038608],[0.014144,0.039386,0.999124]]
2025-10-24T23:57:32.218Z,1761350252.218 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:57:32.218Z,1761350252.218 [marl:UpdateRudder:B] Stopped
2025-10-24T23:57:32.218Z,1761350252.218 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:57:32.218Z,1761350252.218 [marl:UpdateRudder] Stopped
2025-10-24T23:57:32.218Z,1761350252.218 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:57:32.577Z,1761350252.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999392,0.031700,-0.014488],[-0.032275,0.998625,-0.041322],[0.013158,0.041765,0.999041]]
2025-10-24T23:57:32.974Z,1761350252.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999806,0.016146,-0.011275],[-0.016519,0.999292,-0.033792],[0.010722,0.033972,0.999365]]
2025-10-24T23:57:33.380Z,1761350253.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999949,0.006088,-0.008034],[-0.006248,0.999779,-0.020053],[0.007910,0.020102,0.999767]]
2025-10-24T23:57:33.442Z,1761350253.442 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:57:33.443Z,1761350253.443 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:57:33.443Z,1761350253.443 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:57:33.443Z,1761350253.443 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:57:33.443Z,1761350253.443 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:57:33.443Z,1761350253.443 [marl:UpdateCommandMode] Stopped
2025-10-24T23:57:33.443Z,1761350253.443 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:57:33.443Z,1761350253.443 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:57:33.443Z,1761350253.443 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:57:33.444Z,1761350253.444 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:57:33.445Z,1761350253.445 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:57:33.445Z,1761350253.445 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:57:33.445Z,1761350253.445 [marl:UpdateSpeed] Stopped
2025-10-24T23:57:33.445Z,1761350253.445 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:57:33.784Z,1761350253.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999981,-0.002949,-0.005474],[0.002912,0.999974,-0.006602],[0.005493,0.006586,0.999963]]
2025-10-24T23:57:33.821Z,1761350253.821 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:57:33.4607

2025-10-24T23:57:33.822Z,1761350253.822 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:57:34.595Z,1761350254.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999794,-0.020158,-0.002343],[0.020230,0.999136,0.036315],[0.001609,-0.036355,0.999338]]
2025-10-24T23:57:34.995Z,1761350254.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999548,-0.029827,-0.003653],[0.029971,0.998316,0.049665],[0.002165,-0.049752,0.998759]]
2025-10-24T23:57:35.399Z,1761350255.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999149,-0.040669,-0.006812],[0.040941,0.998092,0.046212],[0.004920,-0.046452,0.998908]]
2025-10-24T23:57:35.802Z,1761350255.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998320,-0.056845,-0.011252],[0.057170,0.997880,0.031090],[0.009461,-0.031681,0.999453]]
2025-10-24T23:57:36.213Z,1761350256.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996850,-0.077389,-0.017373],[0.077661,0.996858,0.015579],[0.016112,-0.016879,0.999728]]
2025-10-24T23:57:36.614Z,1761350256.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994608,-0.100855,-0.024145],[0.100984,0.994879,0.004187],[0.023599,-0.006603,0.999700]]
2025-10-24T23:57:37.018Z,1761350257.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991653,-0.125104,-0.031204],[0.124992,0.992142,-0.005512],[0.031649,0.001566,0.999498]]
2025-10-24T23:57:37.423Z,1761350257.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988186,-0.148180,-0.039130],[0.147827,0.988943,-0.011789],[0.040444,0.005865,0.999165]]
2025-10-24T23:57:37.828Z,1761350257.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984502,-0.168676,-0.048000],[0.168284,0.985664,-0.012118],[0.049356,0.003853,0.998774]]
2025-10-24T23:57:38.232Z,1761350258.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981116,-0.185508,-0.054749],[0.184723,0.982605,-0.019112],[0.057342,0.008638,0.998317]]
2025-10-24T23:57:38.634Z,1761350258.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978087,-0.199139,-0.060737],[0.198198,0.979933,-0.021210],[0.063741,0.008707,0.997928]]
2025-10-24T23:57:39.038Z,1761350259.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975456,-0.210077,-0.065984],[0.209093,0.977658,-0.021555],[0.069038,0.007229,0.997588]]
2025-10-24T23:57:39.444Z,1761350259.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973054,-0.219036,-0.072036],[0.218423,0.975717,-0.016368],[0.073872,0.000193,0.997268]]
2025-10-24T23:57:39.866Z,1761350259.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970719,-0.227073,-0.078381],[0.227386,0.973792,-0.005023],[0.077467,-0.012947,0.996911]]
2025-10-24T23:57:40.258Z,1761350260.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968259,-0.235399,-0.084037],[0.236748,0.971550,0.006328],[0.080156,-0.026023,0.996443]]
2025-10-24T23:57:40.373Z,1761350260.373 [DAT](INFO): DAT read: Rx Time:23:57:39.6039

2025-10-24T23:57:40.373Z,1761350260.373 [DAT](INFO): Rx dataTimestamp_ set to:1761350260.373191
2025-10-24T23:57:40.658Z,1761350260.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965211,-0.246062,-0.088434],[0.248481,0.968482,0.017301],[0.081390,-0.038673,0.995932]]
2025-10-24T23:57:41.082Z,1761350261.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961919,-0.257276,-0.092311],[0.260679,0.965056,0.026712],[0.082213,-0.049758,0.995372]]
2025-10-24T23:57:41.133Z,1761350261.133 [DAT](INFO): DAT read: 23:57:39.6039 LVL= 32752, 30321, 32754, 32755, AGC= 59, IDX= 479, 0.09,-1.280, 0.608,-1.139,-0.756, PHS=-0.422, 1.410,-0.426, RAW= 330.1,  -6.2, CAL= 329.6,  -9.3, ROT= 180.4,   9.3

2025-10-24T23:57:41.134Z,1761350261.134 [DAT](INFO): got valid direction response:
 23:57:39.6039 LVL= 32752, 30321, 32754, 32755, AGC= 59, IDX= 479, 0.09,-1.280, 0.608,-1.139,-0.756, PHS=-0.422, 1.410,-0.426, RAW= 330.1,  -6.2, CAL= 329.6,  -9.3, ROT= 180.4,   9.3

2025-10-24T23:57:41.134Z,1761350261.134 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-10-24T23:57:41.137Z,1761350261.137 [DAT](INFO): direction in FSK: [-0.986832,-0.006889,-0.161604]
2025-10-24T23:57:41.381Z,1761350261.381 [DAT](INFO): DAT read: 

2025-10-24T23:57:41.381Z,1761350261.381 [DAT](INFO): DAT read: DATA(0002):i

2025-10-24T23:57:41.382Z,1761350261.382 [DAT](INFO): Got DATA 2
2025-10-24T23:57:41.382Z,1761350261.382 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T23:57:41.382Z,1761350261.382 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T23:57:41.383Z,1761350261.383 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T23:57:41.384Z,1761350261.384 [DAT](INFO): DAT read: CRC:Fail {0001} MPD:18.2 PSNR:09.3 AGC:65 SPD:-1.7 CCERR:006

2025-10-24T23:57:41.385Z,1761350261.385 [DAT](INFO): unknown deviceResponse_: CRC:Fail {0001} MPD:18.2 PSNR:09.3 AGC:65 SPD:-1.7 CCERR:006

2025-10-24T23:57:41.385Z,1761350261.385 [DAT](INFO): DAT read: 

2025-10-24T23:57:41.385Z,1761350261.385 [DAT](INFO): DAT read: <EOP>

2025-10-24T23:57:41.463Z,1761350261.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958573,-0.268752,-0.094390],[0.272440,0.961753,0.028399],[0.083148,-0.052938,0.995130]]
2025-10-24T23:57:41.534Z,1761350261.534 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350272.00. Resetting abort timer.
2025-10-24T23:57:41.910Z,1761350261.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955176,-0.279392,-0.097876],[0.283621,0.958400,0.032070],[0.084844,-0.058393,0.994682]]
2025-10-24T23:57:42.270Z,1761350262.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952416,-0.286396,-0.104310],[0.291959,0.955493,0.042348],[0.087539,-0.070788,0.993643]]
2025-10-24T23:57:42.679Z,1761350262.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949196,-0.294660,-0.110461],[0.301257,0.952315,0.048373],[0.090940,-0.079193,0.992703]]
2025-10-24T23:57:43.079Z,1761350263.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945141,-0.305337,-0.116096],[0.312568,0.948590,0.049793],[0.094924,-0.083349,0.991989]]
2025-10-24T23:57:43.483Z,1761350263.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940041,-0.319253,-0.120002],[0.326206,0.944316,0.043091],[0.099563,-0.079652,0.991838]]
2025-10-24T23:57:43.903Z,1761350263.903 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:57:43.920Z,1761350263.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933537,-0.336653,-0.123179],[0.342946,0.938761,0.033417],[0.104385,-0.073440,0.991822]]
2025-10-24T23:57:44.153Z,1761350264.153 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:57:44.153Z,1761350264.153 [DAT](INFO): #Outgoing data=43
2025-10-24T23:57:44.153Z,1761350264.153 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:57:44.290Z,1761350264.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925192,-0.359903,-0.120374],[0.363316,0.931640,0.006961],[0.109640,-0.050174,0.992704]]
2025-10-24T23:57:44.405Z,1761350264.405 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:57:44.696Z,1761350264.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914989,-0.386954,-0.114286],[0.386808,0.921838,-0.024359],[0.114779,-0.021918,0.993149]]
2025-10-24T23:57:44.769Z,1761350264.769 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:57:44.769Z,1761350264.769 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:57:44.769Z,1761350264.769 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:57:44.770Z,1761350264.770 [marl:UpdateRudder:A] Stopped
2025-10-24T23:57:44.770Z,1761350264.770 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:57:45.098Z,1761350265.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903724,-0.413988,-0.109067],[0.411227,0.910281,-0.047767],[0.119057,-0.001683,0.992886]]
2025-10-24T23:57:45.171Z,1761350265.171 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:57:45.171Z,1761350265.171 [marl:UpdateRudder:B] Stopped
2025-10-24T23:57:45.171Z,1761350265.171 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:57:45.171Z,1761350265.171 [marl:UpdateRudder] Stopped
2025-10-24T23:57:45.171Z,1761350265.171 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:57:45.502Z,1761350265.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891378,-0.440704,-0.105953],[0.436207,0.897591,-0.063673],[0.123163,0.010539,0.992330]]
2025-10-24T23:57:45.922Z,1761350265.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878011,-0.467160,-0.104206],[0.461332,0.883979,-0.075859],[0.127554,0.018532,0.991658]]
2025-10-24T23:57:46.312Z,1761350266.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863749,-0.493496,-0.101981],[0.486171,0.869320,-0.088999],[0.132575,0.027293,0.990797]]
2025-10-24T23:57:46.337Z,1761350266.337 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:57:46.337Z,1761350266.337 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:57:46.337Z,1761350266.337 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:57:46.337Z,1761350266.337 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:57:46.337Z,1761350266.337 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:57:46.338Z,1761350266.338 [marl:UpdateCommandMode] Stopped
2025-10-24T23:57:46.338Z,1761350266.338 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:57:46.338Z,1761350266.338 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:57:46.338Z,1761350266.338 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:57:46.338Z,1761350266.338 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:57:46.338Z,1761350266.338 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:57:46.338Z,1761350266.338 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:57:46.338Z,1761350266.338 [marl:UpdateSpeed] Stopped
2025-10-24T23:57:46.339Z,1761350266.339 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:57:46.553Z,1761350266.553 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:57:46.727Z,1761350266.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849364,-0.518026,-0.101145],[0.509214,0.854672,-0.101177],[0.138858,0.034432,0.989713]]
2025-10-24T23:57:47.119Z,1761350267.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835901,-0.539817,-0.099334],[0.529232,0.840658,-0.114928],[0.145546,0.043498,0.988395]]
2025-10-24T23:57:47.522Z,1761350267.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823967,-0.558308,-0.096802],[0.545978,0.827964,-0.127996],[0.151609,0.052612,0.987039]]
2025-10-24T23:57:47.556Z,1761350267.556 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:57:47.682Z,1761350267.682 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:57:47.3092

2025-10-24T23:57:47.682Z,1761350267.682 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:57:47.929Z,1761350267.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815714,-0.570428,-0.096039],[0.557058,0.819377,-0.135307],[0.155875,0.056872,0.986138]]
2025-10-24T23:57:48.409Z,1761350268.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813010,-0.573476,-0.100705],[0.560201,0.817579,-0.133189],[0.158714,0.051869,0.985961]]
2025-10-24T23:57:48.807Z,1761350268.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814664,-0.568939,-0.112384],[0.557209,0.821620,-0.120245],[0.160749,0.035338,0.986362]]
2025-10-24T23:57:49.217Z,1761350269.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818950,-0.558477,-0.131997],[0.550338,0.829503,-0.095146],[0.162628,0.005277,0.986673]]
2025-10-24T23:57:49.615Z,1761350269.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824398,-0.542925,-0.160002],[0.541652,0.838778,-0.055349],[0.164257,-0.041036,0.985564]]
2025-10-24T23:57:50.021Z,1761350270.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830201,-0.522932,-0.193153],[0.532282,0.846557,-0.004093],[0.165655,-0.099414,0.981160]]
2025-10-24T23:57:50.430Z,1761350270.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838188,-0.486952,-0.245598],[0.518234,0.851444,0.080476],[0.169925,-0.194731,0.966026]]
2025-10-24T23:57:50.831Z,1761350270.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840310,-0.472971,-0.264909],[0.513708,0.850826,0.110446],[0.173154,-0.228895,0.957927]]
2025-10-24T23:57:51.239Z,1761350271.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842062,-0.462161,-0.278098],[0.509644,0.850561,0.129651],[0.176620,-0.250906,0.951762]]
2025-10-24T23:57:51.645Z,1761350271.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843486,-0.455438,-0.284793],[0.506138,0.851428,0.137460],[0.179876,-0.260090,0.948682]]
2025-10-24T23:57:52.041Z,1761350272.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844500,-0.451013,-0.288803],[0.503191,0.852831,0.139563],[0.183355,-0.263184,0.947161]]
2025-10-24T23:57:52.443Z,1761350272.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845141,-0.448853,-0.290288],[0.500823,0.854720,0.136493],[0.186850,-0.260739,0.947155]]
2025-10-24T23:57:52.847Z,1761350272.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845188,-0.448459,-0.290759],[0.499616,0.856166,0.131770],[0.189845,-0.256638,0.947679]]
2025-10-24T23:57:53.662Z,1761350273.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842983,-0.456367,-0.284797],[0.502398,0.857148,0.113552],[0.192292,-0.238803,0.951839]]
2025-10-24T23:57:54.058Z,1761350274.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839998,-0.466990,-0.276269],[0.507749,0.856050,0.096793],[0.191299,-0.221581,0.956194]]
2025-10-24T23:57:54.462Z,1761350274.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836961,-0.476116,-0.269832],[0.513646,0.853569,0.087105],[0.188848,-0.211501,0.958960]]
2025-10-24T23:57:54.867Z,1761350274.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834002,-0.482618,-0.267432],[0.519577,0.850055,0.086290],[0.185687,-0.210917,0.959705]]
2025-10-24T23:57:55.272Z,1761350275.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830899,-0.488189,-0.266982],[0.525683,0.846005,0.089065],[0.182387,-0.214352,0.959577]]
2025-10-24T23:57:55.683Z,1761350275.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827456,-0.495444,-0.264293],[0.531617,0.842752,0.084576],[0.180831,-0.210485,0.960727]]
2025-10-24T23:57:56.079Z,1761350276.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824691,-0.503108,-0.258394],[0.535886,0.841169,0.072530],[0.180863,-0.198285,0.963313]]
2025-10-24T23:57:56.490Z,1761350276.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824193,-0.505905,-0.254491],[0.536378,0.841530,0.064227],[0.181669,-0.189439,0.964940]]
2025-10-24T23:57:56.887Z,1761350276.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825613,-0.503204,-0.255245],[0.533705,0.843254,0.063881],[0.183091,-0.188967,0.964764]]
2025-10-24T23:57:57.290Z,1761350277.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827488,-0.496520,-0.262169],[0.530126,0.844736,0.073405],[0.185017,-0.199724,0.962226]]
2025-10-24T23:57:57.707Z,1761350277.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829252,-0.489279,-0.270087],[0.526588,0.845926,0.084347],[0.187204,-0.212169,0.959134]]
2025-10-24T23:57:57.747Z,1761350277.747 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:57:57.747Z,1761350277.747 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:57:57.747Z,1761350277.747 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:57:57.747Z,1761350277.747 [marl:UpdateRudder:A] Stopped
2025-10-24T23:57:57.747Z,1761350277.747 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:57:57.761Z,1761350277.761 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:57:58.013Z,1761350278.013 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:57:58.013Z,1761350278.013 [DAT](INFO): #Outgoing data=44
2025-10-24T23:57:58.013Z,1761350278.013 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:57:58.098Z,1761350278.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830359,-0.482762,-0.278289],[0.524343,0.845965,0.096997],[0.188597,-0.226461,0.955587]]
2025-10-24T23:57:58.163Z,1761350278.163 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:57:58.163Z,1761350278.163 [marl:UpdateRudder:B] Stopped
2025-10-24T23:57:58.163Z,1761350278.163 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:57:58.163Z,1761350278.163 [marl:UpdateRudder] Stopped
2025-10-24T23:57:58.163Z,1761350278.163 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:57:58.265Z,1761350278.265 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:57:58.505Z,1761350278.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829976,-0.480706,-0.282951],[0.524804,0.844832,0.104116],[0.188996,-0.234908,0.953467]]
2025-10-24T23:57:58.906Z,1761350278.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828135,-0.483525,-0.283540],[0.527583,0.843247,0.102908],[0.189335,-0.234813,0.953423]]
2025-10-24T23:57:59.310Z,1761350279.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825133,-0.489758,-0.281590],[0.532111,0.841196,0.096166],[0.189774,-0.229187,0.954704]]
2025-10-24T23:57:59.363Z,1761350279.363 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:57:59.364Z,1761350279.364 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:57:59.364Z,1761350279.364 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:57:59.364Z,1761350279.364 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:57:59.364Z,1761350279.364 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:57:59.364Z,1761350279.364 [marl:UpdateCommandMode] Stopped
2025-10-24T23:57:59.365Z,1761350279.365 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:57:59.365Z,1761350279.365 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:57:59.365Z,1761350279.365 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:57:59.365Z,1761350279.365 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:57:59.365Z,1761350279.365 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:57:59.365Z,1761350279.365 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:57:59.365Z,1761350279.365 [marl:UpdateSpeed] Stopped
2025-10-24T23:57:59.365Z,1761350279.365 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:57:59.723Z,1761350279.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821613,-0.496726,-0.279670],[0.537243,0.838765,0.088566],[0.190584,-0.223018,0.956002]]
2025-10-24T23:58:00.120Z,1761350280.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818479,-0.501996,-0.279450],[0.541702,0.836342,0.084205],[0.191445,-0.220299,0.956461]]
2025-10-24T23:58:00.343Z,1761350280.343 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:58:00.344Z,1761350280.344 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:58:00.522Z,1761350280.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816805,-0.503953,-0.280824],[0.543809,0.835082,0.083125],[0.192620,-0.220612,0.956153]]
2025-10-24T23:58:01.332Z,1761350281.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820485,-0.491229,-0.292403],[0.535996,0.838893,0.094693],[0.198779,-0.234421,0.951595]]
2025-10-24T23:58:01.541Z,1761350281.541 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:58:01.1592

2025-10-24T23:58:01.541Z,1761350281.541 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:58:01.743Z,1761350281.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826757,-0.473127,-0.304343],[0.524737,0.843593,0.114027],[0.202792,-0.253973,0.945713]]
2025-10-24T23:58:01.774Z,1761350281.774 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:58:01.793Z,1761350281.793 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:58:01.844Z,1761350281.844 [DAT](INFO): entering command mode
2025-10-24T23:58:02.045Z,1761350282.045 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:58:02.045Z,1761350282.045 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:58:02.139Z,1761350282.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834634,-0.450890,-0.316361],[0.510479,0.848934,0.136830],[0.206874,-0.275699,0.938719]]
2025-10-24T23:58:02.297Z,1761350282.297 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:58:02.297Z,1761350282.297 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:58:02.551Z,1761350282.551 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:58:02.551Z,1761350282.551 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:58:02.645Z,1761350282.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843244,-0.427336,-0.326074],[0.494534,0.854482,0.159049],[0.210657,-0.295372,0.931869]]
2025-10-24T23:58:02.801Z,1761350282.801 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:58:02.801Z,1761350282.801 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:58:03.054Z,1761350283.054 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:58:03.054Z,1761350283.054 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:58:03.131Z,1761350283.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852126,-0.401601,-0.335555],[0.477395,0.859208,0.183999],[0.214417,-0.316983,0.923876]]
2025-10-24T23:58:03.305Z,1761350283.305 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:58:03.305Z,1761350283.305 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:58:03.549Z,1761350283.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861160,-0.374457,-0.343782],[0.459089,0.863292,0.209677],[0.218270,-0.338392,0.915341]]
2025-10-24T23:58:03.557Z,1761350283.557 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:58:03.557Z,1761350283.557 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:58:03.809Z,1761350283.809 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:58:03.809Z,1761350283.809 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:58:04.063Z,1761350284.063 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:58:04.063Z,1761350284.063 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:58:04.136Z,1761350284.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878830,-0.324015,-0.350247],[0.420179,0.873362,0.246349],[0.226072,-0.363665,0.903681]]
2025-10-24T23:58:04.315Z,1761350284.315 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:58:04.315Z,1761350284.315 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:58:04.557Z,1761350284.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886992,-0.299312,-0.351649],[0.400291,0.878038,0.262330],[0.230242,-0.373447,0.898624]]
2025-10-24T23:58:04.569Z,1761350284.569 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:58:04.569Z,1761350284.569 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:58:04.821Z,1761350284.821 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:58:04.821Z,1761350284.821 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-24T23:58:05.040Z,1761350285.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894571,-0.277531,-0.350314],[0.381000,0.883306,0.273146],[0.233629,-0.377818,0.895919]]
2025-10-24T23:58:05.073Z,1761350285.073 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:58:04.7592

2025-10-24T23:58:05.074Z,1761350285.074 [DAT](DEBUG): Re-entering command mode due to unexpected online mode.
2025-10-24T23:58:05.074Z,1761350285.074 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:58:05.129Z,1761350285.129 [DAT](INFO): entering command mode
2025-10-24T23:58:05.325Z,1761350285.325 [DAT](INFO): DAT read: 

2025-10-24T23:58:05.325Z,1761350285.325 [DAT](INFO): DAT read: user:21>

2025-10-24T23:58:05.326Z,1761350285.326 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:58:05.326Z,1761350285.326 [DAT](INFO): setting remote address to 0
2025-10-24T23:58:05.582Z,1761350285.582 [DAT](INFO): DAT read: user:21>

2025-10-24T23:58:05.582Z,1761350285.582 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:58:05.583Z,1761350285.583 [DAT](INFO): set remote address to 0
2025-10-24T23:58:05.583Z,1761350285.583 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:58:05.583Z,1761350285.583 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T23:58:05.589Z,1761350285.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901390,-0.257754,-0.347935],[0.362920,0.888008,0.282366],[0.236188,-0.380794,0.893986]]
2025-10-24T23:58:05.835Z,1761350285.835 [DAT](INFO): DAT read: user:22>

2025-10-24T23:58:05.835Z,1761350285.835 [DAT](INFO): DAT read: Tx time:23:58:05.4104

2025-10-24T23:58:05.836Z,1761350285.836 [DAT](INFO): Ping request sent.
2025-10-24T23:58:05.836Z,1761350285.836 [DAT](INFO): transmitted an acoustic signal
2025-10-24T23:58:05.836Z,1761350285.836 [DAT](INFO): publishing transmit ping time
2025-10-24T23:58:05.837Z,1761350285.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001014
2025-10-24T23:58:06.034Z,1761350286.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907512,-0.240323,-0.344481],[0.346038,0.892642,0.288872],[0.238076,-0.381358,0.893244]]
2025-10-24T23:58:06.085Z,1761350286.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249027
2025-10-24T23:58:06.337Z,1761350286.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501056
2025-10-24T23:58:06.471Z,1761350286.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917567,-0.210512,-0.337278],[0.316583,0.900039,0.299507],[0.240514,-0.381594,0.892490]]
2025-10-24T23:58:06.590Z,1761350286.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753746
2025-10-24T23:58:06.844Z,1761350286.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008190
2025-10-24T23:58:06.953Z,1761350286.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921578,-0.197381,-0.334268],[0.304029,0.902401,0.305352],[0.241373,-0.383032,0.891642]]
2025-10-24T23:58:07.093Z,1761350287.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257434
2025-10-24T23:58:07.345Z,1761350287.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508950
2025-10-24T23:58:07.357Z,1761350287.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925237,-0.185339,-0.331038],[0.292054,0.904886,0.309655],[0.242161,-0.383185,0.891363]]
2025-10-24T23:58:07.597Z,1761350287.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761193
2025-10-24T23:58:07.775Z,1761350287.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928919,-0.173716,-0.327006],[0.279835,0.907685,0.312731],[0.242492,-0.382010,0.891777]]
2025-10-24T23:58:07.852Z,1761350287.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015254
2025-10-24T23:58:08.102Z,1761350288.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266014
2025-10-24T23:58:08.204Z,1761350288.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932942,-0.161530,-0.321757],[0.266533,0.910678,0.315635],[0.242033,-0.380228,0.892663]]
2025-10-24T23:58:08.353Z,1761350288.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516765
2025-10-24T23:58:08.605Z,1761350288.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768799
2025-10-24T23:58:08.608Z,1761350288.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937219,-0.148125,-0.315720],[0.251910,0.913605,0.319166],[0.241167,-0.378662,0.893562]]
2025-10-24T23:58:08.857Z,1761350288.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021215
2025-10-24T23:58:09.012Z,1761350289.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941613,-0.133220,-0.309221],[0.236100,0.916014,0.324308],[0.240047,-0.378380,0.893983]]
2025-10-24T23:58:09.115Z,1761350289.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279419
2025-10-24T23:58:09.369Z,1761350289.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533249
2025-10-24T23:58:09.417Z,1761350289.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945777,-0.118974,-0.302243],[0.220779,0.917976,0.329510],[0.238248,-0.378372,0.894468]]
2025-10-24T23:58:09.621Z,1761350289.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785013
2025-10-24T23:58:09.819Z,1761350289.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949729,-0.104239,-0.295210],[0.205159,0.919482,0.335354],[0.236483,-0.379060,0.894645]]
2025-10-24T23:58:09.876Z,1761350289.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039567
2025-10-24T23:58:10.125Z,1761350290.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.288854
2025-10-24T23:58:10.301Z,1761350290.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953478,-0.090336,-0.287609],[0.189461,0.921653,0.338614],[0.234487,-0.377352,0.895891]]
2025-10-24T23:58:10.377Z,1761350290.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.540857
2025-10-24T23:58:10.629Z,1761350290.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.792869
2025-10-24T23:58:10.703Z,1761350290.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956951,-0.076595,-0.279962],[0.173716,0.923863,0.341026],[0.232526,-0.374979,0.897398]]
2025-10-24T23:58:10.881Z,1761350290.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.044773
2025-10-24T23:58:11.133Z,1761350291.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.296979
2025-10-24T23:58:11.159Z,1761350291.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960317,-0.062960,-0.271711],[0.157371,0.926618,0.341488],[0.230272,-0.370696,0.899755]]
2025-10-24T23:58:11.385Z,1761350291.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.548787
2025-10-24T23:58:11.576Z,1761350291.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963595,-0.048946,-0.262849],[0.140442,0.929211,0.341823],[0.227511,-0.366294,0.902257]]
2025-10-24T23:58:11.637Z,1761350291.637 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:58:11.638Z,1761350291.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.801661
2025-10-24T23:58:11.642Z,1761350291.642 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:58:11.643Z,1761350291.643 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:58:11.643Z,1761350291.643 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:58:11.648Z,1761350291.648 [marl:UpdateRudder:A] Stopped
2025-10-24T23:58:11.649Z,1761350291.649 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:58:11.892Z,1761350291.892 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:58:11.893Z,1761350291.893 [DAT](INFO): #Outgoing data=45
2025-10-24T23:58:11.894Z,1761350291.894 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:58:11.895Z,1761350291.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.058606
2025-10-24T23:58:12.058Z,1761350292.058 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-24T23:58:12.058Z,1761350292.058 [marl:UpdateRudder:B] Stopped
2025-10-24T23:58:12.059Z,1761350292.059 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:58:12.059Z,1761350292.059 [marl:UpdateRudder] Stopped
2025-10-24T23:58:12.059Z,1761350292.059 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:58:12.140Z,1761350292.140 [DAT](INFO): setting remote address to 10
2025-10-24T23:58:12.141Z,1761350292.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.305036
2025-10-24T23:58:12.379Z,1761350292.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969604,-0.018444,-0.243983],[0.104451,0.932932,0.344569],[0.221264,-0.359580,0.906501]]
2025-10-24T23:58:12.392Z,1761350292.392 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T23:58:12.393Z,1761350292.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.556906
2025-10-24T23:58:12.646Z,1761350292.646 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T23:58:12.647Z,1761350292.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810329
2025-10-24T23:58:12.786Z,1761350292.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972171,-0.002649,-0.234256],[0.085882,0.934352,0.345847],[0.217962,-0.356341,0.908578]]
2025-10-24T23:58:12.896Z,1761350292.896 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T23:58:12.897Z,1761350292.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.060905
2025-10-24T23:58:13.149Z,1761350293.149 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T23:58:13.150Z,1761350293.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.313934
2025-10-24T23:58:13.187Z,1761350293.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974374,0.012751,-0.224574],[0.067773,0.935355,0.347158],[0.214483,-0.353482,0.910521]]
2025-10-24T23:58:13.224Z,1761350293.224 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:58:13.224Z,1761350293.224 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:58:13.224Z,1761350293.224 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:58:13.225Z,1761350293.225 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:58:13.225Z,1761350293.225 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:58:13.225Z,1761350293.225 [marl:UpdateCommandMode] Stopped
2025-10-24T23:58:13.225Z,1761350293.225 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:58:13.225Z,1761350293.225 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:58:13.225Z,1761350293.225 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:58:13.225Z,1761350293.225 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:58:13.226Z,1761350293.226 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:58:13.226Z,1761350293.226 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:58:13.226Z,1761350293.226 [marl:UpdateSpeed] Stopped
2025-10-24T23:58:13.226Z,1761350293.226 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:58:13.400Z,1761350293.400 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T23:58:13.401Z,1761350293.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.564984
2025-10-24T23:58:13.590Z,1761350293.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976139,0.028247,-0.215301],[0.049943,0.935717,0.349199],[0.211324,-0.351620,0.911979]]
2025-10-24T23:58:13.653Z,1761350293.653 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T23:58:13.654Z,1761350293.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818242
2025-10-24T23:58:13.909Z,1761350293.909 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T23:58:13.910Z,1761350293.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.073713
2025-10-24T23:58:13.994Z,1761350293.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977566,0.043194,-0.206151],[0.032986,0.935274,0.352383],[0.208029,-0.351278,0.912868]]
2025-10-24T23:58:14.157Z,1761350294.157 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T23:58:14.158Z,1761350294.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.321961
2025-10-24T23:58:14.408Z,1761350294.408 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T23:58:14.409Z,1761350294.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.572985
2025-10-24T23:58:14.486Z,1761350294.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979628,0.068567,-0.188754],[0.003252,0.934367,0.356297],[0.200796,-0.349652,0.915109]]
2025-10-24T23:58:14.664Z,1761350294.664 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T23:58:14.665Z,1761350294.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.828730
2025-10-24T23:58:14.882Z,1761350294.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980389,0.080786,-0.179751],[-0.010808,0.932784,0.360275],[0.196774,-0.351267,0.915364]]
2025-10-24T23:58:14.912Z,1761350294.912 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T23:58:14.913Z,1761350294.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.076945
2025-10-24T23:58:15.165Z,1761350295.165 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T23:58:15.166Z,1761350295.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330289
2025-10-24T23:58:15.416Z,1761350295.416 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T23:58:15.417Z,1761350295.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.580952
2025-10-24T23:58:15.673Z,1761350295.673 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T23:58:15.675Z,1761350295.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.838275
2025-10-24T23:58:15.920Z,1761350295.920 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T23:58:15.921Z,1761350295.921 [DAT](INFO): Reached modem response timeout
2025-10-24T23:58:16.127Z,1761350296.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981771,0.120071,-0.147337],[-0.056920,0.925348,0.374821],[0.181343,-0.359602,0.915315]]
2025-10-24T23:58:16.173Z,1761350296.173 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T23:58:16.425Z,1761350296.425 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T23:58:16.532Z,1761350296.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981613,0.134356,-0.135590],[-0.074066,0.922769,0.378168],[0.175927,-0.361172,0.915753]]
2025-10-24T23:58:16.677Z,1761350296.677 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T23:58:16.929Z,1761350296.929 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T23:58:16.936Z,1761350296.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981005,0.149575,-0.123517],[-0.092090,0.919519,0.382104],[0.170730,-0.363471,0.915828]]
2025-10-24T23:58:17.180Z,1761350297.180 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T23:58:17.340Z,1761350297.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979940,0.165180,-0.111503],[-0.110855,0.916737,0.383802],[0.165616,-0.363742,0.916659]]
2025-10-24T23:58:17.433Z,1761350297.433 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T23:58:17.684Z,1761350297.684 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T23:58:17.692Z,1761350297.692 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:58:17.755Z,1761350297.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978531,0.180390,-0.099680],[-0.129371,0.914113,0.384265],[0.160437,-0.363120,0.917826]]
2025-10-24T23:58:17.939Z,1761350297.939 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-24T23:58:18.158Z,1761350298.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976636,0.196135,-0.087822],[-0.148398,0.911110,0.384521],[0.155433,-0.362505,0.918929]]
2025-10-24T23:58:18.189Z,1761350298.189 [DAT](INFO): DAT read: Response Not Received

2025-10-24T23:58:18.189Z,1761350298.189 [DAT](INFO): response not received
2025-10-24T23:58:18.190Z,1761350298.190 [DAT](INFO): DAT read: user:23>

2025-10-24T23:58:18.191Z,1761350298.191 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:58:18.191Z,1761350298.191 [DAT](INFO): set remote address to 10
2025-10-24T23:58:18.191Z,1761350298.191 [DAT](INFO): entering online mode
2025-10-24T23:58:18.441Z,1761350298.441 [DAT](INFO): DAT read: user:24>GP

2025-10-24T23:58:18.442Z,1761350298.442 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:18.550Z,1761350298.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974459,0.211164,-0.076422],[-0.166885,0.908650,0.382758],[0.150266,-0.360228,0.920682]]
2025-10-24T23:58:18.693Z,1761350298.693 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:18.696Z,1761350298.696 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:58:18.945Z,1761350298.945 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:18.956Z,1761350298.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971884,0.226180,-0.065458],[-0.185261,0.906118,0.380301],[0.145329,-0.357481,0.922543]]
2025-10-24T23:58:19.198Z,1761350299.198 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:19.360Z,1761350299.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968952,0.241180,-0.054450],[-0.203631,0.903328,0.377534],[0.140240,-0.354725,0.924393]]
2025-10-24T23:58:19.468Z,1761350299.468 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:19.701Z,1761350299.701 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:19.779Z,1761350299.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965761,0.255762,-0.043500],[-0.221398,0.899903,0.375708],[0.135238,-0.353213,0.925717]]
2025-10-24T23:58:19.952Z,1761350299.952 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:20.170Z,1761350300.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962209,0.270319,-0.032889],[-0.238965,0.896108,0.374014],[0.130575,-0.352021,0.926839]]
2025-10-24T23:58:20.205Z,1761350300.205 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:20.459Z,1761350300.459 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:20.574Z,1761350300.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958280,0.284908,-0.022935],[-0.256365,0.892207,0.371812],[0.126395,-0.350420,0.928025]]
2025-10-24T23:58:20.713Z,1761350300.713 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:20.964Z,1761350300.964 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:20.983Z,1761350300.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954222,0.298805,-0.013258],[-0.272914,0.887966,0.370181],[0.122385,-0.349617,0.928865]]
2025-10-24T23:58:21.217Z,1761350301.217 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:21.382Z,1761350301.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950021,0.312166,-0.003480],[-0.288868,0.883237,0.369389],[0.118384,-0.349922,0.929268]]
2025-10-24T23:58:21.468Z,1761350301.468 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:21.720Z,1761350301.720 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:21.787Z,1761350301.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945662,0.325092,0.006233],[-0.304424,0.878482,0.368232],[0.114234,-0.350121,0.929713]]
2025-10-24T23:58:21.973Z,1761350301.973 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:22.190Z,1761350302.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941423,0.336820,0.016611],[-0.318865,0.873042,0.368949],[0.109767,-0.352634,0.929301]]
2025-10-24T23:58:22.225Z,1761350302.225 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:22.477Z,1761350302.477 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:22.596Z,1761350302.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937148,0.347949,0.026165],[-0.332613,0.868140,0.368377],[0.105462,-0.353927,0.929308]]
2025-10-24T23:58:22.728Z,1761350302.728 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:22.980Z,1761350302.980 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:22.998Z,1761350302.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932518,0.359353,0.035706],[-0.346582,0.862808,0.368026],[0.101444,-0.355566,0.929130]]
2025-10-24T23:58:23.232Z,1761350303.232 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:23.402Z,1761350303.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927695,0.370556,0.045504],[-0.360315,0.856742,0.369007],[0.097752,-0.358722,0.928312]]
2025-10-24T23:58:23.485Z,1761350303.485 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:23.736Z,1761350303.736 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:23.988Z,1761350303.988 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:24.211Z,1761350304.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916942,0.393776,0.064482],[-0.388467,0.844036,0.369724],[0.091164,-0.364065,0.926901]]
2025-10-24T23:58:24.241Z,1761350304.241 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:24.281Z,1761350304.281 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:58:24.281Z,1761350304.281 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:58:24.281Z,1761350304.281 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:58:24.282Z,1761350304.282 [marl:UpdateRudder:A] Stopped
2025-10-24T23:58:24.282Z,1761350304.282 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:58:24.492Z,1761350304.492 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:24.626Z,1761350304.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910813,0.406111,0.074120],[-0.403310,0.837053,0.369706],[0.088099,-0.366627,0.926188]]
2025-10-24T23:58:24.660Z,1761350304.660 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-24T23:58:24.660Z,1761350304.660 [marl:UpdateRudder:B] Stopped
2025-10-24T23:58:24.660Z,1761350304.660 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:58:24.661Z,1761350304.661 [marl:UpdateRudder] Stopped
2025-10-24T23:58:24.661Z,1761350304.661 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:58:24.745Z,1761350304.745 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:24.996Z,1761350304.996 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:25.018Z,1761350305.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904154,0.418888,0.083899],[-0.418625,0.829568,0.369553],[0.085202,-0.369255,0.925414]]
2025-10-24T23:58:25.248Z,1761350305.248 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:25.423Z,1761350305.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896539,0.432929,0.093751],[-0.435215,0.821487,0.368439],[0.082493,-0.371122,0.924912]]
2025-10-24T23:58:25.505Z,1761350305.505 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:25.756Z,1761350305.756 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:25.835Z,1761350305.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888424,0.447123,0.103846],[-0.452189,0.813610,0.365464],[0.078917,-0.371645,0.925015]]
2025-10-24T23:58:25.930Z,1761350305.930 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:58:25.930Z,1761350305.930 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:58:25.930Z,1761350305.930 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:58:25.931Z,1761350305.931 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:58:25.931Z,1761350305.931 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:58:25.931Z,1761350305.931 [marl:UpdateCommandMode] Stopped
2025-10-24T23:58:25.931Z,1761350305.931 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:58:25.931Z,1761350305.931 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:58:25.931Z,1761350305.931 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:58:25.931Z,1761350305.931 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:58:25.936Z,1761350305.936 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:58:25.940Z,1761350305.940 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:58:25.940Z,1761350305.940 [marl:UpdateSpeed] Stopped
2025-10-24T23:58:25.940Z,1761350305.940 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:58:26.008Z,1761350306.008 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:26.234Z,1761350306.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880940,0.459786,0.111985],[-0.467365,0.808186,0.358336],[0.074253,-0.368011,0.926852]]
2025-10-24T23:58:26.261Z,1761350306.261 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:26.513Z,1761350306.513 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:26.638Z,1761350306.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875101,0.469879,0.115810],[-0.479142,0.807634,0.343729],[0.067979,-0.356287,0.931900]]
2025-10-24T23:58:26.764Z,1761350306.764 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:27.016Z,1761350307.016 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:27.038Z,1761350307.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871060,0.477510,0.115063],[-0.487420,0.811425,0.322508],[0.060636,-0.337008,0.939547]]
2025-10-24T23:58:27.268Z,1761350307.268 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:27.443Z,1761350307.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868619,0.482811,0.111328],[-0.492609,0.817354,0.298778],[0.053259,-0.314365,0.947807]]
2025-10-24T23:58:27.521Z,1761350307.521 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:27.772Z,1761350307.772 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:27.889Z,1761350307.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867344,0.485875,0.107892],[-0.495645,0.823480,0.276074],[0.045291,-0.292927,0.955062]]
2025-10-24T23:58:28.025Z,1761350308.025 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:28.250Z,1761350308.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866744,0.487720,0.104324],[-0.497365,0.829624,0.253676],[0.037174,-0.271759,0.961647]]
2025-10-24T23:58:28.277Z,1761350308.277 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:28.528Z,1761350308.528 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:28.659Z,1761350308.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866468,0.488781,0.101615],[-0.498374,0.834949,0.233417],[0.029247,-0.252891,0.967053]]
2025-10-24T23:58:28.781Z,1761350308.781 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:29.032Z,1761350309.032 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:29.058Z,1761350309.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866116,0.489856,0.099417],[-0.499360,0.839255,0.215151],[0.021957,-0.235991,0.971507]]
2025-10-24T23:58:29.284Z,1761350309.284 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:29.464Z,1761350309.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865927,0.490207,0.099329],[-0.499948,0.842393,0.201064],[0.014889,-0.223766,0.974529]]
2025-10-24T23:58:29.537Z,1761350309.537 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:29.788Z,1761350309.788 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:29.905Z,1761350309.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865534,0.490519,0.101203],[-0.500785,0.844300,0.190713],[0.008102,-0.215750,0.976415]]
2025-10-24T23:58:30.040Z,1761350310.040 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:30.271Z,1761350310.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864862,0.491103,0.104080],[-0.502009,0.845505,0.181956],[0.001359,-0.209616,0.977783]]
2025-10-24T23:58:30.292Z,1761350310.292 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:30.544Z,1761350310.544 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:30.682Z,1761350310.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864138,0.491461,0.108309],[-0.503229,0.846014,0.176128],[-0.005071,-0.206703,0.978391]]
2025-10-24T23:58:30.796Z,1761350310.796 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:31.048Z,1761350311.048 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:31.082Z,1761350311.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863426,0.491576,0.113352],[-0.504343,0.846289,0.171562],[-0.011593,-0.205299,0.978631]]
2025-10-24T23:58:31.300Z,1761350311.300 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:31.483Z,1761350311.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862542,0.491763,0.119125],[-0.505665,0.846144,0.168356],[-0.018006,-0.205451,0.978502]]
2025-10-24T23:58:31.552Z,1761350311.552 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:31.804Z,1761350311.804 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:31.917Z,1761350311.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861741,0.491797,0.124656],[-0.506765,0.846146,0.165004],[-0.024328,-0.205362,0.978384]]
2025-10-24T23:58:32.057Z,1761350312.057 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:32.290Z,1761350312.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861053,0.491523,0.130356],[-0.507598,0.846166,0.162318],[-0.030520,-0.205933,0.978090]]
2025-10-24T23:58:32.309Z,1761350312.309 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:32.560Z,1761350312.560 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:32.696Z,1761350312.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860151,0.491617,0.135841],[-0.508739,0.845973,0.159731],[-0.036392,-0.206501,0.977769]]
2025-10-24T23:58:32.813Z,1761350312.813 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:33.064Z,1761350313.064 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:33.116Z,1761350313.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859484,0.491219,0.141389],[-0.509399,0.846055,0.157176],[-0.042416,-0.207114,0.977397]]
2025-10-24T23:58:33.317Z,1761350313.317 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-24T23:58:33.317Z,1761350313.317 [DAT](FAULT): failed to enter online mode
2025-10-24T23:58:33.317Z,1761350313.317 [DAT](FAULT): Failure returning to online mode
2025-10-24T23:58:33.317Z,1761350313.317 [DAT] Communications Fault, FailCount= 1
2025-10-24T23:58:33.317Z,1761350313.317 [DAT](ERROR): Communications Fault
2025-10-24T23:58:33.399Z,1761350313.399 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-24T23:58:33.502Z,1761350313.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858685,0.490960,0.147030],[-0.510238,0.845895,0.155300],[-0.048126,-0.208374,0.976864]]
2025-10-24T23:58:33.720Z,1761350313.720 [DAT](INFO): Powering down
2025-10-24T23:58:33.922Z,1761350313.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857396,0.491280,0.153351],[-0.511863,0.845014,0.154746],[-0.053560,-0.211173,0.975980]]
2025-10-24T23:58:34.313Z,1761350314.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855585,0.492562,0.159240],[-0.514343,0.843659,0.153917],[-0.058531,-0.213593,0.975168]]
2025-10-24T23:58:34.714Z,1761350314.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853651,0.494060,0.164877],[-0.516973,0.842260,0.152764],[-0.063395,-0.215644,0.974412]]
2025-10-24T23:58:34.839Z,1761350314.839 [CBIT](INFO): Clearing failed state for component DAT
2025-10-24T23:58:34.839Z,1761350314.839 [DAT] No Fault, FailCount= 1
2025-10-24T23:58:35.122Z,1761350315.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851231,0.496329,0.170480],[-0.520321,0.840517,0.150989],[-0.068351,-0.217231,0.973724]]
2025-10-24T23:58:35.523Z,1761350315.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848369,0.499160,0.176379],[-0.524310,0.838314,0.149424],[-0.073274,-0.219244,0.972915]]
2025-10-24T23:58:35.928Z,1761350315.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845107,0.502778,0.181679],[-0.528878,0.835880,0.146943],[-0.077982,-0.220268,0.972317]]
2025-10-24T23:58:36.331Z,1761350316.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841613,0.507041,0.186002],[-0.533696,0.833585,0.142495],[-0.082798,-0.219195,0.972162]]
2025-10-24T23:58:36.735Z,1761350316.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838410,0.511133,0.189238],[-0.537926,0.831904,0.136279],[-0.087772,-0.216054,0.972428]]
2025-10-24T23:58:36.769Z,1761350316.769 [DAT](INFO): Powering up
2025-10-24T23:58:36.769Z,1761350316.769 [DAT](DEBUG): Initializing DAT.
2025-10-24T23:58:37.142Z,1761350317.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835375,0.514909,0.192398],[-0.541832,0.830294,0.130500],[-0.092552,-0.213264,0.972601]]
2025-10-24T23:58:37.166Z,1761350317.166 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:58:37.166Z,1761350317.166 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:58:37.166Z,1761350317.166 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:58:37.167Z,1761350317.167 [marl:UpdateRudder:A] Stopped
2025-10-24T23:58:37.167Z,1761350317.167 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:58:37.613Z,1761350317.613 [marl:UpdateRudder:B](INFO): Updating rudder angle  -13.750987 arcdeg 
2025-10-24T23:58:37.613Z,1761350317.613 [marl:UpdateRudder:B] Stopped
2025-10-24T23:58:37.613Z,1761350317.613 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:58:37.613Z,1761350317.613 [marl:UpdateRudder] Stopped
2025-10-24T23:58:37.613Z,1761350317.613 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:58:37.946Z,1761350317.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831970,0.518944,0.196273],[-0.545575,0.829517,0.119371],[-0.100865,-0.206395,0.973256]]
2025-10-24T23:58:38.754Z,1761350318.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832655,0.516684,0.199309],[-0.543239,0.831982,0.112682],[-0.107600,-0.202097,0.973437]]
2025-10-24T23:58:38.814Z,1761350318.814 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:58:38.814Z,1761350318.814 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:58:38.814Z,1761350318.814 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:58:38.814Z,1761350318.814 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:58:38.815Z,1761350318.815 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:58:38.815Z,1761350318.815 [marl:UpdateCommandMode] Stopped
2025-10-24T23:58:38.815Z,1761350318.815 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:58:38.815Z,1761350318.815 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:58:38.815Z,1761350318.815 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:58:38.815Z,1761350318.815 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:58:38.815Z,1761350318.815 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:58:38.815Z,1761350318.815 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:58:38.815Z,1761350318.815 [marl:UpdateSpeed] Stopped
2025-10-24T23:58:38.816Z,1761350318.816 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:58:39.169Z,1761350319.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833907,0.513804,0.201504],[-0.540717,0.833742,0.111799],[-0.110559,-0.202187,0.973086]]
2025-10-24T23:58:39.575Z,1761350319.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835312,0.510857,0.203170],[-0.537994,0.835643,0.110739],[-0.113206,-0.201806,0.972861]]
2025-10-24T23:58:39.966Z,1761350319.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837062,0.507047,0.205502],[-0.534711,0.837698,0.111111],[-0.115809,-0.202891,0.972329]]
2025-10-24T23:58:40.776Z,1761350320.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845598,0.495503,0.198599],[-0.519731,0.849095,0.094432],[-0.121838,-0.183070,0.975521]]
2025-10-24T23:58:41.182Z,1761350321.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854497,0.485891,0.183699],[-0.504158,0.860934,0.067946],[-0.125139,-0.150673,0.980631]]
2025-10-24T23:58:41.588Z,1761350321.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866516,0.471986,0.162415],[-0.482437,0.875421,0.029879],[-0.128079,-0.104245,0.986270]]
2025-10-24T23:58:41.986Z,1761350321.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880293,0.453979,0.137795],[-0.456146,0.889737,-0.017273],[-0.130443,-0.047649,0.990310]]
2025-10-24T23:58:42.392Z,1761350322.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894625,0.432516,0.112142],[-0.427079,0.901507,-0.069916],[-0.131337,0.014655,0.991229]]
2025-10-24T23:58:42.795Z,1761350322.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908572,0.407636,0.091263],[-0.396626,0.910396,-0.117757],[-0.131088,0.070794,0.988840]]
2025-10-24T23:58:43.198Z,1761350323.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921104,0.381619,0.077031],[-0.367123,0.917275,-0.154363],[-0.129567,0.113905,0.985007]]
2025-10-24T23:58:44.008Z,1761350324.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942611,0.327682,0.064109],[-0.310431,0.930772,-0.193123],[-0.122953,0.162139,0.979078]]
2025-10-24T23:58:44.410Z,1761350324.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951817,0.300451,0.061427],[-0.283164,0.937964,-0.200105],[-0.117738,0.173069,0.977847]]
2025-10-24T23:58:44.815Z,1761350324.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960216,0.272868,0.059404],[-0.256028,0.945131,-0.202924],[-0.111516,0.179642,0.977391]]
2025-10-24T23:58:45.219Z,1761350325.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967986,0.244267,0.057765],[-0.228032,0.951972,-0.204331],[-0.104902,0.184617,0.977196]]
2025-10-24T23:58:45.623Z,1761350325.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975138,0.214189,0.056831],[-0.198705,0.958674,-0.203620],[-0.098095,0.187265,0.977399]]
2025-10-24T23:58:46.028Z,1761350326.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981462,0.183241,0.056167],[-0.168517,0.964673,-0.202506],[-0.091291,0.189287,0.977669]]
2025-10-24T23:58:46.431Z,1761350326.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986826,0.151840,0.055855],[-0.138010,0.970203,-0.199145],[-0.084429,0.188813,0.978377]]
2025-10-24T23:58:46.835Z,1761350326.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991251,0.119868,0.055258],[-0.106978,0.974829,-0.195611],[-0.077314,0.187988,0.979124]]
2025-10-24T23:58:47.245Z,1761350327.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994603,0.088132,0.054743],[-0.076097,0.978346,-0.192481],[-0.070521,0.187276,0.979773]]
2025-10-24T23:58:47.650Z,1761350327.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996938,0.056344,0.054224],[-0.045314,0.981383,-0.186638],[-0.063731,0.183609,0.980931]]
2025-10-24T23:58:48.057Z,1761350328.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998246,0.025584,0.053390],[-0.015571,0.983516,-0.180150],[-0.057119,0.179003,0.982189]]
2025-10-24T23:58:48.454Z,1761350328.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998642,-0.004243,0.051934],[0.013260,0.984560,-0.174547],[-0.050391,0.174998,0.983278]]
2025-10-24T23:58:48.816Z,1761350328.816 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:58:48.864Z,1761350328.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998148,-0.033295,0.050904],[0.041464,0.984752,-0.168950],[-0.044502,0.170748,0.984309]]
2025-10-24T23:58:48.869Z,1761350328.869 [DAT](INFO): DAT read: 

2025-10-24T23:58:48.870Z,1761350328.870 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-24T23:58:49.270Z,1761350329.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996875,-0.061269,0.049857],[0.068655,0.984192,-0.163259],[-0.039066,0.166172,0.985323]]
2025-10-24T23:58:49.671Z,1761350329.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994801,-0.089137,0.049243],[0.095935,0.982514,-0.159570],[-0.034159,0.163465,0.985958]]
2025-10-24T23:58:49.715Z,1761350329.715 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:58:49.716Z,1761350329.716 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:58:49.716Z,1761350329.716 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:58:49.716Z,1761350329.716 [marl:UpdateRudder:A] Stopped
2025-10-24T23:58:49.716Z,1761350329.716 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:58:49.820Z,1761350329.820 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:58:50.071Z,1761350330.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991921,-0.117135,0.048703],[0.123338,0.980296,-0.154297],[-0.029670,0.159058,0.986823]]
2025-10-24T23:58:50.124Z,1761350330.124 [marl:UpdateRudder:B](INFO): Updating rudder angle  -13.750987 arcdeg 
2025-10-24T23:58:50.124Z,1761350330.124 [marl:UpdateRudder:B] Stopped
2025-10-24T23:58:50.125Z,1761350330.125 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:58:50.125Z,1761350330.125 [marl:UpdateRudder] Stopped
2025-10-24T23:58:50.125Z,1761350330.125 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:58:50.491Z,1761350330.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988164,-0.145502,0.048598],[0.151286,0.976786,-0.151663],[-0.025402,0.157220,0.987237]]
2025-10-24T23:58:50.633Z,1761350330.633 [DAT](INFO): DAT read: MF Frequency Band

2025-10-24T23:58:50.634Z,1761350330.634 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-24T23:58:50.635Z,1761350330.635 [DAT](INFO): DAT read: Oct 24 2025 23:58:45 

2025-10-24T23:58:50.880Z,1761350330.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983346,-0.174935,0.049271],[0.180482,0.971817,-0.151650],[-0.021353,0.158017,0.987206]]
2025-10-24T23:58:51.283Z,1761350331.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977445,-0.205155,0.050132],[0.210489,0.965692,-0.152095],[-0.017209,0.159217,0.987094]]
2025-10-24T23:58:51.641Z,1761350331.641 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-24T23:58:51.643Z,1761350331.643 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:58:51.643Z,1761350331.643 [DAT](INFO): commRate: 600
2025-10-24T23:58:51.701Z,1761350331.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961685,-0.268845,0.053711],[0.274014,0.948887,-0.156619],[-0.008859,0.165336,0.986198]]
2025-10-24T23:58:51.734Z,1761350331.734 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:58:51.734Z,1761350331.734 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:58:51.734Z,1761350331.734 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:58:51.734Z,1761350331.734 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:58:51.734Z,1761350331.734 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:58:51.734Z,1761350331.734 [marl:UpdateCommandMode] Stopped
2025-10-24T23:58:51.734Z,1761350331.734 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:58:51.734Z,1761350331.734 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:58:51.735Z,1761350331.735 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:58:51.735Z,1761350331.735 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:58:51.735Z,1761350331.735 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:58:51.735Z,1761350331.735 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:58:51.735Z,1761350331.735 [marl:UpdateSpeed] Stopped
2025-10-24T23:58:51.735Z,1761350331.735 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:58:52.504Z,1761350332.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941426,-0.332666,0.055236],[0.337220,0.928620,-0.154753],[0.000188,0.164315,0.986408]]
2025-10-24T23:58:52.915Z,1761350332.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930040,-0.363305,0.055087],[0.367426,0.917471,-0.152466],[0.004851,0.162040,0.986772]]
2025-10-24T23:58:53.308Z,1761350333.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917726,-0.393336,0.055371],[0.397110,0.905349,-0.150486],[0.009062,0.160093,0.987060]]
2025-10-24T23:58:53.710Z,1761350333.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904959,-0.421834,0.055728],[0.425298,0.892708,-0.148980],[0.013096,0.158522,0.987269]]
2025-10-24T23:58:53.712Z,1761350333.712 [DAT](INFO): entering command mode
2025-10-24T23:58:53.913Z,1761350333.913 [DAT](INFO): DAT read: 

2025-10-24T23:58:53.913Z,1761350333.913 [DAT](INFO): DAT read: user:1>

2025-10-24T23:58:53.914Z,1761350333.914 [DAT](INFO): setting verbose to 3
2025-10-24T23:58:54.112Z,1761350334.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891544,-0.449313,0.057163],[0.452620,0.879097,-0.149413],[0.016882,0.159081,0.987121]]
2025-10-24T23:58:54.165Z,1761350334.165 [DAT](INFO): DAT read: user:1>

2025-10-24T23:58:54.166Z,1761350334.166 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-24T23:58:54.166Z,1761350334.166 [DAT](INFO): set verbose to 3
2025-10-24T23:58:54.166Z,1761350334.166 [DAT](INFO): setting DatVerbose to 27440
2025-10-24T23:58:54.417Z,1761350334.417 [DAT](INFO): DAT read: user:2>

2025-10-24T23:58:54.417Z,1761350334.417 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-24T23:58:54.418Z,1761350334.418 [DAT](INFO): set DatVerbose to 27440
2025-10-24T23:58:54.418Z,1761350334.418 [DAT](INFO): setting transmit power to 8
2025-10-24T23:58:54.522Z,1761350334.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877005,-0.476867,0.058814],[0.480048,0.864432,-0.149373],[0.020390,0.159234,0.987030]]
2025-10-24T23:58:54.669Z,1761350334.669 [DAT](INFO): DAT read: user:3>

2025-10-24T23:58:54.671Z,1761350334.671 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-24T23:58:54.671Z,1761350334.671 [DAT](INFO): set transmit power to 8
2025-10-24T23:58:54.671Z,1761350334.671 [DAT](INFO): setting local address to 11
2025-10-24T23:58:54.921Z,1761350334.921 [DAT](INFO): DAT read: user:4>

2025-10-24T23:58:54.921Z,1761350334.921 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-24T23:58:54.922Z,1761350334.922 [DAT](INFO): set local address to 11
2025-10-24T23:58:54.923Z,1761350334.923 [DAT](INFO): Setting time to: 23:58:54 And date to:10/24/2025
2025-10-24T23:58:54.933Z,1761350334.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861093,-0.504620,0.062264],[0.507913,0.848107,-0.150794],[0.023287,0.161472,0.986602]]
2025-10-24T23:58:55.173Z,1761350335.173 [DAT](INFO): DAT read: user:5>

2025-10-24T23:58:55.173Z,1761350335.173 [DAT](INFO): DAT read: Fri Oct 24, 2025  23:58:54  

2025-10-24T23:58:55.174Z,1761350335.174 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025  23:58:54  

2025-10-24T23:58:55.174Z,1761350335.174 [DAT](INFO): setting remote address to 10
2025-10-24T23:58:55.322Z,1761350335.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844017,-0.532267,0.065779],[0.535679,0.830673,-0.151759],[0.026136,0.163323,0.986226]]
2025-10-24T23:58:55.425Z,1761350335.425 [DAT](INFO): DAT read: user:6>

2025-10-24T23:58:55.426Z,1761350335.426 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:58:55.426Z,1761350335.426 [DAT](INFO): set remote address to 10
2025-10-24T23:58:55.426Z,1761350335.426 [DAT](INFO): entering online mode
2025-10-24T23:58:55.677Z,1761350335.677 [DAT](INFO): DAT read: user:7>

2025-10-24T23:58:55.678Z,1761350335.678 [DAT](INFO): DAT read: 

2025-10-24T23:58:55.679Z,1761350335.679 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:58:55.680Z,1761350335.680 [DAT](INFO): commRate: 600
2025-10-24T23:58:55.680Z,1761350335.680 [DAT](INFO): online mode acknowledged
2025-10-24T23:58:55.681Z,1761350335.681 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:58:55.734Z,1761350335.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826071,-0.559353,0.068777],[0.562822,0.812546,-0.151658],[0.028946,0.163989,0.986037]]
2025-10-24T23:58:56.130Z,1761350336.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807135,-0.586169,0.070281],[0.589508,0.793806,-0.149508],[0.031848,0.162105,0.986260]]
2025-10-24T23:58:56.539Z,1761350336.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787824,-0.611803,0.070924],[0.614916,0.774826,-0.146707],[0.034802,0.159192,0.986634]]
2025-10-24T23:58:56.947Z,1761350336.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768490,-0.635949,0.070658],[0.638732,0.755882,-0.143752],[0.038010,0.155603,0.987088]]
2025-10-24T23:58:57.343Z,1761350337.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749185,-0.658533,0.071107],[0.661083,0.736753,-0.142002],[0.041125,0.153393,0.987309]]
2025-10-24T23:58:57.746Z,1761350337.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730153,-0.679443,0.072348],[0.681882,0.717779,-0.140818],[0.043747,0.152151,0.987389]]
2025-10-24T23:58:58.150Z,1761350338.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710945,-0.699154,0.075770],[0.701720,0.698171,-0.141939],[0.046337,0.154081,0.986971]]
2025-10-24T23:58:58.556Z,1761350338.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691926,-0.717447,0.080667],[0.720366,0.678627,-0.143313],[0.048077,0.157271,0.986385]]
2025-10-24T23:58:58.953Z,1761350338.953 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:58:58.0072

2025-10-24T23:58:58.954Z,1761350338.954 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:58:58.976Z,1761350338.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672189,-0.735516,0.084725],[0.738741,0.658688,-0.142797],[0.049222,0.158576,0.986119]]
2025-10-24T23:58:59.362Z,1761350339.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651877,-0.753149,0.088446],[0.756677,0.638338,-0.141297],[0.049959,0.159033,0.986008]]
2025-10-24T23:58:59.767Z,1761350339.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630156,-0.770915,0.092705],[0.774797,0.616472,-0.140186],[0.050921,0.160166,0.985776]]
2025-10-24T23:59:00.172Z,1761350340.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606638,-0.789196,0.095703],[0.793271,0.593048,-0.137896],[0.052070,0.159572,0.985812]]
2025-10-24T23:59:00.574Z,1761350340.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582122,-0.807029,0.099188],[0.811345,0.568511,-0.136071],[0.053424,0.159685,0.985721]]
2025-10-24T23:59:00.686Z,1761350340.686 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-24T23:59:00.686Z,1761350340.686 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-24T23:59:00.980Z,1761350340.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556585,-0.824626,0.101020],[0.828968,0.543192,-0.133248],[0.055006,0.157906,0.985921]]
2025-10-24T23:59:01.389Z,1761350341.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530973,-0.841121,0.102877],[0.845491,0.517744,-0.130715],[0.056683,0.156388,0.986068]]
2025-10-24T23:59:01.786Z,1761350341.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505448,-0.856303,0.106153],[0.860884,0.492145,-0.129120],[0.058323,0.156648,0.985931]]
2025-10-24T23:59:01.823Z,1761350341.823 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-24T23:59:01.979Z,1761350341.979 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:59:02.032Z,1761350342.032 [DAT](INFO): entering command mode
2025-10-24T23:59:02.190Z,1761350342.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479889,-0.870486,0.109366],[0.875293,0.466552,-0.127245],[0.059741,0.156790,0.985823]]
2025-10-24T23:59:02.229Z,1761350342.229 [DAT](INFO): DAT read: 

2025-10-24T23:59:02.229Z,1761350342.229 [DAT](INFO): DAT read: user:8>

2025-10-24T23:59:02.230Z,1761350342.230 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:59:02.230Z,1761350342.230 [DAT](INFO): setting remote address to 0
2025-10-24T23:59:02.481Z,1761350342.481 [DAT](INFO): DAT read: user:8>

2025-10-24T23:59:02.482Z,1761350342.482 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-24T23:59:02.482Z,1761350342.482 [DAT](INFO): set remote address to 0
2025-10-24T23:59:02.482Z,1761350342.482 [DAT](DEBUG): Acoustic response timeout
2025-10-24T23:59:02.483Z,1761350342.483 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-24T23:59:02.594Z,1761350342.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454418,-0.883851,0.110960],[0.888697,0.441290,-0.124418],[0.061001,0.155148,0.986006]]
2025-10-24T23:59:02.693Z,1761350342.693 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:59:02.694Z,1761350342.694 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:59:02.694Z,1761350342.694 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:59:02.694Z,1761350342.694 [marl:UpdateRudder:A] Stopped
2025-10-24T23:59:02.694Z,1761350342.694 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:59:02.733Z,1761350342.733 [DAT](INFO): DAT read: user:9>

2025-10-24T23:59:02.733Z,1761350342.733 [DAT](INFO): DAT read: Tx time:23:59:01.7083

2025-10-24T23:59:02.734Z,1761350342.734 [DAT](INFO): Ping request sent.
2025-10-24T23:59:02.734Z,1761350342.734 [DAT](INFO): transmitted an acoustic signal
2025-10-24T23:59:02.734Z,1761350342.734 [DAT](INFO): publishing transmit ping time
2025-10-24T23:59:02.735Z,1761350342.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000986
2025-10-24T23:59:02.986Z,1761350342.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251833
2025-10-24T23:59:03.025Z,1761350343.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429937,-0.895766,0.112953],[0.900786,0.417108,-0.120852],[0.061141,0.153705,0.986223]]
2025-10-24T23:59:03.091Z,1761350343.091 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:59:03.091Z,1761350343.091 [marl:UpdateRudder:B] Stopped
2025-10-24T23:59:03.091Z,1761350343.091 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:59:03.091Z,1761350343.091 [marl:UpdateRudder] Stopped
2025-10-24T23:59:03.091Z,1761350343.091 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:59:03.237Z,1761350343.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502895
2025-10-24T23:59:03.403Z,1761350343.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405615,-0.906678,0.115807],[0.912029,0.393052,-0.117100],[0.060654,0.153117,0.986345]]
2025-10-24T23:59:03.492Z,1761350343.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757707
2025-10-24T23:59:03.741Z,1761350343.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006980
2025-10-24T23:59:03.806Z,1761350343.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381084,-0.916689,0.120239],[0.922639,0.368733,-0.113020],[0.059268,0.154007,0.986291]]
2025-10-24T23:59:03.994Z,1761350343.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259433
2025-10-24T23:59:04.210Z,1761350344.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356358,-0.926182,0.123270],[0.932594,0.344495,-0.107666],[0.057252,0.153329,0.986515]]
2025-10-24T23:59:04.245Z,1761350344.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510980
2025-10-24T23:59:04.498Z,1761350344.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763805
2025-10-24T23:59:04.616Z,1761350344.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331002,-0.935127,0.126393],[0.942028,0.319659,-0.101990],[0.054971,0.152825,0.986723]]
2025-10-24T23:59:04.658Z,1761350344.658 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:59:04.658Z,1761350344.658 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:59:04.658Z,1761350344.658 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:59:04.659Z,1761350344.659 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:59:04.659Z,1761350344.659 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:59:04.659Z,1761350344.659 [marl:UpdateCommandMode] Stopped
2025-10-24T23:59:04.659Z,1761350344.659 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:59:04.659Z,1761350344.659 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:59:04.659Z,1761350344.659 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:59:04.659Z,1761350344.659 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:59:04.660Z,1761350344.660 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:59:04.660Z,1761350344.660 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:59:04.660Z,1761350344.660 [marl:UpdateSpeed] Stopped
2025-10-24T23:59:04.661Z,1761350344.661 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:59:04.749Z,1761350344.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014947
2025-10-24T23:59:05.002Z,1761350345.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267568
2025-10-24T23:59:05.021Z,1761350345.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304130,-0.943668,0.130368],[0.951168,0.293225,-0.096431],[0.052772,0.153329,0.986765]]
2025-10-24T23:59:05.253Z,1761350345.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518972
2025-10-24T23:59:05.423Z,1761350345.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276660,-0.951512,0.134479],[0.959682,0.266335,-0.089865],[0.049691,0.153919,0.986833]]
2025-10-24T23:59:05.505Z,1761350345.505 [DAT](INFO): DAT read: Rx Time:23:59:04.0420

2025-10-24T23:59:05.506Z,1761350345.506 [DAT](INFO): Rx dataTimestamp_ set to:1761350345.505464
2025-10-24T23:59:05.507Z,1761350345.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773359
2025-10-24T23:59:05.757Z,1761350345.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022948
2025-10-24T23:59:05.828Z,1761350345.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250559,-0.959360,0.129804],[0.967018,0.241675,-0.080438],[0.045799,0.145677,0.988271]]
2025-10-24T23:59:06.015Z,1761350346.015 [DAT](INFO): DAT read: 23:59:04.0420 LVL= 26656, 32753, 32754, 30675, AGC= 57, IDX= 188,-0.43,-2.763,-2.154, 2.455,-2.752, PHS= 0.091, 0.643,-1.120, RAW=  12.2,   5.0, CAL=  12.2,   3.9, ROT= 137.8,  -3.9

2025-10-24T23:59:06.016Z,1761350346.016 [DAT](INFO): got valid direction response:
 23:59:04.0420 LVL= 26656, 32753, 32754, 30675, AGC= 57, IDX= 188,-0.43,-2.763,-2.154, 2.455,-2.752, PHS= 0.091, 0.643,-1.120, RAW=  12.2,   5.0, CAL=  12.2,   3.9, ROT= 137.8,  -3.9

2025-10-24T23:59:06.017Z,1761350346.017 [DAT](INFO): DAT read: $Error in header

2025-10-24T23:59:06.017Z,1761350346.017 [DAT](INFO): Received a bad header
2025-10-24T23:59:06.028Z,1761350346.028 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-24T23:59:06.029Z,1761350346.029 [DAT](INFO): direction in FSK: [-0.739089,0.670165,0.068015]
2025-10-24T23:59:06.258Z,1761350346.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227083,-0.967191,0.113911],[0.972994,0.220344,-0.068785],[0.041428,0.126455,0.991107]]
2025-10-24T23:59:06.332Z,1761350346.332 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350400.00. Resetting abort timer.
2025-10-24T23:59:06.663Z,1761350346.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206344,-0.974101,0.092465],[0.977783,0.201710,-0.057039],[0.036910,0.102181,0.994081]]
2025-10-24T23:59:07.062Z,1761350347.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185409,-0.979886,0.073808],[0.982134,0.182326,-0.046585],[0.032191,0.081127,0.996184]]
2025-10-24T23:59:07.467Z,1761350347.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163705,-0.984761,0.058699],[0.986123,0.161686,-0.037683],[0.027618,0.064053,0.997564]]
2025-10-24T23:59:07.915Z,1761350347.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141422,-0.988795,0.047794],[0.989670,0.140070,-0.030574],[0.023537,0.051624,0.998389]]
2025-10-24T23:59:08.274Z,1761350348.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118251,-0.992106,0.041734],[0.992778,0.117267,-0.025308],[0.020214,0.044426,0.998808]]
2025-10-24T23:59:08.682Z,1761350348.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094591,-0.994773,0.038467],[0.995354,0.093807,-0.021704],[0.017982,0.040341,0.999024]]
2025-10-24T23:59:09.033Z,1761350349.033 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:59:09.082Z,1761350349.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070926,-0.996779,0.037443],[0.997330,0.070210,-0.020096],[0.017403,0.038768,0.999097]]
2025-10-24T23:59:09.285Z,1761350349.285 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:59:09.285Z,1761350349.285 [DAT](INFO): #Outgoing data=46
2025-10-24T23:59:09.285Z,1761350349.285 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:59:09.495Z,1761350349.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047771,-0.998151,0.037574],[0.998686,0.047031,-0.020342],[0.018537,0.038496,0.999087]]
2025-10-24T23:59:09.536Z,1761350349.536 [DAT](INFO): setting remote address to 10
2025-10-24T23:59:09.789Z,1761350349.789 [DAT](INFO): DAT read: 

2025-10-24T23:59:09.789Z,1761350349.789 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-24T23:59:09.790Z,1761350349.790 [DAT](INFO): set remote address to 10
2025-10-24T23:59:09.790Z,1761350349.790 [DAT](INFO): entering online mode
2025-10-24T23:59:09.920Z,1761350349.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025769,-0.998984,0.036969],[0.999451,0.024976,-0.021773],[0.020828,0.037510,0.999079]]
2025-10-24T23:59:10.041Z,1761350350.041 [DAT](INFO): DAT read: user:11>

2025-10-24T23:59:10.042Z,1761350350.042 [DAT](INFO): DAT read: 

2025-10-24T23:59:10.043Z,1761350350.043 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-24T23:59:10.043Z,1761350350.043 [DAT](INFO): commRate: 600
2025-10-24T23:59:10.044Z,1761350350.044 [DAT](INFO): online mode acknowledged
2025-10-24T23:59:10.044Z,1761350350.044 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:59:10.295Z,1761350350.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006555,-0.999296,0.036953],[0.999710,0.005693,-0.023386],[0.023159,0.037095,0.999043]]
2025-10-24T23:59:10.701Z,1761350350.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009343,-0.999334,0.035265],[0.999644,-0.010215,-0.024641],[0.024985,0.035022,0.999074]]
2025-10-24T23:59:11.105Z,1761350351.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021848,-0.999215,0.033035],[0.999427,-0.022683,-0.025117],[0.025847,0.032468,0.999139]]
2025-10-24T23:59:11.506Z,1761350351.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032253,-0.999037,0.029757],[0.999140,-0.033004,-0.025088],[0.026046,0.028922,0.999242]]
2025-10-24T23:59:11.922Z,1761350351.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041843,-0.998793,0.025712],[0.998802,-0.042469,-0.024316],[0.025379,0.024664,0.999374]]
2025-10-24T23:59:12.315Z,1761350352.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050747,-0.998480,0.021513],[0.998437,-0.051226,-0.022364],[0.023432,0.020344,0.999518]]
2025-10-24T23:59:12.720Z,1761350352.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059196,-0.998078,0.018362],[0.998059,-0.059531,-0.018281],[0.019339,0.017244,0.999664]]
2025-10-24T23:59:12.812Z,1761350352.812 [DAT](INFO): Reached modem response timeout
2025-10-24T23:59:13.122Z,1761350353.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067581,-0.997572,0.016841],[0.997628,-0.067786,-0.011949],[0.013061,0.015994,0.999787]]
2025-10-24T23:59:13.526Z,1761350353.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076204,-0.996980,0.014942],[0.997079,-0.076271,-0.003942],[0.005069,0.014598,0.999881]]
2025-10-24T23:59:13.931Z,1761350353.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086010,-0.996192,0.014268],[0.996287,-0.085947,0.004964],[-0.003719,0.014642,0.999886]]
2025-10-24T23:59:14.338Z,1761350354.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098602,-0.995001,0.015802],[0.995054,-0.098390,0.013680],[-0.012057,0.017072,0.999782]]
2025-10-24T23:59:14.738Z,1761350354.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115361,-0.993178,0.017028],[0.993147,-0.115000,0.020829],[-0.018729,0.019314,0.999638]]
2025-10-24T23:59:15.081Z,1761350355.081 [DAT](INFO): DAT read: Response Not Received

2025-10-24T23:59:15.081Z,1761350355.081 [DAT](INFO): response not received
2025-10-24T23:59:15.081Z,1761350355.081 [DAT](ERROR): No response from remote modem.
2025-10-24T23:59:15.142Z,1761350355.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133954,-0.990832,0.017585],[0.990682,-0.133451,0.027204],[-0.024607,0.021066,0.999475]]
2025-10-24T23:59:15.546Z,1761350355.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154182,-0.987870,0.018459],[0.987602,-0.153529,0.032732],[-0.029501,0.023276,0.999294]]
2025-10-24T23:59:15.570Z,1761350355.570 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:59:15.570Z,1761350355.570 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:59:15.570Z,1761350355.570 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:59:15.571Z,1761350355.571 [marl:UpdateRudder:A] Stopped
2025-10-24T23:59:15.571Z,1761350355.571 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:59:15.962Z,1761350355.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174576,-0.984425,0.020737],[0.984056,-0.173706,0.038221],[-0.034023,0.027078,0.999054]]
2025-10-24T23:59:16.036Z,1761350356.036 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:59:16.036Z,1761350356.036 [marl:UpdateRudder:B] Stopped
2025-10-24T23:59:16.036Z,1761350356.036 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:59:16.036Z,1761350356.036 [marl:UpdateRudder] Stopped
2025-10-24T23:59:16.037Z,1761350356.037 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:59:16.356Z,1761350356.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195451,-0.980466,0.022042],[0.979965,-0.194375,0.043437],[-0.038304,0.030090,0.998813]]
2025-10-24T23:59:16.759Z,1761350356.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216315,-0.976065,0.022461],[0.975399,-0.215052,0.048466],[-0.042476,0.032392,0.998572]]
2025-10-24T23:59:17.163Z,1761350357.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236821,-0.971279,0.023065],[0.970437,-0.235345,0.053520],[-0.046555,0.035058,0.998300]]
2025-10-24T23:59:17.568Z,1761350357.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257231,-0.966037,0.024611],[0.965029,-0.255465,0.058785],[-0.050501,0.038871,0.997967]]
2025-10-24T23:59:17.637Z,1761350357.637 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:59:17.637Z,1761350357.637 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:59:17.637Z,1761350357.637 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:59:17.637Z,1761350357.637 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:59:17.637Z,1761350357.637 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:59:17.637Z,1761350357.637 [marl:UpdateCommandMode] Stopped
2025-10-24T23:59:17.638Z,1761350357.638 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:59:17.638Z,1761350357.638 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:59:17.638Z,1761350357.638 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:59:17.638Z,1761350357.638 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:59:17.638Z,1761350357.638 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:59:17.638Z,1761350357.638 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:59:17.638Z,1761350357.638 [marl:UpdateSpeed] Stopped
2025-10-24T23:59:17.638Z,1761350357.638 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:59:17.983Z,1761350357.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277499,-0.960394,0.025242],[0.959186,-0.275472,0.063849],[-0.054367,0.041930,0.997640]]
2025-10-24T23:59:18.106Z,1761350358.106 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:59:17.2572

2025-10-24T23:59:18.106Z,1761350358.106 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:59:18.374Z,1761350358.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298036,-0.954242,0.024439],[0.952801,-0.295841,0.068175],[-0.057825,0.043604,0.997374]]
2025-10-24T23:59:18.778Z,1761350358.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318682,-0.947533,0.024956],[0.945941,-0.316251,0.071976],[-0.060307,0.046544,0.997094]]
2025-10-24T23:59:19.184Z,1761350359.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338758,-0.940570,0.023911],[0.938783,-0.336203,0.075194],[-0.062686,0.047920,0.996882]]
2025-10-24T23:59:19.586Z,1761350359.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358476,-0.933243,0.023482],[0.931318,-0.355776,0.077917],[-0.064361,0.049801,0.996683]]
2025-10-24T23:59:19.941Z,1761350359.941 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:59:19.993Z,1761350359.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377011,-0.925963,0.021327],[0.923894,-0.374342,0.079300],[-0.065445,0.049601,0.996623]]
2025-10-24T23:59:20.395Z,1761350360.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394339,-0.918767,0.019063],[0.916568,-0.391728,0.080331],[-0.066338,0.049150,0.996586]]
2025-10-24T23:59:20.800Z,1761350360.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410390,-0.911778,0.015518],[0.909445,-0.407970,0.080441],[-0.067013,0.047125,0.996639]]
2025-10-24T23:59:20.945Z,1761350360.945 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:59:21.202Z,1761350361.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425158,-0.905029,0.012785],[0.902561,-0.422852,0.081117],[-0.068008,0.046027,0.996623]]
2025-10-24T23:59:21.606Z,1761350361.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438767,-0.898554,0.009218],[0.895920,-0.436643,0.081668],[-0.069358,0.044092,0.996617]]
2025-10-24T23:59:22.013Z,1761350362.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451956,-0.892032,0.003686],[0.889208,-0.450189,0.081480],[-0.071023,0.040104,0.996668]]
2025-10-24T23:59:22.417Z,1761350362.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464835,-0.885397,-0.000275],[0.882364,-0.463268,0.082562],[-0.073228,0.038135,0.996586]]
2025-10-24T23:59:22.818Z,1761350362.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477806,-0.878453,-0.004601],[0.875220,-0.476484,0.083386],[-0.075443,0.035815,0.996507]]
2025-10-24T23:59:23.222Z,1761350363.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491388,-0.870897,-0.008706],[0.867510,-0.490315,0.083769],[-0.077223,0.033610,0.996447]]
2025-10-24T23:59:23.627Z,1761350363.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504760,-0.863193,-0.010747],[0.859711,-0.503774,0.084312],[-0.078192,0.033318,0.996381]]
2025-10-24T23:59:24.045Z,1761350364.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518993,-0.854680,-0.012986],[0.851152,-0.518129,0.084163],[-0.078661,0.032627,0.996367]]
2025-10-24T23:59:24.442Z,1761350364.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533100,-0.845912,-0.015410],[0.842379,-0.532393,0.083396],[-0.078750,0.031477,0.996397]]
2025-10-24T23:59:24.841Z,1761350364.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547323,-0.836756,-0.016659],[0.833218,-0.546663,0.083107],[-0.078647,0.031606,0.996401]]
2025-10-24T23:59:24.910Z,1761350364.910 [DAT](INFO): DAT read: Rx Time:23:59:23.4767

2025-10-24T23:59:24.910Z,1761350364.910 [DAT](INFO): Rx dataTimestamp_ set to:1761350364.909952
2025-10-24T23:59:25.244Z,1761350365.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560704,-0.827854,-0.016374],[0.824292,-0.559947,0.083682],[-0.078445,0.033424,0.996358]]
2025-10-24T23:59:25.653Z,1761350365.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573942,-0.818721,-0.016921],[0.815141,-0.573165,0.083827],[-0.078330,0.034319,0.996337]]
2025-10-24T23:59:25.697Z,1761350365.697 [DAT](INFO): DAT read: 23:59:23.4767 LVL= 23280, 32753, 29522, 32307, AGC= 57, IDX= 287,-0.03, 0.425,-1.297,-1.226,-0.392, PHS= 0.919,-0.860,-0.879, RAW=  89.5,   9.2, CAL=  89.1,   9.4, ROT=  60.9,  -9.4

2025-10-24T23:59:25.698Z,1761350365.698 [DAT](INFO): got valid direction response:
 23:59:23.4767 LVL= 23280, 32753, 29522, 32307, AGC= 57, IDX= 287,-0.03, 0.425,-1.297,-1.226,-0.392, PHS= 0.919,-0.860,-0.879, RAW=  89.5,   9.2, CAL=  89.1,   9.4, ROT=  60.9,  -9.4

2025-10-24T23:59:25.698Z,1761350365.698 [DAT](INFO): DAT read: 

2025-10-24T23:59:25.699Z,1761350365.699 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T23:59:25.699Z,1761350365.699 [DAT](INFO): Got DATA 2
2025-10-24T23:59:25.708Z,1761350365.708 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T23:59:25.709Z,1761350365.709 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T23:59:25.709Z,1761350365.709 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T23:59:25.710Z,1761350365.710 [DAT](INFO): DAT read: CRC:Pass MPD:02.9 PSNR:13.7 AGC:54 SPD:+0.4 CCERR:011

2025-10-24T23:59:25.710Z,1761350365.710 [DAT](INFO): Got CRC:Pass
2025-10-24T23:59:25.710Z,1761350365.710 [DAT](INFO): Got CRC:Pass
2025-10-24T23:59:25.711Z,1761350365.711 [DAT](INFO): Incoming data is intended for us
2025-10-24T23:59:25.711Z,1761350365.711 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T23:59:25.711Z,1761350365.711 [DAT](INFO): Got ack
2025-10-24T23:59:25.711Z,1761350365.711 [DAT](INFO): DAT read: 

2025-10-24T23:59:25.711Z,1761350365.711 [DAT](INFO): DAT read: <EOP>

2025-10-24T23:59:25.725Z,1761350365.725 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:59:25.726Z,1761350365.726 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-24T23:59:25.740Z,1761350365.740 [DAT](INFO): direction in FSK: [0.479805,0.862039,0.163326]
2025-10-24T23:59:25.820Z,1761350365.820 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350400.00. Resetting abort timer.
2025-10-24T23:59:25.918Z,1761350365.918 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:59:25.919Z,1761350365.919 [DAT](INFO): #Outgoing data=47
2025-10-24T23:59:25.919Z,1761350365.919 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:59:26.058Z,1761350366.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586808,-0.809537,-0.017511],[0.805924,-0.586009,0.084144],[-0.078379,0.035264,0.996300]]
2025-10-24T23:59:26.169Z,1761350366.169 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:59:26.457Z,1761350366.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599331,-0.800278,-0.018888],[0.796597,-0.598569,0.084544],[-0.078965,0.035624,0.996241]]
2025-10-24T23:59:26.859Z,1761350366.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611089,-0.791303,-0.020229],[0.787468,-0.610326,0.085995],[-0.080395,0.036621,0.996090]]
2025-10-24T23:59:27.263Z,1761350367.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622647,-0.782160,-0.023141],[0.778165,-0.622035,0.086786],[-0.082275,0.036029,0.995958]]
2025-10-24T23:59:27.671Z,1761350367.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634860,-0.772205,-0.025551],[0.767990,-0.634322,0.088476],[-0.084529,0.036547,0.995750]]
2025-10-24T23:59:28.079Z,1761350368.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647177,-0.761827,-0.027955],[0.757375,-0.646708,0.090286],[-0.086861,0.037259,0.995523]]
2025-10-24T23:59:28.145Z,1761350368.145 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:59:28.145Z,1761350368.145 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:59:28.145Z,1761350368.145 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:59:28.146Z,1761350368.146 [marl:UpdateRudder:A] Stopped
2025-10-24T23:59:28.146Z,1761350368.146 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:59:28.474Z,1761350368.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660090,-0.750518,-0.031691],[0.745842,-0.659833,0.091328],[-0.089454,0.036648,0.995317]]
2025-10-24T23:59:28.505Z,1761350368.505 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:59:28.505Z,1761350368.505 [marl:UpdateRudder:B] Stopped
2025-10-24T23:59:28.506Z,1761350368.506 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:59:28.506Z,1761350368.506 [marl:UpdateRudder] Stopped
2025-10-24T23:59:28.506Z,1761350368.506 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:59:28.879Z,1761350368.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673431,-0.738431,-0.034790],[0.733516,-0.673318,0.092725],[-0.091895,0.036924,0.995084]]
2025-10-24T23:59:29.285Z,1761350369.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687068,-0.725635,-0.037309],[0.720517,-0.687050,0.093899],[-0.093769,0.037633,0.994882]]
2025-10-24T23:59:29.310Z,1761350369.310 [marl:SendObservationData] Running Loop=1
2025-10-24T23:59:29.310Z,1761350369.310 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-24T23:59:29.310Z,1761350369.310 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-24T23:59:29.311Z,1761350369.311 [marl:SendObservationData:A] Running Loop=1
2025-10-24T23:59:29.334Z,1761350369.334 [marl:SendObservationData:A](INFO): Got test_good :  41da3f04c0000000405140000000000040426378429a21d5c05e775e00f52d5c402f3270a000000040878999a0000000 n/a str  and temp var is  nan n/a str 
2025-10-24T23:59:29.334Z,1761350369.334 [marl:SendObservationData:A] Stopped
2025-10-24T23:59:29.334Z,1761350369.334 [marl:SendObservationData:B] Running Loop=1
2025-10-24T23:59:29.445Z,1761350369.445 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:59:28.5071

2025-10-24T23:59:29.445Z,1761350369.445 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:59:29.690Z,1761350369.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701115,-0.711924,-0.040017],[0.706657,-0.701233,0.094382],[-0.095254,0.037894,0.994731]]
2025-10-24T23:59:29.758Z,1761350369.758 [marl:SendObservationData:B] Stopped
2025-10-24T23:59:29.758Z,1761350369.758 [marl:SendObservationData:C] Running Loop=1
2025-10-24T23:59:30.091Z,1761350370.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715292,-0.697524,-0.042630],[0.692152,-0.715552,0.094400],[-0.096350,0.038018,0.994621]]
2025-10-24T23:59:30.171Z,1761350370.171 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:59:30.171Z,1761350370.171 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:59:30.171Z,1761350370.171 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:59:30.171Z,1761350370.171 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:59:30.171Z,1761350370.171 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:59:30.176Z,1761350370.176 [marl:UpdateCommandMode] Stopped
2025-10-24T23:59:30.176Z,1761350370.176 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:59:30.176Z,1761350370.176 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:59:30.176Z,1761350370.176 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:59:30.176Z,1761350370.176 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:59:30.177Z,1761350370.177 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:59:30.177Z,1761350370.177 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:59:30.177Z,1761350370.177 [marl:UpdateSpeed] Stopped
2025-10-24T23:59:30.177Z,1761350370.177 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:59:30.179Z,1761350370.179 [marl:SendObservationData:C] Stopped
2025-10-24T23:59:30.179Z,1761350370.179 [marl:SendObservationData:E] Running Loop=1
2025-10-24T23:59:30.494Z,1761350370.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729489,-0.682502,-0.045125],[0.677066,-0.729894,0.094000],[-0.097091,0.038019,0.994549]]
2025-10-24T23:59:30.556Z,1761350370.556 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.012975 min 
2025-10-24T23:59:30.556Z,1761350370.556 [marl:SendObservationData:E] Stopped
2025-10-24T23:59:30.557Z,1761350370.557 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-24T23:59:30.557Z,1761350370.557 [marl:SendObservationData] Stopped
2025-10-24T23:59:30.557Z,1761350370.557 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-24T23:59:30.557Z,1761350370.557 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-24T23:59:30.904Z,1761350370.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743446,-0.667175,-0.046542],[0.661744,-0.743902,0.093299],[-0.096869,0.038563,0.994550]]
2025-10-24T23:59:31.302Z,1761350371.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757046,-0.651587,-0.048120],[0.646222,-0.757599,0.091874],[-0.096319,0.038456,0.994607]]
2025-10-24T23:59:31.706Z,1761350371.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770292,-0.635901,-0.047748],[0.630558,-0.770705,0.091708],[-0.095117,0.040534,0.994641]]
2025-10-24T23:59:32.117Z,1761350372.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782512,-0.620825,-0.047440],[0.615524,-0.782809,0.091321],[-0.093831,0.042260,0.994691]]
2025-10-24T23:59:32.516Z,1761350372.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793782,-0.606372,-0.047158],[0.601164,-0.793996,0.090399],[-0.092259,0.043408,0.994789]]
2025-10-24T23:59:32.927Z,1761350372.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804530,-0.592048,-0.047025],[0.586957,-0.804694,0.089160],[-0.090628,0.044130,0.994907]]
2025-10-24T23:59:33.322Z,1761350373.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814904,-0.577691,-0.046951],[0.572754,-0.815048,0.087465],[-0.088796,0.044384,0.995061]]
2025-10-24T23:59:33.727Z,1761350373.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824475,-0.563925,-0.047223],[0.559080,-0.824615,0.086255],[-0.087582,0.044713,0.995153]]
2025-10-24T23:59:34.147Z,1761350374.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833826,-0.549909,-0.048319],[0.545223,-0.834088,0.083842],[-0.086407,0.043565,0.995307]]
2025-10-24T23:59:34.542Z,1761350374.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842431,-0.536669,-0.047917],[0.532061,-0.842618,0.083105],[-0.084975,0.044515,0.995388]]
2025-10-24T23:59:34.945Z,1761350374.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859460,-0.508984,-0.047585],[0.504574,-0.859574,0.080857],[-0.082058,0.045483,0.995589]]
2025-10-24T23:59:35.347Z,1761350375.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867750,-0.494776,-0.046974],[0.490443,-0.867770,0.080252],[-0.080469,0.046601,0.995667]]
2025-10-24T23:59:35.755Z,1761350375.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875828,-0.480421,-0.046056],[0.476189,-0.875738,0.079543],[-0.078547,0.047734,0.995767]]
2025-10-24T23:59:36.162Z,1761350376.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883641,-0.465986,-0.045126],[0.461899,-0.883471,0.078282],[-0.076346,0.048330,0.995909]]
2025-10-24T23:59:36.249Z,1761350376.249 [DAT](INFO): DAT read: Rx Time:23:59:34.8249

2025-10-24T23:59:36.249Z,1761350376.249 [DAT](INFO): Rx dataTimestamp_ set to:1761350376.249038
2025-10-24T23:59:36.557Z,1761350376.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891199,-0.451432,-0.044426],[0.447509,-0.890992,0.076607],[-0.074166,0.048392,0.996071]]
2025-10-24T23:59:36.968Z,1761350376.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898477,-0.436790,-0.044194],[0.433057,-0.898306,0.074210],[-0.072114,0.047537,0.996263]]
2025-10-24T23:59:37.010Z,1761350377.010 [DAT](INFO): DAT read: 23:59:34.8249 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 428, 0.04,-1.929, 2.410,-2.898,-2.449, PHS= 0.622,-1.380,-0.493, RAW= 116.2,  14.3, CAL= 117.2,  15.8, ROT=  32.8, -15.8

2025-10-24T23:59:37.011Z,1761350377.011 [DAT](INFO): got valid direction response:
 23:59:34.8249 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 428, 0.04,-1.929, 2.410,-2.898,-2.449, PHS= 0.622,-1.380,-0.493, RAW= 116.2,  14.3, CAL= 117.2,  15.8, ROT=  32.8, -15.8

2025-10-24T23:59:37.012Z,1761350377.012 [DAT](INFO): DAT read: 

2025-10-24T23:59:37.013Z,1761350377.013 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T23:59:37.013Z,1761350377.013 [DAT](INFO): Got DATA 2
2025-10-24T23:59:37.014Z,1761350377.014 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T23:59:37.014Z,1761350377.014 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T23:59:37.014Z,1761350377.014 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T23:59:37.015Z,1761350377.015 [DAT](INFO): DAT read: CRC:Pass MPD:01.5 PSNR:10.5 AGC:58 SPD:+0.1 CCERR:008

2025-10-24T23:59:37.015Z,1761350377.015 [DAT](INFO): Got CRC:Pass
2025-10-24T23:59:37.016Z,1761350377.016 [DAT](INFO): Got CRC:Pass
2025-10-24T23:59:37.017Z,1761350377.017 [DAT](INFO): Incoming data is intended for us
2025-10-24T23:59:37.017Z,1761350377.017 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T23:59:37.017Z,1761350377.017 [DAT](INFO): Got ack
2025-10-24T23:59:37.017Z,1761350377.017 [DAT](INFO): DAT read: 

2025-10-24T23:59:37.018Z,1761350377.018 [DAT](INFO): DAT read: <EOP>

2025-10-24T23:59:37.018Z,1761350377.018 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:59:37.018Z,1761350377.018 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-24T23:59:37.019Z,1761350377.019 [DAT](INFO): direction in FSK: [0.808808,0.521241,0.272280]
2025-10-24T23:59:37.034Z,1761350377.034 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350400.00. Resetting abort timer.
2025-10-24T23:59:37.257Z,1761350377.257 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:59:37.257Z,1761350377.257 [DAT](INFO): #Outgoing data=47
2025-10-24T23:59:37.257Z,1761350377.257 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:59:37.364Z,1761350377.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905547,-0.421863,-0.044910],[0.418345,-0.905528,0.070756],[-0.070517,0.045285,0.996482]]
2025-10-24T23:59:37.511Z,1761350377.511 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:59:37.772Z,1761350377.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912529,-0.406366,-0.046436],[0.403126,-0.912775,0.065816],[-0.069131,0.041340,0.996751]]
2025-10-24T23:59:38.170Z,1761350378.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919547,-0.389990,-0.048397],[0.387028,-0.920078,0.060552],[-0.068144,0.036949,0.996991]]
2025-10-24T23:59:38.574Z,1761350378.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926665,-0.372581,-0.049746],[0.369904,-0.927413,0.055468],[-0.066801,0.032999,0.997221]]
2025-10-24T23:59:38.980Z,1761350378.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933719,-0.354480,-0.050134],[0.352011,-0.934556,0.051901],[-0.065251,0.030813,0.997393]]
2025-10-24T23:59:39.393Z,1761350379.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940661,-0.335704,-0.049596],[0.333422,-0.941504,0.048982],[-0.063139,0.029539,0.997568]]
2025-10-24T23:59:39.787Z,1761350379.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947337,-0.316635,-0.047905],[0.314470,-0.948070,0.047659],[-0.060508,0.030084,0.997714]]
2025-10-24T23:59:40.191Z,1761350380.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953602,-0.297547,-0.045921],[0.295524,-0.954224,0.046059],[-0.057524,0.030352,0.997883]]
2025-10-24T23:59:40.596Z,1761350380.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959277,-0.279052,-0.043794],[0.277127,-0.959765,0.045293],[-0.054671,0.031312,0.998013]]
2025-10-24T23:59:40.805Z,1761350380.805 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:59:39.8571

2025-10-24T23:59:40.805Z,1761350380.805 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:59:40.999Z,1761350380.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964452,-0.260940,-0.041739],[0.259167,-0.964854,0.043467],[-0.051614,0.031104,0.998183]]
2025-10-24T23:59:41.035Z,1761350381.035 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:59:41.035Z,1761350381.035 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:59:41.035Z,1761350381.035 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:59:41.036Z,1761350381.036 [marl:UpdateRudder:A] Stopped
2025-10-24T23:59:41.036Z,1761350381.036 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:59:41.404Z,1761350381.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969139,-0.243319,-0.039555],[0.241700,-0.969457,0.041640],[-0.048478,0.030794,0.998349]]
2025-10-24T23:59:41.450Z,1761350381.450 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:59:41.450Z,1761350381.450 [marl:UpdateRudder:B] Stopped
2025-10-24T23:59:41.450Z,1761350381.450 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:59:41.450Z,1761350381.450 [marl:UpdateRudder] Stopped
2025-10-24T23:59:41.451Z,1761350381.451 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:59:41.807Z,1761350381.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973437,-0.225815,-0.037779],[0.224415,-0.973754,0.037969],[-0.045362,0.028482,0.998564]]
2025-10-24T23:59:42.218Z,1761350382.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977188,-0.209418,-0.035315],[0.208126,-0.977401,0.037016],[-0.042269,0.028822,0.998690]]
2025-10-24T23:59:42.614Z,1761350382.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980640,-0.193184,-0.032018],[0.191973,-0.980688,0.037380],[-0.038621,0.030510,0.998788]]
2025-10-24T23:59:43.018Z,1761350383.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983599,-0.178049,-0.028845],[0.176929,-0.983505,0.037611],[-0.035066,0.031891,0.998876]]
2025-10-24T23:59:43.062Z,1761350383.062 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:59:43.062Z,1761350383.062 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:59:43.062Z,1761350383.062 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:59:43.062Z,1761350383.062 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:59:43.062Z,1761350383.062 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:59:43.062Z,1761350383.062 [marl:UpdateCommandMode] Stopped
2025-10-24T23:59:43.063Z,1761350383.063 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:59:43.063Z,1761350383.063 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:59:43.063Z,1761350383.063 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:59:43.063Z,1761350383.063 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:59:43.063Z,1761350383.063 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:59:43.063Z,1761350383.063 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:59:43.063Z,1761350383.063 [marl:UpdateSpeed] Stopped
2025-10-24T23:59:43.063Z,1761350383.063 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:59:43.424Z,1761350383.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986251,-0.163128,-0.026419],[0.162118,-0.986088,0.036709],[-0.032040,0.031921,0.998977]]
2025-10-24T23:59:43.828Z,1761350383.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988610,-0.148560,-0.024089],[0.147631,-0.988364,0.036623],[-0.029249,0.032649,0.999039]]
2025-10-24T23:59:44.231Z,1761350384.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990705,-0.134092,-0.022876],[0.133254,-0.990467,0.034894],[-0.027337,0.031522,0.999129]]
2025-10-24T23:59:44.634Z,1761350384.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992630,-0.119178,-0.021964],[0.118370,-0.992352,0.035024],[-0.025970,0.032166,0.999145]]
2025-10-24T23:59:45.039Z,1761350385.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994313,-0.104232,-0.021853],[0.103435,-0.994024,0.034903],[-0.025360,0.032445,0.999152]]
2025-10-24T23:59:45.444Z,1761350385.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995873,-0.087989,-0.022241],[0.087256,-0.995670,0.032054],[-0.024965,0.029981,0.999239]]
2025-10-24T23:59:45.867Z,1761350385.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997226,-0.071069,-0.022114],[0.070415,-0.997094,0.029063],[-0.024115,0.027425,0.999333]]
2025-10-24T23:59:46.250Z,1761350386.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998360,-0.052882,-0.021936],[0.052352,-0.998339,0.024073],[-0.023172,0.022885,0.999470]]
2025-10-24T23:59:46.659Z,1761350386.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999212,-0.034063,-0.020377],[0.033647,-0.999225,0.020410],[-0.021056,0.019708,0.999584]]
2025-10-24T23:59:47.060Z,1761350387.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999720,-0.015707,-0.017721],[0.015349,-0.999679,0.020169],[-0.018033,0.019892,0.999640]]
2025-10-24T23:59:47.464Z,1761350387.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999892,0.001264,-0.014621],[-0.001553,-0.999804,0.019721],[-0.014593,0.019741,0.999699]]
2025-10-24T23:59:47.633Z,1761350387.633 [DAT](INFO): DAT read: Rx Time:23:59:46.1213

2025-10-24T23:59:47.633Z,1761350387.633 [DAT](INFO): Rx dataTimestamp_ set to:1761350387.633026
2025-10-24T23:59:47.912Z,1761350387.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999765,0.018567,-0.011146],[-0.018770,-0.999655,0.018397],[-0.010801,0.018602,0.999769]]
2025-10-24T23:59:48.271Z,1761350388.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999379,0.034290,-0.008065],[-0.034445,-0.999206,0.020036],[-0.007371,0.020301,0.999767]]
2025-10-24T23:59:48.395Z,1761350388.395 [DAT](INFO): DAT read: 23:59:46.1213 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 407, 0.40, 0.822,-1.073, 0.424, 0.310, PHS= 0.614,-1.338, 0.069, RAW= 134.3,   7.6, CAL= 134.3,   8.7, ROT=  15.7,  -8.7

2025-10-24T23:59:48.396Z,1761350388.396 [DAT](INFO): got valid direction response:
 23:59:46.1213 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 407, 0.40, 0.822,-1.073, 0.424, 0.310, PHS= 0.614,-1.338, 0.069, RAW= 134.3,   7.6, CAL= 134.3,   8.7, ROT=  15.7,  -8.7

2025-10-24T23:59:48.397Z,1761350388.397 [DAT](INFO): DAT read: 

2025-10-24T23:59:48.397Z,1761350388.397 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T23:59:48.397Z,1761350388.397 [DAT](INFO): Got DATA 2
2025-10-24T23:59:48.398Z,1761350388.398 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T23:59:48.398Z,1761350388.398 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T23:59:48.399Z,1761350388.399 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T23:59:48.400Z,1761350388.400 [DAT](INFO): DAT read: CRC:Pass MPD:01.1 PSNR:11.3 AGC:57 SPD:+0.9 CCERR:007

2025-10-24T23:59:48.400Z,1761350388.400 [DAT](INFO): Got CRC:Pass
2025-10-24T23:59:48.400Z,1761350388.400 [DAT](INFO): Got CRC:Pass
2025-10-24T23:59:48.400Z,1761350388.400 [DAT](INFO): Incoming data is intended for us
2025-10-24T23:59:48.400Z,1761350388.400 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T23:59:48.401Z,1761350388.401 [DAT](INFO): Got ack
2025-10-24T23:59:48.401Z,1761350388.401 [DAT](INFO): DAT read: 

2025-10-24T23:59:48.401Z,1761350388.401 [DAT](INFO): DAT read: <EOP>

2025-10-24T23:59:48.402Z,1761350388.402 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:59:48.402Z,1761350388.402 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-10-24T23:59:48.403Z,1761350388.403 [DAT](INFO): direction in FSK: [0.951615,0.267487,0.151261]
2025-10-24T23:59:48.641Z,1761350388.641 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:59:48.641Z,1761350388.641 [DAT](INFO): #Outgoing data=47
2025-10-24T23:59:48.642Z,1761350388.642 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:59:48.679Z,1761350388.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998744,0.049785,-0.005619],[-0.049894,-0.998526,0.021359],[-0.004547,0.021613,0.999756]]
2025-10-24T23:59:48.724Z,1761350388.724 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350400.00. Resetting abort timer.
2025-10-24T23:59:48.893Z,1761350388.893 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-24T23:59:49.079Z,1761350389.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997807,0.066098,-0.003458],[-0.066158,-0.997578,0.021496],[-0.002029,0.021677,0.999763]]
2025-10-24T23:59:49.482Z,1761350389.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996547,0.082999,-0.002477],[-0.083034,-0.996289,0.022662],[-0.000587,0.022789,0.999740]]
2025-10-24T23:59:49.919Z,1761350389.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994872,0.101119,-0.001999],[-0.101138,-0.994631,0.021926],[0.000229,0.022016,0.999758]]
2025-10-24T23:59:50.291Z,1761350390.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992658,0.120940,-0.001901],[-0.120953,-0.992462,0.019744],[0.000501,0.019829,0.999803]]
2025-10-24T23:59:50.722Z,1761350390.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989938,0.141486,-0.002056],[-0.141499,-0.989755,0.019043],[0.000660,0.019143,0.999817]]
2025-10-24T23:59:51.080Z,1761350391.080 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-24T23:59:51.098Z,1761350391.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986665,0.162750,-0.001920],[-0.162758,-0.986498,0.018185],[0.001065,0.018255,0.999833]]
2025-10-24T23:59:51.503Z,1761350391.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983179,0.182644,-0.001003],[-0.182629,-0.982992,0.019302],[0.002540,0.019160,0.999813]]
2025-10-24T23:59:51.922Z,1761350391.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979313,0.202352,0.000684],[-0.202298,-0.979120,0.019980],[0.004713,0.019429,0.999800]]
2025-10-24T23:59:52.084Z,1761350392.084 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-24T23:59:52.169Z,1761350392.169 [DAT](INFO): DAT read: Forwarding Delay UpTx time:23:59:51.2070

2025-10-24T23:59:52.169Z,1761350392.169 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-24T23:59:52.310Z,1761350392.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975500,0.219971,0.003399],[-0.219862,-0.975326,0.020011],[0.007717,0.018774,0.999794]]
2025-10-24T23:59:52.714Z,1761350392.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971731,0.235973,0.007485],[-0.235829,-0.971657,0.016348],[0.011130,0.014121,0.999838]]
2025-10-24T23:59:53.120Z,1761350393.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967942,0.250912,0.011433],[-0.250749,-0.967951,0.013966],[0.014571,0.010652,0.999837]]
2025-10-24T23:59:53.523Z,1761350393.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964542,0.263558,0.014004],[-0.263315,-0.964559,0.017053],[0.018002,0.012760,0.999757]]
2025-10-24T23:59:53.927Z,1761350393.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961572,0.274119,0.015447],[-0.273787,-0.961570,0.020599],[0.020500,0.015578,0.999668]]
2025-10-24T23:59:53.988Z,1761350393.988 [marl:UpdateRudder] Running Loop=1
2025-10-24T23:59:53.988Z,1761350393.988 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-24T23:59:53.988Z,1761350393.988 [marl:UpdateRudder:A] Running Loop=1
2025-10-24T23:59:53.989Z,1761350393.989 [marl:UpdateRudder:A] Stopped
2025-10-24T23:59:53.989Z,1761350393.989 [marl:UpdateRudder:B] Running Loop=1
2025-10-24T23:59:54.339Z,1761350394.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958390,0.284932,0.017361],[-0.284569,-0.958432,0.020712],[0.022541,0.014910,0.999635]]
2025-10-24T23:59:54.389Z,1761350394.389 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-24T23:59:54.389Z,1761350394.389 [marl:UpdateRudder:B] Stopped
2025-10-24T23:59:54.389Z,1761350394.389 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-24T23:59:54.390Z,1761350394.390 [marl:UpdateRudder] Stopped
2025-10-24T23:59:54.390Z,1761350394.390 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-24T23:59:54.734Z,1761350394.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954853,0.296482,0.018832],[-0.296103,-0.954935,0.020539],[0.024073,0.014036,0.999612]]
2025-10-24T23:59:55.138Z,1761350395.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951120,0.308184,0.019839],[-0.307762,-0.951215,0.021723],[0.025566,0.014555,0.999567]]
2025-10-24T23:59:55.542Z,1761350395.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946504,0.321939,0.022045],[-0.321572,-0.946701,0.018644],[0.026872,0.010558,0.999583]]
2025-10-24T23:59:55.949Z,1761350395.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941156,0.337088,0.024427],[-0.336787,-0.941450,0.015671],[0.028279,0.006522,0.999579]]
2025-10-24T23:59:55.992Z,1761350395.992 [marl:UpdateCommandMode] Running Loop=1
2025-10-24T23:59:55.992Z,1761350395.992 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-24T23:59:55.992Z,1761350395.992 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-24T23:59:55.993Z,1761350395.993 [marl:UpdateCommandMode:A] Stopped
2025-10-24T23:59:55.993Z,1761350395.993 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-24T23:59:55.993Z,1761350395.993 [marl:UpdateCommandMode] Stopped
2025-10-24T23:59:55.993Z,1761350395.993 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-24T23:59:55.993Z,1761350395.993 [marl:UpdateSpeed] Running Loop=1
2025-10-24T23:59:55.993Z,1761350395.993 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-24T23:59:55.993Z,1761350395.993 [marl:UpdateSpeed:A] Running Loop=1
2025-10-24T23:59:55.993Z,1761350395.993 [marl:UpdateSpeed:A] Stopped
2025-10-24T23:59:55.994Z,1761350395.994 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-24T23:59:55.994Z,1761350395.994 [marl:UpdateSpeed] Stopped
2025-10-24T23:59:55.994Z,1761350395.994 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-24T23:59:56.354Z,1761350396.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935312,0.352850,0.026242],[-0.352546,-0.935665,0.015591],[0.030055,0.005331,0.999534]]
2025-10-24T23:59:56.754Z,1761350396.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928553,0.370120,0.028293],[-0.369810,-0.928975,0.015702],[0.032095,0.004117,0.999476]]
2025-10-24T23:59:57.159Z,1761350397.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921335,0.387708,0.028711],[-0.387288,-0.921759,0.019198],[0.033908,0.006569,0.999403]]
2025-10-24T23:59:57.564Z,1761350397.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913777,0.405207,0.028616],[-0.404679,-0.914180,0.022567],[0.035304,0.009041,0.999336]]
2025-10-24T23:59:57.967Z,1761350397.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905673,0.423007,0.028645],[-0.422399,-0.906065,0.025019],[0.036538,0.010559,0.999277]]
2025-10-24T23:59:58.370Z,1761350398.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897053,0.440945,0.029372],[-0.440342,-0.897485,0.024882],[0.037332,0.009387,0.999259]]
2025-10-24T23:59:58.774Z,1761350398.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887477,0.459859,0.030237],[-0.459304,-0.887963,0.023683],[0.037740,0.007130,0.999262]]
2025-10-24T23:59:58.973Z,1761350398.973 [DAT](INFO): DAT read: Rx Time:23:59:57.4684

2025-10-24T23:59:58.973Z,1761350398.973 [DAT](INFO): Rx dataTimestamp_ set to:1761350398.972962
2025-10-24T23:59:59.184Z,1761350399.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876965,0.479650,0.029461],[-0.479032,-0.877419,0.025770],[0.038211,0.008486,0.999234]]
2025-10-24T23:59:59.589Z,1761350399.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865857,0.499430,0.029339],[-0.498786,-0.866312,0.026745],[0.038774,0.008523,0.999212]]
2025-10-24T23:59:59.734Z,1761350399.734 [DAT](INFO): DAT read: 23:59:57.4684 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 422,-0.32,-1.674,-2.912,-1.221,-1.653, PHS= 0.080,-1.214, 0.387, RAW= 160.4,  10.2, CAL= 160.4,  11.0, ROT= 349.6, -11.0

2025-10-24T23:59:59.735Z,1761350399.735 [DAT](INFO): got valid direction response:
 23:59:57.4684 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 422,-0.32,-1.674,-2.912,-1.221,-1.653, PHS= 0.080,-1.214, 0.387, RAW= 160.4,  10.2, CAL= 160.4,  11.0, ROT= 349.6, -11.0

2025-10-24T23:59:59.736Z,1761350399.736 [DAT](INFO): DAT read: 

2025-10-24T23:59:59.737Z,1761350399.737 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-24T23:59:59.737Z,1761350399.737 [DAT](INFO): Got DATA 2
2025-10-24T23:59:59.738Z,1761350399.738 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-24T23:59:59.738Z,1761350399.738 [DAT](INFO): Got Src/Dest after DATA 
2025-10-24T23:59:59.738Z,1761350399.738 [DAT](INFO): DATA Src=10, Dst=11
2025-10-24T23:59:59.739Z,1761350399.739 [DAT](INFO): DAT read: CRC:Pass MPD:04.6 PSNR:11.0 AGC:60 SPD:+1.1 CCERR:008

2025-10-24T23:59:59.739Z,1761350399.739 [DAT](INFO): Got CRC:Pass
2025-10-24T23:59:59.739Z,1761350399.739 [DAT](INFO): Got CRC:Pass
2025-10-24T23:59:59.740Z,1761350399.740 [DAT](INFO): Incoming data is intended for us
2025-10-24T23:59:59.740Z,1761350399.740 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-24T23:59:59.740Z,1761350399.740 [DAT](INFO): Got ack
2025-10-24T23:59:59.740Z,1761350399.740 [DAT](INFO): DAT read: 

2025-10-24T23:59:59.741Z,1761350399.741 [DAT](INFO): DAT read: <EOP>

2025-10-24T23:59:59.741Z,1761350399.741 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-24T23:59:59.741Z,1761350399.741 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-10-24T23:59:59.742Z,1761350399.742 [DAT](INFO): direction in FSK: [0.965501,-0.177202,0.190809]
2025-10-24T23:59:59.981Z,1761350399.981 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-24T23:59:59.981Z,1761350399.981 [DAT](INFO): #Outgoing data=47
2025-10-24T23:59:59.982Z,1761350399.982 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-24T23:59:59.998Z,1761350399.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854219,0.519117,0.028781],[-0.518418,-0.854651,0.028537],[0.039412,0.009456,0.999178]]
2025-10-25T00:00:00.130Z,1761350400.130 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350400.00. Resetting abort timer.
2025-10-25T00:00:00.233Z,1761350400.233 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:00:00.391Z,1761350400.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842439,0.538073,0.027811],[-0.537311,-0.842829,0.030612],[0.039912,0.010845,0.999144]]
2025-10-25T00:00:00.794Z,1761350400.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830667,0.556182,0.025575],[-0.555313,-0.830939,0.034156],[0.040248,0.014170,0.999089]]
2025-10-25T00:00:00.944Z,1761350400.944 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:00:00.944Z,1761350400.944 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:00:01.208Z,1761350401.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819380,0.572808,0.022536],[-0.571821,-0.819479,0.038393],[0.040460,0.018572,0.999009]]
2025-10-25T00:00:01.603Z,1761350401.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809233,0.587145,0.020050],[-0.586081,-0.809186,0.041550],[0.040621,0.021873,0.998935]]
2025-10-25T00:00:02.010Z,1761350402.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800381,0.599228,0.017749],[-0.598111,-0.800197,0.044142],[0.040654,0.024715,0.998868]]
2025-10-25T00:00:02.066Z,1761350402.066 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-25T00:00:02.253Z,1761350402.253 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:00:02.304Z,1761350402.304 [DAT](INFO): entering command mode
2025-10-25T00:00:02.418Z,1761350402.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792486,0.609688,0.015684],[-0.608540,-0.792181,0.046128],[0.040548,0.027011,0.998812]]
2025-10-25T00:00:02.505Z,1761350402.505 [DAT](INFO): DAT read: 

2025-10-25T00:00:02.505Z,1761350402.505 [DAT](INFO): DAT read: user:12>

2025-10-25T00:00:02.506Z,1761350402.506 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:00:02.506Z,1761350402.506 [DAT](INFO): setting remote address to 0
2025-10-25T00:00:02.757Z,1761350402.757 [DAT](INFO): DAT read: user:12>

2025-10-25T00:00:02.758Z,1761350402.758 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-25T00:00:02.759Z,1761350402.759 [DAT](INFO): set remote address to 0
2025-10-25T00:00:02.759Z,1761350402.759 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:00:02.759Z,1761350402.759 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-25T00:00:02.827Z,1761350402.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785333,0.618901,0.014609],[-0.617755,-0.784982,0.046714],[0.040380,0.027661,0.998801]]
2025-10-25T00:00:03.009Z,1761350403.009 [DAT](INFO): DAT read: user:13>

2025-10-25T00:00:03.009Z,1761350403.009 [DAT](INFO): DAT read: Tx time:00:00:02.0082

2025-10-25T00:00:03.010Z,1761350403.010 [DAT](INFO): Ping request sent.
2025-10-25T00:00:03.010Z,1761350403.010 [DAT](INFO): transmitted an acoustic signal
2025-10-25T00:00:03.010Z,1761350403.010 [DAT](INFO): publishing transmit ping time
2025-10-25T00:00:03.011Z,1761350403.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000970
2025-10-25T00:00:03.222Z,1761350403.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778925,0.626942,0.014839],[-0.625810,-0.778610,0.046135],[0.040478,0.026649,0.998825]]
2025-10-25T00:00:03.261Z,1761350403.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250813
2025-10-25T00:00:03.513Z,1761350403.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502899
2025-10-25T00:00:03.626Z,1761350403.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772965,0.634251,0.015826],[-0.633104,-0.772710,0.045808],[0.041283,0.025388,0.998825]]
2025-10-25T00:00:03.765Z,1761350403.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755375
2025-10-25T00:00:04.017Z,1761350404.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006812
2025-10-25T00:00:04.033Z,1761350404.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767076,0.641311,0.017715],[-0.640138,-0.766924,0.045290],[0.042631,0.023401,0.998817]]
2025-10-25T00:00:04.269Z,1761350404.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258889
2025-10-25T00:00:04.438Z,1761350404.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760727,0.648761,0.020070],[-0.647569,-0.760706,0.044504],[0.044140,0.020858,0.998808]]
2025-10-25T00:00:04.521Z,1761350404.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510932
2025-10-25T00:00:04.773Z,1761350404.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762849
2025-10-25T00:00:04.838Z,1761350404.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753408,0.657204,0.021438],[-0.656011,-0.753472,0.043932],[0.045025,0.019035,0.998804]]
2025-10-25T00:00:05.025Z,1761350405.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015541
2025-10-25T00:00:05.243Z,1761350405.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744966,0.666732,0.022241],[-0.665543,-0.745089,0.043538],[0.045600,0.017632,0.998804]]
2025-10-25T00:00:05.277Z,1761350405.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267050
2025-10-25T00:00:05.529Z,1761350405.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518903
2025-10-25T00:00:05.649Z,1761350405.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735341,0.677313,0.022815],[-0.676153,-0.735521,0.042725],[0.045719,0.015991,0.998826]]
2025-10-25T00:00:05.786Z,1761350405.786 [DAT](INFO): DAT read: Rx Time:00:00:04.2704

2025-10-25T00:00:05.787Z,1761350405.787 [DAT](INFO): Rx dataTimestamp_ set to:1761350405.786266
2025-10-25T00:00:05.788Z,1761350405.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777710
2025-10-25T00:00:06.037Z,1761350406.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026877
2025-10-25T00:00:06.052Z,1761350406.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724669,0.688696,0.023503],[-0.687588,-0.724918,0.041436],[0.045574,0.013867,0.998865]]
2025-10-25T00:00:06.298Z,1761350406.298 [DAT](INFO): DAT read: 00:00:04.2704 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 447, 0.14,-2.317, 2.645,-1.816,-2.332, PHS= 0.117,-1.262, 0.472, RAW= 161.2,   8.5, CAL= 160.9,   8.9, ROT= 349.1,  -8.9

2025-10-25T00:00:06.299Z,1761350406.299 [DAT](INFO): got valid direction response:
 00:00:04.2704 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 447, 0.14,-2.317, 2.645,-1.816,-2.332, PHS= 0.117,-1.262, 0.472, RAW= 161.2,   8.5, CAL= 160.9,   8.9, ROT= 349.1,  -8.9

2025-10-25T00:00:06.301Z,1761350406.301 [DAT](INFO): DAT read: $Error in header

2025-10-25T00:00:06.301Z,1761350406.301 [DAT](INFO): Received a bad header
2025-10-25T00:00:06.312Z,1761350406.312 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-25T00:00:06.314Z,1761350406.314 [DAT](INFO): direction in FSK: [0.970136,-0.186819,0.154710]
2025-10-25T00:00:06.455Z,1761350406.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712763,0.700992,0.024091],[-0.699927,-0.713069,0.040432],[0.045521,0.011956,0.998892]]
2025-10-25T00:00:06.508Z,1761350406.508 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350400.00. Resetting abort timer.
2025-10-25T00:00:06.859Z,1761350406.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699181,0.714479,0.025820],[-0.713480,-0.699603,0.038747],[0.045748,0.008669,0.998915]]
2025-10-25T00:00:06.883Z,1761350406.883 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:00:06.883Z,1761350406.883 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:00:06.883Z,1761350406.883 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:00:06.884Z,1761350406.884 [marl:UpdateRudder:A] Stopped
2025-10-25T00:00:06.884Z,1761350406.884 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:00:07.268Z,1761350407.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684034,0.728909,0.028070],[-0.727955,-0.684589,0.037660],[0.046667,0.005328,0.998896]]
2025-10-25T00:00:07.303Z,1761350407.303 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:00:07.303Z,1761350407.303 [marl:UpdateRudder:B] Stopped
2025-10-25T00:00:07.304Z,1761350407.304 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:00:07.304Z,1761350407.304 [marl:UpdateRudder] Stopped
2025-10-25T00:00:07.304Z,1761350407.304 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:00:07.671Z,1761350407.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667386,0.744120,0.029689],[-0.743164,-0.668038,0.037846],[0.047995,0.003194,0.998842]]
2025-10-25T00:00:08.070Z,1761350408.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649272,0.759956,0.030217],[-0.758940,-0.649970,0.039366],[0.049557,0.002627,0.998768]]
2025-10-25T00:00:08.478Z,1761350408.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629772,0.776206,0.029863],[-0.775108,-0.630473,0.041370],[0.050939,0.002906,0.998698]]
2025-10-25T00:00:08.880Z,1761350408.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609132,0.792579,0.027878],[-0.791377,-0.609751,0.043885],[0.051781,0.004670,0.998648]]
2025-10-25T00:00:08.922Z,1761350408.922 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:00:08.922Z,1761350408.922 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:00:08.922Z,1761350408.922 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:00:08.923Z,1761350408.923 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:00:08.923Z,1761350408.923 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:00:08.923Z,1761350408.923 [marl:UpdateCommandMode] Stopped
2025-10-25T00:00:08.923Z,1761350408.923 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:00:08.923Z,1761350408.923 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:00:08.923Z,1761350408.923 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:00:08.923Z,1761350408.923 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:00:08.940Z,1761350408.940 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:00:08.941Z,1761350408.941 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:00:08.941Z,1761350408.941 [marl:UpdateSpeed] Stopped
2025-10-25T00:00:08.941Z,1761350408.941 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:00:09.289Z,1761350409.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587933,0.808505,0.025595],[-0.807237,-0.588457,0.045678],[0.051992,0.006194,0.998628]]
2025-10-25T00:00:09.689Z,1761350409.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567764,0.822901,0.021858],[-0.821568,-0.568111,0.047705],[0.051674,0.009127,0.998622]]
2025-10-25T00:00:10.091Z,1761350410.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552603,0.833156,0.021917],[-0.831870,-0.552984,0.046910],[0.051203,0.007690,0.998659]]
2025-10-25T00:00:10.321Z,1761350410.321 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-25T00:00:10.321Z,1761350410.321 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:00:10.494Z,1761350410.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543437,0.838964,0.028561],[-0.837906,-0.544186,0.042137],[0.050894,-0.001033,0.998704]]
2025-10-25T00:00:10.573Z,1761350410.573 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:00:10.574Z,1761350410.574 [DAT](INFO): #Outgoing data=47
2025-10-25T00:00:10.575Z,1761350410.575 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:00:10.825Z,1761350410.825 [DAT](INFO): setting remote address to 10
2025-10-25T00:00:10.898Z,1761350410.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539983,0.840576,0.043016],[-0.840120,-0.541387,0.033157],[0.051159,-0.018234,0.998524]]
2025-10-25T00:00:11.077Z,1761350411.077 [DAT](INFO): DAT read: 

2025-10-25T00:00:11.077Z,1761350411.077 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-25T00:00:11.078Z,1761350411.078 [DAT](INFO): set remote address to 10
2025-10-25T00:00:11.078Z,1761350411.078 [DAT](INFO): entering online mode
2025-10-25T00:00:11.307Z,1761350411.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540297,0.838931,0.065370],[-0.839882,-0.542422,0.019417],[0.051747,-0.044412,0.997672]]
2025-10-25T00:00:11.329Z,1761350411.329 [DAT](INFO): DAT read: user:15>

2025-10-25T00:00:11.329Z,1761350411.329 [DAT](INFO): DAT read: 

2025-10-25T00:00:11.331Z,1761350411.331 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-25T00:00:11.331Z,1761350411.331 [DAT](INFO): commRate: 600
2025-10-25T00:00:11.331Z,1761350411.331 [DAT](INFO): online mode acknowledged
2025-10-25T00:00:11.331Z,1761350411.331 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:00:11.706Z,1761350411.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542200,0.835387,0.090263],[-0.838605,-0.544725,0.004039],[0.052542,-0.073505,0.995910]]
2025-10-25T00:00:12.110Z,1761350412.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544515,0.830544,0.117045],[-0.837031,-0.547013,-0.012459],[0.053677,-0.104755,0.993048]]
2025-10-25T00:00:12.515Z,1761350412.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546840,0.825209,0.141408],[-0.835452,-0.548859,-0.027830],[0.054647,-0.133358,0.989560]]
2025-10-25T00:00:12.919Z,1761350412.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548675,0.820114,0.162385],[-0.834188,-0.549943,-0.041150],[0.055554,-0.158038,0.985869]]
2025-10-25T00:00:13.096Z,1761350413.096 [DAT](INFO): Reached modem response timeout
2025-10-25T00:00:13.322Z,1761350413.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549837,0.816007,0.178360],[-0.833384,-0.550289,-0.051502],[0.056124,-0.176960,0.982617]]
2025-10-25T00:00:13.726Z,1761350413.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551815,0.812219,0.189209],[-0.832051,-0.551561,-0.058924],[0.056501,-0.189946,0.980167]]
2025-10-25T00:00:14.130Z,1761350414.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554084,0.809180,0.195497],[-0.830506,-0.553407,-0.063247],[0.057011,-0.197406,0.978663]]
2025-10-25T00:00:14.542Z,1761350414.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556940,0.806338,0.199089],[-0.828562,-0.555993,-0.066007],[0.057468,-0.201720,0.977756]]
2025-10-25T00:00:14.940Z,1761350414.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559581,0.803822,0.201841],[-0.826766,-0.558367,-0.068448],[0.057682,-0.205177,0.977024]]
2025-10-25T00:00:15.342Z,1761350415.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561653,0.802045,0.203149],[-0.825369,-0.560219,-0.070148],[0.057546,-0.207072,0.976632]]
2025-10-25T00:00:15.365Z,1761350415.365 [DAT](INFO): DAT read: Response Not Received

2025-10-25T00:00:15.365Z,1761350415.365 [DAT](INFO): response not received
2025-10-25T00:00:15.365Z,1761350415.365 [DAT](ERROR): No response from remote modem.
2025-10-25T00:00:15.749Z,1761350415.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562012,0.801240,0.205322],[-0.825146,-0.560296,-0.072132],[0.057246,-0.209960,0.976033]]
2025-10-25T00:00:16.151Z,1761350416.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560468,0.801675,0.207829],[-0.826232,-0.558444,-0.074033],[0.056711,-0.213208,0.975360]]
2025-10-25T00:00:16.556Z,1761350416.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557391,0.803216,0.210140],[-0.828352,-0.555114,-0.075378],[0.056107,-0.216085,0.974761]]
2025-10-25T00:00:16.959Z,1761350416.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554060,0.805122,0.211651],[-0.830610,-0.551670,-0.075814],[0.055721,-0.217805,0.974400]]
2025-10-25T00:00:17.362Z,1761350417.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549763,0.808107,0.211481],[-0.833496,-0.547416,-0.074970],[0.055184,-0.217484,0.974503]]
2025-10-25T00:00:17.774Z,1761350417.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545214,0.811196,0.211431],[-0.836516,-0.542900,-0.074171],[0.054619,-0.217304,0.974575]]
2025-10-25T00:00:18.172Z,1761350418.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540586,0.814377,0.211087],[-0.839500,-0.538535,-0.072252],[0.054837,-0.216266,0.974793]]
2025-10-25T00:00:18.389Z,1761350418.389 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:00:17.5570

2025-10-25T00:00:18.389Z,1761350418.389 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:00:18.574Z,1761350418.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535209,0.818129,0.210276],[-0.842917,-0.533508,-0.069712],[0.055151,-0.214556,0.975153]]
2025-10-25T00:00:18.978Z,1761350418.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528811,0.822425,0.209702],[-0.846909,-0.527529,-0.066772],[0.055709,-0.212908,0.975483]]
2025-10-25T00:00:19.389Z,1761350419.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521306,0.827134,0.209975],[-0.851473,-0.520553,-0.063392],[0.056869,-0.211835,0.975649]]
2025-10-25T00:00:19.796Z,1761350419.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502664,0.838303,0.211131],[-0.862415,-0.503156,-0.055451],[0.059747,-0.209956,0.975883]]
2025-10-25T00:00:19.835Z,1761350419.835 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:00:19.836Z,1761350419.836 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:00:19.836Z,1761350419.836 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:00:19.836Z,1761350419.836 [marl:UpdateRudder:A] Stopped
2025-10-25T00:00:19.837Z,1761350419.837 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:00:20.195Z,1761350420.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492030,0.844661,0.210843],[-0.868486,-0.493016,-0.051648],[0.060324,-0.208526,0.976155]]
2025-10-25T00:00:20.251Z,1761350420.251 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:00:20.251Z,1761350420.251 [marl:UpdateRudder:B] Stopped
2025-10-25T00:00:20.251Z,1761350420.251 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:00:20.251Z,1761350420.251 [marl:UpdateRudder] Stopped
2025-10-25T00:00:20.251Z,1761350420.251 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:00:20.602Z,1761350420.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481168,0.851363,0.208944],[-0.874543,-0.482619,-0.047471],[0.060425,-0.205572,0.976775]]
2025-10-25T00:00:21.004Z,1761350421.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471512,0.857890,0.204207],[-0.879848,-0.473281,-0.043267],[0.059529,-0.200072,0.977971]]
2025-10-25T00:00:21.405Z,1761350421.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465141,0.863259,0.196032],[-0.883309,-0.467211,-0.038457],[0.058390,-0.191045,0.979843]]
2025-10-25T00:00:21.454Z,1761350421.454 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:00:21.455Z,1761350421.455 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:00:21.455Z,1761350421.455 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:00:21.455Z,1761350421.455 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:00:21.455Z,1761350421.455 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:00:21.455Z,1761350421.455 [marl:UpdateCommandMode] Stopped
2025-10-25T00:00:21.455Z,1761350421.455 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:00:21.455Z,1761350421.455 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:00:21.455Z,1761350421.455 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:00:21.456Z,1761350421.456 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:00:21.457Z,1761350421.457 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:00:21.457Z,1761350421.457 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:00:21.457Z,1761350421.457 [marl:UpdateSpeed] Stopped
2025-10-25T00:00:21.457Z,1761350421.457 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:00:21.806Z,1761350421.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463028,0.866482,0.186584],[-0.884507,-0.465258,-0.034375],[0.057024,-0.180951,0.981837]]
2025-10-25T00:00:22.204Z,1761350422.204 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:00:22.211Z,1761350422.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464156,0.867766,0.177600],[-0.884023,-0.466368,-0.031680],[0.055337,-0.171707,0.983593]]
2025-10-25T00:00:22.617Z,1761350422.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467654,0.866851,0.172826],[-0.882282,-0.469650,-0.031743],[0.053651,-0.167326,0.984441]]
2025-10-25T00:00:23.019Z,1761350423.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472764,0.864166,0.172372],[-0.879622,-0.474467,-0.033853],[0.052530,-0.167626,0.984450]]
2025-10-25T00:00:23.208Z,1761350423.208 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:00:23.423Z,1761350423.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478723,0.860019,0.176612],[-0.876395,-0.480126,-0.037553],[0.052500,-0.172759,0.983564]]
2025-10-25T00:00:23.826Z,1761350423.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485730,0.854919,0.182155],[-0.872470,-0.486931,-0.041168],[0.053502,-0.178921,0.982408]]
2025-10-25T00:00:24.236Z,1761350424.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492637,0.849603,0.188369],[-0.868493,-0.493685,-0.044674],[0.055040,-0.185605,0.981082]]
2025-10-25T00:00:24.634Z,1761350424.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497990,0.844835,0.195601],[-0.865353,-0.498778,-0.048837],[0.056302,-0.193584,0.979467]]
2025-10-25T00:00:25.039Z,1761350425.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499363,0.842644,0.201465],[-0.864568,-0.499735,-0.052791],[0.056195,-0.200542,0.978072]]
2025-10-25T00:00:25.197Z,1761350425.197 [DAT](INFO): DAT read: Rx Time:00:00:23.7110

2025-10-25T00:00:25.197Z,1761350425.197 [DAT](INFO): Rx dataTimestamp_ set to:1761350425.197062
2025-10-25T00:00:25.443Z,1761350425.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498496,0.841882,0.206727],[-0.865126,-0.498342,-0.056680],[0.055303,-0.207100,0.976755]]
2025-10-25T00:00:25.886Z,1761350425.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496668,0.841671,0.211923],[-0.866262,-0.495882,-0.060752],[0.053955,-0.213755,0.975396]]
2025-10-25T00:00:25.966Z,1761350425.966 [DAT](INFO): DAT read: 07110 LVL= 19376, 25425, 11570, 21491, AGC= 43, IDX= 352,-0.21, 3.049, 2.806,-1.529,-2.823, PHS=-0.309,-0.609, 1.251, RAW= 201.4,  -3.9, CAL= 201.2,  -6.4, ROT= 308.8,   6.4

2025-10-25T00:00:25.967Z,1761350425.967 [DAT](INFO): unknown deviceResponse_: 07110 LVL= 19376, 25425, 11570, 21491, AGC= 43, IDX= 352,-0.21, 3.049, 2.806,-1.529,-2.823, PHS=-0.309,-0.609, 1.251, RAW= 201.4,  -3.9, CAL= 201.2,  -6.4, ROT= 308.8,   6.4

2025-10-25T00:00:25.967Z,1761350425.967 [DAT](INFO): DAT read: 

2025-10-25T00:00:25.968Z,1761350425.968 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:00:25.968Z,1761350425.968 [DAT](INFO): Got DATA 2
2025-10-25T00:00:25.969Z,1761350425.969 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:00:25.969Z,1761350425.969 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:00:25.969Z,1761350425.969 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:00:25.971Z,1761350425.971 [DAT](INFO): DAT read: CRC:Pass MPD:03.3 PSNR:11.3 AGC:49 SPD:+0.9 CCERR:009

2025-10-25T00:00:25.971Z,1761350425.971 [DAT](INFO): Got CRC:Pass
2025-10-25T00:00:25.971Z,1761350425.971 [DAT](INFO): Got CRC:Pass
2025-10-25T00:00:25.971Z,1761350425.971 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:00:25.971Z,1761350425.971 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:00:25.971Z,1761350425.971 [DAT](INFO): Got ack
2025-10-25T00:00:25.971Z,1761350425.971 [DAT](INFO): DAT read: 

2025-10-25T00:00:25.972Z,1761350425.972 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:00:25.972Z,1761350425.972 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:00:26.213Z,1761350426.213 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:00:26.214Z,1761350426.214 [DAT](INFO): #Outgoing data=48
2025-10-25T00:00:26.214Z,1761350426.214 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:00:26.261Z,1761350426.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495226,0.842163,0.213337],[-0.867153,-0.494120,-0.062376],[0.052883,-0.215886,0.974985]]
2025-10-25T00:00:26.465Z,1761350426.465 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:00:26.660Z,1761350426.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493995,0.842816,0.213613],[-0.867911,-0.492679,-0.063228],[0.051953,-0.216632,0.974870]]
2025-10-25T00:00:27.058Z,1761350427.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491248,0.844063,0.215018],[-0.869547,-0.489591,-0.064724],[0.050640,-0.218764,0.974463]]
2025-10-25T00:00:27.462Z,1761350427.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486893,0.846477,0.215432],[-0.872057,-0.485072,-0.064970],[0.049504,-0.219502,0.974355]]
2025-10-25T00:00:27.908Z,1761350427.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480907,0.849984,0.215072],[-0.875442,-0.479010,-0.064423],[0.048263,-0.219265,0.974471]]
2025-10-25T00:00:28.272Z,1761350428.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473903,0.854373,0.213221],[-0.879328,-0.472040,-0.062931],[0.046883,-0.217315,0.974975]]
2025-10-25T00:00:28.681Z,1761350428.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466180,0.859330,0.210304],[-0.883522,-0.464430,-0.060775],[0.045446,-0.214140,0.975745]]
2025-10-25T00:00:29.078Z,1761350429.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458655,0.864217,0.206794],[-0.887523,-0.457045,-0.058418],[0.044028,-0.210329,0.976639]]
2025-10-25T00:00:29.483Z,1761350429.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451999,0.868815,0.202131],[-0.890993,-0.450597,-0.055620],[0.042756,-0.205237,0.977778]]
2025-10-25T00:00:29.745Z,1761350429.745 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:00:28.8069

2025-10-25T00:00:29.745Z,1761350429.745 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:00:29.915Z,1761350429.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447383,0.872395,0.196916],[-0.893349,-0.446294,-0.052431],[0.042142,-0.199371,0.979017]]
2025-10-25T00:00:30.292Z,1761350430.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444126,0.874915,0.193068],[-0.894966,-0.443377,-0.049517],[0.042279,-0.194782,0.979935]]
2025-10-25T00:00:30.694Z,1761350430.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442353,0.876813,0.188477],[-0.895805,-0.442075,-0.045865],[0.043106,-0.189127,0.981006]]
2025-10-25T00:00:31.098Z,1761350431.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440292,0.878617,0.184864],[-0.896785,-0.440392,-0.042796],[0.043811,-0.184626,0.981832]]
2025-10-25T00:00:31.503Z,1761350431.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436958,0.880297,0.184785],[-0.898385,-0.437260,-0.041331],[0.044416,-0.184068,0.981909]]
2025-10-25T00:00:31.921Z,1761350431.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432452,0.882083,0.186854],[-0.900515,-0.432954,-0.040291],[0.045359,-0.185689,0.981561]]
2025-10-25T00:00:32.310Z,1761350432.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427091,0.884283,0.188776],[-0.903055,-0.427690,-0.039662],[0.045666,-0.187414,0.981219]]
2025-10-25T00:00:32.722Z,1761350432.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421599,0.886569,0.190395],[-0.905630,-0.422261,-0.039124],[0.045711,-0.188922,0.980928]]
2025-10-25T00:00:32.771Z,1761350432.771 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:00:32.771Z,1761350432.771 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:00:32.771Z,1761350432.771 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:00:32.772Z,1761350432.772 [marl:UpdateRudder:A] Stopped
2025-10-25T00:00:32.772Z,1761350432.772 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:00:33.119Z,1761350433.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416991,0.888532,0.191386],[-0.907754,-0.417742,-0.038390],[0.045839,-0.189740,0.980764]]
2025-10-25T00:00:33.174Z,1761350433.174 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:00:33.175Z,1761350433.175 [marl:UpdateRudder:B] Stopped
2025-10-25T00:00:33.175Z,1761350433.175 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:00:33.175Z,1761350433.175 [marl:UpdateRudder] Stopped
2025-10-25T00:00:33.175Z,1761350433.175 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:00:33.522Z,1761350433.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414353,0.889921,0.190663],[-0.908947,-0.415253,-0.037149],[0.046114,-0.188695,0.980952]]
2025-10-25T00:00:33.926Z,1761350433.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413721,0.890706,0.188357],[-0.909220,-0.414790,-0.035610],[0.046410,-0.185990,0.981455]]
2025-10-25T00:00:34.336Z,1761350434.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414519,0.891150,0.184460],[-0.908844,-0.415770,-0.033722],[0.046642,-0.181623,0.982261]]
2025-10-25T00:00:34.361Z,1761350434.361 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:00:34.361Z,1761350434.361 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:00:34.362Z,1761350434.362 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:00:34.362Z,1761350434.362 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:00:34.362Z,1761350434.362 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:00:34.362Z,1761350434.362 [marl:UpdateCommandMode] Stopped
2025-10-25T00:00:34.362Z,1761350434.362 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:00:34.362Z,1761350434.362 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:00:34.362Z,1761350434.362 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:00:34.362Z,1761350434.362 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:00:34.363Z,1761350434.363 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:00:34.363Z,1761350434.363 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:00:34.363Z,1761350434.363 [marl:UpdateSpeed] Stopped
2025-10-25T00:00:34.363Z,1761350434.363 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:00:34.736Z,1761350434.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416789,0.890660,0.181692],[-0.907786,-0.418171,-0.032510],[0.047023,-0.178487,0.982818]]
2025-10-25T00:00:35.138Z,1761350435.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420011,0.889543,0.179732],[-0.906273,-0.421503,-0.031711],[0.047549,-0.176205,0.983204]]
2025-10-25T00:00:35.544Z,1761350435.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423286,0.888251,0.178438],[-0.904740,-0.424787,-0.031644],[0.047690,-0.174834,0.983442]]
2025-10-25T00:00:35.948Z,1761350435.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426194,0.886572,0.179858],[-0.903361,-0.427635,-0.032683],[0.047938,-0.176407,0.983149]]
2025-10-25T00:00:36.351Z,1761350436.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428429,0.885322,0.180700],[-0.902326,-0.429706,-0.034058],[0.047495,-0.177642,0.982948]]
2025-10-25T00:00:36.556Z,1761350436.556 [DAT](INFO): DAT read: Rx Time:00:00:35.0575

2025-10-25T00:00:36.556Z,1761350436.556 [DAT](INFO): Rx dataTimestamp_ set to:1761350436.556203
2025-10-25T00:00:36.755Z,1761350436.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429948,0.883806,0.184476],[-0.901655,-0.430843,-0.037310],[0.046505,-0.182375,0.982129]]
2025-10-25T00:00:37.158Z,1761350437.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430244,0.883090,0.187195],[-0.901600,-0.430668,-0.040541],[0.044817,-0.186218,0.981486]]
2025-10-25T00:00:37.314Z,1761350437.314 [DAT](INFO): DAT read: 00:00:35.0575 LVL= 32640, 32609, 15314, 32755, AGC= 53, IDX= 412, 0.40,-2.140,-1.726,-0.063,-1.486, PHS=-0.552,-0.195, 1.379, RAW= 220.0,  -7.2, CAL= 218.6, -10.5, ROT= 291.4,  10.5

2025-10-25T00:00:37.315Z,1761350437.315 [DAT](INFO): got valid direction response:
 00:00:35.0575 LVL= 32640, 32609, 15314, 32755, AGC= 53, IDX= 412, 0.40,-2.140,-1.726,-0.063,-1.486, PHS=-0.552,-0.195, 1.379, RAW= 220.0,  -7.2, CAL= 218.6, -10.5, ROT= 291.4,  10.5

2025-10-25T00:00:37.316Z,1761350437.316 [DAT](INFO): DAT read: 

2025-10-25T00:00:37.316Z,1761350437.316 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:00:37.317Z,1761350437.317 [DAT](INFO): Got DATA 2
2025-10-25T00:00:37.317Z,1761350437.317 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:00:37.317Z,1761350437.317 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:00:37.318Z,1761350437.318 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:00:37.319Z,1761350437.319 [DAT](INFO): DAT read: CRC:Pass MPD:05.1 PSNR:11.8 AGC:57 SPD:+0.0 CCERR:008

2025-10-25T00:00:37.319Z,1761350437.319 [DAT](INFO): Got CRC:Pass
2025-10-25T00:00:37.319Z,1761350437.319 [DAT](INFO): Got CRC:Pass
2025-10-25T00:00:37.319Z,1761350437.319 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:00:37.319Z,1761350437.319 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:00:37.320Z,1761350437.320 [DAT](INFO): Got ack
2025-10-25T00:00:37.331Z,1761350437.331 [DAT](INFO): DAT read: 

2025-10-25T00:00:37.332Z,1761350437.332 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:00:37.332Z,1761350437.332 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:00:37.333Z,1761350437.333 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-25T00:00:37.334Z,1761350437.334 [DAT](INFO): direction in FSK: [0.358767,-0.915465,-0.182236]
2025-10-25T00:00:37.561Z,1761350437.561 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:00:37.561Z,1761350437.561 [DAT](INFO): #Outgoing data=48
2025-10-25T00:00:37.561Z,1761350437.561 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:00:37.585Z,1761350437.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430202,0.882556,0.189793],[-0.901703,-0.430145,-0.043664],[0.043102,-0.189921,0.980853]]
2025-10-25T00:00:37.617Z,1761350437.617 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350400.00. Resetting abort timer.
2025-10-25T00:00:37.813Z,1761350437.813 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:00:37.966Z,1761350437.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428956,0.882212,0.194165],[-0.902384,-0.428302,-0.047535],[0.041226,-0.195601,0.979817]]
2025-10-25T00:00:38.378Z,1761350438.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426590,0.882772,0.196810],[-0.903586,-0.425453,-0.050216],[0.039404,-0.199256,0.979155]]
2025-10-25T00:00:38.774Z,1761350438.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423505,0.884013,0.197900],[-0.905113,-0.421989,-0.051924],[0.037610,-0.201112,0.978846]]
2025-10-25T00:00:39.182Z,1761350439.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419004,0.885635,0.200217],[-0.907283,-0.417038,-0.054000],[0.035674,-0.204280,0.978262]]
2025-10-25T00:00:39.584Z,1761350439.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413656,0.887324,0.203825],[-0.909803,-0.411208,-0.056275],[0.033880,-0.208719,0.977389]]
2025-10-25T00:00:39.988Z,1761350439.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407660,0.889073,0.208238],[-0.912573,-0.404665,-0.058793],[0.031995,-0.214000,0.976309]]
2025-10-25T00:00:40.391Z,1761350440.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401195,0.891177,0.211770],[-0.915500,-0.397698,-0.060799],[0.030038,-0.218268,0.975427]]
2025-10-25T00:00:40.794Z,1761350440.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395004,0.894250,0.210451],[-0.918249,-0.391328,-0.060665],[0.028105,-0.217209,0.975720]]
2025-10-25T00:00:41.089Z,1761350441.089 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:00:40.1569

2025-10-25T00:00:41.090Z,1761350441.090 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:00:41.206Z,1761350441.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390145,0.897575,0.205293],[-0.920369,-0.386607,-0.058787],[0.026602,-0.211881,0.976933]]
2025-10-25T00:00:41.605Z,1761350441.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386070,0.900025,0.202248],[-0.922121,-0.382561,-0.057792],[0.025358,-0.208809,0.977628]]
2025-10-25T00:00:42.006Z,1761350442.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382526,0.902641,0.197262],[-0.923624,-0.379201,-0.055905],[0.024340,-0.203581,0.978756]]
2025-10-25T00:00:42.410Z,1761350442.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379031,0.904887,0.193689],[-0.925096,-0.375738,-0.054934],[0.023067,-0.200002,0.979524]]
2025-10-25T00:00:42.814Z,1761350442.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375596,0.907055,0.190205],[-0.926530,-0.372303,-0.054159],[0.021689,-0.196573,0.980249]]
2025-10-25T00:00:43.223Z,1761350443.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372273,0.908904,0.187899],[-0.927909,-0.368830,-0.054306],[0.019943,-0.194570,0.980686]]
2025-10-25T00:00:43.623Z,1761350443.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370140,0.910322,0.185228],[-0.928807,-0.366443,-0.055109],[0.017709,-0.192439,0.981149]]
2025-10-25T00:00:44.026Z,1761350444.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369385,0.911233,0.182232],[-0.929147,-0.365441,-0.056033],[0.015536,-0.190018,0.981658]]
2025-10-25T00:00:44.430Z,1761350444.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370576,0.911371,0.179099],[-0.928709,-0.366321,-0.057525],[0.013181,-0.187648,0.982148]]
2025-10-25T00:00:44.835Z,1761350444.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373502,0.910647,0.176685],[-0.927564,-0.368900,-0.059482],[0.011012,-0.186104,0.982468]]
2025-10-25T00:00:45.247Z,1761350445.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377638,0.909100,0.175861],[-0.925909,-0.372604,-0.062116],[0.009057,-0.186289,0.982453]]
2025-10-25T00:00:45.643Z,1761350445.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381384,0.907292,0.177108],[-0.924389,-0.375802,-0.065408],[0.007213,-0.188662,0.982016]]
2025-10-25T00:00:45.703Z,1761350445.703 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:00:45.708Z,1761350445.708 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:00:45.708Z,1761350445.708 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:00:45.709Z,1761350445.709 [marl:UpdateRudder:A] Stopped
2025-10-25T00:00:45.709Z,1761350445.709 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:00:46.046Z,1761350446.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383299,0.906235,0.178382],[-0.923609,-0.377172,-0.068460],[0.005240,-0.190996,0.981577]]
2025-10-25T00:00:46.102Z,1761350446.102 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:00:46.102Z,1761350446.102 [marl:UpdateRudder:B] Stopped
2025-10-25T00:00:46.103Z,1761350446.103 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:00:46.103Z,1761350446.103 [marl:UpdateRudder] Stopped
2025-10-25T00:00:46.103Z,1761350446.103 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:00:46.451Z,1761350446.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382680,0.905730,0.182235],[-0.923875,-0.375866,-0.071969],[0.003311,-0.195903,0.980618]]
2025-10-25T00:00:46.855Z,1761350446.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380222,0.905865,0.186653],[-0.924893,-0.372830,-0.074634],[0.001982,-0.201011,0.979587]]
2025-10-25T00:00:47.261Z,1761350447.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375074,0.907106,0.190994],[-0.926995,-0.367072,-0.077065],[0.000202,-0.205956,0.978561]]
2025-10-25T00:00:47.306Z,1761350447.306 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:00:47.306Z,1761350447.306 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:00:47.306Z,1761350447.306 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:00:47.306Z,1761350447.306 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:00:47.306Z,1761350447.306 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:00:47.306Z,1761350447.306 [marl:UpdateCommandMode] Stopped
2025-10-25T00:00:47.307Z,1761350447.307 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:00:47.307Z,1761350447.307 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:00:47.307Z,1761350447.307 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:00:47.307Z,1761350447.307 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:00:47.307Z,1761350447.307 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:00:47.307Z,1761350447.307 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:00:47.307Z,1761350447.307 [marl:UpdateSpeed] Stopped
2025-10-25T00:00:47.307Z,1761350447.307 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:00:47.673Z,1761350447.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368393,0.909310,0.193499],[-0.929667,-0.359797,-0.079152],[-0.002353,-0.209049,0.977902]]
2025-10-25T00:00:47.896Z,1761350447.896 [DAT](INFO): DAT read: Rx Time:00:00:46.4085

2025-10-25T00:00:47.897Z,1761350447.897 [DAT](INFO): Rx dataTimestamp_ set to:1761350447.896354
2025-10-25T00:00:48.067Z,1761350448.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361150,0.912034,0.194331],[-0.932494,-0.352096,-0.080515],[-0.005009,-0.210290,0.977626]]
2025-10-25T00:00:48.484Z,1761350448.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355748,0.914044,0.194852],[-0.934548,-0.346144,-0.082487],[-0.007950,-0.211443,0.977358]]
2025-10-25T00:00:48.660Z,1761350448.660 [DAT](INFO): DAT read: 00:00:46.4085 LVL= 31280, 26577, 16226, 29011, AGC= 52, IDX= 455,-0.42,-1.287,-0.698, 0.773,-0.884, PHS=-0.301, 0.230, 1.613, RAW= 225.6, -17.7, CAL= 225.2, -23.5, ROT= 284.8,  23.5

2025-10-25T00:00:48.662Z,1761350448.662 [DAT](INFO): got valid direction response:
 00:00:46.4085 LVL= 31280, 26577, 16226, 29011, AGC= 52, IDX= 455,-0.42,-1.287,-0.698, 0.773,-0.884, PHS=-0.301, 0.230, 1.613, RAW= 225.6, -17.7, CAL= 225.2, -23.5, ROT= 284.8,  23.5

2025-10-25T00:00:48.662Z,1761350448.662 [DAT](INFO): DAT read: 

2025-10-25T00:00:48.665Z,1761350448.665 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:00:48.666Z,1761350448.666 [DAT](INFO): Got DATA 2
2025-10-25T00:00:48.667Z,1761350448.667 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:00:48.667Z,1761350448.667 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:00:48.668Z,1761350448.668 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:00:48.670Z,1761350448.670 [DAT](INFO): DAT read: CRC:Pass MPD:03.5 PSNR:11.5 AGC:57 SPD:+0.3 CCERR:008

2025-10-25T00:00:48.670Z,1761350448.670 [DAT](INFO): Got CRC:Pass
2025-10-25T00:00:48.671Z,1761350448.671 [DAT](INFO): Got CRC:Pass
2025-10-25T00:00:48.671Z,1761350448.671 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:00:48.671Z,1761350448.671 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:00:48.671Z,1761350448.671 [DAT](INFO): Got ack
2025-10-25T00:00:48.671Z,1761350448.671 [DAT](INFO): DAT read: 

2025-10-25T00:00:48.672Z,1761350448.672 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:00:48.673Z,1761350448.673 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:00:48.673Z,1761350448.673 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-25T00:00:48.675Z,1761350448.675 [DAT](INFO): direction in FSK: [0.234259,-0.886635,-0.398749]
2025-10-25T00:00:48.874Z,1761350448.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356045,0.913289,0.197826],[-0.934418,-0.345742,-0.085592],[-0.009774,-0.215327,0.976493]]
2025-10-25T00:00:48.902Z,1761350448.902 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:00:48.902Z,1761350448.902 [DAT](INFO): #Outgoing data=48
2025-10-25T00:00:48.902Z,1761350448.902 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:00:48.953Z,1761350448.953 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350400.00. Resetting abort timer.
2025-10-25T00:00:49.154Z,1761350449.154 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:00:49.282Z,1761350449.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362410,0.908460,0.208230],[-0.931961,-0.350748,-0.091782],[-0.010344,-0.227325,0.973764]]
2025-10-25T00:00:49.688Z,1761350449.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373299,0.899943,0.225279],[-0.927660,-0.359552,-0.100845],[-0.009755,-0.246628,0.969061]]
2025-10-25T00:00:50.086Z,1761350450.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387049,0.887919,0.248584],[-0.922022,-0.370279,-0.112997],[-0.008287,-0.272935,0.961997]]
2025-10-25T00:00:50.490Z,1761350450.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402754,0.874214,0.271182],[-0.915290,-0.382788,-0.125372],[-0.005797,-0.298705,0.954328]]
2025-10-25T00:00:50.894Z,1761350450.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419917,0.860037,0.289836],[-0.907559,-0.397035,-0.136749],[-0.002534,-0.320467,0.947256]]
2025-10-25T00:00:51.304Z,1761350451.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437548,0.845800,0.305243],[-0.899194,-0.412070,-0.147135],[0.001335,-0.338851,0.940839]]
2025-10-25T00:00:51.702Z,1761350451.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455577,0.831019,0.319150],[-0.890180,-0.427448,-0.157694],[0.005373,-0.355942,0.934492]]
2025-10-25T00:00:52.106Z,1761350452.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473338,0.816579,0.330379],[-0.880824,-0.443028,-0.166960],[0.010031,-0.370034,0.928964]]
2025-10-25T00:00:52.429Z,1761350452.429 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:00:51.5068

2025-10-25T00:00:52.430Z,1761350452.430 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:00:52.511Z,1761350452.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489854,0.803104,0.339216],[-0.871683,-0.457681,-0.175205],[0.014545,-0.381514,0.924249]]
2025-10-25T00:00:52.916Z,1761350452.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505046,0.789446,0.348861],[-0.862882,-0.470764,-0.183891],[0.019059,-0.393899,0.918956]]
2025-10-25T00:00:53.319Z,1761350453.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518604,0.776734,0.357400],[-0.854691,-0.482439,-0.191718],[0.023510,-0.404892,0.914062]]
2025-10-25T00:00:53.337Z,1761350453.337 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:00:53.723Z,1761350453.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531353,0.764497,0.364977],[-0.846691,-0.493434,-0.199090],[0.027889,-0.414810,0.909481]]
2025-10-25T00:00:54.126Z,1761350454.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542711,0.753988,0.370090],[-0.839318,-0.503516,-0.204982],[0.031792,-0.421869,0.906099]]
2025-10-25T00:00:54.340Z,1761350454.340 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:00:54.531Z,1761350454.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553211,0.744690,0.373355],[-0.832294,-0.513070,-0.209870],[0.035269,-0.426843,0.903638]]
2025-10-25T00:00:54.935Z,1761350454.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563282,0.736862,0.373829],[-0.825386,-0.522661,-0.213456],[0.038098,-0.428789,0.902601]]
2025-10-25T00:00:55.339Z,1761350455.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573035,0.729762,0.372932],[-0.818519,-0.532244,-0.216203],[0.040714,-0.429143,0.902318]]
2025-10-25T00:00:56.170Z,1761350456.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593623,0.716929,0.365546],[-0.803516,-0.553113,-0.220063],[0.044418,-0.424357,0.904405]]
2025-10-25T00:00:56.573Z,1761350456.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604173,0.711102,0.359595],[-0.795558,-0.563998,-0.221346],[0.045411,-0.419810,0.906475]]
2025-10-25T00:00:56.971Z,1761350456.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614846,0.705498,0.352472],[-0.787282,-0.575357,-0.221702],[0.046387,-0.413807,0.909182]]
2025-10-25T00:00:57.375Z,1761350457.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625598,0.700346,0.343718],[-0.778717,-0.587228,-0.220822],[0.047189,-0.405805,0.912741]]
2025-10-25T00:00:57.778Z,1761350457.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636699,0.694532,0.335022],[-0.769630,-0.599288,-0.220279],[0.047784,-0.398095,0.916099]]
2025-10-25T00:00:58.664Z,1761350458.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673486,0.669942,0.312400],[-0.737487,-0.637725,-0.222307],[0.050292,-0.380112,0.923572]]
2025-10-25T00:00:58.722Z,1761350458.722 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:00:58.722Z,1761350458.722 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:00:58.723Z,1761350458.723 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:00:58.724Z,1761350458.724 [marl:UpdateRudder:A] Stopped
2025-10-25T00:00:58.724Z,1761350458.724 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:00:59.050Z,1761350459.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686990,0.659567,0.304985],[-0.724866,-0.651539,-0.223755],[0.051128,-0.374791,0.925698]]
2025-10-25T00:00:59.082Z,1761350459.082 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:00:59.082Z,1761350459.082 [marl:UpdateRudder:B] Stopped
2025-10-25T00:00:59.082Z,1761350459.082 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:00:59.082Z,1761350459.082 [marl:UpdateRudder] Stopped
2025-10-25T00:00:59.082Z,1761350459.082 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:00:59.237Z,1761350459.237 [DAT](INFO): DAT read: Rx Time:00:00:57.7577

2025-10-25T00:00:59.237Z,1761350459.237 [DAT](INFO): Rx dataTimestamp_ set to:1761350459.237042
2025-10-25T00:00:59.458Z,1761350459.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700375,0.648099,0.299071],[-0.711947,-0.664274,-0.227752],[0.051059,-0.372435,0.926653]]
2025-10-25T00:00:59.920Z,1761350459.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712974,0.636923,0.293255],[-0.699392,-0.675900,-0.232400],[0.050190,-0.370795,0.927357]]
2025-10-25T00:00:59.993Z,1761350459.993 [DAT](INFO): DAT read: 

2025-10-25T00:00:59.993Z,1761350459.993 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:00:59.994Z,1761350459.994 [DAT](INFO): Got DATA 2
2025-10-25T00:00:59.994Z,1761350459.994 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:00:59.994Z,1761350459.994 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:00:59.995Z,1761350459.995 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:00:59.996Z,1761350459.996 [DAT](INFO): DAT read: CRC:Pass MPD:03.3 PSNR:09.4 AGC:56 SPD:+0.4 CCERR:006

2025-10-25T00:00:59.996Z,1761350459.996 [DAT](INFO): Got CRC:Pass
2025-10-25T00:00:59.996Z,1761350459.996 [DAT](INFO): Got CRC:Pass
2025-10-25T00:00:59.996Z,1761350459.996 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:00:59.997Z,1761350459.997 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:00:59.997Z,1761350459.997 [DAT](INFO): Got ack
2025-10-25T00:00:59.997Z,1761350459.997 [DAT](INFO): DAT read: 

2025-10-25T00:00:59.997Z,1761350459.997 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:00:59.998Z,1761350459.998 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:01:00.246Z,1761350460.246 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:01:00.246Z,1761350460.246 [DAT](INFO): #Outgoing data=48
2025-10-25T00:01:00.246Z,1761350460.246 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:01:00.263Z,1761350460.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724611,0.626046,0.288106],[-0.687460,-0.685961,-0.238445],[0.048352,-0.370841,0.927437]]
2025-10-25T00:01:00.338Z,1761350460.338 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:01:00.338Z,1761350460.338 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:01:00.338Z,1761350460.338 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:01:00.338Z,1761350460.338 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:01:00.339Z,1761350460.339 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:01:00.339Z,1761350460.339 [marl:UpdateCommandMode] Stopped
2025-10-25T00:01:00.339Z,1761350460.339 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:01:00.339Z,1761350460.339 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:01:00.339Z,1761350460.339 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:01:00.339Z,1761350460.339 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:01:00.339Z,1761350460.339 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:01:00.340Z,1761350460.340 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:01:00.340Z,1761350460.340 [marl:UpdateSpeed] Stopped
2025-10-25T00:01:00.340Z,1761350460.340 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:01:00.496Z,1761350460.496 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:01:00.671Z,1761350460.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733423,0.618718,0.281564],[-0.678274,-0.693562,-0.242725],[0.045104,-0.368997,0.928335]]
2025-10-25T00:01:01.071Z,1761350461.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738826,0.617300,0.270327],[-0.672694,-0.699524,-0.241140],[0.040245,-0.360008,0.932081]]
2025-10-25T00:01:01.287Z,1761350461.287 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:01:01.288Z,1761350461.288 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:01:01.474Z,1761350461.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741527,0.620776,0.254508],[-0.670060,-0.704454,-0.234017],[0.034017,-0.344066,0.938329]]
2025-10-25T00:01:01.922Z,1761350461.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742908,0.626011,0.237059],[-0.668847,-0.708498,-0.225109],[0.027035,-0.325791,0.945055]]
2025-10-25T00:01:02.290Z,1761350462.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742697,0.632461,0.219986],[-0.669333,-0.710917,-0.215848],[0.019877,-0.307553,0.951323]]
2025-10-25T00:01:02.335Z,1761350462.335 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-25T00:01:02.513Z,1761350462.513 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:01:02.564Z,1761350462.564 [DAT](INFO): entering command mode
2025-10-25T00:01:02.694Z,1761350462.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741247,0.639459,0.204070],[-0.671113,-0.711769,-0.207346],[0.012661,-0.290648,0.956746]]
2025-10-25T00:01:02.765Z,1761350462.765 [DAT](INFO): DAT read: 

2025-10-25T00:01:02.766Z,1761350462.766 [DAT](INFO): DAT read: user:16>

2025-10-25T00:01:02.766Z,1761350462.766 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:01:02.766Z,1761350462.766 [DAT](INFO): setting remote address to 0
2025-10-25T00:01:03.017Z,1761350463.017 [DAT](INFO): DAT read: user:16>

2025-10-25T00:01:03.018Z,1761350463.018 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-25T00:01:03.018Z,1761350463.018 [DAT](INFO): set remote address to 0
2025-10-25T00:01:03.018Z,1761350463.018 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:01:03.019Z,1761350463.019 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-25T00:01:03.101Z,1761350463.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739694,0.646066,0.188286],[-0.672921,-0.712423,-0.199074],[0.005524,-0.273956,0.961726]]
2025-10-25T00:01:03.269Z,1761350463.269 [DAT](INFO): DAT read: user:17>

2025-10-25T00:01:03.269Z,1761350463.269 [DAT](INFO): DAT read: Tx time:00:01:02.2580

2025-10-25T00:01:03.270Z,1761350463.270 [DAT](INFO): Ping request sent.
2025-10-25T00:01:03.270Z,1761350463.270 [DAT](INFO): transmitted an acoustic signal
2025-10-25T00:01:03.270Z,1761350463.270 [DAT](INFO): publishing transmit ping time
2025-10-25T00:01:03.271Z,1761350463.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000950
2025-10-25T00:01:03.502Z,1761350463.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737852,0.652482,0.172749],[-0.674962,-0.712712,-0.190967],[-0.001482,-0.257504,0.966276]]
2025-10-25T00:01:03.521Z,1761350463.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251183
2025-10-25T00:01:03.773Z,1761350463.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502882
2025-10-25T00:01:03.927Z,1761350463.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736214,0.657890,0.158650],[-0.676698,-0.712784,-0.184439],[-0.008258,-0.243145,0.969955]]
2025-10-25T00:01:04.025Z,1761350464.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755039
2025-10-25T00:01:04.277Z,1761350464.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006956
2025-10-25T00:01:04.310Z,1761350464.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735313,0.661924,0.145502],[-0.677566,-0.713305,-0.179167],[-0.014808,-0.230331,0.973000]]
2025-10-25T00:01:04.529Z,1761350464.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258893
2025-10-25T00:01:04.714Z,1761350464.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734722,0.664974,0.134137],[-0.678044,-0.713759,-0.175514],[-0.020971,-0.219904,0.975296]]
2025-10-25T00:01:04.781Z,1761350464.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511014
2025-10-25T00:01:05.035Z,1761350465.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764531
2025-10-25T00:01:05.126Z,1761350465.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734812,0.666834,0.124034],[-0.677739,-0.714610,-0.173213],[-0.026869,-0.211342,0.977043]]
2025-10-25T00:01:05.285Z,1761350465.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014926
2025-10-25T00:01:05.524Z,1761350465.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735642,0.667380,0.115903],[-0.676592,-0.715761,-0.172942],[-0.032460,-0.205643,0.978089]]
2025-10-25T00:01:05.537Z,1761350465.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266868
2025-10-25T00:01:05.789Z,1761350465.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518984
2025-10-25T00:01:05.926Z,1761350465.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736703,0.667455,0.108500],[-0.675140,-0.716955,-0.173670],[-0.038127,-0.201196,0.978809]]
2025-10-25T00:01:06.041Z,1761350466.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770898
2025-10-25T00:01:06.294Z,1761350466.294 [DAT](INFO): DAT read: Rx Time:00:01:04.8228

2025-10-25T00:01:06.294Z,1761350466.294 [DAT](INFO): Rx dataTimestamp_ set to:1761350466.293988
2025-10-25T00:01:06.295Z,1761350466.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024973
2025-10-25T00:01:06.332Z,1761350466.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738340,0.666626,0.102290],[-0.672993,-0.718356,-0.176194],[-0.043975,-0.198932,0.979026]]
2025-10-25T00:01:06.545Z,1761350466.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274909
2025-10-25T00:01:06.758Z,1761350466.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740337,0.665100,0.097691],[-0.670384,-0.719679,-0.180684],[-0.049867,-0.199258,0.978678]]
2025-10-25T00:01:06.802Z,1761350466.802 [DAT](INFO): DAT read: 00:01:04.8228 LVL= 27120, 32753, 15202, 31219, AGC= 51, IDX=  74,-0.13,-2.081,-2.987,-0.841,-1.891, PHS=-0.088,-1.051, 1.006, RAW= 182.1,   1.5, CAL= 182.0,  -1.3, ROT= 328.0,   1.3

2025-10-25T00:01:06.803Z,1761350466.803 [DAT](INFO): got valid direction response:
 00:01:04.8228 LVL= 27120, 32753, 15202, 31219, AGC= 51, IDX=  74,-0.13,-2.081,-2.987,-0.841,-1.891, PHS=-0.088,-1.051, 1.006, RAW= 182.1,   1.5, CAL= 182.0,  -1.3, ROT= 328.0,   1.3

2025-10-25T00:01:06.804Z,1761350466.804 [DAT](INFO): DAT read: Bearing   4.5, -32.9 (Local)

2025-10-25T00:01:06.805Z,1761350466.805 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.5, -32.9 (Local)

2025-10-25T00:01:06.806Z,1761350466.806 [DAT](INFO): DAT read: Range 11 to 20 : 120.5 m  (Round-trip  160.7 ms) speed  0.1 m/s

2025-10-25T00:01:06.807Z,1761350466.807 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T00:01:06.808Z,1761350466.808 [DAT](INFO): direction in FSK: [0.847830,-0.529783,-0.022687]
2025-10-25T00:01:06.808Z,1761350466.808 [DAT](INFO): publishing direction and range info
2025-10-25T00:01:07.140Z,1761350467.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742873,0.662790,0.094071],[-0.667097,-0.721208,-0.186657],[-0.055869,-0.201416,0.977911]]
2025-10-25T00:01:07.170Z,1761350467.170 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350528.00. Resetting abort timer.
2025-10-25T00:01:07.543Z,1761350467.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745443,0.660206,0.091881],[-0.663699,-0.722371,-0.194124],[-0.061790,-0.205689,0.976665]]
2025-10-25T00:01:07.946Z,1761350467.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748445,0.656845,0.091568],[-0.659778,-0.723456,-0.203235],[-0.067248,-0.212525,0.974839]]
2025-10-25T00:01:08.350Z,1761350468.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751068,0.653989,0.090532],[-0.656243,-0.724450,-0.210992],[-0.072400,-0.217880,0.973286]]
2025-10-25T00:01:08.756Z,1761350468.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753861,0.650820,0.090144],[-0.652468,-0.725400,-0.219272],[-0.077316,-0.224117,0.971490]]
2025-10-25T00:01:09.158Z,1761350469.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756208,0.648168,0.089595],[-0.649140,-0.725928,-0.227258],[-0.082262,-0.230014,0.969704]]
2025-10-25T00:01:09.563Z,1761350469.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757330,0.646915,0.089177],[-0.647204,-0.725336,-0.234551],[-0.087051,-0.235348,0.968005]]
2025-10-25T00:01:09.966Z,1761350469.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758048,0.646206,0.088205],[-0.645674,-0.724487,-0.241296],[-0.092023,-0.239866,0.966435]]
2025-10-25T00:01:10.372Z,1761350470.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758114,0.646229,0.087475],[-0.644898,-0.723028,-0.247662],[-0.096799,-0.244169,0.964889]]
2025-10-25T00:01:10.579Z,1761350470.579 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-25T00:01:10.579Z,1761350470.579 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:01:10.794Z,1761350470.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757858,0.646745,0.085863],[-0.644583,-0.721904,-0.251730],[-0.100820,-0.246121,0.963981]]
2025-10-25T00:01:10.845Z,1761350470.845 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:01:10.845Z,1761350470.845 [DAT](INFO): #Outgoing data=48
2025-10-25T00:01:10.845Z,1761350470.845 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:01:11.097Z,1761350471.097 [DAT](INFO): setting remote address to 10
2025-10-25T00:01:11.178Z,1761350471.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757014,0.648040,0.083507],[-0.644990,-0.720708,-0.254103],[-0.104485,-0.246221,0.963565]]
2025-10-25T00:01:11.264Z,1761350471.264 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:01:11.264Z,1761350471.264 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:01:11.264Z,1761350471.264 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:01:11.264Z,1761350471.264 [marl:UpdateRudder:A] Stopped
2025-10-25T00:01:11.264Z,1761350471.264 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:01:11.349Z,1761350471.349 [DAT](INFO): DAT read: user:18>

2025-10-25T00:01:11.350Z,1761350471.350 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-25T00:01:11.351Z,1761350471.351 [DAT](INFO): set remote address to 10
2025-10-25T00:01:11.351Z,1761350471.351 [DAT](INFO): entering online mode
2025-10-25T00:01:11.587Z,1761350471.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755777,0.649886,0.080305],[-0.645897,-0.719656,-0.254778],[-0.107785,-0.244424,0.963659]]
2025-10-25T00:01:11.602Z,1761350471.602 [DAT](INFO): DAT read: user:19>

2025-10-25T00:01:11.602Z,1761350471.602 [DAT](INFO): DAT read: 

2025-10-25T00:01:11.604Z,1761350471.604 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-25T00:01:11.605Z,1761350471.605 [DAT](INFO): commRate: 600
2025-10-25T00:01:11.605Z,1761350471.605 [DAT](INFO): online mode acknowledged
2025-10-25T00:01:11.605Z,1761350471.605 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:01:11.701Z,1761350471.701 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:01:11.701Z,1761350471.701 [marl:UpdateRudder:B] Stopped
2025-10-25T00:01:11.701Z,1761350471.701 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:01:11.701Z,1761350471.701 [marl:UpdateRudder] Stopped
2025-10-25T00:01:11.701Z,1761350471.701 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:01:12.393Z,1761350472.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752374,0.654465,0.074887],[-0.648882,-0.716726,-0.255452],[-0.113511,-0.240788,0.963917]]
2025-10-25T00:01:12.795Z,1761350472.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750814,0.656519,0.072535],[-0.650271,-0.715437,-0.255534],[-0.115869,-0.239026,0.964075]]
2025-10-25T00:01:13.198Z,1761350473.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749958,0.657820,0.069544],[-0.650891,-0.715117,-0.254851],[-0.117914,-0.236393,0.964476]]
2025-10-25T00:01:13.239Z,1761350473.239 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:01:13.239Z,1761350473.239 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:01:13.239Z,1761350473.239 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:01:13.244Z,1761350473.244 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:01:13.244Z,1761350473.244 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:01:13.244Z,1761350473.244 [marl:UpdateCommandMode] Stopped
2025-10-25T00:01:13.244Z,1761350473.244 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:01:13.244Z,1761350473.244 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:01:13.245Z,1761350473.245 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:01:13.245Z,1761350473.245 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:01:13.245Z,1761350473.245 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:01:13.245Z,1761350473.245 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:01:13.245Z,1761350473.245 [marl:UpdateSpeed] Stopped
2025-10-25T00:01:13.245Z,1761350473.245 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:01:13.607Z,1761350473.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749875,0.658271,0.066087],[-0.650696,-0.715805,-0.253412],[-0.119508,-0.233030,0.965098]]
2025-10-25T00:01:14.013Z,1761350474.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750851,0.657429,0.063327],[-0.649454,-0.717484,-0.251846],[-0.120135,-0.230227,0.965693]]
2025-10-25T00:01:14.410Z,1761350474.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752296,0.655827,0.062780],[-0.647838,-0.719054,-0.251529],[-0.119817,-0.229896,0.965811]]
2025-10-25T00:01:14.814Z,1761350474.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753777,0.654009,0.063969],[-0.646218,-0.720073,-0.252778],[-0.119257,-0.231877,0.965407]]
2025-10-25T00:01:14.877Z,1761350474.877 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:01:13.9568

2025-10-25T00:01:14.878Z,1761350474.878 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:01:15.220Z,1761350475.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755144,0.652293,0.065359],[-0.644778,-0.721017,-0.253765],[-0.118404,-0.233771,0.965055]]
2025-10-25T00:01:15.623Z,1761350475.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756714,0.650221,0.067795],[-0.643101,-0.721742,-0.255947],[-0.117492,-0.237278,0.964311]]
2025-10-25T00:01:16.027Z,1761350476.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757874,0.648432,0.071848],[-0.641856,-0.721370,-0.260089],[-0.116821,-0.243231,0.962908]]
2025-10-25T00:01:16.431Z,1761350476.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759092,0.646477,0.076465],[-0.640669,-0.721067,-0.263829],[-0.115423,-0.249259,0.961534]]
2025-10-25T00:01:16.836Z,1761350476.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759742,0.645074,0.081681],[-0.640244,-0.720227,-0.267137],[-0.113494,-0.255251,0.960191]]
2025-10-25T00:01:17.238Z,1761350477.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759015,0.645019,0.088584],[-0.641526,-0.717714,-0.270797],[-0.111091,-0.262369,0.958552]]
2025-10-25T00:01:17.642Z,1761350477.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757372,0.645850,0.096257],[-0.643971,-0.714351,-0.273868],[-0.108117,-0.269407,0.956938]]
2025-10-25T00:01:18.050Z,1761350478.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754905,0.647563,0.103830],[-0.647419,-0.710538,-0.275652],[-0.104727,-0.275312,0.955634]]
2025-10-25T00:01:18.451Z,1761350478.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751719,0.650365,0.109287],[-0.651692,-0.707169,-0.274244],[-0.101075,-0.277376,0.955430]]
2025-10-25T00:01:18.854Z,1761350478.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748199,0.653713,0.113396],[-0.656260,-0.704038,-0.271389],[-0.097576,-0.277470,0.955766]]
2025-10-25T00:01:19.258Z,1761350479.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745102,0.657085,0.114290],[-0.660222,-0.702395,-0.265986],[-0.094499,-0.273643,0.957178]]
2025-10-25T00:01:19.670Z,1761350479.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743204,0.659273,0.114046],[-0.662742,-0.702029,-0.260630],[-0.091763,-0.269284,0.958679]]
2025-10-25T00:01:20.077Z,1761350480.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743492,0.659675,0.109769],[-0.662762,-0.704939,-0.252600],[-0.089253,-0.260557,0.961324]]
2025-10-25T00:01:20.471Z,1761350480.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745640,0.658072,0.104703],[-0.660630,-0.709514,-0.245271],[-0.087117,-0.252054,0.963784]]
2025-10-25T00:01:20.874Z,1761350480.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748944,0.655189,0.099051],[-0.657125,-0.715139,-0.238251],[-0.085264,-0.243526,0.966139]]
2025-10-25T00:01:21.279Z,1761350481.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753168,0.650937,0.094968],[-0.652514,-0.720945,-0.233376],[-0.083446,-0.237740,0.967738]]
2025-10-25T00:01:21.681Z,1761350481.681 [DAT](INFO): DAT read: Rx Time:00:01:20.2054

2025-10-25T00:01:21.681Z,1761350481.681 [DAT](INFO): Rx dataTimestamp_ set to:1761350481.681019
2025-10-25T00:01:21.701Z,1761350481.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757702,0.646044,0.092274],[-0.647504,-0.726595,-0.229779],[-0.081402,-0.233852,0.968859]]
2025-10-25T00:01:22.088Z,1761350482.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763026,0.639811,0.091831],[-0.641548,-0.732336,-0.228253],[-0.078788,-0.233077,0.969261]]
2025-10-25T00:01:22.442Z,1761350482.442 [DAT](INFO): DAT read: 00:01:20.2053 LVL= 24320, 29505, 11762, 25459, AGC= 52, IDX= 228, 0.36, 0.226,-0.178, 1.975, 0.808, PHS=-0.480,-0.941, 1.123, RAW= 197.7,   3.2, CAL= 197.9,   1.0, ROT= 312.1,  -1.0

2025-10-25T00:01:22.443Z,1761350482.443 [DAT](INFO): got valid direction response:
 00:01:20.2053 LVL= 24320, 29505, 11762, 25459, AGC= 52, IDX= 228, 0.36, 0.226,-0.178, 1.975, 0.808, PHS=-0.480,-0.941, 1.123, RAW= 197.7,   3.2, CAL= 197.9,   1.0, ROT= 312.1,  -1.0

2025-10-25T00:01:22.444Z,1761350482.444 [DAT](INFO): DAT read: 

2025-10-25T00:01:22.445Z,1761350482.445 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:01:22.445Z,1761350482.445 [DAT](INFO): Got DATA 2
2025-10-25T00:01:22.446Z,1761350482.446 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:01:22.446Z,1761350482.446 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:01:22.446Z,1761350482.446 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:01:22.447Z,1761350482.447 [DAT](INFO): DAT read: CRC:Pass MPD:03.3 PSNR:09.8 AGC:51 SPD:+0.8 CCERR:009

2025-10-25T00:01:22.447Z,1761350482.447 [DAT](INFO): Got CRC:Pass
2025-10-25T00:01:22.447Z,1761350482.447 [DAT](INFO): Got CRC:Pass
2025-10-25T00:01:22.448Z,1761350482.448 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:01:22.448Z,1761350482.448 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:01:22.448Z,1761350482.448 [DAT](INFO): Got ack
2025-10-25T00:01:22.448Z,1761350482.448 [DAT](INFO): DAT read: 

2025-10-25T00:01:22.448Z,1761350482.448 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:01:22.449Z,1761350482.449 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:01:22.449Z,1761350482.449 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-25T00:01:22.450Z,1761350482.450 [DAT](INFO): direction in FSK: [0.670325,-0.741863,0.017452]
2025-10-25T00:01:22.511Z,1761350482.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768502,0.633218,0.091869],[-0.635342,-0.738175,-0.226801],[-0.075800,-0.232665,0.969598]]
2025-10-25T00:01:22.618Z,1761350482.618 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350528.00. Resetting abort timer.
2025-10-25T00:01:22.689Z,1761350482.689 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:01:22.689Z,1761350482.689 [DAT](INFO): #Outgoing data=49
2025-10-25T00:01:22.690Z,1761350482.690 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:01:22.894Z,1761350482.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773425,0.627013,0.093110],[-0.629703,-0.743134,-0.226331],[-0.072719,-0.233682,0.969590]]
2025-10-25T00:01:22.941Z,1761350482.941 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:01:23.298Z,1761350483.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777165,0.621958,0.095821],[-0.625380,-0.746361,-0.227695],[-0.070099,-0.236881,0.969006]]
2025-10-25T00:01:23.704Z,1761350483.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779394,0.618627,0.099229],[-0.622856,-0.747902,-0.229550],[-0.067792,-0.240716,0.968225]]
2025-10-25T00:01:23.766Z,1761350483.766 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:01:23.766Z,1761350483.766 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:01:23.766Z,1761350483.766 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:01:23.766Z,1761350483.766 [marl:UpdateRudder:A] Stopped
2025-10-25T00:01:23.766Z,1761350483.766 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:01:24.114Z,1761350484.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780606,0.616417,0.103370],[-0.621591,-0.748317,-0.231618],[-0.065420,-0.245056,0.967299]]
2025-10-25T00:01:24.191Z,1761350484.191 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-25T00:01:24.191Z,1761350484.191 [marl:UpdateRudder:B] Stopped
2025-10-25T00:01:24.191Z,1761350484.191 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:01:24.191Z,1761350484.191 [marl:UpdateRudder] Stopped
2025-10-25T00:01:24.191Z,1761350484.191 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:01:24.464Z,1761350484.464 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:01:24.510Z,1761350484.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780947,0.615402,0.106780],[-0.621452,-0.748440,-0.231593],[-0.062605,-0.247221,0.966935]]
2025-10-25T00:01:24.915Z,1761350484.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780363,0.615413,0.110904],[-0.622474,-0.747570,-0.231655],[-0.059655,-0.249810,0.966456]]
2025-10-25T00:01:25.319Z,1761350485.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778725,0.616558,0.115943],[-0.624839,-0.745662,-0.231438],[-0.056241,-0.252672,0.965916]]
2025-10-25T00:01:25.468Z,1761350485.468 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:01:25.725Z,1761350485.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775827,0.619008,0.122156],[-0.628794,-0.742575,-0.230652],[-0.052065,-0.255757,0.965338]]
2025-10-25T00:01:25.755Z,1761350485.755 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:01:25.755Z,1761350485.755 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:01:25.755Z,1761350485.755 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:01:25.755Z,1761350485.755 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:01:25.756Z,1761350485.756 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:01:25.756Z,1761350485.756 [marl:UpdateCommandMode] Stopped
2025-10-25T00:01:25.756Z,1761350485.756 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:01:25.756Z,1761350485.756 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:01:25.756Z,1761350485.756 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:01:25.756Z,1761350485.756 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:01:25.757Z,1761350485.757 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:01:25.757Z,1761350485.757 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:01:25.757Z,1761350485.757 [marl:UpdateSpeed] Stopped
2025-10-25T00:01:25.757Z,1761350485.757 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:01:26.221Z,1761350486.221 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:01:25.2567

2025-10-25T00:01:26.221Z,1761350486.221 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:01:26.532Z,1761350486.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766217,0.628741,0.132651],[-0.641116,-0.734070,-0.223856],[-0.043373,-0.256567,0.965553]]
2025-10-25T00:01:26.934Z,1761350486.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758002,0.638688,0.132332],[-0.651079,-0.728733,-0.212239],[-0.039120,-0.247036,0.968216]]
2025-10-25T00:01:27.339Z,1761350487.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746003,0.654594,0.122417],[-0.664996,-0.722454,-0.189313],[-0.035483,-0.222635,0.974256]]
2025-10-25T00:01:28.146Z,1761350488.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711661,0.697946,0.080066],[-0.701888,-0.701538,-0.123277],[-0.029871,-0.143929,0.989137]]
2025-10-25T00:01:28.557Z,1761350488.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691590,0.720098,0.056233],[-0.721787,-0.686101,-0.091045],[-0.026979,-0.103554,0.994258]]
2025-10-25T00:01:28.955Z,1761350488.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670833,0.740895,0.032532],[-0.741221,-0.668420,-0.061694],[-0.023964,-0.065500,0.997565]]
2025-10-25T00:01:29.360Z,1761350489.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650693,0.759230,0.012989],[-0.759059,-0.649890,-0.038372],[-0.020692,-0.034828,0.999179]]
2025-10-25T00:01:29.763Z,1761350489.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633313,0.773893,-0.001924],[-0.773717,-0.633219,-0.019885],[-0.016607,-0.011105,0.999800]]
2025-10-25T00:01:30.166Z,1761350490.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618605,0.785623,-0.011168],[-0.785611,-0.618687,-0.006443],[-0.011971,0.004788,0.999917]]
2025-10-25T00:01:30.272Z,1761350490.272 [marl:SendObservationData] Running Loop=1
2025-10-25T00:01:30.273Z,1761350490.273 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-25T00:01:30.273Z,1761350490.273 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-25T00:01:30.274Z,1761350490.274 [marl:SendObservationData:A] Running Loop=1
2025-10-25T00:01:30.275Z,1761350490.275 [marl:SendObservationData:A](INFO): Got test_good :  41da3f04e000000040514000000000004042636afc1bb2fec05e77607931d6e5402fa5b840000000405e200000000000 n/a str  and temp var is  nan n/a str 
2025-10-25T00:01:30.275Z,1761350490.275 [marl:SendObservationData:A] Stopped
2025-10-25T00:01:30.275Z,1761350490.275 [marl:SendObservationData:B] Running Loop=1
2025-10-25T00:01:30.570Z,1761350490.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605799,0.795458,-0.015938],[-0.795588,-0.605828,0.003498],[-0.006873,0.014799,0.999867]]
2025-10-25T00:01:30.637Z,1761350490.637 [marl:SendObservationData:B] Stopped
2025-10-25T00:01:30.637Z,1761350490.637 [marl:SendObservationData:C] Running Loop=1
2025-10-25T00:01:30.976Z,1761350490.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594406,0.803994,-0.016563],[-0.804163,-0.594321,0.010214],[-0.001632,0.019391,0.999811]]
2025-10-25T00:01:31.001Z,1761350491.001 [marl:SendObservationData:C] Stopped
2025-10-25T00:01:31.001Z,1761350491.001 [marl:SendObservationData:E] Running Loop=1
2025-10-25T00:01:31.378Z,1761350491.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583898,0.811700,-0.014333],[-0.811820,-0.583729,0.014443],[0.003356,0.020069,0.999793]]
2025-10-25T00:01:31.417Z,1761350491.417 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.007632 min 
2025-10-25T00:01:31.417Z,1761350491.417 [marl:SendObservationData:E] Stopped
2025-10-25T00:01:31.418Z,1761350491.418 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-25T00:01:31.418Z,1761350491.418 [marl:SendObservationData] Stopped
2025-10-25T00:01:31.418Z,1761350491.418 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-25T00:01:31.418Z,1761350491.418 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-25T00:01:31.782Z,1761350491.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574022,0.818794,-0.008655],[-0.818799,-0.573856,0.016036],[0.008163,0.016292,0.999834]]
2025-10-25T00:01:32.188Z,1761350492.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564642,0.825333,-0.002280],[-0.825245,-0.564537,0.016412],[0.012259,0.011149,0.999863]]
2025-10-25T00:01:32.594Z,1761350492.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555879,0.831255,0.003583],[-0.831112,-0.555855,0.016690],[0.015865,0.006300,0.999854]]
2025-10-25T00:01:32.773Z,1761350492.773 [DAT](INFO): DAT read: Rx Time:00:01:31.3513

2025-10-25T00:01:32.774Z,1761350492.774 [DAT](INFO): Rx dataTimestamp_ set to:1761350492.773510
2025-10-25T00:01:32.994Z,1761350492.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547966,0.836450,0.009235],[-0.836290,-0.548042,0.016391],[0.018771,0.001258,0.999823]]
2025-10-25T00:01:33.418Z,1761350493.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540755,0.841062,0.014088],[-0.840907,-0.540930,0.016409],[0.021421,-0.002973,0.999766]]
2025-10-25T00:01:33.537Z,1761350493.537 [DAT](INFO): DAT read: 00:01:31.3513 LVL= 25808, 27601, 17666, 27955, AGC= 48, IDX= 393, 0.16, 1.427, 2.087,-2.743, 2.109, PHS=-0.580, 0.023, 1.387, RAW= 227.4,  -9.5, CAL= 226.3, -14.4, ROT= 283.7,  14.4

2025-10-25T00:01:33.539Z,1761350493.539 [DAT](INFO): got valid direction response:
 00:01:31.3513 LVL= 25808, 27601, 17666, 27955, AGC= 48, IDX= 393, 0.16, 1.427, 2.087,-2.743, 2.109, PHS=-0.580, 0.023, 1.387, RAW= 227.4,  -9.5, CAL= 226.3, -14.4, ROT= 283.7,  14.4

2025-10-25T00:01:33.539Z,1761350493.539 [DAT](INFO): DAT read: 

2025-10-25T00:01:33.544Z,1761350493.544 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:01:33.544Z,1761350493.544 [DAT](INFO): Got DATA 2
2025-10-25T00:01:33.545Z,1761350493.545 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:01:33.545Z,1761350493.545 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:01:33.546Z,1761350493.546 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:01:33.547Z,1761350493.547 [DAT](INFO): DAT read: CRC:Pass MPD:03.7 PSNR:10.2 AGC:53 SPD:-0.8 CCERR:008

2025-10-25T00:01:33.547Z,1761350493.547 [DAT](INFO): Got CRC:Pass
2025-10-25T00:01:33.547Z,1761350493.547 [DAT](INFO): Got CRC:Pass
2025-10-25T00:01:33.547Z,1761350493.547 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:01:33.547Z,1761350493.547 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:01:33.547Z,1761350493.547 [DAT](INFO): Got ack
2025-10-25T00:01:33.576Z,1761350493.576 [DAT](INFO): DAT read: 

2025-10-25T00:01:33.577Z,1761350493.577 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:01:33.577Z,1761350493.577 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:01:33.578Z,1761350493.578 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-25T00:01:33.579Z,1761350493.579 [DAT](INFO): direction in FSK: [0.229398,-0.941026,-0.248690]
2025-10-25T00:01:33.781Z,1761350493.781 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:01:33.781Z,1761350493.781 [DAT](INFO): #Outgoing data=49
2025-10-25T00:01:33.781Z,1761350493.781 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:01:33.802Z,1761350493.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534292,0.845067,0.019851],[-0.844951,-0.534599,0.016171],[0.024278,-0.008133,0.999672]]
2025-10-25T00:01:33.921Z,1761350493.921 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350528.00. Resetting abort timer.
2025-10-25T00:01:34.033Z,1761350494.033 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:01:34.208Z,1761350494.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528587,0.848487,0.025804],[-0.848416,-0.529059,0.016969],[0.028050,-0.012923,0.999523]]
2025-10-25T00:01:34.610Z,1761350494.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523123,0.851633,0.032618],[-0.851627,-0.523825,0.018394],[0.032751,-0.018156,0.999299]]
2025-10-25T00:01:35.022Z,1761350495.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517011,0.855021,0.040475],[-0.855107,-0.518040,0.020640],[0.038615,-0.023939,0.998967]]
2025-10-25T00:01:35.419Z,1761350495.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508473,0.859686,0.048935],[-0.859899,-0.509929,0.023374],[0.045048,-0.030194,0.998528]]
2025-10-25T00:01:35.826Z,1761350495.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496331,0.866132,0.058912],[-0.866613,-0.498334,0.025399],[0.051357,-0.038447,0.997940]]
2025-10-25T00:01:36.630Z,1761350496.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462574,0.883379,0.075278],[-0.884337,-0.465774,0.031671],[0.063040,-0.051921,0.996660]]
2025-10-25T00:01:36.690Z,1761350496.690 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:01:36.690Z,1761350496.690 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:01:36.690Z,1761350496.690 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:01:36.691Z,1761350496.691 [marl:UpdateRudder:A] Stopped
2025-10-25T00:01:36.691Z,1761350496.691 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:01:37.039Z,1761350497.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441929,0.893586,0.078757],[-0.894530,-0.445562,0.035921],[0.067190,-0.054576,0.996246]]
2025-10-25T00:01:37.064Z,1761350497.064 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:01:37.064Z,1761350497.064 [marl:UpdateRudder:B] Stopped
2025-10-25T00:01:37.064Z,1761350497.064 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:01:37.064Z,1761350497.064 [marl:UpdateRudder] Stopped
2025-10-25T00:01:37.064Z,1761350497.064 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:01:37.309Z,1761350497.309 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:01:36.3567

2025-10-25T00:01:37.309Z,1761350497.309 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:01:37.441Z,1761350497.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418948,0.904533,0.079385],[-0.905354,-0.422805,0.039624],[0.069406,-0.055271,0.996056]]
2025-10-25T00:01:37.863Z,1761350497.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394525,0.915935,0.073569],[-0.916229,-0.398205,0.044236],[0.069813,-0.049954,0.996309]]
2025-10-25T00:01:38.246Z,1761350498.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368547,0.927359,0.064641],[-0.927089,-0.371775,0.047840],[0.068396,-0.042297,0.996761]]
2025-10-25T00:01:38.286Z,1761350498.286 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:01:38.286Z,1761350498.286 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:01:38.286Z,1761350498.286 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:01:38.287Z,1761350498.287 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:01:38.287Z,1761350498.287 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:01:38.287Z,1761350498.287 [marl:UpdateCommandMode] Stopped
2025-10-25T00:01:38.287Z,1761350498.287 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:01:38.287Z,1761350498.287 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:01:38.287Z,1761350498.287 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:01:38.287Z,1761350498.287 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:01:38.288Z,1761350498.288 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:01:38.292Z,1761350498.292 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:01:38.292Z,1761350498.292 [marl:UpdateSpeed] Stopped
2025-10-25T00:01:38.292Z,1761350498.292 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:01:38.673Z,1761350498.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342708,0.937701,0.057161],[-0.937073,-0.345529,0.050044],[0.066677,-0.036413,0.997110]]
2025-10-25T00:01:39.055Z,1761350499.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320344,0.945993,0.049775],[-0.944954,-0.322805,0.053472],[0.066651,-0.029905,0.997328]]
2025-10-25T00:01:39.458Z,1761350499.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300732,0.952759,0.042555],[-0.951273,-0.302852,0.057970],[0.068120,-0.023048,0.997411]]
2025-10-25T00:01:39.910Z,1761350499.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269293,0.962033,0.044433],[-0.960389,-0.271693,0.061930],[0.071651,-0.025995,0.997091]]
2025-10-25T00:01:40.695Z,1761350500.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249806,0.964758,0.082698],[-0.965340,-0.254802,0.056523],[0.075602,-0.065712,0.994971]]
2025-10-25T00:01:41.486Z,1761350501.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238950,0.962585,0.127799],[-0.967728,-0.246912,0.050359],[0.080030,-0.111641,0.990521]]
2025-10-25T00:01:41.915Z,1761350501.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235697,0.960458,0.148217],[-0.968336,-0.245017,0.047866],[0.082289,-0.132242,0.987796]]
2025-10-25T00:01:42.291Z,1761350502.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233588,0.958515,0.163356],[-0.968659,-0.243993,0.046553],[0.084480,-0.147362,0.985468]]
2025-10-25T00:01:42.698Z,1761350502.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232552,0.956815,0.174429],[-0.968715,-0.243852,0.046122],[0.086665,-0.158247,0.983589]]
2025-10-25T00:01:43.095Z,1761350503.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232182,0.955066,0.184229],[-0.968592,-0.244354,0.046057],[0.089004,-0.167749,0.981804]]
2025-10-25T00:01:43.508Z,1761350503.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232229,0.954029,0.189470],[-0.968386,-0.245022,0.046822],[0.091093,-0.172606,0.980770]]
2025-10-25T00:01:43.867Z,1761350503.867 [DAT](INFO): DAT read: Rx Time:00:01:42.4487

2025-10-25T00:01:43.869Z,1761350503.869 [DAT](INFO): Rx dataTimestamp_ set to:1761350503.868185
2025-10-25T00:01:43.929Z,1761350503.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232441,0.953574,0.191486],[-0.968151,-0.245679,0.048225],[0.093030,-0.174178,0.980310]]
2025-10-25T00:01:44.306Z,1761350504.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232546,0.953173,0.193350],[-0.967938,-0.246228,0.049687],[0.094968,-0.175596,0.979871]]
2025-10-25T00:01:44.626Z,1761350504.626 [DAT](INFO): DAT read: 00:01:42.4487 LVL= 30752, 22337, 18482, 29587, AGC= 53, IDX= 404, 0.06, 1.876, 3.053,-2.127, 2.958, PHS=-0.981, 0.140, 1.154, RAW= 241.7,  -3.4, CAL= 238.7,  -5.3, ROT= 271.3,   5.3

2025-10-25T00:01:44.627Z,1761350504.627 [DAT](INFO): got valid direction response:
 00:01:42.4487 LVL= 30752, 22337, 18482, 29587, AGC= 53, IDX= 404, 0.06, 1.876, 3.053,-2.127, 2.958, PHS=-0.981, 0.140, 1.154, RAW= 241.7,  -3.4, CAL= 238.7,  -5.3, ROT= 271.3,   5.3

2025-10-25T00:01:44.628Z,1761350504.628 [DAT](INFO): DAT read: 

2025-10-25T00:01:44.628Z,1761350504.628 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:01:44.629Z,1761350504.629 [DAT](INFO): Got DATA 2
2025-10-25T00:01:44.629Z,1761350504.629 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:01:44.630Z,1761350504.630 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:01:44.630Z,1761350504.630 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:01:44.631Z,1761350504.631 [DAT](INFO): DAT read: CRC:Pass MPD:03.4 PSNR:12.9 AGC:52 SPD:-0.6 CCERR:010

2025-10-25T00:01:44.631Z,1761350504.631 [DAT](INFO): Got CRC:Pass
2025-10-25T00:01:44.631Z,1761350504.631 [DAT](INFO): Got CRC:Pass
2025-10-25T00:01:44.631Z,1761350504.631 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:01:44.636Z,1761350504.636 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:01:44.636Z,1761350504.636 [DAT](INFO): Got ack
2025-10-25T00:01:44.636Z,1761350504.636 [DAT](INFO): DAT read: 

2025-10-25T00:01:44.637Z,1761350504.637 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:01:44.637Z,1761350504.637 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:01:44.637Z,1761350504.637 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-10-25T00:01:44.638Z,1761350504.638 [DAT](INFO): direction in FSK: [0.022590,-0.995468,-0.092371]
2025-10-25T00:01:44.719Z,1761350504.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232716,0.952609,0.195908],[-0.967717,-0.246860,0.050831],[0.096784,-0.177754,0.979304]]
2025-10-25T00:01:44.825Z,1761350504.825 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350528.00. Resetting abort timer.
2025-10-25T00:01:44.874Z,1761350504.874 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:01:44.874Z,1761350504.874 [DAT](INFO): #Outgoing data=49
2025-10-25T00:01:44.874Z,1761350504.874 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:01:45.116Z,1761350505.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233091,0.952107,0.197890],[-0.967462,-0.247637,0.051899],[0.098418,-0.179354,0.978849]]
2025-10-25T00:01:45.125Z,1761350505.125 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:01:45.519Z,1761350505.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233493,0.952070,0.197594],[-0.967244,-0.248234,0.053098],[0.099602,-0.178724,0.978845]]
2025-10-25T00:01:45.925Z,1761350505.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233842,0.952215,0.196480],[-0.967069,-0.248675,0.054209],[0.100478,-0.177334,0.979008]]
2025-10-25T00:01:46.327Z,1761350506.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233830,0.952009,0.197492],[-0.966957,-0.248924,0.055060],[0.101578,-0.178091,0.978757]]
2025-10-25T00:01:46.738Z,1761350506.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233277,0.952024,0.198072],[-0.966955,-0.248650,0.056307],[0.102856,-0.178392,0.978569]]
2025-10-25T00:01:47.134Z,1761350507.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231833,0.951622,0.201668],[-0.967151,-0.247711,0.057073],[0.104267,-0.181812,0.977790]]
2025-10-25T00:01:47.538Z,1761350507.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229230,0.951179,0.206668],[-0.967646,-0.245682,0.057454],[0.105424,-0.186812,0.976723]]
2025-10-25T00:01:47.944Z,1761350507.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225694,0.951006,0.211305],[-0.968396,-0.242646,0.057719],[0.106164,-0.191600,0.975715]]
2025-10-25T00:01:48.346Z,1761350508.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221527,0.950935,0.215981],[-0.969365,-0.238840,0.057324],[0.106097,-0.196666,0.974713]]
2025-10-25T00:01:48.402Z,1761350508.402 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:01:47.4567

2025-10-25T00:01:48.402Z,1761350508.402 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:01:48.755Z,1761350508.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217540,0.951241,0.218669],[-0.970322,-0.235004,0.056987],[0.105596,-0.199783,0.974134]]
2025-10-25T00:01:49.155Z,1761350509.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213874,0.951440,0.221404],[-0.971227,-0.231414,0.056262],[0.104766,-0.203001,0.973558]]
2025-10-25T00:01:49.560Z,1761350509.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210938,0.951856,0.222432],[-0.971998,-0.228356,0.055436],[0.103560,-0.204510,0.973371]]
2025-10-25T00:01:49.590Z,1761350509.590 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:01:49.590Z,1761350509.590 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:01:49.591Z,1761350509.591 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:01:49.591Z,1761350509.591 [marl:UpdateRudder:A] Stopped
2025-10-25T00:01:49.591Z,1761350509.591 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:01:49.967Z,1761350509.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208402,0.952138,0.223612],[-0.972662,-0.225717,0.054596],[0.102456,-0.206120,0.973148]]
2025-10-25T00:01:50.042Z,1761350510.042 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:01:50.042Z,1761350510.042 [marl:UpdateRudder:B] Stopped
2025-10-25T00:01:50.042Z,1761350510.042 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:01:50.042Z,1761350510.042 [marl:UpdateRudder] Stopped
2025-10-25T00:01:50.042Z,1761350510.042 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:01:50.366Z,1761350510.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207535,0.952378,0.223395],[-0.972913,-0.224726,0.054212],[0.101833,-0.206093,0.973219]]
2025-10-25T00:01:50.774Z,1761350510.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206381,0.953075,0.221484],[-0.973287,-0.223229,0.053667],[0.100591,-0.204492,0.973686]]
2025-10-25T00:01:50.869Z,1761350510.869 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:01:50.870Z,1761350510.870 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:01:50.870Z,1761350510.870 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:01:50.870Z,1761350510.870 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:01:50.870Z,1761350510.870 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:01:50.870Z,1761350510.870 [marl:UpdateCommandMode] Stopped
2025-10-25T00:01:50.870Z,1761350510.870 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:01:50.870Z,1761350510.870 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:01:50.870Z,1761350510.870 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:01:50.871Z,1761350510.871 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:01:50.871Z,1761350510.871 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:01:50.871Z,1761350510.871 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:01:50.871Z,1761350510.871 [marl:UpdateSpeed] Stopped
2025-10-25T00:01:50.871Z,1761350510.871 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:01:51.177Z,1761350511.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205458,0.953410,0.220898],[-0.973618,-0.222020,0.052687],[0.099276,-0.204245,0.973873]]
2025-10-25T00:01:51.578Z,1761350511.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204959,0.954053,0.218574],[-0.973894,-0.221053,0.051640],[0.097584,-0.202283,0.974453]]
2025-10-25T00:01:51.987Z,1761350511.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206332,0.954424,0.215642],[-0.973733,-0.221968,0.050728],[0.096281,-0.199511,0.975154]]
2025-10-25T00:01:52.387Z,1761350512.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208465,0.954524,0.213134],[-0.973402,-0.223667,0.049616],[0.095031,-0.197122,0.975762]]
2025-10-25T00:01:52.801Z,1761350512.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211000,0.954471,0.210864],[-0.972956,-0.225821,0.048588],[0.093993,-0.194910,0.976307]]
2025-10-25T00:01:53.195Z,1761350513.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212853,0.953976,0.211244],[-0.972618,-0.227517,0.047437],[0.093315,-0.195362,0.976282]]
2025-10-25T00:01:53.599Z,1761350513.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213586,0.953501,0.212642],[-0.972543,-0.228122,0.046054],[0.092421,-0.196967,0.976044]]
2025-10-25T00:01:54.002Z,1761350514.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212816,0.953138,0.215029],[-0.972822,-0.227243,0.044467],[0.091247,-0.199722,0.975595]]
2025-10-25T00:01:54.408Z,1761350514.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211673,0.952809,0.217598],[-0.973200,-0.225958,0.042713],[0.089865,-0.202725,0.975103]]
2025-10-25T00:01:54.815Z,1761350514.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210427,0.952918,0.218328],[-0.973639,-0.224387,0.040959],[0.088020,-0.203954,0.975016]]
2025-10-25T00:01:54.954Z,1761350514.954 [DAT](INFO): DAT read: Rx Time:00:01:53.5006

2025-10-25T00:01:54.955Z,1761350514.955 [DAT](INFO): Rx dataTimestamp_ set to:1761350514.954199
2025-10-25T00:01:55.226Z,1761350515.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209187,0.953213,0.218235],[-0.974126,-0.222654,0.038775],[0.085552,-0.204478,0.975125]]
2025-10-25T00:01:55.600Z,1761350515.600 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:01:55.637Z,1761350515.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209899,0.953368,0.216869],[-0.974175,-0.222807,0.036605],[0.083218,-0.203585,0.975514]]
2025-10-25T00:01:55.714Z,1761350515.714 [DAT](INFO): DAT read: 00:01:53.5006 LVL= 25136, 17089, 15890, 23731, AGC= 49, IDX= 441,-0.06, 1.732, 2.952,-2.268, 2.872, PHS=-1.037, 0.125, 1.099, RAW= 242.9,  -2.0, CAL= 239.4,  -3.2, ROT= 270.6,   3.2

2025-10-25T00:01:55.715Z,1761350515.715 [DAT](INFO): got valid direction response:
 00:01:53.5006 LVL= 25136, 17089, 15890, 23731, AGC= 49, IDX= 441,-0.06, 1.732, 2.952,-2.268, 2.872, PHS=-1.037, 0.125, 1.099, RAW= 242.9,  -2.0, CAL= 239.4,  -3.2, ROT= 270.6,   3.2

2025-10-25T00:01:55.716Z,1761350515.716 [DAT](INFO): DAT read: 

2025-10-25T00:01:55.717Z,1761350515.717 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:01:55.717Z,1761350515.717 [DAT](INFO): Got DATA 2
2025-10-25T00:01:55.718Z,1761350515.718 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:01:55.718Z,1761350515.718 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:01:55.718Z,1761350515.718 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:01:55.719Z,1761350515.719 [DAT](INFO): DAT read: CRC:Pass MPD:03.3 PSNR:14.6 AGC:48 SPD:-0.8 CCERR:011

2025-10-25T00:01:55.719Z,1761350515.719 [DAT](INFO): Got CRC:Pass
2025-10-25T00:01:55.720Z,1761350515.720 [DAT](INFO): Got CRC:Pass
2025-10-25T00:01:55.720Z,1761350515.720 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:01:55.720Z,1761350515.720 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:01:55.720Z,1761350515.720 [DAT](INFO): Got ack
2025-10-25T00:01:55.720Z,1761350515.720 [DAT](INFO): DAT read: 

2025-10-25T00:01:55.721Z,1761350515.721 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:01:55.721Z,1761350515.721 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:01:55.721Z,1761350515.721 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-10-25T00:01:55.722Z,1761350515.722 [DAT](INFO): direction in FSK: [0.010456,-0.998386,-0.055822]
2025-10-25T00:01:55.778Z,1761350515.778 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350528.00. Resetting abort timer.
2025-10-25T00:01:55.962Z,1761350515.962 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:01:55.962Z,1761350515.962 [DAT](INFO): #Outgoing data=49
2025-10-25T00:01:55.962Z,1761350515.962 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:01:56.026Z,1761350516.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212247,0.953795,0.212664],[-0.973857,-0.224477,0.034831],[0.080959,-0.199711,0.976504]]
2025-10-25T00:01:56.213Z,1761350516.213 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:01:56.431Z,1761350516.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215823,0.953527,0.210254],[-0.973206,-0.227554,0.033000],[0.079311,-0.197498,0.977090]]
2025-10-25T00:01:56.604Z,1761350516.604 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:01:56.838Z,1761350516.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219413,0.953466,0.206787],[-0.972523,-0.230652,0.031601],[0.077826,-0.194171,0.977876]]
2025-10-25T00:01:57.238Z,1761350517.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222574,0.953552,0.202974],[-0.971889,-0.233415,0.030820],[0.076766,-0.190408,0.978699]]
2025-10-25T00:01:57.643Z,1761350517.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223947,0.953614,0.201169],[-0.971667,-0.234471,0.029790],[0.075576,-0.188798,0.979104]]
2025-10-25T00:01:58.047Z,1761350518.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224375,0.953681,0.200373],[-0.971650,-0.234660,0.028828],[0.074512,-0.188225,0.979295]]
2025-10-25T00:01:58.854Z,1761350518.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221055,0.954601,0.199681],[-0.972772,-0.230440,0.024750],[0.069641,-0.188773,0.979548]]
2025-10-25T00:01:59.259Z,1761350519.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218510,0.955296,0.199156],[-0.973585,-0.227266,0.021937],[0.066218,-0.189102,0.979722]]
2025-10-25T00:01:59.489Z,1761350519.489 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:01:58.5566

2025-10-25T00:01:59.490Z,1761350519.490 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:01:59.669Z,1761350519.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215106,0.956026,0.199360],[-0.974561,-0.223292,0.019257],[0.062926,-0.190146,0.979737]]
2025-10-25T00:02:00.066Z,1761350520.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211594,0.956860,0.199116],[-0.975536,-0.219204,0.016723],[0.059649,-0.190706,0.979833]]
2025-10-25T00:02:00.470Z,1761350520.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207125,0.957521,0.200629],[-0.976712,-0.214124,0.013591],[0.055973,-0.193141,0.979573]]
2025-10-25T00:02:00.882Z,1761350520.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202096,0.958421,0.201462],[-0.977976,-0.208448,0.010603],[0.052156,-0.194883,0.979439]]
2025-10-25T00:02:01.279Z,1761350521.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197026,0.959977,0.199062],[-0.979197,-0.202733,0.008498],[0.048514,-0.193247,0.979950]]
2025-10-25T00:02:01.413Z,1761350521.413 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:02:01.413Z,1761350521.413 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:02:01.685Z,1761350521.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192867,0.961463,0.195936],[-0.980204,-0.197894,0.006220],[0.044755,-0.190858,0.980597]]
2025-10-25T00:02:02.087Z,1761350522.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190215,0.962858,0.191633],[-0.980866,-0.194635,0.004331],[0.041469,-0.187142,0.981457]]
2025-10-25T00:02:02.152Z,1761350522.152 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:02:02.152Z,1761350522.152 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:02:02.152Z,1761350522.152 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:02:02.153Z,1761350522.153 [marl:UpdateRudder:A] Stopped
2025-10-25T00:02:02.153Z,1761350522.153 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:02:02.490Z,1761350522.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188526,0.964174,0.186620],[-0.981340,-0.192268,0.001993],[0.037802,-0.182762,0.982430]]
2025-10-25T00:02:02.549Z,1761350522.549 [marl:UpdateRudder:B](INFO): Updating rudder angle  -13.750987 arcdeg 
2025-10-25T00:02:02.550Z,1761350522.550 [marl:UpdateRudder:B] Stopped
2025-10-25T00:02:02.550Z,1761350522.550 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:02:02.550Z,1761350522.550 [marl:UpdateRudder] Stopped
2025-10-25T00:02:02.550Z,1761350522.550 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:02:02.551Z,1761350522.551 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-25T00:02:02.773Z,1761350522.773 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:02:02.824Z,1761350522.824 [DAT](INFO): entering command mode
2025-10-25T00:02:02.895Z,1761350522.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188174,0.965181,0.181703],[-0.981537,-0.191272,-0.000482],[0.034290,-0.178439,0.983353]]
2025-10-25T00:02:03.025Z,1761350523.025 [DAT](INFO): DAT read: 

2025-10-25T00:02:03.025Z,1761350523.025 [DAT](INFO): DAT read: user:20>

2025-10-25T00:02:03.026Z,1761350523.026 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:02:03.026Z,1761350523.026 [DAT](INFO): setting remote address to 0
2025-10-25T00:02:03.277Z,1761350523.277 [DAT](INFO): DAT read: user:20>

2025-10-25T00:02:03.278Z,1761350523.278 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-25T00:02:03.278Z,1761350523.278 [DAT](INFO): set remote address to 0
2025-10-25T00:02:03.278Z,1761350523.278 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:02:03.279Z,1761350523.279 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-25T00:02:03.319Z,1761350523.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189550,0.965820,0.176812],[-0.981383,-0.192036,-0.003102],[0.030959,-0.174108,0.984240]]
2025-10-25T00:02:03.529Z,1761350523.529 [DAT](INFO): DAT read: user:21>

2025-10-25T00:02:03.529Z,1761350523.529 [DAT](INFO): DAT read: Tx time:00:02:02.5078

2025-10-25T00:02:03.530Z,1761350523.530 [DAT](INFO): Ping request sent.
2025-10-25T00:02:03.530Z,1761350523.530 [DAT](INFO): transmitted an acoustic signal
2025-10-25T00:02:03.530Z,1761350523.530 [DAT](INFO): publishing transmit ping time
2025-10-25T00:02:03.531Z,1761350523.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000996
2025-10-25T00:02:03.704Z,1761350523.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191498,0.965792,0.174853],[-0.981104,-0.193375,-0.006399],[0.027632,-0.172775,0.984574]]
2025-10-25T00:02:03.733Z,1761350523.733 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:02:03.733Z,1761350523.733 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:02:03.733Z,1761350523.733 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:02:03.733Z,1761350523.733 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:02:03.734Z,1761350523.734 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:02:03.734Z,1761350523.734 [marl:UpdateCommandMode] Stopped
2025-10-25T00:02:03.734Z,1761350523.734 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:02:03.734Z,1761350523.734 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:02:03.734Z,1761350523.734 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:02:03.734Z,1761350523.734 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:02:03.734Z,1761350523.734 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:02:03.734Z,1761350523.734 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:02:03.735Z,1761350523.735 [marl:UpdateSpeed] Stopped
2025-10-25T00:02:03.735Z,1761350523.735 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:02:03.781Z,1761350523.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251065
2025-10-25T00:02:04.033Z,1761350524.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503030
2025-10-25T00:02:04.106Z,1761350524.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193426,0.965587,0.173861],[-0.980808,-0.194740,-0.009638],[0.024551,-0.172388,0.984723]]
2025-10-25T00:02:04.285Z,1761350524.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755057
2025-10-25T00:02:04.511Z,1761350524.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194829,0.965393,0.173371],[-0.980606,-0.195552,-0.013069],[0.021286,-0.172555,0.984770]]
2025-10-25T00:02:04.537Z,1761350524.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007281
2025-10-25T00:02:04.789Z,1761350524.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258993
2025-10-25T00:02:04.919Z,1761350524.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195171,0.965449,0.172673],[-0.980608,-0.195279,-0.016528],[0.017762,-0.172550,0.984841]]
2025-10-25T00:02:05.041Z,1761350525.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511056
2025-10-25T00:02:05.293Z,1761350525.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763002
2025-10-25T00:02:05.545Z,1761350525.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015013
2025-10-25T00:02:05.731Z,1761350525.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184505,0.971822,0.146699],[-0.982788,-0.183831,-0.018256],[0.009226,-0.147542,0.989013]]
2025-10-25T00:02:05.797Z,1761350525.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267022
2025-10-25T00:02:06.049Z,1761350526.049 [DAT](INFO): DAT read: Rx Time:00:02:04.6033

2025-10-25T00:02:06.049Z,1761350526.049 [DAT](INFO): Rx dataTimestamp_ set to:1761350526.049000
2025-10-25T00:02:06.050Z,1761350526.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520054
2025-10-25T00:02:06.126Z,1761350526.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170359,0.978991,0.112050],[-0.985374,-0.169727,-0.015225],[0.004113,-0.113005,0.993586]]
2025-10-25T00:02:06.307Z,1761350526.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777030
2025-10-25T00:02:06.530Z,1761350526.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149855,0.986686,0.063196],[-0.988708,-0.149498,-0.010372],[-0.000786,-0.064037,0.997947]]
2025-10-25T00:02:06.553Z,1761350526.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023074
2025-10-25T00:02:06.810Z,1761350526.810 [DAT](INFO): DAT read: 00:02:04.6033 LVL= 28192, 22193, 21714, 25795, AGC= 51, IDX= 404, 0.19, 2.015,-2.790,-2.037,-2.881, PHS=-1.285, 0.136, 0.800, RAW= 251.8,   3.8, CAL= 248.4,   2.8, ROT= 261.6,  -2.8

2025-10-25T00:02:06.811Z,1761350526.811 [DAT](INFO): got valid direction response:
 00:02:04.6033 LVL= 28192, 22193, 21714, 25795, AGC= 51, IDX= 404, 0.19, 2.015,-2.790,-2.037,-2.881, PHS=-1.285, 0.136, 0.800, RAW= 251.8,   3.8, CAL= 248.4,   2.8, ROT= 261.6,  -2.8

2025-10-25T00:02:06.812Z,1761350526.812 [DAT](INFO): DAT read: 

2025-10-25T00:02:06.812Z,1761350526.812 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:02:06.813Z,1761350526.813 [DAT](INFO): Got DATA 2
2025-10-25T00:02:06.813Z,1761350526.813 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:02:06.814Z,1761350526.814 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:02:06.814Z,1761350526.814 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:02:06.815Z,1761350526.815 [DAT](INFO): DAT read: CRC:Pass MPD:06.8 PSNR:10.2 AGC:49 SPD:-0.9 CCERR:008

2025-10-25T00:02:06.815Z,1761350526.815 [DAT](INFO): Got CRC:Pass
2025-10-25T00:02:06.815Z,1761350526.815 [DAT](INFO): Got CRC:Pass
2025-10-25T00:02:06.815Z,1761350526.815 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:02:06.820Z,1761350526.820 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:02:06.820Z,1761350526.820 [DAT](INFO): Got ack
2025-10-25T00:02:06.820Z,1761350526.820 [DAT](INFO): DAT read: 

2025-10-25T00:02:06.821Z,1761350526.821 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:02:06.821Z,1761350526.821 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:02:06.821Z,1761350526.821 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-25T00:02:06.822Z,1761350526.822 [DAT](INFO): direction in FSK: [-0.145908,-0.988091,0.048850]
2025-10-25T00:02:06.957Z,1761350526.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123413,0.992349,0.003493],[-0.992340,-0.123391,-0.006070],[-0.005592,-0.004215,0.999976]]
2025-10-25T00:02:07.019Z,1761350527.019 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350528.00. Resetting abort timer.
2025-10-25T00:02:07.058Z,1761350527.058 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:02:07.058Z,1761350527.058 [DAT](INFO): #Outgoing data=49
2025-10-25T00:02:07.058Z,1761350527.058 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:02:07.309Z,1761350527.309 [DAT](INFO): setting remote address to 10
2025-10-25T00:02:07.339Z,1761350527.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093554,0.994042,-0.055932],[-0.995567,-0.093949,-0.004467],[-0.009695,0.055266,0.998425]]
2025-10-25T00:02:07.562Z,1761350527.562 [DAT](INFO): DAT read: user:22>

2025-10-25T00:02:07.563Z,1761350527.563 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-25T00:02:07.563Z,1761350527.563 [DAT](INFO): set remote address to 10
2025-10-25T00:02:07.563Z,1761350527.563 [DAT](INFO): entering online mode
2025-10-25T00:02:07.743Z,1761350527.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061154,0.992516,-0.105696],[-0.998052,-0.062116,-0.005831],[-0.012353,0.105133,0.994381]]
2025-10-25T00:02:07.813Z,1761350527.813 [DAT](INFO): DAT read: user:23>

2025-10-25T00:02:07.814Z,1761350527.814 [DAT](INFO): DAT read: 

2025-10-25T00:02:07.815Z,1761350527.815 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-25T00:02:07.816Z,1761350527.816 [DAT](INFO): commRate: 600
2025-10-25T00:02:07.816Z,1761350527.816 [DAT](INFO): online mode acknowledged
2025-10-25T00:02:07.817Z,1761350527.817 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:02:08.552Z,1761350528.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010271,0.985969,-0.166612],[-0.999839,0.007677,-0.016206],[-0.014700,0.166752,0.985889]]
2025-10-25T00:02:08.955Z,1761350528.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047879,0.982172,-0.181783],[-0.998740,0.044337,-0.023501],[-0.015022,0.182679,0.983058]]
2025-10-25T00:02:09.358Z,1761350529.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085537,0.977872,-0.190920],[-0.996218,0.081005,-0.031432],[-0.015271,0.192886,0.981102]]
2025-10-25T00:02:09.768Z,1761350529.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122664,0.973243,-0.194295],[-0.992325,0.117190,-0.039464],[-0.015639,0.197645,0.980149]]
2025-10-25T00:02:10.166Z,1761350530.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158158,0.968231,-0.193689],[-0.987284,0.151878,-0.046950],[-0.016042,0.198651,0.979939]]
2025-10-25T00:02:10.570Z,1761350530.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191621,0.962739,-0.190830],[-0.981336,0.184739,-0.053394],[-0.016151,0.197499,0.980170]]
2025-10-25T00:02:10.975Z,1761350530.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223524,0.956779,-0.186041],[-0.974567,0.216250,-0.058781],[-0.016009,0.194448,0.980782]]
2025-10-25T00:02:11.093Z,1761350531.093 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:02:10.1566

2025-10-25T00:02:11.093Z,1761350531.093 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:02:11.379Z,1761350531.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254084,0.950303,-0.179907],[-0.967050,0.246536,-0.063522],[-0.016011,0.190118,0.981631]]
2025-10-25T00:02:11.782Z,1761350531.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283237,0.943723,-0.170773],[-0.958921,0.275759,-0.066531],[-0.015695,0.182602,0.983062]]
2025-10-25T00:02:12.590Z,1761350532.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340337,0.927879,-0.152356],[-0.940160,0.332954,-0.072394],[-0.016445,0.167877,0.985671]]
2025-10-25T00:02:13.002Z,1761350533.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367983,0.918681,-0.143575],[-0.929673,0.360652,-0.075082],[-0.017196,0.161107,0.986787]]
2025-10-25T00:02:13.405Z,1761350533.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394646,0.908141,-0.139766],[-0.918657,0.387004,-0.079351],[-0.017971,0.159713,0.987000]]
2025-10-25T00:02:13.612Z,1761350533.612 [DAT](INFO): Reached modem response timeout
2025-10-25T00:02:13.802Z,1761350533.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421070,0.896827,-0.135649],[-0.906835,0.413166,-0.083323],[-0.018681,0.158097,0.987247]]
2025-10-25T00:02:14.209Z,1761350534.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447610,0.884630,-0.130675],[-0.894019,0.439538,-0.086811],[-0.019359,0.155683,0.987617]]
2025-10-25T00:02:14.610Z,1761350534.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474261,0.871293,-0.126193],[-0.880158,0.465994,-0.090395],[-0.019955,0.153940,0.987879]]
2025-10-25T00:02:15.014Z,1761350535.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500555,0.856801,-0.123842],[-0.865469,0.491929,-0.094713],[-0.020229,0.154590,0.987772]]
2025-10-25T00:02:15.069Z,1761350535.069 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:02:15.069Z,1761350535.069 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:02:15.069Z,1761350535.069 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:02:15.070Z,1761350535.070 [marl:UpdateRudder:A] Stopped
2025-10-25T00:02:15.070Z,1761350535.070 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:02:15.420Z,1761350535.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527320,0.841101,-0.120340],[-0.849418,0.518426,-0.098612],[-0.020555,0.154219,0.987823]]
2025-10-25T00:02:15.486Z,1761350535.486 [marl:UpdateRudder:B](INFO): Updating rudder angle  -13.750987 arcdeg 
2025-10-25T00:02:15.486Z,1761350535.486 [marl:UpdateRudder:B] Stopped
2025-10-25T00:02:15.487Z,1761350535.487 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:02:15.487Z,1761350535.487 [marl:UpdateRudder] Stopped
2025-10-25T00:02:15.487Z,1761350535.487 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:02:15.860Z,1761350535.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553126,0.824725,-0.117815],[-0.832838,0.543865,-0.102915],[-0.020801,0.155046,0.987688]]
2025-10-25T00:02:16.226Z,1761350536.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578541,0.807596,-0.114362],[-0.815379,0.568999,-0.106759],[-0.021147,0.155013,0.987686]]
2025-10-25T00:02:16.630Z,1761350536.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602816,0.790028,-0.111663],[-0.797593,0.592912,-0.110911],[-0.021417,0.155921,0.987537]]
2025-10-25T00:02:16.688Z,1761350536.688 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:02:16.689Z,1761350536.689 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:02:16.689Z,1761350536.689 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:02:16.689Z,1761350536.689 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:02:16.689Z,1761350536.689 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:02:16.689Z,1761350536.689 [marl:UpdateCommandMode] Stopped
2025-10-25T00:02:16.689Z,1761350536.689 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:02:16.689Z,1761350536.689 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:02:16.690Z,1761350536.690 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:02:16.690Z,1761350536.690 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:02:16.690Z,1761350536.690 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:02:16.690Z,1761350536.690 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:02:16.690Z,1761350536.690 [marl:UpdateSpeed] Stopped
2025-10-25T00:02:16.690Z,1761350536.690 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:02:17.042Z,1761350537.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626220,0.772148,-0.107866],[-0.779337,0.616058,-0.114478],[-0.021942,0.155753,0.987552]]
2025-10-25T00:02:17.441Z,1761350537.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649206,0.753614,-0.102943],[-0.760267,0.638862,-0.117685],[-0.022923,0.154666,0.987701]]
2025-10-25T00:02:17.647Z,1761350537.647 [DAT](INFO): DAT read: Rx Time:00:02:16.2083

2025-10-25T00:02:17.647Z,1761350537.647 [DAT](INFO): Rx dataTimestamp_ set to:1761350537.647054
2025-10-25T00:02:17.867Z,1761350537.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671155,0.734654,-0.099174],[-0.740932,0.660464,-0.121682],[-0.023893,0.155149,0.987602]]
2025-10-25T00:02:18.268Z,1761350538.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692719,0.714939,-0.094885],[-0.720780,0.681760,-0.125218],[-0.024835,0.155132,0.987582]]
2025-10-25T00:02:18.406Z,1761350538.406 [DAT](INFO): DAT read: 00:02:16.2083 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 488, 0.07,-0.310, 1.829, 0.591, 0.838, PHS=-1.046, 1.036,-0.291, RAW= 309.0,   3.3, CAL= 306.6,   0.2, ROT= 203.4,  -0.2

2025-10-25T00:02:18.408Z,1761350538.408 [DAT](INFO): got valid direction response:
 00:02:16.2083 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 488, 0.07,-0.310, 1.829, 0.591, 0.838, PHS=-1.046, 1.036,-0.291, RAW= 309.0,   3.3, CAL= 306.6,   0.2, ROT= 203.4,  -0.2

2025-10-25T00:02:18.409Z,1761350538.409 [DAT](INFO): DAT read: 

2025-10-25T00:02:18.409Z,1761350538.409 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:02:18.410Z,1761350538.410 [DAT](INFO): Got DATA 2
2025-10-25T00:02:18.410Z,1761350538.410 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:02:18.410Z,1761350538.410 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:02:18.411Z,1761350538.411 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:02:18.412Z,1761350538.412 [DAT](INFO): DAT read: CRC:Pass MPD:04.1 PSNR:11.7 AGC:61 SPD:-1.6 CCERR:008

2025-10-25T00:02:18.412Z,1761350538.412 [DAT](INFO): Got CRC:Pass
2025-10-25T00:02:18.412Z,1761350538.412 [DAT](INFO): Got CRC:Pass
2025-10-25T00:02:18.413Z,1761350538.413 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:02:18.413Z,1761350538.413 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:02:18.413Z,1761350538.413 [DAT](INFO): Got ack
2025-10-25T00:02:18.413Z,1761350538.413 [DAT](INFO): DAT read: 

2025-10-25T00:02:18.413Z,1761350538.413 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:02:18.414Z,1761350538.414 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:02:18.414Z,1761350538.414 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-25T00:02:18.415Z,1761350538.415 [DAT](INFO): direction in FSK: [-0.917749,-0.397145,0.003491]
2025-10-25T00:02:18.654Z,1761350538.654 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:02:18.654Z,1761350538.654 [DAT](INFO): #Outgoing data=49
2025-10-25T00:02:18.656Z,1761350538.656 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:02:18.670Z,1761350538.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713944,0.694338,-0.090432],[-0.699739,0.702798,-0.128217],[-0.025470,0.154819,0.987615]]
2025-10-25T00:02:18.734Z,1761350538.734 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350528.00. Resetting abort timer.
2025-10-25T00:02:18.905Z,1761350538.905 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:02:19.054Z,1761350539.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735592,0.671811,-0.087031],[-0.676916,0.723970,-0.132864],[-0.026252,0.156646,0.987306]]
2025-10-25T00:02:19.458Z,1761350539.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757175,0.647751,-0.084290],[-0.652653,0.744860,-0.138667],[-0.027038,0.160007,0.986746]]
2025-10-25T00:02:19.911Z,1761350539.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778257,0.622665,-0.081270],[-0.627339,0.765277,-0.144211],[-0.027601,0.163217,0.986204]]
2025-10-25T00:02:20.678Z,1761350540.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818037,0.570618,-0.072185],[-0.574455,0.804330,-0.151838],[-0.028581,0.165676,0.985766]]
2025-10-25T00:02:21.074Z,1761350541.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836263,0.544380,-0.065683],[-0.547549,0.822678,-0.152940],[-0.029222,0.163863,0.986050]]
2025-10-25T00:02:21.480Z,1761350541.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853122,0.518344,-0.059181],[-0.520862,0.839765,-0.153288],[-0.029758,0.161598,0.986408]]
2025-10-25T00:02:21.914Z,1761350541.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868469,0.493134,-0.050798],[-0.494810,0.855985,-0.149845],[-0.030411,0.155271,0.987404]]
2025-10-25T00:02:22.181Z,1761350542.181 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:02:21.2565

2025-10-25T00:02:22.181Z,1761350542.181 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:02:22.286Z,1761350542.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882345,0.468626,-0.043100],[-0.469589,0.870733,-0.145978],[-0.030880,0.149042,0.988349]]
2025-10-25T00:02:22.693Z,1761350542.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895293,0.443913,-0.037307],[-0.444386,0.884098,-0.144540],[-0.031180,0.145985,0.988795]]
2025-10-25T00:02:23.096Z,1761350543.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907564,0.418653,-0.032504],[-0.418734,0.896505,-0.144708],[-0.031443,0.144942,0.988940]]
2025-10-25T00:02:23.498Z,1761350543.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919586,0.391834,-0.028757],[-0.391605,0.908213,-0.147630],[-0.031729,0.147020,0.988625]]
2025-10-25T00:02:23.917Z,1761350543.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931332,0.363315,-0.024947],[-0.362741,0.919432,-0.151869],[-0.032239,0.150490,0.988086]]
2025-10-25T00:02:24.713Z,1761350544.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953149,0.302035,-0.016784],[-0.300687,0.939907,-0.161746],[-0.033077,0.159215,0.986690]]
2025-10-25T00:02:25.518Z,1761350545.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970830,0.239694,-0.006033],[-0.237349,0.957159,-0.165868],[-0.033983,0.162462,0.986129]]
2025-10-25T00:02:25.929Z,1761350545.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977912,0.209018,-0.000106],[-0.206171,0.964508,-0.164975],[-0.034381,0.161353,0.986298]]
2025-10-25T00:02:26.334Z,1761350546.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988633,0.149944,0.011066],[-0.146219,0.975989,-0.161447],[-0.035008,0.157994,0.986819]]
2025-10-25T00:02:26.726Z,1761350546.726 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:02:26.737Z,1761350546.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992678,0.119654,0.016540],[-0.115518,0.980414,-0.159511],[-0.035302,0.156433,0.987058]]
2025-10-25T00:02:27.139Z,1761350547.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995810,0.088809,0.021795],[-0.084289,0.983862,-0.157829],[-0.035460,0.155331,0.987226]]
2025-10-25T00:02:27.545Z,1761350547.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997950,0.058066,0.026908],[-0.053194,0.986370,-0.155705],[-0.035582,0.153955,0.987437]]
2025-10-25T00:02:27.729Z,1761350547.729 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:02:27.944Z,1761350547.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999132,0.026629,0.032020],[-0.021406,0.987899,-0.153617],[-0.035723,0.152798,0.987612]]
2025-10-25T00:02:27.997Z,1761350547.997 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:02:27.997Z,1761350547.997 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:02:27.997Z,1761350547.997 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:02:27.998Z,1761350547.998 [marl:UpdateRudder:A] Stopped
2025-10-25T00:02:27.998Z,1761350547.998 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:02:28.354Z,1761350548.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999312,-0.004826,0.036775],[0.010366,0.988328,-0.151985],[-0.035613,0.152262,0.987698]]
2025-10-25T00:02:28.395Z,1761350548.395 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-25T00:02:28.395Z,1761350548.395 [marl:UpdateRudder:B] Stopped
2025-10-25T00:02:28.395Z,1761350548.395 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:02:28.395Z,1761350548.395 [marl:UpdateRudder] Stopped
2025-10-25T00:02:28.395Z,1761350548.395 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:02:28.751Z,1761350548.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998493,-0.035969,0.041450],[0.041806,0.987824,-0.149852],[-0.035555,0.151359,0.987839]]
2025-10-25T00:02:29.157Z,1761350549.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996809,-0.065863,0.045088],[0.071764,0.986815,-0.145070],[-0.034939,0.147843,0.988393]]
2025-10-25T00:02:29.558Z,1761350549.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994346,-0.094546,0.048351],[0.100467,0.985048,-0.139954],[-0.034396,0.144020,0.988977]]
2025-10-25T00:02:29.607Z,1761350549.607 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:02:29.607Z,1761350549.607 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:02:29.607Z,1761350549.607 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:02:29.607Z,1761350549.607 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:02:29.607Z,1761350549.607 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:02:29.607Z,1761350549.607 [marl:UpdateCommandMode] Stopped
2025-10-25T00:02:29.607Z,1761350549.607 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:02:29.608Z,1761350549.608 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:02:29.608Z,1761350549.608 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:02:29.608Z,1761350549.608 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:02:29.608Z,1761350549.608 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:02:29.608Z,1761350549.608 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:02:29.609Z,1761350549.609 [marl:UpdateSpeed] Stopped
2025-10-25T00:02:29.609Z,1761350549.609 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:02:29.962Z,1761350549.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991151,-0.122507,0.051111],[0.128472,0.982181,-0.137172],[-0.033396,0.142524,0.989228]]
2025-10-25T00:02:30.371Z,1761350550.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987194,-0.150097,0.054031],[0.156178,0.978377,-0.135595],[-0.032511,0.142297,0.989290]]
2025-10-25T00:02:30.772Z,1761350550.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982608,-0.176792,0.056804],[0.182886,0.974353,-0.131102],[-0.032169,0.139211,0.989740]]
2025-10-25T00:02:31.174Z,1761350551.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978006,-0.200463,0.057617],[0.205990,0.971671,-0.115856],[-0.032760,0.125177,0.991593]]
2025-10-25T00:02:31.578Z,1761350551.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973823,-0.220260,0.056165],[0.224779,0.969885,-0.093798],[-0.033814,0.103967,0.994006]]
2025-10-25T00:02:31.982Z,1761350551.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970146,-0.236680,0.052905],[0.239999,0.968313,-0.069071],[-0.034881,0.079707,0.996208]]
2025-10-25T00:02:32.264Z,1761350552.264 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:02:32.388Z,1761350552.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966636,-0.251237,0.049953],[0.253582,0.966125,-0.047946],[-0.036215,0.059013,0.997600]]
2025-10-25T00:02:32.517Z,1761350552.517 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:02:32.517Z,1761350552.517 [DAT](INFO): #Outgoing data=49
2025-10-25T00:02:32.517Z,1761350552.517 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:02:32.769Z,1761350552.769 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:02:32.795Z,1761350552.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963054,-0.265039,0.047766],[0.266662,0.963275,-0.031492],[-0.037665,0.043066,0.998362]]
2025-10-25T00:02:33.195Z,1761350553.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959274,-0.278715,0.045958],[0.279741,0.959915,-0.017547],[-0.039225,0.029688,0.998789]]
2025-10-25T00:02:33.599Z,1761350553.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955304,-0.292185,0.044962],[0.292717,0.956183,-0.005596],[-0.041357,0.018507,0.998973]]
2025-10-25T00:02:34.004Z,1761350554.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951178,-0.305256,0.045595],[0.305552,0.952175,0.000499],[-0.043567,0.013457,0.998960]]
2025-10-25T00:02:34.406Z,1761350554.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946557,-0.319097,0.046981],[0.319236,0.947663,0.004711],[-0.046025,0.010539,0.998885]]
2025-10-25T00:02:34.811Z,1761350554.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941280,-0.334098,0.048693],[0.334132,0.942495,0.007684],[-0.048460,0.009037,0.998784]]
2025-10-25T00:02:35.217Z,1761350555.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935020,-0.350783,0.051853],[0.350915,0.936382,0.006839],[-0.050953,0.011801,0.998631]]
2025-10-25T00:02:35.620Z,1761350555.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927791,-0.369053,0.054801],[0.369278,0.929297,0.006331],[-0.053263,0.014363,0.998477]]
2025-10-25T00:02:36.022Z,1761350556.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919590,-0.388690,0.057222],[0.388987,0.921222,0.006310],[-0.055167,0.016456,0.998342]]
2025-10-25T00:02:36.045Z,1761350556.045 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:02:35.1065

2025-10-25T00:02:36.046Z,1761350556.046 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:02:36.427Z,1761350556.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910634,-0.408863,0.059810],[0.409321,0.912377,0.004951],[-0.056594,0.019973,0.998197]]
2025-10-25T00:02:36.840Z,1761350556.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900902,-0.429812,0.060302],[0.430236,0.902694,0.006438],[-0.057201,0.020143,0.998159]]
2025-10-25T00:02:37.234Z,1761350557.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890630,-0.450756,0.059976],[0.451123,0.892426,0.008038],[-0.057147,0.019898,0.998167]]
2025-10-25T00:02:37.638Z,1761350557.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880091,-0.471116,0.059069],[0.471406,0.881862,0.009808],[-0.056711,0.019214,0.998206]]
2025-10-25T00:02:38.042Z,1761350558.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870021,-0.489768,0.056478],[0.489859,0.871702,0.013182],[-0.055689,0.016198,0.998317]]
2025-10-25T00:02:38.448Z,1761350558.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861148,-0.505515,0.053652],[0.505371,0.862730,0.017224],[-0.054994,0.012282,0.998411]]
2025-10-25T00:02:38.850Z,1761350558.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853170,-0.519053,0.051818],[0.518763,0.854685,0.019960],[-0.054648,0.009852,0.998457]]
2025-10-25T00:02:39.254Z,1761350559.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845756,-0.531192,0.050327],[0.530732,0.847222,0.023212],[-0.054968,0.007078,0.998463]]
2025-10-25T00:02:39.667Z,1761350559.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838560,-0.542558,0.049467],[0.541949,0.840004,0.026159],[-0.055745,0.004873,0.998433]]
2025-10-25T00:02:40.062Z,1761350560.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831222,-0.553723,0.049616],[0.553017,0.832691,0.028229],[-0.056946,0.003974,0.998369]]
2025-10-25T00:02:40.467Z,1761350560.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823598,-0.564950,0.050174],[0.564163,0.825117,0.030023],[-0.058361,0.003579,0.998289]]
2025-10-25T00:02:40.882Z,1761350560.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814813,-0.577483,0.050935],[0.576648,0.816394,0.031282],[-0.059647,0.003883,0.998212]]
2025-10-25T00:02:40.939Z,1761350560.939 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:02:40.939Z,1761350560.939 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:02:40.940Z,1761350560.940 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:02:40.940Z,1761350560.940 [marl:UpdateRudder:A] Stopped
2025-10-25T00:02:40.940Z,1761350560.940 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:02:41.275Z,1761350561.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805071,-0.590898,0.051966],[0.590026,0.806733,0.032407],[-0.061072,0.004571,0.998123]]
2025-10-25T00:02:41.306Z,1761350561.306 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-25T00:02:41.306Z,1761350561.306 [marl:UpdateRudder:B] Stopped
2025-10-25T00:02:41.306Z,1761350561.306 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:02:41.306Z,1761350561.306 [marl:UpdateRudder] Stopped
2025-10-25T00:02:41.307Z,1761350561.307 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:02:41.691Z,1761350561.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793838,-0.605765,0.053567],[0.604980,0.795611,0.031678],[-0.061808,0.007259,0.998062]]
2025-10-25T00:02:42.082Z,1761350562.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781548,-0.621511,0.053915],[0.620711,0.783364,0.032523],[-0.062448,0.008047,0.998016]]
2025-10-25T00:02:42.486Z,1761350562.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768080,-0.638107,0.053595],[0.637356,0.769891,0.032335],[-0.061895,0.009323,0.998039]]
2025-10-25T00:02:42.540Z,1761350562.540 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:02:42.540Z,1761350562.540 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:02:42.541Z,1761350562.541 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:02:42.541Z,1761350562.541 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:02:42.541Z,1761350562.541 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:02:42.541Z,1761350562.541 [marl:UpdateCommandMode] Stopped
2025-10-25T00:02:42.541Z,1761350562.541 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:02:42.541Z,1761350562.541 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:02:42.541Z,1761350562.541 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:02:42.541Z,1761350562.541 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:02:42.542Z,1761350562.542 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:02:42.542Z,1761350562.542 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:02:42.542Z,1761350562.542 [marl:UpdateSpeed] Stopped
2025-10-25T00:02:42.542Z,1761350562.542 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:02:42.597Z,1761350562.597 [DAT](INFO): DAT read: Rx Time:00:02:41.1700

2025-10-25T00:02:42.597Z,1761350562.597 [DAT](INFO): Rx dataTimestamp_ set to:1761350562.597135
2025-10-25T00:02:42.898Z,1761350562.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754463,-0.654285,0.051931],[0.653560,0.756187,0.032251],[-0.060371,0.009608,0.998130]]
2025-10-25T00:02:43.315Z,1761350563.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740929,-0.669801,0.048902],[0.669093,0.742487,0.032061],[-0.057783,0.008965,0.998289]]
2025-10-25T00:02:43.366Z,1761350563.366 [DAT](INFO): DAT read: 00:02:41.1700 LVL= 27760, 27809, 31986, 31619, AGC= 53, IDX= 512, 0.19,-2.255,-2.561, 2.190,-2.533, PHS= 0.380, 0.017,-1.604, RAW=  39.9,  13.1, CAL=  37.1,  14.6, ROT= 112.9, -14.6

2025-10-25T00:02:43.367Z,1761350563.367 [DAT](INFO): got valid direction response:
 00:02:41.1700 LVL= 27760, 27809, 31986, 31619, AGC= 53, IDX= 512, 0.19,-2.255,-2.561, 2.190,-2.533, PHS= 0.380, 0.017,-1.604, RAW=  39.9,  13.1, CAL=  37.1,  14.6, ROT= 112.9, -14.6

2025-10-25T00:02:43.368Z,1761350563.368 [DAT](INFO): DAT read: 

2025-10-25T00:02:43.369Z,1761350563.369 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:02:43.369Z,1761350563.369 [DAT](INFO): Got DATA 2
2025-10-25T00:02:43.370Z,1761350563.370 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:02:43.370Z,1761350563.370 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:02:43.370Z,1761350563.370 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:02:43.371Z,1761350563.371 [DAT](INFO): DAT read: CRC:Pass MPD:03.6 PSNR:13.4 AGC:55 SPD:-1.2 CCERR:011

2025-10-25T00:02:43.371Z,1761350563.371 [DAT](INFO): Got CRC:Pass
2025-10-25T00:02:43.371Z,1761350563.371 [DAT](INFO): Got CRC:Pass
2025-10-25T00:02:43.371Z,1761350563.371 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:02:43.384Z,1761350563.384 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:02:43.384Z,1761350563.384 [DAT](INFO): Got ack
2025-10-25T00:02:43.384Z,1761350563.384 [DAT](INFO): DAT read: 

2025-10-25T00:02:43.385Z,1761350563.385 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:02:43.385Z,1761350563.385 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:02:43.385Z,1761350563.385 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-25T00:02:43.386Z,1761350563.386 [DAT](INFO): direction in FSK: [-0.376559,0.891440,0.252069]
2025-10-25T00:02:43.605Z,1761350563.605 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:02:43.605Z,1761350563.605 [DAT](INFO): #Outgoing data=50
2025-10-25T00:02:43.605Z,1761350563.605 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:02:43.701Z,1761350563.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727557,-0.684557,0.045195],[0.683850,0.728920,0.032020],[-0.054863,0.007611,0.998465]]
2025-10-25T00:02:43.760Z,1761350563.760 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350528.00. Resetting abort timer.
2025-10-25T00:02:43.859Z,1761350563.859 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:02:44.103Z,1761350564.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715013,-0.697865,0.041726],[0.697184,0.716200,0.031504],[-0.051870,0.006565,0.998632]]
2025-10-25T00:02:44.506Z,1761350564.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703442,-0.709757,0.037611],[0.709080,0.704431,0.031346],[-0.048742,0.004619,0.998801]]
2025-10-25T00:02:44.910Z,1761350564.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692350,-0.720740,0.034435],[0.720128,0.693194,0.029961],[-0.045464,0.004054,0.998958]]
2025-10-25T00:02:45.319Z,1761350565.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681822,-0.730889,0.030320],[0.730274,0.682494,0.030022],[-0.042635,0.001672,0.999089]]
2025-10-25T00:02:45.723Z,1761350565.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671875,-0.740204,0.026137],[0.739577,0.672382,0.030470],[-0.040128,-0.001142,0.999194]]
2025-10-25T00:02:46.123Z,1761350566.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662326,-0.748885,0.022272],[0.748238,0.662687,0.031404],[-0.038277,-0.004135,0.999259]]
2025-10-25T00:02:46.527Z,1761350566.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652771,-0.757362,0.017112],[0.756656,0.652930,0.033964],[-0.036896,-0.009223,0.999276]]
2025-10-25T00:02:46.931Z,1761350566.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643089,-0.765698,0.011936],[0.764951,0.643036,0.036817],[-0.035866,-0.014546,0.999251]]
2025-10-25T00:02:47.133Z,1761350567.133 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:02:46.2065

2025-10-25T00:02:47.133Z,1761350567.133 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:02:47.335Z,1761350567.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632443,-0.774566,0.007964],[0.773794,0.632216,0.039313],[-0.035486,-0.018701,0.999195]]
2025-10-25T00:02:47.747Z,1761350567.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620642,-0.784079,0.004854],[0.783303,0.620281,0.041074],[-0.035216,-0.021690,0.999144]]
2025-10-25T00:02:48.145Z,1761350568.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608333,-0.793674,0.003539],[0.792900,0.607925,0.041661],[-0.035217,-0.022538,0.999126]]
2025-10-25T00:02:48.546Z,1761350568.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594828,-0.803847,0.003105],[0.803083,0.594423,0.041465],[-0.035177,-0.022171,0.999135]]
2025-10-25T00:02:48.950Z,1761350568.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580192,-0.814476,0.002534],[0.813747,0.579799,0.040610],[-0.034545,-0.021499,0.999172]]
2025-10-25T00:02:49.355Z,1761350569.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564920,-0.825140,0.002962],[0.824435,0.564579,0.039461],[-0.034233,-0.019850,0.999217]]
2025-10-25T00:02:49.762Z,1761350569.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548618,-0.836063,0.004237],[0.835376,0.548360,0.038053],[-0.034138,-0.017337,0.999267]]
2025-10-25T00:02:50.162Z,1761350570.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531161,-0.847246,0.006446],[0.846589,0.531023,0.036081],[-0.033992,-0.013707,0.999328]]
2025-10-25T00:02:50.566Z,1761350570.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512789,-0.858480,0.007708],[0.857868,0.512731,0.034191],[-0.033304,-0.010920,0.999386]]
2025-10-25T00:02:50.970Z,1761350570.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493926,-0.869472,0.007378],[0.868922,0.493888,0.032393],[-0.031809,-0.009589,0.999448]]
2025-10-25T00:02:51.376Z,1761350571.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474302,-0.880340,0.006282],[0.879879,0.474267,0.029720],[-0.029143,-0.008569,0.999539]]
2025-10-25T00:02:51.791Z,1761350571.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454430,-0.890770,0.004623],[0.890424,0.454389,0.025985],[-0.025247,-0.007692,0.999652]]
2025-10-25T00:02:52.184Z,1761350572.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434580,-0.900628,0.003077],[0.900395,0.434541,0.021544],[-0.020740,-0.006592,0.999763]]
2025-10-25T00:02:52.587Z,1761350572.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415310,-0.909680,-0.000503],[0.909541,0.415236,0.017725],[-0.015915,-0.007818,0.999843]]
2025-10-25T00:02:52.992Z,1761350572.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396783,-0.917905,-0.003632],[0.917843,0.396702,0.013839],[-0.011262,-0.008825,0.999898]]
2025-10-25T00:02:53.394Z,1761350573.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379023,-0.925367,-0.006117],[0.925360,0.378953,0.010195],[-0.007116,-0.009524,0.999929]]
2025-10-25T00:02:53.693Z,1761350573.693 [DAT](INFO): DAT read: Rx Time:00:02:52.3224

2025-10-25T00:02:53.693Z,1761350573.693 [DAT](INFO): Rx dataTimestamp_ set to:1761350573.692993
2025-10-25T00:02:53.801Z,1761350573.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362073,-0.932118,-0.007654],[0.932142,0.362025,0.007017],[-0.003770,-0.009675,0.999946]]
2025-10-25T00:02:53.910Z,1761350573.910 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:02:53.910Z,1761350573.910 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:02:53.910Z,1761350573.910 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:02:53.910Z,1761350573.910 [marl:UpdateRudder:A] Stopped
2025-10-25T00:02:53.911Z,1761350573.911 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:02:54.203Z,1761350574.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344978,-0.938570,-0.008778],[0.938610,0.344953,0.004269],[-0.000979,-0.009712,0.999952]]
2025-10-25T00:02:54.276Z,1761350574.276 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-25T00:02:54.277Z,1761350574.277 [marl:UpdateRudder:B] Stopped
2025-10-25T00:02:54.277Z,1761350574.277 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:02:54.277Z,1761350574.277 [marl:UpdateRudder] Stopped
2025-10-25T00:02:54.277Z,1761350574.277 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:02:54.457Z,1761350574.457 [DAT](INFO): DAT read: 00:02:52.3224 LVL= 25696, 27441, 32754, 32755, AGC= 57, IDX= 500,-0.23, 0.314,-0.394,-1.363,-0.466, PHS= 0.883, 0.117,-0.941, RAW=  54.7,  -0.8, CAL=  55.4,  -2.9, ROT=  94.6,   2.9

2025-10-25T00:02:54.458Z,1761350574.458 [DAT](INFO): got valid direction response:
 00:02:52.3224 LVL= 25696, 27441, 32754, 32755, AGC= 57, IDX= 500,-0.23, 0.314,-0.394,-1.363,-0.466, PHS= 0.883, 0.117,-0.941, RAW=  54.7,  -0.8, CAL=  55.4,  -2.9, ROT=  94.6,   2.9

2025-10-25T00:02:54.458Z,1761350574.458 [DAT](INFO): DAT read: 

2025-10-25T00:02:54.459Z,1761350574.459 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:02:54.459Z,1761350574.459 [DAT](INFO): Got DATA 2
2025-10-25T00:02:54.461Z,1761350574.461 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:02:54.461Z,1761350574.461 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:02:54.462Z,1761350574.462 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:02:54.463Z,1761350574.463 [DAT](INFO): DAT read: CRC:Pass MPD:04.5 PSNR:11.9 AGC:60 SPD:-0.1 CCERR:009

2025-10-25T00:02:54.463Z,1761350574.463 [DAT](INFO): Got CRC:Pass
2025-10-25T00:02:54.463Z,1761350574.463 [DAT](INFO): Got CRC:Pass
2025-10-25T00:02:54.463Z,1761350574.463 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:02:54.463Z,1761350574.463 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:02:54.463Z,1761350574.463 [DAT](INFO): Got ack
2025-10-25T00:02:54.463Z,1761350574.463 [DAT](INFO): DAT read: 

2025-10-25T00:02:54.464Z,1761350574.464 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:02:54.464Z,1761350574.464 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:02:54.465Z,1761350574.465 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-10-25T00:02:54.466Z,1761350574.466 [DAT](INFO): direction in FSK: [-0.080096,0.995502,-0.050593]
2025-10-25T00:02:54.606Z,1761350574.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327669,-0.944746,-0.009374],[0.944791,0.327671,0.001347],[0.001799,-0.009298,0.999955]]
2025-10-25T00:02:54.678Z,1761350574.678 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350528.00. Resetting abort timer.
2025-10-25T00:02:54.701Z,1761350574.701 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:02:54.701Z,1761350574.701 [DAT](INFO): #Outgoing data=50
2025-10-25T00:02:54.701Z,1761350574.701 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:02:54.953Z,1761350574.953 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:02:55.011Z,1761350575.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308874,-0.951067,-0.008220],[0.951092,0.308901,-0.002149],[0.004583,-0.007154,0.999964]]
2025-10-25T00:02:55.059Z,1761350575.059 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:02:55.059Z,1761350575.059 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:02:55.059Z,1761350575.059 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:02:55.059Z,1761350575.059 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:02:55.059Z,1761350575.059 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:02:55.059Z,1761350575.059 [marl:UpdateCommandMode] Stopped
2025-10-25T00:02:55.064Z,1761350575.064 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:02:55.064Z,1761350575.064 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:02:55.064Z,1761350575.064 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:02:55.064Z,1761350575.064 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:02:55.064Z,1761350575.064 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:02:55.065Z,1761350575.065 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:02:55.065Z,1761350575.065 [marl:UpdateSpeed] Stopped
2025-10-25T00:02:55.065Z,1761350575.065 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:02:55.420Z,1761350575.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290400,-0.956874,-0.007721],[0.956877,0.290444,-0.005395],[0.007405,-0.005821,0.999956]]
2025-10-25T00:02:55.819Z,1761350575.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272785,-0.962043,-0.007882],[0.962016,0.272849,-0.008803],[0.010619,-0.005181,0.999930]]
2025-10-25T00:02:56.223Z,1761350576.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255153,-0.966869,-0.007869],[0.966794,0.255237,-0.012749],[0.014335,-0.004355,0.999888]]
2025-10-25T00:02:56.239Z,1761350576.239 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050103511230,4.4,   0.0,1504.8,  0
2025-10-25T00:02:56.627Z,1761350576.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238326,-0.971164,-0.006442],[0.971010,0.238404,-0.017424],[0.018457,-0.002103,0.999827]]
2025-10-25T00:02:57.031Z,1761350577.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222879,-0.974817,-0.007555],[0.974573,0.222993,-0.021944],[0.023076,-0.002472,0.999731]]
2025-10-25T00:02:57.435Z,1761350577.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209597,-0.977753,-0.008216],[0.977387,0.209744,-0.026872],[0.027998,-0.002398,0.999605]]
2025-10-25T00:02:57.849Z,1761350577.849 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:02:57.867Z,1761350577.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197934,-0.980169,-0.009520],[0.979671,0.198138,-0.031415],[0.032678,-0.003108,0.999461]]
2025-10-25T00:02:58.237Z,1761350578.237 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:02:57.3064

2025-10-25T00:02:58.238Z,1761350578.238 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:02:58.250Z,1761350578.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187878,-0.982125,-0.011468],[0.981493,0.188172,-0.035543],[0.037065,-0.004578,0.999302]]
2025-10-25T00:02:58.649Z,1761350578.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178547,-0.983841,-0.013326],[0.983087,0.178938,-0.038993],[0.040747,-0.006139,0.999151]]
2025-10-25T00:02:58.852Z,1761350578.852 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:02:59.052Z,1761350579.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169261,-0.985482,-0.013269],[0.984615,0.169675,-0.041754],[0.043400,-0.005998,0.999040]]
2025-10-25T00:02:59.454Z,1761350579.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159722,-0.987057,-0.014378],[0.986144,0.160202,-0.043071],[0.044817,-0.007299,0.998968]]
2025-10-25T00:02:59.913Z,1761350579.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149665,-0.988626,-0.014764],[0.987711,0.150173,-0.043308],[0.045032,-0.008101,0.998953]]
2025-10-25T00:03:00.270Z,1761350580.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138555,-0.990271,-0.012904],[0.989376,0.138985,-0.042651],[0.044029,-0.006857,0.999007]]
2025-10-25T00:03:00.674Z,1761350580.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125671,-0.991996,-0.012238],[0.991153,0.126076,-0.041477],[0.042688,-0.006917,0.999065]]
2025-10-25T00:03:01.070Z,1761350581.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109655,-0.993925,-0.009402],[0.993090,0.109951,-0.041019],[0.041803,-0.004839,0.999114]]
2025-10-25T00:03:01.474Z,1761350581.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090405,-0.995888,-0.005883],[0.995025,0.090572,-0.041505],[0.041867,-0.002101,0.999121]]
2025-10-25T00:03:01.516Z,1761350581.516 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:03:01.517Z,1761350581.517 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:03:01.917Z,1761350581.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069287,-0.997592,-0.003000],[0.996671,0.069351,-0.042851],[0.042956,-0.000021,0.999077]]
2025-10-25T00:03:02.688Z,1761350582.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023910,-0.999711,0.002570],[0.998648,0.023766,-0.046234],[0.046159,0.003672,0.998927]]
2025-10-25T00:03:02.744Z,1761350582.744 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-25T00:03:02.777Z,1761350582.777 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:03:02.828Z,1761350582.828 [DAT](INFO): entering command mode
2025-10-25T00:03:03.028Z,1761350583.028 [DAT](INFO): DAT read: 

2025-10-25T00:03:03.029Z,1761350583.029 [DAT](INFO): DAT read: user:24>

2025-10-25T00:03:03.030Z,1761350583.030 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:03:03.030Z,1761350583.030 [DAT](INFO): setting remote address to 0
2025-10-25T00:03:03.102Z,1761350583.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000428,-0.999978,0.006670],[0.998853,0.000108,-0.047886],[0.047884,0.006683,0.998830]]
2025-10-25T00:03:03.281Z,1761350583.281 [DAT](INFO): DAT read: user:24>

2025-10-25T00:03:03.282Z,1761350583.282 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-25T00:03:03.282Z,1761350583.282 [DAT](INFO): set remote address to 0
2025-10-25T00:03:03.282Z,1761350583.282 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:03:03.283Z,1761350583.283 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-25T00:03:03.495Z,1761350583.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023615,-0.999672,0.009905],[0.998478,-0.024078,-0.049612],[0.049835,0.008718,0.998719]]
2025-10-25T00:03:03.545Z,1761350583.545 [DAT](INFO): DAT read: user:25>

2025-10-25T00:03:03.545Z,1761350583.545 [DAT](INFO): DAT read: Tx time:00:03:02.5076

2025-10-25T00:03:03.546Z,1761350583.546 [DAT](INFO): Ping request sent.
2025-10-25T00:03:03.546Z,1761350583.546 [DAT](INFO): transmitted an acoustic signal
2025-10-25T00:03:03.546Z,1761350583.546 [DAT](INFO): publishing transmit ping time
2025-10-25T00:03:03.547Z,1761350583.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001030
2025-10-25T00:03:03.797Z,1761350583.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250816
2025-10-25T00:03:03.921Z,1761350583.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047973,-0.998772,0.012373],[0.997482,-0.048551,-0.051687],[0.052224,0.009862,0.998587]]
2025-10-25T00:03:04.055Z,1761350584.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.508004
2025-10-25T00:03:04.301Z,1761350584.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754837
2025-10-25T00:03:04.304Z,1761350584.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072533,-0.997260,0.014522],[0.995806,-0.073226,-0.054851],[0.055765,0.010482,0.998389]]
2025-10-25T00:03:04.553Z,1761350584.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007495
2025-10-25T00:03:04.706Z,1761350584.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096559,-0.995198,0.016030],[0.993509,-0.097343,-0.058863],[0.060140,0.010242,0.998137]]
2025-10-25T00:03:04.805Z,1761350584.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258986
2025-10-25T00:03:05.057Z,1761350585.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510859
2025-10-25T00:03:05.116Z,1761350585.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119567,-0.992681,0.016983],[0.990704,-0.120412,-0.063305],[0.064887,0.009256,0.997850]]
2025-10-25T00:03:05.309Z,1761350585.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762905
2025-10-25T00:03:05.517Z,1761350585.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140275,-0.989956,0.017598],[0.987662,-0.141156,-0.067812],[0.069615,0.007869,0.997543]]
2025-10-25T00:03:05.561Z,1761350585.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014943
2025-10-25T00:03:05.813Z,1761350585.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266839
2025-10-25T00:03:05.929Z,1761350585.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158351,-0.987241,0.016757],[0.984617,-0.159154,-0.072112],[0.073859,0.005080,0.997256]]
2025-10-25T00:03:06.067Z,1761350586.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520471
2025-10-25T00:03:06.317Z,1761350586.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771014
2025-10-25T00:03:06.325Z,1761350586.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174047,-0.984613,0.015652],[0.981693,-0.174736,-0.075807],[0.077376,0.002171,0.997000]]
2025-10-25T00:03:06.569Z,1761350586.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022906
2025-10-25T00:03:06.737Z,1761350586.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188163,-0.982022,0.015080],[0.978859,-0.188766,-0.078754],[0.080185,-0.000058,0.996780]]
2025-10-25T00:03:06.796Z,1761350586.796 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:03:06.796Z,1761350586.796 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:03:06.797Z,1761350586.797 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:03:06.798Z,1761350586.798 [marl:UpdateRudder:A] Stopped
2025-10-25T00:03:06.798Z,1761350586.798 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:03:06.821Z,1761350586.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274900
2025-10-25T00:03:07.073Z,1761350587.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527009
2025-10-25T00:03:07.130Z,1761350587.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201075,-0.979476,0.014010],[0.976143,-0.201546,-0.080776],[0.081942,-0.002566,0.996634]]
2025-10-25T00:03:07.163Z,1761350587.163 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:03:07.163Z,1761350587.163 [marl:UpdateRudder:B] Stopped
2025-10-25T00:03:07.164Z,1761350587.164 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:03:07.164Z,1761350587.164 [marl:UpdateRudder] Stopped
2025-10-25T00:03:07.164Z,1761350587.164 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:03:07.325Z,1761350587.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778846
2025-10-25T00:03:07.534Z,1761350587.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213369,-0.976887,0.012885],[0.973456,-0.213700,-0.081945],[0.082805,-0.004942,0.996554]]
2025-10-25T00:03:07.577Z,1761350587.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031005
2025-10-25T00:03:07.831Z,1761350587.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285380
2025-10-25T00:03:07.940Z,1761350587.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225769,-0.974123,0.010609],[0.970654,-0.225864,-0.082564],[0.082824,-0.008343,0.996529]]
2025-10-25T00:03:08.015Z,1761350588.015 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:03:08.015Z,1761350588.015 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:03:08.015Z,1761350588.015 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:03:08.016Z,1761350588.016 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:03:08.016Z,1761350588.016 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:03:08.016Z,1761350588.016 [marl:UpdateCommandMode] Stopped
2025-10-25T00:03:08.016Z,1761350588.016 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:03:08.016Z,1761350588.016 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:03:08.016Z,1761350588.016 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:03:08.017Z,1761350588.017 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:03:08.017Z,1761350588.017 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:03:08.017Z,1761350588.017 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:03:08.017Z,1761350588.017 [marl:UpdateSpeed] Stopped
2025-10-25T00:03:08.017Z,1761350588.017 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:03:08.081Z,1761350588.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534893
2025-10-25T00:03:08.333Z,1761350588.333 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:03:08.333Z,1761350588.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787117
2025-10-25T00:03:08.352Z,1761350588.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238961,-0.970982,0.009570],[0.967526,-0.238924,-0.082515],[0.082407,-0.010458,0.996544]]
2025-10-25T00:03:08.586Z,1761350588.586 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:03:08.586Z,1761350588.586 [DAT](INFO): #Outgoing data=50
2025-10-25T00:03:08.586Z,1761350588.586 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:03:08.587Z,1761350588.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040793
2025-10-25T00:03:08.750Z,1761350588.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252798,-0.967482,0.008500],[0.964064,-0.252627,-0.082224],[0.081697,-0.012591,0.996578]]
2025-10-25T00:03:08.842Z,1761350588.842 [DAT](INFO): setting remote address to 10
2025-10-25T00:03:08.845Z,1761350588.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.297318
2025-10-25T00:03:09.088Z,1761350589.088 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:03:09.089Z,1761350589.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542840
2025-10-25T00:03:09.150Z,1761350589.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268266,-0.963319,0.007091],[0.959924,-0.267926,-0.082235],[0.081118,-0.015254,0.996588]]
2025-10-25T00:03:09.340Z,1761350589.340 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:03:09.341Z,1761350589.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795040
2025-10-25T00:03:09.555Z,1761350589.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283733,-0.958879,0.006825],[0.955511,-0.283321,-0.082022],[0.080583,-0.016751,0.996607]]
2025-10-25T00:03:09.593Z,1761350589.593 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:03:09.593Z,1761350589.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047118
2025-10-25T00:03:09.847Z,1761350589.847 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:03:09.849Z,1761350589.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302342
2025-10-25T00:03:09.958Z,1761350589.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297301,-0.954768,0.005414],[0.951402,-0.296720,-0.082404],[0.080283,-0.019348,0.996584]]
2025-10-25T00:03:10.097Z,1761350590.097 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:03:10.097Z,1761350590.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551082
2025-10-25T00:03:10.348Z,1761350590.348 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:03:10.349Z,1761350590.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802935
2025-10-25T00:03:10.364Z,1761350590.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308000,-0.951384,-0.001954],[0.948018,-0.306736,-0.084707],[0.079990,-0.027942,0.996404]]
2025-10-25T00:03:10.601Z,1761350590.601 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:03:10.602Z,1761350590.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055788
2025-10-25T00:03:10.766Z,1761350590.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314695,-0.949003,-0.019013],[0.945853,-0.311845,-0.090083],[0.079560,-0.046332,0.995753]]
2025-10-25T00:03:10.855Z,1761350590.855 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:03:10.855Z,1761350590.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309162
2025-10-25T00:03:11.104Z,1761350591.104 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:03:11.105Z,1761350591.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558903
2025-10-25T00:03:11.171Z,1761350591.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319807,-0.946505,-0.043035],[0.944140,-0.314538,-0.098318],[0.079522,-0.072074,0.994224]]
2025-10-25T00:03:11.356Z,1761350591.356 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:03:11.357Z,1761350591.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811009
2025-10-25T00:03:11.582Z,1761350591.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326946,-0.940024,-0.097273],[0.941793,-0.315562,-0.115959],[0.078308,-0.129523,0.988479]]
2025-10-25T00:03:11.608Z,1761350591.608 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:03:11.609Z,1761350591.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063004
2025-10-25T00:03:11.862Z,1761350591.862 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:03:11.864Z,1761350591.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317351
2025-10-25T00:03:11.984Z,1761350591.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330969,-0.935778,-0.121570],[0.940444,-0.316501,-0.124063],[0.077618,-0.155391,0.984799]]
2025-10-25T00:03:12.112Z,1761350592.112 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:03:12.113Z,1761350592.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566936
2025-10-25T00:03:12.364Z,1761350592.364 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:03:12.365Z,1761350592.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819037
2025-10-25T00:03:12.387Z,1761350592.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336158,-0.931203,-0.140920],[0.938637,-0.318990,-0.131173],[0.077197,-0.176368,0.981293]]
2025-10-25T00:03:12.616Z,1761350592.616 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:03:12.617Z,1761350592.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070987
2025-10-25T00:03:12.791Z,1761350592.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341753,-0.926962,-0.154747],[0.936631,-0.322465,-0.136891],[0.076992,-0.191724,0.978424]]
2025-10-25T00:03:12.869Z,1761350592.869 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:03:12.869Z,1761350592.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323132
2025-10-25T00:03:13.121Z,1761350593.121 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:03:13.121Z,1761350593.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575058
2025-10-25T00:03:13.198Z,1761350593.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347709,-0.923425,-0.162432],[0.934364,-0.326881,-0.141821],[0.077865,-0.201083,0.976475]]
2025-10-25T00:03:13.372Z,1761350593.372 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:03:13.373Z,1761350593.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826986
2025-10-25T00:03:13.594Z,1761350593.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353833,-0.920231,-0.167262],[0.931945,-0.331725,-0.146414],[0.079250,-0.207685,0.974980]]
2025-10-25T00:03:13.624Z,1761350593.624 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:03:13.625Z,1761350593.625 [DAT](INFO): Reached modem response timeout
2025-10-25T00:03:13.878Z,1761350593.878 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:03:13.998Z,1761350593.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358894,-0.917917,-0.169186],[0.929892,-0.335980,-0.149726],[0.080593,-0.211060,0.974145]]
2025-10-25T00:03:14.129Z,1761350594.129 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:03:14.381Z,1761350594.381 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:03:14.405Z,1761350594.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363575,-0.916073,-0.169187],[0.927933,-0.340113,-0.152527],[0.082183,-0.212449,0.973710]]
2025-10-25T00:03:14.632Z,1761350594.632 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:03:14.808Z,1761350594.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367264,-0.914924,-0.167427],[0.926359,-0.343640,-0.154178],[0.083527,-0.211721,0.973754]]
2025-10-25T00:03:14.885Z,1761350594.885 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:03:15.136Z,1761350595.136 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:03:15.219Z,1761350595.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369719,-0.914116,-0.166436],[0.925292,-0.345938,-0.155437],[0.084511,-0.211470,0.973724]]
2025-10-25T00:03:15.390Z,1761350595.390 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:03:15.614Z,1761350595.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371618,-0.913729,-0.164314],[0.924459,-0.347941,-0.155927],[0.085303,-0.209846,0.974006]]
2025-10-25T00:03:15.645Z,1761350595.645 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:03:15.900Z,1761350595.900 [DAT](INFO): DAT read: Response Not Received

2025-10-25T00:03:15.901Z,1761350595.901 [DAT](INFO): response not received
2025-10-25T00:03:15.903Z,1761350595.903 [DAT](INFO): DAT read: user:26>

2025-10-25T00:03:15.906Z,1761350595.906 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-25T00:03:15.907Z,1761350595.907 [DAT](INFO): set remote address to 10
2025-10-25T00:03:15.909Z,1761350595.909 [DAT](INFO): entering online mode
2025-10-25T00:03:16.026Z,1761350596.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372997,-0.913579,-0.162006],[0.923886,-0.349619,-0.155566],[0.085482,-0.207701,0.974450]]
2025-10-25T00:03:16.149Z,1761350596.149 [DAT](INFO): DAT read: user:27>

2025-10-25T00:03:16.149Z,1761350596.149 [DAT](INFO): DAT read: 

2025-10-25T00:03:16.150Z,1761350596.150 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-25T00:03:16.151Z,1761350596.151 [DAT](INFO): commRate: 600
2025-10-25T00:03:16.151Z,1761350596.151 [DAT](INFO): online mode acknowledged
2025-10-25T00:03:16.151Z,1761350596.151 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:03:16.423Z,1761350596.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374081,-0.913474,-0.160091],[0.923497,-0.351104,-0.154531],[0.084952,-0.205651,0.974931]]
2025-10-25T00:03:16.826Z,1761350596.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375121,-0.913333,-0.158451],[0.923163,-0.352593,-0.153126],[0.083986,-0.203717,0.975421]]
2025-10-25T00:03:17.230Z,1761350597.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376793,-0.912865,-0.157177],[0.922566,-0.354618,-0.152045],[0.083059,-0.202296,0.975796]]
2025-10-25T00:03:17.634Z,1761350597.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377740,-0.912415,-0.157517],[0.922320,-0.355822,-0.150719],[0.081470,-0.202214,0.975947]]
2025-10-25T00:03:18.039Z,1761350598.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379108,-0.911728,-0.158208],[0.921904,-0.357388,-0.149556],[0.079813,-0.202550,0.976014]]
2025-10-25T00:03:18.442Z,1761350598.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380698,-0.910753,-0.159992],[0.921421,-0.359072,-0.148492],[0.077791,-0.203951,0.975886]]
2025-10-25T00:03:18.847Z,1761350598.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383214,-0.909489,-0.161173],[0.920567,-0.361805,-0.147151],[0.075519,-0.204761,0.975894]]
2025-10-25T00:03:19.251Z,1761350599.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386420,-0.907829,-0.162867],[0.919434,-0.365192,-0.145864],[0.072942,-0.206110,0.975806]]
2025-10-25T00:03:19.425Z,1761350599.425 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:03:18.5063

2025-10-25T00:03:19.425Z,1761350599.425 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:03:19.658Z,1761350599.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390968,-0.905483,-0.165059],[0.917724,-0.369832,-0.144938],[0.070195,-0.208145,0.975576]]
2025-10-25T00:03:19.721Z,1761350599.721 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:03:19.721Z,1761350599.721 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:03:19.722Z,1761350599.722 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:03:19.722Z,1761350599.722 [marl:UpdateRudder:A] Stopped
2025-10-25T00:03:19.722Z,1761350599.722 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:03:20.063Z,1761350600.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396130,-0.902917,-0.166801],[0.915729,-0.375188,-0.143790],[0.067249,-0.209704,0.975450]]
2025-10-25T00:03:20.130Z,1761350600.130 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-25T00:03:20.130Z,1761350600.130 [marl:UpdateRudder:B] Stopped
2025-10-25T00:03:20.130Z,1761350600.130 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:03:20.130Z,1761350600.130 [marl:UpdateRudder] Stopped
2025-10-25T00:03:20.130Z,1761350600.130 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:03:20.463Z,1761350600.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401996,-0.900325,-0.166775],[0.913360,-0.381440,-0.142395],[0.064587,-0.209568,0.975659]]
2025-10-25T00:03:20.511Z,1761350600.511 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:03:20.511Z,1761350600.511 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:03:20.511Z,1761350600.511 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:03:20.512Z,1761350600.512 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:03:20.513Z,1761350600.513 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:03:20.513Z,1761350600.513 [marl:UpdateCommandMode] Stopped
2025-10-25T00:03:20.513Z,1761350600.513 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:03:20.513Z,1761350600.513 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:03:20.513Z,1761350600.513 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:03:20.513Z,1761350600.513 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:03:20.513Z,1761350600.513 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:03:20.513Z,1761350600.513 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:03:20.514Z,1761350600.514 [marl:UpdateSpeed] Stopped
2025-10-25T00:03:20.514Z,1761350600.514 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:03:20.894Z,1761350600.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408197,-0.897493,-0.166975],[0.910758,-0.387869,-0.141691],[0.062402,-0.209912,0.975727]]
2025-10-25T00:03:21.271Z,1761350601.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414241,-0.894733,-0.166905],[0.908122,-0.394017,-0.141650],[0.060976,-0.210248,0.975745]]
2025-10-25T00:03:21.687Z,1761350601.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419649,-0.892741,-0.164036],[0.905658,-0.399742,-0.141389],[0.060652,-0.207894,0.976269]]
2025-10-25T00:03:22.079Z,1761350602.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423564,-0.891587,-0.160207],[0.903792,-0.403971,-0.141305],[0.061267,-0.204646,0.976917]]
2025-10-25T00:03:22.483Z,1761350602.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426203,-0.890919,-0.156888],[0.902532,-0.406974,-0.140743],[0.061542,-0.201582,0.977536]]
2025-10-25T00:03:22.886Z,1761350602.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431271,-0.889697,-0.149812],[0.900106,-0.412920,-0.138945],[0.061758,-0.194770,0.978903]]
2025-10-25T00:03:23.291Z,1761350603.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439026,-0.889022,-0.129983],[0.896429,-0.423661,-0.130105],[0.060598,-0.173640,0.982943]]
2025-10-25T00:03:23.698Z,1761350603.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449608,-0.886945,-0.105741],[0.891325,-0.437777,-0.117857],[0.058242,-0.147239,0.987385]]
2025-10-25T00:03:24.098Z,1761350604.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462369,-0.883035,-0.080398],[0.885008,-0.454013,-0.103121],[0.054557,-0.118833,0.991414]]
2025-10-25T00:03:24.502Z,1761350604.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476369,-0.877487,-0.055582],[0.877836,-0.471076,-0.086555],[0.049768,-0.090024,0.994695]]
2025-10-25T00:03:24.908Z,1761350604.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491452,-0.870211,-0.034763],[0.869805,-0.488434,-0.069803],[0.043764,-0.064542,0.996955]]
2025-10-25T00:03:25.311Z,1761350605.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508343,-0.860911,-0.020494],[0.860365,-0.506714,-0.054892],[0.036872,-0.045536,0.998282]]
2025-10-25T00:03:25.715Z,1761350605.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526957,-0.849808,-0.011922],[0.849364,-0.526083,-0.042634],[0.029959,-0.032593,0.999020]]
2025-10-25T00:03:26.118Z,1761350606.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546499,-0.837428,-0.007266],[0.837137,-0.546028,-0.032479],[0.023232,-0.023832,0.999446]]
2025-10-25T00:03:26.241Z,1761350606.241 [DAT](INFO): DAT read: Rx Time:00:03:24.7711

2025-10-25T00:03:26.241Z,1761350606.241 [DAT](INFO): Rx dataTimestamp_ set to:1761350606.241066
2025-10-25T00:03:26.522Z,1761350606.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565674,-0.824615,-0.004905],[0.824456,-0.565423,-0.023880],[0.016918,-0.017552,0.999703]]
2025-10-25T00:03:26.926Z,1761350606.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583980,-0.811755,-0.004559],[0.811685,-0.583831,-0.017576],[0.011605,-0.013965,0.999835]]
2025-10-25T00:03:27.002Z,1761350607.002 [DAT](INFO): DAT read: 00:03:24.7711 LVL= 28864, 32753, 32754, 32755, AGC= 60, IDX= 366,-0.02,-2.037, 2.159, 3.031,-2.677, PHS= 0.742,-1.403,-0.620, RAW= 111.1,  13.5, CAL= 112.6,  15.4, ROT=  37.4, -15.4

2025-10-25T00:03:27.003Z,1761350607.003 [DAT](INFO): got valid direction response:
 00:03:24.7711 LVL= 28864, 32753, 32754, 32755, AGC= 60, IDX= 366,-0.02,-2.037, 2.159, 3.031,-2.677, PHS= 0.742,-1.403,-0.620, RAW= 111.1,  13.5, CAL= 112.6,  15.4, ROT=  37.4, -15.4

2025-10-25T00:03:27.012Z,1761350607.012 [DAT](INFO): DAT read: 

2025-10-25T00:03:27.012Z,1761350607.012 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:03:27.013Z,1761350607.013 [DAT](INFO): Got DATA 2
2025-10-25T00:03:27.013Z,1761350607.013 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:03:27.014Z,1761350607.014 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:03:27.014Z,1761350607.014 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:03:27.015Z,1761350607.015 [DAT](INFO): DAT read: CRC:Pass MPD:07.8 PSNR:10.8 AGC:57 SPD:+0.8 CCERR:008

2025-10-25T00:03:27.015Z,1761350607.015 [DAT](INFO): Got CRC:Pass
2025-10-25T00:03:27.015Z,1761350607.015 [DAT](INFO): Got CRC:Pass
2025-10-25T00:03:27.015Z,1761350607.015 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:03:27.015Z,1761350607.015 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:03:27.032Z,1761350607.032 [DAT](INFO): Got ack
2025-10-25T00:03:27.033Z,1761350607.033 [DAT](INFO): DAT read: 

2025-10-25T00:03:27.033Z,1761350607.033 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:03:27.034Z,1761350607.034 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:03:27.034Z,1761350607.034 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-25T00:03:27.035Z,1761350607.035 [DAT](INFO): direction in FSK: [0.765891,0.585568,0.265556]
2025-10-25T00:03:27.250Z,1761350607.250 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:03:27.250Z,1761350607.250 [DAT](INFO): #Outgoing data=51
2025-10-25T00:03:27.250Z,1761350607.250 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:03:27.331Z,1761350607.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601555,-0.798817,-0.004829],[0.798791,-0.601454,-0.013649],[0.007998,-0.012068,0.999895]]
2025-10-25T00:03:27.380Z,1761350607.380 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350656.00. Resetting abort timer.
2025-10-25T00:03:27.501Z,1761350607.501 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:03:27.736Z,1761350607.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618590,-0.785698,-0.005110],[0.785689,-0.618505,-0.012028],[0.006290,-0.011455,0.999915]]
2025-10-25T00:03:28.138Z,1761350608.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633973,-0.773344,-0.004076],[0.773327,-0.633897,-0.011845],[0.006576,-0.010661,0.999922]]
2025-10-25T00:03:28.543Z,1761350608.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649432,-0.760413,-0.003255],[0.760372,-0.649336,-0.014055],[0.008574,-0.011603,0.999896]]
2025-10-25T00:03:28.949Z,1761350608.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663583,-0.748097,-0.002964],[0.748022,-0.663449,-0.017296],[0.010973,-0.013695,0.999846]]
2025-10-25T00:03:28.972Z,1761350608.972 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:03:29.351Z,1761350609.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675606,-0.737257,-0.002919],[0.737157,-0.675438,-0.019573],[0.012459,-0.015376,0.999804]]
2025-10-25T00:03:29.755Z,1761350609.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685627,-0.727947,-0.002934],[0.727838,-0.685443,-0.020491],[0.012905,-0.016184,0.999786]]
2025-10-25T00:03:29.977Z,1761350609.977 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:03:30.166Z,1761350610.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694775,-0.719213,-0.004383],[0.719119,-0.694554,-0.021506],[0.012423,-0.018093,0.999759]]
2025-10-25T00:03:30.564Z,1761350610.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703217,-0.710952,-0.005707],[0.710889,-0.702985,-0.021191],[0.011054,-0.018959,0.999759]]
2025-10-25T00:03:30.781Z,1761350610.781 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:03:29.8563

2025-10-25T00:03:30.781Z,1761350610.781 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:03:30.966Z,1761350610.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711300,-0.702839,-0.008311],[0.702836,-0.711053,-0.020631],[0.008591,-0.020516,0.999753]]
2025-10-25T00:03:31.371Z,1761350611.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719501,-0.694405,-0.010958],[0.694475,-0.719286,-0.018200],[0.004756,-0.020705,0.999774]]
2025-10-25T00:03:31.419Z,1761350611.419 [marl:SendObservationData] Running Loop=1
2025-10-25T00:03:31.419Z,1761350611.419 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-25T00:03:31.419Z,1761350611.419 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-25T00:03:31.420Z,1761350611.420 [marl:SendObservationData:A] Running Loop=1
2025-10-25T00:03:31.422Z,1761350611.422 [marl:SendObservationData:A](INFO): Got test_good :  41da3f04e000000040514000000000004042636afc1bb2fec05e77607931d6e5402fa5b840000000405e200000000000 n/a str  and temp var is  nan n/a str 
2025-10-25T00:03:31.422Z,1761350611.422 [marl:SendObservationData:A] Stopped
2025-10-25T00:03:31.422Z,1761350611.422 [marl:SendObservationData:B] Running Loop=1
2025-10-25T00:03:31.775Z,1761350611.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727609,-0.685834,-0.014728],[0.685992,-0.727443,-0.015552],[-0.000048,-0.021419,0.999771]]
2025-10-25T00:03:31.840Z,1761350611.840 [marl:SendObservationData:B] Stopped
2025-10-25T00:03:31.840Z,1761350611.840 [marl:SendObservationData:C] Running Loop=1
2025-10-25T00:03:32.180Z,1761350612.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735557,-0.677206,-0.018651],[0.677440,-0.735480,-0.011986],[-0.005600,-0.021451,0.999754]]
2025-10-25T00:03:32.299Z,1761350612.299 [marl:SendObservationData:C] Stopped
2025-10-25T00:03:32.299Z,1761350612.299 [marl:SendObservationData:E] Running Loop=1
2025-10-25T00:03:32.583Z,1761350612.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744128,-0.667674,-0.022008],[0.667944,-0.744171,-0.007827],[-0.011152,-0.020524,0.999727]]
2025-10-25T00:03:32.675Z,1761350612.675 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:03:32.675Z,1761350612.675 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:03:32.675Z,1761350612.675 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:03:32.675Z,1761350612.675 [marl:UpdateRudder:A] Stopped
2025-10-25T00:03:32.676Z,1761350612.676 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:03:32.678Z,1761350612.678 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.013982 min 
2025-10-25T00:03:32.678Z,1761350612.678 [marl:SendObservationData:E] Stopped
2025-10-25T00:03:32.679Z,1761350612.679 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-25T00:03:32.679Z,1761350612.679 [marl:SendObservationData] Stopped
2025-10-25T00:03:32.679Z,1761350612.679 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-25T00:03:32.680Z,1761350612.680 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-25T00:03:32.987Z,1761350612.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753974,-0.656405,-0.025596],[0.656719,-0.754115,-0.005618],[-0.015615,-0.021045,0.999656]]
2025-10-25T00:03:33.055Z,1761350613.055 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-25T00:03:33.055Z,1761350613.055 [marl:UpdateRudder:B] Stopped
2025-10-25T00:03:33.056Z,1761350613.056 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:03:33.056Z,1761350613.056 [marl:UpdateRudder] Stopped
2025-10-25T00:03:33.056Z,1761350613.056 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:03:33.390Z,1761350613.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764738,-0.643737,-0.027898],[0.644058,-0.764969,-0.003488],[-0.019096,-0.020635,0.999605]]
2025-10-25T00:03:33.458Z,1761350613.458 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:03:33.458Z,1761350613.458 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:03:33.459Z,1761350613.459 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:03:33.459Z,1761350613.459 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:03:33.459Z,1761350613.459 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:03:33.459Z,1761350613.459 [marl:UpdateCommandMode] Stopped
2025-10-25T00:03:33.459Z,1761350613.459 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:03:33.459Z,1761350613.459 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:03:33.459Z,1761350613.459 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:03:33.459Z,1761350613.459 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:03:33.460Z,1761350613.460 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:03:33.460Z,1761350613.460 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:03:33.460Z,1761350613.460 [marl:UpdateSpeed] Stopped
2025-10-25T00:03:33.460Z,1761350613.460 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:03:33.796Z,1761350613.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776084,-0.629926,-0.029801],[0.630249,-0.776391,-0.001918],[-0.021929,-0.020271,0.999554]]
2025-10-25T00:03:34.198Z,1761350614.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787243,-0.615852,-0.031222],[0.616162,-0.787619,-0.000386],[-0.024353,-0.019542,0.999512]]
2025-10-25T00:03:34.602Z,1761350614.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798290,-0.601419,-0.032054],[0.601710,-0.798715,0.000723],[-0.026037,-0.018710,0.999486]]
2025-10-25T00:03:35.008Z,1761350615.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809474,-0.586266,-0.032320],[0.586511,-0.809938,0.002289],[-0.027519,-0.017103,0.999475]]
2025-10-25T00:03:35.411Z,1761350615.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820051,-0.571366,-0.032515],[0.571553,-0.820554,0.004131],[-0.029041,-0.015196,0.999463]]
2025-10-25T00:03:35.815Z,1761350615.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830368,-0.556250,-0.032769],[0.556374,-0.830910,0.006050],[-0.030593,-0.013208,0.999445]]
2025-10-25T00:03:36.218Z,1761350616.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840734,-0.540399,-0.033688],[0.540478,-0.841325,0.007518],[-0.032405,-0.011887,0.999404]]
2025-10-25T00:03:36.632Z,1761350616.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850979,-0.524016,-0.035242],[0.524057,-0.851638,0.008816],[-0.034633,-0.010967,0.999340]]
2025-10-25T00:03:37.026Z,1761350617.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861390,-0.506544,-0.037688],[0.506601,-0.862136,0.008709],[-0.036904,-0.011591,0.999252]]
2025-10-25T00:03:37.431Z,1761350617.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871694,-0.488467,-0.039366],[0.488490,-0.872516,0.009663],[-0.039068,-0.010806,0.999178]]
2025-10-25T00:03:37.840Z,1761350617.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881697,-0.469983,-0.041556],[0.470028,-0.882603,0.009272],[-0.041035,-0.011357,0.999093]]
2025-10-25T00:03:38.240Z,1761350618.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891496,-0.450975,-0.043089],[0.451038,-0.892461,0.008793],[-0.042421,-0.011596,0.999033]]
2025-10-25T00:03:38.657Z,1761350618.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900471,-0.432731,-0.043549],[0.432769,-0.901459,0.009027],[-0.043164,-0.010718,0.999011]]
2025-10-25T00:03:39.047Z,1761350619.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909064,-0.414282,-0.044412],[0.414384,-0.910073,0.007307],[-0.043445,-0.011761,0.998987]]
2025-10-25T00:03:39.451Z,1761350619.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917126,-0.396132,-0.044268],[0.396278,-0.918112,0.005802],[-0.042942,-0.012221,0.999003]]
2025-10-25T00:03:39.895Z,1761350619.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924208,-0.379432,-0.043249],[0.379575,-0.925146,0.005182],[-0.041978,-0.011627,0.999051]]
2025-10-25T00:03:40.259Z,1761350620.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930526,-0.363736,-0.042639],[0.363908,-0.931427,0.003945],[-0.041150,-0.011846,0.999083]]
2025-10-25T00:03:40.672Z,1761350620.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935766,-0.350152,-0.041648],[0.350297,-0.936630,0.004019],[-0.040417,-0.010828,0.999124]]
2025-10-25T00:03:40.860Z,1761350620.860 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:03:41.066Z,1761350621.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940479,-0.337336,-0.041284],[0.337484,-0.941325,0.003540],[-0.040056,-0.010603,0.999141]]
2025-10-25T00:03:41.116Z,1761350621.116 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:03:41.117Z,1761350621.117 [DAT](INFO): #Outgoing data=51
2025-10-25T00:03:41.117Z,1761350621.117 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:03:41.369Z,1761350621.369 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:03:41.472Z,1761350621.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944697,-0.325425,-0.040567],[0.325502,-0.945529,0.004877],[-0.039944,-0.008597,0.999165]]
2025-10-25T00:03:41.912Z,1761350621.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948447,-0.314308,-0.040739],[0.314326,-0.949295,0.006127],[-0.040599,-0.006994,0.999151]]
2025-10-25T00:03:42.278Z,1761350622.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951947,-0.303438,-0.041505],[0.303398,-0.952835,0.007409],[-0.041796,-0.005539,0.999111]]
2025-10-25T00:03:42.688Z,1761350622.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955351,-0.292410,-0.042441],[0.292276,-0.956287,0.009477],[-0.043357,-0.003351,0.999054]]
2025-10-25T00:03:43.086Z,1761350623.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958635,-0.281238,-0.043866],[0.281018,-0.959637,0.011227],[-0.045253,-0.001565,0.998974]]
2025-10-25T00:03:43.493Z,1761350623.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961793,-0.269955,-0.045593],[0.269633,-0.962873,0.013184],[-0.047459,0.000387,0.998873]]
2025-10-25T00:03:43.918Z,1761350623.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964890,-0.258237,-0.047972],[0.257881,-0.966081,0.013570],[-0.049849,0.000722,0.998757]]
2025-10-25T00:03:44.299Z,1761350624.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968175,-0.245301,-0.049655],[0.244903,-0.969446,0.014036],[-0.051581,0.001429,0.998668]]
2025-10-25T00:03:44.650Z,1761350624.650 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:03:43.7062

2025-10-25T00:03:44.650Z,1761350624.650 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:03:44.717Z,1761350624.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971639,-0.231026,-0.050445],[0.230592,-0.972945,0.014323],[-0.052389,0.002285,0.998624]]
2025-10-25T00:03:45.119Z,1761350625.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975022,-0.216254,-0.050656],[0.215741,-0.976328,0.015450],[-0.052798,0.004136,0.998597]]
2025-10-25T00:03:45.180Z,1761350625.180 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:03:45.180Z,1761350625.180 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:03:45.181Z,1761350625.181 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:03:45.181Z,1761350625.181 [marl:UpdateRudder:A] Stopped
2025-10-25T00:03:45.181Z,1761350625.181 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:03:45.510Z,1761350625.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978441,-0.200174,-0.050827],[0.199687,-0.979752,0.014550],[-0.052710,0.004087,0.998601]]
2025-10-25T00:03:45.603Z,1761350625.603 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:03:45.603Z,1761350625.603 [marl:UpdateRudder:B] Stopped
2025-10-25T00:03:45.604Z,1761350625.604 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:03:45.604Z,1761350625.604 [marl:UpdateRudder] Stopped
2025-10-25T00:03:45.604Z,1761350625.604 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:03:45.938Z,1761350625.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981752,-0.183341,-0.050488],[0.182838,-0.983037,0.014448],[-0.052280,0.004954,0.998620]]
2025-10-25T00:03:46.007Z,1761350626.007 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:03:46.007Z,1761350626.007 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:03:46.007Z,1761350626.007 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:03:46.007Z,1761350626.007 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:03:46.008Z,1761350626.008 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:03:46.008Z,1761350626.008 [marl:UpdateCommandMode] Stopped
2025-10-25T00:03:46.008Z,1761350626.008 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:03:46.008Z,1761350626.008 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:03:46.008Z,1761350626.008 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:03:46.008Z,1761350626.008 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:03:46.009Z,1761350626.009 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:03:46.009Z,1761350626.009 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:03:46.009Z,1761350626.009 [marl:UpdateSpeed] Stopped
2025-10-25T00:03:46.009Z,1761350626.009 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:03:46.318Z,1761350626.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984891,-0.165853,-0.049835],[0.165381,-0.986138,0.013470],[-0.051378,0.005025,0.998667]]
2025-10-25T00:03:46.733Z,1761350626.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987808,-0.147617,-0.049437],[0.147187,-0.989033,0.012250],[-0.050703,0.004824,0.998702]]
2025-10-25T00:03:47.128Z,1761350627.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990414,-0.129001,-0.049380],[0.128546,-0.991627,0.012297],[-0.050553,0.005832,0.998704]]
2025-10-25T00:03:47.530Z,1761350627.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992708,-0.110134,-0.048997],[0.109631,-0.993889,0.012835],[-0.050111,0.007370,0.998716]]
2025-10-25T00:03:47.935Z,1761350627.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994588,-0.091605,-0.049015],[0.091100,-0.995764,0.012440],[-0.049947,0.007908,0.998721]]
2025-10-25T00:03:48.341Z,1761350628.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995927,-0.075580,-0.049171],[0.075281,-0.997131,0.007892],[-0.049626,0.004158,0.998759]]
2025-10-25T00:03:48.742Z,1761350628.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996737,-0.063932,-0.049275],[0.064188,-0.997931,-0.003628],[-0.048941,-0.006779,0.998779]]
2025-10-25T00:03:49.151Z,1761350629.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997041,-0.058919,-0.049365],[0.060282,-0.997827,-0.026590],[-0.047691,-0.029487,0.998427]]
2025-10-25T00:03:49.551Z,1761350629.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996933,-0.060446,-0.049703],[0.063593,-0.995896,-0.064390],[-0.045607,-0.067353,0.996686]]
2025-10-25T00:03:49.959Z,1761350629.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996381,-0.067850,-0.051192],[0.073470,-0.990370,-0.117345],[-0.042737,-0.120682,0.991771]]
2025-10-25T00:03:50.359Z,1761350630.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995372,-0.079290,-0.054298],[0.087703,-0.980483,-0.175959],[-0.039286,-0.179906,0.982899]]
2025-10-25T00:03:50.763Z,1761350630.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993834,-0.093969,-0.058860],[0.105177,-0.966989,-0.232100],[-0.035107,-0.236859,0.970909]]
2025-10-25T00:03:51.166Z,1761350631.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991723,-0.110986,-0.064553],[0.124732,-0.952037,-0.279406],[-0.030447,-0.285145,0.958001]]
2025-10-25T00:03:51.577Z,1761350631.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989002,-0.129323,-0.071769],[0.145558,-0.937113,-0.317226],[-0.026231,-0.324183,0.945630]]
2025-10-25T00:03:51.975Z,1761350631.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985805,-0.147842,-0.079574],[0.166417,-0.923192,-0.346442],[-0.022243,-0.354766,0.934690]]
2025-10-25T00:03:52.379Z,1761350632.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982245,-0.165779,-0.087820],[0.186648,-0.910727,-0.368428],[-0.018902,-0.378278,0.925499]]
2025-10-25T00:03:52.784Z,1761350632.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978358,-0.183770,-0.095103],[0.206346,-0.900716,-0.382271],[-0.015411,-0.393622,0.919143]]
2025-10-25T00:03:53.191Z,1761350633.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974361,-0.200843,-0.101401],[0.224661,-0.892856,-0.390302],[-0.012147,-0.403076,0.915086]]
2025-10-25T00:03:53.599Z,1761350633.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970323,-0.217220,-0.106249],[0.241651,-0.887120,-0.393222],[-0.008840,-0.407227,0.913284]]
2025-10-25T00:03:53.995Z,1761350633.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966178,-0.233085,-0.110323],[0.257813,-0.882503,-0.393345],[-0.005677,-0.408484,0.912748]]
2025-10-25T00:03:54.398Z,1761350634.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962030,-0.248510,-0.112876],[0.272934,-0.879464,-0.389937],[-0.002367,-0.405939,0.913897]]
2025-10-25T00:03:54.741Z,1761350634.741 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:03:54.810Z,1761350634.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957659,-0.263766,-0.115402],[0.287905,-0.876528,-0.385758],[0.000597,-0.402649,0.915354]]
2025-10-25T00:03:54.993Z,1761350634.993 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:03:54.994Z,1761350634.994 [DAT](INFO): #Outgoing data=52
2025-10-25T00:03:54.994Z,1761350634.994 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:03:55.207Z,1761350635.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952883,-0.279408,-0.118087],[0.303319,-0.873461,-0.380872],[0.003275,-0.398745,0.917056]]
2025-10-25T00:03:55.245Z,1761350635.245 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:03:55.611Z,1761350635.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948189,-0.293896,-0.120673],[0.317650,-0.869815,-0.377520],[0.005988,-0.396292,0.918105]]
2025-10-25T00:03:56.018Z,1761350636.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943234,-0.308141,-0.123928],[0.332025,-0.865532,-0.374986],[0.008285,-0.394847,0.918710]]
2025-10-25T00:03:56.420Z,1761350636.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938090,-0.322161,-0.127278],[0.346232,-0.860890,-0.372816],[0.010534,-0.393802,0.919135]]
2025-10-25T00:03:56.836Z,1761350636.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933139,-0.334925,-0.130680],[0.359283,-0.855664,-0.372498],[0.012940,-0.394544,0.918786]]
2025-10-25T00:03:57.233Z,1761350637.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922624,-0.360738,-0.136501],[0.385240,-0.844616,-0.371771],[0.018821,-0.395590,0.918234]]
2025-10-25T00:03:57.635Z,1761350637.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917249,-0.373273,-0.139003],[0.397691,-0.838715,-0.372021],[0.022282,-0.396516,0.917757]]
2025-10-25T00:03:58.040Z,1761350638.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911579,-0.385924,-0.141728],[0.410306,-0.832231,-0.372881],[0.025953,-0.398062,0.916991]]
2025-10-25T00:03:58.118Z,1761350638.118 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:03:58.118Z,1761350638.118 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:03:58.118Z,1761350638.118 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:03:58.118Z,1761350638.118 [marl:UpdateRudder:A] Stopped
2025-10-25T00:03:58.118Z,1761350638.118 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:03:58.445Z,1761350638.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905386,-0.399399,-0.144074],[0.423553,-0.825885,-0.372177],[0.029659,-0.397987,0.916911]]
2025-10-25T00:03:58.469Z,1761350638.469 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:03:58.469Z,1761350638.469 [marl:UpdateRudder:B] Stopped
2025-10-25T00:03:58.470Z,1761350638.470 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:03:58.470Z,1761350638.470 [marl:UpdateRudder] Stopped
2025-10-25T00:03:58.470Z,1761350638.470 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:03:58.470Z,1761350638.470 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:03:58.470Z,1761350638.470 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:03:58.470Z,1761350638.470 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:03:58.470Z,1761350638.470 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:03:58.470Z,1761350638.470 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:03:58.470Z,1761350638.470 [marl:UpdateCommandMode] Stopped
2025-10-25T00:03:58.471Z,1761350638.471 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:03:58.471Z,1761350638.471 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:03:58.471Z,1761350638.471 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:03:58.471Z,1761350638.471 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:03:58.471Z,1761350638.471 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:03:58.471Z,1761350638.471 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:03:58.471Z,1761350638.471 [marl:UpdateSpeed] Stopped
2025-10-25T00:03:58.471Z,1761350638.471 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:03:58.521Z,1761350638.521 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:03:57.6062

2025-10-25T00:03:58.522Z,1761350638.522 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:03:58.843Z,1761350638.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898372,-0.413942,-0.146903],[0.437983,-0.818977,-0.370740],[0.033155,-0.397403,0.917045]]
2025-10-25T00:03:59.246Z,1761350639.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891015,-0.428416,-0.150176],[0.452519,-0.811688,-0.369310],[0.036322,-0.397018,0.917092]]
2025-10-25T00:03:59.654Z,1761350639.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884101,-0.441733,-0.152437],[0.465693,-0.805879,-0.365634],[0.038667,-0.394247,0.918191]]
2025-10-25T00:04:00.069Z,1761350640.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878443,-0.452639,-0.153150],[0.476243,-0.803079,-0.358129],[0.039111,-0.387533,0.921026]]
2025-10-25T00:04:00.096Z,1761350640.096 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:04:00.459Z,1761350640.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874779,-0.460907,-0.149420],[0.483083,-0.805921,-0.342231],[0.037316,-0.371559,0.927659]]
2025-10-25T00:04:00.860Z,1761350640.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872355,-0.467473,-0.143055],[0.487700,-0.811921,-0.320832],[0.033831,-0.349647,0.936270]]
2025-10-25T00:04:01.101Z,1761350641.101 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:04:01.263Z,1761350641.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871152,-0.471991,-0.135348],[0.490129,-0.819355,-0.297374],[0.029459,-0.325396,0.945119]]
2025-10-25T00:04:01.673Z,1761350641.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871380,-0.473931,-0.126831],[0.489975,-0.827541,-0.274044],[0.024920,-0.300941,0.953317]]
2025-10-25T00:04:01.809Z,1761350641.809 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:04:01.809Z,1761350641.809 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:04:02.074Z,1761350642.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872512,-0.474006,-0.118494],[0.488160,-0.835518,-0.252208],[0.020544,-0.277899,0.960391]]
2025-10-25T00:04:02.474Z,1761350642.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874418,-0.472195,-0.111470],[0.484896,-0.842762,-0.233726],[0.016422,-0.258426,0.965892]]
2025-10-25T00:04:02.879Z,1761350642.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876991,-0.468532,-0.106606],[0.480350,-0.849187,-0.219419],[0.012276,-0.243637,0.969789]]
2025-10-25T00:04:02.934Z,1761350642.934 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-25T00:04:03.057Z,1761350643.057 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:04:03.108Z,1761350643.108 [DAT](INFO): entering command mode
2025-10-25T00:04:03.284Z,1761350643.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879616,-0.464465,-0.102701],[0.475605,-0.854787,-0.207699],[0.008682,-0.231541,0.972786]]
2025-10-25T00:04:03.308Z,1761350643.308 [DAT](INFO): DAT read: 

2025-10-25T00:04:03.309Z,1761350643.309 [DAT](INFO): DAT read: user:28>

2025-10-25T00:04:03.310Z,1761350643.310 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:04:03.310Z,1761350643.310 [DAT](INFO): setting remote address to 0
2025-10-25T00:04:03.561Z,1761350643.561 [DAT](INFO): DAT read: user:28>

2025-10-25T00:04:03.563Z,1761350643.563 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-25T00:04:03.563Z,1761350643.563 [DAT](INFO): set remote address to 0
2025-10-25T00:04:03.563Z,1761350643.563 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:04:03.564Z,1761350643.564 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-25T00:04:03.689Z,1761350643.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882247,-0.459973,-0.100328],[0.470759,-0.859583,-0.198753],[0.005181,-0.222580,0.974901]]
2025-10-25T00:04:03.813Z,1761350643.813 [DAT](INFO): DAT read: user:29>

2025-10-25T00:04:03.814Z,1761350643.814 [DAT](INFO): DAT read: Tx time:00:04:02.8073

2025-10-25T00:04:03.814Z,1761350643.814 [DAT](INFO): Ping request sent.
2025-10-25T00:04:03.814Z,1761350643.814 [DAT](INFO): transmitted an acoustic signal
2025-10-25T00:04:03.814Z,1761350643.814 [DAT](INFO): publishing transmit ping time
2025-10-25T00:04:03.815Z,1761350643.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000996
2025-10-25T00:04:04.065Z,1761350644.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250831
2025-10-25T00:04:04.090Z,1761350644.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884750,-0.455258,-0.099787],[0.466062,-0.863372,-0.193326],[0.001860,-0.217552,0.976047]]
2025-10-25T00:04:04.317Z,1761350644.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502818
2025-10-25T00:04:04.496Z,1761350644.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886934,-0.451024,-0.099624],[0.461894,-0.866549,-0.189067],[-0.001056,-0.213706,0.976898]]
2025-10-25T00:04:04.569Z,1761350644.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755397
2025-10-25T00:04:04.821Z,1761350644.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006782
2025-10-25T00:04:04.898Z,1761350644.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888751,-0.447111,-0.101065],[0.458377,-0.868594,-0.188242],[-0.003619,-0.213626,0.976909]]
2025-10-25T00:04:05.073Z,1761350645.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258801
2025-10-25T00:04:05.302Z,1761350645.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890038,-0.444039,-0.103259],[0.455852,-0.869653,-0.189480],[-0.005663,-0.215716,0.976440]]
2025-10-25T00:04:05.329Z,1761350645.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514893
2025-10-25T00:04:05.581Z,1761350645.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766773
2025-10-25T00:04:05.706Z,1761350645.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890604,-0.442327,-0.105691],[0.454727,-0.869634,-0.192251],[-0.006874,-0.219281,0.975638]]
2025-10-25T00:04:05.833Z,1761350645.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019299
2025-10-25T00:04:06.086Z,1761350646.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271652
2025-10-25T00:04:06.110Z,1761350646.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890393,-0.442034,-0.108660],[0.455132,-0.868446,-0.196614],[-0.007455,-0.224518,0.974441]]
2025-10-25T00:04:06.337Z,1761350646.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522926
2025-10-25T00:04:06.515Z,1761350646.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889605,-0.443197,-0.110361],[0.456674,-0.866961,-0.199571],[-0.007230,-0.227938,0.973649]]
2025-10-25T00:04:06.590Z,1761350646.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775813
2025-10-25T00:04:06.841Z,1761350646.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026901
2025-10-25T00:04:06.925Z,1761350646.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888025,-0.446108,-0.111355],[0.459749,-0.864962,-0.201174],[-0.006572,-0.229843,0.973206]]
2025-10-25T00:04:07.093Z,1761350647.093 [DAT](INFO): DAT read: Rx Time:00:04:05.5087

2025-10-25T00:04:07.093Z,1761350647.093 [DAT](INFO): Rx dataTimestamp_ set to:1761350647.092992
2025-10-25T00:04:07.094Z,1761350647.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279849
2025-10-25T00:04:07.322Z,1761350647.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885599,-0.450394,-0.113397],[0.464411,-0.861871,-0.203716],[-0.005981,-0.233074,0.972441]]
2025-10-25T00:04:07.345Z,1761350647.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530906
2025-10-25T00:04:07.602Z,1761350647.602 [DAT](INFO): DAT read: 00:04:05.5087 LVL= 22128, 32753, 31394, 32499, AGC= 66, IDX= 209, 0.40,-2.504, 1.589, 2.657, 3.069, PHS= 0.812,-1.435,-0.456, RAW= 115.8,  11.1, CAL= 116.9,  12.4, ROT=  33.1, -12.4

2025-10-25T00:04:07.603Z,1761350647.603 [DAT](INFO): got valid direction response:
 00:04:05.5087 LVL= 22128, 32753, 31394, 32499, AGC= 66, IDX= 209, 0.40,-2.504, 1.589, 2.657, 3.069, PHS= 0.812,-1.435,-0.456, RAW= 115.8,  11.1, CAL= 116.9,  12.4, ROT=  33.1, -12.4

2025-10-25T00:04:07.604Z,1761350647.604 [DAT](INFO): DAT read: Bearing 320.2,  27.2 (Local)

2025-10-25T00:04:07.605Z,1761350647.605 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.2,  27.2 (Local)

2025-10-25T00:04:07.606Z,1761350647.606 [DAT](INFO): DAT read: Range 11 to 20 : 222.9 m  (Round-trip  297.3 ms) speed  0.0 m/s

2025-10-25T00:04:07.607Z,1761350647.607 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T00:04:07.608Z,1761350647.608 [DAT](INFO): direction in FSK: [0.818177,0.533363,0.214735]
2025-10-25T00:04:07.608Z,1761350647.608 [DAT](INFO): publishing direction and range info
2025-10-25T00:04:07.727Z,1761350647.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882922,-0.455194,-0.115093],[0.469489,-0.858704,-0.205442],[-0.005315,-0.235425,0.971878]]
2025-10-25T00:04:07.794Z,1761350647.794 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350656.00. Resetting abort timer.
2025-10-25T00:04:08.133Z,1761350648.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880353,-0.459593,-0.117271],[0.474292,-0.855600,-0.207355],[-0.005038,-0.238167,0.971211]]
2025-10-25T00:04:08.544Z,1761350648.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878004,-0.463624,-0.119003],[0.478620,-0.853267,-0.207019],[-0.005562,-0.238721,0.971072]]
2025-10-25T00:04:08.605Z,1761350648.605 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:04:08.858Z,1761350648.858 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:04:08.858Z,1761350648.858 [DAT](INFO): #Outgoing data=53
2025-10-25T00:04:08.858Z,1761350648.858 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:04:08.939Z,1761350648.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876074,-0.466743,-0.121014],[0.482133,-0.851322,-0.206880],[-0.006462,-0.239588,0.970853]]
2025-10-25T00:04:09.109Z,1761350649.109 [DAT](INFO): setting remote address to 10
2025-10-25T00:04:09.343Z,1761350649.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874284,-0.469530,-0.123166],[0.485346,-0.849855,-0.205392],[-0.008235,-0.239349,0.970899]]
2025-10-25T00:04:09.361Z,1761350649.361 [DAT](INFO): DAT read: user:30>

2025-10-25T00:04:09.362Z,1761350649.362 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-25T00:04:09.362Z,1761350649.362 [DAT](INFO): set remote address to 10
2025-10-25T00:04:09.362Z,1761350649.362 [DAT](INFO): entering online mode
2025-10-25T00:04:09.613Z,1761350649.613 [DAT](INFO): DAT read: user:31>

2025-10-25T00:04:09.614Z,1761350649.614 [DAT](INFO): DAT read: 

2025-10-25T00:04:09.615Z,1761350649.615 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-25T00:04:09.615Z,1761350649.615 [DAT](INFO): commRate: 600
2025-10-25T00:04:09.615Z,1761350649.615 [DAT](INFO): online mode acknowledged
2025-10-25T00:04:09.616Z,1761350649.616 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:04:09.746Z,1761350649.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872636,-0.471898,-0.125771],[0.488244,-0.848865,-0.202598],[-0.011157,-0.238201,0.971152]]
2025-10-25T00:04:10.154Z,1761350650.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870949,-0.474294,-0.128429],[0.491154,-0.848114,-0.198669],[-0.014696,-0.236109,0.971615]]
2025-10-25T00:04:10.554Z,1761350650.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869254,-0.476696,-0.130991],[0.494013,-0.847600,-0.193718],[-0.018683,-0.233101,0.972273]]
2025-10-25T00:04:10.591Z,1761350650.591 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:04:10.592Z,1761350650.592 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:04:10.592Z,1761350650.592 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:04:10.592Z,1761350650.592 [marl:UpdateRudder:A] Stopped
2025-10-25T00:04:10.593Z,1761350650.593 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:04:10.958Z,1761350650.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867973,-0.478215,-0.133920],[0.496083,-0.847370,-0.189381],[-0.022915,-0.230813,0.972728]]
2025-10-25T00:04:11.003Z,1761350651.003 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:04:11.003Z,1761350651.003 [marl:UpdateRudder:B] Stopped
2025-10-25T00:04:11.003Z,1761350651.003 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:04:11.003Z,1761350651.003 [marl:UpdateRudder] Stopped
2025-10-25T00:04:11.003Z,1761350651.003 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:04:11.003Z,1761350651.003 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:04:11.003Z,1761350651.003 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:04:11.003Z,1761350651.003 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:04:11.004Z,1761350651.004 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:04:11.004Z,1761350651.004 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:04:11.004Z,1761350651.004 [marl:UpdateCommandMode] Stopped
2025-10-25T00:04:11.004Z,1761350651.004 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:04:11.004Z,1761350651.004 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:04:11.005Z,1761350651.005 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:04:11.005Z,1761350651.005 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:04:11.005Z,1761350651.005 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:04:11.005Z,1761350651.005 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:04:11.005Z,1761350651.005 [marl:UpdateSpeed] Stopped
2025-10-25T00:04:11.006Z,1761350651.006 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:04:11.362Z,1761350651.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867882,-0.477604,-0.136657],[0.496053,-0.847972,-0.186748],[-0.026690,-0.229864,0.972857]]
2025-10-25T00:04:11.767Z,1761350651.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869086,-0.474916,-0.138363],[0.493786,-0.849549,-0.185586],[-0.029408,-0.229612,0.972838]]
2025-10-25T00:04:12.170Z,1761350652.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871365,-0.470685,-0.138490],[0.489689,-0.851846,-0.185910],[-0.030467,-0.229812,0.972758]]
2025-10-25T00:04:12.574Z,1761350652.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873594,-0.466628,-0.138176],[0.485681,-0.853926,-0.186881],[-0.030788,-0.230367,0.972617]]
2025-10-25T00:04:12.889Z,1761350652.889 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:04:11.9561

2025-10-25T00:04:12.889Z,1761350652.889 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:04:12.978Z,1761350652.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875709,-0.463026,-0.136893],[0.481867,-0.856066,-0.186966],[-0.030619,-0.229692,0.972782]]
2025-10-25T00:04:13.385Z,1761350653.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877538,-0.460096,-0.135052],[0.478589,-0.857821,-0.187338],[-0.029657,-0.229030,0.972967]]
2025-10-25T00:04:13.787Z,1761350653.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879497,-0.456829,-0.133386],[0.475084,-0.859239,-0.189746],[-0.027929,-0.230251,0.972730]]
2025-10-25T00:04:14.190Z,1761350654.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881118,-0.454517,-0.130558],[0.472193,-0.860665,-0.190496],[-0.025783,-0.229498,0.972968]]
2025-10-25T00:04:14.595Z,1761350654.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882120,-0.453155,-0.128509],[0.470413,-0.861454,-0.191333],[-0.024001,-0.229231,0.973076]]
2025-10-25T00:04:15.012Z,1761350655.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882172,-0.453478,-0.127004],[0.470381,-0.861480,-0.191296],[-0.022663,-0.228496,0.973281]]
2025-10-25T00:04:15.402Z,1761350655.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881287,-0.455524,-0.125819],[0.472107,-0.860542,-0.191263],[-0.021147,-0.227958,0.973441]]
2025-10-25T00:04:15.806Z,1761350655.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879666,-0.458950,-0.124710],[0.475171,-0.859161,-0.189884],[-0.019999,-0.226293,0.973854]]
2025-10-25T00:04:16.210Z,1761350656.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877789,-0.462437,-0.125057],[0.478655,-0.857225,-0.189879],[-0.019395,-0.226533,0.973810]]
2025-10-25T00:04:16.616Z,1761350656.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875938,-0.465840,-0.125406],[0.482029,-0.855654,-0.188424],[-0.019529,-0.225497,0.974048]]
2025-10-25T00:04:17.025Z,1761350657.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874083,-0.469030,-0.126454],[0.485350,-0.854126,-0.186829],[-0.020379,-0.224678,0.974220]]
2025-10-25T00:04:17.423Z,1761350657.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872549,-0.471406,-0.128197],[0.488036,-0.852883,-0.185501],[-0.021891,-0.224424,0.974246]]
2025-10-25T00:04:17.831Z,1761350657.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871567,-0.472657,-0.130256],[0.489711,-0.852036,-0.184979],[-0.023552,-0.225010,0.974072]]
2025-10-25T00:04:18.232Z,1761350658.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871388,-0.472548,-0.131839],[0.489961,-0.851901,-0.184939],[-0.024921,-0.225750,0.973867]]
2025-10-25T00:04:18.634Z,1761350658.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871994,-0.471144,-0.132853],[0.488834,-0.852424,-0.185513],[-0.025844,-0.226710,0.973619]]
2025-10-25T00:04:19.041Z,1761350659.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872767,-0.469556,-0.133396],[0.487438,-0.852967,-0.186688],[-0.026122,-0.227957,0.973321]]
2025-10-25T00:04:19.441Z,1761350659.441 [DAT](INFO): DAT read: Rx Time:00:04:18.0064

2025-10-25T00:04:19.441Z,1761350659.441 [DAT](INFO): Rx dataTimestamp_ set to:1761350659.441015
2025-10-25T00:04:19.447Z,1761350659.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873824,-0.467631,-0.133240],[0.485590,-0.853447,-0.189291],[-0.025195,-0.230107,0.972839]]
2025-10-25T00:04:19.867Z,1761350659.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874975,-0.466196,-0.130687],[0.483634,-0.854237,-0.190726],[-0.022722,-0.230085,0.972905]]
2025-10-25T00:04:20.202Z,1761350660.202 [DAT](INFO): DAT read: 00:04:18.0064 LVL= 30480, 32753, 32754, 32755, AGC= 56, IDX= 441,-0.12, 3.120, 1.216, 2.405, 2.392, PHS= 0.830,-1.130,-0.030, RAW= 124.0,   3.9, CAL= 125.2,   5.2, ROT=  24.8,  -5.2

2025-10-25T00:04:20.203Z,1761350660.203 [DAT](INFO): got valid direction response:
 00:04:18.0064 LVL= 30480, 32753, 32754, 32755, AGC= 56, IDX= 441,-0.12, 3.120, 1.216, 2.405, 2.392, PHS= 0.830,-1.130,-0.030, RAW= 124.0,   3.9, CAL= 125.2,   5.2, ROT=  24.8,  -5.2

2025-10-25T00:04:20.204Z,1761350660.204 [DAT](INFO): DAT read: 

2025-10-25T00:04:20.205Z,1761350660.205 [DAT](INFO): DAT read: DATA(0002):

2025-10-25T00:04:20.205Z,1761350660.205 [DAT](INFO): Got DATA 2
2025-10-25T00:04:20.206Z,1761350660.206 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:04:20.206Z,1761350660.206 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:04:20.206Z,1761350660.206 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:04:20.207Z,1761350660.207 [DAT](INFO): DAT read: CRC:Fail {0001} MPD:04.0 PSNR:09.3 AGC:56 SPD:+0.3 CCERR:005

2025-10-25T00:04:20.209Z,1761350660.209 [DAT](INFO): unknown deviceResponse_: CRC:Fail {0001} MPD:04.0 PSNR:09.3 AGC:56 SPD:+0.3 CCERR:005

2025-10-25T00:04:20.210Z,1761350660.210 [DAT](INFO): DAT read: 

2025-10-25T00:04:20.226Z,1761350660.226 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:04:20.226Z,1761350660.226 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-25T00:04:20.227Z,1761350660.227 [DAT](INFO): direction in FSK: [0.904041,0.417726,0.090633]
2025-10-25T00:04:20.262Z,1761350660.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875814,-0.465434,-0.127752],[0.482269,-0.854399,-0.193441],[-0.019117,-0.231029,0.972759]]
2025-10-25T00:04:20.345Z,1761350660.345 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350656.00. Resetting abort timer.
2025-10-25T00:04:20.662Z,1761350660.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876001,-0.465965,-0.124493],[0.482075,-0.853948,-0.195899],[-0.015029,-0.231623,0.972690]]
2025-10-25T00:04:21.059Z,1761350661.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875490,-0.467864,-0.120915],[0.483108,-0.853181,-0.196696],[-0.011135,-0.230620,0.972980]]
2025-10-25T00:04:21.463Z,1761350661.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874151,-0.471027,-0.118294],[0.485592,-0.851631,-0.197294],[-0.007812,-0.229907,0.973181]]
2025-10-25T00:04:21.898Z,1761350661.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872465,-0.474612,-0.116399],[0.488648,-0.849915,-0.197150],[-0.005359,-0.228885,0.973439]]
2025-10-25T00:04:22.276Z,1761350662.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870593,-0.478291,-0.115351],[0.491988,-0.848176,-0.196328],[-0.003936,-0.227673,0.973730]]
2025-10-25T00:04:22.679Z,1761350662.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868636,-0.481816,-0.115432],[0.495439,-0.846304,-0.195727],[-0.003386,-0.227205,0.973841]]
2025-10-25T00:04:22.969Z,1761350662.969 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-25T00:04:22.970Z,1761350662.970 [DAT](ERROR): Ack receipt timeout failure.
2025-10-25T00:04:23.078Z,1761350663.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866856,-0.485050,-0.115269],[0.498548,-0.844804,-0.194309],[-0.003130,-0.225905,0.974144]]
2025-10-25T00:04:23.221Z,1761350663.221 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:04:23.474Z,1761350663.474 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:04:23.474Z,1761350663.474 [DAT](INFO): #Outgoing data=54
2025-10-25T00:04:23.475Z,1761350663.475 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:04:23.497Z,1761350663.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865239,-0.487812,-0.115768],[0.501351,-0.843245,-0.193868],[-0.003050,-0.225782,0.974173]]
2025-10-25T00:04:23.562Z,1761350663.562 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:04:23.563Z,1761350663.563 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:04:23.563Z,1761350663.563 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:04:23.563Z,1761350663.563 [marl:UpdateRudder:A] Stopped
2025-10-25T00:04:23.563Z,1761350663.563 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:04:23.725Z,1761350663.725 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:04:23.913Z,1761350663.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863895,-0.490307,-0.115262],[0.503665,-0.842210,-0.192362],[-0.002758,-0.224234,0.974531]]
2025-10-25T00:04:24.009Z,1761350664.009 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:04:24.009Z,1761350664.009 [marl:UpdateRudder:B] Stopped
2025-10-25T00:04:24.009Z,1761350664.009 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:04:24.009Z,1761350664.009 [marl:UpdateRudder] Stopped
2025-10-25T00:04:24.009Z,1761350664.009 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:04:24.009Z,1761350664.009 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:04:24.009Z,1761350664.009 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:04:24.010Z,1761350664.010 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:04:24.010Z,1761350664.010 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:04:24.010Z,1761350664.010 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:04:24.010Z,1761350664.010 [marl:UpdateCommandMode] Stopped
2025-10-25T00:04:24.010Z,1761350664.010 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:04:24.010Z,1761350664.010 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:04:24.010Z,1761350664.010 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:04:24.010Z,1761350664.010 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:04:24.011Z,1761350664.011 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:04:24.011Z,1761350664.011 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:04:24.011Z,1761350664.011 [marl:UpdateSpeed] Stopped
2025-10-25T00:04:24.011Z,1761350664.011 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:04:24.295Z,1761350664.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863129,-0.491785,-0.114700],[0.504980,-0.841454,-0.192226],[-0.001981,-0.223837,0.974625]]
2025-10-25T00:04:24.694Z,1761350664.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863311,-0.491717,-0.113611],[0.504671,-0.841515,-0.192770],[-0.000817,-0.223757,0.974645]]
2025-10-25T00:04:25.098Z,1761350665.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863944,-0.490955,-0.112089],[0.503587,-0.841878,-0.194012],[0.000886,-0.224062,0.974574]]
2025-10-25T00:04:25.507Z,1761350665.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864733,-0.489884,-0.110679],[0.502226,-0.842397,-0.195288],[0.002433,-0.224458,0.974481]]
2025-10-25T00:04:25.942Z,1761350665.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865560,-0.488792,-0.109032],[0.500789,-0.843044,-0.196180],[0.003972,-0.224408,0.974487]]
2025-10-25T00:04:26.310Z,1761350666.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866245,-0.487900,-0.107576],[0.499589,-0.843500,-0.197278],[0.005512,-0.224635,0.974427]]
2025-10-25T00:04:26.715Z,1761350666.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865392,-0.489194,-0.108564],[0.501051,-0.841853,-0.200578],[0.006727,-0.227974,0.973644]]
2025-10-25T00:04:27.001Z,1761350667.001 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:04:26.0560

2025-10-25T00:04:27.001Z,1761350667.001 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:04:27.120Z,1761350667.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862359,-0.493213,-0.114355],[0.506225,-0.836144,-0.211187],[0.008543,-0.240008,0.970733]]
2025-10-25T00:04:27.522Z,1761350667.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857767,-0.498455,-0.125610],[0.513920,-0.826336,-0.230336],[0.011016,-0.262128,0.964970]]
2025-10-25T00:04:27.926Z,1761350667.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851800,-0.505082,-0.139031],[0.523673,-0.813715,-0.252258],[0.014279,-0.287680,0.957620]]
2025-10-25T00:04:28.331Z,1761350668.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844797,-0.512847,-0.152663],[0.534767,-0.799339,-0.274011],[0.018496,-0.313123,0.949533]]
2025-10-25T00:04:28.736Z,1761350668.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837109,-0.521400,-0.165500],[0.546514,-0.783914,-0.294620],[0.023878,-0.337078,0.941174]]
2025-10-25T00:04:29.138Z,1761350669.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828781,-0.530820,-0.177064],[0.558725,-0.767595,-0.314045],[0.030788,-0.359205,0.932751]]
2025-10-25T00:04:29.542Z,1761350669.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820088,-0.541051,-0.186331],[0.570918,-0.751516,-0.330570],[0.038825,-0.377476,0.925205]]
2025-10-25T00:04:29.947Z,1761350669.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810802,-0.552227,-0.194023],[0.583422,-0.735811,-0.343802],[0.047093,-0.391953,0.918779]]
2025-10-25T00:04:30.357Z,1761350670.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800645,-0.564933,-0.199546],[0.596634,-0.721351,-0.351683],[0.054734,-0.400629,0.914604]]
2025-10-25T00:04:31.158Z,1761350671.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777173,-0.593696,-0.208634],[0.625791,-0.694239,-0.355553],[0.066248,-0.406887,0.911073]]
2025-10-25T00:04:31.240Z,1761350671.240 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:04:31.562Z,1761350671.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764638,-0.608586,-0.212018],[0.640605,-0.681824,-0.353187],[0.070386,-0.405880,0.911212]]
2025-10-25T00:04:31.977Z,1761350671.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752349,-0.622976,-0.214175],[0.654562,-0.670276,-0.349684],[0.074289,-0.403276,0.912058]]
2025-10-25T00:04:32.244Z,1761350672.244 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:04:32.372Z,1761350672.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740014,-0.637139,-0.215484],[0.668071,-0.659214,-0.345134],[0.077848,-0.399362,0.913482]]
2025-10-25T00:04:32.830Z,1761350672.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727818,-0.650308,-0.217672],[0.680952,-0.647770,-0.341610],[0.081150,-0.396855,0.914287]]
2025-10-25T00:04:33.231Z,1761350673.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715702,-0.663144,-0.219113],[0.693251,-0.636505,-0.338031],[0.084696,-0.393830,0.915273]]
2025-10-25T00:04:33.561Z,1761350673.561 [DAT](INFO): DAT read: Rx Time:00:04:32.1023

2025-10-25T00:04:33.561Z,1761350673.561 [DAT](INFO): Rx dataTimestamp_ set to:1761350673.560935
2025-10-25T00:04:33.699Z,1761350673.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690546,-0.688594,-0.221327],[0.717455,-0.613333,-0.330274],[0.091678,-0.386862,0.917569]]
2025-10-25T00:04:34.101Z,1761350674.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677697,-0.701019,-0.222034],[0.729155,-0.601547,-0.326302],[0.095180,-0.383031,0.918819]]
2025-10-25T00:04:34.322Z,1761350674.322 [DAT](INFO): DAT read: 00:04:32.1023 LVL= 32688, 32753, 32754, 32755, AGC= 50, IDX= 401,-0.48,-2.860, 1.475, 1.973, 2.522, PHS= 1.003,-1.002,-0.593, RAW= 101.1,   6.5, CAL= 101.8,   6.4, ROT=  48.2,  -6.4

2025-10-25T00:04:34.323Z,1761350674.323 [DAT](INFO): got valid direction response:
 00:04:32.1023 LVL= 32688, 32753, 32754, 32755, AGC= 50, IDX= 401,-0.48,-2.860, 1.475, 1.973, 2.522, PHS= 1.003,-1.002,-0.593, RAW= 101.1,   6.5, CAL= 101.8,   6.4, ROT=  48.2,  -6.4

2025-10-25T00:04:34.324Z,1761350674.324 [DAT](INFO): DAT read: 

2025-10-25T00:04:34.325Z,1761350674.325 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:04:34.325Z,1761350674.325 [DAT](INFO): Got DATA 2
2025-10-25T00:04:34.326Z,1761350674.326 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:04:34.326Z,1761350674.326 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:04:34.326Z,1761350674.326 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:04:34.334Z,1761350674.334 [DAT](INFO): DAT read: CRC:Pass MPD:03.6 PSNR:12.4 AGC:54 SPD:+0.6 CCERR:010

2025-10-25T00:04:34.335Z,1761350674.335 [DAT](INFO): Got CRC:Pass
2025-10-25T00:04:34.335Z,1761350674.335 [DAT](INFO): Got CRC:Pass
2025-10-25T00:04:34.336Z,1761350674.336 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:04:34.336Z,1761350674.336 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:04:34.337Z,1761350674.337 [DAT](INFO): Got ack
2025-10-25T00:04:34.338Z,1761350674.338 [DAT](INFO): DAT read: 

2025-10-25T00:04:34.341Z,1761350674.341 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:04:34.342Z,1761350674.342 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:04:34.342Z,1761350674.342 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-25T00:04:34.343Z,1761350674.343 [DAT](INFO): direction in FSK: [0.662379,0.740830,0.111469]
2025-10-25T00:04:34.515Z,1761350674.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664854,-0.712688,-0.223707],[0.740426,-0.589213,-0.323415],[0.098683,-0.380662,0.919434]]
2025-10-25T00:04:34.569Z,1761350674.569 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:04:34.569Z,1761350674.569 [DAT](INFO): #Outgoing data=54
2025-10-25T00:04:34.570Z,1761350674.570 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:04:34.591Z,1761350674.591 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350656.00. Resetting abort timer.
2025-10-25T00:04:34.821Z,1761350674.821 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:04:34.907Z,1761350674.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652129,-0.723148,-0.227564],[0.751266,-0.576200,-0.321859],[0.101629,-0.380855,0.919033]]
2025-10-25T00:04:35.310Z,1761350675.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639382,-0.733012,-0.232129],[0.761822,-0.563106,-0.320218],[0.104010,-0.381583,0.918464]]
2025-10-25T00:04:35.770Z,1761350675.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626445,-0.742572,-0.236968],[0.772178,-0.549737,-0.318639],[0.106343,-0.382591,0.917777]]
2025-10-25T00:04:36.170Z,1761350676.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613644,-0.751446,-0.242427],[0.782137,-0.536432,-0.317021],[0.108178,-0.384149,0.916912]]
2025-10-25T00:04:36.621Z,1761350676.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601107,-0.760011,-0.247090],[0.791638,-0.523922,-0.314347],[0.109451,-0.384562,0.916587]]
2025-10-25T00:04:36.654Z,1761350676.654 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:04:36.654Z,1761350676.654 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:04:36.654Z,1761350676.654 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:04:36.654Z,1761350676.654 [marl:UpdateRudder:A] Stopped
2025-10-25T00:04:36.654Z,1761350676.654 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:04:37.033Z,1761350677.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588725,-0.768380,-0.250986],[0.800756,-0.511968,-0.310932],[0.110417,-0.384032,0.916694]]
2025-10-25T00:04:37.058Z,1761350677.058 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:04:37.058Z,1761350677.058 [marl:UpdateRudder:B] Stopped
2025-10-25T00:04:37.058Z,1761350677.058 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:04:37.058Z,1761350677.058 [marl:UpdateRudder] Stopped
2025-10-25T00:04:37.058Z,1761350677.058 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:04:37.058Z,1761350677.058 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:04:37.058Z,1761350677.058 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:04:37.058Z,1761350677.058 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:04:37.059Z,1761350677.059 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:04:37.059Z,1761350677.059 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:04:37.059Z,1761350677.059 [marl:UpdateCommandMode] Stopped
2025-10-25T00:04:37.059Z,1761350677.059 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:04:37.059Z,1761350677.059 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:04:37.059Z,1761350677.059 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:04:37.059Z,1761350677.059 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:04:37.059Z,1761350677.059 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:04:37.060Z,1761350677.060 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:04:37.060Z,1761350677.060 [marl:UpdateSpeed] Stopped
2025-10-25T00:04:37.060Z,1761350677.060 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:04:37.439Z,1761350677.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576319,-0.776570,-0.254549],[0.809614,-0.500140,-0.307221],[0.111269,-0.383144,0.916963]]
2025-10-25T00:04:37.839Z,1761350677.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564224,-0.784291,-0.257952],[0.817952,-0.488513,-0.303823],[0.112273,-0.382417,0.917143]]
2025-10-25T00:04:38.097Z,1761350678.097 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:04:37.1560

2025-10-25T00:04:38.097Z,1761350678.097 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:04:38.239Z,1761350678.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552206,-0.791532,-0.261815],[0.825954,-0.476665,-0.300982],[0.113439,-0.382451,0.916986]]
2025-10-25T00:04:38.656Z,1761350678.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540177,-0.798659,-0.265239],[0.833700,-0.464909,-0.298000],[0.114688,-0.382103,0.916975]]
2025-10-25T00:04:39.177Z,1761350679.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528005,-0.805505,-0.269022],[0.841263,-0.452786,-0.295401],[0.116137,-0.382291,0.916714]]
2025-10-25T00:04:39.570Z,1761350679.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515257,-0.812580,-0.272441],[0.848903,-0.440207,-0.292543],[0.117784,-0.382011,0.916621]]
2025-10-25T00:04:40.053Z,1761350680.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501860,-0.819843,-0.275669],[0.856744,-0.427379,-0.288682],[0.118858,-0.381056,0.916880]]
2025-10-25T00:04:40.496Z,1761350680.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472309,-0.835222,-0.281653],[0.873337,-0.400227,-0.277669],[0.119190,-0.377124,0.918461]]
2025-10-25T00:04:40.899Z,1761350680.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456569,-0.842605,-0.285588],[0.881727,-0.385693,-0.271659],[0.118752,-0.375842,0.919043]]
2025-10-25T00:04:41.304Z,1761350681.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440070,-0.849772,-0.290217],[0.890206,-0.370465,-0.265122],[0.117778,-0.375025,0.919502]]
2025-10-25T00:04:41.707Z,1761350681.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423072,-0.856573,-0.295452],[0.898558,-0.354649,-0.258490],[0.116634,-0.374841,0.919723]]
2025-10-25T00:04:42.131Z,1761350682.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406424,-0.862548,-0.301380],[0.906346,-0.338872,-0.252395],[0.115574,-0.375734,0.919493]]
2025-10-25T00:04:42.531Z,1761350682.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389334,-0.869121,-0.305038],[0.914023,-0.323582,-0.244655],[0.113930,-0.374064,0.920378]]
2025-10-25T00:04:42.942Z,1761350682.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372565,-0.875299,-0.308297],[0.921293,-0.308976,-0.236120],[0.111419,-0.372002,0.921521]]
2025-10-25T00:04:43.341Z,1761350683.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356635,-0.880880,-0.311228],[0.927935,-0.295343,-0.227397],[0.108390,-0.369897,0.922729]]
2025-10-25T00:04:43.742Z,1761350683.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340940,-0.886177,-0.313768],[0.934215,-0.282144,-0.218257],[0.104886,-0.367539,0.924075]]
2025-10-25T00:04:44.147Z,1761350684.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325790,-0.890933,-0.316384],[0.940036,-0.269517,-0.209027],[0.100958,-0.365512,0.925316]]
2025-10-25T00:04:44.550Z,1761350684.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312133,-0.894570,-0.319872],[0.945067,-0.257970,-0.200750],[0.097067,-0.364961,0.925949]]
2025-10-25T00:04:44.649Z,1761350684.649 [DAT](INFO): DAT read: Rx Time:00:04:43.2026

2025-10-25T00:04:44.650Z,1761350684.650 [DAT](INFO): Rx dataTimestamp_ set to:1761350684.649404
2025-10-25T00:04:44.956Z,1761350684.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299095,-0.898094,-0.322443],[0.949686,-0.247249,-0.192264],[0.092947,-0.363724,0.926858]]
2025-10-25T00:04:45.359Z,1761350685.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285877,-0.901211,-0.325721],[0.954139,-0.236183,-0.183948],[0.088846,-0.363369,0.927399]]
2025-10-25T00:04:45.415Z,1761350685.415 [DAT](INFO): DAT read: 00:04:43.2026 LVL= 22064, 32753, 32754, 31731, AGC= 49, IDX= 451, 0.26,-2.720, 2.666, 1.667, 2.783, PHS= 0.882,-0.073,-1.160, RAW=  57.8,   4.0, CAL=  57.3,   2.4, ROT=  92.7,  -2.4

2025-10-25T00:04:45.417Z,1761350685.417 [DAT](INFO): got valid direction response:
 00:04:43.2026 LVL= 22064, 32753, 32754, 31731, AGC= 49, IDX= 451, 0.26,-2.720, 2.666, 1.667, 2.783, PHS= 0.882,-0.073,-1.160, RAW=  57.8,   4.0, CAL=  57.3,   2.4, ROT=  92.7,  -2.4

2025-10-25T00:04:45.417Z,1761350685.417 [DAT](INFO): DAT read: 

2025-10-25T00:04:45.418Z,1761350685.418 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:04:45.418Z,1761350685.418 [DAT](INFO): Got DATA 2
2025-10-25T00:04:45.441Z,1761350685.441 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:04:45.441Z,1761350685.441 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:04:45.441Z,1761350685.441 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:04:45.442Z,1761350685.442 [DAT](INFO): DAT read: CRC:Pass MPD:03.4 PSNR:10.0 AGC:52 SPD:-0.4 CCERR:009

2025-10-25T00:04:45.442Z,1761350685.442 [DAT](INFO): Got CRC:Pass
2025-10-25T00:04:45.443Z,1761350685.443 [DAT](INFO): Got CRC:Pass
2025-10-25T00:04:45.443Z,1761350685.443 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:04:45.443Z,1761350685.443 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:04:45.443Z,1761350685.443 [DAT](INFO): Got ack
2025-10-25T00:04:45.443Z,1761350685.443 [DAT](INFO): DAT read: 

2025-10-25T00:04:45.449Z,1761350685.449 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:04:45.450Z,1761350685.450 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:04:45.450Z,1761350685.450 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-10-25T00:04:45.451Z,1761350685.451 [DAT](INFO): direction in FSK: [-0.047065,0.998014,0.041876]
2025-10-25T00:04:45.658Z,1761350685.658 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:04:45.658Z,1761350685.658 [DAT](INFO): #Outgoing data=54
2025-10-25T00:04:45.658Z,1761350685.658 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:04:45.820Z,1761350685.820 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350656.00. Resetting abort timer.
2025-10-25T00:04:45.910Z,1761350685.910 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:04:46.170Z,1761350686.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258094,-0.907169,-0.332312],[0.962704,-0.212591,-0.167349],[0.081167,-0.363110,0.928204]]
2025-10-25T00:04:46.997Z,1761350686.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228313,-0.912547,-0.339309],[0.970642,-0.186260,-0.152188],[0.075679,-0.364095,0.928282]]
2025-10-25T00:04:47.405Z,1761350687.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211928,-0.914841,-0.343733],[0.974521,-0.171393,-0.144681],[0.073447,-0.365637,0.927855]]
2025-10-25T00:04:48.317Z,1761350688.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177494,-0.919108,-0.351762],[0.981763,-0.140638,-0.127914],[0.068096,-0.368051,0.927309]]
2025-10-25T00:04:48.715Z,1761350688.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159188,-0.921180,-0.355087],[0.985115,-0.124584,-0.118434],[0.064861,-0.368655,0.927301]]
2025-10-25T00:04:49.118Z,1761350689.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140308,-0.923161,-0.357893],[0.988217,-0.108242,-0.108215],[0.061161,-0.368860,0.927471]]
2025-10-25T00:04:49.186Z,1761350689.186 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:04:48.2560

2025-10-25T00:04:49.186Z,1761350689.186 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:04:49.523Z,1761350689.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120537,-0.924878,-0.360655],[0.991074,-0.091274,-0.097166],[0.056948,-0.369148,0.927624]]
2025-10-25T00:04:49.575Z,1761350689.575 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:04:49.575Z,1761350689.575 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:04:49.575Z,1761350689.575 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:04:49.580Z,1761350689.580 [marl:UpdateRudder:A] Stopped
2025-10-25T00:04:49.580Z,1761350689.580 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:04:49.931Z,1761350689.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100220,-0.927318,-0.360606],[0.993584,-0.074184,-0.085371],[0.052415,-0.366848,0.928803]]
2025-10-25T00:04:49.999Z,1761350689.999 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:04:49.999Z,1761350689.999 [marl:UpdateRudder:B] Stopped
2025-10-25T00:04:49.000Z,1761350690.000 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:04:49.000Z,1761350690.000 [marl:UpdateRudder] Stopped
2025-10-25T00:04:49.000Z,1761350690.000 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:04:50.000Z,1761350690.000 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:04:50.000Z,1761350690.000 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:04:50.000Z,1761350690.000 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:04:50.001Z,1761350690.001 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:04:50.001Z,1761350690.001 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:04:50.001Z,1761350690.001 [marl:UpdateCommandMode] Stopped
2025-10-25T00:04:50.001Z,1761350690.001 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:04:50.001Z,1761350690.001 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:04:50.001Z,1761350690.001 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:04:50.001Z,1761350690.001 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:04:50.001Z,1761350690.001 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:04:50.002Z,1761350690.002 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:04:50.002Z,1761350690.002 [marl:UpdateSpeed] Stopped
2025-10-25T00:04:50.002Z,1761350690.002 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:04:50.332Z,1761350690.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079049,-0.929989,-0.358987],[0.995725,-0.056398,-0.073152],[0.047784,-0.363235,0.930471]]
2025-10-25T00:04:50.734Z,1761350690.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057198,-0.931788,-0.358468],[0.997421,-0.037740,-0.061049],[0.043356,-0.361035,0.931544]]
2025-10-25T00:04:51.138Z,1761350691.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034268,-0.933287,-0.357494],[0.998656,-0.018058,-0.048585],[0.038889,-0.358678,0.932651]]
2025-10-25T00:04:51.544Z,1761350691.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010788,-0.933774,-0.357702],[0.999359,0.002148,-0.035745],[0.034146,-0.357858,0.933152]]
2025-10-25T00:04:51.946Z,1761350691.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013011,-0.933702,-0.357816],[0.999496,0.022507,-0.022387],[0.028956,-0.357344,0.933524]]
2025-10-25T00:04:52.350Z,1761350692.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036601,-0.933168,-0.357571],[0.999061,0.042468,-0.008565],[0.023178,-0.356922,0.933847]]
2025-10-25T00:04:52.754Z,1761350692.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059621,-0.931997,-0.357528],[0.998074,0.061812,0.005307],[0.017153,-0.357156,0.933887]]
2025-10-25T00:04:53.160Z,1761350693.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081783,-0.930188,-0.357857],[0.996592,0.080218,0.019245],[0.010805,-0.358211,0.933578]]
2025-10-25T00:04:53.562Z,1761350693.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102543,-0.928158,-0.357781],[0.994719,0.097238,0.032839],[0.004310,-0.359259,0.933228]]
2025-10-25T00:04:53.967Z,1761350693.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121861,-0.925593,-0.358369],[0.992545,0.112891,0.045934],[-0.002060,-0.361295,0.932449]]
2025-10-25T00:04:54.372Z,1761350694.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140143,-0.923041,-0.358267],[0.990097,0.127620,0.058493],[-0.008270,-0.362916,0.931785]]
2025-10-25T00:04:54.779Z,1761350694.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157336,-0.919992,-0.358971],[0.987442,0.141295,0.070672],[-0.014297,-0.365582,0.930669]]
2025-10-25T00:04:55.178Z,1761350695.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173438,-0.916927,-0.359393],[0.984647,0.154140,0.081917],[-0.019715,-0.368083,0.929584]]
2025-10-25T00:04:55.582Z,1761350695.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188952,-0.914123,-0.358714],[0.981671,0.166585,0.092578],[-0.024872,-0.369632,0.928845]]
2025-10-25T00:04:55.737Z,1761350695.737 [DAT](INFO): DAT read: Rx Time:00:04:54.3046

2025-10-25T00:04:55.737Z,1761350695.737 [DAT](INFO): Rx dataTimestamp_ set to:1761350695.737043
2025-10-25T00:04:55.987Z,1761350695.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203941,-0.911186,-0.357978],[0.978543,0.178764,0.102456],[-0.029362,-0.371191,0.928092]]
2025-10-25T00:04:56.399Z,1761350696.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218321,-0.908116,-0.357297],[0.975304,0.190502,0.111760],[-0.033425,-0.372873,0.927280]]
2025-10-25T00:04:56.504Z,1761350696.504 [DAT](INFO): DAT read: 00:04:54.3046 LVL= 25904, 32753, 32754, 32755, AGC= 49, IDX= 373, 0.03, 0.997, 0.782,-0.884, 1.065, PHS= 0.033,-0.238,-1.993, RAW=  37.1,  22.2, CAL=  33.9,  26.0, ROT= 116.1, -26.0

2025-10-25T00:04:56.505Z,1761350696.505 [DAT](INFO): got valid direction response:
 00:04:54.3046 LVL= 25904, 32753, 32754, 32755, AGC= 49, IDX= 373, 0.03, 0.997, 0.782,-0.884, 1.065, PHS= 0.033,-0.238,-1.993, RAW=  37.1,  22.2, CAL=  33.9,  26.0, ROT= 116.1, -26.0

2025-10-25T00:04:56.506Z,1761350696.506 [DAT](INFO): DAT read: 

2025-10-25T00:04:56.506Z,1761350696.506 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:04:56.507Z,1761350696.507 [DAT](INFO): Got DATA 2
2025-10-25T00:04:56.507Z,1761350696.507 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:04:56.509Z,1761350696.509 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:04:56.510Z,1761350696.510 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:04:56.511Z,1761350696.511 [DAT](INFO): DAT read: CRC:Pass MPD:03.8 PSNR:12.9 AGC:50 SPD:-1.1 CCERR:009

2025-10-25T00:04:56.511Z,1761350696.511 [DAT](INFO): Got CRC:Pass
2025-10-25T00:04:56.511Z,1761350696.511 [DAT](INFO): Got CRC:Pass
2025-10-25T00:04:56.511Z,1761350696.511 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:04:56.511Z,1761350696.511 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:04:56.511Z,1761350696.511 [DAT](INFO): Got ack
2025-10-25T00:04:56.513Z,1761350696.513 [DAT](INFO): DAT read: 

2025-10-25T00:04:56.513Z,1761350696.513 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:04:56.513Z,1761350696.513 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:04:56.514Z,1761350696.514 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-10-25T00:04:56.515Z,1761350696.515 [DAT](INFO): direction in FSK: [-0.395415,0.807142,0.438371]
2025-10-25T00:04:56.749Z,1761350696.749 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:04:56.749Z,1761350696.749 [DAT](INFO): #Outgoing data=54
2025-10-25T00:04:56.749Z,1761350696.749 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:04:56.857Z,1761350696.857 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350656.00. Resetting abort timer.
2025-10-25T00:04:57.002Z,1761350697.002 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:04:57.603Z,1761350697.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259589,-0.900016,-0.350121],[0.964773,0.225650,0.135258],[-0.042730,-0.372899,0.926887]]
2025-10-25T00:04:58.006Z,1761350698.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273226,-0.897874,-0.345209],[0.960903,0.238010,0.141480],[-0.044868,-0.370369,0.927801]]
2025-10-25T00:04:58.410Z,1761350698.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287383,-0.895204,-0.340618],[0.956665,0.250846,0.147880],[-0.046940,-0.368356,0.928499]]
2025-10-25T00:04:58.815Z,1761350698.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301981,-0.892349,-0.335440],[0.952065,0.264290,0.154025],[-0.048791,-0.365873,0.929385]]
2025-10-25T00:04:59.220Z,1761350699.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317358,-0.888578,-0.331231],[0.946945,0.278236,0.160872],[-0.050786,-0.364711,0.929735]]
2025-10-25T00:04:59.622Z,1761350699.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333373,-0.884382,-0.326697],[0.941297,0.292696,0.168191],[-0.053121,-0.363590,0.930043]]
2025-10-25T00:05:00.027Z,1761350700.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349901,-0.879255,-0.323234],[0.935135,0.307351,0.176234],[-0.055609,-0.363931,0.929764]]
2025-10-25T00:05:00.277Z,1761350700.277 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:04:59.3559

2025-10-25T00:05:00.277Z,1761350700.277 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:05:00.431Z,1761350700.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367372,-0.873995,-0.318072],[0.928245,0.323105,0.184295],[-0.058302,-0.362953,0.929982]]
2025-10-25T00:05:00.840Z,1761350700.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384670,-0.868812,-0.311761],[0.921039,0.338965,0.191808],[-0.060969,-0.360927,0.930599]]
2025-10-25T00:05:01.238Z,1761350701.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401707,-0.862884,-0.306696],[0.913540,0.354238,0.199900],[-0.063847,-0.360481,0.930579]]
2025-10-25T00:05:01.643Z,1761350701.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419006,-0.856532,-0.301309],[0.905491,0.369608,0.208507],[-0.067227,-0.360198,0.930450]]
2025-10-25T00:05:01.919Z,1761350701.919 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:05:01.920Z,1761350701.920 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:05:02.048Z,1761350702.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435585,-0.850466,-0.294912],[0.897376,0.384588,0.216351],[-0.070579,-0.358887,0.930709]]
2025-10-25T00:05:02.365Z,1761350702.365 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:05:02.519Z,1761350702.519 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:05:02.519Z,1761350702.519 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:05:02.519Z,1761350702.519 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:05:02.519Z,1761350702.519 [marl:UpdateRudder:A] Stopped
2025-10-25T00:05:02.519Z,1761350702.519 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:05:02.867Z,1761350702.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462895,-0.840719,-0.280925],[0.883090,0.409972,0.228200],[-0.076680,-0.353715,0.932205]]
2025-10-25T00:05:02.939Z,1761350702.939 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:05:02.939Z,1761350702.939 [marl:UpdateRudder:B] Stopped
2025-10-25T00:05:02.939Z,1761350702.939 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:05:02.939Z,1761350702.939 [marl:UpdateRudder] Stopped
2025-10-25T00:05:02.939Z,1761350702.939 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:05:02.939Z,1761350702.939 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:05:02.939Z,1761350702.939 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:05:02.944Z,1761350702.944 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:05:02.945Z,1761350702.945 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:05:02.945Z,1761350702.945 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:05:02.945Z,1761350702.945 [marl:UpdateCommandMode] Stopped
2025-10-25T00:05:02.945Z,1761350702.945 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:05:02.945Z,1761350702.945 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:05:02.945Z,1761350702.945 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:05:02.945Z,1761350702.945 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:05:02.946Z,1761350702.946 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:05:02.946Z,1761350702.946 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:05:02.946Z,1761350702.946 [marl:UpdateSpeed] Stopped
2025-10-25T00:05:02.946Z,1761350702.946 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:05:02.947Z,1761350702.947 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-25T00:05:03.049Z,1761350703.049 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:05:03.100Z,1761350703.100 [DAT](INFO): entering command mode
2025-10-25T00:05:03.259Z,1761350703.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474880,-0.836379,-0.273786],[0.876478,0.421478,0.232686],[-0.079219,-0.350466,0.933219]]
2025-10-25T00:05:03.301Z,1761350703.301 [DAT](INFO): DAT read: 

2025-10-25T00:05:03.302Z,1761350703.302 [DAT](INFO): DAT read: user:32>

2025-10-25T00:05:03.302Z,1761350703.302 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:05:03.302Z,1761350703.302 [DAT](INFO): setting remote address to 0
2025-10-25T00:05:03.370Z,1761350703.370 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:05:03.553Z,1761350703.553 [DAT](INFO): DAT read: user:32>

2025-10-25T00:05:03.554Z,1761350703.554 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-25T00:05:03.554Z,1761350703.554 [DAT](INFO): set remote address to 0
2025-10-25T00:05:03.554Z,1761350703.554 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:05:03.555Z,1761350703.555 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-25T00:05:03.669Z,1761350703.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485567,-0.832269,-0.267493],[0.870421,0.431860,0.236356],[-0.081193,-0.347598,0.934122]]
2025-10-25T00:05:03.805Z,1761350703.805 [DAT](INFO): DAT read: user:33>

2025-10-25T00:05:03.806Z,1761350703.806 [DAT](INFO): DAT read: Tx time:00:05:02.8071

2025-10-25T00:05:03.806Z,1761350703.806 [DAT](INFO): Ping request sent.
2025-10-25T00:05:03.806Z,1761350703.806 [DAT](INFO): transmitted an acoustic signal
2025-10-25T00:05:03.806Z,1761350703.806 [DAT](INFO): publishing transmit ping time
2025-10-25T00:05:03.807Z,1761350703.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000988
2025-10-25T00:05:04.057Z,1761350704.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250917
2025-10-25T00:05:04.074Z,1761350704.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495730,-0.828308,-0.261069],[0.864514,0.441961,0.239345],[-0.082869,-0.344348,0.935178]]
2025-10-25T00:05:04.309Z,1761350704.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502907
2025-10-25T00:05:04.460Z,1761350704.460 [ElevatorServo](ERROR): getPosition uart error serial timeout
2025-10-25T00:05:04.460Z,1761350704.460 [ElevatorServo](FAULT): Elevator uart error - getPosition.serial timeout
2025-10-25T00:05:04.460Z,1761350704.460 [ElevatorServo] Communications Fault, FailCount= 1
2025-10-25T00:05:04.460Z,1761350704.460 [ElevatorServo](ERROR): Communications Fault
2025-10-25T00:05:04.561Z,1761350704.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754732
2025-10-25T00:05:04.681Z,1761350704.681 [CBIT](ERROR): Communications Fault in component: ElevatorServo
2025-10-25T00:05:04.711Z,1761350704.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516331,-0.819288,-0.249339],[0.852136,0.462528,0.244811],[-0.085244,-0.338874,0.936962]]
2025-10-25T00:05:04.772Z,1761350704.772 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-10-25T00:05:04.772Z,1761350704.772 [ElevatorServo](INFO): Powering down
2025-10-25T00:05:04.813Z,1761350704.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006987
2025-10-25T00:05:05.065Z,1761350705.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258940
2025-10-25T00:05:05.113Z,1761350705.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527856,-0.813688,-0.243475],[0.844918,0.473880,0.248094],[-0.086494,-0.336675,0.937640]]
2025-10-25T00:05:05.320Z,1761350705.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514435
2025-10-25T00:05:05.511Z,1761350705.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540600,-0.806930,-0.237939],[0.836646,0.486028,0.252586],[-0.088174,-0.335619,0.937862]]
2025-10-25T00:05:05.569Z,1761350705.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762953
2025-10-25T00:05:05.606Z,1761350705.606 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-10-25T00:05:05.725Z,1761350705.725 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-10-25T00:05:05.821Z,1761350705.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014900
2025-10-25T00:05:05.952Z,1761350705.952 [CBIT](INFO): Clearing failed state for component ElevatorServo
2025-10-25T00:05:05.952Z,1761350705.952 [ElevatorServo] No Fault, FailCount= 1
2025-10-25T00:05:05.998Z,1761350705.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554284,-0.799349,-0.231970],[0.827445,0.499056,0.257445],[-0.090022,-0.334640,0.938036]]
2025-10-25T00:05:06.073Z,1761350706.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266959
2025-10-25T00:05:06.325Z,1761350706.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518826
2025-10-25T00:05:06.394Z,1761350706.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568470,-0.790561,-0.227720],[0.817533,0.511840,0.263930],[-0.092096,-0.336204,0.937275]]
2025-10-25T00:05:06.577Z,1761350706.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770856
2025-10-25T00:05:06.782Z,1761350706.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582689,-0.781821,-0.221875],[0.807207,0.525094,0.269617],[-0.094287,-0.336202,0.937058]]
2025-10-25T00:05:06.834Z,1761350706.834 [DAT](INFO): DAT read: Rx Time:00:05:05.4094

2025-10-25T00:05:06.840Z,1761350706.840 [DAT](INFO): Rx dataTimestamp_ set to:1761350706.834517
2025-10-25T00:05:06.843Z,1761350706.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036246
2025-10-25T00:05:07.081Z,1761350707.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274937
2025-10-25T00:05:07.334Z,1761350707.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528155
2025-10-25T00:05:07.590Z,1761350707.590 [DAT](INFO): DAT read: 00:05:05.4094 LVL= 32752, 30017, 32754, 32755, AGC= 50, IDX= 365,-0.19, 0.434, 1.440,-0.393, 1.057, PHS=-0.522, 0.428,-1.494, RAW=   0.4,  18.6, CAL=   0.6,  23.0, ROT= 149.4, -23.0

2025-10-25T00:05:07.591Z,1761350707.591 [DAT](INFO): got valid direction response:
 00:05:05.4094 LVL= 32752, 30017, 32754, 32755, AGC= 50, IDX= 365,-0.19, 0.434, 1.440,-0.393, 1.057, PHS=-0.522, 0.428,-1.494, RAW=   0.4,  18.6, CAL=   0.6,  23.0, ROT= 149.4, -23.0

2025-10-25T00:05:07.592Z,1761350707.592 [DAT](INFO): DAT read: 

2025-10-25T00:05:07.593Z,1761350707.593 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:05:07.593Z,1761350707.593 [DAT](INFO): Got DATA 2
2025-10-25T00:05:07.594Z,1761350707.594 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:05:07.594Z,1761350707.594 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:05:07.594Z,1761350707.594 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:05:07.595Z,1761350707.595 [DAT](INFO): DAT read: CRC:Pass MPD:03.7 PSNR:11.0 AGC:53 SPD:-2.0 CCERR:009

2025-10-25T00:05:07.596Z,1761350707.596 [DAT](INFO): Got CRC:Pass
2025-10-25T00:05:07.596Z,1761350707.596 [DAT](INFO): Got CRC:Pass
2025-10-25T00:05:07.596Z,1761350707.596 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:05:07.596Z,1761350707.596 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:05:07.596Z,1761350707.596 [DAT](INFO): Got ack
2025-10-25T00:05:07.596Z,1761350707.596 [DAT](INFO): DAT read: 

2025-10-25T00:05:07.597Z,1761350707.597 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:05:07.597Z,1761350707.597 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:05:07.597Z,1761350707.597 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-25T00:05:07.598Z,1761350707.598 [DAT](INFO): direction in FSK: [-0.792317,0.468575,0.390731]
2025-10-25T00:05:07.609Z,1761350707.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610072,-0.763527,-0.211752],[0.786177,0.550022,0.281781],[-0.098679,-0.338382,0.935821]]
2025-10-25T00:05:07.706Z,1761350707.706 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350656.00. Resetting abort timer.
2025-10-25T00:05:07.838Z,1761350707.838 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:05:07.838Z,1761350707.838 [DAT](INFO): #Outgoing data=54
2025-10-25T00:05:07.839Z,1761350707.839 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:05:07.993Z,1761350707.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623080,-0.753849,-0.208526],[0.775720,0.561448,0.288156],[-0.100150,-0.341302,0.934603]]
2025-10-25T00:05:08.089Z,1761350708.089 [DAT](INFO): setting remote address to 10
2025-10-25T00:05:08.342Z,1761350708.342 [DAT](INFO): DAT read: user:34>

2025-10-25T00:05:08.343Z,1761350708.343 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-25T00:05:08.344Z,1761350708.344 [DAT](INFO): set remote address to 10
2025-10-25T00:05:08.345Z,1761350708.345 [DAT](INFO): entering online mode
2025-10-25T00:05:08.413Z,1761350708.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636211,-0.743474,-0.206112],[0.764842,0.572726,0.294959],[-0.101248,-0.345299,0.933015]]
2025-10-25T00:05:08.593Z,1761350708.593 [DAT](INFO): DAT read: user:35>

2025-10-25T00:05:08.593Z,1761350708.593 [DAT](INFO): DAT read: 

2025-10-25T00:05:08.594Z,1761350708.594 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-25T00:05:08.595Z,1761350708.595 [DAT](INFO): commRate: 600
2025-10-25T00:05:08.595Z,1761350708.595 [DAT](INFO): online mode acknowledged
2025-10-25T00:05:08.595Z,1761350708.595 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:05:08.798Z,1761350708.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649198,-0.732752,-0.204000],[0.753762,0.583843,0.301611],[-0.101902,-0.349573,0.931351]]
2025-10-25T00:05:09.202Z,1761350709.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662396,-0.721762,-0.200725],[0.742116,0.595545,0.307554],[-0.102440,-0.352684,0.930119]]
2025-10-25T00:05:09.642Z,1761350709.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676261,-0.709290,-0.198942],[0.729439,0.607024,0.315342],[-0.102906,-0.358369,0.927891]]
2025-10-25T00:05:10.043Z,1761350710.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690630,-0.696331,-0.195327],[0.715736,0.619370,0.322649],[-0.103691,-0.362634,0.926145]]
2025-10-25T00:05:10.483Z,1761350710.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705260,-0.682736,-0.191000],[0.701179,0.631959,0.330114],[-0.104676,-0.366742,0.924415]]
2025-10-25T00:05:10.882Z,1761350710.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719184,-0.669278,-0.186659],[0.686694,0.643680,0.337826],[-0.105951,-0.371137,0.922514]]
2025-10-25T00:05:11.286Z,1761350711.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732780,-0.655888,-0.181231],[0.671881,0.655229,0.345329],[-0.107749,-0.374816,0.920817]]
2025-10-25T00:05:11.696Z,1761350711.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745357,-0.643146,-0.175515],[0.657549,0.665839,0.352545],[-0.109874,-0.378181,0.919188]]
2025-10-25T00:05:11.873Z,1761350711.873 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:05:10.9058

2025-10-25T00:05:11.874Z,1761350711.874 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:05:12.094Z,1761350712.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756788,-0.631352,-0.169312],[0.644024,0.675868,0.358380],[-0.111831,-0.380258,0.918094]]
2025-10-25T00:05:12.498Z,1761350712.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766571,-0.620890,-0.163904],[0.632039,0.684365,0.363553],[-0.113556,-0.382284,0.917041]]
2025-10-25T00:05:12.903Z,1761350712.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775469,-0.611242,-0.158211],[0.620745,0.692269,0.368020],[-0.115425,-0.383597,0.916259]]
2025-10-25T00:05:13.318Z,1761350713.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790697,-0.594132,-0.147669],[0.600808,0.706728,0.373584],[-0.117596,-0.384113,0.915767]]
2025-10-25T00:05:13.715Z,1761350713.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797584,-0.586034,-0.142912],[0.591589,0.713674,0.375089],[-0.117822,-0.383711,0.915906]]
2025-10-25T00:05:13.887Z,1761350713.887 [DAT](INFO): Reached modem response timeout
2025-10-25T00:05:14.119Z,1761350714.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804175,-0.578133,-0.138074],[0.582645,0.720764,0.375532],[-0.117588,-0.382441,0.916467]]
2025-10-25T00:05:14.526Z,1761350714.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811129,-0.569349,-0.133831],[0.573132,0.728156,0.375911],[-0.116575,-0.381616,0.916941]]
2025-10-25T00:05:14.978Z,1761350714.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818498,-0.559879,-0.128823],[0.562810,0.736392,0.375463],[-0.115350,-0.379819,0.917841]]
2025-10-25T00:05:15.370Z,1761350715.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826524,-0.549025,-0.124216],[0.551201,0.744634,0.376427],[-0.114173,-0.379593,0.918081]]
2025-10-25T00:05:15.417Z,1761350715.417 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:05:15.417Z,1761350715.417 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:05:15.417Z,1761350715.417 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:05:15.417Z,1761350715.417 [marl:UpdateRudder:A] Stopped
2025-10-25T00:05:15.417Z,1761350715.417 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:05:15.779Z,1761350715.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835320,-0.536599,-0.119594],[0.538165,0.753662,0.377321],[-0.112337,-0.379545,0.918328]]
2025-10-25T00:05:15.835Z,1761350715.835 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:05:15.835Z,1761350715.835 [marl:UpdateRudder:B] Stopped
2025-10-25T00:05:15.840Z,1761350715.840 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:05:15.841Z,1761350715.841 [marl:UpdateRudder] Stopped
2025-10-25T00:05:15.841Z,1761350715.841 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:05:15.841Z,1761350715.841 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:05:15.842Z,1761350715.842 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:05:15.842Z,1761350715.842 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:05:15.843Z,1761350715.843 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:05:15.843Z,1761350715.843 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:05:15.843Z,1761350715.843 [marl:UpdateCommandMode] Stopped
2025-10-25T00:05:15.848Z,1761350715.848 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:05:15.849Z,1761350715.849 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:05:15.849Z,1761350715.849 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:05:15.849Z,1761350715.849 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:05:15.851Z,1761350715.851 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:05:15.851Z,1761350715.851 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:05:15.851Z,1761350715.851 [marl:UpdateSpeed] Stopped
2025-10-25T00:05:15.856Z,1761350715.856 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:05:16.254Z,1761350716.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844431,-0.523402,-0.113964],[0.524065,0.763195,0.378007],[-0.110873,-0.378925,0.918762]]
2025-10-25T00:05:16.662Z,1761350716.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853872,-0.509066,-0.108415],[0.508837,0.772641,0.379621],[-0.109486,-0.379313,0.918768]]
2025-10-25T00:05:17.059Z,1761350717.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863033,-0.494602,-0.102681],[0.493418,0.781846,0.381123],[-0.108223,-0.379586,0.918805]]
2025-10-25T00:05:17.463Z,1761350717.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871951,-0.479901,-0.096935],[0.477773,0.790810,0.382560],[-0.106933,-0.379886,0.918832]]
2025-10-25T00:05:17.910Z,1761350717.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880400,-0.465390,-0.091144],[0.462234,0.799172,0.384270],[-0.105996,-0.380442,0.918711]]
2025-10-25T00:05:18.271Z,1761350718.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887368,-0.452902,-0.086356],[0.448987,0.806256,0.385177],[-0.104823,-0.380566,0.918793]]
2025-10-25T00:05:18.421Z,1761350718.421 [DAT](INFO): DAT read: Rx Time:00:05:17.0164

2025-10-25T00:05:18.422Z,1761350718.422 [DAT](INFO): Rx dataTimestamp_ set to:1761350718.421270
2025-10-25T00:05:18.682Z,1761350718.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893736,-0.440961,-0.082398],[0.436463,0.812345,0.386776],[-0.103618,-0.381640,0.918485]]
2025-10-25T00:05:19.089Z,1761350719.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899412,-0.429944,-0.078776],[0.425006,0.818100,0.387404],[-0.102116,-0.381916,0.918538]]
2025-10-25T00:05:19.187Z,1761350719.187 [DAT](INFO): DAT read: 00:05:17.0164 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX=   2, 0.19, 1.058, 2.310, 0.639, 1.134, PHS= 0.026, 1.221,-0.539, RAW= 348.3,  -9.1, CAL= 348.0, -12.2, ROT= 162.0,  12.2

2025-10-25T00:05:19.188Z,1761350719.188 [DAT](INFO): got valid direction response:
 00:05:17.0164 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX=   2, 0.19, 1.058, 2.310, 0.639, 1.134, PHS= 0.026, 1.221,-0.539, RAW= 348.3,  -9.1, CAL= 348.0, -12.2, ROT= 162.0,  12.2

2025-10-25T00:05:19.189Z,1761350719.189 [DAT](INFO): DAT read: 

2025-10-25T00:05:19.190Z,1761350719.190 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:05:19.190Z,1761350719.190 [DAT](INFO): Got DATA 2
2025-10-25T00:05:19.191Z,1761350719.191 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:05:19.191Z,1761350719.191 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:05:19.200Z,1761350719.200 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:05:19.201Z,1761350719.201 [DAT](INFO): DAT read: CRC:Pass MPD:07.9 PSNR:09.5 AGC:68 SPD:-1.4 CCERR:007

2025-10-25T00:05:19.201Z,1761350719.201 [DAT](INFO): Got CRC:Pass
2025-10-25T00:05:19.201Z,1761350719.201 [DAT](INFO): Got CRC:Pass
2025-10-25T00:05:19.201Z,1761350719.201 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:05:19.202Z,1761350719.202 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:05:19.202Z,1761350719.202 [DAT](INFO): Got ack
2025-10-25T00:05:19.202Z,1761350719.202 [DAT](INFO): DAT read: 

2025-10-25T00:05:19.202Z,1761350719.202 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:05:19.203Z,1761350719.203 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:05:19.203Z,1761350719.203 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-25T00:05:19.210Z,1761350719.210 [DAT](INFO): direction in FSK: [-0.929578,0.302038,-0.211325]
2025-10-25T00:05:19.429Z,1761350719.429 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:05:19.429Z,1761350719.429 [DAT](INFO): #Outgoing data=54
2025-10-25T00:05:19.429Z,1761350719.429 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:05:19.483Z,1761350719.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904509,-0.419756,-0.075294],[0.414431,0.823563,0.387286],[-0.100556,-0.381508,0.918880]]
2025-10-25T00:05:19.568Z,1761350719.568 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350656.00. Resetting abort timer.
2025-10-25T00:05:19.681Z,1761350719.681 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:05:19.914Z,1761350719.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909529,-0.409312,-0.072251],[0.403763,0.828828,0.387324],[-0.098653,-0.381455,0.919108]]
2025-10-25T00:05:20.293Z,1761350720.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914983,-0.397588,-0.068779],[0.391702,0.834340,0.387874],[-0.096829,-0.381839,0.919142]]
2025-10-25T00:05:20.696Z,1761350720.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920701,-0.384772,-0.065269],[0.378596,0.839988,0.388698],[-0.094735,-0.382585,0.919051]]
2025-10-25T00:05:21.099Z,1761350721.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926736,-0.370664,-0.061394],[0.364005,0.845309,0.391092],[-0.093067,-0.384787,0.918301]]
2025-10-25T00:05:21.917Z,1761350721.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940444,-0.336274,-0.049851],[0.327787,0.858123,0.395198],[-0.090117,-0.388001,0.917242]]
2025-10-25T00:05:22.317Z,1761350722.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947124,-0.318027,-0.042595],[0.308253,0.864986,0.395953],[-0.089080,-0.388147,0.917282]]
2025-10-25T00:05:22.717Z,1761350722.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953341,-0.299919,-0.034492],[0.288614,0.871917,0.395553],[-0.088559,-0.387052,0.917795]]
2025-10-25T00:05:22.961Z,1761350722.961 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:05:22.0058

2025-10-25T00:05:22.961Z,1761350722.961 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:05:23.118Z,1761350723.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959336,-0.281099,-0.025640],[0.268184,0.879380,0.393407],[-0.088039,-0.384285,0.919007]]
2025-10-25T00:05:23.529Z,1761350723.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964998,-0.261737,-0.016535],[0.247149,0.886499,0.391201],[-0.087733,-0.381594,0.920157]]
2025-10-25T00:05:23.927Z,1761350723.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970059,-0.242749,-0.007682],[0.226573,0.893123,0.388582],[-0.087467,-0.378688,0.921382]]
2025-10-25T00:05:24.332Z,1761350724.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974228,-0.225565,0.000086],[0.207966,0.898362,0.386905],[-0.087350,-0.376916,0.922120]]
2025-10-25T00:05:25.138Z,1761350725.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980047,-0.198511,0.010037],[0.179575,0.905946,0.383425],[-0.085207,-0.373972,0.923518]]
2025-10-25T00:05:25.550Z,1761350725.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982221,-0.187312,0.012538],[0.168299,0.908177,0.383261],[-0.083176,-0.374337,0.923555]]
2025-10-25T00:05:25.948Z,1761350725.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984201,-0.176486,0.014216],[0.157623,0.909914,0.383682],[-0.080650,-0.375379,0.923356]]
2025-10-25T00:05:26.350Z,1761350726.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986046,-0.165781,0.015174],[0.147058,0.910135,0.387335],[-0.078023,-0.379699,0.921814]]
2025-10-25T00:05:26.756Z,1761350726.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987741,-0.155310,0.015688],[0.136812,0.909698,0.392088],[-0.075167,-0.385135,0.919794]]
2025-10-25T00:05:27.159Z,1761350727.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989315,-0.144829,0.016735],[0.126399,0.909246,0.396604],[-0.072656,-0.390251,0.917837]]
2025-10-25T00:05:27.570Z,1761350727.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990899,-0.133342,0.018401],[0.114940,0.909333,0.399878],[-0.070053,-0.394124,0.916384]]
2025-10-25T00:05:27.966Z,1761350727.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992517,-0.120309,0.020897],[0.101854,0.910060,0.401768],[-0.067354,-0.396633,0.915503]]
2025-10-25T00:05:28.020Z,1761350728.020 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:05:28.020Z,1761350728.020 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:05:28.021Z,1761350728.021 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:05:28.021Z,1761350728.021 [marl:UpdateRudder:A] Stopped
2025-10-25T00:05:28.021Z,1761350728.021 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:05:28.370Z,1761350728.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994160,-0.105101,0.024481],[0.086348,0.910808,0.403700],[-0.064726,-0.399228,0.914564]]
2025-10-25T00:05:28.414Z,1761350728.414 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:05:28.414Z,1761350728.414 [marl:UpdateRudder:B] Stopped
2025-10-25T00:05:28.414Z,1761350728.414 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:05:28.414Z,1761350728.414 [marl:UpdateRudder] Stopped
2025-10-25T00:05:28.414Z,1761350728.414 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:05:28.415Z,1761350728.415 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:05:28.415Z,1761350728.415 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:05:28.415Z,1761350728.415 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:05:28.415Z,1761350728.415 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:05:28.415Z,1761350728.415 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:05:28.415Z,1761350728.415 [marl:UpdateCommandMode] Stopped
2025-10-25T00:05:28.415Z,1761350728.415 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:05:28.415Z,1761350728.415 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:05:28.416Z,1761350728.416 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:05:28.416Z,1761350728.416 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:05:28.416Z,1761350728.416 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:05:28.416Z,1761350728.416 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:05:28.416Z,1761350728.416 [marl:UpdateSpeed] Stopped
2025-10-25T00:05:28.417Z,1761350728.417 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:05:28.782Z,1761350728.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995609,-0.089093,0.028709],[0.069880,0.911510,0.405298],[-0.062278,-0.401513,0.913734]]
2025-10-25T00:05:29.180Z,1761350729.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996804,-0.072531,0.033473],[0.052830,0.912871,0.404814],[-0.059918,-0.401752,0.913786]]
2025-10-25T00:05:29.513Z,1761350729.513 [DAT](INFO): DAT read: Rx Time:00:05:28.1235

2025-10-25T00:05:29.513Z,1761350729.513 [DAT](INFO): Rx dataTimestamp_ set to:1761350729.513033
2025-10-25T00:05:29.586Z,1761350729.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997708,-0.055850,0.038201],[0.035783,0.914653,0.402653],[-0.057429,-0.400364,0.914555]]
2025-10-25T00:05:29.986Z,1761350729.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998313,-0.039351,0.042692],[0.019044,0.916540,0.399489],[-0.054849,-0.398002,0.915743]]
2025-10-25T00:05:30.277Z,1761350730.277 [DAT](INFO): DAT read: 00:05:28.1235 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 491, 0.05, 2.430,-2.085, 2.884, 2.843, PHS=-0.311, 1.401,-0.002, RAW= 320.3, -L= 320.6, -17.3, ROT= 189.4,  17.3

2025-10-25T00:05:30.279Z,1761350730.279 [DAT](INFO): unknown deviceResponse_: 00:05:28.1235 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 491, 0.05, 2.430,-2.085, 2.884, 2.843, PHS=-0.311, 1.401,-0.002, RAW= 320.3, -L= 320.6, -17.3, ROT= 189.4,  17.3

2025-10-25T00:05:30.279Z,1761350730.279 [DAT](INFO): DAT read: 

2025-10-25T00:05:30.281Z,1761350730.281 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:05:30.282Z,1761350730.282 [DAT](INFO): Got DATA 2
2025-10-25T00:05:30.283Z,1761350730.283 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:05:30.283Z,1761350730.283 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:05:30.284Z,1761350730.284 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:05:30.286Z,1761350730.286 [DAT](INFO): DAT read: CRC:Pass MPD:03.6 PSNR:10.0 AGC:63 SPD:-0.9 CCERR:008

2025-10-25T00:05:30.286Z,1761350730.286 [DAT](INFO): Got CRC:Pass
2025-10-25T00:05:30.286Z,1761350730.286 [DAT](INFO): Got CRC:Pass
2025-10-25T00:05:30.286Z,1761350730.286 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:05:30.286Z,1761350730.286 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:05:30.286Z,1761350730.286 [DAT](INFO): Got ack
2025-10-25T00:05:30.287Z,1761350730.287 [DAT](INFO): DAT read: 

2025-10-25T00:05:30.287Z,1761350730.287 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:05:30.288Z,1761350730.288 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:05:30.391Z,1761350730.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998635,-0.022959,0.046916],[0.002475,0.918005,0.396562],[-0.052174,-0.395904,0.916808]]
2025-10-25T00:05:30.522Z,1761350730.522 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:05:30.522Z,1761350730.522 [DAT](INFO): #Outgoing data=54
2025-10-25T00:05:30.522Z,1761350730.522 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:05:30.773Z,1761350730.773 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:05:30.803Z,1761350730.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998682,-0.006603,0.050893],[-0.014016,0.918896,0.394251],[-0.049368,-0.394444,0.917593]]
2025-10-25T00:05:31.198Z,1761350731.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998451,0.009510,0.054828],[-0.030282,0.919474,0.391982],[-0.046685,-0.393035,0.918338]]
2025-10-25T00:05:31.602Z,1761350731.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997962,0.025274,0.058594],[-0.046172,0.919808,0.389642],[-0.044048,-0.391554,0.919100]]
2025-10-25T00:05:32.009Z,1761350732.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997223,0.040844,0.062277],[-0.061923,0.919318,0.388613],[-0.041380,-0.391390,0.919294]]
2025-10-25T00:05:32.410Z,1761350732.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996245,0.055973,0.066051],[-0.077328,0.918369,0.388095],[-0.038937,-0.391746,0.919249]]
2025-10-25T00:05:32.491Z,1761350732.491 [marl:SendObservationData] Running Loop=1
2025-10-25T00:05:32.491Z,1761350732.491 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-25T00:05:32.492Z,1761350732.492 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-25T00:05:32.493Z,1761350732.493 [marl:SendObservationData:A] Running Loop=1
2025-10-25T00:05:32.494Z,1761350732.494 [marl:SendObservationData:A](INFO): Got test_good :  41da3f050000000040514000000000004042636f7576676cc05e776056fe357b402f2e0400000000405e200000000000 n/a str  and temp var is  nan n/a str 
2025-10-25T00:05:32.494Z,1761350732.494 [marl:SendObservationData:A] Stopped
2025-10-25T00:05:32.494Z,1761350732.494 [marl:SendObservationData:B] Running Loop=1
2025-10-25T00:05:32.814Z,1761350732.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995093,0.070296,0.069631],[-0.091884,0.917590,0.386764],[-0.036705,-0.391264,0.919546]]
2025-10-25T00:05:32.884Z,1761350732.884 [marl:SendObservationData:B] Stopped
2025-10-25T00:05:32.884Z,1761350732.884 [marl:SendObservationData:C] Running Loop=1
2025-10-25T00:05:33.219Z,1761350733.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993729,0.084335,0.073416],[-0.106297,0.916228,0.386299],[-0.034687,-0.391680,0.919447]]
2025-10-25T00:05:33.302Z,1761350733.302 [marl:SendObservationData:C] Stopped
2025-10-25T00:05:33.302Z,1761350733.302 [marl:SendObservationData:E] Running Loop=1
2025-10-25T00:05:33.488Z,1761350733.488 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:05:33.697Z,1761350733.697 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.009737 min 
2025-10-25T00:05:33.698Z,1761350733.698 [marl:SendObservationData:E] Stopped
2025-10-25T00:05:33.698Z,1761350733.698 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-25T00:05:33.698Z,1761350733.698 [marl:SendObservationData] Stopped
2025-10-25T00:05:33.698Z,1761350733.698 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-25T00:05:33.699Z,1761350733.699 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-25T00:05:34.026Z,1761350734.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990313,0.112131,0.081898],[-0.135272,0.912203,0.386766],[-0.031339,-0.394097,0.918534]]
2025-10-25T00:05:34.049Z,1761350734.049 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:05:33.1057

2025-10-25T00:05:34.049Z,1761350734.049 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:05:34.431Z,1761350734.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988240,0.126452,0.085975],[-0.150045,0.910272,0.385865],[-0.029467,-0.394227,0.918541]]
2025-10-25T00:05:34.492Z,1761350734.492 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:05:34.834Z,1761350734.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985947,0.140836,0.089860],[-0.164781,0.908393,0.384278],[-0.027508,-0.393685,0.918834]]
2025-10-25T00:05:35.241Z,1761350735.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983464,0.154998,0.093674],[-0.179277,0.906506,0.382239],[-0.025670,-0.392712,0.919303]]
2025-10-25T00:05:35.643Z,1761350735.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980924,0.168518,0.096895],[-0.192946,0.904684,0.379893],[-0.023641,-0.391342,0.919942]]
2025-10-25T00:05:36.047Z,1761350736.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978465,0.180778,0.099622],[-0.205301,0.902337,0.378997],[-0.021378,-0.391288,0.920020]]
2025-10-25T00:05:36.451Z,1761350736.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975962,0.192414,0.102343],[-0.217059,0.900343,0.377184],[-0.019568,-0.390332,0.920466]]
2025-10-25T00:05:36.856Z,1761350736.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973401,0.203479,0.105290],[-0.228428,0.897284,0.377759],[-0.017610,-0.391762,0.919898]]
2025-10-25T00:05:37.266Z,1761350737.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970628,0.214633,0.108688],[-0.240073,0.893529,0.379436],[-0.015677,-0.394384,0.918812]]
2025-10-25T00:05:37.667Z,1761350737.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967550,0.226226,0.112554],[-0.252285,0.889772,0.380339],[-0.014105,-0.396392,0.917973]]
2025-10-25T00:05:38.068Z,1761350738.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964055,0.238428,0.117259],[-0.265393,0.885357,0.381720],[-0.012803,-0.399119,0.916810]]
2025-10-25T00:05:38.472Z,1761350738.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960035,0.251732,0.122323],[-0.279640,0.880797,0.382097],[-0.011555,-0.401033,0.915991]]
2025-10-25T00:05:38.874Z,1761350738.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955108,0.267093,0.128182],[-0.296072,0.875892,0.380992],[-0.010514,-0.401839,0.915650]]
2025-10-25T00:05:39.278Z,1761350739.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949660,0.283226,0.133896],[-0.313130,0.871431,0.377569],[-0.009744,-0.400489,0.916250]]
2025-10-25T00:05:39.694Z,1761350739.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943848,0.299822,0.138771],[-0.330266,0.867270,0.372514],[-0.008664,-0.397428,0.917592]]
2025-10-25T00:05:40.086Z,1761350740.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937535,0.317116,0.143057],[-0.347812,0.863156,0.366045],[-0.007402,-0.392937,0.919536]]
2025-10-25T00:05:40.491Z,1761350740.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931132,0.333668,0.147167],[-0.364628,0.858744,0.360008],[-0.006256,-0.388876,0.921269]]
2025-10-25T00:05:40.601Z,1761350740.601 [DAT](INFO): DAT read: Rx Time:00:05:39.2252

2025-10-25T00:05:40.601Z,1761350740.601 [DAT](INFO): Rx dataTimestamp_ set to:1761350740.601080
2025-10-25T00:05:40.894Z,1761350740.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924675,0.349260,0.151636],[-0.380718,0.853806,0.355062],[-0.005459,-0.386048,0.922463]]
2025-10-25T00:05:40.950Z,1761350740.950 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:05:40.950Z,1761350740.950 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:05:40.950Z,1761350740.950 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:05:40.950Z,1761350740.950 [marl:UpdateRudder:A] Stopped
2025-10-25T00:05:40.950Z,1761350740.950 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:05:41.302Z,1761350741.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917880,0.364612,0.156698],[-0.396830,0.847991,0.351336],[-0.004777,-0.384666,0.923043]]
2025-10-25T00:05:41.367Z,1761350741.367 [DAT](INFO): DAT read: 00:05:39.2252 LVL= 32752, 28449, 31090, 32755, AGC= 54, IDX= 446, 0.20, 0.692, 2.775, 1.926, 2.015, PHS=-1.221, 0.805,-0.133, RAW= 297.5,   6.3, CAL= 295.2,   4.5, ROT= 214.8,  -4.5

2025-10-25T00:05:41.368Z,1761350741.368 [DAT](INFO): got valid direction response:
 00:05:39.2252 LVL= 32752, 28449, 31090, 32755, AGC= 54, IDX= 446, 0.20, 0.692, 2.775, 1.926, 2.015, PHS=-1.221, 0.805,-0.133, RAW= 297.5,   6.3, CAL= 295.2,   4.5, ROT= 214.8,  -4.5

2025-10-25T00:05:41.368Z,1761350741.368 [DAT](INFO): DAT read: 

2025-10-25T00:05:41.369Z,1761350741.369 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:05:41.369Z,1761350741.369 [DAT](INFO): Got DATA 2
2025-10-25T00:05:41.370Z,1761350741.370 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:05:41.370Z,1761350741.370 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:05:41.371Z,1761350741.371 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:05:41.372Z,1761350741.372 [DAT](INFO): DAT read: CRC:Pass MPD:08.3 PSNR:11.0 AGC:57 SPD:-1.6 CCERR:008

2025-10-25T00:05:41.372Z,1761350741.372 [DAT](INFO): Got CRC:Pass
2025-10-25T00:05:41.372Z,1761350741.372 [DAT](INFO): Got CRC:Pass
2025-10-25T00:05:41.372Z,1761350741.372 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:05:41.372Z,1761350741.372 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:05:41.373Z,1761350741.373 [DAT](INFO): Got ack
2025-10-25T00:05:41.373Z,1761350741.373 [DAT](INFO): DAT read: 

2025-10-25T00:05:41.373Z,1761350741.373 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:05:41.374Z,1761350741.374 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:05:41.374Z,1761350741.374 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-25T00:05:41.375Z,1761350741.375 [DAT](INFO): direction in FSK: [-0.818618,-0.568954,0.078459]
2025-10-25T00:05:41.400Z,1761350741.400 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:05:41.400Z,1761350741.400 [marl:UpdateRudder:B] Stopped
2025-10-25T00:05:41.401Z,1761350741.401 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:05:41.401Z,1761350741.401 [marl:UpdateRudder] Stopped
2025-10-25T00:05:41.401Z,1761350741.401 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:05:41.401Z,1761350741.401 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:05:41.401Z,1761350741.401 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:05:41.401Z,1761350741.401 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:05:41.401Z,1761350741.401 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:05:41.401Z,1761350741.401 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:05:41.402Z,1761350741.402 [marl:UpdateCommandMode] Stopped
2025-10-25T00:05:41.402Z,1761350741.402 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:05:41.402Z,1761350741.402 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:05:41.402Z,1761350741.402 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:05:41.402Z,1761350741.402 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:05:41.402Z,1761350741.402 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:05:41.402Z,1761350741.402 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:05:41.402Z,1761350741.402 [marl:UpdateSpeed] Stopped
2025-10-25T00:05:41.403Z,1761350741.403 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:05:41.413Z,1761350741.413 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350784.00. Resetting abort timer.
2025-10-25T00:05:41.609Z,1761350741.609 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:05:41.609Z,1761350741.609 [DAT](INFO): #Outgoing data=54
2025-10-25T00:05:41.609Z,1761350741.609 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:05:41.702Z,1761350741.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910897,0.379258,0.162572],[-0.412611,0.841293,0.349254],[-0.004314,-0.385213,0.922817]]
2025-10-25T00:05:41.866Z,1761350741.866 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:05:42.106Z,1761350742.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903145,0.394400,0.169641],[-0.429313,0.833700,0.347324],[-0.004445,-0.386513,0.922273]]
2025-10-25T00:05:42.511Z,1761350742.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895074,0.408910,0.177862],[-0.445891,0.825084,0.347012],[-0.004855,-0.389909,0.920841]]
2025-10-25T00:05:42.914Z,1761350742.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886785,0.424370,0.183093],[-0.462155,0.818500,0.341277],[-0.005034,-0.387257,0.921958]]
2025-10-25T00:05:43.318Z,1761350743.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878198,0.441521,0.183924],[-0.478281,0.813847,0.330001],[-0.003983,-0.377774,0.925889]]
2025-10-25T00:05:43.729Z,1761350743.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869625,0.458002,0.184356],[-0.493710,0.808122,0.321232],[-0.001858,-0.370369,0.928883]]
2025-10-25T00:05:44.531Z,1761350744.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854851,0.485155,0.183992],[-0.518858,0.796595,0.310197],[0.003926,-0.360638,0.932698]]
2025-10-25T00:05:44.934Z,1761350744.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848898,0.495139,0.184958],[-0.528512,0.790602,0.309230],[0.006884,-0.360258,0.932828]]
2025-10-25T00:05:45.137Z,1761350745.137 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:05:44.2057

2025-10-25T00:05:45.137Z,1761350745.137 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:05:45.339Z,1761350745.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843465,0.503644,0.186842],[-0.537094,0.784288,0.310520],[0.009854,-0.362264,0.932023]]
2025-10-25T00:05:45.762Z,1761350745.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832919,0.518064,0.194563],[-0.553186,0.769786,0.318458],[0.015209,-0.372879,0.927755]]
2025-10-25T00:05:46.155Z,1761350746.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827556,0.525192,0.198304],[-0.561099,0.762568,0.321959],[0.017870,-0.377707,0.925753]]
2025-10-25T00:05:46.557Z,1761350746.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821789,0.533141,0.201055],[-0.569403,0.755363,0.324356],[0.021058,-0.381033,0.924322]]
2025-10-25T00:05:46.959Z,1761350746.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815771,0.541598,0.202952],[-0.577838,0.748058,0.326363],[0.024938,-0.383511,0.923200]]
2025-10-25T00:05:47.363Z,1761350747.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809686,0.549940,0.204878],[-0.586114,0.740125,0.329675],[0.029666,-0.387015,0.921596]]
2025-10-25T00:05:47.769Z,1761350747.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803398,0.558243,0.207165],[-0.594427,0.731603,0.333787],[0.034771,-0.391308,0.919603]]
2025-10-25T00:05:48.168Z,1761350748.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796724,0.566324,0.210969],[-0.603053,0.722216,0.338720],[0.039460,-0.397092,0.916930]]
2025-10-25T00:05:48.571Z,1761350748.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789581,0.574205,0.216449],[-0.612149,0.712406,0.343149],[0.042838,-0.403444,0.914001]]
2025-10-25T00:05:48.974Z,1761350748.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781875,0.581944,0.223632],[-0.621847,0.702399,0.346325],[0.044463,-0.409848,0.911069]]
2025-10-25T00:05:49.380Z,1761350749.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772675,0.590859,0.232073],[-0.633202,0.691440,0.347801],[0.045037,-0.415687,0.908392]]
2025-10-25T00:05:49.784Z,1761350749.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761480,0.602411,0.239269],[-0.646579,0.679943,0.345852],[0.045656,-0.418065,0.907269]]
2025-10-25T00:05:50.187Z,1761350750.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749156,0.615889,0.243816],[-0.660744,0.668864,0.340643],[0.046719,-0.416295,0.908029]]
2025-10-25T00:05:50.590Z,1761350750.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736404,0.630818,0.244496],[-0.674807,0.659005,0.332186],[0.048425,-0.409611,0.910974]]
2025-10-25T00:05:50.995Z,1761350750.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723255,0.646649,0.242377],[-0.688661,0.649206,0.322922],[0.051464,-0.400471,0.914863]]
2025-10-25T00:05:51.398Z,1761350751.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709923,0.662315,0.239475],[-0.702029,0.638324,0.315749],[0.056263,-0.392276,0.918125]]
2025-10-25T00:05:51.689Z,1761350751.689 [DAT](INFO): DAT read: Rx Time:00:05:50.3320

2025-10-25T00:05:51.690Z,1761350751.690 [DAT](INFO): Rx dataTimestamp_ set to:1761350751.689067
2025-10-25T00:05:51.802Z,1761350751.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696372,0.677596,0.236495],[-0.715009,0.626620,0.310016],[0.061873,-0.384983,0.920847]]
2025-10-25T00:05:52.216Z,1761350752.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684078,0.690238,0.235816],[-0.726379,0.615213,0.306409],[0.066418,-0.380899,0.922228]]
2025-10-25T00:05:52.457Z,1761350752.457 [DAT](INFO): DAT read: 00:05:50.3320 LVL= 31728, 31137, 30994, 27747, AGC= 56, IDX= 500, 0.23, 1.887,-2.681,-2.664,-3.068, PHS=-1.227, 0.432, 0.360, RAW= 272.2,   5.4, CAL= 269.9,  -0.2, ROT= 240.1,   0.2

2025-10-25T00:05:52.461Z,1761350752.461 [DAT](INFO): got valid direction response:
 00:05:50.3320 LVL= 31728, 31137, 30994, 27747, AGC= 56, IDX= 500, 0.23, 1.887,-2.681,-2.664,-3.068, PHS=-1.227, 0.432, 0.360, RAW= 272.2,   5.4, CAL= 269.9,  -0.2, ROT= 240.1,   0.2

2025-10-25T00:05:52.462Z,1761350752.462 [DAT](INFO): DAT read: 

2025-10-25T00:05:52.464Z,1761350752.464 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:05:52.465Z,1761350752.465 [DAT](INFO): Got DATA 2
2025-10-25T00:05:52.467Z,1761350752.467 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:05:52.467Z,1761350752.467 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:05:52.467Z,1761350752.467 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:05:52.468Z,1761350752.468 [DAT](INFO): DAT read: CRC:Pass MPD:00.8 PSNR:12.4 AGC:57 SPD:-1.2 CCERR:010

2025-10-25T00:05:52.469Z,1761350752.469 [DAT](INFO): Got CRC:Pass
2025-10-25T00:05:52.469Z,1761350752.469 [DAT](INFO): Got CRC:Pass
2025-10-25T00:05:52.469Z,1761350752.469 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:05:52.469Z,1761350752.469 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:05:52.469Z,1761350752.469 [DAT](INFO): Got ack
2025-10-25T00:05:52.469Z,1761350752.469 [DAT](INFO): DAT read: 

2025-10-25T00:05:52.470Z,1761350752.470 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:05:52.470Z,1761350752.470 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:05:52.470Z,1761350752.470 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-10-25T00:05:52.471Z,1761350752.471 [DAT](INFO): direction in FSK: [-0.498485,-0.866891,-0.003491]
2025-10-25T00:05:52.610Z,1761350752.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672501,0.701075,0.237141],[-0.736800,0.604001,0.303823],[0.069770,-0.379046,0.922744]]
2025-10-25T00:05:52.698Z,1761350752.698 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:05:52.698Z,1761350752.698 [DAT](INFO): #Outgoing data=54
2025-10-25T00:05:52.698Z,1761350752.698 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:05:52.719Z,1761350752.719 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350784.00. Resetting abort timer.
2025-10-25T00:05:52.949Z,1761350752.949 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:05:53.015Z,1761350753.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660501,0.711700,0.239213],[-0.747346,0.592544,0.300607],[0.072198,-0.377326,0.923262]]
2025-10-25T00:05:53.419Z,1761350753.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647793,0.722241,0.242347],[-0.758204,0.580284,0.297318],[0.074105,-0.376349,0.923510]]
2025-10-25T00:05:53.836Z,1761350753.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634345,0.732783,0.246242],[-0.769318,0.567140,0.294114],[0.075868,-0.376008,0.923505]]
2025-10-25T00:05:53.930Z,1761350753.930 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:05:53.930Z,1761350753.930 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:05:53.930Z,1761350753.930 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:05:53.930Z,1761350753.930 [marl:UpdateRudder:A] Stopped
2025-10-25T00:05:53.931Z,1761350753.931 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:05:54.229Z,1761350754.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619967,0.743635,0.250296],[-0.780764,0.553061,0.290744],[0.077779,-0.375674,0.923482]]
2025-10-25T00:05:54.295Z,1761350754.295 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:05:54.295Z,1761350754.295 [marl:UpdateRudder:B] Stopped
2025-10-25T00:05:54.295Z,1761350754.295 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:05:54.295Z,1761350754.295 [marl:UpdateRudder] Stopped
2025-10-25T00:05:54.295Z,1761350754.295 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:05:54.295Z,1761350754.295 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:05:54.300Z,1761350754.300 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:05:54.300Z,1761350754.300 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:05:54.300Z,1761350754.300 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:05:54.300Z,1761350754.300 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:05:54.300Z,1761350754.300 [marl:UpdateCommandMode] Stopped
2025-10-25T00:05:54.301Z,1761350754.301 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:05:54.301Z,1761350754.301 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:05:54.301Z,1761350754.301 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:05:54.301Z,1761350754.301 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:05:54.301Z,1761350754.301 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:05:54.301Z,1761350754.301 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:05:54.301Z,1761350754.301 [marl:UpdateSpeed] Stopped
2025-10-25T00:05:54.301Z,1761350754.301 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:05:54.630Z,1761350754.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605301,0.754456,0.253785],[-0.791934,0.538613,0.287638],[0.080319,-0.375088,0.923503]]
2025-10-25T00:05:55.035Z,1761350755.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591229,0.764713,0.256247],[-0.802194,0.524795,0.284738],[0.083266,-0.373905,0.923722]]
2025-10-25T00:05:55.440Z,1761350755.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577763,0.774246,0.258328],[-0.811590,0.511356,0.282554],[0.086669,-0.372905,0.923813]]
2025-10-25T00:05:55.862Z,1761350755.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565525,0.782515,0.260484],[-0.819830,0.499007,0.280840],[0.089778,-0.372374,0.923730]]
2025-10-25T00:05:56.229Z,1761350756.229 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:05:55.3056

2025-10-25T00:05:56.230Z,1761350756.230 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:05:56.301Z,1761350756.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554078,0.789439,0.264167],[-0.827351,0.487091,0.279701],[0.092133,-0.373535,0.923029]]
2025-10-25T00:05:56.722Z,1761350756.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543885,0.795424,0.267375],[-0.833900,0.476692,0.278165],[0.093804,-0.374253,0.922570]]
2025-10-25T00:05:56.726Z,1761350756.726 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-10-25T00:05:56.726Z,1761350756.726 [NAL9602] Data Fault, FailCount= 1
2025-10-25T00:05:56.726Z,1761350756.726 [NAL9602](ERROR): Data Fault
2025-10-25T00:05:56.785Z,1761350756.785 [marl:NeedComms] Running Loop=1
2025-10-25T00:05:56.785Z,1761350756.785 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms
2025-10-25T00:05:56.785Z,1761350756.785 [marl:NeedComms:B.GoToSurface] Running Loop=1
2025-10-25T00:05:56.785Z,1761350756.785 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-25T00:05:56.785Z,1761350756.785 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-25T00:05:56.786Z,1761350756.786 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-25T00:05:56.786Z,1761350756.786 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-25T00:05:56.787Z,1761350756.787 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-25T00:05:56.787Z,1761350756.787 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-25T00:05:56.787Z,1761350756.787 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-25T00:05:56.787Z,1761350756.787 [marl:NeedComms:A] Running Loop=1
2025-10-25T00:05:56.797Z,1761350756.797 [marl:NeedComms:A](ERROR): caught uninitialized data element exception.
2025-10-25T00:05:56.797Z,1761350756.797 [marl:NeedComms:A](INFO): last time_fix was:  nan second since 1970/01/01T00:00:00Z 
2025-10-25T00:05:56.797Z,1761350756.797 [marl:NeedComms:A] Stopped
2025-10-25T00:05:56.887Z,1761350756.887 [CBIT](ERROR): Data Fault in component: NAL9602
2025-10-25T00:05:57.102Z,1761350757.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533497,0.801352,0.270585],[-0.840420,0.466212,0.276298],[0.095262,-0.374810,0.922195]]
2025-10-25T00:05:57.113Z,1761350757.113 [NAL9602](INFO): Powering down
2025-10-25T00:05:57.506Z,1761350757.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522841,0.806919,0.274806],[-0.846963,0.455301,0.274507],[0.096385,-0.376274,0.921481]]
2025-10-25T00:05:57.918Z,1761350757.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511820,0.812566,0.278883],[-0.853501,0.443975,0.272803],[0.097854,-0.377653,0.920762]]
2025-10-25T00:05:58.323Z,1761350758.323 [CBIT](INFO): Clearing failed state for component NAL9602
2025-10-25T00:05:58.323Z,1761350758.323 [NAL9602] No Fault, FailCount= 1
2025-10-25T00:05:58.358Z,1761350758.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501331,0.817775,0.282685],[-0.859550,0.433240,0.271068],[0.099202,-0.378877,0.920115]]
2025-10-25T00:05:58.746Z,1761350758.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491642,0.821930,0.287608],[-0.864967,0.422787,0.270340],[0.100604,-0.381682,0.918802]]
2025-10-25T00:05:59.150Z,1761350759.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482091,0.826103,0.291790],[-0.870342,0.413381,0.267620],[0.100461,-0.382975,0.918280]]
2025-10-25T00:05:59.554Z,1761350759.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471572,0.830400,0.296741],[-0.876624,0.404948,0.259898],[0.095654,-0.382691,0.918911]]
2025-10-25T00:05:59.960Z,1761350759.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459214,0.834940,0.303311],[-0.884312,0.397243,0.245339],[0.084355,-0.380885,0.920767]]
2025-10-25T00:06:00.362Z,1761350760.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445003,0.839313,0.312291],[-0.892977,0.389573,0.225442],[0.067557,-0.379191,0.922849]]
2025-10-25T00:06:00.767Z,1761350760.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429105,0.844273,0.321048],[-0.902037,0.382093,0.200834],[0.046888,-0.375776,0.925524]]
2025-10-25T00:06:01.181Z,1761350761.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411371,0.849330,0.330774],[-0.911177,0.374028,0.172802],[0.023047,-0.372479,0.927754]]
2025-10-25T00:06:01.576Z,1761350761.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391720,0.854955,0.340011],[-0.920080,0.365154,0.141827],[-0.002901,-0.368394,0.929665]]
2025-10-25T00:06:01.978Z,1761350761.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370199,0.861078,0.348564],[-0.928463,0.355150,0.108744],[-0.030155,-0.363886,0.930955]]
2025-10-25T00:06:02.216Z,1761350762.216 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:06:02.217Z,1761350762.217 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:06:02.382Z,1761350762.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347578,0.867984,0.354674],[-0.935874,0.344422,0.074257],[-0.057703,-0.357740,0.932037]]
2025-10-25T00:06:02.789Z,1761350762.789 [DAT](INFO): DAT read: Rx Time:00:06:01.4340

2025-10-25T00:06:02.789Z,1761350762.789 [DAT](INFO): Rx dataTimestamp_ set to:1761350762.789000
2025-10-25T00:06:02.792Z,1761350762.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323964,0.875120,0.359460],[-0.942206,0.332746,0.039084],[-0.085406,-0.351348,0.932342]]
2025-10-25T00:06:03.196Z,1761350763.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299720,0.882898,0.361467],[-0.947304,0.320321,0.003085],[-0.113062,-0.343343,0.932380]]
2025-10-25T00:06:03.222Z,1761350763.222 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-25T00:06:03.293Z,1761350763.293 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:06:03.344Z,1761350763.344 [DAT](INFO): entering command mode
2025-10-25T00:06:03.545Z,1761350763.545 [DAT](INFO): DAT read: 

2025-10-25T00:06:03.545Z,1761350763.545 [DAT](INFO): DAT read: user:36>

2025-10-25T00:06:03.566Z,1761350763.566 [DAT](INFO): DAT read: user:36>00:06:01.4340 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 442, 0.04, 3.004,-2.093,-1.248,-2.266, PHS=-0.912, 0.217, 0.973, RAW= 246.5,  -3.4, CAL= 243.5,  -6.0, ROT= 266.5,   6.0

2025-10-25T00:06:03.595Z,1761350763.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274988,0.890842,0.361639],[-0.951126,0.307025,-0.033080],[-0.140501,-0.334868,0.931731]]
2025-10-25T00:06:03.609Z,1761350763.609 [DAT](INFO): DAT read: 

2025-10-25T00:06:03.609Z,1761350763.609 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:06:03.610Z,1761350763.610 [DAT](INFO): Got DATA 2
2025-10-25T00:06:03.610Z,1761350763.610 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:06:03.611Z,1761350763.611 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:06:03.611Z,1761350763.611 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:06:03.620Z,1761350763.620 [DAT](INFO): DAT read: CRC:Pass MPD:04.0 PSNR:11.8 AGC:54 SPD:-0.6 CCERR:009

2025-10-25T00:06:03.621Z,1761350763.621 [DAT](INFO): Got CRC:Pass
2025-10-25T00:06:03.621Z,1761350763.621 [DAT](INFO): Got CRC:Pass
2025-10-25T00:06:03.621Z,1761350763.621 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:06:03.621Z,1761350763.621 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:06:03.621Z,1761350763.621 [DAT](INFO): Got ack
2025-10-25T00:06:03.621Z,1761350763.621 [DAT](INFO): DAT read: 

2025-10-25T00:06:03.622Z,1761350763.622 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:06:03.622Z,1761350763.622 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:06:03.623Z,1761350763.623 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:06:03.623Z,1761350763.623 [DAT](INFO): setting remote address to 0
2025-10-25T00:06:03.797Z,1761350763.797 [DAT](INFO): DAT read: 

2025-10-25T00:06:03.798Z,1761350763.798 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-25T00:06:03.799Z,1761350763.799 [DAT](INFO): set remote address to 0
2025-10-25T00:06:03.799Z,1761350763.799 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:06:03.800Z,1761350763.800 [DAT](INFO): #Outgoing data=54
2025-10-25T00:06:03.800Z,1761350763.800 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:06:03.800Z,1761350763.800 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:06:03.800Z,1761350763.800 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-25T00:06:04.001Z,1761350764.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249967,0.898988,0.359635],[-0.953749,0.292659,-0.068658],[-0.166973,-0.325840,0.930564]]
2025-10-25T00:06:04.049Z,1761350764.049 [DAT](INFO): DAT read: user:37>

2025-10-25T00:06:04.050Z,1761350764.050 [DAT](INFO): DAT read: Tx time:00:06:03.0567

2025-10-25T00:06:04.050Z,1761350764.050 [DAT](INFO): Ping request sent.
2025-10-25T00:06:04.050Z,1761350764.050 [DAT](INFO): transmitted an acoustic signal
2025-10-25T00:06:04.050Z,1761350764.050 [DAT](INFO): setting remote address to 10
2025-10-25T00:06:04.051Z,1761350764.051 [DAT](INFO): publishing transmit ping time
2025-10-25T00:06:04.051Z,1761350764.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001251
2025-10-25T00:06:04.301Z,1761350764.301 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:06:04.301Z,1761350764.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251425
2025-10-25T00:06:04.403Z,1761350764.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224014,0.906867,0.356945],[-0.955483,0.276522,-0.102895],[-0.192016,-0.318005,0.928441]]
2025-10-25T00:06:04.553Z,1761350764.553 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:06:04.553Z,1761350764.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503257
2025-10-25T00:06:04.612Z,1761350764.612 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:06:04.805Z,1761350764.805 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:06:04.805Z,1761350764.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754968
2025-10-25T00:06:04.809Z,1761350764.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196375,0.914593,0.353491],[-0.956642,0.257798,-0.135561],[-0.215113,-0.311544,0.925563]]
2025-10-25T00:06:05.056Z,1761350765.056 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:06:05.057Z,1761350765.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006889
2025-10-25T00:06:05.211Z,1761350765.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169072,0.920453,0.352392],[-0.957103,0.238690,-0.164261],[-0.235307,-0.309503,0.921324]]
2025-10-25T00:06:05.308Z,1761350765.308 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:06:05.309Z,1761350765.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258850
2025-10-25T00:06:05.560Z,1761350765.560 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:06:05.561Z,1761350765.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510903
2025-10-25T00:06:05.614Z,1761350765.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141962,0.924956,0.352566],[-0.957157,0.219079,-0.189351],[-0.252381,-0.310581,0.916430]]
2025-10-25T00:06:05.616Z,1761350765.616 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:06:05.812Z,1761350765.812 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:06:05.813Z,1761350765.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762860
2025-10-25T00:06:06.042Z,1761350766.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117060,0.927869,0.354057],[-0.956442,0.201327,-0.211391],[-0.267425,-0.313890,0.911020]]
2025-10-25T00:06:06.065Z,1761350766.065 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:06:06.066Z,1761350766.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015538
2025-10-25T00:06:06.317Z,1761350766.317 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:06:06.317Z,1761350766.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267443
2025-10-25T00:06:06.429Z,1761350766.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094852,0.928855,0.358093],[-0.954900,0.186566,-0.230996],[-0.281370,-0.320033,0.904660]]
2025-10-25T00:06:06.483Z,1761350766.483 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:06:06.483Z,1761350766.483 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:06:06.483Z,1761350766.483 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:06:06.484Z,1761350766.484 [marl:UpdateRudder:A] Stopped
2025-10-25T00:06:06.484Z,1761350766.484 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:06:06.570Z,1761350766.570 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:06:06.570Z,1761350766.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520212
2025-10-25T00:06:06.821Z,1761350766.821 [DAT](INFO): DAT read: Rx Time:00:06:05.4174

2025-10-25T00:06:06.821Z,1761350766.821 [DAT](INFO): Rx dataTimestamp_ set to:1761350766.821012
2025-10-25T00:06:06.822Z,1761350766.822 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:06:06.822Z,1761350766.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771923
2025-10-25T00:06:06.948Z,1761350766.948 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:06:06.949Z,1761350766.949 [marl:UpdateRudder:B] Stopped
2025-10-25T00:06:06.949Z,1761350766.949 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:06:06.949Z,1761350766.949 [marl:UpdateRudder] Stopped
2025-10-25T00:06:06.949Z,1761350766.949 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:06:06.949Z,1761350766.949 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:06:06.949Z,1761350766.949 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:06:06.949Z,1761350766.949 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:06:06.949Z,1761350766.949 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:06:06.950Z,1761350766.950 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:06:06.950Z,1761350766.950 [marl:UpdateCommandMode] Stopped
2025-10-25T00:06:06.950Z,1761350766.950 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:06:06.950Z,1761350766.950 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:06:06.950Z,1761350766.950 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:06:06.950Z,1761350766.950 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:06:06.950Z,1761350766.950 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:06:06.950Z,1761350766.950 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:06:06.950Z,1761350766.950 [marl:UpdateSpeed] Stopped
2025-10-25T00:06:06.951Z,1761350766.951 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:06:07.073Z,1761350767.073 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:06:07.073Z,1761350767.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023040
2025-10-25T00:06:07.234Z,1761350767.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056020,0.926990,0.370879],[-0.950430,0.163302,-0.264604],[-0.305850,-0.337671,0.890188]]
2025-10-25T00:06:07.348Z,1761350767.348 [DAT](INFO): DAT read: 00:06:05.4174 LVL= 23952, 26737, 14354, 27635, AGC= 60, IDX= 240, 0.22,-0.456,-0.182, 1.575, 0.087, PHS=-0.441,-0.224, 1.444, RAW= 216.0,  -8.8, CAL= 214.9, -12.4, ROT= 295.1,  12.4

2025-10-25T00:06:07.352Z,1761350767.352 [DAT](INFO): got valid direction response:
 00:06:05.4174 LVL= 23952, 26737, 14354, 27635, AGC= 60, IDX= 240, 0.22,-0.456,-0.182, 1.575, 0.087, PHS=-0.441,-0.224, 1.444, RAW= 216.0,  -8.8, CAL= 214.9, -12.4, ROT= 295.1,  12.4

2025-10-25T00:06:07.355Z,1761350767.355 [DAT](INFO): DAT read: Bearing 186, -15 (Remote)

2025-10-25T00:06:07.368Z,1761350767.368 [DAT](INFO): Remote Bearing received:Bearing 186, -15 (Remote)

2025-10-25T00:06:07.371Z,1761350767.371 [DAT](INFO): DAT read: Bearing 351.1, -57.3 (Local)

2025-10-25T00:06:07.371Z,1761350767.371 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.1, -57.3 (Local)

2025-10-25T00:06:07.385Z,1761350767.385 [DAT](INFO): DAT read: Range 11 to 20 : 248.7 m  (Round-trip  331.6 ms) speed  0.8 m/s

2025-10-25T00:06:07.386Z,1761350767.386 [DAT](INFO): DAT read: user:38>

2025-10-25T00:06:07.387Z,1761350767.387 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-25T00:06:07.387Z,1761350767.387 [DAT](INFO): set remote address to 10
2025-10-25T00:06:07.393Z,1761350767.393 [DAT](INFO): entering online mode
2025-10-25T00:06:07.577Z,1761350767.577 [DAT](INFO): DAT read: user:39>

2025-10-25T00:06:07.577Z,1761350767.577 [DAT](INFO): DAT read: 

2025-10-25T00:06:07.579Z,1761350767.579 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-25T00:06:07.579Z,1761350767.579 [DAT](INFO): commRate: 600
2025-10-25T00:06:07.579Z,1761350767.579 [DAT](INFO): online mode acknowledged
2025-10-25T00:06:07.579Z,1761350767.579 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:06:07.581Z,1761350767.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530103
2025-10-25T00:06:07.658Z,1761350767.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038725,0.924722,0.378669],[-0.947682,0.154152,-0.279528],[-0.316858,-0.348033,0.882312]]
2025-10-25T00:06:07.830Z,1761350767.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780024
2025-10-25T00:06:08.042Z,1761350768.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021871,0.923281,0.383502],[-0.944950,0.144358,-0.293651],[-0.326484,-0.355968,0.875611]]
2025-10-25T00:06:08.081Z,1761350768.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030847
2025-10-25T00:06:08.333Z,1761350768.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282891
2025-10-25T00:06:08.446Z,1761350768.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005982,0.921526,0.388271],[-0.942149,0.135324,-0.306663],[-0.335140,-0.363975,0.869024]]
2025-10-25T00:06:08.590Z,1761350768.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539223
2025-10-25T00:06:08.837Z,1761350768.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786673
2025-10-25T00:06:08.852Z,1761350768.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008629,0.920036,0.391738],[-0.939535,0.126659,-0.318168],[-0.342344,-0.370797,0.863314]]
2025-10-25T00:06:09.089Z,1761350769.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038853
2025-10-25T00:06:09.257Z,1761350769.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021153,0.918524,0.394800],[-0.937403,0.119073,-0.327257],[-0.347603,-0.377009,0.858508]]
2025-10-25T00:06:09.341Z,1761350769.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290912
2025-10-25T00:06:09.593Z,1761350769.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542739
2025-10-25T00:06:09.670Z,1761350769.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033221,0.916574,0.398483],[-0.935458,0.111854,-0.335270],[-0.351872,-0.383902,0.853701]]
2025-10-25T00:06:09.848Z,1761350769.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797238
2025-10-25T00:06:10.063Z,1761350770.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045147,0.915773,0.399152],[-0.933335,0.103784,-0.343677],[-0.356156,-0.388058,0.850038]]
2025-10-25T00:06:10.097Z,1761350770.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046912
2025-10-25T00:06:10.349Z,1761350770.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298760
2025-10-25T00:06:10.467Z,1761350770.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058146,0.916548,0.395675],[-0.930774,0.093527,-0.353428],[-0.360941,-0.388835,0.847661]]
2025-10-25T00:06:10.601Z,1761350770.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550696
2025-10-25T00:06:10.853Z,1761350770.853 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:06:09.9055

2025-10-25T00:06:10.853Z,1761350770.853 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:06:10.854Z,1761350770.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803999
2025-10-25T00:06:10.883Z,1761350770.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073294,0.918513,0.388539],[-0.927557,0.080358,-0.364940],[-0.366425,-0.387140,0.846083]]
2025-10-25T00:06:11.106Z,1761350771.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055652
2025-10-25T00:06:11.309Z,1761350771.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090424,0.921812,0.376942],[-0.923510,0.064056,-0.378188],[-0.372764,-0.382307,0.845511]]
2025-10-25T00:06:11.357Z,1761350771.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306754
2025-10-25T00:06:11.609Z,1761350771.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558814
2025-10-25T00:06:11.711Z,1761350771.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109402,0.925163,0.363463],[-0.918612,0.045580,-0.392523],[-0.379715,-0.376824,0.844879]]
2025-10-25T00:06:11.869Z,1761350771.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818368
2025-10-25T00:06:12.117Z,1761350772.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067392
2025-10-25T00:06:12.241Z,1761350772.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148914,0.932350,0.329467],[-0.907188,0.003772,-0.420709],[-0.393491,-0.361538,0.845255]]
2025-10-25T00:06:12.369Z,1761350772.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318869
2025-10-25T00:06:12.621Z,1761350772.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570734
2025-10-25T00:06:12.661Z,1761350772.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168894,0.934873,0.312228],[-0.900933,-0.017953,-0.433587],[-0.399744,-0.354527,0.845290]]
2025-10-25T00:06:12.873Z,1761350772.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822766
2025-10-25T00:06:13.043Z,1761350773.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188836,0.937174,0.293335],[-0.894461,-0.040858,-0.445274],[-0.405315,-0.346461,0.845982]]
2025-10-25T00:06:13.126Z,1761350773.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075864
2025-10-25T00:06:13.378Z,1761350773.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327801
2025-10-25T00:06:13.634Z,1761350773.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583454
2025-10-25T00:06:13.880Z,1761350773.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228216,0.936995,0.264497],[-0.881324,-0.083368,-0.465099],[-0.413745,-0.339251,0.844822]]
2025-10-25T00:06:13.888Z,1761350773.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.837411
2025-10-25T00:06:14.137Z,1761350774.137 [DAT](INFO): Reached modem response timeout
2025-10-25T00:06:14.275Z,1761350774.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246587,0.935252,0.253968],[-0.874959,-0.102166,-0.473296],[-0.416704,-0.338920,0.843499]]
2025-10-25T00:06:14.685Z,1761350774.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261366,0.932671,0.248620],[-0.869485,-0.115645,-0.480231],[-0.419146,-0.341688,0.841169]]
2025-10-25T00:06:15.082Z,1761350775.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273279,0.928813,0.250248],[-0.865322,-0.123737,-0.485703],[-0.420162,-0.349278,0.837537]]
2025-10-25T00:06:15.487Z,1761350775.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283054,0.925207,0.252732],[-0.862394,-0.130204,-0.489207],[-0.419711,-0.356426,0.834747]]
2025-10-25T00:06:15.914Z,1761350775.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291868,0.921296,0.256957],[-0.860105,-0.135302,-0.491846],[-0.418369,-0.364564,0.831902]]
2025-10-25T00:06:16.296Z,1761350776.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301859,0.917699,0.258284],[-0.857652,-0.143095,-0.493919],[-0.416310,-0.370612,0.830261]]
2025-10-25T00:06:16.698Z,1761350776.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313858,0.914547,0.255140],[-0.854537,-0.154964,-0.495735],[-0.413836,-0.373617,0.830151]]
2025-10-25T00:06:17.103Z,1761350777.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328631,0.911342,0.247906],[-0.850444,-0.171375,-0.497369],[-0.410788,-0.374281,0.831365]]
2025-10-25T00:06:17.413Z,1761350777.413 [DAT](INFO): DAT read: Rx Time:00:06:16.0347

2025-10-25T00:06:17.413Z,1761350777.413 [DAT](INFO): Rx dataTimestamp_ set to:1761350777.413027
2025-10-25T00:06:17.506Z,1761350777.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344471,0.908225,0.237627],[-0.845559,-0.190182,-0.498859],[-0.407884,-0.372770,0.833470]]
2025-10-25T00:06:17.922Z,1761350777.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360721,0.904101,0.229089],[-0.840270,-0.208432,-0.500503],[-0.404756,-0.373039,0.834874]]
2025-10-25T00:06:18.175Z,1761350778.175 [DAT](INFO): DAT read: 00:06:16.0347 LVL= 26320, 32753, 18242, 25027, AGC= 56, IDX= 130,-0.41,-0.932,-0.502, 1.412, 0.121, PHS=-0.951,-0.579, 1.247, RAW= 219.1,   2.8, CAL= 217.9,   2.9, ROT= 292.1,  -2.9

2025-10-25T00:06:18.183Z,1761350778.183 [DAT](INFO): got valid direction response:
 00:06:16.0347 LVL= 26320, 32753, 18242, 25027, AGC= 56, IDX= 130,-0.41,-0.932,-0.502, 1.412, 0.121, PHS=-0.951,-0.579, 1.247, RAW= 219.1,   2.8, CAL= 217.9,   2.9, ROT= 292.1,  -2.9

2025-10-25T00:06:18.183Z,1761350778.183 [DAT](INFO): DAT read: 

2025-10-25T00:06:18.184Z,1761350778.184 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:06:18.184Z,1761350778.184 [DAT](INFO): Got DATA 2
2025-10-25T00:06:18.185Z,1761350778.185 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:06:18.185Z,1761350778.185 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:06:18.185Z,1761350778.185 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:06:18.186Z,1761350778.186 [DAT](INFO): DAT read: CRC:Pass MPD:07.2 PSNR:11.7 AGC:58 SPD:-0.1 CCERR:009

2025-10-25T00:06:18.187Z,1761350778.187 [DAT](INFO): Got CRC:Pass
2025-10-25T00:06:18.187Z,1761350778.187 [DAT](INFO): Got CRC:Pass
2025-10-25T00:06:18.187Z,1761350778.187 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:06:18.187Z,1761350778.187 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:06:18.187Z,1761350778.187 [DAT](INFO): Got ack
2025-10-25T00:06:18.187Z,1761350778.187 [DAT](INFO): DAT read: 

2025-10-25T00:06:18.204Z,1761350778.204 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:06:18.204Z,1761350778.204 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:06:18.205Z,1761350778.205 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-25T00:06:18.206Z,1761350778.206 [DAT](INFO): direction in FSK: [0.375743,-0.925342,0.050593]
2025-10-25T00:06:18.315Z,1761350778.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376337,0.898775,0.224887],[-0.835158,-0.224009,-0.502326],[-0.401101,-0.376860,0.834922]]
2025-10-25T00:06:18.369Z,1761350778.369 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350784.00. Resetting abort timer.
2025-10-25T00:06:18.422Z,1761350778.422 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:06:18.422Z,1761350778.422 [DAT](INFO): #Outgoing data=54
2025-10-25T00:06:18.422Z,1761350778.422 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:06:18.673Z,1761350778.673 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:06:18.718Z,1761350778.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390017,0.892760,0.225533],[-0.830819,-0.235578,-0.504225],[-0.397021,-0.384034,0.833602]]
2025-10-25T00:06:19.135Z,1761350779.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401580,0.886854,0.228524],[-0.827439,-0.244397,-0.505585],[-0.392529,-0.392122,0.831962]]
2025-10-25T00:06:19.159Z,1761350779.159 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:06:19.159Z,1761350779.159 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:06:19.159Z,1761350779.159 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:06:19.160Z,1761350779.160 [marl:UpdateRudder:A] Stopped
2025-10-25T00:06:19.160Z,1761350779.160 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:06:19.527Z,1761350779.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411820,0.881095,0.232545],[-0.824822,-0.251928,-0.506162],[-0.387392,-0.400256,0.830495]]
2025-10-25T00:06:19.563Z,1761350779.563 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:06:19.563Z,1761350779.563 [marl:UpdateRudder:B] Stopped
2025-10-25T00:06:19.563Z,1761350779.563 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:06:19.564Z,1761350779.564 [marl:UpdateRudder] Stopped
2025-10-25T00:06:19.564Z,1761350779.564 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:06:19.931Z,1761350779.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421423,0.876399,0.233080],[-0.822551,-0.261179,-0.505168],[-0.381854,-0.404610,0.830950]]
2025-10-25T00:06:19.980Z,1761350779.980 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:06:19.980Z,1761350779.980 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:06:19.980Z,1761350779.980 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:06:19.981Z,1761350779.981 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:06:19.981Z,1761350779.981 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:06:19.981Z,1761350779.981 [marl:UpdateCommandMode] Stopped
2025-10-25T00:06:19.981Z,1761350779.981 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:06:19.981Z,1761350779.981 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:06:19.981Z,1761350779.981 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:06:19.981Z,1761350779.981 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:06:19.981Z,1761350779.981 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:06:19.982Z,1761350779.982 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:06:19.982Z,1761350779.982 [marl:UpdateSpeed] Stopped
2025-10-25T00:06:19.982Z,1761350779.982 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:06:20.335Z,1761350780.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430002,0.872674,0.231386],[-0.820737,-0.271067,-0.502906],[-0.376151,-0.406157,0.832794]]
2025-10-25T00:06:21.144Z,1761350781.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446832,0.867427,0.218886],[-0.817026,-0.296006,-0.494821],[-0.364430,-0.399938,0.840976]]
2025-10-25T00:06:21.546Z,1761350781.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457001,0.863904,0.211707],[-0.814071,-0.310342,-0.490894],[-0.358384,-0.396684,0.845106]]
2025-10-25T00:06:21.949Z,1761350781.949 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:06:21.0055

2025-10-25T00:06:21.949Z,1761350781.949 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:06:21.955Z,1761350781.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468330,0.859913,0.203018],[-0.810590,-0.326727,-0.485997],[-0.351584,-0.392171,0.850053]]
2025-10-25T00:06:22.355Z,1761350782.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478991,0.857015,0.189979],[-0.807203,-0.344974,-0.478975],[-0.344951,-0.382777,0.857024]]
2025-10-25T00:06:22.758Z,1761350782.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487448,0.856032,0.172055],[-0.804502,-0.363730,-0.469550],[-0.339368,-0.367300,0.865979]]
2025-10-25T00:06:23.162Z,1761350783.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493682,0.855432,0.156571],[-0.802598,-0.378857,-0.460765],[-0.334835,-0.353135,0.873602]]
2025-10-25T00:06:23.572Z,1761350783.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497733,0.856302,0.137874],[-0.801776,-0.393637,-0.449672],[-0.330783,-0.334361,0.882488]]
2025-10-25T00:06:23.973Z,1761350783.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500157,0.857706,0.119090],[-0.801951,-0.406917,-0.437372],[-0.326677,-0.314259,0.891361]]
2025-10-25T00:06:24.374Z,1761350784.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501250,0.858726,0.106477],[-0.802728,-0.415525,-0.427746],[-0.323073,-0.299880,0.897605]]
2025-10-25T00:06:24.778Z,1761350784.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502270,0.859677,0.093170],[-0.803216,-0.423927,-0.418485],[-0.320265,-0.285028,0.903432]]
2025-10-25T00:06:25.183Z,1761350785.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504020,0.859909,0.080750],[-0.802814,-0.431962,-0.410972],[-0.318518,-0.271966,0.908065]]
2025-10-25T00:06:25.598Z,1761350785.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506871,0.859310,0.068328],[-0.801255,-0.440424,-0.404991],[-0.317920,-0.260027,0.911764]]
2025-10-25T00:06:25.992Z,1761350785.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511676,0.857341,0.056156],[-0.798338,-0.450269,-0.399893],[-0.317560,-0.249447,0.914840]]
2025-10-25T00:06:26.394Z,1761350786.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518679,0.853731,0.045995],[-0.793999,-0.461042,-0.396239],[-0.317076,-0.242041,0.916995]]
2025-10-25T00:06:26.802Z,1761350786.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526923,0.848969,0.040050],[-0.788955,-0.471063,-0.394525],[-0.316073,-0.239482,0.918012]]
2025-10-25T00:06:27.204Z,1761350787.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535045,0.843639,0.044725],[-0.784360,-0.476388,-0.397282],[-0.313856,-0.247644,0.916606]]
2025-10-25T00:06:27.225Z,1761350787.225 [NAL9602](INFO): Powering up NAL9602
2025-10-25T00:06:27.615Z,1761350787.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540832,0.839378,0.054273],[-0.781321,-0.477432,-0.401989],[-0.311509,-0.259813,0.914035]]
2025-10-25T00:06:28.012Z,1761350788.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542481,0.837844,0.061091],[-0.780550,-0.475827,-0.405377],[-0.310574,-0.267594,0.912106]]
2025-10-25T00:06:28.415Z,1761350788.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542160,0.837643,0.066461],[-0.780672,-0.472866,-0.408594],[-0.310829,-0.273407,0.910293]]
2025-10-25T00:06:28.501Z,1761350788.501 [DAT](INFO): DAT read: Rx Time:00:06:27.1351

2025-10-25T00:06:28.502Z,1761350788.502 [DAT](INFO): Rx dataTimestamp_ set to:1761350788.501373
2025-10-25T00:06:28.826Z,1761350788.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541793,0.837801,0.067447],[-0.780324,-0.471555,-0.410767],[-0.312336,-0.275182,0.909242]]
2025-10-25T00:06:29.222Z,1761350789.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543121,0.837218,0.063919],[-0.778912,-0.473941,-0.410702],[-0.313554,-0.272849,0.909526]]
2025-10-25T00:06:29.269Z,1761350789.269 [DAT](INFO): DAT read: 00:06:27.1351 LVL= 32752, 31857, 19810, 32755, AGC= 54, IDX= 454, 0.00, 2.889, 2.426,-1.909, 3.095, PHS=-0.104,-0.623, 1.236, RAW= 194.3,  -6.2, CAL= 194.4,  -8.6, ROT= 315.6,   8.6

2025-10-25T00:06:29.270Z,1761350789.270 [DAT](INFO): got valid direction response:
 00:06:27.1351 LVL= 32752, 31857, 19810, 32755, AGC= 54, IDX= 454, 0.00, 2.889, 2.426,-1.909, 3.095, PHS=-0.104,-0.623, 1.236, RAW= 194.3,  -6.2, CAL= 194.4,  -8.6, ROT= 315.6,   8.6

2025-10-25T00:06:29.270Z,1761350789.270 [DAT](INFO): DAT read: 

2025-10-25T00:06:29.271Z,1761350789.271 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:06:29.271Z,1761350789.271 [DAT](INFO): Got DATA 2
2025-10-25T00:06:29.276Z,1761350789.276 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:06:29.277Z,1761350789.277 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:06:29.277Z,1761350789.277 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:06:29.278Z,1761350789.278 [DAT](INFO): DAT read: CRC:Pass MPD:04.1 PSNR:12.1 AGC:58 SPD:+1.1 CCERR:008

2025-10-25T00:06:29.278Z,1761350789.278 [DAT](INFO): Got CRC:Pass
2025-10-25T00:06:29.278Z,1761350789.278 [DAT](INFO): Got CRC:Pass
2025-10-25T00:06:29.278Z,1761350789.278 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:06:29.279Z,1761350789.279 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:06:29.279Z,1761350789.279 [DAT](INFO): Got ack
2025-10-25T00:06:29.279Z,1761350789.279 [DAT](INFO): DAT read: 

2025-10-25T00:06:29.279Z,1761350789.279 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:06:29.308Z,1761350789.308 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:06:29.308Z,1761350789.308 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-25T00:06:29.309Z,1761350789.309 [DAT](INFO): direction in FSK: [0.706440,-0.691796,-0.149535]
2025-10-25T00:06:29.313Z,1761350789.313 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350784.00. Resetting abort timer.
2025-10-25T00:06:29.509Z,1761350789.509 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:06:29.509Z,1761350789.509 [DAT](INFO): #Outgoing data=54
2025-10-25T00:06:29.509Z,1761350789.509 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:06:29.626Z,1761350789.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544989,0.836398,0.058525],[-0.777756,-0.478236,-0.407905],[-0.313182,-0.267822,0.911147]]
2025-10-25T00:06:29.685Z,1761350789.685 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350784.00. Resetting abort timer.
2025-10-25T00:06:29.761Z,1761350789.761 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:06:30.030Z,1761350790.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545394,0.836416,0.054347],[-0.778127,-0.481152,-0.403745],[-0.311550,-0.262489,0.913256]]
2025-10-25T00:06:30.839Z,1761350790.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539094,0.839737,0.064954],[-0.783538,-0.471736,-0.404393],[-0.308943,-0.268900,0.912276]]
2025-10-25T00:06:31.243Z,1761350791.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532523,0.842614,0.080134],[-0.787966,-0.458951,-0.410456],[-0.309078,-0.281720,0.908353]]
2025-10-25T00:06:31.657Z,1761350791.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525784,0.845706,0.091275],[-0.792320,-0.447881,-0.414284],[-0.309483,-0.290143,0.905559]]
2025-10-25T00:06:32.050Z,1761350792.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520106,0.849993,0.083676],[-0.795637,-0.446550,-0.409333],[-0.310565,-0.279472,0.908540]]
2025-10-25T00:06:32.150Z,1761350792.150 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:06:32.150Z,1761350792.150 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:06:32.150Z,1761350792.150 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:06:32.150Z,1761350792.150 [marl:UpdateRudder:A] Stopped
2025-10-25T00:06:32.150Z,1761350792.150 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:06:32.454Z,1761350792.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516894,0.853732,0.062954],[-0.797023,-0.453115,-0.399300],[-0.312370,-0.256572,0.914656]]
2025-10-25T00:06:32.494Z,1761350792.494 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:06:32.494Z,1761350792.494 [marl:UpdateRudder:B] Stopped
2025-10-25T00:06:32.494Z,1761350792.494 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:06:32.494Z,1761350792.494 [marl:UpdateRudder] Stopped
2025-10-25T00:06:32.494Z,1761350792.494 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:06:32.860Z,1761350792.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516060,0.855523,0.041983],[-0.796651,-0.461387,-0.390472],[-0.314688,-0.234953,0.919657]]
2025-10-25T00:06:32.886Z,1761350792.886 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:06:32.886Z,1761350792.886 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:06:32.887Z,1761350792.887 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:06:32.887Z,1761350792.887 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:06:32.887Z,1761350792.887 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:06:32.887Z,1761350792.887 [marl:UpdateCommandMode] Stopped
2025-10-25T00:06:32.887Z,1761350792.887 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:06:32.887Z,1761350792.887 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:06:32.887Z,1761350792.887 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:06:32.887Z,1761350792.887 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:06:32.888Z,1761350792.888 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:06:32.888Z,1761350792.888 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:06:32.888Z,1761350792.888 [marl:UpdateSpeed] Stopped
2025-10-25T00:06:32.888Z,1761350792.888 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:06:33.037Z,1761350793.037 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:06:32.1054

2025-10-25T00:06:33.038Z,1761350793.038 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:06:33.264Z,1761350793.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518035,0.854826,0.030201],[-0.794568,-0.467844,-0.387020],[-0.316706,-0.224486,0.921577]]
2025-10-25T00:06:33.671Z,1761350793.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518675,0.854051,0.039673],[-0.793446,-0.463547,-0.394422],[-0.318466,-0.236055,0.918073]]
2025-10-25T00:06:34.075Z,1761350794.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518697,0.853629,0.047645],[-0.793047,-0.459568,-0.399843],[-0.319421,-0.245182,0.915345]]
2025-10-25T00:06:34.475Z,1761350794.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519837,0.852993,0.046607],[-0.791921,-0.460721,-0.400746],[-0.320360,-0.245232,0.915003]]
2025-10-25T00:06:34.887Z,1761350794.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522089,0.851972,0.039582],[-0.789146,-0.464942,-0.401344],[-0.323530,-0.240773,0.915072]]
2025-10-25T00:06:35.282Z,1761350795.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525048,0.850404,0.033718],[-0.784175,-0.468002,-0.407484],[-0.330746,-0.240389,0.912590]]
2025-10-25T00:06:35.688Z,1761350795.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529719,0.847509,0.033570],[-0.776698,-0.468796,-0.420679],[-0.340792,-0.248915,0.906588]]
2025-10-25T00:06:35.736Z,1761350795.736 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:06:36.098Z,1761350796.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536746,0.842939,0.036848],[-0.767319,-0.469501,-0.436795],[-0.350892,-0.262722,0.898806]]
2025-10-25T00:06:36.496Z,1761350796.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546247,0.836699,0.039355],[-0.757247,-0.473201,-0.450175],[-0.358038,-0.275708,0.892073]]
2025-10-25T00:06:36.740Z,1761350796.740 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:06:36.898Z,1761350796.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556605,0.830270,0.029020],[-0.748094,-0.485711,-0.452150],[-0.361311,-0.273379,0.891470]]
2025-10-25T00:06:37.302Z,1761350797.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562920,0.826323,0.017638],[-0.742709,-0.496366,-0.449448],[-0.362635,-0.266103,0.893132]]
2025-10-25T00:06:37.707Z,1761350797.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562838,0.826439,0.014579],[-0.741556,-0.497081,-0.450561],[-0.365114,-0.264404,0.892627]]
2025-10-25T00:06:38.112Z,1761350798.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560492,0.828090,0.010789],[-0.741510,-0.496003,-0.451823],[-0.368799,-0.261243,0.892042]]
2025-10-25T00:06:38.116Z,1761350798.116 [NAL9602](INFO): NAL9602 initialized
2025-10-25T00:06:38.514Z,1761350798.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557147,0.830381,0.007436],[-0.741467,-0.493418,-0.454714],[-0.373917,-0.258856,0.890606]]
2025-10-25T00:06:38.919Z,1761350798.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555323,0.831623,0.004322],[-0.740607,-0.492169,-0.457461],[-0.378308,-0.257239,0.889219]]
2025-10-25T00:06:39.322Z,1761350799.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555832,0.831293,-0.001467],[-0.738467,-0.494573,-0.458328],[-0.381730,-0.253670,0.888782]]
2025-10-25T00:06:39.589Z,1761350799.589 [DAT](INFO): DAT read: Rx Time:00:06:38.2293

2025-10-25T00:06:39.589Z,1761350799.589 [DAT](INFO): Rx dataTimestamp_ set to:1761350799.589064
2025-10-25T00:06:39.733Z,1761350799.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557068,0.830405,-0.010134],[-0.735063,-0.498714,-0.459311],[-0.386469,-0.248418,0.888217]]
2025-10-25T00:06:40.130Z,1761350800.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558717,0.829042,-0.022887],[-0.729509,-0.504392,-0.461958],[-0.394527,-0.241408,0.886606]]
2025-10-25T00:06:40.358Z,1761350800.358 [DAT](INFO): DAT read: 00:06:38.2293 LVL= 31984, 32753, 22514, 32755, AGC= 53, IDX= 381,-0.23, 0.689, 0.430, 2.775, 1.967, PHS=-1.176,-1.492, 0.764, RAW= 202.6,  17.7, CAL= 202.7,  23.6, ROT= 307.3, -23.6

2025-10-25T00:06:40.368Z,1761350800.368 [DAT](INFO): got valid direction response:
 00:06:38.2293 LVL= 31984, 32753, 22514, 32755, AGC= 53, IDX= 381,-0.23, 0.689, 0.430, 2.775, 1.967, PHS=-1.176,-1.492, 0.764, RAW= 202.6,  17.7, CAL= 202.7,  23.6, ROT= 307.3, -23.6

2025-10-25T00:06:40.369Z,1761350800.369 [DAT](INFO): DAT read: 

2025-10-25T00:06:40.370Z,1761350800.370 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:06:40.371Z,1761350800.371 [DAT](INFO): Got DATA 2
2025-10-25T00:06:40.372Z,1761350800.372 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:06:40.372Z,1761350800.372 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:06:40.373Z,1761350800.373 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:06:40.374Z,1761350800.374 [DAT](INFO): DAT read: CRC:Pass MPD:05.5 PSNR:11.4 AGC:57 SPD:+0.8 CCERR:009

2025-10-25T00:06:40.375Z,1761350800.375 [DAT](INFO): Got CRC:Pass
2025-10-25T00:06:40.375Z,1761350800.375 [DAT](INFO): Got CRC:Pass
2025-10-25T00:06:40.375Z,1761350800.375 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:06:40.375Z,1761350800.375 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:06:40.375Z,1761350800.375 [DAT](INFO): Got ack
2025-10-25T00:06:40.375Z,1761350800.375 [DAT](INFO): DAT read: 

2025-10-25T00:06:40.378Z,1761350800.378 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:06:40.378Z,1761350800.378 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:06:40.378Z,1761350800.378 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-25T00:06:40.380Z,1761350800.380 [DAT](INFO): direction in FSK: [0.555305,-0.728942,0.400349]
2025-10-25T00:06:40.535Z,1761350800.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561735,0.826375,-0.039484],[-0.721775,-0.512840,-0.464796],[-0.404345,-0.232593,0.884537]]
2025-10-25T00:06:40.597Z,1761350800.597 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:06:40.597Z,1761350800.597 [DAT](INFO): #Outgoing data=54
2025-10-25T00:06:40.598Z,1761350800.598 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:06:40.634Z,1761350800.634 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350784.00. Resetting abort timer.
2025-10-25T00:06:40.849Z,1761350800.849 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:06:40.939Z,1761350800.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567332,0.821841,-0.052076],[-0.712936,-0.521834,-0.468413],[-0.412135,-0.228619,0.881974]]
2025-10-25T00:06:41.343Z,1761350801.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575278,0.816266,-0.052576],[-0.705368,-0.527611,-0.473373],[-0.414138,-0.235236,0.879292]]
2025-10-25T00:06:41.747Z,1761350801.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581871,0.812522,-0.035137],[-0.702926,-0.524176,-0.480765],[-0.409050,-0.255045,0.876145]]
2025-10-25T00:06:42.152Z,1761350802.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583377,0.812044,-0.016006],[-0.707363,-0.517661,-0.481316],[-0.399135,-0.269467,0.876401]]
2025-10-25T00:06:42.565Z,1761350802.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578166,0.815895,-0.006267],[-0.715921,-0.510976,-0.475774],[-0.391384,-0.270590,0.879545]]
2025-10-25T00:06:43.362Z,1761350803.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566438,0.823630,-0.027965],[-0.721857,-0.512245,-0.465326],[-0.397581,-0.243391,0.884698]]
2025-10-25T00:06:43.769Z,1761350803.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571847,0.818501,-0.055203],[-0.712551,-0.528917,-0.460996],[-0.406523,-0.224284,0.885684]]
2025-10-25T00:06:44.141Z,1761350804.141 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:06:43.2053

2025-10-25T00:06:44.141Z,1761350804.141 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:06:44.171Z,1761350804.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581074,0.811310,-0.064261],[-0.702243,-0.539731,-0.464268],[-0.411349,-0.224647,0.883361]]
2025-10-25T00:06:44.581Z,1761350804.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586439,0.808500,-0.049173],[-0.699870,-0.536336,-0.471726],[-0.407763,-0.242223,0.880373]]
2025-10-25T00:06:44.978Z,1761350804.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584422,0.810923,-0.029227],[-0.707856,-0.527090,-0.470230],[-0.396726,-0.254124,0.882060]]
2025-10-25T00:06:45.003Z,1761350805.003 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:06:45.003Z,1761350805.003 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:06:45.004Z,1761350805.004 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:06:45.013Z,1761350805.013 [marl:UpdateRudder:A] Stopped
2025-10-25T00:06:45.013Z,1761350805.013 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:06:45.383Z,1761350805.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573887,0.818656,-0.021363],[-0.720650,-0.517231,-0.461666],[-0.388995,-0.249549,0.886796]]
2025-10-25T00:06:45.414Z,1761350805.414 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:06:45.414Z,1761350805.414 [marl:UpdateRudder:B] Stopped
2025-10-25T00:06:45.415Z,1761350805.415 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:06:45.415Z,1761350805.415 [marl:UpdateRudder] Stopped
2025-10-25T00:06:45.415Z,1761350805.415 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:06:45.789Z,1761350805.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562880,0.825814,-0.034596],[-0.727775,-0.515027,-0.452869],[-0.391804,-0.229733,0.890905]]
2025-10-25T00:06:45.817Z,1761350805.817 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:06:45.817Z,1761350805.817 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:06:45.817Z,1761350805.817 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:06:45.817Z,1761350805.817 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:06:45.818Z,1761350805.818 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:06:45.818Z,1761350805.818 [marl:UpdateCommandMode] Stopped
2025-10-25T00:06:45.818Z,1761350805.818 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:06:45.818Z,1761350805.818 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:06:45.818Z,1761350805.818 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:06:45.818Z,1761350805.818 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:06:45.818Z,1761350805.818 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:06:45.818Z,1761350805.818 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:06:45.818Z,1761350805.818 [marl:UpdateSpeed] Stopped
2025-10-25T00:06:45.819Z,1761350805.819 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:06:46.190Z,1761350806.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561135,0.825350,-0.062654],[-0.722913,-0.525541,-0.448558],[-0.403144,-0.206408,0.891555]]
2025-10-25T00:06:46.594Z,1761350806.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570046,0.816946,-0.087448],[-0.711549,-0.544092,-0.444592],[-0.410788,-0.191214,0.891454]]
2025-10-25T00:06:47.000Z,1761350807.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584879,0.805832,-0.092475],[-0.703646,-0.560786,-0.436350],[-0.403483,-0.190142,0.895012]]
2025-10-25T00:06:47.402Z,1761350807.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594656,0.801072,-0.068327],[-0.706541,-0.561249,-0.431044],[-0.383645,-0.208046,0.899740]]
2025-10-25T00:06:47.807Z,1761350807.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594782,0.803347,-0.029466],[-0.716332,-0.546280,-0.434106],[-0.364834,-0.237090,0.900380]]
2025-10-25T00:06:48.215Z,1761350808.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590686,0.806865,0.007658],[-0.724437,-0.526114,-0.445416],[-0.355361,-0.268648,0.895291]]
2025-10-25T00:06:48.622Z,1761350808.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601064,0.796934,0.060151],[-0.720969,-0.508213,-0.471086],[-0.344856,-0.326520,0.880034]]
2025-10-25T00:06:49.024Z,1761350809.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615226,0.785183,0.070594],[-0.710985,-0.513935,-0.479970],[-0.340584,-0.345482,0.874440]]
2025-10-25T00:06:49.942Z,1761350809.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646385,0.760337,0.063838],[-0.687198,-0.543760,-0.481751],[-0.331580,-0.355266,0.873980]]
2025-10-25T00:06:50.418Z,1761350810.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656894,0.749057,0.086045],[-0.683224,-0.543090,-0.488117],[-0.318898,-0.379429,0.868526]]
2025-10-25T00:06:50.693Z,1761350810.693 [DAT](INFO): DAT read: Rx Time:00:06:49.3257

2025-10-25T00:06:50.693Z,1761350810.693 [DAT](INFO): Rx dataTimestamp_ set to:1761350810.692994
2025-10-25T00:06:50.978Z,1761350810.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657839,0.743740,0.118740],[-0.685763,-0.526295,-0.502735],[-0.311412,-0.412147,0.856246]]
2025-10-25T00:06:51.423Z,1761350811.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671004,0.732258,0.116408],[-0.674169,-0.537196,-0.506870],[-0.308626,-0.418591,0.854127]]
2025-10-25T00:06:51.462Z,1761350811.462 [DAT](INFO): DAT read: 00:06:49.3257 LVL= 31120, 31313, 19186, 32755, AGC= 53, IDX= 407,-0.08,-1.473,-1.859, 0.411,-0.452, PHS=-0.919,-1.362, 0.819, RAW= 198.9,  14.5, CAL= 199.5,  18.8, ROT= 310.5, -18.8

2025-10-25T00:06:51.463Z,1761350811.463 [DAT](INFO): got valid direction response:
 00:06:49.3257 LVL= 31120, 31313, 19186, 32755, AGC= 53, IDX= 407,-0.08,-1.473,-1.859, 0.411,-0.452, PHS=-0.919,-1.362, 0.819, RAW= 198.9,  14.5, CAL= 199.5,  18.8, ROT= 310.5, -18.8

2025-10-25T00:06:51.463Z,1761350811.463 [DAT](INFO): DAT read: 

2025-10-25T00:06:51.464Z,1761350811.464 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:06:51.464Z,1761350811.464 [DAT](INFO): Got DATA 2
2025-10-25T00:06:51.465Z,1761350811.465 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:06:51.465Z,1761350811.465 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:06:51.466Z,1761350811.466 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:06:51.467Z,1761350811.467 [DAT](INFO): DAT read: CRC:Pass MPD:03.6 PSNR:12.4 AGC:50 SPD:+1.9 CCERR:010

2025-10-25T00:06:51.467Z,1761350811.467 [DAT](INFO): Got CRC:Pass
2025-10-25T00:06:51.467Z,1761350811.467 [DAT](INFO): Got CRC:Pass
2025-10-25T00:06:51.467Z,1761350811.467 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:06:51.467Z,1761350811.467 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:06:51.467Z,1761350811.467 [DAT](INFO): Got ack
2025-10-25T00:06:51.468Z,1761350811.468 [DAT](INFO): DAT read: 

2025-10-25T00:06:51.468Z,1761350811.468 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:06:51.469Z,1761350811.469 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:06:51.469Z,1761350811.469 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-10-25T00:06:51.470Z,1761350811.470 [DAT](INFO): direction in FSK: [0.614799,-0.719838,0.322266]
2025-10-25T00:06:51.566Z,1761350811.566 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350784.00. Resetting abort timer.
2025-10-25T00:06:51.701Z,1761350811.701 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:06:51.701Z,1761350811.701 [DAT](INFO): #Outgoing data=54
2025-10-25T00:06:51.702Z,1761350811.702 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:06:51.918Z,1761350811.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684406,0.724510,0.081690],[-0.662639,-0.571365,-0.484202],[-0.304134,-0.385522,0.871134]]
2025-10-25T00:06:51.953Z,1761350811.953 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:06:52.334Z,1761350812.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693728,0.718040,0.056220],[-0.659776,-0.602247,-0.449437],[-0.288855,-0.348879,0.891541]]
2025-10-25T00:06:52.839Z,1761350812.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693650,0.718846,0.045938],[-0.662696,-0.611874,-0.431791],[-0.282283,-0.329955,0.900803]]
2025-10-25T00:06:53.727Z,1761350813.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714241,0.699716,0.016037],[-0.615739,-0.617296,-0.489705],[-0.332755,-0.359642,0.871741]]
2025-10-25T00:06:54.209Z,1761350814.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745491,0.666502,0.004310],[-0.572555,-0.637074,-0.516059],[-0.341209,-0.387185,0.856542]]
2025-10-25T00:06:54.606Z,1761350814.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780181,0.625312,0.017370],[-0.538438,-0.657138,-0.527499],[-0.318437,-0.420898,0.849378]]
2025-10-25T00:06:55.023Z,1761350815.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800327,0.596961,0.055800],[-0.525870,-0.654207,-0.543575],[-0.287989,-0.464382,0.837504]]
2025-10-25T00:06:55.229Z,1761350815.229 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:06:54.3053

2025-10-25T00:06:55.229Z,1761350815.229 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:06:55.428Z,1761350815.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803038,0.588742,0.092267],[-0.529525,-0.633927,-0.563685],[-0.273375,-0.501518,0.820821]]
2025-10-25T00:06:55.498Z,1761350815.498 [marl:NeedComms:C] Running Loop=1
2025-10-25T00:06:56.019Z,1761350816.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818875,0.569973,0.067637],[-0.502772,-0.655450,-0.563565],[-0.276885,-0.495495,0.823298]]
2025-10-25T00:06:56.133Z,1761350816.133 [Radio_Surface](INFO): Powering up
2025-10-25T00:06:56.597Z,1761350816.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843720,0.534540,0.049025],[-0.485535,-0.721033,-0.494336],[-0.228893,-0.440884,0.867888]]
2025-10-25T00:06:57.002Z,1761350817.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848047,0.518969,0.107178],[-0.505238,-0.730829,-0.458937],[-0.159845,-0.443351,0.881980]]
2025-10-25T00:06:57.803Z,1761350817.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827782,0.559266,-0.044702],[-0.445445,-0.703569,-0.553687],[-0.341110,-0.438420,0.831524]]
2025-10-25T00:06:58.206Z,1761350818.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882568,0.468966,-0.033826],[-0.400518,-0.787535,-0.468373],[-0.246290,-0.399823,0.882883]]
2025-10-25T00:06:58.611Z,1761350818.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914346,0.378549,0.143778],[-0.398555,-0.778533,-0.484809],[-0.071587,-0.500587,0.862722]]
2025-10-25T00:06:59.022Z,1761350819.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922025,0.343849,0.177869],[-0.385837,-0.778703,-0.494723],[-0.031603,-0.524775,0.850654]]
2025-10-25T00:06:59.093Z,1761350819.093 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:06:59.093Z,1761350819.093 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:06:59.093Z,1761350819.093 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:06:59.093Z,1761350819.093 [marl:UpdateRudder:A] Stopped
2025-10-25T00:06:59.093Z,1761350819.093 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:06:59.419Z,1761350819.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943085,0.305666,0.130989],[-0.331630,-0.893730,-0.302105],[0.024725,-0.328350,0.944232]]
2025-10-25T00:06:59.469Z,1761350819.469 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:06:59.469Z,1761350819.469 [marl:UpdateRudder:B] Stopped
2025-10-25T00:06:59.470Z,1761350819.470 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:06:59.470Z,1761350819.470 [marl:UpdateRudder] Stopped
2025-10-25T00:06:59.470Z,1761350819.470 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:06:59.833Z,1761350819.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953811,0.259406,0.151505],[-0.278234,-0.952998,-0.119923],[0.113275,-0.156538,0.981155]]
2025-10-25T00:06:59.915Z,1761350819.915 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:06:59.915Z,1761350819.915 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:06:59.915Z,1761350819.915 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:06:59.920Z,1761350819.920 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:06:59.920Z,1761350819.920 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:06:59.920Z,1761350819.920 [marl:UpdateCommandMode] Stopped
2025-10-25T00:06:59.920Z,1761350819.920 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:06:59.920Z,1761350819.920 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:06:59.920Z,1761350819.920 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:06:59.920Z,1761350819.920 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:06:59.921Z,1761350819.921 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:06:59.921Z,1761350819.921 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:06:59.921Z,1761350819.921 [marl:UpdateSpeed] Stopped
2025-10-25T00:06:59.921Z,1761350819.921 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:07:00.236Z,1761350820.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925644,0.265147,0.269962],[-0.283103,-0.958646,-0.029157],[0.251067,-0.103416,0.962429]]
2025-10-25T00:07:00.637Z,1761350820.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924723,0.273737,0.264490],[-0.304505,-0.948930,-0.082520],[0.228394,-0.156847,0.960851]]
2025-10-25T00:07:01.049Z,1761350821.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938439,0.251593,0.236714],[-0.291116,-0.944881,-0.149836],[0.185969,-0.209523,0.959956]]
2025-10-25T00:07:01.388Z,1761350821.388 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-10-25T00:07:01.389Z,1761350821.389 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-10-25T00:07:01.447Z,1761350821.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957492,0.211921,0.195701],[-0.249202,-0.949397,-0.191164],[0.145286,-0.231807,0.961851]]
2025-10-25T00:07:01.789Z,1761350821.789 [DAT](INFO): DAT read: Rx Time:00:07:00.4205

2025-10-25T00:07:01.789Z,1761350821.789 [DAT](INFO): Rx dataTimestamp_ set to:1761350821.788869
2025-10-25T00:07:01.905Z,1761350821.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972727,0.163834,0.164197],[-0.199032,-0.953069,-0.228134],[0.119114,-0.254593,0.959684]]
2025-10-25T00:07:02.246Z,1761350822.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977282,0.115318,0.177823],[-0.156827,-0.957838,-0.240733],[0.142565,-0.263152,0.954163]]
2025-10-25T00:07:02.338Z,1761350822.338 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:07:02.338Z,1761350822.338 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:07:02.546Z,1761350822.546 [DAT](INFO): DAT read: 

2025-10-25T00:07:02.548Z,1761350822.548 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:07:02.548Z,1761350822.548 [DAT](INFO): Got DATA 2
2025-10-25T00:07:02.549Z,1761350822.549 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:07:02.549Z,1761350822.549 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:07:02.550Z,1761350822.550 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:07:02.551Z,1761350822.551 [DAT](INFO): DAT read: CRC:Pass MPD:04.3 PSNR:10.6 AGC:56 SPD:+1.7 CCERR:009

2025-10-25T00:07:02.551Z,1761350822.551 [DAT](INFO): Got CRC:Pass
2025-10-25T00:07:02.551Z,1761350822.551 [DAT](INFO): Got CRC:Pass
2025-10-25T00:07:02.551Z,1761350822.551 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:07:02.551Z,1761350822.551 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:07:02.551Z,1761350822.551 [DAT](INFO): Got ack
2025-10-25T00:07:02.551Z,1761350822.551 [DAT](INFO): DAT read: 

2025-10-25T00:07:02.552Z,1761350822.552 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:07:02.662Z,1761350822.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967905,0.092552,0.233653],[-0.131643,-0.978678,-0.157669],[0.214079,-0.183367,0.959451]]
2025-10-25T00:07:03.100Z,1761350823.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958328,0.099575,0.267755],[-0.130416,-0.986410,-0.099939],[0.254165,-0.130693,0.958290]]
2025-10-25T00:07:03.301Z,1761350823.301 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:07:03.480Z,1761350823.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967609,0.086092,0.237319],[-0.118297,-0.985083,-0.124971],[0.223020,-0.148997,0.963360]]
2025-10-25T00:07:03.544Z,1761350823.544 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-25T00:07:03.554Z,1761350823.554 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:07:03.554Z,1761350823.554 [DAT](INFO): #Outgoing data=54
2025-10-25T00:07:03.555Z,1761350823.555 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:07:03.555Z,1761350823.555 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:07:03.608Z,1761350823.608 [DAT](INFO): entering command mode
2025-10-25T00:07:03.804Z,1761350823.804 [DAT](INFO): DAT read: 

2025-10-25T00:07:03.805Z,1761350823.805 [DAT](INFO): DAT read: user:40>

2025-10-25T00:07:03.806Z,1761350823.806 [DAT](INFO): entering online mode
2025-10-25T00:07:03.928Z,1761350823.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976007,0.048498,0.212270],[-0.084152,-0.983146,-0.162302],[0.200822,-0.176271,0.963639]]
2025-10-25T00:07:04.057Z,1761350824.057 [DAT](INFO): DAT read: user:40>

2025-10-25T00:07:04.057Z,1761350824.057 [DAT](INFO): DAT read: 

2025-10-25T00:07:04.058Z,1761350824.058 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-25T00:07:04.059Z,1761350824.059 [DAT](INFO): commRate: 600
2025-10-25T00:07:04.059Z,1761350824.059 [DAT](INFO): online mode acknowledged
2025-10-25T00:07:04.059Z,1761350824.059 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:07:04.059Z,1761350824.059 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:07:04.266Z,1761350824.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973525,0.020059,0.227700],[-0.067084,-0.977350,-0.200715],[0.218516,-0.210676,0.952820]]
2025-10-25T00:07:04.309Z,1761350824.309 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:07:04.561Z,1761350824.561 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:07:04.683Z,1761350824.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970057,0.004160,0.242841],[-0.065139,-0.967678,-0.243630],[0.233978,-0.252153,0.938974]]
2025-10-25T00:07:04.813Z,1761350824.813 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:07:05.066Z,1761350825.066 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:07:05.080Z,1761350825.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972977,-0.009295,0.230715],[-0.051735,-0.965011,-0.257056],[0.225032,-0.262045,0.938452]]
2025-10-25T00:07:05.317Z,1761350825.317 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:07:05.479Z,1761350825.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978997,-0.029351,0.201750],[-0.025676,-0.963952,-0.264833],[0.202250,-0.264451,0.942953]]
2025-10-25T00:07:05.569Z,1761350825.569 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:07:05.821Z,1761350825.821 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:07:05.926Z,1761350825.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978607,-0.045514,0.200642],[-0.002153,-0.972904,-0.231197],[0.205728,-0.226683,0.951993]]
2025-10-25T00:07:06.074Z,1761350826.074 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:07:06.128Z,1761350826.128 [DAT](INFO): entering command mode
2025-10-25T00:07:06.286Z,1761350826.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971840,-0.053513,0.229485],[0.005361,-0.978641,-0.205506],[0.235580,-0.198489,0.951370]]
2025-10-25T00:07:06.325Z,1761350826.325 [DAT](INFO): DAT read: 

2025-10-25T00:07:06.325Z,1761350826.325 [DAT](INFO): DAT read: user:41>

2025-10-25T00:07:06.326Z,1761350826.326 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:07:06.326Z,1761350826.326 [DAT](INFO): setting remote address to 0
2025-10-25T00:07:06.577Z,1761350826.577 [DAT](INFO): DAT read: user:41>

2025-10-25T00:07:06.578Z,1761350826.578 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-25T00:07:06.579Z,1761350826.579 [DAT](INFO): set remote address to 0
2025-10-25T00:07:06.579Z,1761350826.579 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:07:06.579Z,1761350826.579 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-25T00:07:06.691Z,1761350826.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966152,-0.053907,0.252278],[-0.002072,-0.976271,-0.216544],[0.257964,-0.209737,0.943114]]
2025-10-25T00:07:06.829Z,1761350826.829 [DAT](INFO): DAT read: user:42>

2025-10-25T00:07:06.830Z,1761350826.830 [DAT](INFO): DAT read: Tx time:00:07:05.8064

2025-10-25T00:07:06.830Z,1761350826.830 [DAT](INFO): Ping request sent.
2025-10-25T00:07:06.830Z,1761350826.830 [DAT](INFO): transmitted an acoustic signal
2025-10-25T00:07:06.830Z,1761350826.830 [DAT](INFO): publishing transmit ping time
2025-10-25T00:07:06.831Z,1761350826.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000970
2025-10-25T00:07:06.860Z,1761350826.860 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:07:07.081Z,1761350827.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250392
2025-10-25T00:07:07.103Z,1761350827.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966458,-0.044782,0.252891],[-0.009792,-0.977540,-0.210524],[0.256639,-0.205939,0.944312]]
2025-10-25T00:07:07.333Z,1761350827.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502617
2025-10-25T00:07:07.520Z,1761350827.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971263,-0.026266,0.236554],[-0.013352,-0.986314,-0.164339],[0.237633,-0.162775,0.957619]]
2025-10-25T00:07:07.585Z,1761350827.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754732
2025-10-25T00:07:07.838Z,1761350827.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007396
2025-10-25T00:07:07.865Z,1761350827.865 [DataOverHttps](INFO): Radio surface powered ON.
2025-10-25T00:07:07.865Z,1761350827.865 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:07:07.943Z,1761350827.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977321,-0.004762,0.211712],[-0.021083,-0.992592,-0.119650],[0.210713,-0.121400,0.969980]]
2025-10-25T00:07:08.089Z,1761350828.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258640
2025-10-25T00:07:08.341Z,1761350828.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510520
2025-10-25T00:07:08.344Z,1761350828.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982233,0.000977,0.187664],[-0.020614,-0.994497,-0.102719],[0.186531,-0.104762,0.976848]]
2025-10-25T00:07:08.593Z,1761350828.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762529
2025-10-25T00:07:08.710Z,1761350828.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985419,-0.009345,0.169886],[-0.007158,-0.995329,-0.096272],[0.169992,-0.096085,0.980750]]
2025-10-25T00:07:08.845Z,1761350828.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014492
2025-10-25T00:07:09.097Z,1761350829.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266615
2025-10-25T00:07:09.114Z,1761350829.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984962,-0.022639,0.171283],[0.004299,-0.994282,-0.106697],[0.172719,-0.104356,0.979427]]
2025-10-25T00:07:09.349Z,1761350829.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518559
2025-10-25T00:07:09.549Z,1761350829.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983534,-0.028289,0.178498],[0.002936,-0.990044,-0.140727],[0.180702,-0.137886,0.973825]]
2025-10-25T00:07:09.601Z,1761350829.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771202
2025-10-25T00:07:09.856Z,1761350829.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025263
2025-10-25T00:07:09.951Z,1761350829.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982255,-0.036057,0.184052],[0.007769,-0.988326,-0.152158],[0.187389,-0.148028,0.971068]]
2025-10-25T00:07:10.105Z,1761350830.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274630
2025-10-25T00:07:10.355Z,1761350830.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979849,-0.045801,0.194417],[0.020179,-0.991074,-0.131780],[0.198717,-0.125202,0.972027]]
2025-10-25T00:07:10.357Z,1761350830.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526669
2025-10-25T00:07:10.609Z,1761350830.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779204
2025-10-25T00:07:10.760Z,1761350830.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979818,-0.044053,0.194978],[0.021332,-0.992887,-0.117133],[0.198751,-0.110610,0.973788]]
2025-10-25T00:07:10.861Z,1761350830.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030503
2025-10-25T00:07:11.113Z,1761350831.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282541
2025-10-25T00:07:11.163Z,1761350831.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985158,-0.042062,0.166414],[0.024011,-0.993748,-0.109032],[0.169960,-0.103418,0.980009]]
2025-10-25T00:07:11.365Z,1761350831.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534786
2025-10-25T00:07:11.567Z,1761350831.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990424,-0.046651,0.129936],[0.032667,-0.993642,-0.107744],[0.134136,-0.102468,0.985651]]
2025-10-25T00:07:11.617Z,1761350831.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786622
2025-10-25T00:07:11.872Z,1761350831.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040932
2025-10-25T00:07:12.054Z,1761350832.054 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:07:12.054Z,1761350832.054 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:07:12.054Z,1761350832.054 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:07:12.055Z,1761350832.055 [marl:UpdateRudder:A] Stopped
2025-10-25T00:07:12.055Z,1761350832.055 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:07:12.121Z,1761350832.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290646
2025-10-25T00:07:12.373Z,1761350832.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542625
2025-10-25T00:07:12.377Z,1761350832.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990605,-0.079215,0.111472],[0.067131,-0.991852,-0.108270],[0.119140,-0.099769,0.987852]]
2025-10-25T00:07:12.446Z,1761350832.446 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:07:12.446Z,1761350832.446 [marl:UpdateRudder:B] Stopped
2025-10-25T00:07:12.446Z,1761350832.446 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:07:12.446Z,1761350832.446 [marl:UpdateRudder] Stopped
2025-10-25T00:07:12.446Z,1761350832.446 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:07:12.625Z,1761350832.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794556
2025-10-25T00:07:12.778Z,1761350832.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989136,-0.083295,0.121132],[0.069125,-0.990745,-0.116818],[0.129741,-0.107175,0.985739]]
2025-10-25T00:07:12.821Z,1761350832.821 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:07:12.821Z,1761350832.821 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:07:12.821Z,1761350832.821 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:07:12.821Z,1761350832.821 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:07:12.822Z,1761350832.822 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:07:12.822Z,1761350832.822 [marl:UpdateCommandMode] Stopped
2025-10-25T00:07:12.822Z,1761350832.822 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:07:12.822Z,1761350832.822 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:07:12.822Z,1761350832.822 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:07:12.822Z,1761350832.822 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:07:12.822Z,1761350832.822 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:07:12.823Z,1761350832.823 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:07:12.823Z,1761350832.823 [marl:UpdateSpeed] Stopped
2025-10-25T00:07:12.823Z,1761350832.823 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:07:12.878Z,1761350832.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047445
2025-10-25T00:07:13.129Z,1761350833.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298483
2025-10-25T00:07:13.182Z,1761350833.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990089,-0.083548,0.112889],[0.067123,-0.987561,-0.142188],[0.123365,-0.133202,0.983381]]
2025-10-25T00:07:13.381Z,1761350833.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550542
2025-10-25T00:07:13.633Z,1761350833.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802615
2025-10-25T00:07:13.896Z,1761350833.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.065000
2025-10-25T00:07:14.017Z,1761350834.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994927,-0.092969,0.038432],[0.083310,-0.975579,-0.203237],[0.056388,-0.199004,0.978375]]
2025-10-25T00:07:14.137Z,1761350834.137 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-25T00:07:14.137Z,1761350834.137 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:07:14.138Z,1761350834.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307592
2025-10-25T00:07:14.389Z,1761350834.389 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:07:14.389Z,1761350834.389 [DAT](INFO): #Outgoing data=54
2025-10-25T00:07:14.390Z,1761350834.390 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:07:14.390Z,1761350834.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559756
2025-10-25T00:07:14.397Z,1761350834.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995516,-0.094582,-0.001265],[0.092724,-0.973146,-0.210686],[0.018696,-0.209859,0.977553]]
2025-10-25T00:07:14.645Z,1761350834.645 [DAT](INFO): setting remote address to 10
2025-10-25T00:07:14.645Z,1761350834.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814957
2025-10-25T00:07:14.799Z,1761350834.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994744,-0.101302,-0.014880],[0.102256,-0.975512,-0.194733],[0.005211,-0.195231,0.980743]]
2025-10-25T00:07:14.893Z,1761350834.893 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:07:14.894Z,1761350834.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063281
2025-10-25T00:07:15.145Z,1761350835.145 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:07:15.145Z,1761350835.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314763
2025-10-25T00:07:15.207Z,1761350835.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993802,-0.111166,0.000030],[0.109708,-0.980807,-0.161188],[0.017948,-0.160186,0.986924]]
2025-10-25T00:07:15.396Z,1761350835.396 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:07:15.397Z,1761350835.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566655
2025-10-25T00:07:15.650Z,1761350835.650 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:07:15.651Z,1761350835.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.821006
2025-10-25T00:07:15.666Z,1761350835.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993216,-0.115824,0.010355],[0.113254,-0.983677,-0.139830],[0.026382,-0.137708,0.990121]]
2025-10-25T00:07:15.903Z,1761350835.903 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:07:15.905Z,1761350835.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074089
2025-10-25T00:07:16.152Z,1761350836.152 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:07:16.153Z,1761350836.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322561
2025-10-25T00:07:16.404Z,1761350836.404 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:07:16.405Z,1761350836.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574681
2025-10-25T00:07:16.487Z,1761350836.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991069,-0.117657,-0.062762],[0.125150,-0.983162,-0.133152],[-0.046039,-0.139818,0.989106]]
2025-10-25T00:07:16.658Z,1761350836.658 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:07:16.658Z,1761350836.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.828108
2025-10-25T00:07:16.883Z,1761350836.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985261,-0.123811,-0.118033],[0.139763,-0.980500,-0.138155],[-0.098626,-0.152616,0.983352]]
2025-10-25T00:07:16.909Z,1761350836.909 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:07:16.909Z,1761350836.909 [DAT](INFO): Reached modem response timeout
2025-10-25T00:07:17.161Z,1761350837.161 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:07:17.287Z,1761350837.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979167,-0.135849,-0.150920],[0.158191,-0.976328,-0.147511],[-0.127308,-0.168312,0.977478]]
2025-10-25T00:07:17.413Z,1761350837.413 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:07:17.665Z,1761350837.665 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:07:17.692Z,1761350837.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977898,-0.152645,-0.142878],[0.174313,-0.972575,-0.153988],[-0.115454,-0.175490,0.977688]]
2025-10-25T00:07:17.916Z,1761350837.916 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:07:18.171Z,1761350838.171 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:07:18.425Z,1761350838.425 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:07:18.543Z,1761350838.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982038,-0.163562,-0.094068],[0.176036,-0.973682,-0.144755],[-0.067916,-0.158715,0.984986]]
2025-10-25T00:07:18.677Z,1761350838.677 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:07:18.929Z,1761350838.929 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:07:18.940Z,1761350838.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980379,-0.155165,-0.121576],[0.172410,-0.973956,-0.147259],[-0.095560,-0.165331,0.981598]]
2025-10-25T00:07:19.181Z,1761350839.181 [DAT](INFO): DAT read: Response Not Received

2025-10-25T00:07:19.181Z,1761350839.181 [DAT](INFO): response not received
2025-10-25T00:07:19.182Z,1761350839.182 [DAT](INFO): DAT read: user:43>

2025-10-25T00:07:19.182Z,1761350839.182 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-25T00:07:19.183Z,1761350839.183 [DAT](INFO): set remote address to 10
2025-10-25T00:07:19.183Z,1761350839.183 [DAT](INFO): entering online mode
2025-10-25T00:07:19.343Z,1761350839.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972295,-0.153701,-0.176122],[0.181479,-0.971215,-0.154292],[-0.147337,-0.181980,0.972201]]
2025-10-25T00:07:19.433Z,1761350839.433 [DAT](INFO): DAT read: user:44>

2025-10-25T00:07:19.433Z,1761350839.433 [DAT](INFO): DAT read: 

2025-10-25T00:07:19.434Z,1761350839.434 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-25T00:07:19.435Z,1761350839.435 [DAT](INFO): commRate: 600
2025-10-25T00:07:19.435Z,1761350839.435 [DAT](INFO): online mode acknowledged
2025-10-25T00:07:19.435Z,1761350839.435 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:07:19.765Z,1761350839.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963795,-0.156276,-0.216049],[0.192963,-0.967966,-0.160645],[-0.184023,-0.196519,0.963076]]
2025-10-25T00:07:20.570Z,1761350840.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960625,-0.142607,-0.238460],[0.186126,-0.967495,-0.171203],[-0.206294,-0.208846,0.955943]]
2025-10-25T00:07:20.981Z,1761350840.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954695,-0.158662,-0.251760],[0.198101,-0.970160,-0.139809],[-0.222065,-0.183349,0.957638]]
2025-10-25T00:07:21.378Z,1761350841.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944418,-0.176690,-0.277228],[0.215384,-0.969647,-0.115737],[-0.248364,-0.169015,0.953808]]
2025-10-25T00:07:21.784Z,1761350841.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938213,-0.174405,-0.298897],[0.216924,-0.969356,-0.115293],[-0.269630,-0.173007,0.947295]]
2025-10-25T00:07:22.327Z,1761350842.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935491,-0.162159,-0.313946],[0.208666,-0.970537,-0.120481],[-0.285159,-0.178219,0.941766]]
2025-10-25T00:07:22.719Z,1761350842.719 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:07:21.7551

2025-10-25T00:07:22.719Z,1761350842.719 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:07:22.730Z,1761350842.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933803,-0.182659,-0.307647],[0.233855,-0.962365,-0.138438],[-0.270782,-0.201219,0.941376]]
2025-10-25T00:07:23.131Z,1761350843.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937066,-0.207705,-0.280653],[0.252207,-0.958531,-0.132700],[-0.241452,-0.195131,0.950592]]
2025-10-25T00:07:23.534Z,1761350843.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943318,-0.196745,-0.267285],[0.227570,-0.969648,-0.089409],[-0.241582,-0.145167,0.959461]]
2025-10-25T00:07:24.351Z,1761350844.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908582,-0.100706,-0.405384],[0.143109,-0.986815,-0.075603],[-0.392426,-0.126706,0.911015]]
2025-10-25T00:07:24.757Z,1761350844.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877190,-0.109474,-0.467497],[0.182668,-0.976535,-0.114073],[-0.444039,-0.185461,0.876603]]
2025-10-25T00:07:25.158Z,1761350845.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866678,-0.164606,-0.470929],[0.259613,-0.954916,-0.144003],[-0.425993,-0.247063,0.870339]]
2025-10-25T00:07:25.196Z,1761350845.196 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:07:25.196Z,1761350845.196 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:07:25.197Z,1761350845.197 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:07:25.197Z,1761350845.197 [marl:UpdateRudder:A] Stopped
2025-10-25T00:07:25.197Z,1761350845.197 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:07:25.565Z,1761350845.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871049,-0.215582,-0.441359],[0.309145,-0.938866,-0.151526],[-0.381711,-0.268431,0.884444]]
2025-10-25T00:07:25.609Z,1761350845.609 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:07:25.609Z,1761350845.609 [marl:UpdateRudder:B] Stopped
2025-10-25T00:07:25.610Z,1761350845.610 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:07:25.610Z,1761350845.610 [marl:UpdateRudder] Stopped
2025-10-25T00:07:25.610Z,1761350845.610 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:07:25.980Z,1761350845.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880406,-0.269572,-0.390149],[0.337105,-0.934407,-0.115081],[-0.333535,-0.232839,0.913532]]
2025-10-25T00:07:26.039Z,1761350846.039 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:07:26.039Z,1761350846.039 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:07:26.039Z,1761350846.039 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:07:26.039Z,1761350846.039 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:07:26.039Z,1761350846.039 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:07:26.043Z,1761350846.043 [marl:UpdateCommandMode] Stopped
2025-10-25T00:07:26.044Z,1761350846.044 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:07:26.044Z,1761350846.044 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:07:26.044Z,1761350846.044 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:07:26.044Z,1761350846.044 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:07:26.044Z,1761350846.044 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:07:26.045Z,1761350846.045 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:07:26.045Z,1761350846.045 [marl:UpdateSpeed] Stopped
2025-10-25T00:07:26.045Z,1761350846.045 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:07:26.373Z,1761350846.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897928,-0.302592,-0.319631],[0.348465,-0.932365,-0.096269],[-0.268883,-0.197822,0.942639]]
2025-10-25T00:07:26.775Z,1761350846.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919133,-0.288762,-0.267975],[0.326532,-0.938977,-0.108164],[-0.220389,-0.186919,0.957335]]
2025-10-25T00:07:27.178Z,1761350847.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916242,-0.320143,-0.240850],[0.358721,-0.923275,-0.137414],[-0.178378,-0.212302,0.960786]]
2025-10-25T00:07:27.587Z,1761350847.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913019,-0.370395,-0.170891],[0.394205,-0.908875,-0.136193],[-0.104873,-0.191713,0.975832]]
2025-10-25T00:07:27.995Z,1761350847.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919096,-0.386401,-0.077174],[0.393448,-0.910620,-0.126372],[-0.021446,-0.146512,0.988976]]
2025-10-25T00:07:28.390Z,1761350848.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927224,-0.374167,-0.015951],[0.373276,-0.919888,-0.120291],[0.030336,-0.117491,0.992611]]
2025-10-25T00:07:28.794Z,1761350848.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927849,-0.368418,-0.057994],[0.372582,-0.922597,-0.099988],[-0.016668,-0.114382,0.993297]]
2025-10-25T00:07:29.200Z,1761350849.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903657,-0.402853,-0.145304],[0.421051,-0.897730,-0.129605],[-0.078232,-0.178299,0.980862]]
2025-10-25T00:07:29.269Z,1761350849.269 [DAT](INFO): DAT read: Rx Time:00:07:27.8603

2025-10-25T00:07:29.269Z,1761350849.269 [DAT](INFO): Rx dataTimestamp_ set to:1761350849.269144
2025-10-25T00:07:29.605Z,1761350849.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909881,-0.376616,-0.174002],[0.406129,-0.894220,-0.188230],[-0.084705,-0.241934,0.966588]]
2025-10-25T00:07:30.030Z,1761350850.030 [DAT](INFO): DAT read: 00:07:27.8603 LVL= 29360, 26097, 32754, 29139, AGC= 64, IDX= 300,-0.18,-1.992, 2.686,-3.050,-2.815, PHS= 0.925,-0.737,-0.279, RAW= 105.5,   1.2, CAL= 106.4,   0.4, ROT=  43.6,  -0.4

2025-10-25T00:07:30.031Z,1761350850.031 [DAT](INFO): got valid direction response:
 00:07:27.8603 LVL= 29360, 26097, 32754, 29139, AGC= 64, IDX= 300,-0.18,-1.992, 2.686,-3.050,-2.815, PHS= 0.925,-0.737,-0.279, RAW= 105.5,   1.2, CAL= 106.4,   0.4, ROT=  43.6,  -0.4

2025-10-25T00:07:30.032Z,1761350850.032 [DAT](INFO): DAT read: 

2025-10-25T00:07:30.033Z,1761350850.033 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:07:30.033Z,1761350850.033 [DAT](INFO): Got DATA 2
2025-10-25T00:07:30.034Z,1761350850.034 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:07:30.034Z,1761350850.034 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:07:30.034Z,1761350850.034 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:07:30.040Z,1761350850.040 [DAT](INFO): DAT read: CRC:Pass MPD:03.8 PSNR:10.6 AGC:65 SPD:+0.9 CCERR:006

2025-10-25T00:07:30.040Z,1761350850.040 [DAT](INFO): Got CRC:Pass
2025-10-25T00:07:30.040Z,1761350850.040 [DAT](INFO): Got CRC:Pass
2025-10-25T00:07:30.040Z,1761350850.040 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:07:30.040Z,1761350850.040 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:07:30.040Z,1761350850.040 [DAT](INFO): Got ack
2025-10-25T00:07:30.041Z,1761350850.041 [DAT](INFO): DAT read: 

2025-10-25T00:07:30.041Z,1761350850.041 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:07:30.042Z,1761350850.042 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-25T00:07:30.042Z,1761350850.042 [DAT](INFO): direction in FSK: [0.724154,0.689603,0.006981]
2025-10-25T00:07:30.198Z,1761350850.198 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761350912.00. Resetting abort timer.
2025-10-25T00:07:30.433Z,1761350850.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902258,-0.388815,-0.186422],[0.420118,-0.890045,-0.176975],[-0.097114,-0.237996,0.966399]]
2025-10-25T00:07:30.835Z,1761350850.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878669,-0.459219,-0.130609],[0.472979,-0.874543,-0.107078],[-0.065050,-0.155862,0.985635]]
2025-10-25T00:07:31.239Z,1761350851.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880570,-0.464308,-0.094941],[0.467403,-0.883962,-0.012113],[-0.078300,-0.055042,0.995409]]
2025-10-25T00:07:31.643Z,1761350851.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876969,-0.473973,-0.079215],[0.474488,-0.880160,0.013401],[-0.076074,-0.025835,0.996767]]
2025-10-25T00:07:32.046Z,1761350852.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860581,-0.505676,-0.060762],[0.508361,-0.860131,-0.041769],[-0.031142,-0.066835,0.997278]]
2025-10-25T00:07:32.457Z,1761350852.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851204,-0.518308,-0.082514],[0.524835,-0.840625,-0.133783],[-0.000022,-0.157183,0.987570]]
2025-10-25T00:07:33.259Z,1761350853.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855959,-0.500005,-0.131637],[0.516919,-0.833121,-0.196732],[-0.011303,-0.236441,0.971580]]
2025-10-25T00:07:33.670Z,1761350853.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827135,-0.555201,-0.087179],[0.561671,-0.811309,-0.162182],[0.019315,-0.183112,0.982902]]
2025-10-25T00:07:33.719Z,1761350853.719 [marl:SendObservationData] Running Loop=1
2025-10-25T00:07:33.719Z,1761350853.719 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-25T00:07:33.719Z,1761350853.719 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-25T00:07:33.720Z,1761350853.720 [marl:SendObservationData:A] Running Loop=1
2025-10-25T00:07:33.722Z,1761350853.722 [marl:SendObservationData:A](INFO): Got test_good :  41da3f052000000040514000000000004042636d1ff20f78c05e77537f3c91bd402c129180000000406bdcccc0000000 n/a str  and temp var is  nan n/a str 
2025-10-25T00:07:33.722Z,1761350853.722 [marl:SendObservationData:A] Stopped
2025-10-25T00:07:33.722Z,1761350853.722 [marl:SendObservationData:B] Running Loop=1
2025-10-25T00:07:34.069Z,1761350854.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826838,-0.557082,-0.077454],[0.562340,-0.816206,-0.132598],[0.010649,-0.153192,0.988139]]
2025-10-25T00:07:34.139Z,1761350854.139 [marl:SendObservationData:B] Stopped
2025-10-25T00:07:34.139Z,1761350854.139 [marl:SendObservationData:C] Running Loop=1
2025-10-25T00:07:34.479Z,1761350854.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826540,-0.556226,-0.086283],[0.562666,-0.812256,-0.153775],[0.015450,-0.175649,0.984332]]
2025-10-25T00:07:34.506Z,1761350854.506 [marl:SendObservationData:C] Stopped
2025-10-25T00:07:34.506Z,1761350854.506 [marl:SendObservationData:E] Running Loop=1
2025-10-25T00:07:34.874Z,1761350854.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849687,-0.517517,-0.101031],[0.527246,-0.831499,-0.174990],[0.006554,-0.201955,0.979373]]
2025-10-25T00:07:34.911Z,1761350854.911 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.013942 min 
2025-10-25T00:07:34.911Z,1761350854.911 [marl:SendObservationData:E] Stopped
2025-10-25T00:07:34.912Z,1761350854.912 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-25T00:07:34.912Z,1761350854.912 [marl:SendObservationData] Stopped
2025-10-25T00:07:34.912Z,1761350854.912 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-25T00:07:34.912Z,1761350854.912 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-25T00:07:35.279Z,1761350855.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834875,-0.524715,-0.166307],[0.548192,-0.819883,-0.165160],[-0.049691,-0.229057,0.972144]]
2025-10-25T00:07:35.692Z,1761350855.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806486,-0.568833,-0.161273],[0.591013,-0.783358,-0.192492],[-0.016838,-0.250556,0.967956]]
2025-10-25T00:07:36.119Z,1761350856.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799923,-0.586718,-0.126033],[0.599866,-0.787671,-0.140481],[-0.016850,-0.187977,0.982029]]
2025-10-25T00:07:36.491Z,1761350856.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782732,-0.612223,-0.111861],[0.618641,-0.785002,-0.032492],[-0.067919,-0.094634,0.993192]]
2025-10-25T00:07:36.898Z,1761350856.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770391,-0.633652,-0.070595],[0.637529,-0.766893,-0.073700],[-0.007439,-0.101784,0.994779]]
2025-10-25T00:07:37.298Z,1761350857.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777582,-0.628773,-0.003302],[0.612188,-0.755852,-0.232194],[0.143501,-0.182572,0.972664]]
2025-10-25T00:07:37.702Z,1761350857.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787150,-0.616620,0.013209],[0.579140,-0.746330,-0.328006],[0.212114,-0.250540,0.944583]]
2025-10-25T00:07:37.984Z,1761350857.984 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:07:38.199Z,1761350858.199 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:07:38.199Z,1761350858.199 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:07:38.200Z,1761350858.200 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:07:38.200Z,1761350858.200 [marl:UpdateRudder:A] Stopped
2025-10-25T00:07:38.200Z,1761350858.200 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:07:38.510Z,1761350858.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792517,-0.602290,-0.095727],[0.606653,-0.762540,-0.224731],[0.062357,-0.236176,0.969707]]
2025-10-25T00:07:38.548Z,1761350858.548 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:07:38.549Z,1761350858.549 [marl:UpdateRudder:B] Stopped
2025-10-25T00:07:38.549Z,1761350858.549 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:07:38.549Z,1761350858.549 [marl:UpdateRudder] Stopped
2025-10-25T00:07:38.549Z,1761350858.549 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:07:38.549Z,1761350858.549 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:07:38.549Z,1761350858.549 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:07:38.549Z,1761350858.549 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:07:38.550Z,1761350858.550 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:07:38.550Z,1761350858.550 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:07:38.550Z,1761350858.550 [marl:UpdateCommandMode] Stopped
2025-10-25T00:07:38.550Z,1761350858.550 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:07:38.550Z,1761350858.550 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:07:38.550Z,1761350858.550 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:07:38.550Z,1761350858.550 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:07:38.550Z,1761350858.550 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:07:38.551Z,1761350858.551 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:07:38.551Z,1761350858.551 [marl:UpdateSpeed] Stopped
2025-10-25T00:07:38.551Z,1761350858.551 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:07:38.914Z,1761350858.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804826,-0.586785,-0.089105],[0.593480,-0.794121,-0.130971],[0.006092,-0.158291,0.987374]]
2025-10-25T00:07:38.988Z,1761350858.988 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:07:39.318Z,1761350859.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820687,-0.564733,-0.086891],[0.570315,-0.818905,-0.064311],[-0.034837,-0.102334,0.994140]]
2025-10-25T00:07:39.726Z,1761350859.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790910,-0.599700,-0.121743],[0.608994,-0.790852,-0.060665],[-0.059900,-0.122121,0.990706]]
2025-10-25T00:07:40.129Z,1761350860.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748808,-0.651133,-0.123744],[0.661599,-0.745498,-0.080748],[-0.039673,-0.142334,0.989023]]
2025-10-25T00:07:40.530Z,1761350860.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750869,-0.656175,-0.075032],[0.660373,-0.744175,-0.100550],[0.010141,-0.125049,0.992099]]
2025-10-25T00:07:40.940Z,1761350860.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771039,-0.636756,0.006352],[0.627218,-0.761136,-0.165134],[0.109985,-0.123341,0.986251]]
2025-10-25T00:07:41.340Z,1761350861.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737968,-0.669831,0.082034],[0.634720,-0.730239,-0.252747],[0.229203,-0.134450,0.964048]]
2025-10-25T00:07:41.742Z,1761350861.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723527,-0.680917,0.113401],[0.645439,-0.725573,-0.238647],[0.244780,-0.099474,0.964462]]
2025-10-25T00:07:42.147Z,1761350862.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786296,-0.616690,0.037855],[0.611253,-0.785368,-0.097813],[0.090050,-0.053771,0.994485]]
2025-10-25T00:07:42.550Z,1761350862.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785818,-0.608520,-0.110428],[0.615089,-0.787590,-0.036981],[-0.064468,-0.096983,0.993196]]
2025-10-25T00:07:42.961Z,1761350862.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725231,-0.668799,-0.163547],[0.688485,-0.702615,-0.179779],[0.005326,-0.242981,0.970016]]
2025-10-25T00:07:43.359Z,1761350863.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680110,-0.721049,-0.132431],[0.723056,-0.629934,-0.283501],[0.120996,-0.288567,0.949784]]
2025-10-25T00:07:43.762Z,1761350863.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717644,-0.691411,-0.083299],[0.685330,-0.679904,-0.260870],[0.123733,-0.244298,0.961774]]
2025-10-25T00:07:44.167Z,1761350864.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754570,-0.649595,-0.093008],[0.652360,-0.727209,-0.213526],[0.071069,-0.221795,0.972500]]
2025-10-25T00:07:44.572Z,1761350864.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712350,-0.687232,-0.142375],[0.700621,-0.684463,-0.201596],[0.041093,-0.243357,0.969066]]
2025-10-25T00:07:44.974Z,1761350864.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656134,-0.733087,-0.179083],[0.753747,-0.648199,-0.108180],[-0.036776,-0.205964,0.977868]]
2025-10-25T00:07:45.380Z,1761350865.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676546,-0.722278,-0.143526],[0.730022,-0.683421,-0.001909],[-0.096710,-0.106069,0.989645]]
2025-10-25T00:07:45.782Z,1761350865.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681576,-0.727782,-0.076073],[0.731501,-0.680350,-0.045054],[-0.018967,-0.086355,0.996084]]
2025-10-25T00:07:46.590Z,1761350866.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613727,-0.788515,0.039799],[0.783704,-0.614539,-0.090279],[0.095644,-0.024216,0.995121]]
2025-10-25T00:07:46.996Z,1761350866.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616393,-0.787222,0.018479],[0.786318,-0.616598,-0.038874],[0.041996,-0.009432,0.999073]]
2025-10-25T00:07:47.398Z,1761350867.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633493,-0.772615,-0.041869],[0.772462,-0.628394,-0.091778],[0.044599,-0.090483,0.994899]]
2025-10-25T00:07:47.802Z,1761350867.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648977,-0.756284,-0.082851],[0.755526,-0.627828,-0.187118],[0.089498,-0.184031,0.978837]]
2025-10-25T00:07:48.207Z,1761350868.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653303,-0.749883,-0.104265],[0.745777,-0.613678,-0.259261],[0.130431,-0.247134,0.960163]]
2025-10-25T00:07:48.610Z,1761350868.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634229,-0.768451,-0.085064],[0.760552,-0.600334,-0.247307],[0.138977,-0.221545,0.965196]]
2025-10-25T00:07:49.014Z,1761350869.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616194,-0.787532,0.009927],[0.775959,-0.609202,-0.163586],[0.134876,-0.093098,0.986479]]
2025-10-25T00:07:49.427Z,1761350869.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629455,-0.770834,0.097990],[0.760751,-0.637026,-0.124324],[0.158255,-0.003710,0.987391]]
2025-10-25T00:07:49.833Z,1761350869.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646019,-0.757208,0.096409],[0.754349,-0.652621,-0.071013],[0.116690,0.026850,0.992805]]
2025-10-25T00:07:50.226Z,1761350870.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666600,-0.745343,-0.010435],[0.745129,-0.665890,-0.037061],[0.020675,-0.032480,0.999259]]
2025-10-25T00:07:50.631Z,1761350870.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687827,-0.721290,-0.081451],[0.725195,-0.677989,-0.120096],[0.031401,-0.141673,0.989415]]
2025-10-25T00:07:50.682Z,1761350870.682 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:07:50.682Z,1761350870.682 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:07:50.683Z,1761350870.683 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:07:50.684Z,1761350870.684 [marl:UpdateRudder:A] Stopped
2025-10-25T00:07:50.684Z,1761350870.684 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:07:51.035Z,1761350871.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679034,-0.727734,-0.096522],[0.729038,-0.653067,-0.204954],[0.086117,-0.209539,0.974001]]
2025-10-25T00:07:51.092Z,1761350871.092 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:07:51.092Z,1761350871.092 [marl:UpdateRudder:B] Stopped
2025-10-25T00:07:51.093Z,1761350871.093 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:07:51.093Z,1761350871.093 [marl:UpdateRudder] Stopped
2025-10-25T00:07:51.093Z,1761350871.093 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:07:51.093Z,1761350871.093 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:07:51.093Z,1761350871.093 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:07:51.093Z,1761350871.093 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:07:51.093Z,1761350871.093 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:07:51.093Z,1761350871.093 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:07:51.094Z,1761350871.094 [marl:UpdateCommandMode] Stopped
2025-10-25T00:07:51.094Z,1761350871.094 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:07:51.094Z,1761350871.094 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:07:51.094Z,1761350871.094 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:07:51.094Z,1761350871.094 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:07:51.094Z,1761350871.094 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:07:51.094Z,1761350871.094 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:07:51.094Z,1761350871.094 [marl:UpdateSpeed] Stopped
2025-10-25T00:07:51.095Z,1761350871.095 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:07:51.443Z,1761350871.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641042,-0.760702,-0.101967],[0.760626,-0.611916,-0.216809],[0.102532,-0.216543,0.970874]]
2025-10-25T00:07:51.855Z,1761350871.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639224,-0.766835,-0.057931],[0.768375,-0.633788,-0.088950],[0.031494,-0.101372,0.994350]]
2025-10-25T00:07:52.658Z,1761350872.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676887,-0.736040,0.008358],[0.723628,-0.667466,-0.175646],[0.134861,-0.112845,0.984418]]
2025-10-25T00:07:53.056Z,1761350873.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702336,-0.711568,-0.019882],[0.679892,-0.662273,-0.314867],[0.210882,-0.234660,0.948928]]
2025-10-25T00:07:53.458Z,1761350873.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709973,-0.703808,-0.024356],[0.666209,-0.660031,-0.347167],[0.228263,-0.262705,0.937487]]
2025-10-25T00:07:53.916Z,1761350873.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804407,-0.564818,-0.184147],[0.590577,-0.793885,-0.144796],[-0.064408,-0.225228,0.972175]]
2025-10-25T00:07:54.675Z,1761350874.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711791,-0.619969,-0.330138],[0.678462,-0.728502,-0.094732],[-0.181775,-0.291415,0.939167]]
2025-10-25T00:07:55.076Z,1761350875.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638708,-0.709051,-0.298829],[0.759859,-0.642362,-0.099926],[-0.121104,-0.290891,0.949061]]
2025-10-25T00:07:55.478Z,1761350875.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615281,-0.770098,-0.168458],[0.787278,-0.611203,-0.081391],[-0.040283,-0.182702,0.982343]]
2025-10-25T00:07:55.915Z,1761350875.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555121,-0.823930,0.113928],[0.824885,-0.562924,-0.051777],[0.106794,0.065235,0.992139]]
2025-10-25T00:07:56.698Z,1761350876.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548419,-0.835007,0.044725],[0.822435,-0.548283,-0.151612],[0.151119,-0.046364,0.987428]]
2025-10-25T00:07:57.101Z,1761350877.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530853,-0.843535,-0.081503],[0.842171,-0.514361,-0.161806],[0.094567,-0.154535,0.983451]]
2025-10-25T00:07:57.503Z,1761350877.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513207,-0.845259,-0.148850],[0.858066,-0.501582,-0.110170],[0.018461,-0.184263,0.982704]]
2025-10-25T00:07:57.927Z,1761350877.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508278,-0.849130,-0.143636],[0.860596,-0.507019,-0.048017],[-0.032054,-0.148018,0.988465]]
2025-10-25T00:07:58.307Z,1761350878.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482672,-0.869270,-0.106757],[0.875212,-0.483220,-0.022400],[-0.032115,-0.104247,0.994033]]
2025-10-25T00:07:58.713Z,1761350878.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461323,-0.886696,-0.030844],[0.887162,-0.461444,-0.003477],[-0.011149,-0.028967,0.999518]]
2025-10-25T00:07:59.114Z,1761350879.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472242,-0.881469,0.000649],[0.879885,-0.471349,0.060270],[-0.052820,0.029033,0.998182]]
2025-10-25T00:07:59.519Z,1761350879.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454353,-0.890366,-0.028495],[0.886247,-0.455026,0.086705],[-0.090166,0.014141,0.995826]]
2025-10-25T00:08:00.327Z,1761350880.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361683,-0.930351,0.060269],[0.909604,-0.366317,-0.196039],[0.204462,-0.016083,0.978742]]
2025-10-25T00:08:00.730Z,1761350880.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369655,-0.925198,0.085811],[0.885944,-0.378792,-0.267619],[0.280105,-0.022903,0.959696]]
2025-10-25T00:08:01.146Z,1761350881.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382097,-0.923893,0.020600],[0.912856,-0.380815,-0.147221],[0.143861,-0.037448,0.988889]]
2025-10-25T00:08:01.151Z,1761350881.151 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,000757.01,A,3646.57973,N,12151.84841,W,0.972,260.13,251025,,,A*7C
2025-10-25T00:08:01.153Z,1761350881.153 [NAL9602](INFO): GPS fix at 20251025T000757: (36.776329, -121.864140)
2025-10-25T00:08:01.187Z,1761350881.187 [UniversalFixResidualReporter](INFO): Fix residual: 7.6 %DT, over the last 603.5 m. Residual distance 45.9 m at bearing -75.8 degrees. Fix at (36.7763, -121.8641) with 98.8 m made good.
2025-10-25T00:08:01.206Z,1761350881.206 [marl:NeedComms:C] Stopped
2025-10-25T00:08:01.206Z,1761350881.206 [marl:NeedComms:D] Running Loop=1
2025-10-25T00:08:01.216Z,1761350881.216 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761350912.00. Resetting abort timer.
2025-10-25T00:08:01.540Z,1761350881.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377252,-0.924832,-0.048659],[0.925501,-0.374576,-0.056044],[0.033605,-0.066177,0.997242]]
2025-10-25T00:08:01.965Z,1761350881.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361833,-0.930795,-0.051935],[0.924075,-0.350748,-0.151858],[0.123133,-0.102939,0.987037]]
2025-10-25T00:08:02.367Z,1761350882.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326124,-0.945244,-0.012543],[0.917546,-0.313319,-0.244830],[0.227494,-0.091354,0.969485]]
2025-10-25T00:08:02.477Z,1761350882.477 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:08:02.477Z,1761350882.477 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:08:02.770Z,1761350882.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264320,-0.963641,0.039133],[0.935793,-0.266074,-0.231293],[0.233296,-0.024515,0.972097]]
2025-10-25T00:08:03.174Z,1761350883.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241244,-0.966511,0.087506],[0.953422,-0.252867,-0.164454],[0.181074,0.043756,0.982496]]
2025-10-25T00:08:03.580Z,1761350883.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276999,-0.954792,0.107910],[0.955040,-0.285929,-0.078378],[0.105690,0.081348,0.991066]]
2025-10-25T00:08:03.605Z,1761350883.605 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:08:03.605Z,1761350883.605 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:08:03.605Z,1761350883.605 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:08:03.606Z,1761350883.606 [marl:UpdateRudder:A] Stopped
2025-10-25T00:08:03.606Z,1761350883.606 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:08:03.608Z,1761350883.608 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-25T00:08:03.836Z,1761350883.836 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:08:03.892Z,1761350883.892 [DAT](INFO): entering command mode
2025-10-25T00:08:03.983Z,1761350883.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249592,-0.965458,0.074794],[0.964158,-0.254949,-0.073487],[0.090018,0.053771,0.994488]]
2025-10-25T00:08:04.037Z,1761350884.037 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-25T00:08:04.038Z,1761350884.038 [marl:UpdateRudder:B] Stopped
2025-10-25T00:08:04.038Z,1761350884.038 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:08:04.038Z,1761350884.038 [marl:UpdateRudder] Stopped
2025-10-25T00:08:04.038Z,1761350884.038 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:08:04.038Z,1761350884.038 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:08:04.038Z,1761350884.038 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:08:04.038Z,1761350884.038 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:08:04.038Z,1761350884.038 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:08:04.039Z,1761350884.039 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:08:04.039Z,1761350884.039 [marl:UpdateCommandMode] Stopped
2025-10-25T00:08:04.039Z,1761350884.039 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:08:04.039Z,1761350884.039 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:08:04.039Z,1761350884.039 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:08:04.039Z,1761350884.039 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:08:04.039Z,1761350884.039 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:08:04.039Z,1761350884.039 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:08:04.040Z,1761350884.040 [marl:UpdateSpeed] Stopped
2025-10-25T00:08:04.040Z,1761350884.040 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:08:04.089Z,1761350884.089 [DAT](INFO): DAT read: 

2025-10-25T00:08:04.090Z,1761350884.090 [DAT](INFO): DAT read: user:45>

2025-10-25T00:08:04.091Z,1761350884.091 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:08:04.091Z,1761350884.091 [DAT](INFO): setting remote address to 0
2025-10-25T00:08:04.341Z,1761350884.341 [DAT](INFO): DAT read: user:45>

2025-10-25T00:08:04.342Z,1761350884.342 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-25T00:08:04.342Z,1761350884.342 [DAT](INFO): set remote address to 0
2025-10-25T00:08:04.342Z,1761350884.342 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:08:04.343Z,1761350884.343 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-25T00:08:04.414Z,1761350884.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213225,-0.975624,0.051898],[0.963708,-0.218760,-0.153007],[0.160630,0.017390,0.986861]]
2025-10-25T00:08:04.593Z,1761350884.593 [DAT](INFO): DAT read: user:46>

2025-10-25T00:08:04.594Z,1761350884.594 [DAT](INFO): DAT read: Tx time:00:08:03.6061

2025-10-25T00:08:04.594Z,1761350884.594 [DAT](INFO): Ping request sent.
2025-10-25T00:08:04.594Z,1761350884.594 [DAT](INFO): transmitted an acoustic signal
2025-10-25T00:08:04.594Z,1761350884.594 [DAT](INFO): publishing transmit ping time
2025-10-25T00:08:04.595Z,1761350884.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000942
2025-10-25T00:08:04.790Z,1761350884.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224942,-0.974358,-0.005314],[0.959235,-0.220487,-0.176788],[0.171083,-0.044865,0.984235]]
2025-10-25T00:08:04.845Z,1761350884.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250967
2025-10-25T00:08:05.100Z,1761350885.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505492
2025-10-25T00:08:05.194Z,1761350885.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207502,-0.977515,-0.037513],[0.973021,-0.202290,-0.110944],[0.100861,-0.059522,0.993118]]
2025-10-25T00:08:05.349Z,1761350885.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754622
2025-10-25T00:08:05.598Z,1761350885.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186080,-0.982417,-0.015193],[0.980196,-0.184549,-0.071819],[0.067752,-0.028256,0.997302]]
2025-10-25T00:08:05.601Z,1761350885.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006789
2025-10-25T00:08:05.855Z,1761350885.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260643
2025-10-25T00:08:06.003Z,1761350886.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212383,-0.976973,-0.020424],[0.976591,-0.211477,-0.039339],[0.034114,-0.028301,0.999017]]
2025-10-25T00:08:06.105Z,1761350886.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511124
2025-10-25T00:08:06.357Z,1761350886.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762844
2025-10-25T00:08:06.415Z,1761350886.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199766,-0.977754,-0.063954],[0.979701,-0.198199,-0.030042],[0.016698,-0.068657,0.997501]]
2025-10-25T00:08:06.609Z,1761350886.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014783
2025-10-25T00:08:06.810Z,1761350886.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138220,-0.986531,-0.087470],[0.989642,-0.134116,-0.051198],[0.038777,-0.093640,0.994851]]
2025-10-25T00:08:06.861Z,1761350886.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266787
2025-10-25T00:08:07.113Z,1761350887.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519380
2025-10-25T00:08:07.214Z,1761350887.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104740,-0.993723,-0.039286],[0.989931,-0.100395,-0.099789],[0.095219,-0.049342,0.994233]]
2025-10-25T00:08:07.365Z,1761350887.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770840
2025-10-25T00:08:07.617Z,1761350887.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022692
2025-10-25T00:08:07.620Z,1761350887.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101809,-0.994434,0.027143],[0.993459,-0.103052,-0.049193],[0.051716,0.021957,0.998420]]
2025-10-25T00:08:07.873Z,1761350887.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278137
2025-10-25T00:08:08.023Z,1761350888.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109012,-0.993553,0.031139],[0.993929,-0.108478,0.018356],[-0.014860,0.032951,0.999346]]
2025-10-25T00:08:08.121Z,1761350888.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527168
2025-10-25T00:08:08.373Z,1761350888.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779377
2025-10-25T00:08:08.437Z,1761350888.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064884,-0.997568,0.025441],[0.997131,-0.065809,-0.037390],[0.038973,0.022942,0.998977]]
2025-10-25T00:08:08.625Z,1761350888.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030880
2025-10-25T00:08:08.830Z,1761350888.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058753,-0.998244,0.007558],[0.997917,-0.058932,-0.026229],[0.026628,0.006001,0.999627]]
2025-10-25T00:08:08.877Z,1761350888.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283136
2025-10-25T00:08:09.116Z,1761350889.116 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:08:09.129Z,1761350889.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534912
2025-10-25T00:08:09.234Z,1761350889.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076413,-0.996038,-0.045482],[0.995787,-0.078554,0.047310],[-0.050695,-0.041675,0.997844]]
2025-10-25T00:08:09.381Z,1761350889.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787407
2025-10-25T00:08:09.633Z,1761350889.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038770
2025-10-25T00:08:09.641Z,1761350889.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068987,-0.989753,-0.125022],[0.996605,-0.074018,0.036047],[-0.044932,-0.122110,0.991499]]
2025-10-25T00:08:09.896Z,1761350889.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.301087
2025-10-25T00:08:10.112Z,1761350890.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130457,-0.975296,-0.178267],[0.991351,-0.130914,-0.009244],[-0.014322,-0.177931,0.983939]]
2025-10-25T00:08:10.120Z,1761350890.120 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:08:10.145Z,1761350890.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550671
2025-10-25T00:08:10.397Z,1761350890.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.803025
2025-10-25T00:08:10.650Z,1761350890.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.055693
2025-10-25T00:08:10.901Z,1761350890.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.306718
2025-10-25T00:08:11.153Z,1761350891.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.558743
2025-10-25T00:08:11.405Z,1761350891.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810752
2025-10-25T00:08:11.658Z,1761350891.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063815
2025-10-25T00:08:11.909Z,1761350891.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314757
2025-10-25T00:08:12.161Z,1761350892.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566738
2025-10-25T00:08:12.388Z,1761350892.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055864,-0.978486,0.198608],[0.996540,0.066905,0.049319],[-0.061546,0.195165,0.978837]]
2025-10-25T00:08:12.413Z,1761350892.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818713
2025-10-25T00:08:12.665Z,1761350892.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.071090
2025-10-25T00:08:12.775Z,1761350892.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072431,-0.997012,-0.026860],[0.995643,-0.070693,-0.060802],[0.058722,-0.031147,0.997788]]
2025-10-25T00:08:12.917Z,1761350892.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322712
2025-10-25T00:08:13.173Z,1761350893.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.578684
2025-10-25T00:08:13.181Z,1761350893.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057695,-0.998086,-0.022249],[0.998263,-0.057409,-0.013266],[0.011964,-0.022975,0.999664]]
2025-10-25T00:08:13.425Z,1761350893.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.830751
2025-10-25T00:08:13.584Z,1761350893.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057969,-0.996739,0.056143],[0.998271,-0.057328,0.012957],[-0.009696,0.056797,0.998339]]
2025-10-25T00:08:13.677Z,1761350893.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.083224
2025-10-25T00:08:13.929Z,1761350893.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.334725
2025-10-25T00:08:13.987Z,1761350893.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012382,-0.992243,0.123696],[0.998052,0.004699,-0.062211],[0.061147,0.124226,0.990368]]
2025-10-25T00:08:14.181Z,1761350894.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.586872
2025-10-25T00:08:14.394Z,1761350894.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048424,-0.985398,0.163235],[0.992535,0.029157,-0.118425],[0.111936,0.167751,0.979454]]
2025-10-25T00:08:14.433Z,1761350894.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.838688
2025-10-25T00:08:14.684Z,1761350894.684 [DAT](INFO): Reached modem response timeout
2025-10-25T00:08:14.795Z,1761350894.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039307,-0.992905,0.112227],[0.996965,0.031417,-0.071228],[0.067197,0.114687,0.991126]]
2025-10-25T00:08:15.202Z,1761350895.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029241,-0.999425,-0.017149],[0.998578,0.028443,0.045081],[-0.044567,-0.018443,0.998836]]
2025-10-25T00:08:15.206Z,1761350895.206 [NAL9602](INFO): SBD MO Status=1, MOMSN=2579, MT Status=0, MTMSN=0
2025-10-25T00:08:15.257Z,1761350895.257 [NAL9602](INFO): Sent 82 bytes from file Logs/20251024T220733/Courier0027.lzma
2025-10-25T00:08:15.257Z,1761350895.257 [NAL9602](INFO): Packets left to send: 0
2025-10-25T00:08:15.602Z,1761350895.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005169,-0.992732,-0.120237],[0.998151,-0.012403,0.059496],[-0.060554,-0.119707,0.990961]]
2025-10-25T00:08:16.106Z,1761350896.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066648,-0.988840,-0.133244],[0.995992,-0.057950,-0.068130],[0.059648,-0.137250,0.988739]]
2025-10-25T00:08:16.505Z,1761350896.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067107,-0.995183,-0.071474],[0.988706,-0.056707,-0.138724],[0.134003,-0.079976,0.987749]]
2025-10-25T00:08:16.957Z,1761350896.957 [DAT](INFO): DAT read: Response Not Received

2025-10-25T00:08:16.957Z,1761350896.957 [DAT](INFO): response not received
2025-10-25T00:08:16.957Z,1761350896.957 [DAT](ERROR): No response from remote modem.
2025-10-25T00:08:18.646Z,1761350898.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154439,-0.982680,-0.102417],[0.987642,-0.150751,-0.042869],[0.026687,-0.107772,0.993817]]
2025-10-25T00:08:19.027Z,1761350899.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152100,-0.962203,-0.225899],[0.987853,-0.140639,-0.066089],[0.031821,-0.233208,0.971906]]
2025-10-25T00:08:19.431Z,1761350899.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141502,-0.973066,-0.181989],[0.985108,-0.120274,-0.122869],[0.097671,-0.196665,0.975594]]
2025-10-25T00:08:19.849Z,1761350899.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142528,-0.989065,-0.037894],[0.976444,-0.134237,-0.168928],[0.161994,-0.061078,0.984900]]
2025-10-25T00:08:20.241Z,1761350900.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150014,-0.986784,0.061257],[0.981118,-0.156231,-0.114013],[0.122076,0.042997,0.991589]]
2025-10-25T00:08:20.322Z,1761350900.322 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:08:20.322Z,1761350900.322 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:08:20.322Z,1761350900.322 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:08:20.323Z,1761350900.323 [marl:UpdateRudder:A] Stopped
2025-10-25T00:08:20.323Z,1761350900.323 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:08:20.645Z,1761350900.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138801,-0.988027,0.067353],[0.990317,-0.138318,0.011812],[-0.002355,0.068340,0.997659]]
2025-10-25T00:08:20.761Z,1761350900.761 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-25T00:08:20.761Z,1761350900.761 [marl:UpdateRudder:B] Stopped
2025-10-25T00:08:20.761Z,1761350900.761 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:08:20.761Z,1761350900.761 [marl:UpdateRudder] Stopped
2025-10-25T00:08:20.762Z,1761350900.762 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:08:20.762Z,1761350900.762 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:08:20.762Z,1761350900.762 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:08:20.762Z,1761350900.762 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:08:20.762Z,1761350900.762 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:08:20.762Z,1761350900.762 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:08:20.762Z,1761350900.762 [marl:UpdateCommandMode] Stopped
2025-10-25T00:08:20.762Z,1761350900.762 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:08:20.763Z,1761350900.763 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:08:20.763Z,1761350900.763 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:08:20.763Z,1761350900.763 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:08:20.763Z,1761350900.763 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:08:20.763Z,1761350900.763 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:08:20.763Z,1761350900.763 [marl:UpdateSpeed] Stopped
2025-10-25T00:08:20.763Z,1761350900.763 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:08:21.047Z,1761350901.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150329,-0.987437,0.048665],[0.983617,-0.144431,0.107876],[-0.099492,0.064085,0.992972]]
2025-10-25T00:08:21.451Z,1761350901.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198775,-0.978796,0.049463],[0.976415,-0.193447,0.095870],[-0.084269,0.067353,0.994164]]
2025-10-25T00:08:21.895Z,1761350901.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230465,-0.971806,0.049786],[0.972938,-0.231005,-0.005303],[0.016654,0.047216,0.998746]]
2025-10-25T00:08:22.260Z,1761350902.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241684,-0.969827,0.032005],[0.963042,-0.243774,-0.114565],[0.118911,0.003134,0.992900]]
2025-10-25T00:08:22.668Z,1761350902.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221623,-0.974905,-0.021048],[0.965313,-0.216285,-0.146259],[0.138036,-0.052732,0.989022]]
2025-10-25T00:08:23.071Z,1761350903.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234940,-0.971250,-0.038427],[0.966540,-0.229247,-0.115091],[0.102973,-0.064180,0.992611]]
2025-10-25T00:08:23.473Z,1761350903.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291000,-0.955797,-0.042079],[0.956068,-0.288892,-0.049761],[0.035405,-0.054711,0.997874]]
2025-10-25T00:08:23.478Z,1761350903.478 [NAL9602](INFO): SBD MO Status=1, MOMSN=2580, MT Status=0, MTMSN=0
2025-10-25T00:08:23.532Z,1761350903.532 [NAL9602](INFO): Sent 332 bytes from file Logs/20251024T220733/Express0028.lzma
2025-10-25T00:08:23.532Z,1761350903.532 [NAL9602](INFO): Packets left to send: 2
2025-10-25T00:08:23.908Z,1761350903.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316443,-0.945061,-0.081996],[0.945467,-0.321246,0.053785],[-0.077171,-0.060505,0.995180]]
2025-10-25T00:08:24.393Z,1761350904.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263593,-0.962369,-0.066059],[0.956296,-0.251717,-0.148785],[0.126558,-0.102391,0.986661]]
2025-10-25T00:08:24.795Z,1761350904.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247585,-0.968003,-0.040889],[0.954226,-0.236318,-0.183319],[0.167791,-0.084404,0.982203]]
2025-10-25T00:08:26.942Z,1761350906.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273410,-0.961244,-0.035448],[0.955603,-0.275645,0.104128],[-0.109863,-0.005404,0.993932]]
2025-10-25T00:08:27.311Z,1761350907.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287373,-0.954110,-0.084208],[0.953129,-0.293548,0.073318],[-0.094673,-0.059192,0.993747]]
2025-10-25T00:08:27.714Z,1761350907.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349579,-0.936709,-0.019257],[0.920668,-0.339638,-0.192397],[0.173679,-0.084987,0.981128]]
2025-10-25T00:08:28.118Z,1761350908.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351865,-0.932483,0.081645],[0.839220,-0.352898,-0.413731],[0.414610,-0.077060,0.906731]]
2025-10-25T00:08:28.524Z,1761350908.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340683,-0.930029,0.137770],[0.863545,-0.367483,-0.345320],[0.371786,0.001326,0.928318]]
2025-10-25T00:08:28.926Z,1761350908.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311569,-0.948698,0.053818],[0.944539,-0.315394,-0.091506],[0.103786,0.022323,0.994349]]
2025-10-25T00:08:29.335Z,1761350909.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321849,-0.946766,-0.006798],[0.946735,-0.321900,0.008594],[-0.010325,-0.003670,0.999940]]
2025-10-25T00:08:29.734Z,1761350909.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405632,-0.913885,-0.016648],[0.914033,-0.405616,-0.004475],[-0.002664,-0.017032,0.999851]]
2025-10-25T00:08:30.144Z,1761350910.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456639,-0.888166,-0.051407],[0.887995,-0.451503,-0.087234],[0.054267,-0.085483,0.994861]]
2025-10-25T00:08:30.543Z,1761350910.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409900,-0.911472,-0.034651],[0.906442,-0.402813,-0.126907],[0.101715,-0.083428,0.991309]]
2025-10-25T00:08:30.946Z,1761350910.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352512,-0.933951,0.058916],[0.926545,-0.357167,-0.118094],[0.131336,0.012958,0.991253]]
2025-10-25T00:08:31.361Z,1761350911.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335587,-0.930194,0.148727],[0.925816,-0.354830,-0.130235],[0.173917,0.093989,0.980265]]
2025-10-25T00:08:31.755Z,1761350911.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395003,-0.903491,0.166362],[0.896894,-0.418463,-0.143074],[0.198883,0.092695,0.975630]]
2025-10-25T00:08:32.158Z,1761350912.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467102,-0.879993,0.086182],[0.862735,-0.474939,-0.173555],[0.193659,-0.006716,0.981046]]
2025-10-25T00:08:32.562Z,1761350912.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452378,-0.891768,0.010183],[0.865517,-0.441757,-0.236075],[0.215023,-0.097981,0.971681]]
2025-10-25T00:08:32.967Z,1761350912.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402370,-0.915438,0.008464],[0.883421,-0.390689,-0.258706],[0.240136,-0.096618,0.965919]]
2025-10-25T00:08:33.376Z,1761350913.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392712,-0.919644,0.005649],[0.896135,-0.384039,-0.222387],[0.206686,-0.082271,0.974942]]
2025-10-25T00:08:33.386Z,1761350913.386 [NAL9602](INFO): SBD MO Status=1, MOMSN=2581, MT Status=0, MTMSN=0
2025-10-25T00:08:33.440Z,1761350913.440 [NAL9602](INFO): Sent 332 bytes from file Logs/20251024T220733/Express0028.lzma
2025-10-25T00:08:33.440Z,1761350913.440 [NAL9602](INFO): Packets left to send: 1
2025-10-25T00:08:33.775Z,1761350913.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438864,-0.898545,-0.004016],[0.888181,-0.433116,-0.153444],[0.136137,-0.070908,0.988149]]
2025-10-25T00:08:34.267Z,1761350914.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483296,-0.875292,-0.016992],[0.872432,-0.479923,-0.092399],[0.072721,-0.059480,0.995577]]
2025-10-25T00:08:34.668Z,1761350914.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454262,-0.888488,-0.065077],[0.890847,-0.452534,-0.040049],[0.006133,-0.076167,0.997076]]
2025-10-25T00:08:36.809Z,1761350916.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491470,-0.870114,0.036851],[0.860554,-0.491702,-0.132951],[0.133802,-0.033629,0.990437]]
2025-10-25T00:08:36.913Z,1761350916.913 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:08:36.914Z,1761350916.914 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:08:36.914Z,1761350916.914 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:08:36.914Z,1761350916.914 [marl:UpdateRudder:A] Stopped
2025-10-25T00:08:36.914Z,1761350916.914 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:08:37.197Z,1761350917.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442457,-0.879741,-0.174034],[0.877256,-0.384307,-0.287629],[0.186157,-0.279936,0.941797]]
2025-10-25T00:08:37.250Z,1761350917.250 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-25T00:08:37.251Z,1761350917.251 [marl:UpdateRudder:B] Stopped
2025-10-25T00:08:37.251Z,1761350917.251 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:08:37.251Z,1761350917.251 [marl:UpdateRudder] Stopped
2025-10-25T00:08:37.251Z,1761350917.251 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:08:37.251Z,1761350917.251 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:08:37.251Z,1761350917.251 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:08:37.251Z,1761350917.251 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:08:37.252Z,1761350917.252 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:08:37.256Z,1761350917.256 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:08:37.256Z,1761350917.256 [marl:UpdateCommandMode] Stopped
2025-10-25T00:08:37.256Z,1761350917.256 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:08:37.256Z,1761350917.256 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:08:37.256Z,1761350917.256 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:08:37.256Z,1761350917.256 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:08:37.257Z,1761350917.257 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:08:37.257Z,1761350917.257 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:08:37.257Z,1761350917.257 [marl:UpdateSpeed] Stopped
2025-10-25T00:08:37.257Z,1761350917.257 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:08:37.598Z,1761350917.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463529,-0.870116,-0.167450],[0.855891,-0.390759,-0.338759],[0.229327,-0.300344,0.925852]]
2025-10-25T00:08:38.003Z,1761350918.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459369,-0.872675,-0.165582],[0.878466,-0.418763,-0.230075],[0.131441,-0.251147,0.958983]]
2025-10-25T00:08:38.406Z,1761350918.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453207,-0.879941,-0.142504],[0.888856,-0.458182,0.002364],[-0.067373,-0.125594,0.989791]]
2025-10-25T00:08:38.818Z,1761350918.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468110,-0.881519,-0.061621],[0.866270,-0.471546,0.164989],[-0.174498,0.023853,0.984369]]
2025-10-25T00:08:39.214Z,1761350919.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487145,-0.873307,-0.004971],[0.859955,-0.480673,0.171554],[-0.152209,0.079297,0.985162]]
2025-10-25T00:08:39.618Z,1761350919.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464435,-0.885584,-0.006477],[0.885205,-0.464432,0.026756],[-0.026703,0.006693,0.999621]]
2025-10-25T00:08:40.023Z,1761350920.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412615,-0.906507,-0.089410],[0.910767,-0.408850,-0.057832],[0.015870,-0.105295,0.994314]]
2025-10-25T00:08:40.248Z,1761350920.248 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:08:40.437Z,1761350920.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377776,-0.914863,-0.142517],[0.924098,-0.382139,0.003529],[-0.057690,-0.130367,0.989786]]
2025-10-25T00:08:40.837Z,1761350920.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440061,-0.892236,-0.101298],[0.897954,-0.436614,-0.055200],[0.005023,-0.115253,0.993323]]
2025-10-25T00:08:41.234Z,1761350921.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475354,-0.878411,-0.049318],[0.871431,-0.462384,-0.163734],[0.121022,-0.120809,0.985271]]
2025-10-25T00:08:41.252Z,1761350921.252 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:08:41.638Z,1761350921.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443704,-0.896166,0.003692],[0.881226,-0.437050,-0.180078],[0.162994,-0.076648,0.983645]]
2025-10-25T00:08:42.044Z,1761350922.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456822,-0.888819,0.036251],[0.884450,-0.458183,-0.088412],[0.095192,-0.008327,0.995424]]
2025-10-25T00:08:42.446Z,1761350922.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485078,-0.874388,0.012027],[0.874399,-0.485169,-0.006110],[0.011178,0.007552,0.999909]]
2025-10-25T00:08:42.850Z,1761350922.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518982,-0.853654,-0.043957],[0.854566,-0.516998,-0.049301],[0.019360,-0.063150,0.997816]]
2025-10-25T00:08:43.255Z,1761350923.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549448,-0.832785,-0.067646],[0.828414,-0.532438,-0.173900],[0.108804,-0.151588,0.982437]]
2025-10-25T00:08:43.261Z,1761350923.261 [NAL9602](INFO): SBD MO Status=1, MOMSN=2582, MT Status=0, MTMSN=0
2025-10-25T00:08:43.308Z,1761350923.308 [NAL9602](INFO): Sent 170 bytes from file Logs/20251024T220733/Express0028.lzma
2025-10-25T00:08:43.309Z,1761350923.309 [NAL9602](INFO): Packets left to send: 0
2025-10-25T00:08:43.666Z,1761350923.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526228,-0.849244,-0.043224],[0.835047,-0.506497,-0.214841],[0.160560,-0.149149,0.975692]]
2025-10-25T00:08:44.099Z,1761350924.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521141,-0.853469,-0.001707],[0.843987,-0.515052,-0.149690],[0.126877,-0.079450,0.988732]]
2025-10-25T00:08:44.478Z,1761350924.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542763,-0.839655,0.019679],[0.837231,-0.542760,-0.066744],[0.066723,-0.019750,0.997576]]
2025-10-25T00:08:44.882Z,1761350924.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582751,-0.812337,0.022584],[0.807862,-0.582106,-0.092255],[0.088088,-0.035517,0.995479]]
2025-10-25T00:08:45.287Z,1761350925.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629866,-0.776540,0.015934],[0.756743,-0.618170,-0.212617],[0.174956,-0.121863,0.977006]]
2025-10-25T00:08:45.694Z,1761350925.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632448,-0.774590,-0.004430],[0.740895,-0.603249,-0.295238],[0.226016,-0.190005,0.955414]]
2025-10-25T00:08:46.094Z,1761350926.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634905,-0.772263,-0.022457],[0.741835,-0.601254,-0.296941],[0.215814,-0.205189,0.954632]]
2025-10-25T00:08:46.498Z,1761350926.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663398,-0.748183,-0.011204],[0.728139,-0.642030,-0.240022],[0.172387,-0.167388,0.970703]]
2025-10-25T00:08:46.903Z,1761350926.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674520,-0.737838,0.024853],[0.725783,-0.668910,-0.160618],[0.135135,-0.090302,0.986704]]
2025-10-25T00:08:47.323Z,1761350927.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704891,-0.708731,0.028800],[0.704360,-0.704180,-0.089487],[0.083703,-0.042793,0.995571]]
2025-10-25T00:08:47.713Z,1761350927.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750959,-0.658266,-0.052413],[0.660338,-0.748099,-0.065592],[0.003967,-0.083867,0.996469]]
2025-10-25T00:08:48.114Z,1761350928.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750402,-0.655535,-0.084682],[0.660976,-0.743691,-0.100173],[0.002689,-0.131143,0.991360]]
2025-10-25T00:08:48.518Z,1761350928.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768099,-0.638847,-0.043558],[0.636770,-0.754896,-0.157020],[0.067430,-0.148343,0.986634]]
2025-10-25T00:08:48.923Z,1761350928.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783365,-0.620638,-0.033887],[0.617551,-0.770968,-0.155687],[0.070499,-0.142886,0.987225]]
2025-10-25T00:08:49.334Z,1761350929.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787232,-0.608545,-0.099690],[0.613982,-0.788548,-0.034901],[-0.057371,-0.088683,0.994406]]
2025-10-25T00:08:49.359Z,1761350929.359 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:08:49.359Z,1761350929.359 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:08:49.359Z,1761350929.359 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:08:49.360Z,1761350929.360 [marl:UpdateRudder:A] Stopped
2025-10-25T00:08:49.360Z,1761350929.360 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:08:49.732Z,1761350929.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798044,-0.595049,-0.095089],[0.599082,-0.800470,-0.018661],[-0.065011,-0.071858,0.995294]]
2025-10-25T00:08:49.774Z,1761350929.774 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:08:49.775Z,1761350929.775 [marl:UpdateRudder:B] Stopped
2025-10-25T00:08:49.775Z,1761350929.775 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:08:49.775Z,1761350929.775 [marl:UpdateRudder] Stopped
2025-10-25T00:08:49.775Z,1761350929.775 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:08:50.134Z,1761350930.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818361,-0.574574,-0.012272],[0.570994,-0.810469,-0.130790],[0.065203,-0.114041,0.991334]]
2025-10-25T00:08:50.220Z,1761350930.220 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:08:50.220Z,1761350930.220 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:08:50.220Z,1761350930.220 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:08:50.220Z,1761350930.220 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:08:50.221Z,1761350930.221 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:08:50.221Z,1761350930.221 [marl:UpdateCommandMode] Stopped
2025-10-25T00:08:50.221Z,1761350930.221 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:08:50.221Z,1761350930.221 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:08:50.221Z,1761350930.221 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:08:50.221Z,1761350930.221 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:08:50.221Z,1761350930.221 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:08:50.221Z,1761350930.221 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:08:50.222Z,1761350930.222 [marl:UpdateSpeed] Stopped
2025-10-25T00:08:50.222Z,1761350930.222 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:08:50.540Z,1761350930.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832072,-0.554651,-0.004306],[0.545463,-0.816831,-0.187772],[0.100631,-0.158588,0.982203]]
2025-10-25T00:08:50.942Z,1761350930.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871188,-0.484678,-0.078223],[0.490808,-0.855986,-0.162469],[0.011787,-0.179933,0.983608]]
2025-10-25T00:08:51.346Z,1761350931.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873808,-0.476986,-0.094568],[0.486270,-0.856881,-0.171164],[0.000609,-0.195550,0.980694]]
2025-10-25T00:08:51.752Z,1761350931.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846639,-0.531509,-0.026462],[0.528834,-0.834739,-0.153446],[0.059469,-0.143907,0.987803]]
2025-10-25T00:08:52.154Z,1761350932.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841695,-0.539690,-0.016850],[0.539921,-0.840901,-0.037030],[0.005815,-0.040266,0.999172]]
2025-10-25T00:08:52.558Z,1761350932.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868520,-0.490949,-0.068140],[0.491945,-0.870623,0.002458],[-0.060531,-0.031386,0.997673]]
2025-10-25T00:08:52.963Z,1761350932.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913625,-0.406023,-0.020841],[0.404753,-0.903550,-0.140615],[0.038262,-0.136905,0.989845]]
2025-10-25T00:08:53.375Z,1761350933.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928064,-0.371034,0.032098],[0.347991,-0.894663,-0.280145],[0.132660,-0.248823,0.959421]]
2025-10-25T00:08:53.773Z,1761350933.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935365,-0.353663,-0.003806],[0.336798,-0.887374,-0.314856],[0.107976,-0.295787,0.949132]]
2025-10-25T00:08:54.174Z,1761350934.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953296,-0.288723,-0.088687],[0.301279,-0.929777,-0.211533],[-0.021385,-0.228374,0.973339]]
2025-10-25T00:08:54.578Z,1761350934.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954960,-0.273529,-0.115034],[0.291011,-0.939075,-0.182899],[-0.057997,-0.208137,0.976379]]
2025-10-25T00:08:54.983Z,1761350934.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956708,-0.291044,-0.001931],[0.284279,-0.933005,-0.220652],[0.062418,-0.211648,0.975351]]
2025-10-25T00:08:55.386Z,1761350935.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956100,-0.286995,0.059218],[0.272540,-0.945122,-0.180181],[0.107680,-0.156132,0.981849]]
2025-10-25T00:08:55.801Z,1761350935.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972941,-0.228704,0.032859],[0.226242,-0.971870,-0.065444],[0.046902,-0.056239,0.997315]]
2025-10-25T00:08:56.197Z,1761350936.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976203,-0.210456,-0.052314],[0.211198,-0.977402,-0.009023],[-0.049233,-0.019857,0.998590]]
2025-10-25T00:08:56.601Z,1761350936.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972897,-0.226212,-0.047961],[0.230808,-0.962641,-0.141595],[-0.014139,-0.148827,0.988762]]
2025-10-25T00:08:57.002Z,1761350937.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976532,-0.214036,-0.023973],[0.211986,-0.935529,-0.282573],[0.038053,-0.281024,0.958946]]
2025-10-25T00:08:57.406Z,1761350937.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984545,-0.172030,-0.032813],[0.173973,-0.939199,-0.296037],[0.020110,-0.297171,0.954613]]
2025-10-25T00:08:57.814Z,1761350937.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994684,-0.102218,-0.012443],[0.101874,-0.959271,-0.263480],[0.014996,-0.263347,0.964585]]
2025-10-25T00:08:58.214Z,1761350938.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995175,-0.097848,0.007210],[0.093520,-0.968246,-0.231848],[0.029667,-0.230055,0.972725]]
2025-10-25T00:08:58.618Z,1761350938.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987521,-0.145626,0.059957],[0.125580,-0.957893,-0.258205],[0.095034,-0.247453,0.964228]]
2025-10-25T00:08:59.022Z,1761350939.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990432,-0.106782,0.087413],[0.083529,-0.968108,-0.236199],[0.109848,-0.226638,0.967765]]
2025-10-25T00:08:59.429Z,1761350939.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999683,0.001803,0.025127],[-0.005904,-0.986422,-0.164123],[0.024490,-0.164219,0.986120]]
2025-10-25T00:08:59.842Z,1761350939.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996971,0.020611,-0.074988],[-0.012392,-0.994024,-0.108460],[-0.076775,-0.107203,0.991268]]
2025-10-25T00:09:00.235Z,1761350940.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997519,-0.060113,-0.036650],[0.063223,-0.993875,-0.090643],[-0.030976,-0.092735,0.995209]]
2025-10-25T00:09:00.638Z,1761350940.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994385,-0.092835,0.050793],[0.086557,-0.989668,-0.114299],[0.060879,-0.109261,0.992147]]
2025-10-25T00:09:01.043Z,1761350941.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991446,-0.101936,0.081516],[0.083889,-0.976127,-0.200344],[0.099992,-0.191792,0.976328]]
2025-10-25T00:09:01.453Z,1761350941.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997267,-0.048366,0.055852],[0.032498,-0.966051,-0.256299],[0.066352,-0.253783,0.964983]]
2025-10-25T00:09:01.887Z,1761350941.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999671,0.007847,0.024406],[-0.013584,-0.969510,-0.244674],[0.021742,-0.244925,0.969298]]
2025-10-25T00:09:02.255Z,1761350942.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999670,-0.020295,0.015759],[0.017055,-0.982815,-0.183805],[0.019219,-0.183476,0.982836]]
2025-10-25T00:09:02.309Z,1761350942.309 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:09:02.309Z,1761350942.309 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:09:02.309Z,1761350942.309 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:09:02.310Z,1761350942.310 [marl:UpdateRudder:A] Stopped
2025-10-25T00:09:02.310Z,1761350942.310 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:09:02.662Z,1761350942.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999326,-0.032376,0.017313],[0.029061,-0.985710,-0.165928],[0.022437,-0.165313,0.985986]]
2025-10-25T00:09:02.690Z,1761350942.690 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-25T00:09:02.690Z,1761350942.690 [marl:UpdateRudder:B] Stopped
2025-10-25T00:09:02.690Z,1761350942.690 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:09:02.690Z,1761350942.690 [marl:UpdateRudder] Stopped
2025-10-25T00:09:02.690Z,1761350942.690 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:09:02.745Z,1761350942.745 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:09:02.746Z,1761350942.746 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:09:03.063Z,1761350943.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999058,0.004761,-0.043127],[0.003505,-0.981857,-0.189592],[-0.043247,-0.189565,0.980915]]
2025-10-25T00:09:03.095Z,1761350943.095 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:09:03.095Z,1761350943.095 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:09:03.097Z,1761350943.097 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:09:03.097Z,1761350943.097 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:09:03.097Z,1761350943.097 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:09:03.097Z,1761350943.097 [marl:UpdateCommandMode] Stopped
2025-10-25T00:09:03.098Z,1761350943.098 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:09:03.098Z,1761350943.098 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:09:03.098Z,1761350943.098 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:09:03.098Z,1761350943.098 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:09:03.098Z,1761350943.098 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:09:03.098Z,1761350943.098 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:09:03.098Z,1761350943.098 [marl:UpdateSpeed] Stopped
2025-10-25T00:09:03.098Z,1761350943.098 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:09:03.466Z,1761350943.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995836,0.031123,-0.085692],[-0.011632,-0.975620,-0.219161],[-0.090423,-0.217251,0.971919]]
2025-10-25T00:09:03.479Z,1761350943.479 [NAL9602](INFO): SBD MO Status=0, MOMSN=2583, MT Status=0, MTMSN=0
2025-10-25T00:09:03.618Z,1761350943.618 [marl:NeedComms:D] Stopped
2025-10-25T00:09:03.618Z,1761350943.618 [marl:NeedComms:E] Running Loop=1
2025-10-25T00:09:03.619Z,1761350943.619 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-25T00:09:03.855Z,1761350943.855 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:09:03.864Z,1761350943.864 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-25T00:09:03.913Z,1761350943.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997746,-0.009419,-0.066445],[0.023382,-0.976852,-0.212634],[-0.062904,-0.213708,0.974870]]
2025-10-25T00:09:04.105Z,1761350944.105 [DAT](INFO): DAT read: user:47>

2025-10-25T00:09:04.105Z,1761350944.105 [DAT](INFO): DAT read: Tx time:00:09:03.1057

2025-10-25T00:09:04.106Z,1761350944.106 [DAT](INFO): Ping request sent.
2025-10-25T00:09:04.106Z,1761350944.106 [DAT](INFO): transmitted an acoustic signal
2025-10-25T00:09:04.106Z,1761350944.106 [DAT](INFO): publishing transmit ping time
2025-10-25T00:09:04.107Z,1761350944.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000955
2025-10-25T00:09:04.285Z,1761350944.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996297,-0.047938,-0.071375],[0.058523,-0.986258,-0.154498],[-0.062988,-0.158102,0.985412]]
2025-10-25T00:09:04.357Z,1761350944.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250838
2025-10-25T00:09:04.609Z,1761350944.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502914
2025-10-25T00:09:04.682Z,1761350944.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992075,-0.078864,-0.097816],[0.082519,-0.996013,-0.033897],[-0.094752,-0.041700,0.994627]]
2025-10-25T00:09:04.694Z,1761350944.694 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,000901.00,A,3646.57060,N,12151.83802,W,1.244,129.32,251025,,,A*79
2025-10-25T00:09:04.697Z,1761350944.697 [NAL9602](INFO): GPS fix at 20251025T000901: (36.776177, -121.863967)
2025-10-25T00:09:04.719Z,1761350944.719 [marl:NeedComms:E] Stopped
2025-10-25T00:09:04.719Z,1761350944.719 [marl:NeedComms](INFO): Completed marl:NeedComms
2025-10-25T00:09:04.719Z,1761350944.719 [marl:NeedComms] Stopped
2025-10-25T00:09:04.719Z,1761350944.719 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms
2025-10-25T00:09:04.720Z,1761350944.720 [marl:NeedComms:B.GoToSurface] Stopped
2025-10-25T00:09:04.720Z,1761350944.720 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-25T00:09:04.721Z,1761350944.721 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761350912.00. Resetting abort timer.
2025-10-25T00:09:04.861Z,1761350944.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754883
2025-10-25T00:09:05.082Z,1761350945.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993818,-0.102453,-0.042764],[0.101594,-0.994587,0.021822],[-0.044768,0.017342,0.998847]]
2025-10-25T00:09:05.113Z,1761350945.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006904
2025-10-25T00:09:05.365Z,1761350945.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258869
2025-10-25T00:09:05.491Z,1761350945.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996288,-0.082132,0.025786],[0.081231,-0.996107,-0.034235],[0.028497,-0.032013,0.999081]]
2025-10-25T00:09:05.617Z,1761350945.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510917
2025-10-25T00:09:05.872Z,1761350945.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765343
2025-10-25T00:09:05.919Z,1761350945.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996320,-0.065416,0.055379],[0.055655,-0.985153,-0.162407],[0.065181,-0.158727,0.985169]]
2025-10-25T00:09:05.922Z,1761350945.922 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-10-25T00:09:06.121Z,1761350946.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014852
2025-10-25T00:09:06.296Z,1761350946.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996856,-0.054667,0.057359],[0.034197,-0.949818,-0.310930],[0.071478,-0.307991,0.948701]]
2025-10-25T00:09:06.373Z,1761350946.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266951
2025-10-25T00:09:06.625Z,1761350946.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519049
2025-10-25T00:09:06.698Z,1761350946.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996959,-0.047281,0.061943],[0.017636,-0.911167,-0.411659],[0.075904,-0.409314,0.909231]]
2025-10-25T00:09:06.877Z,1761350946.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770992
2025-10-25T00:09:07.102Z,1761350947.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997981,-0.029847,0.056059],[0.004269,-0.912216,-0.409688],[0.063366,-0.408621,0.910502]]
2025-10-25T00:09:07.129Z,1761350947.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022986
2025-10-25T00:09:07.381Z,1761350947.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275019
2025-10-25T00:09:07.518Z,1761350947.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994209,-0.029633,0.103294],[-0.005799,-0.945034,-0.326922],[0.107304,-0.325627,0.939389]]
2025-10-25T00:09:07.633Z,1761350947.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526930
2025-10-25T00:09:07.888Z,1761350947.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781329
2025-10-25T00:09:07.922Z,1761350947.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994555,0.050358,0.091238],[-0.063816,-0.986446,-0.151167],[0.082388,-0.156166,0.984289]]
2025-10-25T00:09:07.947Z,1761350947.947 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,000904.00,A,3646.57016,N,12151.83777,W,1.322,139.56,251025,,,A*72
2025-10-25T00:09:07.949Z,1761350947.949 [NAL9602](INFO): GPS fix at 20251025T000904: (36.776169, -121.863963)
2025-10-25T00:09:08.035Z,1761350948.035 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761350912.00. Resetting abort timer.
2025-10-25T00:09:08.137Z,1761350948.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031009
2025-10-25T00:09:08.314Z,1761350948.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997093,0.053191,-0.054560],[-0.054760,-0.998116,0.027683],[-0.052985,0.030590,0.998127]]
2025-10-25T00:09:08.400Z,1761350948.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.293686
2025-10-25T00:09:08.653Z,1761350948.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.547500
2025-10-25T00:09:08.719Z,1761350948.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996794,0.007295,-0.079684],[-0.005712,-0.999782,-0.020071],[-0.079813,-0.019552,0.996618]]
2025-10-25T00:09:08.905Z,1761350948.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.798891
2025-10-25T00:09:09.123Z,1761350949.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998857,-0.001397,0.047777],[-0.007482,-0.982681,-0.185156],[0.047208,-0.185302,0.981547]]
2025-10-25T00:09:09.159Z,1761350949.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.052751
2025-10-25T00:09:09.409Z,1761350949.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.303211
2025-10-25T00:09:09.527Z,1761350949.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992163,0.004461,0.124874],[-0.043266,-0.949808,-0.309828],[0.117224,-0.312802,0.942557]]
2025-10-25T00:09:09.662Z,1761350949.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.555643
2025-10-25T00:09:09.913Z,1761350949.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.806843
2025-10-25T00:09:09.931Z,1761350949.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994695,0.057120,0.085555],[-0.084628,-0.927199,-0.364883],[0.058485,-0.370187,0.927114]]
2025-10-25T00:09:10.165Z,1761350950.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.058885
2025-10-25T00:09:10.390Z,1761350950.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994443,0.084528,0.062761],[-0.101813,-0.923864,-0.368930],[0.026798,-0.373269,0.927336]]
2025-10-25T00:09:10.418Z,1761350950.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.311738
2025-10-25T00:09:10.669Z,1761350950.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.563232
2025-10-25T00:09:10.738Z,1761350950.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991814,0.109790,0.065202],[-0.125202,-0.936479,-0.327614],[0.025092,-0.333096,0.942559]]
2025-10-25T00:09:10.921Z,1761350950.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.814865
2025-10-25T00:09:11.143Z,1761350951.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993295,0.115396,0.006931],[-0.113702,-0.964363,-0.238904],[-0.020885,-0.238090,0.971018]]
2025-10-25T00:09:11.149Z,1761350951.149 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,000907.00,A,3646.56972,N,12151.83746,W,1.458,135.16,251025,,,A*7B
2025-10-25T00:09:11.151Z,1761350951.151 [NAL9602](INFO): GPS fix at 20251025T000907: (36.776162, -121.863958)
2025-10-25T00:09:11.173Z,1761350951.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.067381
2025-10-25T00:09:11.228Z,1761350951.228 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761350912.00. Resetting abort timer.
2025-10-25T00:09:11.384Z,1761350951.384 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:09:11.425Z,1761350951.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.318911
2025-10-25T00:09:11.678Z,1761350951.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.571599
2025-10-25T00:09:11.929Z,1761350951.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.823045
2025-10-25T00:09:11.951Z,1761350951.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995439,0.095391,-0.001121],[-0.094487,-0.987494,-0.126203],[-0.013145,-0.125521,0.992004]]
2025-10-25T00:09:12.181Z,1761350952.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.074874
2025-10-25T00:09:12.354Z,1761350952.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995106,0.096805,0.019806],[-0.098802,-0.977426,-0.186752],[0.001281,-0.187795,0.982207]]
2025-10-25T00:09:12.388Z,1761350952.388 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:09:12.433Z,1761350952.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.327137
2025-10-25T00:09:12.685Z,1761350952.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.578927
2025-10-25T00:09:12.767Z,1761350952.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993683,0.085728,0.072419],[-0.101992,-0.959084,-0.264113],[0.046814,-0.269831,0.961769]]
2025-10-25T00:09:12.937Z,1761350952.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.830975
2025-10-25T00:09:13.164Z,1761350953.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983591,0.125135,0.129961],[-0.159271,-0.940643,-0.299707],[0.084743,-0.315488,0.945138]]
2025-10-25T00:09:13.189Z,1761350953.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.082931
2025-10-25T00:09:13.441Z,1761350953.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.334890
2025-10-25T00:09:13.566Z,1761350953.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972754,0.202547,0.112806],[-0.226281,-0.935383,-0.271762],[0.050473,-0.289884,0.955730]]
2025-10-25T00:09:13.693Z,1761350953.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.586768
2025-10-25T00:09:13.945Z,1761350953.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.839508
2025-10-25T00:09:13.975Z,1761350953.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982052,0.179941,0.056522],[-0.186414,-0.971606,-0.145711],[0.028698,-0.153632,0.987711]]
2025-10-25T00:09:13.981Z,1761350953.981 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,000913.00,A,3646.56907,N,12151.83710,W,1.905,138.10,251025,,,A*71
2025-10-25T00:09:13.983Z,1761350953.983 [NAL9602](INFO): GPS fix at 20251025T000913: (36.776151, -121.863952)
2025-10-25T00:09:14.077Z,1761350954.077 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761350912.00. Resetting abort timer.
2025-10-25T00:09:14.196Z,1761350954.196 [DAT](INFO): Reached modem response timeout
2025-10-25T00:09:14.381Z,1761350954.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978063,0.199129,0.061156],[-0.201720,-0.978645,-0.039540],[0.051976,-0.051009,0.997345]]
2025-10-25T00:09:14.787Z,1761350954.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973976,0.199369,0.107813],[-0.215610,-0.961654,-0.169509],[0.069884,-0.188343,0.979614]]
2025-10-25T00:09:15.187Z,1761350955.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968698,0.206627,0.137583],[-0.242453,-0.906497,-0.345659],[0.053296,-0.368196,0.928219]]
2025-10-25T00:09:15.217Z,1761350955.217 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:09:15.218Z,1761350955.218 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:09:15.218Z,1761350955.218 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:09:15.218Z,1761350955.218 [marl:UpdateRudder:A] Stopped
2025-10-25T00:09:15.218Z,1761350955.218 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:09:15.634Z,1761350955.634 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-25T00:09:15.635Z,1761350955.635 [marl:UpdateRudder:B] Stopped
2025-10-25T00:09:15.635Z,1761350955.635 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:09:15.635Z,1761350955.635 [marl:UpdateRudder] Stopped
2025-10-25T00:09:15.635Z,1761350955.635 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:09:16.061Z,1761350956.061 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:09:16.061Z,1761350956.061 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:09:16.061Z,1761350956.061 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:09:16.061Z,1761350956.061 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:09:16.061Z,1761350956.061 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:09:16.061Z,1761350956.061 [marl:UpdateCommandMode] Stopped
2025-10-25T00:09:16.062Z,1761350956.062 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:09:16.062Z,1761350956.062 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:09:16.062Z,1761350956.062 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:09:16.062Z,1761350956.062 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:09:16.062Z,1761350956.062 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:09:16.062Z,1761350956.062 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:09:16.062Z,1761350956.062 [marl:UpdateSpeed] Stopped
2025-10-25T00:09:16.062Z,1761350956.062 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:09:16.396Z,1761350956.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953750,0.268931,0.134299],[-0.299311,-0.890945,-0.341511],[0.027810,-0.365913,0.930233]]
2025-10-25T00:09:16.465Z,1761350956.465 [DAT](INFO): DAT read: Response Not Received

2025-10-25T00:09:16.465Z,1761350956.465 [DAT](INFO): response not received
2025-10-25T00:09:16.465Z,1761350956.465 [DAT](ERROR): No response from remote modem.
2025-10-25T00:09:16.798Z,1761350956.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937669,0.317212,0.141964],[-0.344203,-0.904066,-0.253357],[0.047977,-0.286430,0.956899]]
2025-10-25T00:09:16.817Z,1761350956.817 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,000916.00,A,3646.56833,N,12151.83680,W,1.263,163.58,251025,,,A*73
2025-10-25T00:09:16.819Z,1761350956.819 [NAL9602](INFO): GPS fix at 20251025T000916: (36.776139, -121.863947)
2025-10-25T00:09:16.842Z,1761350956.842 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761350912.00. Resetting abort timer.
2025-10-25T00:09:17.203Z,1761350957.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911878,0.394479,0.113428],[-0.410043,-0.887954,-0.208330],[0.018537,-0.236482,0.971459]]
2025-10-25T00:09:17.607Z,1761350957.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904337,0.425246,0.036610],[-0.423119,-0.881923,-0.207802],[-0.056080,-0.203414,0.977485]]
2025-10-25T00:09:18.011Z,1761350958.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904882,0.425445,0.013585],[-0.419707,-0.886451,-0.195068],[-0.070948,-0.182215,0.980696]]
2025-10-25T00:09:18.415Z,1761350958.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916346,0.398355,0.040293],[-0.396776,-0.889984,-0.224715],[-0.053656,-0.221904,0.973591]]
2025-10-25T00:09:18.820Z,1761350958.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910868,0.368990,0.184839],[-0.406380,-0.880002,-0.245871],[0.071935,-0.299071,0.951516]]
2025-10-25T00:09:19.223Z,1761350959.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859242,0.425751,0.283619],[-0.498289,-0.822040,-0.275606],[0.115806,-0.378136,0.918478]]
2025-10-25T00:09:19.627Z,1761350959.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823831,0.478333,0.304137],[-0.559362,-0.772878,-0.299622],[0.091742,-0.416961,0.904283]]
2025-10-25T00:09:20.030Z,1761350960.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803952,0.515211,0.297017],[-0.589393,-0.756830,-0.282531],[0.079228,-0.402201,0.912117]]
2025-10-25T00:09:20.130Z,1761350960.130 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,000919.00,A,3646.56710,N,12151.83626,W,1.613,150.43,251025,,,A*77
2025-10-25T00:09:20.132Z,1761350960.132 [NAL9602](INFO): GPS fix at 20251025T000919: (36.776118, -121.863938)
2025-10-25T00:09:20.192Z,1761350960.192 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761350912.00. Resetting abort timer.
2025-10-25T00:09:20.454Z,1761350960.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789774,0.584264,0.186793],[-0.612779,-0.737833,-0.283027],[-0.027540,-0.337990,0.940747]]
2025-10-25T00:09:20.857Z,1761350960.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806241,0.576739,0.131711],[-0.586161,-0.748709,-0.309598],[-0.079944,-0.326814,0.941701]]
2025-10-25T00:09:21.670Z,1761350961.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796166,0.547816,0.256940],[-0.602919,-0.754090,-0.260454],[0.051075,-0.362279,0.930669]]
2025-10-25T00:09:22.071Z,1761350962.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743704,0.605031,0.284328],[-0.666624,-0.703101,-0.247509],[0.050161,-0.373613,0.926227]]
2025-10-25T00:09:22.472Z,1761350962.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711570,0.646890,0.274228],[-0.702169,-0.668631,-0.244729],[0.025045,-0.366696,0.930004]]
2025-10-25T00:09:22.875Z,1761350962.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706522,0.637867,0.306517],[-0.706090,-0.664490,-0.244723],[0.047577,-0.389331,0.919869]]
2025-10-25T00:09:22.885Z,1761350962.885 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,000922.00,A,3646.56597,N,12151.83632,W,1.089,182.07,251025,,,A*7D
2025-10-25T00:09:22.887Z,1761350962.887 [NAL9602](INFO): GPS fix at 20251025T000922: (36.776100, -121.863939)
2025-10-25T00:09:22.910Z,1761350962.910 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761350912.00. Resetting abort timer.
2025-10-25T00:09:23.280Z,1761350963.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671986,0.663092,0.329763],[-0.740127,-0.616636,-0.268278],[0.025450,-0.424346,0.905143]]
2025-10-25T00:09:23.686Z,1761350963.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655715,0.690221,0.305995],[-0.754919,-0.605626,-0.251624],[0.011643,-0.395995,0.918179]]
2025-10-25T00:09:24.092Z,1761350964.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645295,0.710496,0.280693],[-0.763780,-0.592685,-0.255663],[-0.015285,-0.379366,0.925120]]
2025-10-25T00:09:24.491Z,1761350964.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614675,0.753146,0.234404],[-0.788770,-0.585386,-0.187522],[-0.004015,-0.300156,0.953882]]
2025-10-25T00:09:24.895Z,1761350964.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597497,0.782691,0.174335],[-0.800265,-0.595793,-0.067880],[0.050738,-0.180072,0.982344]]
2025-10-25T00:09:25.705Z,1761350965.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573095,0.798111,0.185959],[-0.818684,-0.547543,-0.173071],[-0.036309,-0.251427,0.967195]]
2025-10-25T00:09:26.115Z,1761350966.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586466,0.772204,0.244456],[-0.809512,-0.548610,-0.209089],[-0.027348,-0.320514,0.946849]]
2025-10-25T00:09:26.121Z,1761350966.121 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,000925.00,A,3646.56520,N,12151.83749,W,1.749,234.42,251025,,,A*7F
2025-10-25T00:09:26.123Z,1761350966.123 [NAL9602](INFO): GPS fix at 20251025T000925: (36.776087, -121.863958)
2025-10-25T00:09:26.209Z,1761350966.209 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761350912.00. Resetting abort timer.
2025-10-25T00:09:26.511Z,1761350966.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584703,0.722093,0.369736],[-0.811217,-0.524408,-0.258696],[0.007090,-0.451196,0.892397]]
2025-10-25T00:09:26.915Z,1761350966.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570314,0.666402,0.480261],[-0.819289,-0.503629,-0.274085],[0.059222,-0.549787,0.833203]]
2025-10-25T00:09:27.322Z,1761350967.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530307,0.654468,0.538930],[-0.842818,-0.475816,-0.251509],[0.091827,-0.587597,0.803926]]
2025-10-25T00:09:27.737Z,1761350967.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450505,0.773309,0.446137],[-0.889285,-0.432831,-0.147748],[0.078847,-0.463305,0.882685]]
2025-10-25T00:09:27.772Z,1761350967.772 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:09:27.772Z,1761350967.772 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:09:27.772Z,1761350967.772 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:09:27.773Z,1761350967.773 [marl:UpdateRudder:A] Stopped
2025-10-25T00:09:27.773Z,1761350967.773 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:09:28.130Z,1761350968.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389162,0.885159,0.255041],[-0.919481,-0.390021,-0.049391],[0.055752,-0.253726,0.965668]]
2025-10-25T00:09:28.183Z,1761350968.183 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:09:28.183Z,1761350968.183 [marl:UpdateRudder:B] Stopped
2025-10-25T00:09:28.183Z,1761350968.183 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:09:28.183Z,1761350968.183 [marl:UpdateRudder] Stopped
2025-10-25T00:09:28.183Z,1761350968.183 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:09:28.532Z,1761350968.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369695,0.910449,0.185495],[-0.928472,-0.369629,-0.036247],[0.035563,-0.185628,0.981976]]
2025-10-25T00:09:28.938Z,1761350968.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396304,0.887646,0.234580],[-0.917636,-0.374658,-0.132573],[-0.029791,-0.267799,0.963014]]
2025-10-25T00:09:28.943Z,1761350968.943 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,000928.00,A,3646.56443,N,12151.83795,W,0.933,189.35,251025,,,A*70
2025-10-25T00:09:28.945Z,1761350968.945 [NAL9602](INFO): GPS fix at 20251025T000928: (36.776074, -121.863966)
2025-10-25T00:09:28.966Z,1761350968.966 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:09:28.967Z,1761350968.967 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:09:28.967Z,1761350968.967 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:09:28.967Z,1761350968.967 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:09:28.967Z,1761350968.967 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:09:28.967Z,1761350968.967 [marl:UpdateCommandMode] Stopped
2025-10-25T00:09:28.967Z,1761350968.967 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:09:28.967Z,1761350968.967 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:09:28.968Z,1761350968.968 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:09:28.968Z,1761350968.968 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:09:28.968Z,1761350968.968 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:09:28.968Z,1761350968.968 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:09:28.968Z,1761350968.968 [marl:UpdateSpeed] Stopped
2025-10-25T00:09:28.969Z,1761350968.969 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:09:28.970Z,1761350968.970 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761350912.00. Resetting abort timer.
2025-10-25T00:09:29.340Z,1761350969.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367078,0.879068,0.304128],[-0.930180,-0.348465,-0.115491],[0.004454,-0.325288,0.945605]]
2025-10-25T00:09:29.746Z,1761350969.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307721,0.899519,0.310117],[-0.950491,-0.305448,-0.057172],[0.043297,-0.312356,0.948978]]
2025-10-25T00:09:30.150Z,1761350970.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310393,0.900938,0.303259],[-0.950576,-0.291546,-0.106799],[-0.007805,-0.321421,0.946904]]
2025-10-25T00:09:30.553Z,1761350970.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274776,0.913967,0.298601],[-0.960754,-0.248688,-0.122908],[-0.038075,-0.320654,0.946431]]
2025-10-25T00:09:30.955Z,1761350970.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273365,0.925065,0.263679],[-0.961695,-0.268637,-0.054566],[0.020357,-0.268495,0.963066]]
2025-10-25T00:09:31.765Z,1761350971.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172955,0.907838,0.381990],[-0.979396,-0.199575,0.030866],[0.104257,-0.368782,0.923651]]
2025-10-25T00:09:32.178Z,1761350972.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123202,0.913329,0.388139],[-0.992325,-0.117565,-0.038341],[0.010614,-0.389883,0.920803]]
2025-10-25T00:09:32.183Z,1761350972.183 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,000931.00,A,3646.56373,N,12151.83864,W,1.225,214.41,251025,,,A*74
2025-10-25T00:09:32.186Z,1761350972.186 [NAL9602](INFO): GPS fix at 20251025T000931: (36.776062, -121.863977)
2025-10-25T00:09:32.266Z,1761350972.266 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761350912.00. Resetting abort timer.
2025-10-25T00:09:32.571Z,1761350972.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122057,0.954519,0.272021],[-0.992494,-0.115273,-0.040846],[-0.007632,-0.274964,0.961424]]
2025-10-25T00:09:32.975Z,1761350972.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168573,0.965294,0.199476],[-0.985476,-0.160842,-0.054464],[-0.020489,-0.205759,0.978388]]
2025-10-25T00:09:33.380Z,1761350973.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189187,0.955595,0.225933],[-0.981937,-0.184745,-0.040844],[0.002710,-0.229579,0.973286]]
2025-10-25T00:09:33.783Z,1761350973.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176256,0.937868,0.298895],[-0.984344,-0.167768,-0.054040],[-0.000538,-0.303740,0.952755]]
2025-10-25T00:09:34.190Z,1761350974.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153675,0.943181,0.294608],[-0.988018,-0.142349,-0.059649],[-0.014322,-0.300244,0.953755]]
2025-10-25T00:09:34.594Z,1761350974.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139813,0.959039,0.246369],[-0.990173,-0.134656,-0.037743],[-0.003022,-0.249224,0.968441]]
2025-10-25T00:09:34.711Z,1761350974.711 [marl:SendObservationData] Running Loop=1
2025-10-25T00:09:34.711Z,1761350974.711 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-25T00:09:34.711Z,1761350974.711 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-25T00:09:34.717Z,1761350974.717 [marl:SendObservationData:A] Running Loop=1
2025-10-25T00:09:34.719Z,1761350974.719 [marl:SendObservationData:A](INFO): Got test_good :  41da3f054000000040514000000000004042636643e9f0b7c05e775a255abf7d3fcfef1e20000000406bdcccc0000000 n/a str  and temp var is  nan n/a str 
2025-10-25T00:09:34.719Z,1761350974.719 [marl:SendObservationData:A] Stopped
2025-10-25T00:09:34.719Z,1761350974.719 [marl:SendObservationData:B] Running Loop=1
2025-10-25T00:09:34.998Z,1761350974.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144213,0.964624,0.220687],[-0.989542,-0.141291,-0.029056],[0.003152,-0.222569,0.974912]]
2025-10-25T00:09:35.023Z,1761350975.023 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,000934.00,A,3646.56343,N,12151.83990,W,1.536,253.10,251025,,,A*7A
2025-10-25T00:09:35.025Z,1761350975.025 [NAL9602](INFO): GPS fix at 20251025T000934: (36.776057, -121.863998)
2025-10-25T00:09:35.075Z,1761350975.075 [marl:SendObservationData:B] Stopped
2025-10-25T00:09:35.075Z,1761350975.075 [marl:SendObservationData:C] Running Loop=1
2025-10-25T00:09:35.076Z,1761350975.076 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761350912.00. Resetting abort timer.
2025-10-25T00:09:35.399Z,1761350975.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167062,0.962516,0.213667],[-0.985935,-0.164150,-0.031429],[0.004823,-0.215913,0.976401]]
2025-10-25T00:09:35.497Z,1761350975.497 [marl:SendObservationData:C] Stopped
2025-10-25T00:09:35.498Z,1761350975.498 [marl:SendObservationData:E] Running Loop=1
2025-10-25T00:09:35.803Z,1761350975.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176858,0.961103,0.212138],[-0.983204,-0.182389,0.006636],[0.045070,-0.207401,0.977217]]
2025-10-25T00:09:35.943Z,1761350975.943 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.009479 min 
2025-10-25T00:09:35.956Z,1761350975.956 [marl:SendObservationData:E] Stopped
2025-10-25T00:09:35.956Z,1761350975.956 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-25T00:09:35.957Z,1761350975.957 [marl:SendObservationData] Stopped
2025-10-25T00:09:35.957Z,1761350975.957 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-25T00:09:35.957Z,1761350975.957 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-25T00:09:36.241Z,1761350976.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164953,0.944279,0.284829],[-0.983914,-0.177622,0.019049],[0.068580,-0.277105,0.958389]]
2025-10-25T00:09:36.619Z,1761350976.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156026,0.922009,0.354339],[-0.982599,-0.181479,0.039548],[0.100769,-0.342002,0.934281]]
2025-10-25T00:09:37.015Z,1761350977.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145013,0.916870,0.371915],[-0.983585,-0.174383,0.046390],[0.107389,-0.359083,0.927107]]
2025-10-25T00:09:37.828Z,1761350977.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164296,0.946704,0.277054],[-0.964146,-0.213462,0.157659],[0.208397,-0.241218,0.947832]]
2025-10-25T00:09:37.835Z,1761350977.835 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,000937.00,A,3646.56312,N,12151.84083,W,0.603,236.98,251025,,,A*76
2025-10-25T00:09:37.845Z,1761350977.845 [NAL9602](INFO): GPS fix at 20251025T000937: (36.776052, -121.864014)
2025-10-25T00:09:37.958Z,1761350977.958 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761351040.00. Resetting abort timer.
2025-10-25T00:09:38.235Z,1761350978.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168509,0.910943,0.376548],[-0.946367,-0.256352,0.196655],[0.275670,-0.323214,0.905284]]
2025-10-25T00:09:38.631Z,1761350978.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117674,0.854776,0.505480],[-0.936378,-0.265008,0.230147],[0.330681,-0.446238,0.831578]]
2025-10-25T00:09:39.035Z,1761350979.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068628,0.843819,0.532221],[-0.934270,-0.241465,0.262364],[0.349901,-0.479233,0.804926]]
2025-10-25T00:09:39.446Z,1761350979.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009125,0.865484,0.500853],[-0.949121,-0.150176,0.276799],[0.314781,-0.477896,0.820078]]
2025-10-25T00:09:39.875Z,1761350979.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042078,0.931189,0.362100],[-0.954041,-0.070181,0.291344],[0.296709,-0.357717,0.885439]]
2025-10-25T00:09:40.302Z,1761350980.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013795,0.985992,0.166222],[-0.957152,-0.035068,0.287454],[0.289256,-0.163066,0.943261]]
2025-10-25T00:09:40.781Z,1761350980.781 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:09:40.781Z,1761350980.781 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:09:40.782Z,1761350980.782 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:09:40.782Z,1761350980.782 [marl:UpdateRudder:A] Stopped
2025-10-25T00:09:40.782Z,1761350980.782 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:09:40.921Z,1761350980.921 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:09:41.102Z,1761350981.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018435,0.998408,0.053298],[-0.946579,-0.034593,0.320610],[0.321944,-0.044540,0.945710]]
2025-10-25T00:09:41.107Z,1761350981.107 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,000940.00,A,3646.56286,N,12151.84172,W,2.838,283.87,251025,,,A*71
2025-10-25T00:09:41.110Z,1761350981.110 [NAL9602](INFO): GPS fix at 20251025T000940: (36.776048, -121.864029)
2025-10-25T00:09:41.148Z,1761350981.148 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:09:41.148Z,1761350981.148 [marl:UpdateRudder:B] Stopped
2025-10-25T00:09:41.148Z,1761350981.148 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:09:41.148Z,1761350981.148 [marl:UpdateRudder] Stopped
2025-10-25T00:09:41.149Z,1761350981.149 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:09:41.150Z,1761350981.150 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761351040.00. Resetting abort timer.
2025-10-25T00:09:41.174Z,1761350981.174 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:09:41.174Z,1761350981.174 [DAT](INFO): #Outgoing data=55
2025-10-25T00:09:41.174Z,1761350981.174 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:09:41.425Z,1761350981.425 [DAT](INFO): setting remote address to 10
2025-10-25T00:09:41.506Z,1761350981.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017825,0.990792,0.134217],[-0.950359,-0.058496,0.305606],[0.310643,-0.122107,0.942651]]
2025-10-25T00:09:41.677Z,1761350981.677 [DAT](INFO): DAT read: user:48>

2025-10-25T00:09:41.679Z,1761350981.679 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-25T00:09:41.679Z,1761350981.679 [DAT](INFO): set remote address to 10
2025-10-25T00:09:41.680Z,1761350981.680 [DAT](INFO): entering online mode
2025-10-25T00:09:41.917Z,1761350981.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003458,0.983486,0.180954],[-0.930028,-0.069660,0.360827],[0.367473,-0.167044,0.914910]]
2025-10-25T00:09:41.929Z,1761350981.929 [DAT](INFO): DAT read: user:49>

2025-10-25T00:09:41.929Z,1761350981.929 [DAT](INFO): DAT read: 

2025-10-25T00:09:41.930Z,1761350981.930 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-25T00:09:41.931Z,1761350981.931 [DAT](INFO): commRate: 600
2025-10-25T00:09:41.931Z,1761350981.931 [DAT](INFO): online mode acknowledged
2025-10-25T00:09:41.931Z,1761350981.931 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:09:42.030Z,1761350982.030 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:09:42.030Z,1761350982.030 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:09:42.030Z,1761350982.030 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:09:42.031Z,1761350982.031 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:09:42.031Z,1761350982.031 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:09:42.031Z,1761350982.031 [marl:UpdateCommandMode] Stopped
2025-10-25T00:09:42.031Z,1761350982.031 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:09:42.031Z,1761350982.031 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:09:42.031Z,1761350982.031 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:09:42.031Z,1761350982.031 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:09:42.031Z,1761350982.031 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:09:42.036Z,1761350982.036 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:09:42.036Z,1761350982.036 [marl:UpdateSpeed] Stopped
2025-10-25T00:09:42.036Z,1761350982.036 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:09:42.315Z,1761350982.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019029,0.981864,0.188629],[-0.908040,-0.061989,0.414272],[0.418452,-0.179166,0.890392]]
2025-10-25T00:09:42.721Z,1761350982.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039159,0.976694,0.211032],[-0.912329,-0.051198,0.406244],[0.407580,-0.208439,0.889062]]
2025-10-25T00:09:43.124Z,1761350983.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056695,0.969306,0.239229],[-0.927352,-0.037642,0.372291],[0.369869,-0.242957,0.896755]]
2025-10-25T00:09:43.526Z,1761350983.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044166,0.978307,0.202397],[-0.926324,-0.035768,0.375025],[0.374129,-0.204049,0.904650]]
2025-10-25T00:09:43.568Z,1761350983.568 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:09:43.930Z,1761350983.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022967,0.989436,0.143137],[-0.903350,-0.040798,0.426959],[0.428288,-0.139109,0.892871]]
2025-10-25T00:09:43.936Z,1761350983.936 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,000943.00,A,3646.56336,N,12151.84352,W,1.711,283.87,251025,,,A*7F
2025-10-25T00:09:43.938Z,1761350983.938 [NAL9602](INFO): GPS fix at 20251025T000943: (36.776056, -121.864059)
2025-10-25T00:09:43.999Z,1761350983.999 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761351040.00. Resetting abort timer.
2025-10-25T00:09:44.335Z,1761350984.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014339,0.984992,0.172005],[-0.885122,-0.067519,0.460435],[0.465139,-0.158847,0.870869]]
2025-10-25T00:09:44.740Z,1761350984.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003441,0.976274,0.216509],[-0.877274,-0.100973,0.469249],[0.479977,-0.191553,0.856113]]
2025-10-25T00:09:45.142Z,1761350985.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004535,0.968906,0.247389],[-0.874122,-0.123997,0.469612],[0.485686,-0.214118,0.847504]]
2025-10-25T00:09:45.214Z,1761350985.214 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:09:44.2543

2025-10-25T00:09:45.214Z,1761350985.214 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:09:45.547Z,1761350985.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017123,0.955292,0.295169],[-0.872540,-0.129880,0.470961],[0.488242,-0.265611,0.831307]]
2025-10-25T00:09:45.952Z,1761350985.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043108,0.947615,0.316494],[-0.866947,-0.121962,0.483247],[0.496532,-0.295215,0.816274]]
2025-10-25T00:09:46.355Z,1761350986.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048586,0.954398,0.294557],[-0.858238,-0.110968,0.501113],[0.510948,-0.277147,0.813709]]
2025-10-25T00:09:46.758Z,1761350986.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039016,0.960370,0.275984],[-0.851969,-0.112349,0.511397],[0.522137,-0.255082,0.813822]]
2025-10-25T00:09:46.771Z,1761350986.771 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,000946.00,A,3646.56068,N,12151.84568,W,3.985,283.87,251025,,,A*7C
2025-10-25T00:09:46.773Z,1761350986.773 [NAL9602](INFO): GPS fix at 20251025T000946: (36.776011, -121.864095)
2025-10-25T00:09:46.838Z,1761350986.838 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761351040.00. Resetting abort timer.
2025-10-25T00:09:47.163Z,1761350987.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034634,0.959084,0.280995],[-0.845975,-0.121562,0.519181],[0.532096,-0.255696,0.807151]]
2025-10-25T00:09:47.568Z,1761350987.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043320,0.953684,0.297675],[-0.840214,-0.126425,0.527311],[0.540522,-0.272954,0.795822]]
2025-10-25T00:09:47.970Z,1761350987.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057143,0.950405,0.305720],[-0.842230,-0.118537,0.525925],[0.536081,-0.287540,0.793687]]
2025-10-25T00:09:48.374Z,1761350988.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063503,0.953089,0.295954],[-0.858792,-0.098876,0.502692],[0.508374,-0.286085,0.812226]]
2025-10-25T00:09:48.779Z,1761350988.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060547,0.962429,0.264698],[-0.883439,-0.071766,0.463018],[0.464618,-0.261879,0.845902]]
2025-10-25T00:09:49.195Z,1761350989.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052268,0.973376,0.223177],[-0.902682,-0.049534,0.427448],[0.427123,-0.223799,0.876059]]
2025-10-25T00:09:49.586Z,1761350989.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043835,0.980525,0.191440],[-0.911634,-0.039126,0.409136],[0.408658,-0.192458,0.892165]]
2025-10-25T00:09:49.990Z,1761350989.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038778,0.983446,0.177001],[-0.916011,-0.035793,0.399553],[0.399274,-0.177628,0.899460]]
2025-10-25T00:09:50.398Z,1761350990.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036181,0.984401,0.172177],[-0.920830,-0.034101,0.388470],[0.388282,-0.172601,0.905232]]
2025-10-25T00:09:50.800Z,1761350990.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031202,0.986417,0.161269],[-0.924847,-0.032697,0.378932],[0.379058,-0.160973,0.911264]]
2025-10-25T00:09:51.237Z,1761350991.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007418,0.986177,0.165529],[-0.922112,-0.057292,0.382658],[0.386852,-0.155475,0.908941]]
2025-10-25T00:09:51.766Z,1761350991.766 [DAT](INFO): DAT read: Rx Time:00:09:50.3895

2025-10-25T00:09:51.766Z,1761350991.766 [DAT](INFO): Rx dataTimestamp_ set to:1761350991.765714
2025-10-25T00:09:52.018Z,1761350992.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004638,0.981679,0.190488],[-0.922622,-0.069267,0.379434],[0.385677,-0.177508,0.905397]]
2025-10-25T00:09:52.438Z,1761350992.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008619,0.972870,0.231191],[-0.934890,-0.074201,0.347094],[0.354832,-0.219130,0.908888]]
2025-10-25T00:09:52.526Z,1761350992.526 [DAT](INFO): DAT read: 00:09:50.3895 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 175,-0.18,-0.821, 0.034, 1.726, 0.507, PHS=-1.226,-0.428, 1.174, RAW= 229.0,   4.6, CAL= 227.8,   5.6, ROT= 282.2,  -5.6

2025-10-25T00:09:52.527Z,1761350992.527 [DAT](INFO): got valid direction response:
 00:09:50.3895 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 175,-0.18,-0.821, 0.034, 1.726, 0.507, PHS=-1.226,-0.428, 1.174, RAW= 229.0,   4.6, CAL= 227.8,   5.6, ROT= 282.2,  -5.6

2025-10-25T00:09:52.528Z,1761350992.528 [DAT](INFO): DAT read: 

2025-10-25T00:09:52.529Z,1761350992.529 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:09:52.529Z,1761350992.529 [DAT](INFO): Got DATA 2
2025-10-25T00:09:52.530Z,1761350992.530 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:09:52.530Z,1761350992.530 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:09:52.531Z,1761350992.531 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:09:52.532Z,1761350992.532 [DAT](INFO): DAT read: CRC:Pass MPD:03.3 PSNR:14.0 AGC:48 SPD:+0.4 CCERR:011

2025-10-25T00:09:52.532Z,1761350992.532 [DAT](INFO): Got CRC:Pass
2025-10-25T00:09:52.532Z,1761350992.532 [DAT](INFO): Got CRC:Pass
2025-10-25T00:09:52.532Z,1761350992.532 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:09:52.532Z,1761350992.532 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:09:52.532Z,1761350992.532 [DAT](INFO): Got ack
2025-10-25T00:09:52.533Z,1761350992.533 [DAT](INFO): DAT read: 

2025-10-25T00:09:52.533Z,1761350992.533 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:09:52.533Z,1761350992.533 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:09:52.534Z,1761350992.534 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-25T00:09:52.535Z,1761350992.535 [DAT](INFO): direction in FSK: [0.210316,-0.972751,0.097583]
2025-10-25T00:09:52.773Z,1761350992.773 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:09:52.773Z,1761350992.773 [DAT](INFO): #Outgoing data=55
2025-10-25T00:09:52.773Z,1761350992.773 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:09:52.823Z,1761350992.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014352,0.973426,0.228554],[-0.942232,-0.063335,0.328918],[0.334652,-0.220071,0.916284]]
2025-10-25T00:09:52.911Z,1761350992.911 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761351040.00. Resetting abort timer.
2025-10-25T00:09:53.025Z,1761350993.025 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:09:53.231Z,1761350993.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015455,0.976262,0.216040],[-0.947150,-0.054945,0.316052],[0.320420,-0.209507,0.923817]]
2025-10-25T00:09:53.739Z,1761350993.739 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:09:53.748Z,1761350993.748 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:09:53.748Z,1761350993.748 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:09:53.748Z,1761350993.748 [marl:UpdateRudder:A] Stopped
2025-10-25T00:09:53.748Z,1761350993.748 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:09:54.035Z,1761350994.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017428,0.980979,0.193330],[-0.954440,-0.041287,0.295533],[0.297894,-0.189672,0.935566]]
2025-10-25T00:09:54.111Z,1761350994.111 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:09:54.111Z,1761350994.111 [marl:UpdateRudder:B] Stopped
2025-10-25T00:09:54.111Z,1761350994.111 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:09:54.111Z,1761350994.111 [marl:UpdateRudder] Stopped
2025-10-25T00:09:54.111Z,1761350994.111 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:09:54.489Z,1761350994.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021604,0.981453,0.190482],[-0.958515,-0.033832,0.283029],[0.284224,-0.188694,0.940006]]
2025-10-25T00:09:54.892Z,1761350994.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026205,0.981433,0.190009],[-0.962969,-0.026237,0.268331],[0.268334,-0.190004,0.944402]]
2025-10-25T00:09:54.937Z,1761350994.937 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:09:54.937Z,1761350994.937 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:09:54.938Z,1761350994.938 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:09:54.938Z,1761350994.938 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:09:54.938Z,1761350994.938 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:09:54.938Z,1761350994.938 [marl:UpdateCommandMode] Stopped
2025-10-25T00:09:54.938Z,1761350994.938 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:09:54.938Z,1761350994.938 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:09:54.938Z,1761350994.938 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:09:54.938Z,1761350994.938 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:09:54.939Z,1761350994.939 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:09:54.939Z,1761350994.939 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:09:54.939Z,1761350994.939 [marl:UpdateSpeed] Stopped
2025-10-25T00:09:54.939Z,1761350994.939 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:09:55.290Z,1761350995.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030940,0.981417,0.189377],[-0.967627,-0.018071,0.251738],[0.250482,-0.191035,0.949086]]
2025-10-25T00:09:55.706Z,1761350995.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033935,0.981459,0.188643],[-0.972007,-0.011498,0.234672],[0.232490,-0.191326,0.953595]]
2025-10-25T00:09:56.090Z,1761350996.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034884,0.982111,0.185041],[-0.975894,-0.006439,0.218148],[0.215438,-0.188191,0.958212]]
2025-10-25T00:09:56.305Z,1761350996.305 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:09:55.3542

2025-10-25T00:09:56.305Z,1761350996.305 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:09:56.495Z,1761350996.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036560,0.982795,0.181044],[-0.979266,-0.000889,0.202575],[0.199250,-0.184696,0.962386]]
2025-10-25T00:09:56.912Z,1761350996.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042201,0.983184,0.177673],[-0.982274,0.008321,0.187263],[0.182636,-0.182426,0.966108]]
2025-10-25T00:09:57.303Z,1761350997.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050132,0.983565,0.173456],[-0.984844,0.019810,0.172307],[0.166039,-0.179465,0.969651]]
2025-10-25T00:09:57.707Z,1761350997.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057757,0.985517,0.159439],[-0.986934,0.032302,0.157851],[0.150415,-0.166473,0.974506]]
2025-10-25T00:09:58.111Z,1761350998.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064088,0.986311,0.151934],[-0.988529,0.041879,0.145108],[0.136758,-0.159491,0.977681]]
2025-10-25T00:09:58.518Z,1761350998.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068547,0.987616,0.141127],[-0.989810,0.049627,0.133470],[0.124813,-0.148838,0.980953]]
2025-10-25T00:09:58.918Z,1761350998.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071594,0.988712,0.131613],[-0.990806,0.055310,0.123471],[0.114798,-0.139243,0.983582]]
2025-10-25T00:09:59.322Z,1761350999.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075607,0.989332,0.124524],[-0.991530,0.061369,0.114461],[0.105598,-0.132124,0.985592]]
2025-10-25T00:09:59.727Z,1761350999.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081316,0.988456,0.127841],[-0.991988,0.067821,0.106588],[0.096687,-0.135484,0.986051]]
2025-10-25T00:10:00.134Z,1761351000.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087218,0.987124,0.134087],[-0.992379,0.074331,0.098285],[0.087052,-0.141637,0.986084]]
2025-10-25T00:10:00.535Z,1761351000.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092453,0.986498,0.135179],[-0.992882,0.081099,0.087225],[0.075085,-0.142281,0.986974]]
2025-10-25T00:10:00.939Z,1761351000.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094264,0.986534,0.133657],[-0.993608,0.084853,0.074457],[0.062113,-0.139821,0.988227]]
2025-10-25T00:10:01.342Z,1761351001.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090066,0.987235,0.131362],[-0.994604,0.082342,0.063104],[0.051482,-0.136337,0.989324]]
2025-10-25T00:10:01.754Z,1761351001.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081777,0.987911,0.131698],[-0.995668,0.075115,0.054791],[0.044236,-0.135608,0.989775]]
2025-10-25T00:10:02.170Z,1761351002.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072855,0.987612,0.138976],[-0.996540,0.066497,0.049859],[0.040000,-0.142127,0.989040]]
2025-10-25T00:10:02.554Z,1761351002.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063954,0.986129,0.153162],[-0.997201,0.057190,0.048170],[0.038743,-0.155814,0.987026]]
2025-10-25T00:10:02.786Z,1761351002.786 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:10:02.786Z,1761351002.786 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:10:02.873Z,1761351002.873 [DAT](INFO): DAT read: Rx Time:00:10:01.4386

2025-10-25T00:10:02.873Z,1761351002.873 [DAT](INFO): Rx dataTimestamp_ set to:1761351002.872997
2025-10-25T00:10:02.986Z,1761351002.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059766,0.983903,0.168411],[-0.997524,0.052603,0.046683],[0.037072,-0.170784,0.984611]]
2025-10-25T00:10:03.373Z,1761351003.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058991,0.982075,0.179020],[-0.997687,0.051936,0.043846],[0.033762,-0.181192,0.982868]]
2025-10-25T00:10:03.630Z,1761351003.630 [DAT](INFO): DAT read: 

2025-10-25T00:10:03.630Z,1761351003.630 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:10:03.630Z,1761351003.630 [DAT](INFO): Got DATA 2
2025-10-25T00:10:03.631Z,1761351003.631 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:10:03.631Z,1761351003.631 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:10:03.632Z,1761351003.632 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:10:03.634Z,1761351003.634 [DAT](INFO): DAT read: CRC:Pass MPD:03.4 PSNR:15.0 AGC:49 SPD:+0.0 CCERR:011

2025-10-25T00:10:03.634Z,1761351003.634 [DAT](INFO): Got CRC:Pass
2025-10-25T00:10:03.634Z,1761351003.634 [DAT](INFO): Got CRC:Pass
2025-10-25T00:10:03.634Z,1761351003.634 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:10:03.635Z,1761351003.635 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:10:03.635Z,1761351003.635 [DAT](INFO): Got ack
2025-10-25T00:10:03.635Z,1761351003.635 [DAT](INFO): DAT read: 

2025-10-25T00:10:03.636Z,1761351003.636 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:10:03.637Z,1761351003.637 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:10:03.774Z,1761351003.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058384,0.978725,0.196695],[-0.997851,0.051346,0.040696],[0.029731,-0.198649,0.979620]]
2025-10-25T00:10:03.848Z,1761351003.848 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-25T00:10:03.887Z,1761351003.887 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:10:03.887Z,1761351003.887 [DAT](INFO): #Outgoing data=55
2025-10-25T00:10:03.888Z,1761351003.888 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:10:03.889Z,1761351003.889 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:10:03.944Z,1761351003.944 [DAT](INFO): entering command mode
2025-10-25T00:10:04.134Z,1761351004.134 [DAT](INFO): DAT read: 

2025-10-25T00:10:04.134Z,1761351004.134 [DAT](INFO): DAT read: user:50>

2025-10-25T00:10:04.135Z,1761351004.135 [DAT](INFO): entering online mode
2025-10-25T00:10:04.196Z,1761351004.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056920,0.974999,0.214795],[-0.998048,0.050033,0.037371],[0.025689,-0.216503,0.975944]]
2025-10-25T00:10:04.385Z,1761351004.385 [DAT](INFO): DAT read: user:50>

2025-10-25T00:10:04.385Z,1761351004.385 [DAT](INFO): DAT read: 

2025-10-25T00:10:04.386Z,1761351004.386 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-25T00:10:04.387Z,1761351004.387 [DAT](INFO): commRate: 600
2025-10-25T00:10:04.387Z,1761351004.387 [DAT](INFO): online mode acknowledged
2025-10-25T00:10:04.387Z,1761351004.387 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:10:04.387Z,1761351004.387 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:10:04.580Z,1761351004.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053240,0.974597,0.217546],[-0.998323,0.046987,0.033821],[0.022740,-0.218982,0.975464]]
2025-10-25T00:10:04.638Z,1761351004.638 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:10:04.889Z,1761351004.889 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:10:04.987Z,1761351004.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046573,0.976074,0.212391],[-0.998669,0.040779,0.031582],[0.022166,-0.213579,0.976674]]
2025-10-25T00:10:05.141Z,1761351005.141 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:10:05.392Z,1761351005.392 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:10:05.399Z,1761351005.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041377,0.976881,0.209741],[-0.998888,0.035692,0.030818],[0.022619,-0.210783,0.977271]]
2025-10-25T00:10:05.645Z,1761351005.645 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:10:05.801Z,1761351005.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037503,0.977635,0.206940],[-0.998977,0.031442,0.032501],[0.025268,-0.207947,0.977814]]
2025-10-25T00:10:05.899Z,1761351005.899 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:10:06.149Z,1761351006.149 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:10:06.241Z,1761351006.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035443,0.975816,0.215700],[-0.998929,0.028167,0.036717],[0.029754,-0.216771,0.975769]]
2025-10-25T00:10:06.318Z,1761351006.318 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:10:06.318Z,1761351006.318 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:10:06.318Z,1761351006.318 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:10:06.318Z,1761351006.318 [marl:UpdateRudder:A] Stopped
2025-10-25T00:10:06.318Z,1761351006.318 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:10:06.401Z,1761351006.401 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:10:06.456Z,1761351006.456 [DAT](INFO): entering command mode
2025-10-25T00:10:06.601Z,1761351006.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035403,0.972106,0.231854],[-0.998802,0.026577,0.041085],[0.033777,-0.233031,0.971883]]
2025-10-25T00:10:06.634Z,1761351006.634 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:10:06.634Z,1761351006.634 [marl:UpdateRudder:B] Stopped
2025-10-25T00:10:06.634Z,1761351006.634 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:10:06.634Z,1761351006.634 [marl:UpdateRudder] Stopped
2025-10-25T00:10:06.634Z,1761351006.634 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:10:06.653Z,1761351006.653 [DAT](INFO): DAT read: 

2025-10-25T00:10:06.654Z,1761351006.654 [DAT](INFO): DAT read: user:51>

2025-10-25T00:10:06.655Z,1761351006.655 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:10:06.655Z,1761351006.655 [DAT](INFO): setting remote address to 0
2025-10-25T00:10:06.905Z,1761351006.905 [DAT](INFO): DAT read: user:51>

2025-10-25T00:10:06.906Z,1761351006.906 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-25T00:10:06.906Z,1761351006.906 [DAT](INFO): set remote address to 0
2025-10-25T00:10:06.906Z,1761351006.906 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:10:06.906Z,1761351006.906 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-25T00:10:07.014Z,1761351007.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038590,0.969736,0.241086],[-0.998635,0.028930,0.043480],[0.035189,-0.242435,0.969529]]
2025-10-25T00:10:07.158Z,1761351007.158 [DAT](INFO): DAT read: user:52>

2025-10-25T00:10:07.159Z,1761351007.159 [DAT](INFO): DAT read: Tx time:00:10:06.1554

2025-10-25T00:10:07.159Z,1761351007.159 [DAT](INFO): Ping request sent.
2025-10-25T00:10:07.159Z,1761351007.159 [DAT](INFO): transmitted an acoustic signal
2025-10-25T00:10:07.160Z,1761351007.160 [DAT](INFO): publishing transmit ping time
2025-10-25T00:10:07.161Z,1761351007.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001094
2025-10-25T00:10:07.413Z,1761351007.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253556
2025-10-25T00:10:07.423Z,1761351007.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044840,0.966507,0.252694],[-0.998417,0.034761,0.044213],[0.033948,-0.254277,0.966536]]
2025-10-25T00:10:07.466Z,1761351007.466 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:10:07.466Z,1761351007.466 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:10:07.466Z,1761351007.466 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:10:07.466Z,1761351007.466 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:10:07.466Z,1761351007.466 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:10:07.466Z,1761351007.466 [marl:UpdateCommandMode] Stopped
2025-10-25T00:10:07.466Z,1761351007.466 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:10:07.467Z,1761351007.467 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:10:07.467Z,1761351007.467 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:10:07.467Z,1761351007.467 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:10:07.467Z,1761351007.467 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:10:07.467Z,1761351007.467 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:10:07.467Z,1761351007.467 [marl:UpdateSpeed] Stopped
2025-10-25T00:10:07.467Z,1761351007.467 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:10:07.665Z,1761351007.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505722
2025-10-25T00:10:07.829Z,1761351007.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051043,0.963066,0.264383],[-0.998145,0.040397,0.045553],[0.033190,-0.266217,0.963341]]
2025-10-25T00:10:07.917Z,1761351007.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757432
2025-10-25T00:10:08.169Z,1761351008.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009361
2025-10-25T00:10:08.334Z,1761351008.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056219,0.961091,0.270449],[-0.997834,0.044822,0.048139],[0.034144,-0.272569,0.961530]]
2025-10-25T00:10:08.421Z,1761351008.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261789
2025-10-25T00:10:08.673Z,1761351008.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513674
2025-10-25T00:10:08.731Z,1761351008.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063509,0.960136,0.272223],[-0.997349,0.051357,0.051542],[0.035506,-0.274775,0.960853]]
2025-10-25T00:10:08.925Z,1761351008.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765758
2025-10-25T00:10:09.143Z,1761351009.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072864,0.961576,0.264695],[-0.996671,0.060472,0.054680],[0.036572,-0.267798,0.962781]]
2025-10-25T00:10:09.177Z,1761351009.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017425
2025-10-25T00:10:09.429Z,1761351009.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269499
2025-10-25T00:10:09.543Z,1761351009.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078874,0.962242,0.260518],[-0.996182,0.066272,0.056823],[0.037412,-0.264005,0.963795]]
2025-10-25T00:10:09.682Z,1761351009.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522934
2025-10-25T00:10:09.937Z,1761351009.937 [DAT](INFO): DAT read: Rx Time:00:10:08.3810

2025-10-25T00:10:09.937Z,1761351009.937 [DAT](INFO): Rx dataTimestamp_ set to:1761351009.936999
2025-10-25T00:10:09.938Z,1761351009.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778408
2025-10-25T00:10:09.962Z,1761351009.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078051,0.960486,0.267162],[-0.996212,0.064832,0.057960],[0.038349,-0.270673,0.961907]]
2025-10-25T00:10:10.189Z,1761351010.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029414
2025-10-25T00:10:10.449Z,1761351010.449 [DAT](INFO): DAT read: 00:10:08.3810 LVL= 30192, 24017, 20802, 32307, AGC= 59, IDX= 345,-0.04,-3.133,-2.055,-1.236,-2.137, PHS=-0.894, 0.127, 0.856, RAW= 245.5,  -1.2, CAL= 241.7,  -2.3, ROT= 268.3,   2.3

2025-10-25T00:10:10.450Z,1761351010.450 [DAT](INFO): got valid direction response:
 00:10:08.3810 LVL= 30192, 24017, 20802, 32307, AGC= 59, IDX= 345,-0.04,-3.133,-2.055,-1.236,-2.137, PHS=-0.894, 0.127, 0.856, RAW= 245.5,  -1.2, CAL= 241.7,  -2.3, ROT= 268.3,   2.3

2025-10-25T00:10:10.451Z,1761351010.451 [DAT](INFO): DAT read: Bearing 168, -17 (Remote)

2025-10-25T00:10:10.452Z,1761351010.452 [DAT](INFO): Remote Bearing received:Bearing 168, -17 (Remote)

2025-10-25T00:10:10.453Z,1761351010.453 [DAT](INFO): DAT read: Bearing 335.4, -71.2 (Local)

2025-10-25T00:10:10.453Z,1761351010.453 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.4, -71.2 (Local)

2025-10-25T00:10:10.454Z,1761351010.454 [DAT](INFO): DAT read: Range 11 to 20 : 147.3 m  (Round-trip  196.5 ms) speed -0.8 m/s

2025-10-25T00:10:10.455Z,1761351010.455 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T00:10:10.456Z,1761351010.456 [DAT](INFO): direction in FSK: [-0.029642,-0.998755,-0.040132]
2025-10-25T00:10:10.456Z,1761351010.456 [DAT](INFO): publishing direction and range info
2025-10-25T00:10:10.755Z,1761351010.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060342,0.953856,0.294140],[-0.997298,0.045242,0.057878],[0.041900,-0.296838,0.954008]]
2025-10-25T00:10:10.817Z,1761351010.817 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761351040.00. Resetting abort timer.
2025-10-25T00:10:11.159Z,1761351011.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047550,0.949181,0.311118],[-0.997818,0.030855,0.058367],[0.045801,-0.313215,0.948577]]
2025-10-25T00:10:11.558Z,1761351011.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034049,0.942122,0.333538],[-0.998209,0.015631,0.057750],[0.049194,-0.334907,0.940966]]
2025-10-25T00:10:11.963Z,1761351011.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021617,0.935992,0.351356],[-0.998499,0.002523,0.054712],[0.050323,-0.352012,0.934642]]
2025-10-25T00:10:12.367Z,1761351012.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010139,0.932692,0.360532],[-0.998653,-0.008900,0.051111],[0.050879,-0.360564,0.931346]]
2025-10-25T00:10:12.776Z,1761351012.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001949,0.931653,0.363343],[-0.998555,-0.021326,0.049326],[0.053703,-0.362722,0.930349]]
2025-10-25T00:10:13.175Z,1761351013.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016563,0.932465,0.360881],[-0.998107,-0.036801,0.049280],[0.059233,-0.359381,0.931309]]
2025-10-25T00:10:13.578Z,1761351013.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.035251,0.933991,0.355554],[-0.997245,-0.056109,0.048520],[0.065267,-0.352864,0.933396]]
2025-10-25T00:10:13.712Z,1761351013.712 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:10:13.983Z,1761351013.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057185,0.933271,0.354593],[-0.995958,-0.077967,0.044587],[0.069259,-0.350610,0.933957]]
2025-10-25T00:10:14.387Z,1761351014.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083155,0.925809,0.368731],[-0.993942,-0.103736,0.036310],[0.071867,-0.363477,0.928827]]
2025-10-25T00:10:14.473Z,1761351014.473 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-25T00:10:14.473Z,1761351014.473 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:10:14.716Z,1761351014.716 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:10:14.725Z,1761351014.725 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:10:14.725Z,1761351014.725 [DAT](INFO): #Outgoing data=55
2025-10-25T00:10:14.725Z,1761351014.725 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:10:14.795Z,1761351014.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112170,0.914719,0.388211],[-0.990855,-0.132447,0.025776],[0.074995,-0.381769,0.921210]]
2025-10-25T00:10:14.977Z,1761351014.977 [DAT](INFO): setting remote address to 10
2025-10-25T00:10:15.194Z,1761351015.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141871,0.901631,0.408576],[-0.986678,-0.162000,0.014888],[0.079612,-0.401021,0.912603]]
2025-10-25T00:10:15.229Z,1761351015.229 [DAT](INFO): DAT read: user:53>

2025-10-25T00:10:15.230Z,1761351015.230 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-25T00:10:15.230Z,1761351015.230 [DAT](INFO): set remote address to 10
2025-10-25T00:10:15.230Z,1761351015.230 [DAT](INFO): entering online mode
2025-10-25T00:10:15.481Z,1761351015.481 [DAT](INFO): DAT read: user:54>

2025-10-25T00:10:15.481Z,1761351015.481 [DAT](INFO): DAT read: 

2025-10-25T00:10:15.482Z,1761351015.482 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-25T00:10:15.483Z,1761351015.483 [DAT](INFO): commRate: 600
2025-10-25T00:10:15.483Z,1761351015.483 [DAT](INFO): online mode acknowledged
2025-10-25T00:10:15.483Z,1761351015.483 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:10:15.598Z,1761351015.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169544,0.886862,0.429804],[-0.981794,-0.189894,0.004543],[0.085646,-0.421209,0.902911]]
2025-10-25T00:10:16.002Z,1761351016.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191051,0.872480,0.449754],[-0.977339,-0.211629,-0.004623],[0.091147,-0.440445,0.893141]]
2025-10-25T00:10:16.442Z,1761351016.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206487,0.860709,0.465342],[-0.973784,-0.227161,-0.011936],[0.095434,-0.455608,0.885050]]
2025-10-25T00:10:16.844Z,1761351016.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216301,0.851052,0.478460],[-0.971271,-0.237380,-0.016853],[0.099235,-0.468359,0.877948]]
2025-10-25T00:10:17.275Z,1761351017.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227494,0.851104,0.473147],[-0.968107,-0.250045,-0.015691],[0.104953,-0.461627,0.880844]]
2025-10-25T00:10:17.691Z,1761351017.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231684,0.853114,0.467461],[-0.967163,-0.253620,-0.016493],[0.104487,-0.455932,0.883860]]
2025-10-25T00:10:18.091Z,1761351018.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240315,0.856653,0.456502],[-0.965244,-0.260658,-0.018991],[0.102722,-0.445200,0.889520]]
2025-10-25T00:10:18.495Z,1761351018.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255405,0.862708,0.436466],[-0.961551,-0.273781,-0.021518],[0.100932,-0.425180,0.899463]]
2025-10-25T00:10:18.757Z,1761351018.757 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:10:17.8041

2025-10-25T00:10:18.757Z,1761351018.757 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:10:18.898Z,1761351018.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276896,0.865088,0.418272],[-0.955590,-0.293607,-0.025349],[0.100879,-0.406715,0.907968]]
2025-10-25T00:10:19.302Z,1761351019.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299599,0.862315,0.408233],[-0.948542,-0.315195,-0.030337],[0.102513,-0.396315,0.912374]]
2025-10-25T00:10:19.353Z,1761351019.353 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:10:19.353Z,1761351019.353 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:10:19.353Z,1761351019.353 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:10:19.354Z,1761351019.354 [marl:UpdateRudder:A] Stopped
2025-10-25T00:10:19.354Z,1761351019.354 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:10:19.706Z,1761351019.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317435,0.858460,0.402843],[-0.942688,-0.331739,-0.035888],[0.102830,-0.391147,0.914565]]
2025-10-25T00:10:19.770Z,1761351019.770 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:10:19.771Z,1761351019.771 [marl:UpdateRudder:B] Stopped
2025-10-25T00:10:19.771Z,1761351019.771 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:10:19.771Z,1761351019.771 [marl:UpdateRudder] Stopped
2025-10-25T00:10:19.771Z,1761351019.771 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:10:20.134Z,1761351020.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330443,0.851173,0.407814],[-0.938339,-0.342795,-0.044847],[0.101624,-0.397487,0.911963]]
2025-10-25T00:10:20.587Z,1761351020.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341235,0.841846,0.418156],[-0.934738,-0.350815,-0.056516],[0.099117,-0.410152,0.906615]]
2025-10-25T00:10:20.645Z,1761351020.645 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:10:20.645Z,1761351020.645 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:10:20.645Z,1761351020.645 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:10:20.646Z,1761351020.646 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:10:20.646Z,1761351020.646 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:10:20.646Z,1761351020.646 [marl:UpdateCommandMode] Stopped
2025-10-25T00:10:20.646Z,1761351020.646 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:10:20.646Z,1761351020.646 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:10:20.646Z,1761351020.646 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:10:20.647Z,1761351020.647 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:10:20.647Z,1761351020.647 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:10:20.647Z,1761351020.647 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:10:20.647Z,1761351020.647 [marl:UpdateSpeed] Stopped
2025-10-25T00:10:20.647Z,1761351020.647 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:10:20.982Z,1761351020.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351072,0.835268,0.423174],[-0.931457,-0.357672,-0.066772],[0.095585,-0.417610,0.903585]]
2025-10-25T00:10:21.389Z,1761351021.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361773,0.829400,0.425695],[-0.927779,-0.365052,-0.077219],[0.091356,-0.422887,0.901566]]
2025-10-25T00:10:21.795Z,1761351021.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372491,0.825196,0.424620],[-0.924025,-0.372274,-0.087118],[0.086186,-0.424810,0.901171]]
2025-10-25T00:10:22.194Z,1761351022.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384626,0.827339,0.409358],[-0.919586,-0.381944,-0.092092],[0.080160,-0.411861,0.907714]]
2025-10-25T00:10:22.605Z,1761351022.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400743,0.834045,0.379176],[-0.913212,-0.396972,-0.091965],[0.073819,-0.383123,0.920743]]
2025-10-25T00:10:23.003Z,1761351023.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420614,0.834253,0.356519],[-0.904733,-0.414899,-0.096525],[0.067393,-0.363154,0.929288]]
2025-10-25T00:10:23.407Z,1761351023.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443312,0.828158,0.342970],[-0.894150,-0.435462,-0.104256],[0.063010,-0.352885,0.933543]]
2025-10-25T00:10:23.811Z,1761351023.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466383,0.818646,0.335120],[-0.882505,-0.456555,-0.112880],[0.060592,-0.348391,0.935389]]
2025-10-25T00:10:24.214Z,1761351024.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487606,0.807216,0.332630],[-0.871050,-0.475655,-0.122576],[0.059272,-0.349506,0.935058]]
2025-10-25T00:10:24.628Z,1761351024.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504085,0.794523,0.338572],[-0.861679,-0.489172,-0.134982],[0.058373,-0.359783,0.931208]]
2025-10-25T00:10:25.024Z,1761351025.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515597,0.782657,0.348723],[-0.854961,-0.496811,-0.149065],[0.056583,-0.375002,0.925296]]
2025-10-25T00:10:25.309Z,1761351025.309 [DAT](INFO): DAT read: Rx Time:00:10:23.9371

2025-10-25T00:10:25.309Z,1761351025.309 [DAT](INFO): Rx dataTimestamp_ set to:1761351025.309062
2025-10-25T00:10:25.426Z,1761351025.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523971,0.770968,0.362026],[-0.850087,-0.499803,-0.165977],[0.052978,-0.394721,0.917273]]
2025-10-25T00:10:25.834Z,1761351025.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532712,0.763683,0.364699],[-0.844916,-0.504529,-0.177671],[0.048317,-0.402788,0.914017]]
2025-10-25T00:10:26.073Z,1761351026.073 [DAT](INFO): DAT read: 00:10:23.9371 LVL= 24112, 27313, 20082, 26995, AGC= 48, IDX= 503,-0.44,-2.113,-1.751, 0.101,-1.285, PHS=-0.726,-0.421, 1.342, RAW= 217.9,  -2.0, CAL= 216.3,  -3.6, ROT= 293.7,   3.6

2025-10-25T00:10:26.074Z,1761351026.074 [DAT](INFO): got valid direction response:
 00:10:23.9371 LVL= 24112, 27313, 20082, 26995, AGC= 48, IDX= 503,-0.44,-2.113,-1.751, 0.101,-1.285, PHS=-0.726,-0.421, 1.342, RAW= 217.9,  -2.0, CAL= 216.3,  -3.6, ROT= 293.7,   3.6

2025-10-25T00:10:26.074Z,1761351026.074 [DAT](INFO): DAT read: 

2025-10-25T00:10:26.075Z,1761351026.075 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:10:26.075Z,1761351026.075 [DAT](INFO): Got DATA 2
2025-10-25T00:10:26.076Z,1761351026.076 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:10:26.076Z,1761351026.076 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:10:26.077Z,1761351026.077 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:10:26.078Z,1761351026.078 [DAT](INFO): DAT read: CRC:Pass MPD:03.8 PSNR:13.6 AGC:49 SPD:+0.6 CCERR:011

2025-10-25T00:10:26.078Z,1761351026.078 [DAT](INFO): Got CRC:Pass
2025-10-25T00:10:26.078Z,1761351026.078 [DAT](INFO): Got CRC:Pass
2025-10-25T00:10:26.078Z,1761351026.078 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:10:26.078Z,1761351026.078 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:10:26.078Z,1761351026.078 [DAT](INFO): Got ack
2025-10-25T00:10:26.079Z,1761351026.079 [DAT](INFO): DAT read: 

2025-10-25T00:10:26.079Z,1761351026.079 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:10:26.079Z,1761351026.079 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:10:26.080Z,1761351026.080 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-25T00:10:26.081Z,1761351026.081 [DAT](INFO): direction in FSK: [0.401155,-0.913856,-0.062791]
2025-10-25T00:10:26.258Z,1761351026.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543946,0.757842,0.360275],[-0.838022,-0.512579,-0.187035],[0.042926,-0.403655,0.913904]]
2025-10-25T00:10:26.317Z,1761351026.317 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:10:26.317Z,1761351026.317 [DAT](INFO): #Outgoing data=56
2025-10-25T00:10:26.317Z,1761351026.317 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:10:26.350Z,1761351026.350 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761351040.00. Resetting abort timer.
2025-10-25T00:10:26.569Z,1761351026.569 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:10:26.649Z,1761351026.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558977,0.750990,0.351509],[-0.828340,-0.524861,-0.195890],[0.037382,-0.400667,0.915461]]
2025-10-25T00:10:27.042Z,1761351027.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575944,0.741322,0.344573],[-0.816846,-0.538587,-0.206608],[0.032419,-0.400458,0.915742]]
2025-10-25T00:10:27.446Z,1761351027.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592098,0.733511,0.333739],[-0.805354,-0.553350,-0.212622],[0.028714,-0.394671,0.918373]]
2025-10-25T00:10:27.894Z,1761351027.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605752,0.727969,0.321133],[-0.795241,-0.566932,-0.214894],[0.025625,-0.385550,0.922331]]
2025-10-25T00:10:28.256Z,1761351028.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616510,0.721923,0.314233],[-0.787022,-0.576523,-0.219585],[0.022639,-0.382685,0.923602]]
2025-10-25T00:10:28.675Z,1761351028.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624046,0.718529,0.307056],[-0.781155,-0.583270,-0.222696],[0.019083,-0.378831,0.925269]]
2025-10-25T00:10:29.063Z,1761351029.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632301,0.713802,0.301134],[-0.774566,-0.590285,-0.227181],[0.015593,-0.376895,0.926125]]
2025-10-25T00:10:29.466Z,1761351029.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643588,0.704455,0.299228],[-0.765249,-0.599283,-0.235061],[0.013732,-0.380266,0.924775]]
2025-10-25T00:10:29.849Z,1761351029.849 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:10:28.9041

2025-10-25T00:10:29.850Z,1761351029.850 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:10:29.920Z,1761351029.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658228,0.693994,0.291732],[-0.752715,-0.613123,-0.239790],[0.012455,-0.377428,0.925955]]
2025-10-25T00:10:30.275Z,1761351030.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674981,0.682335,0.280748],[-0.737750,-0.629912,-0.242766],[0.011199,-0.370985,0.928572]]
2025-10-25T00:10:30.685Z,1761351030.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692670,0.668472,0.270838],[-0.721185,-0.647124,-0.247229],[0.010000,-0.366573,0.930336]]
2025-10-25T00:10:31.092Z,1761351031.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710335,0.651496,0.266415],[-0.703804,-0.662346,-0.256823],[0.009140,-0.369934,0.929013]]
2025-10-25T00:10:31.486Z,1761351031.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724036,0.636108,0.266717],[-0.689716,-0.672115,-0.269357],[0.007925,-0.378983,0.925370]]
2025-10-25T00:10:31.912Z,1761351031.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732934,0.626226,0.265797],[-0.680276,-0.677890,-0.278728],[0.005635,-0.385105,0.922856]]
2025-10-25T00:10:32.003Z,1761351032.003 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:10:32.003Z,1761351032.003 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:10:32.012Z,1761351032.012 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:10:32.012Z,1761351032.012 [marl:UpdateRudder:A] Stopped
2025-10-25T00:10:32.012Z,1761351032.012 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:10:32.295Z,1761351032.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739856,0.620850,0.259147],[-0.672760,-0.684175,-0.281600],[0.002471,-0.382687,0.923875]]
2025-10-25T00:10:32.358Z,1761351032.358 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:10:32.358Z,1761351032.358 [marl:UpdateRudder:B] Stopped
2025-10-25T00:10:32.358Z,1761351032.358 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:10:32.359Z,1761351032.359 [marl:UpdateRudder] Stopped
2025-10-25T00:10:32.359Z,1761351032.359 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:10:32.707Z,1761351032.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745955,0.616157,0.252787],[-0.665996,-0.689555,-0.284541],[-0.001012,-0.380610,0.924735]]
2025-10-25T00:10:33.107Z,1761351033.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752454,0.610405,0.247424],[-0.658625,-0.694386,-0.289900],[-0.005149,-0.381096,0.924521]]
2025-10-25T00:10:33.137Z,1761351033.137 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:10:33.137Z,1761351033.137 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:10:33.138Z,1761351033.138 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:10:33.138Z,1761351033.138 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:10:33.138Z,1761351033.138 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:10:33.138Z,1761351033.138 [marl:UpdateCommandMode] Stopped
2025-10-25T00:10:33.138Z,1761351033.138 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:10:33.138Z,1761351033.138 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:10:33.138Z,1761351033.138 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:10:33.138Z,1761351033.138 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:10:33.139Z,1761351033.139 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:10:33.139Z,1761351033.139 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:10:33.139Z,1761351033.139 [marl:UpdateSpeed] Stopped
2025-10-25T00:10:33.139Z,1761351033.139 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:10:33.506Z,1761351033.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760430,0.602606,0.242101],[-0.649356,-0.700288,-0.296536],[-0.009154,-0.382705,0.923825]]
2025-10-25T00:10:33.916Z,1761351033.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772502,0.588869,0.237642],[-0.634922,-0.709985,-0.304623],[-0.010661,-0.386206,0.922351]]
2025-10-25T00:10:34.316Z,1761351034.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787473,0.570159,0.234103],[-0.616258,-0.721823,-0.314957],[-0.010595,-0.392288,0.919781]]
2025-10-25T00:10:34.721Z,1761351034.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800345,0.552446,0.232921],[-0.599447,-0.730503,-0.327154],[-0.010585,-0.401460,0.915816]]
2025-10-25T00:10:35.122Z,1761351035.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810399,0.540870,0.225197],[-0.585791,-0.741396,-0.327385],[-0.010113,-0.397231,0.917663]]
2025-10-25T00:10:35.529Z,1761351035.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818047,0.532181,0.218132],[-0.575075,-0.750676,-0.325230],[-0.009335,-0.391496,0.920132]]
2025-10-25T00:10:35.931Z,1761351035.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823062,0.523385,0.220539],[-0.567880,-0.752223,-0.334174],[-0.009007,-0.400285,0.916346]]
2025-10-25T00:10:36.338Z,1761351036.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827441,0.515143,0.223536],[-0.561471,-0.752191,-0.344905],[-0.009534,-0.410898,0.911632]]
2025-10-25T00:10:36.397Z,1761351036.397 [DAT](INFO): DAT read: Rx Time:00:10:34.9835

2025-10-25T00:10:36.397Z,1761351036.397 [DAT](INFO): Rx dataTimestamp_ set to:1761351036.397063
2025-10-25T00:10:36.741Z,1761351036.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832224,0.509313,0.219099],[-0.554305,-0.755594,-0.349032],[-0.012217,-0.411920,0.911138]]
2025-10-25T00:10:37.144Z,1761351037.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838978,0.503940,0.205332],[-0.543921,-0.765290,-0.344211],[-0.016323,-0.400470,0.916164]]
2025-10-25T00:10:37.158Z,1761351037.158 [DAT](INFO): DAT read: 00:10:34.9835 LVL= 32752, 32753, 23458, 32483, AGC= 49, IDX= 405,-0.49, 2.813, 2.034,-1.981,-2.911, PHS=-0.457,-1.293, 0.886, RAW= 187.6,   9.1, CAL= 187.6,  10.0, ROT= 322.4, -10.0

2025-10-25T00:10:37.159Z,1761351037.159 [DAT](INFO): got valid direction response:
 00:10:34.9835 LVL= 32752, 32753, 23458, 32483, AGC= 49, IDX= 405,-0.49, 2.813, 2.034,-1.981,-2.911, PHS=-0.457,-1.293, 0.886, RAW= 187.6,   9.1, CAL= 187.6,  10.0, ROT= 322.4, -10.0

2025-10-25T00:10:37.160Z,1761351037.160 [DAT](INFO): DAT read: 

2025-10-25T00:10:37.161Z,1761351037.161 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:10:37.161Z,1761351037.161 [DAT](INFO): Got DATA 2
2025-10-25T00:10:37.162Z,1761351037.162 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:10:37.162Z,1761351037.162 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:10:37.162Z,1761351037.162 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:10:37.163Z,1761351037.163 [DAT](INFO): DAT read: CRC:Pass MPD:07.0 PSNR:12.2 AGC:48 SPD:+0.9 CCERR:010

2025-10-25T00:10:37.163Z,1761351037.163 [DAT](INFO): Got CRC:Pass
2025-10-25T00:10:37.164Z,1761351037.164 [DAT](INFO): Got CRC:Pass
2025-10-25T00:10:37.164Z,1761351037.164 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:10:37.164Z,1761351037.164 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:10:37.164Z,1761351037.164 [DAT](INFO): Got ack
2025-10-25T00:10:37.164Z,1761351037.164 [DAT](INFO): DAT read: 

2025-10-25T00:10:37.165Z,1761351037.165 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:10:37.165Z,1761351037.165 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:10:37.165Z,1761351037.165 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-25T00:10:37.166Z,1761351037.166 [DAT](INFO): direction in FSK: [0.780253,-0.600876,0.173648]
2025-10-25T00:10:37.219Z,1761351037.219 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761351040.00. Resetting abort timer.
2025-10-25T00:10:37.405Z,1761351037.405 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:10:37.405Z,1761351037.405 [DAT](INFO): #Outgoing data=56
2025-10-25T00:10:37.405Z,1761351037.405 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:10:37.546Z,1761351037.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848306,0.494931,0.188202],[-0.529114,-0.778654,-0.337248],[-0.020370,-0.385670,0.922412]]
2025-10-25T00:10:37.659Z,1761351037.659 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:10:37.950Z,1761351037.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859315,0.481587,0.172196],[-0.510902,-0.792763,-0.332425],[-0.023581,-0.373633,0.927277]]
2025-10-25T00:10:38.354Z,1761351038.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870953,0.464478,0.160316],[-0.490695,-0.805112,-0.333185],[-0.025685,-0.368855,0.929132]]
2025-10-25T00:10:38.763Z,1761351038.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882580,0.445279,0.150931],[-0.469409,-0.816358,-0.336474],[-0.026611,-0.367814,0.929519]]
2025-10-25T00:10:39.163Z,1761351039.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893707,0.425446,0.142420],[-0.447883,-0.827467,-0.338673],[-0.026239,-0.366462,0.930063]]
2025-10-25T00:10:39.574Z,1761351039.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903413,0.406330,0.136895],[-0.428036,-0.835979,-0.343401],[-0.025093,-0.368829,0.929159]]
2025-10-25T00:10:39.970Z,1761351039.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912211,0.388322,0.130682],[-0.409004,-0.844183,-0.346512],[-0.024238,-0.369542,0.928898]]
2025-10-25T00:10:40.375Z,1761351040.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919640,0.371605,0.127168],[-0.391935,-0.847270,-0.358497],[-0.025474,-0.379530,0.924829]]
2025-10-25T00:10:40.789Z,1761351040.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925712,0.358017,0.121988],[-0.377098,-0.848691,-0.370838],[-0.029237,-0.389290,0.920651]]
2025-10-25T00:10:40.938Z,1761351040.938 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:10:40.0041

2025-10-25T00:10:40.938Z,1761351040.938 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:10:41.182Z,1761351041.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930979,0.346298,0.115571],[-0.363464,-0.849512,-0.382390],[-0.034242,-0.398003,0.916745]]
2025-10-25T00:10:41.590Z,1761351041.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935147,0.336692,0.110175],[-0.352135,-0.849433,-0.393020],[-0.038741,-0.406328,0.912906]]
2025-10-25T00:10:41.992Z,1761351041.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939013,0.327871,0.103709],[-0.341420,-0.852855,-0.395057],[-0.041079,-0.406372,0.912784]]
2025-10-25T00:10:42.394Z,1761351042.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942563,0.319392,0.097789],[-0.331430,-0.857820,-0.392810],[-0.041575,-0.402659,0.914405]]
2025-10-25T00:10:42.802Z,1761351042.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946204,0.310112,0.092351],[-0.320949,-0.863237,-0.389633],[-0.041108,-0.398312,0.916328]]
2025-10-25T00:10:43.203Z,1761351043.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950743,0.298533,0.083458],[-0.307130,-0.870808,-0.383881],[-0.041925,-0.390604,0.919603]]
2025-10-25T00:10:43.608Z,1761351043.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954607,0.288365,0.074633],[-0.294767,-0.878486,-0.375998],[-0.042860,-0.380930,0.923610]]
2025-10-25T00:10:44.010Z,1761351044.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957663,0.279501,0.069004],[-0.284666,-0.883539,-0.371920],[-0.042984,-0.375817,0.925697]]
2025-10-25T00:10:44.104Z,1761351044.104 [Radio_Surface](INFO): Powering down
2025-10-25T00:10:44.414Z,1761351044.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960380,0.270733,0.066141],[-0.275434,-0.885822,-0.373437],[-0.042512,-0.376858,0.925295]]
2025-10-25T00:10:44.828Z,1761351044.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963430,0.260282,0.063685],[-0.264691,-0.887400,-0.377439],[-0.041726,-0.380493,0.923842]]
2025-10-25T00:10:44.836Z,1761351044.836 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:10:44.858Z,1761351044.858 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:10:44.858Z,1761351044.858 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:10:44.858Z,1761351044.858 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:10:44.859Z,1761351044.859 [marl:UpdateRudder:A] Stopped
2025-10-25T00:10:44.859Z,1761351044.859 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:10:45.222Z,1761351045.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966882,0.248247,0.059266],[-0.251957,-0.891387,-0.376758],[-0.040701,-0.379213,0.924414]]
2025-10-25T00:10:45.254Z,1761351045.254 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:10:45.254Z,1761351045.254 [marl:UpdateRudder:B] Stopped
2025-10-25T00:10:45.254Z,1761351045.254 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:10:45.254Z,1761351045.254 [marl:UpdateRudder] Stopped
2025-10-25T00:10:45.254Z,1761351045.254 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:10:45.626Z,1761351045.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970517,0.234698,0.054899],[-0.237913,-0.896246,-0.374352],[-0.038657,-0.376377,0.925660]]
2025-10-25T00:10:45.681Z,1761351045.681 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:10:45.681Z,1761351045.681 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:10:45.681Z,1761351045.681 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:10:45.681Z,1761351045.681 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:10:45.681Z,1761351045.681 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:10:45.681Z,1761351045.681 [marl:UpdateCommandMode] Stopped
2025-10-25T00:10:45.682Z,1761351045.682 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:10:45.682Z,1761351045.682 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:10:45.682Z,1761351045.682 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:10:45.682Z,1761351045.682 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:10:45.682Z,1761351045.682 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:10:45.682Z,1761351045.682 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:10:45.682Z,1761351045.682 [marl:UpdateSpeed] Stopped
2025-10-25T00:10:45.682Z,1761351045.682 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:10:45.841Z,1761351045.841 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-25T00:10:45.842Z,1761351045.842 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:10:46.031Z,1761351046.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974318,0.219154,0.051738],[-0.222321,-0.899738,-0.375560],[-0.035755,-0.377417,0.925353]]
2025-10-25T00:10:46.436Z,1761351046.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978344,0.201694,0.046504],[-0.204260,-0.904429,-0.374547],[-0.033485,-0.375935,0.926041]]
2025-10-25T00:10:46.920Z,1761351046.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986387,0.161633,0.030256],[-0.161090,-0.912839,-0.375201],[-0.033026,-0.374967,0.926450]]
2025-10-25T00:10:47.329Z,1761351047.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989867,0.140519,0.020444],[-0.137646,-0.914156,-0.381278],[-0.034888,-0.380228,0.924235]]
2025-10-25T00:10:47.505Z,1761351047.505 [DAT](INFO): DAT read: Rx Time:00:10:46.0824

2025-10-25T00:10:47.505Z,1761351047.505 [DAT](INFO): Rx dataTimestamp_ set to:1761351047.505001
2025-10-25T00:10:47.726Z,1761351047.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992706,0.120142,0.010053],[-0.114548,-0.913894,-0.389457],[-0.037603,-0.387768,0.920990]]
2025-10-25T00:10:48.152Z,1761351048.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994605,0.103724,-0.001336],[-0.094756,-0.913698,-0.395193],[-0.042212,-0.392934,0.918597]]
2025-10-25T00:10:48.269Z,1761351048.269 [DAT](INFO): DAT read: 00:10:46.0824 LVL= 32752, 32753, 32754, 32755, AGC= 44, IDX= 424,-0.20,-0.501,-1.726, 0.004,-0.973, PHS= 0.574,-0.708, 0.933, RAW= 162.0, -10.7, CAL= 163.1, -12.3, ROT= 346.9,  12.3

2025-10-25T00:10:48.270Z,1761351048.270 [DAT](INFO): got valid direction response:
 00:10:46.0824 LVL= 32752, 32753, 32754, 32755, AGC= 44, IDX= 424,-0.20,-0.501,-1.726, 0.004,-0.973, PHS= 0.574,-0.708, 0.933, RAW= 162.0, -10.7, CAL= 163.1, -12.3, ROT= 346.9,  12.3

2025-10-25T00:10:48.271Z,1761351048.271 [DAT](INFO): DAT read: 

2025-10-25T00:10:48.271Z,1761351048.271 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:10:48.272Z,1761351048.272 [DAT](INFO): Got DATA 2
2025-10-25T00:10:48.272Z,1761351048.272 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:10:48.273Z,1761351048.273 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:10:48.273Z,1761351048.273 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:10:48.274Z,1761351048.274 [DAT](INFO): DAT read: CRC:Pass MPD:03.7 PSNR:12.5 AGC:50 SPD:+0.6 CCERR:009

2025-10-25T00:10:48.274Z,1761351048.274 [DAT](INFO): Got CRC:Pass
2025-10-25T00:10:48.274Z,1761351048.274 [DAT](INFO): Got CRC:Pass
2025-10-25T00:10:48.274Z,1761351048.274 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:10:48.274Z,1761351048.274 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:10:48.275Z,1761351048.275 [DAT](INFO): Got ack
2025-10-25T00:10:48.275Z,1761351048.275 [DAT](INFO): DAT read: 

2025-10-25T00:10:48.275Z,1761351048.275 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:10:48.282Z,1761351048.282 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:10:48.283Z,1761351048.283 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-10-25T00:10:48.293Z,1761351048.293 [DAT](INFO): direction in FSK: [0.951619,-0.221449,-0.213030]
2025-10-25T00:10:48.513Z,1761351048.513 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:10:48.513Z,1761351048.513 [DAT](INFO): #Outgoing data=56
2025-10-25T00:10:48.513Z,1761351048.513 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:10:48.535Z,1761351048.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995248,0.096540,-0.012674],[-0.083930,-0.916575,-0.390954],[-0.049359,-0.388033,0.920323]]
2025-10-25T00:10:48.621Z,1761351048.621 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761351040.00. Resetting abort timer.
2025-10-25T00:10:48.765Z,1761351048.765 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:10:48.939Z,1761351048.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994663,0.101440,-0.018843],[-0.086652,-0.920457,-0.381118],[-0.056005,-0.377451,0.924334]]
2025-10-25T00:10:49.347Z,1761351049.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993540,0.111349,-0.021915],[-0.096058,-0.927968,-0.360068],[-0.060430,-0.355636,0.932669]]
2025-10-25T00:10:49.748Z,1761351049.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992201,0.122257,-0.024301],[-0.107077,-0.935776,-0.335943],[-0.063811,-0.330721,0.941569]]
2025-10-25T00:10:50.150Z,1761351050.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990895,0.131916,-0.026942],[-0.117084,-0.943063,-0.311324],[-0.066477,-0.305335,0.949922]]
2025-10-25T00:10:50.563Z,1761351050.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989878,0.139091,-0.028200],[-0.124830,-0.947841,-0.293283],[-0.067522,-0.286795,0.955610]]
2025-10-25T00:10:50.958Z,1761351050.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989394,0.142608,-0.027612],[-0.129487,-0.952037,-0.277233],[-0.065823,-0.270718,0.960406]]
2025-10-25T00:10:51.364Z,1761351051.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989592,0.141475,-0.026305],[-0.130148,-0.957926,-0.255810],[-0.061389,-0.249724,0.966369]]
2025-10-25T00:10:51.767Z,1761351051.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990446,0.135945,-0.023166],[-0.126735,-0.963518,-0.235735],[-0.054367,-0.230547,0.971541]]
2025-10-25T00:10:52.046Z,1761351052.046 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:10:51.1040

2025-10-25T00:10:52.047Z,1761351052.047 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:10:52.170Z,1761351052.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991548,0.128371,-0.018784],[-0.121161,-0.968008,-0.219729],[-0.046390,-0.215597,0.975380]]
2025-10-25T00:10:52.575Z,1761351052.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992444,0.122000,-0.013114],[-0.116510,-0.970483,-0.211160],[-0.038489,-0.208037,0.977363]]
2025-10-25T00:10:52.979Z,1761351052.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992981,0.118004,-0.008030],[-0.113717,-0.971170,-0.209518],[-0.032522,-0.207134,0.977772]]
2025-10-25T00:10:53.382Z,1761351053.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993275,0.115697,-0.004464],[-0.112024,-0.970058,-0.215495],[-0.029262,-0.213546,0.976495]]
2025-10-25T00:10:53.786Z,1761351053.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993181,0.116574,-0.001259],[-0.113150,-0.966498,-0.230386],[-0.028074,-0.228673,0.973098]]
2025-10-25T00:10:54.190Z,1761351054.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993023,0.117892,0.002507],[-0.114910,-0.962695,-0.244979],[-0.026468,-0.243558,0.969525]]
2025-10-25T00:10:54.596Z,1761351054.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993111,0.117069,0.004960],[-0.114639,-0.961994,-0.247841],[-0.024244,-0.246703,0.968788]]
2025-10-25T00:10:54.998Z,1761351054.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993632,0.112300,0.009116],[-0.110996,-0.961775,-0.250336],[-0.019345,-0.249754,0.968116]]
2025-10-25T00:10:55.403Z,1761351055.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994471,0.104008,0.014472],[-0.104257,-0.961454,-0.254432],[-0.012549,-0.254534,0.966982]]
2025-10-25T00:10:55.806Z,1761351055.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995297,0.094567,0.020990],[-0.096769,-0.960829,-0.259697],[-0.004390,-0.260507,0.965462]]
2025-10-25T00:10:56.211Z,1761351056.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995911,0.085683,0.028640],[-0.090221,-0.959714,-0.266098],[0.004686,-0.267594,0.963520]]
2025-10-25T00:10:56.614Z,1761351056.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996313,0.077985,0.035751],[-0.084758,-0.959220,-0.269653],[0.013264,-0.271689,0.962294]]
2025-10-25T00:10:57.018Z,1761351057.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996496,0.072467,0.041753],[-0.081066,-0.959697,-0.269093],[0.020570,-0.271535,0.962209]]
2025-10-25T00:10:57.423Z,1761351057.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996572,0.069363,0.045081],[-0.078862,-0.961167,-0.264459],[0.024987,-0.267107,0.963343]]
2025-10-25T00:10:57.832Z,1761351057.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996451,0.070507,0.045971],[-0.080270,-0.960349,-0.266997],[0.025323,-0.269739,0.962600]]
2025-10-25T00:10:57.947Z,1761351057.947 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:10:57.947Z,1761351057.947 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:10:57.947Z,1761351057.947 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:10:57.947Z,1761351057.947 [marl:UpdateRudder:A] Stopped
2025-10-25T00:10:57.947Z,1761351057.947 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:10:58.230Z,1761351058.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996075,0.076136,0.045143],[-0.085564,-0.958793,-0.270914],[0.022657,-0.273713,0.961544]]
2025-10-25T00:10:58.280Z,1761351058.280 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:10:58.280Z,1761351058.280 [marl:UpdateRudder:B] Stopped
2025-10-25T00:10:58.280Z,1761351058.280 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:10:58.280Z,1761351058.280 [marl:UpdateRudder] Stopped
2025-10-25T00:10:58.280Z,1761351058.280 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:10:58.601Z,1761351058.601 [DAT](INFO): DAT read: Rx Time:00:10:57.1773

2025-10-25T00:10:58.602Z,1761351058.602 [DAT](INFO): Rx dataTimestamp_ set to:1761351058.601412
2025-10-25T00:10:58.635Z,1761351058.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995550,0.083423,0.043823],[-0.092274,-0.957364,-0.273750],[0.019118,-0.276575,0.960802]]
2025-10-25T00:10:58.701Z,1761351058.701 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:10:58.701Z,1761351058.701 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:10:58.702Z,1761351058.702 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:10:58.702Z,1761351058.702 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:10:58.702Z,1761351058.702 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:10:58.702Z,1761351058.702 [marl:UpdateCommandMode] Stopped
2025-10-25T00:10:58.702Z,1761351058.702 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:10:58.702Z,1761351058.702 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:10:58.702Z,1761351058.702 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:10:58.702Z,1761351058.702 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:10:58.703Z,1761351058.703 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:10:58.703Z,1761351058.703 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:10:58.703Z,1761351058.703 [marl:UpdateSpeed] Stopped
2025-10-25T00:10:58.703Z,1761351058.703 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:10:59.047Z,1761351059.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994855,0.091286,0.043929],[-0.099848,-0.956863,-0.272844],[0.017127,-0.275827,0.961055]]
2025-10-25T00:10:59.362Z,1761351059.362 [DAT](INFO): DAT read: 00:10:57.1773 LVL= 32752, 32753, 30322, 32755, AGC= 49, IDX= 387, 0.43, 2.811, 1.859,-3.024, 2.043, PHS= 0.870,-0.139, 1.173, RAW= 162.7, -29.5, CAL= 163.9, -30.4, ROT= 346.1,  30.4

2025-10-25T00:10:59.363Z,1761351059.363 [DAT](INFO): got valid direction response:
 00:10:57.1773 LVL= 32752, 32753, 30322, 32755, AGC= 49, IDX= 387, 0.43, 2.811, 1.859,-3.024, 2.043, PHS= 0.870,-0.139, 1.173, RAW= 162.7, -29.5, CAL= 163.9, -30.4, ROT= 346.1,  30.4

2025-10-25T00:10:59.364Z,1761351059.364 [DAT](INFO): DAT read: 

2025-10-25T00:10:59.365Z,1761351059.365 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:10:59.365Z,1761351059.365 [DAT](INFO): Got DATA 2
2025-10-25T00:10:59.366Z,1761351059.366 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:10:59.366Z,1761351059.366 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:10:59.366Z,1761351059.366 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:10:59.367Z,1761351059.367 [DAT](INFO): DAT read: CRC:Pass MPD:03.7 PSNR:11.2 AGC:53 SPD:+2.2 CCERR:008

2025-10-25T00:10:59.367Z,1761351059.367 [DAT](INFO): Got CRC:Pass
2025-10-25T00:10:59.367Z,1761351059.367 [DAT](INFO): Got CRC:Pass
2025-10-25T00:10:59.367Z,1761351059.367 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:10:59.368Z,1761351059.368 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:10:59.368Z,1761351059.368 [DAT](INFO): Got ack
2025-10-25T00:10:59.368Z,1761351059.368 [DAT](INFO): DAT read: 

2025-10-25T00:10:59.368Z,1761351059.368 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:10:59.369Z,1761351059.369 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:10:59.369Z,1761351059.369 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-10-25T00:10:59.370Z,1761351059.370 [DAT](INFO): direction in FSK: [0.837256,-0.207200,-0.506034]
2025-10-25T00:10:59.462Z,1761351059.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994141,0.097794,0.046055],[-0.106643,-0.956933,-0.270013],[0.017666,-0.273342,0.961755]]
2025-10-25T00:10:59.556Z,1761351059.556 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761351040.00. Resetting abort timer.
2025-10-25T00:10:59.610Z,1761351059.610 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:10:59.610Z,1761351059.610 [DAT](INFO): #Outgoing data=56
2025-10-25T00:10:59.610Z,1761351059.610 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:10:59.866Z,1761351059.866 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:10:59.905Z,1761351059.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993657,0.101080,0.049277],[-0.110571,-0.958047,-0.264425],[0.020482,-0.268196,0.963147]]
2025-10-25T00:11:00.252Z,1761351060.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993555,0.101133,0.051197],[-0.110866,-0.961088,-0.253019],[0.023616,-0.257065,0.966106]]
2025-10-25T00:11:00.659Z,1761351060.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993152,0.103833,0.053555],[-0.113936,-0.962198,-0.247372],[0.025845,-0.251780,0.967439]]
2025-10-25T00:11:01.059Z,1761351061.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992384,0.110029,0.055380],[-0.120324,-0.962132,-0.244588],[0.026371,-0.249389,0.968044]]
2025-10-25T00:11:01.465Z,1761351061.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991467,0.117674,0.056090],[-0.127886,-0.961419,-0.243555],[0.025266,-0.248650,0.968264]]
2025-10-25T00:11:01.906Z,1761351061.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990377,0.126712,0.055648],[-0.136476,-0.960926,-0.240823],[0.022958,-0.246100,0.968972]]
2025-10-25T00:11:02.271Z,1761351062.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989170,0.136121,0.054893],[-0.145281,-0.961248,-0.234297],[0.020873,-0.239734,0.970614]]
2025-10-25T00:11:02.679Z,1761351062.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987852,0.144684,0.056705],[-0.153962,-0.960735,-0.230832],[0.021080,-0.236758,0.971340]]
2025-10-25T00:11:02.940Z,1761351062.940 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:11:02.940Z,1761351062.940 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:11:03.078Z,1761351063.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986506,0.152047,0.060723],[-0.161984,-0.960345,-0.226935],[0.023810,-0.233709,0.972015]]
2025-10-25T00:11:03.137Z,1761351063.137 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:11:02.2040

2025-10-25T00:11:03.138Z,1761351063.138 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:11:03.484Z,1761351063.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985271,0.158055,0.065270],[-0.168520,-0.962256,-0.213695],[0.029031,-0.221546,0.974718]]
2025-10-25T00:11:03.912Z,1761351063.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984238,0.161784,0.071425],[-0.172960,-0.964827,-0.197975],[0.036884,-0.207208,0.977601]]
2025-10-25T00:11:03.985Z,1761351063.985 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-25T00:11:04.145Z,1761351064.145 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:11:04.196Z,1761351064.196 [DAT](INFO): entering command mode
2025-10-25T00:11:04.291Z,1761351064.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983817,0.161524,0.077548],[-0.173284,-0.967808,-0.182540],[0.045567,-0.193024,0.980135]]
2025-10-25T00:11:04.398Z,1761351064.398 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:11:04.399Z,1761351064.399 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:11:04.649Z,1761351064.649 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:11:04.649Z,1761351064.649 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:11:04.698Z,1761351064.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983679,0.158914,0.084393],[-0.171830,-0.968814,-0.178534],[0.053389,-0.190122,0.980308]]
2025-10-25T00:11:04.901Z,1761351064.901 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:11:04.901Z,1761351064.901 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:11:05.106Z,1761351065.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983827,0.153645,0.092070],[-0.168502,-0.968224,-0.184798],[0.060751,-0.197323,0.978454]]
2025-10-25T00:11:05.153Z,1761351065.153 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:11:05.153Z,1761351065.153 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:11:05.405Z,1761351065.405 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:11:05.405Z,1761351065.405 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:11:05.504Z,1761351065.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984501,0.144635,0.099187],[-0.161945,-0.966810,-0.197616],[0.067313,-0.210616,0.975249]]
2025-10-25T00:11:05.657Z,1761351065.657 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:11:05.657Z,1761351065.657 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:11:05.909Z,1761351065.909 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:11:05.909Z,1761351065.909 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:11:05.920Z,1761351065.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985274,0.133277,0.107110],[-0.153605,-0.965104,-0.212085],[0.075106,-0.225414,0.971364]]
2025-10-25T00:11:06.161Z,1761351066.161 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:11:06.161Z,1761351066.161 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:11:06.315Z,1761351066.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985323,0.124577,0.116705],[-0.148225,-0.963493,-0.222960],[0.084669,-0.236986,0.967816]]
2025-10-25T00:11:06.413Z,1761351066.413 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:11:06.413Z,1761351066.413 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:11:06.665Z,1761351066.665 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:11:06.665Z,1761351066.665 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:11:06.714Z,1761351066.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984735,0.117691,0.128240],[-0.145515,-0.960914,-0.235519],[0.095509,-0.250584,0.963372]]
2025-10-25T00:11:06.917Z,1761351066.917 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:11:06.917Z,1761351066.917 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:11:07.118Z,1761351067.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983247,0.114489,0.141835],[-0.147741,-0.956316,-0.252256],[0.106759,-0.268985,0.957209]]
2025-10-25T00:11:07.169Z,1761351067.169 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:11:07.169Z,1761351067.169 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:11:07.421Z,1761351067.421 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:11:06.5040

2025-10-25T00:11:07.421Z,1761351067.421 [DAT](DEBUG): Re-entering command mode due to unexpected online mode.
2025-10-25T00:11:07.422Z,1761351067.422 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:11:07.476Z,1761351067.476 [DAT](INFO): entering command mode
2025-10-25T00:11:07.537Z,1761351067.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981113,0.114929,0.155592],[-0.153656,-0.951662,-0.265951],[0.117505,-0.284836,0.951347]]
2025-10-25T00:11:07.673Z,1761351067.673 [DAT](INFO): DAT read: 

2025-10-25T00:11:07.674Z,1761351067.674 [DAT](INFO): DAT read: user:55>

2025-10-25T00:11:07.675Z,1761351067.675 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:11:07.675Z,1761351067.675 [DAT](INFO): setting remote address to 0
2025-10-25T00:11:07.925Z,1761351067.925 [DAT](INFO): DAT read: user:55>

2025-10-25T00:11:07.926Z,1761351067.926 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-25T00:11:07.926Z,1761351067.926 [DAT](INFO): set remote address to 0
2025-10-25T00:11:07.926Z,1761351067.926 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:11:07.927Z,1761351067.927 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-25T00:11:07.934Z,1761351067.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978906,0.119148,0.165973],[-0.160569,-0.950964,-0.264359],[0.126337,-0.285433,0.950035]]
2025-10-25T00:11:08.177Z,1761351068.177 [DAT](INFO): DAT read: user:56>

2025-10-25T00:11:08.177Z,1761351068.177 [DAT](INFO): DAT read: Tx time:00:11:07.1551

2025-10-25T00:11:08.178Z,1761351068.178 [DAT](INFO): Ping request sent.
2025-10-25T00:11:08.178Z,1761351068.178 [DAT](INFO): transmitted an acoustic signal
2025-10-25T00:11:08.178Z,1761351068.178 [DAT](INFO): publishing transmit ping time
2025-10-25T00:11:08.179Z,1761351068.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000980
2025-10-25T00:11:08.331Z,1761351068.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976895,0.124787,0.173505],[-0.166362,-0.953633,-0.250814],[0.134162,-0.273884,0.952359]]
2025-10-25T00:11:08.429Z,1761351068.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251000
2025-10-25T00:11:08.681Z,1761351068.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502982
2025-10-25T00:11:08.735Z,1761351068.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975093,0.130463,0.179369],[-0.171185,-0.956898,-0.234611],[0.141030,-0.259472,0.955398]]
2025-10-25T00:11:08.933Z,1761351068.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754935
2025-10-25T00:11:09.138Z,1761351069.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973723,0.135135,0.183311],[-0.174616,-0.959738,-0.220028],[0.146197,-0.246255,0.958115]]
2025-10-25T00:11:09.185Z,1761351069.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007106
2025-10-25T00:11:09.437Z,1761351069.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258932
2025-10-25T00:11:09.547Z,1761351069.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972910,0.137110,0.186138],[-0.175830,-0.961606,-0.210708],[0.150101,-0.237728,0.959664]]
2025-10-25T00:11:09.689Z,1761351069.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510899
2025-10-25T00:11:09.941Z,1761351069.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763008
2025-10-25T00:11:09.949Z,1761351069.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972611,0.136564,0.188090],[-0.174819,-0.963079,-0.204735],[0.153186,-0.232009,0.960576]]
2025-10-25T00:11:10.195Z,1761351070.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016593
2025-10-25T00:11:10.350Z,1761351070.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972488,0.134487,0.190209],[-0.173272,-0.963354,-0.204757],[0.155702,-0.232082,0.960154]]
2025-10-25T00:11:10.445Z,1761351070.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267503
2025-10-25T00:11:10.697Z,1761351070.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518985
2025-10-25T00:11:10.755Z,1761351070.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971879,0.134382,0.193373],[-0.173735,-0.963517,-0.203595],[0.158959,-0.231466,0.959769]]
2025-10-25T00:11:10.809Z,1761351070.809 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:11:10.810Z,1761351070.810 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:11:10.810Z,1761351070.810 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:11:10.810Z,1761351070.810 [marl:UpdateRudder:A] Stopped
2025-10-25T00:11:10.810Z,1761351070.810 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:11:10.949Z,1761351070.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771338
2025-10-25T00:11:11.159Z,1761351071.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970357,0.137708,0.198605],[-0.178679,-0.962125,-0.205886],[0.162731,-0.235269,0.958210]]
2025-10-25T00:11:11.217Z,1761351071.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038984
2025-10-25T00:11:11.222Z,1761351071.222 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:11:11.222Z,1761351071.222 [marl:UpdateRudder:B] Stopped
2025-10-25T00:11:11.222Z,1761351071.222 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:11:11.222Z,1761351071.222 [marl:UpdateRudder] Stopped
2025-10-25T00:11:11.223Z,1761351071.223 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:11:11.469Z,1761351071.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.291397
2025-10-25T00:11:11.572Z,1761351071.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968084,0.142111,0.206439],[-0.186986,-0.958012,-0.217370],[0.166880,-0.249033,0.954009]]
2025-10-25T00:11:11.596Z,1761351071.596 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:11:11.597Z,1761351071.597 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:11:11.597Z,1761351071.597 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:11:11.597Z,1761351071.597 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:11:11.597Z,1761351071.597 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:11:11.597Z,1761351071.597 [marl:UpdateCommandMode] Stopped
2025-10-25T00:11:11.597Z,1761351071.597 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:11:11.597Z,1761351071.597 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:11:11.597Z,1761351071.597 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:11:11.598Z,1761351071.598 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:11:11.598Z,1761351071.598 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:11:11.598Z,1761351071.598 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:11:11.598Z,1761351071.598 [marl:UpdateSpeed] Stopped
2025-10-25T00:11:11.598Z,1761351071.598 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:11:11.721Z,1761351071.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.542886
2025-10-25T00:11:11.967Z,1761351071.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965511,0.146900,0.214964],[-0.196295,-0.953108,-0.230334],[0.171047,-0.264586,0.949072]]
2025-10-25T00:11:11.974Z,1761351071.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.795698
2025-10-25T00:11:12.225Z,1761351072.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.047579
2025-10-25T00:11:12.371Z,1761351072.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963566,0.150101,0.221381],[-0.202369,-0.950330,-0.236474],[0.174890,-0.272660,0.946082]]
2025-10-25T00:11:12.477Z,1761351072.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.298968
2025-10-25T00:11:12.729Z,1761351072.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.550947
2025-10-25T00:11:12.779Z,1761351072.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962926,0.150145,0.224120],[-0.202713,-0.950888,-0.233921],[0.177991,-0.270681,0.946072]]
2025-10-25T00:11:12.981Z,1761351072.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.802996
2025-10-25T00:11:13.178Z,1761351073.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962678,0.148674,0.226158],[-0.201063,-0.952225,-0.229873],[0.181177,-0.266765,0.946579]]
2025-10-25T00:11:13.245Z,1761351073.245 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:11:13.245Z,1761351073.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.067628
2025-10-25T00:11:13.497Z,1761351073.497 [DAT](INFO): DAT read: Rx Time:00:11:12.0708

2025-10-25T00:11:13.498Z,1761351073.498 [DAT](INFO): Rx dataTimestamp_ set to:1761351073.497533
2025-10-25T00:11:13.499Z,1761351073.499 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:11:13.500Z,1761351073.500 [DAT](INFO): #Outgoing data=56
2025-10-25T00:11:13.500Z,1761351073.500 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:11:13.501Z,1761351073.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.322852
2025-10-25T00:11:13.590Z,1761351073.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962127,0.148533,0.228580],[-0.202230,-0.951186,-0.233129],[0.182795,-0.270525,0.945200]]
2025-10-25T00:11:13.749Z,1761351073.749 [DAT](INFO): setting remote address to 10
2025-10-25T00:11:13.749Z,1761351073.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.571272
2025-10-25T00:11:13.990Z,1761351073.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961077,0.152549,0.230348],[-0.207072,-0.949672,-0.235040],[0.182900,-0.273591,0.944296]]
2025-10-25T00:11:14.001Z,1761351074.001 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:14.002Z,1761351074.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.823581
2025-10-25T00:11:14.258Z,1761351074.258 [DAT](INFO): DAT read: 00:11:12.0708 LVL= 32752, 32753, 23506, 29107, AGC= 48, IDX=  34,-0.10, 2.976, 1.937,-1.786,-2.860, PHS=-0.346,-1.442, 1.030, RAW= 183.7,   7.1, CAL= 183.6,   6.9, ROT= 326.4,  -6.9

2025-10-25T00:11:14.260Z,1761351074.260 [DAT](INFO): got valid direction response:
 00:11:12.0708 LVL= 32752, 32753, 23506, 29107, AGC= 48, IDX=  34,-0.10, 2.976, 1.937,-1.786,-2.860, PHS=-0.346,-1.442, 1.030, RAW= 183.7,   7.1, CAL= 183.6,   6.9, ROT= 326.4,  -6.9

2025-10-25T00:11:14.260Z,1761351074.260 [DAT](INFO): DAT read: In Command Mode

2025-10-25T00:11:14.261Z,1761351074.261 [DAT](INFO): unknown deviceResponse_: In Command Mode

2025-10-25T00:11:14.261Z,1761351074.261 [DAT](INFO): DAT read: user:57>

2025-10-25T00:11:14.262Z,1761351074.262 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:11:14.262Z,1761351074.262 [DAT](INFO): Got DATA 2
2025-10-25T00:11:14.263Z,1761351074.263 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:11:14.263Z,1761351074.263 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:11:14.264Z,1761351074.264 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:11:14.265Z,1761351074.265 [DAT](INFO): DAT read: CRC:Pass MPD:03.6 PSNR:11.7 AGC:46 SPD:+1.2 CCERR:009

2025-10-25T00:11:14.265Z,1761351074.265 [DAT](INFO): Got CRC:Pass
2025-10-25T00:11:14.265Z,1761351074.265 [DAT](INFO): Got CRC:Pass
2025-10-25T00:11:14.265Z,1761351074.265 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:11:14.265Z,1761351074.265 [DAT](INFO): Got ack
2025-10-25T00:11:14.265Z,1761351074.265 [DAT](INFO): DAT read: 

2025-10-25T00:11:14.266Z,1761351074.266 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:11:14.266Z,1761351074.266 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:14.266Z,1761351074.266 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-25T00:11:14.267Z,1761351074.267 [DAT](INFO): direction in FSK: [0.826889,-0.549384,0.120137]
2025-10-25T00:11:14.391Z,1761351074.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959517,0.161655,0.230642],[-0.214528,-0.950074,-0.226579],[0.182499,-0.266886,0.946291]]
2025-10-25T00:11:14.454Z,1761351074.454 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761351040.00. Resetting abort timer.
2025-10-25T00:11:14.507Z,1761351074.507 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:14.756Z,1761351074.756 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:14.797Z,1761351074.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957542,0.174278,0.229652],[-0.223956,-0.951289,-0.211879],[0.181539,-0.254315,0.949930]]
2025-10-25T00:11:15.009Z,1761351075.009 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:15.198Z,1761351075.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955628,0.183901,0.230122],[-0.233007,-0.949853,-0.208538],[0.180231,-0.252905,0.950556]]
2025-10-25T00:11:15.261Z,1761351075.261 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:15.513Z,1761351075.513 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:15.605Z,1761351075.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954346,0.190465,0.230103],[-0.238521,-0.949640,-0.203203],[0.179812,-0.248811,0.951715]]
2025-10-25T00:11:15.764Z,1761351075.764 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:15.972Z,1761351075.972 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:11:16.013Z,1761351076.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953775,0.196463,0.227411],[-0.240245,-0.953069,-0.184234],[0.180543,-0.230353,0.956212]]
2025-10-25T00:11:16.017Z,1761351076.017 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:16.269Z,1761351076.269 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:16.410Z,1761351076.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954016,0.198819,0.224333],[-0.238103,-0.957261,-0.164187],[0.182101,-0.210052,0.960582]]
2025-10-25T00:11:16.521Z,1761351076.521 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:16.772Z,1761351076.772 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:16.814Z,1761351076.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955101,0.196081,0.222112],[-0.232040,-0.961187,-0.149252],[0.184225,-0.194090,0.963530]]
2025-10-25T00:11:16.976Z,1761351076.976 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:11:17.024Z,1761351077.024 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:17.219Z,1761351077.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956675,0.187482,0.222762],[-0.223982,-0.962720,-0.151664],[0.186023,-0.194988,0.963003]]
2025-10-25T00:11:17.277Z,1761351077.277 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:17.529Z,1761351077.529 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:17.629Z,1761351077.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958303,0.175631,0.225409],[-0.216050,-0.961598,-0.169267],[0.187024,-0.210908,0.959448]]
2025-10-25T00:11:17.780Z,1761351077.780 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:18.026Z,1761351078.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959225,0.171311,0.224810],[-0.211803,-0.962343,-0.170395],[0.187154,-0.211063,0.959388]]
2025-10-25T00:11:18.033Z,1761351078.033 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:18.284Z,1761351078.284 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:18.285Z,1761351078.285 [DAT](INFO): Reached modem response timeout
2025-10-25T00:11:18.430Z,1761351078.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959037,0.169661,0.226855],[-0.212657,-0.960242,-0.180866],[0.187150,-0.221699,0.956987]]
2025-10-25T00:11:18.537Z,1761351078.537 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:18.788Z,1761351078.788 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:18.838Z,1761351078.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957143,0.173574,0.231838],[-0.221042,-0.955049,-0.197541],[0.187128,-0.240321,0.952486]]
2025-10-25T00:11:19.040Z,1761351079.040 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:19.238Z,1761351079.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954369,0.185299,0.234189],[-0.232552,-0.953131,-0.193548],[0.187348,-0.239178,0.952730]]
2025-10-25T00:11:19.299Z,1761351079.299 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:19.553Z,1761351079.553 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:19.643Z,1761351079.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951842,0.198331,0.233799],[-0.242081,-0.954128,-0.176173],[0.188133,-0.224287,0.956191]]
2025-10-25T00:11:19.804Z,1761351079.804 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:20.051Z,1761351080.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950374,0.205939,0.233193],[-0.246270,-0.956004,-0.159397],[0.190107,-0.208915,0.959278]]
2025-10-25T00:11:20.057Z,1761351080.057 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:20.308Z,1761351080.308 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:20.451Z,1761351080.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949622,0.206740,0.235537],[-0.247718,-0.955524,-0.160032],[0.191976,-0.210317,0.958599]]
2025-10-25T00:11:20.560Z,1761351080.560 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:20.812Z,1761351080.812 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:20.854Z,1761351080.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949371,0.204208,0.238735],[-0.247061,-0.954700,-0.165855],[0.194052,-0.216440,0.956816]]
2025-10-25T00:11:21.070Z,1761351081.070 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:21.258Z,1761351081.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949858,0.201668,0.238955],[-0.242447,-0.957614,-0.155550],[0.197457,-0.205684,0.958491]]
2025-10-25T00:11:21.317Z,1761351081.317 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:21.568Z,1761351081.568 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:21.667Z,1761351081.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950782,0.196207,0.239825],[-0.234991,-0.961070,-0.145339],[0.201972,-0.194542,0.959875]]
2025-10-25T00:11:21.823Z,1761351081.823 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:22.071Z,1761351082.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951797,0.186587,0.243448],[-0.226504,-0.962751,-0.147667],[0.206827,-0.195692,0.958607]]
2025-10-25T00:11:22.073Z,1761351082.073 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:22.324Z,1761351082.324 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:22.478Z,1761351082.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952498,0.175799,0.248681],[-0.220346,-0.961490,-0.164267],[0.210226,-0.211260,0.954554]]
2025-10-25T00:11:22.581Z,1761351082.581 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:22.833Z,1761351082.833 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:22.874Z,1761351082.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952367,0.170997,0.252500],[-0.219649,-0.959017,-0.179001],[0.211543,-0.225937,0.950895]]
2025-10-25T00:11:23.084Z,1761351083.084 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:23.279Z,1761351083.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952639,0.167800,0.253619],[-0.219209,-0.956949,-0.190251],[0.210777,-0.236836,0.948410]]
2025-10-25T00:11:23.337Z,1761351083.337 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:23.588Z,1761351083.588 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:23.692Z,1761351083.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953600,0.164161,0.252385],[-0.216725,-0.956162,-0.196940],[0.208991,-0.242500,0.947373]]
2025-10-25T00:11:23.740Z,1761351083.740 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:11:23.740Z,1761351083.740 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:11:23.741Z,1761351083.741 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:11:23.741Z,1761351083.741 [marl:UpdateRudder:A] Stopped
2025-10-25T00:11:23.741Z,1761351083.741 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:11:23.842Z,1761351083.842 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:24.093Z,1761351084.093 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:24.169Z,1761351084.169 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:11:24.169Z,1761351084.169 [marl:UpdateRudder:B] Stopped
2025-10-25T00:11:24.169Z,1761351084.169 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:11:24.169Z,1761351084.169 [marl:UpdateRudder] Stopped
2025-10-25T00:11:24.169Z,1761351084.169 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:11:24.169Z,1761351084.169 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:11:24.169Z,1761351084.169 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:11:24.169Z,1761351084.169 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:11:24.170Z,1761351084.170 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:11:24.170Z,1761351084.170 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:11:24.170Z,1761351084.170 [marl:UpdateCommandMode] Stopped
2025-10-25T00:11:24.170Z,1761351084.170 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:11:24.170Z,1761351084.170 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:11:24.170Z,1761351084.170 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:11:24.170Z,1761351084.170 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:11:24.171Z,1761351084.171 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:11:24.171Z,1761351084.171 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:11:24.171Z,1761351084.171 [marl:UpdateSpeed] Stopped
2025-10-25T00:11:24.171Z,1761351084.171 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:11:24.344Z,1761351084.344 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:24.496Z,1761351084.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958076,0.148082,0.245278],[-0.197728,-0.961272,-0.191990],[0.207349,-0.232440,0.950252]]
2025-10-25T00:11:24.597Z,1761351084.597 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:24.848Z,1761351084.848 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:24.894Z,1761351084.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961255,0.134060,0.240868],[-0.182168,-0.964724,-0.190059],[0.206892,-0.226573,0.951767]]
2025-10-25T00:11:25.100Z,1761351085.100 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:25.298Z,1761351085.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964401,0.115515,0.237881],[-0.165380,-0.965389,-0.201678],[0.206351,-0.233839,0.950126]]
2025-10-25T00:11:25.353Z,1761351085.353 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:25.604Z,1761351085.604 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:25.709Z,1761351085.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966574,0.096161,0.237670],[-0.151870,-0.961609,-0.228567],[0.206567,-0.257022,0.944071]]
2025-10-25T00:11:25.858Z,1761351085.858 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:26.106Z,1761351086.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967697,0.083660,0.237833],[-0.145596,-0.955577,-0.256269],[0.205828,-0.282618,0.936889]]
2025-10-25T00:11:26.108Z,1761351086.108 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:26.360Z,1761351086.360 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:26.510Z,1761351086.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968065,0.082390,0.236775],[-0.147265,-0.951218,-0.271103],[0.202889,-0.297314,0.932974]]
2025-10-25T00:11:26.613Z,1761351086.613 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:26.864Z,1761351086.864 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:26.920Z,1761351086.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967667,0.090334,0.235501],[-0.154488,-0.950311,-0.270264],[0.199385,-0.297908,0.933540]]
2025-10-25T00:11:27.116Z,1761351087.116 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:27.326Z,1761351087.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964569,0.119792,0.235065],[-0.180351,-0.949681,-0.256085],[0.192560,-0.289406,0.937638]]
2025-10-25T00:11:27.369Z,1761351087.369 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:27.620Z,1761351087.620 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:27.733Z,1761351087.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962415,0.139980,0.232728],[-0.194634,-0.953144,-0.231590],[0.189405,-0.268182,0.944566]]
2025-10-25T00:11:27.875Z,1761351087.875 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:28.125Z,1761351088.125 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:28.133Z,1761351088.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960167,0.159321,0.229556],[-0.208294,-0.955707,-0.207936],[0.186259,-0.247468,0.950824]]
2025-10-25T00:11:28.376Z,1761351088.376 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:28.535Z,1761351088.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958216,0.177177,0.224567],[-0.219686,-0.958621,-0.181065],[0.183195,-0.222833,0.957489]]
2025-10-25T00:11:28.629Z,1761351088.629 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:28.881Z,1761351088.881 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:11:28.881Z,1761351088.881 [DAT](FAULT): failed to set remote address
2025-10-25T00:11:28.881Z,1761351088.881 [DAT](ERROR): Failure setting remote address to 10
2025-10-25T00:11:28.950Z,1761351088.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956486,0.191832,0.219850],[-0.229287,-0.960161,-0.159747],[0.180447,-0.203205,0.962365]]
2025-10-25T00:11:29.132Z,1761351089.132 [DAT](INFO): setting remote address to 10
2025-10-25T00:11:29.341Z,1761351089.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955119,0.202604,0.216099],[-0.236684,-0.960637,-0.145456],[0.178123,-0.190075,0.965476]]
2025-10-25T00:11:29.385Z,1761351089.385 [DAT](INFO): DAT read: 

2025-10-25T00:11:29.386Z,1761351089.386 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-25T00:11:29.386Z,1761351089.386 [DAT](INFO): set remote address to 10
2025-10-25T00:11:29.386Z,1761351089.386 [DAT](INFO): entering online mode
2025-10-25T00:11:29.637Z,1761351089.637 [DAT](INFO): DAT read: user:58>

2025-10-25T00:11:29.637Z,1761351089.637 [DAT](INFO): DAT read: 

2025-10-25T00:11:29.639Z,1761351089.639 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-25T00:11:29.639Z,1761351089.639 [DAT](INFO): commRate: 600
2025-10-25T00:11:29.639Z,1761351089.639 [DAT](INFO): online mode acknowledged
2025-10-25T00:11:29.639Z,1761351089.639 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:11:29.743Z,1761351089.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953977,0.207619,0.216384],[-0.243074,-0.957944,-0.152509],[0.175620,-0.198087,0.964323]]
2025-10-25T00:11:30.150Z,1761351090.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953079,0.211831,0.216261],[-0.248519,-0.955423,-0.159391],[0.172857,-0.205657,0.963237]]
2025-10-25T00:11:30.553Z,1761351090.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952352,0.216253,0.215080],[-0.253057,-0.953890,-0.161418],[0.170256,-0.208154,0.963164]]
2025-10-25T00:11:30.962Z,1761351090.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952175,0.219242,0.212829],[-0.255300,-0.953547,-0.159907],[0.167884,-0.206595,0.963916]]
2025-10-25T00:11:31.358Z,1761351091.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952808,0.219228,0.209990],[-0.254783,-0.953582,-0.160518],[0.165053,-0.206445,0.964437]]
2025-10-25T00:11:31.762Z,1761351091.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954273,0.215709,0.206960],[-0.251288,-0.953829,-0.164513],[0.161918,-0.208997,0.964418]]
2025-10-25T00:11:32.169Z,1761351092.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956190,0.209298,0.204681],[-0.245845,-0.953694,-0.173285],[0.158934,-0.216013,0.963368]]
2025-10-25T00:11:32.571Z,1761351092.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958416,0.202485,0.201093],[-0.239151,-0.954373,-0.178824],[0.155708,-0.219479,0.963111]]
2025-10-25T00:11:32.913Z,1761351092.913 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:11:31.9538

2025-10-25T00:11:32.913Z,1761351092.913 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:11:32.980Z,1761351092.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960561,0.195374,0.197867],[-0.232101,-0.955211,-0.183576],[0.153139,-0.222262,0.962885]]
2025-10-25T00:11:33.379Z,1761351093.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962527,0.187646,0.195780],[-0.224646,-0.956124,-0.188045],[0.151904,-0.224980,0.962450]]
2025-10-25T00:11:33.788Z,1761351093.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964421,0.179785,0.193826],[-0.216815,-0.957391,-0.190771],[0.151269,-0.226008,0.962309]]
2025-10-25T00:11:34.187Z,1761351094.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966151,0.172164,0.192124],[-0.209116,-0.958768,-0.192441],[0.151071,-0.226103,0.962318]]
2025-10-25T00:11:34.591Z,1761351094.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967576,0.166414,0.190007],[-0.202590,-0.960588,-0.190337],[0.150844,-0.222659,0.963156]]
2025-10-25T00:11:34.994Z,1761351094.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968921,0.160139,0.188541],[-0.196186,-0.961711,-0.191370],[0.150676,-0.222411,0.963239]]
2025-10-25T00:11:35.400Z,1761351095.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969938,0.154993,0.187611],[-0.191135,-0.962384,-0.193093],[0.150626,-0.223147,0.963077]]
2025-10-25T00:11:35.802Z,1761351095.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970510,0.151242,0.187712],[-0.188729,-0.961168,-0.201342],[0.149972,-0.230831,0.961366]]
2025-10-25T00:11:35.859Z,1761351095.859 [marl:SendObservationData] Running Loop=1
2025-10-25T00:11:35.876Z,1761351095.876 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-25T00:11:35.876Z,1761351095.876 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-25T00:11:35.879Z,1761351095.879 [marl:SendObservationData:A] Running Loop=1
2025-10-25T00:11:35.892Z,1761351095.892 [marl:SendObservationData:A](INFO): Got test_good :  41da3f0560000000405140000000000040426353f363977dc05e774dfcf1b89e400f50b6c0000000406bdcccc0000000 n/a str  and temp var is  nan n/a str 
2025-10-25T00:11:35.893Z,1761351095.893 [marl:SendObservationData:A] Stopped
2025-10-25T00:11:35.893Z,1761351095.893 [marl:SendObservationData:B] Running Loop=1
2025-10-25T00:11:36.207Z,1761351096.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970439,0.150441,0.188720],[-0.189883,-0.958586,-0.212267],[0.148971,-0.241827,0.958816]]
2025-10-25T00:11:36.258Z,1761351096.258 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:11:36.258Z,1761351096.258 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:11:36.258Z,1761351096.258 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:11:36.258Z,1761351096.258 [marl:UpdateRudder:A] Stopped
2025-10-25T00:11:36.258Z,1761351096.258 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:11:36.264Z,1761351096.264 [marl:SendObservationData:B] Stopped
2025-10-25T00:11:36.264Z,1761351096.264 [marl:SendObservationData:C] Running Loop=1
2025-10-25T00:11:36.610Z,1761351096.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969901,0.152290,0.189999],[-0.193614,-0.955520,-0.222476],[0.147667,-0.252567,0.956245]]
2025-10-25T00:11:36.678Z,1761351096.678 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:11:36.678Z,1761351096.678 [marl:UpdateRudder:B] Stopped
2025-10-25T00:11:36.678Z,1761351096.678 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:11:36.678Z,1761351096.678 [marl:UpdateRudder] Stopped
2025-10-25T00:11:36.678Z,1761351096.678 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:11:36.685Z,1761351096.685 [marl:SendObservationData:C] Stopped
2025-10-25T00:11:36.685Z,1761351096.685 [marl:SendObservationData:E] Running Loop=1
2025-10-25T00:11:37.016Z,1761351097.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969085,0.156262,0.190936],[-0.198735,-0.952985,-0.228745],[0.146215,-0.259618,0.954578]]
2025-10-25T00:11:37.046Z,1761351097.046 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:11:37.046Z,1761351097.046 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:11:37.046Z,1761351097.046 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:11:37.047Z,1761351097.047 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:11:37.047Z,1761351097.047 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:11:37.047Z,1761351097.047 [marl:UpdateCommandMode] Stopped
2025-10-25T00:11:37.047Z,1761351097.047 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:11:37.047Z,1761351097.047 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:11:37.047Z,1761351097.047 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:11:37.047Z,1761351097.047 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:11:37.047Z,1761351097.047 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:11:37.048Z,1761351097.048 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:11:37.048Z,1761351097.048 [marl:UpdateSpeed] Stopped
2025-10-25T00:11:37.048Z,1761351097.048 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:11:37.050Z,1761351097.050 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.012779 min 
2025-10-25T00:11:37.050Z,1761351097.050 [marl:SendObservationData:E] Stopped
2025-10-25T00:11:37.050Z,1761351097.050 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-25T00:11:37.051Z,1761351097.051 [marl:SendObservationData] Stopped
2025-10-25T00:11:37.051Z,1761351097.051 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-25T00:11:37.051Z,1761351097.051 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-25T00:11:37.419Z,1761351097.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968049,0.161612,0.191738],[-0.204545,-0.951224,-0.230943],[0.145062,-0.262783,0.953888]]
2025-10-25T00:11:37.826Z,1761351097.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967027,0.166495,0.192714],[-0.209683,-0.949984,-0.231437],[0.144542,-0.264215,0.953571]]
2025-10-25T00:11:38.227Z,1761351098.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966569,0.169839,0.192093],[-0.212174,-0.950433,-0.227287],[0.143969,-0.260446,0.954694]]
2025-10-25T00:11:38.632Z,1761351098.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966840,0.171072,0.189618],[-0.211823,-0.951940,-0.221228],[0.142659,-0.254058,0.956610]]
2025-10-25T00:11:39.034Z,1761351099.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967521,0.170812,0.186348],[-0.209888,-0.953660,-0.215590],[0.140887,-0.247700,0.958538]]
2025-10-25T00:11:39.447Z,1761351099.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968054,0.171541,0.182878],[-0.208805,-0.955319,-0.209203],[0.138820,-0.240706,0.960620]]
2025-10-25T00:11:39.469Z,1761351099.469 [DAT](INFO): DAT read: Rx Time:00:11:38.0060

2025-10-25T00:11:39.469Z,1761351099.469 [DAT](INFO): Rx dataTimestamp_ set to:1761351099.469156
2025-10-25T00:11:39.890Z,1761351099.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968257,0.173570,0.179867],[-0.209501,-0.956031,-0.205219],[0.136338,-0.236387,0.962046]]
2025-10-25T00:11:40.230Z,1761351100.230 [DAT](INFO): DAT read: 00:11:38.0060 LVL= 32016, 31553, 24850, 32755, AGC= 39, IDX= 285,-0.02, 0.768, 0.390, 2.684, 1.792, PHS=-0.922,-1.357, 0.848, RAW= 199.3,  14.0, CAL= 199.8,  18.0, ROT= 310.2, -18.0

2025-10-25T00:11:40.231Z,1761351100.231 [DAT](INFO): got valid direction response:
 00:11:38.0060 LVL= 32016, 31553, 24850, 32755, AGC= 39, IDX= 285,-0.02, 0.768, 0.390, 2.684, 1.792, PHS=-0.922,-1.357, 0.848, RAW= 199.3,  14.0, CAL= 199.8,  18.0, ROT= 310.2, -18.0

2025-10-25T00:11:40.246Z,1761351100.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967992,0.177136,0.177804],[-0.212532,-0.955344,-0.205298],[0.133499,-0.236516,0.962413]]
2025-10-25T00:11:40.260Z,1761351100.260 [DAT](INFO): DAT read: 

2025-10-25T00:11:40.261Z,1761351100.261 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:11:40.261Z,1761351100.261 [DAT](INFO): Got DATA 2
2025-10-25T00:11:40.262Z,1761351100.262 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:11:40.262Z,1761351100.262 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:11:40.262Z,1761351100.262 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:11:40.263Z,1761351100.263 [DAT](INFO): DAT read: CRC:Pass MPD:12.1 PSNR:13.3 AGC:39 SPD:+0.9 CCERR:010

2025-10-25T00:11:40.263Z,1761351100.263 [DAT](INFO): Got CRC:Pass
2025-10-25T00:11:40.295Z,1761351100.295 [DAT](INFO): Got CRC:Pass
2025-10-25T00:11:40.295Z,1761351100.295 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:11:40.296Z,1761351100.296 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:11:40.296Z,1761351100.296 [DAT](INFO): Got ack
2025-10-25T00:11:40.296Z,1761351100.296 [DAT](INFO): DAT read: 

2025-10-25T00:11:40.297Z,1761351100.297 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:11:40.297Z,1761351100.297 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:11:40.297Z,1761351100.297 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-25T00:11:40.298Z,1761351100.298 [DAT](INFO): direction in FSK: [0.613867,-0.726413,0.309017]
2025-10-25T00:11:40.354Z,1761351100.354 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761351040.00. Resetting abort timer.
2025-10-25T00:11:40.477Z,1761351100.477 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:11:40.477Z,1761351100.477 [DAT](INFO): #Outgoing data=57
2025-10-25T00:11:40.477Z,1761351100.477 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:11:40.653Z,1761351100.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967466,0.181756,0.175996],[-0.216515,-0.954665,-0.204294],[0.130885,-0.235753,0.962959]]
2025-10-25T00:11:40.729Z,1761351100.729 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:11:41.054Z,1761351101.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966954,0.186134,0.174223],[-0.220255,-0.954051,-0.203158],[0.128403,-0.234818,0.963521]]
2025-10-25T00:11:41.462Z,1761351101.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966611,0.189142,0.172881],[-0.222939,-0.953363,-0.203460],[0.126336,-0.235209,0.963699]]
2025-10-25T00:11:41.901Z,1761351101.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966947,0.189180,0.170949],[-0.222411,-0.953653,-0.202679],[0.124683,-0.234000,0.964208]]
2025-10-25T00:11:42.267Z,1761351102.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967920,0.186522,0.168347],[-0.218978,-0.954764,-0.201184],[0.123206,-0.231595,0.964979]]
2025-10-25T00:11:42.675Z,1761351102.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969245,0.182538,0.165056],[-0.214084,-0.956186,-0.199689],[0.121374,-0.228883,0.965858]]
2025-10-25T00:11:43.076Z,1761351103.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970532,0.177931,0.162509],[-0.209015,-0.957192,-0.200243],[0.119923,-0.228309,0.966175]]
2025-10-25T00:11:43.478Z,1761351103.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971879,0.172905,0.159862],[-0.203488,-0.958305,-0.200609],[0.118510,-0.227498,0.966540]]
2025-10-25T00:11:43.909Z,1761351103.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973154,0.167954,0.157360],[-0.198089,-0.959330,-0.201113],[0.117183,-0.226885,0.966846]]
2025-10-25T00:11:44.005Z,1761351104.005 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:11:43.0538

2025-10-25T00:11:44.005Z,1761351104.005 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:11:44.286Z,1761351104.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974183,0.164523,0.154598],[-0.194007,-0.960273,-0.200593],[0.115455,-0.225408,0.967399]]
2025-10-25T00:11:44.693Z,1761351104.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974487,0.164219,0.152995],[-0.193260,-0.960563,-0.199922],[0.114131,-0.224389,0.967793]]
2025-10-25T00:11:45.094Z,1761351105.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973921,0.167391,0.153160],[-0.196783,-0.959204,-0.202987],[0.112934,-0.227833,0.967129]]
2025-10-25T00:11:45.499Z,1761351105.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972840,0.172600,0.154247],[-0.202469,-0.957464,-0.205595],[0.112201,-0.231241,0.966405]]
2025-10-25T00:11:45.926Z,1761351105.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971527,0.179263,0.154923],[-0.209241,-0.955904,-0.206074],[0.111150,-0.232623,0.966195]]
2025-10-25T00:11:46.332Z,1761351106.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970324,0.184887,0.155848],[-0.215069,-0.954470,-0.206717],[0.110533,-0.234100,0.965909]]
2025-10-25T00:11:46.710Z,1761351106.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969422,0.189571,0.155834],[-0.219586,-0.953606,-0.205957],[0.109561,-0.233878,0.966073]]
2025-10-25T00:11:47.114Z,1761351107.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969017,0.191728,0.155712],[-0.221607,-0.953273,-0.205329],[0.109069,-0.233475,0.966226]]
2025-10-25T00:11:47.116Z,1761351107.116 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:11:47.518Z,1761351107.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969064,0.192393,0.154598],[-0.221682,-0.953857,-0.202518],[0.108502,-0.230524,0.966998]]
2025-10-25T00:11:47.932Z,1761351107.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969599,0.190614,0.153440],[-0.219578,-0.954500,-0.201779],[0.107997,-0.229337,0.967337]]
2025-10-25T00:11:48.120Z,1761351108.120 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:11:48.327Z,1761351108.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970170,0.188373,0.152595],[-0.217477,-0.954401,-0.204505],[0.107114,-0.231591,0.966898]]
2025-10-25T00:11:48.731Z,1761351108.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970930,0.185588,0.151169],[-0.214460,-0.954969,-0.205040],[0.106309,-0.231500,0.967009]]
2025-10-25T00:11:49.137Z,1761351109.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971585,0.182609,0.150589],[-0.211788,-0.954787,-0.208634],[0.105682,-0.234599,0.966330]]
2025-10-25T00:11:49.196Z,1761351109.196 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:11:49.200Z,1761351109.200 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:11:49.200Z,1761351109.200 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:11:49.200Z,1761351109.200 [marl:UpdateRudder:A] Stopped
2025-10-25T00:11:49.201Z,1761351109.201 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:11:49.538Z,1761351109.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972192,0.179966,0.149851],[-0.209256,-0.954860,-0.210842],[0.105142,-0.236336,0.965966]]
2025-10-25T00:11:49.611Z,1761351109.611 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:11:49.611Z,1761351109.611 [marl:UpdateRudder:B] Stopped
2025-10-25T00:11:49.611Z,1761351109.611 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:11:49.611Z,1761351109.611 [marl:UpdateRudder] Stopped
2025-10-25T00:11:49.611Z,1761351109.611 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:11:49.942Z,1761351109.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973083,0.176739,0.147894],[-0.205275,-0.956416,-0.207679],[0.104744,-0.232448,0.966952]]
2025-10-25T00:11:50.018Z,1761351110.018 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:11:50.019Z,1761351110.019 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:11:50.019Z,1761351110.019 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:11:50.019Z,1761351110.019 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:11:50.019Z,1761351110.019 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:11:50.019Z,1761351110.019 [marl:UpdateCommandMode] Stopped
2025-10-25T00:11:50.019Z,1761351110.019 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:11:50.019Z,1761351110.019 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:11:50.019Z,1761351110.019 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:11:50.037Z,1761351110.037 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:11:50.037Z,1761351110.037 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:11:50.037Z,1761351110.037 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:11:50.037Z,1761351110.037 [marl:UpdateSpeed] Stopped
2025-10-25T00:11:50.037Z,1761351110.037 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:11:50.348Z,1761351110.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973976,0.172898,0.146550],[-0.201175,-0.957304,-0.207598],[0.104399,-0.231677,0.967174]]
2025-10-25T00:11:50.557Z,1761351110.557 [DAT](INFO): DAT read: Rx Time:00:11:49.1036

2025-10-25T00:11:50.557Z,1761351110.557 [DAT](INFO): Rx dataTimestamp_ set to:1761351110.557041
2025-10-25T00:11:50.750Z,1761351110.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974865,0.169020,0.145159],[-0.197161,-0.957888,-0.208754],[0.103763,-0.232127,0.967135]]
2025-10-25T00:11:51.167Z,1761351111.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975696,0.165159,0.144014],[-0.193444,-0.957930,-0.212011],[0.102940,-0.234717,0.966598]]
2025-10-25T00:11:51.320Z,1761351111.320 [DAT](INFO): DAT read: 00:11:49.1036 LVL= 29616, 32097, 24370, 31507, AGC= 38, IDX= 421, 0.41, 1.315, 1.361,-2.866, 2.610, PHS=-1.193,-1.204, 0.762, RAW= 209.7,  16.4, CAL= 212.0,  20.1, ROT= 298.0, -20.1

2025-10-25T00:11:51.322Z,1761351111.322 [DAT](INFO): got valid direction response:
 00:11:49.1036 LVL= 29616, 32097, 24370, 31507, AGC= 38, IDX= 421, 0.41, 1.315, 1.361,-2.866, 2.610, PHS=-1.193,-1.204, 0.762, RAW= 209.7,  16.4, CAL= 212.0,  20.1, ROT= 298.0, -20.1

2025-10-25T00:11:51.322Z,1761351111.322 [DAT](INFO): DAT read: 

2025-10-25T00:11:51.323Z,1761351111.323 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:11:51.323Z,1761351111.323 [DAT](INFO): Got DATA 2
2025-10-25T00:11:51.325Z,1761351111.325 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:11:51.326Z,1761351111.326 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:11:51.326Z,1761351111.326 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:11:51.327Z,1761351111.327 [DAT](INFO): DAT read: CRC:Pass MPD:11.0 PSNR:15.8 AGC:41 SPD:+0.3 CCERR:012

2025-10-25T00:11:51.327Z,1761351111.327 [DAT](INFO): Got CRC:Pass
2025-10-25T00:11:51.327Z,1761351111.327 [DAT](INFO): Got CRC:Pass
2025-10-25T00:11:51.328Z,1761351111.328 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:11:51.328Z,1761351111.328 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:11:51.328Z,1761351111.328 [DAT](INFO): Got ack
2025-10-25T00:11:51.328Z,1761351111.328 [DAT](INFO): DAT read: 

2025-10-25T00:11:51.329Z,1761351111.329 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:11:51.329Z,1761351111.329 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:11:51.329Z,1761351111.329 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-25T00:11:51.330Z,1761351111.330 [DAT](INFO): direction in FSK: [0.440878,-0.829171,0.343660]
2025-10-25T00:11:51.560Z,1761351111.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976639,0.161089,0.142216],[-0.189386,-0.957969,-0.215470],[0.101529,-0.237371,0.966099]]
2025-10-25T00:11:51.565Z,1761351111.565 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:11:51.565Z,1761351111.565 [DAT](INFO): #Outgoing data=57
2025-10-25T00:11:51.565Z,1761351111.565 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:11:51.603Z,1761351111.603 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761351168.00. Resetting abort timer.
2025-10-25T00:11:51.816Z,1761351111.816 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:11:51.963Z,1761351111.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977530,0.157706,0.139869],[-0.185601,-0.958499,-0.216409],[0.099936,-0.237506,0.966232]]
2025-10-25T00:11:52.367Z,1761351112.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978331,0.154707,0.137604],[-0.181938,-0.959590,-0.214676],[0.098831,-0.235059,0.966943]]
2025-10-25T00:11:52.771Z,1761351112.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978995,0.152557,0.135259],[-0.178892,-0.960998,-0.210905],[0.097808,-0.230672,0.968103]]
2025-10-25T00:11:53.175Z,1761351113.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979427,0.151383,0.133440],[-0.176901,-0.962264,-0.206770],[0.097103,-0.226122,0.969247]]
2025-10-25T00:11:53.578Z,1761351113.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979699,0.150376,0.132575],[-0.175556,-0.962849,-0.205188],[0.096795,-0.224297,0.969702]]
2025-10-25T00:11:53.982Z,1761351113.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979580,0.150738,0.133045],[-0.176154,-0.962451,-0.206539],[0.096916,-0.225758,0.969351]]
2025-10-25T00:11:54.391Z,1761351114.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979174,0.152149,0.134419],[-0.178143,-0.961468,-0.209392],[0.097381,-0.228977,0.968549]]
2025-10-25T00:11:54.792Z,1761351114.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978679,0.154387,0.135474],[-0.180584,-0.961014,-0.209383],[0.097866,-0.229383,0.968404]]
2025-10-25T00:11:55.097Z,1761351115.097 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:11:54.1537

2025-10-25T00:11:55.098Z,1761351115.098 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:11:55.198Z,1761351115.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978278,0.156314,0.136157],[-0.182860,-0.960097,-0.211602],[0.097648,-0.231903,0.967825]]
2025-10-25T00:11:55.599Z,1761351115.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977725,0.158389,0.137720],[-0.186150,-0.957493,-0.220353],[0.096964,-0.241081,0.965649]]
2025-10-25T00:11:56.002Z,1761351116.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977197,0.161327,0.138060],[-0.189346,-0.956318,-0.222721],[0.096098,-0.243784,0.965057]]
2025-10-25T00:11:56.413Z,1761351116.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976739,0.163715,0.138485],[-0.191843,-0.955693,-0.223264],[0.095797,-0.244638,0.964870]]
2025-10-25T00:11:56.810Z,1761351116.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976529,0.165284,0.138100],[-0.193161,-0.955712,-0.222043],[0.095284,-0.243507,0.965207]]
2025-10-25T00:11:57.215Z,1761351117.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976447,0.166190,0.137592],[-0.193771,-0.955946,-0.220501],[0.094886,-0.241969,0.965633]]
2025-10-25T00:11:57.619Z,1761351117.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976354,0.166878,0.137425],[-0.194396,-0.955837,-0.220421],[0.094572,-0.241924,0.965675]]
2025-10-25T00:11:58.024Z,1761351118.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976322,0.167378,0.137039],[-0.194725,-0.955925,-0.219747],[0.094218,-0.241229,0.965884]]
2025-10-25T00:11:58.426Z,1761351118.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976560,0.166983,0.135820],[-0.193835,-0.956593,-0.217617],[0.093586,-0.238842,0.966538]]
2025-10-25T00:11:58.830Z,1761351118.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976888,0.165772,0.134940],[-0.192333,-0.957140,-0.216543],[0.093260,-0.237492,0.966902]]
2025-10-25T00:11:59.235Z,1761351119.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977278,0.164423,0.133765],[-0.190500,-0.958042,-0.214160],[0.092939,-0.234776,0.967596]]
2025-10-25T00:11:59.641Z,1761351119.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977903,0.161994,0.132147],[-0.187243,-0.959819,-0.209016],[0.092978,-0.229141,0.968942]]
2025-10-25T00:12:00.043Z,1761351120.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978730,0.158421,0.130347],[-0.182711,-0.962053,-0.202659],[0.093296,-0.222165,0.970535]]
2025-10-25T00:12:00.446Z,1761351120.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979698,0.153780,0.128624],[-0.177471,-0.963669,-0.199616],[0.093254,-0.218391,0.971395]]
2025-10-25T00:12:00.850Z,1761351120.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980750,0.148321,0.127001],[-0.171586,-0.965074,-0.197967],[0.093203,-0.215948,0.971946]]
2025-10-25T00:12:01.262Z,1761351121.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981867,0.142001,0.125591],[-0.165057,-0.966214,-0.197955],[0.093238,-0.215095,0.972132]]
2025-10-25T00:12:01.649Z,1761351121.649 [DAT](INFO): DAT read: Rx Time:00:12:00.2521

2025-10-25T00:12:01.650Z,1761351121.650 [DAT](INFO): Rx dataTimestamp_ set to:1761351121.649308
2025-10-25T00:12:01.678Z,1761351121.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982880,0.135809,0.124512],[-0.159011,-0.966621,-0.200895],[0.093072,-0.217254,0.971668]]
2025-10-25T00:12:02.062Z,1761351122.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983615,0.131093,0.123759],[-0.154883,-0.965798,-0.207956],[0.092264,-0.223717,0.970277]]
2025-10-25T00:12:02.126Z,1761351122.126 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:12:02.126Z,1761351122.126 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:12:02.126Z,1761351122.126 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:12:02.126Z,1761351122.126 [marl:UpdateRudder:A] Stopped
2025-10-25T00:12:02.126Z,1761351122.126 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:12:02.410Z,1761351122.410 [DAT](INFO): DAT read: 00:12:00.2521 LVL= 24464, 25969, 17826, 28131, AGC= 37, IDX= 422,-0.01,-0.373, 0.154, 2.149, 1.108, PHS=-1.380,-0.909, 0.997, RAW= 220.8,  11.8, CAL= 222.5,  13.8, ROT= 287.5, -13.8

2025-10-25T00:12:02.411Z,1761351122.411 [DAT](INFO): got valid direction response:
 00:12:00.2521 LVL= 24464, 25969, 17826, 28131, AGC= 37, IDX= 422,-0.01,-0.373, 0.154, 2.149, 1.108, PHS=-1.380,-0.909, 0.997, RAW= 220.8,  11.8, CAL= 222.5,  13.8, ROT= 287.5, -13.8

2025-10-25T00:12:02.412Z,1761351122.412 [DAT](INFO): DAT read: 

2025-10-25T00:12:02.412Z,1761351122.412 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:12:02.413Z,1761351122.413 [DAT](INFO): Got DATA 2
2025-10-25T00:12:02.413Z,1761351122.413 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:12:02.414Z,1761351122.414 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:12:02.414Z,1761351122.414 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:12:02.415Z,1761351122.415 [DAT](INFO): DAT read: CRC:Pass MPD:11.5 PSNR:13.4 AGC:38 SPD:+0.4 CCERR:011

2025-10-25T00:12:02.415Z,1761351122.415 [DAT](INFO): Got CRC:Pass
2025-10-25T00:12:02.415Z,1761351122.415 [DAT](INFO): Got CRC:Pass
2025-10-25T00:12:02.415Z,1761351122.415 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:12:02.416Z,1761351122.416 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:12:02.416Z,1761351122.416 [DAT](INFO): Got ack
2025-10-25T00:12:02.416Z,1761351122.416 [DAT](INFO): DAT read: 

2025-10-25T00:12:02.416Z,1761351122.416 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:12:02.417Z,1761351122.417 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:12:02.417Z,1761351122.417 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-10-25T00:12:02.418Z,1761351122.418 [DAT](INFO): direction in FSK: [0.292026,-0.926187,0.238533]
2025-10-25T00:12:02.478Z,1761351122.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983863,0.129815,0.123133],[-0.154011,-0.964726,-0.213503],[0.091073,-0.229022,0.969152]]
2025-10-25T00:12:02.658Z,1761351122.658 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:12:02.658Z,1761351122.658 [DAT](INFO): #Outgoing data=57
2025-10-25T00:12:02.658Z,1761351122.658 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:12:02.721Z,1761351122.721 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:12:02.721Z,1761351122.721 [marl:UpdateRudder:B] Stopped
2025-10-25T00:12:02.721Z,1761351122.721 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:12:02.721Z,1761351122.721 [marl:UpdateRudder] Stopped
2025-10-25T00:12:02.721Z,1761351122.721 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:12:02.723Z,1761351122.723 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761351168.00. Resetting abort timer.
2025-10-25T00:12:02.882Z,1761351122.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983715,0.131237,0.122806],[-0.155679,-0.963619,-0.217263],[0.089825,-0.232843,0.968357]]
2025-10-25T00:12:02.909Z,1761351122.909 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:12:02.945Z,1761351122.945 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:12:02.945Z,1761351122.945 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:12:02.946Z,1761351122.946 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:12:02.946Z,1761351122.946 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:12:02.946Z,1761351122.946 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:12:02.946Z,1761351122.946 [marl:UpdateCommandMode] Stopped
2025-10-25T00:12:02.946Z,1761351122.946 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:12:02.946Z,1761351122.946 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:12:02.946Z,1761351122.946 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:12:02.946Z,1761351122.946 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:12:02.947Z,1761351122.947 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:12:02.947Z,1761351122.947 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:12:02.947Z,1761351122.947 [marl:UpdateSpeed] Stopped
2025-10-25T00:12:02.947Z,1761351122.947 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:12:03.039Z,1761351123.039 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:12:03.039Z,1761351123.039 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:12:03.274Z,1761351123.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983248,0.133981,0.123584],[-0.159238,-0.961326,-0.224713],[0.088697,-0.240628,0.966556]]
2025-10-25T00:12:03.683Z,1761351123.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982560,0.138072,0.124547],[-0.164025,-0.959086,-0.230761],[0.087590,-0.247165,0.965006]]
2025-10-25T00:12:04.084Z,1761351124.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981756,0.143000,0.125328],[-0.169122,-0.957952,-0.231788],[0.086912,-0.248755,0.964659]]
2025-10-25T00:12:04.128Z,1761351124.128 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-25T00:12:04.169Z,1761351124.169 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:12:04.220Z,1761351124.220 [DAT](INFO): entering command mode
2025-10-25T00:12:04.420Z,1761351124.420 [DAT](INFO): DAT read: 

2025-10-25T00:12:04.421Z,1761351124.421 [DAT](INFO): DAT read: user:59>

2025-10-25T00:12:04.422Z,1761351124.422 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:12:04.422Z,1761351124.422 [DAT](INFO): setting remote address to 0
2025-10-25T00:12:04.486Z,1761351124.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980916,0.147511,0.126668],[-0.173881,-0.957047,-0.232006],[0.087004,-0.249603,0.964432]]
2025-10-25T00:12:04.673Z,1761351124.673 [DAT](INFO): DAT read: user:59>

2025-10-25T00:12:04.674Z,1761351124.674 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-25T00:12:04.675Z,1761351124.675 [DAT](INFO): set remote address to 0
2025-10-25T00:12:04.675Z,1761351124.675 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:12:04.675Z,1761351124.675 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-25T00:12:04.893Z,1761351124.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980285,0.150861,0.127604],[-0.177137,-0.957112,-0.229257],[0.087545,-0.247340,0.964966]]
2025-10-25T00:12:04.925Z,1761351124.925 [DAT](INFO): DAT read: user:60>

2025-10-25T00:12:04.925Z,1761351124.925 [DAT](INFO): DAT read: Tx time:00:12:03.9048

2025-10-25T00:12:04.926Z,1761351124.926 [DAT](INFO): Ping request sent.
2025-10-25T00:12:04.926Z,1761351124.926 [DAT](INFO): transmitted an acoustic signal
2025-10-25T00:12:04.926Z,1761351124.926 [DAT](INFO): publishing transmit ping time
2025-10-25T00:12:04.927Z,1761351124.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000976
2025-10-25T00:12:05.177Z,1761351125.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251053
2025-10-25T00:12:05.296Z,1761351125.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979877,0.153187,0.127961],[-0.179059,-0.957897,-0.224433],[0.088193,-0.242829,0.966052]]
2025-10-25T00:12:05.430Z,1761351125.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503652
2025-10-25T00:12:05.681Z,1761351125.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755029
2025-10-25T00:12:05.699Z,1761351125.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979824,0.153801,0.127634],[-0.179059,-0.959216,-0.218731],[0.088787,-0.237172,0.967402]]
2025-10-25T00:12:05.933Z,1761351125.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007006
2025-10-25T00:12:06.102Z,1761351126.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979953,0.153346,0.127192],[-0.178074,-0.960461,-0.214020],[0.089344,-0.232379,0.968513]]
2025-10-25T00:12:06.185Z,1761351126.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258968
2025-10-25T00:12:06.437Z,1761351126.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511566
2025-10-25T00:12:06.510Z,1761351126.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980227,0.151806,0.126923],[-0.176316,-0.961229,-0.212016],[0.089817,-0.230202,0.968989]]
2025-10-25T00:12:06.689Z,1761351126.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763010
2025-10-25T00:12:06.912Z,1761351126.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980804,0.148586,0.126279],[-0.172846,-0.962243,-0.210268],[0.090269,-0.228058,0.969454]]
2025-10-25T00:12:06.941Z,1761351126.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015082
2025-10-25T00:12:07.193Z,1761351127.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266962
2025-10-25T00:12:07.315Z,1761351127.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981549,0.144580,0.125135],[-0.168555,-0.963234,-0.209212],[0.090286,-0.226444,0.969831]]
2025-10-25T00:12:07.446Z,1761351127.446 [DAT](INFO): DAT read: Rx Time:00:12:06.0677

2025-10-25T00:12:07.447Z,1761351127.447 [DAT](INFO): Rx dataTimestamp_ set to:1761351127.446001
2025-10-25T00:12:07.447Z,1761351127.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521307
2025-10-25T00:12:07.697Z,1761351127.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770941
2025-10-25T00:12:07.719Z,1761351127.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982462,0.139626,0.123581],[-0.163169,-0.964551,-0.207405],[0.090241,-0.223932,0.970418]]
2025-10-25T00:12:07.950Z,1761351127.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024431
2025-10-25T00:12:08.122Z,1761351128.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983296,0.135225,0.121834],[-0.158219,-0.965917,-0.204868],[0.089978,-0.220723,0.971177]]
2025-10-25T00:12:08.211Z,1761351128.211 [DAT](INFO): DAT read: 00:12:06.0677 LVL= 29584, 32753, 32754, 32755, AGC= 59, IDX=  71, 0.15, 0.444,-1.325,-0.224,-0.016, PHS= 0.562,-1.264,-0.252, RAW= 123.6,  12.0, CAL= 123.9,  13.2, ROT=  26.1, -13.2

2025-10-25T00:12:08.213Z,1761351128.213 [DAT](INFO): got valid direction response:
 00:12:06.0677 LVL= 29584, 32753, 32754, 32755, AGC= 59, IDX=  71, 0.15, 0.444,-1.325,-0.224,-0.016, PHS= 0.562,-1.264,-0.252, RAW= 123.6,  12.0, CAL= 123.9,  13.2, ROT=  26.1, -13.2

2025-10-25T00:12:08.214Z,1761351128.214 [DAT](INFO): DAT read: Bearing 187,  -9 (Remote)

2025-10-25T00:12:08.215Z,1761351128.215 [DAT](INFO): Remote Bearing received:Bearing 187,  -9 (Remote)

2025-10-25T00:12:08.217Z,1761351128.217 [DAT](INFO): DAT read: Bearing 357.2,  25.7 (Local)

2025-10-25T00:12:08.217Z,1761351128.217 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.2,  25.7 (Local)

2025-10-25T00:12:08.218Z,1761351128.218 [DAT](INFO): DAT read: Range 11 to 20 : 100.3 m  (Round-trip  133.8 ms) speed  1.1 m/s

2025-10-25T00:12:08.219Z,1761351128.219 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T00:12:08.220Z,1761351128.220 [DAT](INFO): direction in FSK: [0.874301,0.428316,0.228351]
2025-10-25T00:12:08.220Z,1761351128.220 [DAT](INFO): publishing direction and range info
2025-10-25T00:12:08.530Z,1761351128.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984112,0.129921,0.121013],[-0.152922,-0.966550,-0.205901],[0.090215,-0.221135,0.971062]]
2025-10-25T00:12:08.582Z,1761351128.582 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761351168.00. Resetting abort timer.
2025-10-25T00:12:08.931Z,1761351128.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984825,0.124949,0.120450],[-0.148146,-0.966758,-0.208403],[0.090406,-0.223085,0.970598]]
2025-10-25T00:12:09.335Z,1761351129.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985361,0.120795,0.120298],[-0.144380,-0.966523,-0.212103],[0.090650,-0.226367,0.969815]]
2025-10-25T00:12:09.740Z,1761351129.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985478,0.119662,0.120475],[-0.143851,-0.965313,-0.217894],[0.090223,-0.232060,0.968508]]
2025-10-25T00:12:10.143Z,1761351130.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985384,0.120346,0.120566],[-0.144900,-0.964278,-0.221748],[0.089573,-0.235977,0.967622]]
2025-10-25T00:12:10.550Z,1761351130.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985023,0.122405,0.121433],[-0.147462,-0.963040,-0.225408],[0.089354,-0.239939,0.966667]]
2025-10-25T00:12:10.950Z,1761351130.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984408,0.125632,0.123114],[-0.151457,-0.961319,-0.230057],[0.089449,-0.245117,0.965358]]
2025-10-25T00:12:11.379Z,1761351131.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983007,0.132812,0.126721],[-0.159692,-0.959149,-0.233522],[0.090530,-0.249790,0.964059]]
2025-10-25T00:12:12.163Z,1761351132.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982456,0.135747,0.127879],[-0.162612,-0.959264,-0.231020],[0.091310,-0.247761,0.964509]]
2025-10-25T00:12:12.577Z,1761351132.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982395,0.136946,0.127065],[-0.162813,-0.961154,-0.222879],[0.091606,-0.239644,0.966529]]
2025-10-25T00:12:12.975Z,1761351132.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982693,0.136096,0.125665],[-0.161271,-0.962321,-0.218930],[0.091135,-0.235407,0.967615]]
2025-10-25T00:12:12.989Z,1761351132.989 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-25T00:12:12.989Z,1761351132.989 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:12:13.241Z,1761351133.241 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:12:13.241Z,1761351133.241 [DAT](INFO): #Outgoing data=57
2025-10-25T00:12:13.241Z,1761351133.241 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:12:13.381Z,1761351133.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983161,0.135435,0.122688],[-0.159239,-0.964302,-0.211576],[0.089653,-0.227550,0.969630]]
2025-10-25T00:12:13.493Z,1761351133.493 [DAT](INFO): setting remote address to 10
2025-10-25T00:12:13.745Z,1761351133.745 [DAT](INFO): DAT read: user:61>

2025-10-25T00:12:13.746Z,1761351133.746 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-25T00:12:13.746Z,1761351133.746 [DAT](INFO): set remote address to 10
2025-10-25T00:12:13.746Z,1761351133.746 [DAT](INFO): entering online mode
2025-10-25T00:12:13.783Z,1761351133.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983758,0.134190,0.119220],[-0.156494,-0.966491,-0.203479],[0.087920,-0.218831,0.971794]]
2025-10-25T00:12:13.998Z,1761351133.998 [DAT](INFO): DAT read: user:62>

2025-10-25T00:12:13.998Z,1761351133.998 [DAT](INFO): DAT read: 

2025-10-25T00:12:14.004Z,1761351134.004 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-25T00:12:14.004Z,1761351134.004 [DAT](INFO): commRate: 600
2025-10-25T00:12:14.005Z,1761351134.005 [DAT](INFO): online mode acknowledged
2025-10-25T00:12:14.005Z,1761351134.005 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:12:14.186Z,1761351134.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984397,0.132119,0.116217],[-0.153535,-0.967585,-0.200516],[0.085958,-0.215231,0.972773]]
2025-10-25T00:12:14.592Z,1761351134.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984871,0.130525,0.113987],[-0.151520,-0.967815,-0.200936],[0.084091,-0.215167,0.972950]]
2025-10-25T00:12:14.616Z,1761351134.616 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:12:14.617Z,1761351134.617 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:12:14.617Z,1761351134.617 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:12:14.617Z,1761351134.617 [marl:UpdateRudder:A] Stopped
2025-10-25T00:12:14.617Z,1761351134.617 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:12:14.990Z,1761351134.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985263,0.129123,0.112177],[-0.150066,-0.967260,-0.204667],[0.082077,-0.218485,0.972382]]
2025-10-25T00:12:15.022Z,1761351135.022 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:12:15.022Z,1761351135.022 [marl:UpdateRudder:B] Stopped
2025-10-25T00:12:15.022Z,1761351135.022 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:12:15.022Z,1761351135.022 [marl:UpdateRudder] Stopped
2025-10-25T00:12:15.023Z,1761351135.023 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:12:15.023Z,1761351135.023 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:12:15.023Z,1761351135.023 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:12:15.023Z,1761351135.023 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:12:15.023Z,1761351135.023 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:12:15.023Z,1761351135.023 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:12:15.023Z,1761351135.023 [marl:UpdateCommandMode] Stopped
2025-10-25T00:12:15.023Z,1761351135.023 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:12:15.024Z,1761351135.024 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:12:15.024Z,1761351135.024 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:12:15.024Z,1761351135.024 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:12:15.024Z,1761351135.024 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:12:15.024Z,1761351135.024 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:12:15.024Z,1761351135.024 [marl:UpdateSpeed] Stopped
2025-10-25T00:12:15.025Z,1761351135.025 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:12:15.394Z,1761351135.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985557,0.128596,0.110182],[-0.149448,-0.966474,-0.208790],[0.079639,-0.222241,0.971734]]
2025-10-25T00:12:15.799Z,1761351135.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985848,0.127382,0.108982],[-0.148339,-0.965696,-0.213137],[0.078093,-0.226287,0.970925]]
2025-10-25T00:12:16.203Z,1761351136.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986159,0.125919,0.107862],[-0.146922,-0.965155,-0.216540],[0.076837,-0.229391,0.970297]]
2025-10-25T00:12:16.617Z,1761351136.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986483,0.124742,0.106259],[-0.145509,-0.965051,-0.217953],[0.075358,-0.230468,0.970158]]
2025-10-25T00:12:17.010Z,1761351137.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986953,0.123136,0.103740],[-0.143376,-0.965303,-0.218250],[0.073266,-0.230276,0.970363]]
2025-10-25T00:12:17.277Z,1761351137.277 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:12:16.3536

2025-10-25T00:12:17.277Z,1761351137.277 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:12:17.415Z,1761351137.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987196,0.122400,0.102285],[-0.142493,-0.964895,-0.220619],[0.071691,-0.232370,0.969982]]
2025-10-25T00:12:17.828Z,1761351137.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987316,0.121813,0.101824],[-0.141951,-0.964543,-0.222503],[0.071110,-0.234135,0.969600]]
2025-10-25T00:12:18.224Z,1761351138.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987226,0.122468,0.101910],[-0.142940,-0.963343,-0.227021],[0.070372,-0.238689,0.968543]]
2025-10-25T00:12:18.248Z,1761351138.248 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:12:18.626Z,1761351138.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987048,0.124142,0.101614],[-0.144587,-0.962820,-0.228193],[0.069507,-0.239929,0.968299]]
2025-10-25T00:12:19.031Z,1761351139.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986933,0.125205,0.101426],[-0.145624,-0.962511,-0.228838],[0.068972,-0.240618,0.968166]]
2025-10-25T00:12:19.252Z,1761351139.252 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:12:19.437Z,1761351139.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986998,0.125169,0.100837],[-0.145446,-0.962538,-0.228837],[0.068416,-0.240528,0.968228]]
2025-10-25T00:12:19.867Z,1761351139.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987267,0.124158,0.099444],[-0.143997,-0.963182,-0.227036],[0.067595,-0.238465,0.968796]]
2025-10-25T00:12:20.243Z,1761351140.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987697,0.122820,0.096794],[-0.141652,-0.964918,-0.221061],[0.066248,-0.232053,0.970445]]
2025-10-25T00:12:20.648Z,1761351140.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988274,0.120627,0.093610],[-0.138348,-0.966824,-0.214735],[0.064602,-0.225168,0.972176]]
2025-10-25T00:12:21.050Z,1761351141.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988893,0.117894,0.090511],[-0.134674,-0.968364,-0.210079],[0.062880,-0.219935,0.973486]]
2025-10-25T00:12:21.457Z,1761351141.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989517,0.114796,0.087620],[-0.131028,-0.968777,-0.210485],[0.060721,-0.219759,0.973663]]
2025-10-25T00:12:21.898Z,1761351141.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989984,0.112099,0.085821],[-0.128322,-0.967939,-0.215936],[0.058864,-0.224786,0.972629]]
2025-10-25T00:12:22.263Z,1761351142.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990323,0.110418,0.084068],[-0.126527,-0.967242,-0.220077],[0.057014,-0.228585,0.971853]]
2025-10-25T00:12:22.677Z,1761351142.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990583,0.109412,0.082308],[-0.125308,-0.966722,-0.223037],[0.055166,-0.231251,0.971329]]
2025-10-25T00:12:23.070Z,1761351143.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990806,0.109020,0.080109],[-0.124507,-0.966438,-0.224712],[0.052922,-0.232621,0.971127]]
2025-10-25T00:12:23.474Z,1761351143.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990875,0.109833,0.078124],[-0.125043,-0.965441,-0.228665],[0.050309,-0.236348,0.970365]]
2025-10-25T00:12:23.844Z,1761351143.844 [DAT](INFO): DAT read: Rx Time:00:12:22.4019

2025-10-25T00:12:23.845Z,1761351143.845 [DAT](INFO): Rx dataTimestamp_ set to:1761351143.844396
2025-10-25T00:12:23.919Z,1761351143.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990673,0.112348,0.077108],[-0.127438,-0.964239,-0.232387],[0.048242,-0.240046,0.969562]]
2025-10-25T00:12:24.285Z,1761351144.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990354,0.115705,0.076236],[-0.130546,-0.963566,-0.233447],[0.046448,-0.241148,0.969376]]
2025-10-25T00:12:24.603Z,1761351144.603 [DAT](INFO): DAT read: 00:12:22.4019 LVL= 29936, 25521, 20626, 20787, AGC= 41, IDX= 293, 0.36, 2.801,-1.858,-0.837,-1.864, PHS=-1.516, 0.051, 0.982, RAW= 248.4,   4.5, CAL= 245.6,   4.2, ROT= 264.4,  -4.2

2025-10-25T00:12:24.604Z,1761351144.604 [DAT](INFO): got valid direction response:
 00:12:22.4019 LVL= 29936, 25521, 20626, 20787, AGC= 41, IDX= 293, 0.36, 2.801,-1.858,-0.837,-1.864, PHS=-1.516, 0.051, 0.982, RAW= 248.4,   4.5, CAL= 245.6,   4.2, ROT= 264.4,  -4.2

2025-10-25T00:12:24.604Z,1761351144.604 [DAT](INFO): DAT read: 

2025-10-25T00:12:24.605Z,1761351144.605 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:12:24.605Z,1761351144.605 [DAT](INFO): Got DATA 2
2025-10-25T00:12:24.606Z,1761351144.606 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:12:24.606Z,1761351144.606 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:12:24.607Z,1761351144.607 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:12:24.608Z,1761351144.608 [DAT](INFO): DAT read: CRC:Pass MPD:15.9 PSNR:13.9 AGC:40 SPD:-0.3 CCERR:011

2025-10-25T00:12:24.608Z,1761351144.608 [DAT](INFO): Got CRC:Pass
2025-10-25T00:12:24.608Z,1761351144.608 [DAT](INFO): Got CRC:Pass
2025-10-25T00:12:24.608Z,1761351144.608 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:12:24.608Z,1761351144.608 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:12:24.608Z,1761351144.608 [DAT](INFO): Got ack
2025-10-25T00:12:24.609Z,1761351144.609 [DAT](INFO): DAT read: 

2025-10-25T00:12:24.609Z,1761351144.609 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:12:24.609Z,1761351144.609 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:12:24.610Z,1761351144.610 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-25T00:12:24.611Z,1761351144.611 [DAT](INFO): direction in FSK: [-0.097321,-0.992555,0.073238]
2025-10-25T00:12:24.704Z,1761351144.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990008,0.119115,0.075463],[-0.133654,-0.963260,-0.232952],[0.044942,-0.240711,0.969556]]
2025-10-25T00:12:24.794Z,1761351144.794 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761351168.00. Resetting abort timer.
2025-10-25T00:12:24.849Z,1761351144.849 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:12:24.850Z,1761351144.850 [DAT](INFO): #Outgoing data=58
2025-10-25T00:12:24.850Z,1761351144.850 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:12:25.090Z,1761351145.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989748,0.121552,0.074990],[-0.135881,-0.963106,-0.232300],[0.043987,-0.240108,0.969749]]
2025-10-25T00:12:25.101Z,1761351145.101 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:12:25.496Z,1761351145.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989514,0.123323,0.075191],[-0.137680,-0.962702,-0.232915],[0.043662,-0.240825,0.969586]]
2025-10-25T00:12:25.913Z,1761351145.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989525,0.123576,0.074629],[-0.137787,-0.962705,-0.232838],[0.043072,-0.240682,0.969648]]
2025-10-25T00:12:26.311Z,1761351146.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989857,0.121647,0.073387],[-0.135521,-0.963522,-0.230782],[0.042636,-0.238386,0.970234]]
2025-10-25T00:12:26.706Z,1761351146.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990375,0.118493,0.071531],[-0.131877,-0.964746,-0.227758],[0.042022,-0.235000,0.971087]]
2025-10-25T00:12:27.112Z,1761351147.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991016,0.114110,0.069764],[-0.127168,-0.965507,-0.227211],[0.041430,-0.234041,0.971343]]
2025-10-25T00:12:27.514Z,1761351147.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991704,0.109500,0.067320],[-0.122119,-0.966069,-0.227590],[0.040115,-0.233923,0.971427]]
2025-10-25T00:12:27.550Z,1761351147.550 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:12:27.550Z,1761351147.550 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:12:27.551Z,1761351147.551 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:12:27.551Z,1761351147.551 [marl:UpdateRudder:A] Stopped
2025-10-25T00:12:27.551Z,1761351147.551 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:12:27.918Z,1761351147.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992388,0.105095,0.064198],[-0.117146,-0.966387,-0.228851],[0.037989,-0.234629,0.971342]]
2025-10-25T00:12:27.968Z,1761351147.968 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-25T00:12:27.969Z,1761351147.969 [marl:UpdateRudder:B] Stopped
2025-10-25T00:12:27.969Z,1761351147.969 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:12:27.969Z,1761351147.969 [marl:UpdateRudder] Stopped
2025-10-25T00:12:27.969Z,1761351147.969 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:12:27.969Z,1761351147.969 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:12:27.969Z,1761351147.969 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:12:27.969Z,1761351147.969 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:12:27.969Z,1761351147.969 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:12:27.970Z,1761351147.970 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:12:27.970Z,1761351147.970 [marl:UpdateCommandMode] Stopped
2025-10-25T00:12:27.970Z,1761351147.970 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:12:27.970Z,1761351147.970 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:12:27.970Z,1761351147.970 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:12:27.970Z,1761351147.970 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:12:27.970Z,1761351147.970 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:12:27.970Z,1761351147.970 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:12:27.970Z,1761351147.970 [marl:UpdateSpeed] Stopped
2025-10-25T00:12:27.971Z,1761351147.971 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:12:28.329Z,1761351148.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993036,0.101047,0.060575],[-0.112408,-0.966587,-0.230376],[0.035272,-0.235581,0.971214]]
2025-10-25T00:12:28.377Z,1761351148.377 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:12:27.4535

2025-10-25T00:12:28.378Z,1761351148.378 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:12:28.734Z,1761351148.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993537,0.098382,0.056607],[-0.108927,-0.966638,-0.231832],[0.031910,-0.236500,0.971107]]
2025-10-25T00:12:29.130Z,1761351149.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993827,0.097552,0.052840],[-0.107239,-0.966734,-0.232217],[0.028429,-0.236450,0.971228]]
2025-10-25T00:12:29.534Z,1761351149.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993793,0.099544,0.049656],[-0.108508,-0.965792,-0.235525],[0.024513,-0.239451,0.970599]]
2025-10-25T00:12:29.938Z,1761351149.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993564,0.103226,0.046636],[-0.111413,-0.964873,-0.237921],[0.020438,-0.241586,0.970164]]
2025-10-25T00:12:30.351Z,1761351150.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992952,0.109831,0.044534],[-0.117341,-0.963857,-0.239187],[0.016654,-0.242727,0.969952]]
2025-10-25T00:12:30.751Z,1761351150.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991699,0.121544,0.041945],[-0.127977,-0.964574,-0.230692],[0.012420,-0.234145,0.972122]]
2025-10-25T00:12:31.155Z,1761351151.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989490,0.139621,0.037633],[-0.144425,-0.967164,-0.209131],[0.007198,-0.212368,0.977163]]
2025-10-25T00:12:31.558Z,1761351151.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986247,0.162343,0.031004],[-0.165272,-0.970197,-0.177211],[0.001311,-0.179898,0.983684]]
2025-10-25T00:12:31.963Z,1761351151.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982156,0.186690,0.022739],[-0.188009,-0.971569,-0.143893],[-0.004770,-0.145600,0.989332]]
2025-10-25T00:12:32.371Z,1761351152.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977552,0.210266,0.013423],[-0.210447,-0.971344,-0.110469],[-0.010190,-0.110814,0.993789]]
2025-10-25T00:12:32.774Z,1761351152.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972589,0.232505,0.003428],[-0.232025,-0.969401,-0.080166],[-0.015316,-0.078764,0.996776]]
2025-10-25T00:12:33.175Z,1761351153.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967319,0.253480,-0.006510],[-0.252747,-0.965944,-0.055426],[-0.020338,-0.051969,0.998442]]
2025-10-25T00:12:33.578Z,1761351153.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961944,0.272823,-0.015210],[-0.272099,-0.961514,-0.038108],[-0.025021,-0.032519,0.999158]]
2025-10-25T00:12:33.984Z,1761351153.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956433,0.291089,-0.022436],[-0.290489,-0.956510,-0.026556],[-0.029190,-0.018881,0.999396]]
2025-10-25T00:12:34.386Z,1761351154.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950857,0.308320,-0.028439],[-0.307853,-0.951230,-0.019684],[-0.033121,-0.009962,0.999402]]
2025-10-25T00:12:34.797Z,1761351154.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945533,0.323809,-0.033390],[-0.323451,-0.946114,-0.015767],[-0.036696,-0.004108,0.999318]]
2025-10-25T00:12:34.930Z,1761351154.930 [DAT](INFO): DAT read: Rx Time:00:12:33.5038

2025-10-25T00:12:34.930Z,1761351154.930 [DAT](INFO): Rx dataTimestamp_ set to:1761351154.929956
2025-10-25T00:12:35.198Z,1761351155.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940461,0.337812,-0.037619],[-0.337525,-0.941213,-0.013931],[-0.040114,-0.000404,0.999195]]
2025-10-25T00:12:35.599Z,1761351155.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935588,0.350723,-0.040841],[-0.350435,-0.936479,-0.014240],[-0.043241,0.000989,0.999064]]
2025-10-25T00:12:35.692Z,1761351155.692 [DAT](INFO): DAT read: 00:12:33.5038 LVL= 32752, 32753, 32754, 32755, AGC= 43, IDX= 441,-0.27, 0.506, 2.567, 2.167, 2.280, PHS=-1.673, 0.332,-0.157, RAW= 283.5,  16.3, CAL= 282.5,  23.5, ROT= 227.5, -23.5

2025-10-25T00:12:35.694Z,1761351155.694 [DAT](INFO): got valid direction response:
 00:12:33.5038 LVL= 32752, 32753, 32754, 32755, AGC= 43, IDX= 441,-0.27, 0.506, 2.567, 2.167, 2.280, PHS=-1.673, 0.332,-0.157, RAW= 283.5,  16.3, CAL= 282.5,  23.5, ROT= 227.5, -23.5

2025-10-25T00:12:35.694Z,1761351155.694 [DAT](INFO): DAT read: 

2025-10-25T00:12:35.695Z,1761351155.695 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:12:35.700Z,1761351155.700 [DAT](INFO): Got DATA 2
2025-10-25T00:12:35.705Z,1761351155.705 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:12:35.705Z,1761351155.705 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:12:35.706Z,1761351155.706 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:12:35.707Z,1761351155.707 [DAT](INFO): DAT read: CRC:Pass MPD:12.9 PSNR:12.6 AGC:43 SPD:-0.9 CCERR:009

2025-10-25T00:12:35.707Z,1761351155.707 [DAT](INFO): Got CRC:Pass
2025-10-25T00:12:35.708Z,1761351155.708 [DAT](INFO): Got CRC:Pass
2025-10-25T00:12:35.713Z,1761351155.713 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:12:35.714Z,1761351155.714 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:12:35.714Z,1761351155.714 [DAT](INFO): Got ack
2025-10-25T00:12:35.714Z,1761351155.714 [DAT](INFO): DAT read: 

2025-10-25T00:12:35.715Z,1761351155.715 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:12:35.715Z,1761351155.715 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:12:35.725Z,1761351155.725 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-25T00:12:35.733Z,1761351155.733 [DAT](INFO): direction in FSK: [-0.619557,-0.676128,0.398749]
2025-10-25T00:12:35.937Z,1761351155.937 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:12:35.937Z,1761351155.937 [DAT](INFO): #Outgoing data=58
2025-10-25T00:12:35.937Z,1761351155.937 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:12:36.003Z,1761351156.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930968,0.362503,-0.043469],[-0.362160,-0.931982,-0.015797],[-0.046239,0.001036,0.998930]]
2025-10-25T00:12:36.070Z,1761351156.070 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761351168.00. Resetting abort timer.
2025-10-25T00:12:36.189Z,1761351156.189 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:12:36.406Z,1761351156.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926582,0.373334,-0.045465],[-0.372907,-0.927697,-0.017837],[-0.048837,0.000427,0.998807]]
2025-10-25T00:12:36.810Z,1761351156.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922413,0.383442,-0.046108],[-0.382874,-0.923563,-0.020946],[-0.050615,-0.001668,0.998717]]
2025-10-25T00:12:37.214Z,1761351157.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918322,0.393077,-0.046648],[-0.392352,-0.919497,-0.024177],[-0.052396,-0.003900,0.998619]]
2025-10-25T00:12:37.620Z,1761351157.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914111,0.402773,-0.046646],[-0.401814,-0.915269,-0.028795],[-0.054291,-0.007579,0.998496]]
2025-10-25T00:12:38.023Z,1761351158.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909506,0.413094,-0.046385],[-0.411920,-0.910623,-0.032968],[-0.055858,-0.010878,0.998379]]
2025-10-25T00:12:38.427Z,1761351158.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903810,0.425414,-0.046369],[-0.424016,-0.904891,-0.037180],[-0.057776,-0.013942,0.998232]]
2025-10-25T00:12:38.830Z,1761351158.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896781,0.440053,-0.046230],[-0.438396,-0.897805,-0.041887],[-0.059938,-0.017296,0.998052]]
2025-10-25T00:12:39.235Z,1761351159.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888371,0.456811,-0.046062],[-0.454903,-0.889334,-0.046357],[-0.062141,-0.020229,0.997862]]
2025-10-25T00:12:39.469Z,1761351159.469 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:12:38.5535

2025-10-25T00:12:39.469Z,1761351159.469 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:12:39.638Z,1761351159.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879202,0.474114,-0.047101],[-0.472078,-0.880230,-0.048351],[-0.064384,-0.020275,0.997719]]
2025-10-25T00:12:40.102Z,1761351160.102 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:12:40.102Z,1761351160.102 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:12:40.102Z,1761351160.102 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:12:40.102Z,1761351160.102 [marl:UpdateRudder:A] Stopped
2025-10-25T00:12:40.103Z,1761351160.103 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:12:40.446Z,1761351160.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858695,0.510239,-0.047940],[-0.507907,-0.859768,-0.053194],[-0.068359,-0.021328,0.997433]]
2025-10-25T00:12:40.507Z,1761351160.507 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-25T00:12:40.507Z,1761351160.507 [marl:UpdateRudder:B] Stopped
2025-10-25T00:12:40.507Z,1761351160.507 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:12:40.507Z,1761351160.507 [marl:UpdateRudder] Stopped
2025-10-25T00:12:40.507Z,1761351160.507 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:12:40.507Z,1761351160.507 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:12:40.508Z,1761351160.508 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:12:40.508Z,1761351160.508 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:12:40.508Z,1761351160.508 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:12:40.508Z,1761351160.508 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:12:40.508Z,1761351160.508 [marl:UpdateCommandMode] Stopped
2025-10-25T00:12:40.509Z,1761351160.509 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:12:40.509Z,1761351160.509 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:12:40.509Z,1761351160.509 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:12:40.509Z,1761351160.509 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:12:40.509Z,1761351160.509 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:12:40.509Z,1761351160.509 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:12:40.509Z,1761351160.509 [marl:UpdateSpeed] Stopped
2025-10-25T00:12:40.509Z,1761351160.509 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:12:40.850Z,1761351160.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847783,0.528106,-0.048658],[-0.525657,-0.848918,-0.054978],[-0.070341,-0.021031,0.997301]]
2025-10-25T00:12:41.264Z,1761351161.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836507,0.545772,-0.048866],[-0.543179,-0.837661,-0.057283],[-0.072197,-0.021375,0.997161]]
2025-10-25T00:12:41.665Z,1761351161.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824904,0.563206,-0.048307],[-0.560392,-0.825995,-0.060766],[-0.074125,-0.023055,0.996982]]
2025-10-25T00:12:42.064Z,1761351162.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813214,0.579970,-0.048132],[-0.577035,-0.814306,-0.062741],[-0.075582,-0.023248,0.996868]]
2025-10-25T00:12:42.467Z,1761351162.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800897,0.596948,-0.047086],[-0.593816,-0.801895,-0.065932],[-0.077116,-0.024844,0.996713]]
2025-10-25T00:12:42.871Z,1761351162.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788083,0.613837,-0.046152],[-0.610538,-0.789008,-0.068633],[-0.078544,-0.025911,0.996574]]
2025-10-25T00:12:43.279Z,1761351163.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775365,0.629947,-0.044456],[-0.626492,-0.776151,-0.071392],[-0.079477,-0.027504,0.996457]]
2025-10-25T00:12:43.682Z,1761351163.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762780,0.645310,-0.041742],[-0.641702,-0.763331,-0.074452],[-0.079908,-0.030005,0.996351]]
2025-10-25T00:12:44.082Z,1761351164.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750840,0.659380,-0.038174],[-0.655636,-0.751073,-0.077661],[-0.079879,-0.033283,0.996249]]
2025-10-25T00:12:44.487Z,1761351164.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739484,0.672228,-0.035684],[-0.668424,-0.739519,-0.079502],[-0.079832,-0.034938,0.996196]]
2025-10-25T00:12:44.893Z,1761351164.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729495,0.683088,-0.035031],[-0.679342,-0.729550,-0.079065],[-0.079565,-0.033880,0.996254]]
2025-10-25T00:12:45.295Z,1761351165.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720210,0.692952,-0.033388],[-0.689264,-0.720185,-0.079042],[-0.078818,-0.033914,0.996312]]
2025-10-25T00:12:45.698Z,1761351165.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711535,0.701942,-0.031530],[-0.698303,-0.711405,-0.079228],[-0.078044,-0.034356,0.996358]]
2025-10-25T00:12:46.021Z,1761351166.021 [DAT](INFO): DAT read: Rx Time:00:12:44.6183

2025-10-25T00:12:46.021Z,1761351166.021 [DAT](INFO): Rx dataTimestamp_ set to:1761351166.021012
2025-10-25T00:12:46.102Z,1761351166.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703027,0.710501,-0.030668],[-0.706946,-0.702897,-0.078504],[-0.077334,-0.033509,0.996442]]
2025-10-25T00:12:46.507Z,1761351166.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694241,0.719153,-0.029124],[-0.715639,-0.694032,-0.078609],[-0.076745,-0.033731,0.996480]]
2025-10-25T00:12:46.782Z,1761351166.782 [DAT](INFO): DAT read: 00:12:44.6183 LVL= 28496, 26321, 23378, 18387, AGC= 46, IDX=  65,-0.35, 2.246,-2.987, 2.788, 1.736, PHS= 0.613, 1.605, 1.008, RAW= 306.7, -52.8, CAL= 301.8, -55.0, ROT= 208.2,  55.0

2025-10-25T00:12:46.783Z,1761351166.783 [DAT](INFO): got valid direction response:
 00:12:44.6183 LVL= 28496, 26321, 23378, 18387, AGC= 46, IDX=  65,-0.35, 2.246,-2.987, 2.788, 1.736, PHS= 0.613, 1.605, 1.008, RAW= 306.7, -52.8, CAL= 301.8, -55.0, ROT= 208.2,  55.0

2025-10-25T00:12:46.784Z,1761351166.784 [DAT](INFO): DAT read: 

2025-10-25T00:12:46.785Z,1761351166.785 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:12:46.785Z,1761351166.785 [DAT](INFO): Got DATA 2
2025-10-25T00:12:46.786Z,1761351166.786 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:12:46.786Z,1761351166.786 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:12:46.786Z,1761351166.786 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:12:46.787Z,1761351166.787 [DAT](INFO): DAT read: CRC:Pass MPD:03.5 PSNR:11.7 AGC:48 SPD:-1.2 CCERR:009

2025-10-25T00:12:46.787Z,1761351166.787 [DAT](INFO): Got CRC:Pass
2025-10-25T00:12:46.788Z,1761351166.788 [DAT](INFO): Got CRC:Pass
2025-10-25T00:12:46.788Z,1761351166.788 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:12:46.788Z,1761351166.788 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:12:46.788Z,1761351166.788 [DAT](INFO): Got ack
2025-10-25T00:12:46.788Z,1761351166.788 [DAT](INFO): DAT read: 

2025-10-25T00:12:46.789Z,1761351166.789 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:12:46.789Z,1761351166.789 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:12:46.789Z,1761351166.789 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-10-25T00:12:46.790Z,1761351166.790 [DAT](INFO): direction in FSK: [-0.505495,-0.271044,-0.819152]
2025-10-25T00:12:46.911Z,1761351166.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684981,0.728071,-0.026701],[-0.724528,-0.684583,-0.080033],[-0.076548,-0.035475,0.996435]]
2025-10-25T00:12:46.982Z,1761351166.982 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761351168.00. Resetting abort timer.
2025-10-25T00:12:47.029Z,1761351167.029 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:12:47.029Z,1761351167.029 [DAT](INFO): #Outgoing data=58
2025-10-25T00:12:47.029Z,1761351167.029 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:12:47.281Z,1761351167.281 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:12:47.315Z,1761351167.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675952,0.736562,-0.023766],[-0.732995,-0.675313,-0.081673],[-0.076206,-0.037787,0.996376]]
2025-10-25T00:12:47.718Z,1761351167.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667076,0.744711,-0.020369],[-0.741096,-0.666133,-0.083922],[-0.076066,-0.040887,0.996264]]
2025-10-25T00:12:48.122Z,1761351168.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658579,0.752279,-0.018697],[-0.748639,-0.657505,-0.085009],[-0.076244,-0.041988,0.996205]]
2025-10-25T00:12:48.527Z,1761351168.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650399,0.759363,-0.018688],[-0.755724,-0.649370,-0.084860],[-0.076574,-0.041070,0.996218]]
2025-10-25T00:12:48.931Z,1761351168.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642408,0.766180,-0.016742],[-0.762503,-0.641210,-0.086249],[-0.076817,-0.042641,0.996133]]
2025-10-25T00:12:49.335Z,1761351169.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634044,0.773153,-0.014940],[-0.769459,-0.632702,-0.087303],[-0.076951,-0.043858,0.996070]]
2025-10-25T00:12:49.380Z,1761351169.380 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:12:49.746Z,1761351169.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624823,0.780653,-0.013285],[-0.777011,-0.623394,-0.087372],[-0.076489,-0.044269,0.996087]]
2025-10-25T00:12:50.142Z,1761351170.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613869,0.789360,-0.008777],[-0.785775,-0.612071,-0.089028],[-0.075647,-0.047754,0.995991]]
2025-10-25T00:12:50.384Z,1761351170.384 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:12:50.546Z,1761351170.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600994,0.799237,-0.005210],[-0.795783,-0.598978,-0.089185],[-0.074400,-0.049454,0.996001]]
2025-10-25T00:12:50.557Z,1761351170.557 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:12:49.6034

2025-10-25T00:12:50.557Z,1761351170.557 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:12:50.950Z,1761351170.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586431,0.809997,-0.001835],[-0.806734,-0.584269,-0.088375],[-0.072656,-0.050346,0.996086]]
2025-10-25T00:12:51.382Z,1761351171.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570275,0.821447,0.003508],[-0.818384,-0.567769,-0.088803],[-0.070955,-0.053513,0.996043]]
2025-10-25T00:12:51.758Z,1761351171.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552661,0.833349,0.009736],[-0.830543,-0.549757,-0.089255],[-0.069028,-0.057414,0.995961]]
2025-10-25T00:12:52.163Z,1761351172.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534129,0.845295,0.013526],[-0.842736,-0.531107,-0.087872],[-0.067094,-0.058334,0.996040]]
2025-10-25T00:12:52.972Z,1761351172.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496252,0.868092,0.012244],[-0.865845,-0.493835,-0.080247],[-0.063615,-0.050424,0.996700]]
2025-10-25T00:12:53.037Z,1761351173.037 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:12:53.037Z,1761351173.037 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:12:53.037Z,1761351173.037 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:12:53.037Z,1761351173.037 [marl:UpdateRudder:A] Stopped
2025-10-25T00:12:53.037Z,1761351173.037 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:12:53.375Z,1761351173.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477658,0.878463,0.012048],[-0.876348,-0.475448,-0.077225],[-0.062111,-0.047446,0.996941]]
2025-10-25T00:12:53.458Z,1761351173.458 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:12:53.458Z,1761351173.458 [marl:UpdateRudder:B] Stopped
2025-10-25T00:12:53.458Z,1761351173.458 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:12:53.458Z,1761351173.458 [marl:UpdateRudder] Stopped
2025-10-25T00:12:53.458Z,1761351173.458 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:12:53.459Z,1761351173.459 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:12:53.459Z,1761351173.459 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:12:53.459Z,1761351173.459 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:12:53.459Z,1761351173.459 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:12:53.459Z,1761351173.459 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:12:53.459Z,1761351173.459 [marl:UpdateCommandMode] Stopped
2025-10-25T00:12:53.459Z,1761351173.459 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:12:53.459Z,1761351173.459 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:12:53.460Z,1761351173.460 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:12:53.460Z,1761351173.460 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:12:53.460Z,1761351173.460 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:12:53.460Z,1761351173.460 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:12:53.460Z,1761351173.460 [marl:UpdateSpeed] Stopped
2025-10-25T00:12:53.461Z,1761351173.461 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:12:53.778Z,1761351173.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460393,0.887659,0.010001],[-0.885620,-0.458503,-0.073839],[-0.060959,-0.042852,0.997220]]
2025-10-25T00:12:54.182Z,1761351174.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445039,0.895477,0.007807],[-0.893520,-0.443451,-0.070519],[-0.059686,-0.038359,0.997480]]
2025-10-25T00:12:54.586Z,1761351174.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431515,0.902092,0.005018],[-0.900224,-0.430249,-0.066944],[-0.058231,-0.033405,0.997744]]
2025-10-25T00:12:54.990Z,1761351174.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419623,0.907693,0.003076],[-0.905908,-0.418580,-0.064207],[-0.056992,-0.029730,0.997932]]
2025-10-25T00:12:55.395Z,1761351175.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409233,0.912428,0.001978],[-0.910747,-0.408346,-0.061588],[-0.055387,-0.027005,0.998100]]
2025-10-25T00:12:55.801Z,1761351175.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399690,0.916646,0.002781],[-0.915059,-0.398816,-0.060103],[-0.053984,-0.026567,0.998188]]
2025-10-25T00:12:56.210Z,1761351176.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392066,0.919906,0.007527],[-0.918435,-0.390945,-0.060323],[-0.052549,-0.030563,0.998151]]
2025-10-25T00:12:56.606Z,1761351176.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388241,0.921374,0.018407],[-0.920175,-0.386488,-0.062493],[-0.050465,-0.041200,0.997876]]
2025-10-25T00:12:57.010Z,1761351177.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387909,0.920889,0.038604],[-0.920446,-0.384860,-0.068271],[-0.048013,-0.062016,0.996920]]
2025-10-25T00:12:57.426Z,1761351177.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388349,0.916237,0.098462],[-0.920508,-0.380719,-0.087854],[-0.043009,-0.124753,0.991255]]
2025-10-25T00:12:57.828Z,1761351177.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386483,0.913047,0.130291],[-0.921403,-0.376019,-0.098112],[-0.040589,-0.157969,0.986610]]
2025-10-25T00:12:58.229Z,1761351178.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382866,0.910313,0.157301],[-0.923025,-0.369966,-0.105598],[-0.037931,-0.185622,0.981889]]
2025-10-25T00:12:58.631Z,1761351178.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377533,0.908323,0.180049],[-0.925313,-0.362586,-0.111032],[-0.035570,-0.208520,0.977371]]
2025-10-25T00:12:59.037Z,1761351179.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370519,0.907652,0.197188],[-0.928222,-0.354191,-0.113810],[-0.033458,-0.225203,0.973737]]
2025-10-25T00:12:59.439Z,1761351179.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361879,0.908941,0.207050],[-0.931682,-0.345058,-0.113591],[-0.031803,-0.234011,0.971714]]
2025-10-25T00:12:59.851Z,1761351179.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352291,0.911018,0.214331],[-0.935376,-0.335148,-0.112905],[-0.031026,-0.240256,0.970214]]
2025-10-25T00:13:00.279Z,1761351180.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343044,0.913690,0.217923],[-0.938844,-0.326139,-0.110477],[-0.029868,-0.242495,0.969693]]
2025-10-25T00:13:00.651Z,1761351180.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335237,0.916849,0.216803],[-0.941704,-0.319140,-0.106506],[-0.028460,-0.239869,0.970388]]
2025-10-25T00:13:00.661Z,1761351180.661 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:13:00.913Z,1761351180.913 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:13:00.913Z,1761351180.913 [DAT](INFO): #Outgoing data=58
2025-10-25T00:13:00.913Z,1761351180.913 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:13:01.050Z,1761351181.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327987,0.919914,0.214903],[-0.944298,-0.312766,-0.102368],[-0.026955,-0.236508,0.971256]]
2025-10-25T00:13:01.165Z,1761351181.165 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:13:01.457Z,1761351181.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321989,0.923351,0.209154],[-0.946411,-0.308064,-0.096972],[-0.025106,-0.229170,0.973063]]
2025-10-25T00:13:01.904Z,1761351181.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316537,0.926525,0.203360],[-0.948293,-0.303810,-0.091867],[-0.023334,-0.221924,0.974785]]
2025-10-25T00:13:02.264Z,1761351182.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311757,0.928904,0.199864],[-0.949926,-0.300025,-0.087322],[-0.021150,-0.217079,0.975925]]
2025-10-25T00:13:02.671Z,1761351182.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307583,0.931502,0.194158],[-0.951342,-0.297096,-0.081747],[-0.018464,-0.209855,0.977558]]
2025-10-25T00:13:03.070Z,1761351183.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303945,0.933547,0.190020],[-0.952558,-0.294486,-0.076877],[-0.015811,-0.204371,0.978766]]
2025-10-25T00:13:03.211Z,1761351183.211 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:13:03.212Z,1761351183.212 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:13:03.477Z,1761351183.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300595,0.935296,0.186721],[-0.953662,-0.292063,-0.072303],[-0.013091,-0.199803,0.979749]]
2025-10-25T00:13:03.906Z,1761351183.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297829,0.936409,0.185571],[-0.954562,-0.289997,-0.068657],[-0.010476,-0.197587,0.980229]]
2025-10-25T00:13:04.285Z,1761351184.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295230,0.937095,0.186257],[-0.955389,-0.287844,-0.066159],[-0.008384,-0.197480,0.980271]]
2025-10-25T00:13:04.370Z,1761351184.370 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-25T00:13:04.441Z,1761351184.441 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:13:03.5033

2025-10-25T00:13:04.441Z,1761351184.441 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:13:04.442Z,1761351184.442 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:13:04.500Z,1761351184.500 [DAT](INFO): entering command mode
2025-10-25T00:13:04.693Z,1761351184.693 [DAT](INFO): DAT read: 

2025-10-25T00:13:04.694Z,1761351184.694 [DAT](INFO): DAT read: user:63>

2025-10-25T00:13:04.695Z,1761351184.695 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:13:04.695Z,1761351184.695 [DAT](INFO): setting remote address to 0
2025-10-25T00:13:04.700Z,1761351184.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292750,0.938436,0.183401],[-0.956166,-0.285987,-0.062911],[-0.006588,-0.193779,0.981023]]
2025-10-25T00:13:04.945Z,1761351184.945 [DAT](INFO): DAT read: user:63>

2025-10-25T00:13:04.946Z,1761351184.946 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-25T00:13:04.946Z,1761351184.946 [DAT](INFO): set remote address to 0
2025-10-25T00:13:04.946Z,1761351184.946 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:13:04.947Z,1761351184.947 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-25T00:13:05.091Z,1761351185.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291220,0.939760,0.179003],[-0.956643,-0.285102,-0.059586],[-0.004962,-0.188594,0.982043]]
2025-10-25T00:13:05.197Z,1761351185.197 [DAT](INFO): DAT read: user:64>

2025-10-25T00:13:05.198Z,1761351185.198 [DAT](INFO): DAT read: Tx time:00:13:04.2044

2025-10-25T00:13:05.198Z,1761351185.198 [DAT](INFO): Ping request sent.
2025-10-25T00:13:05.198Z,1761351185.198 [DAT](INFO): transmitted an acoustic signal
2025-10-25T00:13:05.198Z,1761351185.198 [DAT](INFO): publishing transmit ping time
2025-10-25T00:13:05.199Z,1761351185.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000986
2025-10-25T00:13:05.450Z,1761351185.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251859
2025-10-25T00:13:05.509Z,1761351185.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290864,0.940460,0.175880],[-0.956756,-0.285150,-0.057506],[-0.003930,-0.185000,0.982731]]
2025-10-25T00:13:05.701Z,1761351185.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502607
2025-10-25T00:13:05.912Z,1761351185.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291545,0.940671,0.173605],[-0.956551,-0.286061,-0.056384],[-0.003377,-0.182500,0.983200]]
2025-10-25T00:13:05.953Z,1761351185.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754637
2025-10-25T00:13:05.963Z,1761351185.963 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:13:05.963Z,1761351185.963 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:13:05.963Z,1761351185.963 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:13:05.963Z,1761351185.963 [marl:UpdateRudder:A] Stopped
2025-10-25T00:13:05.964Z,1761351185.964 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:13:06.205Z,1761351186.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006710
2025-10-25T00:13:06.302Z,1761351186.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292782,0.940231,0.173911],[-0.956175,-0.287335,-0.056292],[-0.002956,-0.182771,0.983151]]
2025-10-25T00:13:06.335Z,1761351186.335 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:13:06.335Z,1761351186.335 [marl:UpdateRudder:B] Stopped
2025-10-25T00:13:06.336Z,1761351186.336 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:13:06.352Z,1761351186.352 [marl:UpdateRudder] Stopped
2025-10-25T00:13:06.352Z,1761351186.352 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:13:06.352Z,1761351186.352 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:13:06.352Z,1761351186.352 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:13:06.352Z,1761351186.352 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:13:06.353Z,1761351186.353 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:13:06.353Z,1761351186.353 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:13:06.353Z,1761351186.353 [marl:UpdateCommandMode] Stopped
2025-10-25T00:13:06.353Z,1761351186.353 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:13:06.353Z,1761351186.353 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:13:06.353Z,1761351186.353 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:13:06.353Z,1761351186.353 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:13:06.353Z,1761351186.353 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:13:06.354Z,1761351186.354 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:13:06.354Z,1761351186.354 [marl:UpdateSpeed] Stopped
2025-10-25T00:13:06.354Z,1761351186.354 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:13:06.457Z,1761351186.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258710
2025-10-25T00:13:06.706Z,1761351186.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294181,0.939754,0.174127],[-0.955746,-0.288736,-0.056401],[-0.002726,-0.183013,0.983107]]
2025-10-25T00:13:06.709Z,1761351186.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510418
2025-10-25T00:13:06.961Z,1761351186.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763206
2025-10-25T00:13:07.110Z,1761351187.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295253,0.939056,0.176070],[-0.955416,-0.289730,-0.056892],[-0.002413,-0.185017,0.982732]]
2025-10-25T00:13:07.213Z,1761351187.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015129
2025-10-25T00:13:07.465Z,1761351187.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266521
2025-10-25T00:13:07.522Z,1761351187.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295811,0.938155,0.179891],[-0.955244,-0.290056,-0.058115],[-0.002342,-0.189031,0.981968]]
2025-10-25T00:13:07.717Z,1761351187.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518695
2025-10-25T00:13:07.919Z,1761351187.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295139,0.936172,0.190985],[-0.955452,-0.288777,-0.060983],[-0.001939,-0.200476,0.979697]]
2025-10-25T00:13:07.969Z,1761351187.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770673
2025-10-25T00:13:08.221Z,1761351188.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022493
2025-10-25T00:13:08.323Z,1761351188.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292318,0.934471,0.203259],[-0.956321,-0.285406,-0.063200],[-0.001047,-0.212855,0.977083]]
2025-10-25T00:13:08.473Z,1761351188.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274593
2025-10-25T00:13:08.725Z,1761351188.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526518
2025-10-25T00:13:08.729Z,1761351188.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288059,0.933955,0.211544],[-0.957613,-0.281035,-0.063225],[0.000402,-0.220790,0.975321]]
2025-10-25T00:13:08.978Z,1761351188.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779929
2025-10-25T00:13:09.130Z,1761351189.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281657,0.933298,0.222765],[-0.959513,-0.274425,-0.063444],[0.001920,-0.231616,0.972805]]
2025-10-25T00:13:09.229Z,1761351189.229 [DAT](INFO): DAT read: Rx Time:00:13:07.6488

2025-10-25T00:13:09.229Z,1761351189.229 [DAT](INFO): Rx dataTimestamp_ set to:1761351189.229133
2025-10-25T00:13:09.230Z,1761351189.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031746
2025-10-25T00:13:09.481Z,1761351189.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282590
2025-10-25T00:13:09.591Z,1761351189.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273194,0.933220,0.233377],[-0.961954,-0.265838,-0.063050],[0.003201,-0.241723,0.970340]]
2025-10-25T00:13:09.739Z,1761351189.739 [DAT](INFO): DAT read: 00:13:07.6488 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 456,-0.36,-2.262, 2.376,-2.057,-2.650, PHS= 0.490,-1.212, 0.550, RAW= 151.7,   2.0, CAL= 150.5,   1.6, ROT= 359.5,  -1.6

2025-10-25T00:13:09.740Z,1761351189.740 [DAT](INFO): got valid direction response:
 00:13:07.6488 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 456,-0.36,-2.262, 2.376,-2.057,-2.650, PHS= 0.490,-1.212, 0.550, RAW= 151.7,   2.0, CAL= 150.5,   1.6, ROT= 359.5,  -1.6

2025-10-25T00:13:09.741Z,1761351189.741 [DAT](INFO): DAT read: Bearing 226,   0 (Remote)

2025-10-25T00:13:09.741Z,1761351189.741 [DAT](INFO): Remote Bearing received:Bearing 226,   0 (Remote)

2025-10-25T00:13:09.742Z,1761351189.742 [DAT](INFO): DAT read: Bearing  47.6,  -2.1 (Local)

2025-10-25T00:13:09.742Z,1761351189.742 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.6,  -2.1 (Local)

2025-10-25T00:13:09.745Z,1761351189.745 [DAT](INFO): DAT read: Range 11 to 20 : 1061.4 m  (Round-trip  1415.2 ms) speed  0.8 m/s

2025-10-25T00:13:09.748Z,1761351189.748 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T00:13:09.750Z,1761351189.750 [DAT](INFO): direction in FSK: [0.999572,-0.008723,0.027922]
2025-10-25T00:13:09.750Z,1761351189.750 [DAT](INFO): publishing direction and range info
2025-10-25T00:13:09.938Z,1761351189.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263007,0.934033,0.241683],[-0.964787,-0.255603,-0.062082],[0.003788,-0.249500,0.968367]]
2025-10-25T00:13:10.049Z,1761351190.049 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761351168.00. Resetting abort timer.
2025-10-25T00:13:10.343Z,1761351190.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251544,0.935738,0.247223],[-0.967840,-0.244076,-0.060928],[0.003328,-0.254599,0.967041]]
2025-10-25T00:13:10.748Z,1761351190.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239027,0.938227,0.250191],[-0.971011,-0.231408,-0.059896],[0.001700,-0.257255,0.966342]]
2025-10-25T00:13:10.993Z,1761351190.993 [DAT](INFO): DAT read: user:65>Rx Time:00:13:09.5782

2025-10-25T00:13:10.993Z,1761351190.993 [DAT](INFO): Rx dataTimestamp_ set to:1761351190.993221
2025-10-25T00:13:11.165Z,1761351191.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226210,0.941361,0.250338],[-0.974078,-0.218380,-0.059009],[-0.000880,-0.257197,0.966359]]
2025-10-25T00:13:11.571Z,1761351191.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215348,0.945425,0.244535],[-0.976531,-0.207581,-0.057423],[-0.003528,-0.251161,0.967939]]
2025-10-25T00:13:11.754Z,1761351191.754 [DAT](INFO): DAT read: 00:13:09.5782 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 260, 0.21,-0.895, 0.286,-1.161,-1.142, PHS= 0.349, 1.473,-0.063, RAW= 345.0, -24.3, CAL= 345.0, -27.1, ROT= 165.0,  27.1

2025-10-25T00:13:11.755Z,1761351191.755 [DAT](INFO): got valid direction response:
 00:13:09.5782 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 260, 0.21,-0.895, 0.286,-1.161,-1.142, PHS= 0.349, 1.473,-0.063, RAW= 345.0, -24.3, CAL= 345.0, -27.1, ROT= 165.0,  27.1

2025-10-25T00:13:11.756Z,1761351191.756 [DAT](INFO): DAT read: 

2025-10-25T00:13:11.757Z,1761351191.757 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:13:11.757Z,1761351191.757 [DAT](INFO): Got DATA 2
2025-10-25T00:13:11.758Z,1761351191.758 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:13:11.758Z,1761351191.758 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:13:11.758Z,1761351191.758 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:13:11.759Z,1761351191.759 [DAT](INFO): DAT read: CRC:Pass MPD:05.6 PSNR:09.6 AGC:55 SPD:-0.8 CCERR:007

2025-10-25T00:13:11.759Z,1761351191.759 [DAT](INFO): Got CRC:Pass
2025-10-25T00:13:11.760Z,1761351191.760 [DAT](INFO): Got CRC:Pass
2025-10-25T00:13:11.760Z,1761351191.760 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:13:11.760Z,1761351191.760 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:13:11.760Z,1761351191.760 [DAT](INFO): Got ack
2025-10-25T00:13:11.760Z,1761351191.760 [DAT](INFO): DAT read: 

2025-10-25T00:13:11.761Z,1761351191.761 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:13:11.761Z,1761351191.761 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:13:11.761Z,1761351191.761 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-25T00:13:11.762Z,1761351191.762 [DAT](INFO): direction in FSK: [-0.859880,0.230404,-0.455545]
2025-10-25T00:13:11.959Z,1761351191.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209390,0.948575,0.237406],[-0.977825,-0.202162,-0.054678],[-0.003872,-0.243590,0.969870]]
2025-10-25T00:13:12.001Z,1761351192.001 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:13:12.001Z,1761351192.001 [DAT](INFO): #Outgoing data=59
2025-10-25T00:13:12.001Z,1761351192.001 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:13:12.050Z,1761351192.050 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761351168.00. Resetting abort timer.
2025-10-25T00:13:12.253Z,1761351192.253 [DAT](INFO): setting remote address to 10
2025-10-25T00:13:12.364Z,1761351192.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207371,0.951804,0.225979],[-0.978260,-0.201213,-0.050213],[-0.002323,-0.231479,0.972837]]
2025-10-25T00:13:12.505Z,1761351192.505 [DAT](INFO): DAT read: 

2025-10-25T00:13:12.505Z,1761351192.505 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-25T00:13:12.506Z,1761351192.506 [DAT](INFO): set remote address to 10
2025-10-25T00:13:12.506Z,1761351192.506 [DAT](INFO): entering online mode
2025-10-25T00:13:12.761Z,1761351192.761 [DAT](INFO): DAT read: user:66>

2025-10-25T00:13:12.761Z,1761351192.761 [DAT](INFO): DAT read: 

2025-10-25T00:13:12.762Z,1761351192.762 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-25T00:13:12.763Z,1761351192.763 [DAT](INFO): commRate: 600
2025-10-25T00:13:12.763Z,1761351192.763 [DAT](INFO): online mode acknowledged
2025-10-25T00:13:12.763Z,1761351192.763 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:13:12.800Z,1761351192.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204692,0.952490,0.225532],[-0.978827,-0.199161,-0.047261],[-0.000098,-0.230431,0.973089]]
2025-10-25T00:13:13.176Z,1761351193.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200609,0.953738,0.223919],[-0.979668,-0.195915,-0.043227],[0.002642,-0.228038,0.973649]]
2025-10-25T00:13:13.585Z,1761351193.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194946,0.955561,0.221130],[-0.980799,-0.191159,-0.038615],[0.005371,-0.224412,0.974480]]
2025-10-25T00:13:13.980Z,1761351193.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187839,0.955610,0.226994],[-0.982168,-0.184595,-0.035634],[0.007850,-0.229640,0.973244]]
2025-10-25T00:13:14.382Z,1761351194.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179541,0.956160,0.231351],[-0.983700,-0.176891,-0.032326],[0.010015,-0.233383,0.972333]]
2025-10-25T00:13:14.787Z,1761351194.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169975,0.958450,0.229090],[-0.985386,-0.167918,-0.028594],[0.011063,-0.230603,0.972985]]
2025-10-25T00:13:15.191Z,1761351195.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161571,0.960262,0.227577],[-0.986793,-0.159914,-0.025824],[0.011595,-0.228744,0.973418]]
2025-10-25T00:13:15.603Z,1761351195.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155717,0.962222,0.223340],[-0.987732,-0.154364,-0.023616],[0.011751,-0.224277,0.974455]]
2025-10-25T00:13:15.998Z,1761351195.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152920,0.965374,0.211351],[-0.988171,-0.151881,-0.021244],[0.011592,-0.212100,0.977179]]
2025-10-25T00:13:16.037Z,1761351196.037 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:13:15.1033

2025-10-25T00:13:16.038Z,1761351196.038 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:13:16.415Z,1761351196.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152846,0.968273,0.197700],[-0.988186,-0.152031,-0.019387],[0.011284,-0.198328,0.980071]]
2025-10-25T00:13:17.212Z,1761351197.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158330,0.970493,0.181866],[-0.987315,-0.157821,-0.017362],[0.011853,-0.182308,0.983170]]
2025-10-25T00:13:17.614Z,1761351197.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162274,0.969796,0.182106],[-0.986660,-0.161908,-0.016974],[0.013023,-0.182431,0.983132]]
2025-10-25T00:13:18.018Z,1761351198.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164886,0.968367,0.187290],[-0.986208,-0.164629,-0.017034],[0.014338,-0.187515,0.982157]]
2025-10-25T00:13:18.422Z,1761351198.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165510,0.967639,0.190476],[-0.986093,-0.165329,-0.016953],[0.015087,-0.190633,0.981546]]
2025-10-25T00:13:18.827Z,1761351198.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163209,0.967208,0.194607],[-0.986473,-0.163042,-0.016984],[0.015302,-0.194747,0.980734]]
2025-10-25T00:13:18.857Z,1761351198.857 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:13:18.857Z,1761351198.857 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:13:18.857Z,1761351198.857 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:13:18.857Z,1761351198.857 [marl:UpdateRudder:A] Stopped
2025-10-25T00:13:18.857Z,1761351198.857 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:13:19.232Z,1761351199.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159513,0.966727,0.199985],[-0.987069,-0.159430,-0.016630],[0.015807,-0.200052,0.979658]]
2025-10-25T00:13:19.257Z,1761351199.257 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:13:19.257Z,1761351199.257 [marl:UpdateRudder:B] Stopped
2025-10-25T00:13:19.257Z,1761351199.257 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:13:19.257Z,1761351199.257 [marl:UpdateRudder] Stopped
2025-10-25T00:13:19.257Z,1761351199.257 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:13:19.257Z,1761351199.257 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:13:19.257Z,1761351199.257 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:13:19.258Z,1761351199.258 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:13:19.258Z,1761351199.258 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:13:19.258Z,1761351199.258 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:13:19.258Z,1761351199.258 [marl:UpdateCommandMode] Stopped
2025-10-25T00:13:19.258Z,1761351199.258 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:13:19.258Z,1761351199.258 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:13:19.258Z,1761351199.258 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:13:19.258Z,1761351199.258 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:13:19.259Z,1761351199.259 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:13:19.259Z,1761351199.259 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:13:19.259Z,1761351199.259 [marl:UpdateSpeed] Stopped
2025-10-25T00:13:19.259Z,1761351199.259 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:13:19.643Z,1761351199.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154463,0.966616,0.204436],[-0.987865,-0.154506,-0.015848],[0.016267,-0.204403,0.978752]]
2025-10-25T00:13:20.039Z,1761351200.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148587,0.966258,0.210400],[-0.988753,-0.148817,-0.014832],[0.016980,-0.210237,0.977503]]
2025-10-25T00:13:20.442Z,1761351200.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140604,0.965415,0.219556],[-0.989907,-0.141051,-0.013721],[0.017722,-0.219270,0.975503]]
2025-10-25T00:13:20.520Z,1761351200.520 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:13:20.846Z,1761351200.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132144,0.966277,0.221013],[-0.991053,-0.133018,-0.010996],[0.018774,-0.220489,0.975209]]
2025-10-25T00:13:21.250Z,1761351201.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122504,0.967325,0.221980],[-0.992270,-0.123848,-0.007909],[0.019841,-0.221233,0.975019]]
2025-10-25T00:13:21.524Z,1761351201.524 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:13:21.664Z,1761351201.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112329,0.968820,0.220839],[-0.993449,-0.114197,-0.004332],[0.021022,-0.219879,0.975301]]
2025-10-25T00:13:22.060Z,1761351202.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102281,0.970423,0.218672],[-0.994513,-0.104613,-0.000919],[0.021984,-0.217566,0.975798]]
2025-10-25T00:13:22.462Z,1761351202.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093411,0.972067,0.215316],[-0.995362,-0.096174,0.002370],[0.023012,-0.214096,0.976542]]
2025-10-25T00:13:22.866Z,1761351202.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087160,0.974089,0.208695],[-0.995890,-0.090376,0.005904],[0.024612,-0.207322,0.977963]]
2025-10-25T00:13:23.270Z,1761351203.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083240,0.976276,0.199888],[-0.996189,-0.086767,0.008933],[0.026065,-0.198383,0.979778]]
2025-10-25T00:13:23.687Z,1761351203.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081895,0.978307,0.190286],[-0.996251,-0.085695,0.011817],[0.027867,-0.188605,0.981658]]
2025-10-25T00:13:24.078Z,1761351204.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082418,0.979649,0.183019],[-0.996129,-0.086611,0.015021],[0.030566,-0.181073,0.982995]]
2025-10-25T00:13:24.483Z,1761351204.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084204,0.980301,0.178658],[-0.995869,-0.088904,0.018452],[0.033972,-0.176366,0.983738]]
2025-10-25T00:13:24.886Z,1761351204.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085631,0.980449,0.177162],[-0.995593,-0.091029,0.022551],[0.038237,-0.174450,0.983923]]
2025-10-25T00:13:25.292Z,1761351205.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085174,0.980083,0.179395],[-0.995449,-0.091427,0.026865],[0.042731,-0.176291,0.983410]]
2025-10-25T00:13:25.694Z,1761351205.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082681,0.979206,0.185253],[-0.995455,-0.089963,0.031241],[0.047257,-0.181828,0.982194]]
2025-10-25T00:13:26.099Z,1761351206.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078206,0.978562,0.190527],[-0.995576,-0.086644,0.036358],[0.052086,-0.186841,0.981008]]
2025-10-25T00:13:26.117Z,1761351206.117 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:13:26.369Z,1761351206.369 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:13:26.369Z,1761351206.369 [DAT](INFO): #Outgoing data=59
2025-10-25T00:13:26.369Z,1761351206.369 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:13:26.504Z,1761351206.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072053,0.977774,0.196891],[-0.995799,-0.081704,0.041333],[0.056501,-0.193086,0.979554]]
2025-10-25T00:13:26.621Z,1761351206.621 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:13:26.907Z,1761351206.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065040,0.976987,0.203143],[-0.996040,-0.075927,0.046258],[0.060617,-0.199330,0.978056]]
2025-10-25T00:13:27.310Z,1761351207.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056848,0.976192,0.209328],[-0.996334,-0.068894,0.050707],[0.063922,-0.205678,0.976530]]
2025-10-25T00:13:27.722Z,1761351207.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048004,0.975345,0.215400],[-0.996619,-0.061167,0.054862],[0.066685,-0.212038,0.974984]]
2025-10-25T00:13:28.128Z,1761351208.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038765,0.974581,0.220657],[-0.996874,-0.052932,0.058653],[0.068842,-0.217694,0.973586]]
2025-10-25T00:13:28.522Z,1761351208.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029748,0.974078,0.224248],[-0.997052,-0.044792,0.062302],[0.070731,-0.221733,0.972539]]
2025-10-25T00:13:28.926Z,1761351208.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021340,0.973683,0.226908],[-0.997178,-0.037068,0.065281],[0.071973,-0.224874,0.971726]]
2025-10-25T00:13:29.331Z,1761351209.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014348,0.973471,0.228360],[-0.997245,-0.030553,0.067588],[0.072772,-0.226762,0.971228]]
2025-10-25T00:13:29.742Z,1761351209.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009706,0.973447,0.228707],[-0.997270,-0.026166,0.069047],[0.073198,-0.227412,0.971044]]
2025-10-25T00:13:29.903Z,1761351209.903 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:13:28.9532

2025-10-25T00:13:29.904Z,1761351209.904 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:13:30.138Z,1761351210.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006379,0.973831,0.227185],[-0.997320,-0.022755,0.069537],[0.072887,-0.226132,0.971366]]
2025-10-25T00:13:30.542Z,1761351210.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005126,0.975516,0.219870],[-0.997361,-0.020910,0.069523],[0.072418,-0.218934,0.973049]]
2025-10-25T00:13:30.947Z,1761351210.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006052,0.977906,0.208959],[-0.997367,-0.021005,0.069417],[0.072273,-0.207989,0.975457]]
2025-10-25T00:13:31.352Z,1761351211.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008783,0.980563,0.196006],[-0.997280,-0.022935,0.070045],[0.073179,-0.194857,0.978098]]
2025-10-25T00:13:31.754Z,1761351211.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012559,0.982792,0.184289],[-0.997072,-0.026211,0.071835],[0.075430,-0.182847,0.980243]]
2025-10-25T00:13:31.827Z,1761351211.827 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:13:31.827Z,1761351211.827 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:13:31.827Z,1761351211.827 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:13:31.827Z,1761351211.827 [marl:UpdateRudder:A] Stopped
2025-10-25T00:13:31.827Z,1761351211.827 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:13:31.827Z,1761351211.827 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:13:31.827Z,1761351211.827 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:13:31.832Z,1761351211.832 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:13:31.832Z,1761351211.832 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:13:31.832Z,1761351211.832 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:13:31.832Z,1761351211.832 [marl:UpdateCommandMode] Stopped
2025-10-25T00:13:31.832Z,1761351211.832 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:13:31.833Z,1761351211.833 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:13:31.833Z,1761351211.833 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:13:31.833Z,1761351211.833 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:13:31.833Z,1761351211.833 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:13:31.833Z,1761351211.833 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:13:31.833Z,1761351211.833 [marl:UpdateSpeed] Stopped
2025-10-25T00:13:31.833Z,1761351211.833 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:13:32.158Z,1761351212.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016000,0.984080,0.177004],[-0.996740,-0.029699,0.075014],[0.079077,-0.175226,0.981347]]
2025-10-25T00:13:32.228Z,1761351212.228 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:13:32.228Z,1761351212.228 [marl:UpdateRudder:B] Stopped
2025-10-25T00:13:32.228Z,1761351212.228 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:13:32.228Z,1761351212.228 [marl:UpdateRudder] Stopped
2025-10-25T00:13:32.228Z,1761351212.228 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:13:32.563Z,1761351212.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016996,0.984489,0.174620],[-0.996456,-0.031066,0.078162],[0.082375,-0.172673,0.981529]]
2025-10-25T00:13:32.966Z,1761351212.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014733,0.984244,0.176203],[-0.996302,-0.029369,0.080745],[0.084648,-0.174361,0.981037]]
2025-10-25T00:13:33.370Z,1761351213.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010489,0.983437,0.180945],[-0.996211,-0.025901,0.083021],[0.086333,-0.179389,0.979983]]
2025-10-25T00:13:33.774Z,1761351213.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006782,0.982757,0.184776],[-0.996132,-0.022828,0.084856],[0.087611,-0.183486,0.979111]]
2025-10-25T00:13:34.180Z,1761351214.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005544,0.982198,0.187766],[-0.996022,-0.022123,0.086316],[0.088933,-0.186540,0.978414]]
2025-10-25T00:13:34.591Z,1761351214.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007687,0.981713,0.190210],[-0.995766,-0.024939,0.088475],[0.091601,-0.188725,0.977749]]
2025-10-25T00:13:34.986Z,1761351214.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011859,0.981591,0.190625],[-0.995410,-0.029695,0.090983],[0.094969,-0.188671,0.977438]]
2025-10-25T00:13:35.391Z,1761351215.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016827,0.981186,0.192332],[-0.994962,-0.035447,0.093782],[0.098835,-0.189785,0.976838]]
2025-10-25T00:13:35.796Z,1761351215.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021207,0.980292,0.196414],[-0.994446,-0.040941,0.096964],[0.103094,-0.193266,0.975715]]
2025-10-25T00:13:36.198Z,1761351216.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024075,0.978642,0.204158],[-0.993936,-0.045350,0.100177],[0.107296,-0.200508,0.973799]]
2025-10-25T00:13:36.457Z,1761351216.457 [DAT](INFO): DAT read: Rx Time:00:13:35.0395

2025-10-25T00:13:36.457Z,1761351216.457 [DAT](INFO): Rx dataTimestamp_ set to:1761351216.457103
2025-10-25T00:13:36.607Z,1761351216.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025036,0.976646,0.213393],[-0.993483,-0.048051,0.103358],[0.111197,-0.209415,0.971484]]
2025-10-25T00:13:37.006Z,1761351217.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022916,0.974795,0.221925],[-0.993212,-0.047520,0.106169],[0.114039,-0.217985,0.969267]]
2025-10-25T00:13:37.105Z,1761351217.105 [marl:SendObservationData] Running Loop=1
2025-10-25T00:13:37.105Z,1761351217.105 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-25T00:13:37.105Z,1761351217.105 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-25T00:13:37.106Z,1761351217.106 [marl:SendObservationData:A] Running Loop=1
2025-10-25T00:13:37.107Z,1761351217.107 [marl:SendObservationData:A](INFO): Got test_good :  41da3f058000000040514000000000004042633d885d599ac05e7754e6c2beea402a3c288000000040626999a0000000 n/a str  and temp var is  nan n/a str 
2025-10-25T00:13:37.108Z,1761351217.108 [marl:SendObservationData:A] Stopped
2025-10-25T00:13:37.108Z,1761351217.108 [marl:SendObservationData:B] Running Loop=1
2025-10-25T00:13:37.219Z,1761351217.219 [DAT](INFO): DAT read: 00:13:35.0395 LVL= 32752, 29233, 32754, 32755, AGC= 59, IDX= 502,-0.35,-0.195, 1.020,-0.647,-0.201, PHS= 0.107, 1.266,-0.491, RAW= 349.6, -11.4, CAL= 349.2, -14.4, ROT= 160.8,  14.4

2025-10-25T00:13:37.220Z,1761351217.220 [DAT](INFO): got valid direction response:
 00:13:35.0395 LVL= 32752, 29233, 32754, 32755, AGC= 59, IDX= 502,-0.35,-0.195, 1.020,-0.647,-0.201, PHS= 0.107, 1.266,-0.491, RAW= 349.6, -11.4, CAL= 349.2, -14.4, ROT= 160.8,  14.4

2025-10-25T00:13:37.220Z,1761351217.220 [DAT](INFO): DAT read: 

2025-10-25T00:13:37.221Z,1761351217.221 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:13:37.221Z,1761351217.221 [DAT](INFO): Got DATA 2
2025-10-25T00:13:37.222Z,1761351217.222 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:13:37.222Z,1761351217.222 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:13:37.223Z,1761351217.223 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:13:37.224Z,1761351217.224 [DAT](INFO): DAT read: CRC:Pass MPD:04.9 PSNR:09.7 AGC:62 SPD:-1.1 CCERR:006

2025-10-25T00:13:37.224Z,1761351217.224 [DAT](INFO): Got CRC:Pass
2025-10-25T00:13:37.224Z,1761351217.224 [DAT](INFO): Got CRC:Pass
2025-10-25T00:13:37.224Z,1761351217.224 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:13:37.224Z,1761351217.224 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:13:37.224Z,1761351217.224 [DAT](INFO): Got ack
2025-10-25T00:13:37.225Z,1761351217.225 [DAT](INFO): DAT read: 

2025-10-25T00:13:37.225Z,1761351217.225 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:13:37.225Z,1761351217.225 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:13:37.226Z,1761351217.226 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-25T00:13:37.227Z,1761351217.227 [DAT](INFO): direction in FSK: [-0.914707,0.318535,-0.248690]
2025-10-25T00:13:37.412Z,1761351217.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018593,0.972896,0.230493],[-0.993148,-0.044573,0.108029],[0.115375,-0.226905,0.967059]]
2025-10-25T00:13:37.465Z,1761351217.465 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:13:37.465Z,1761351217.465 [DAT](INFO): #Outgoing data=60
2025-10-25T00:13:37.466Z,1761351217.466 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:13:37.510Z,1761351217.510 [marl:SendObservationData:B] Stopped
2025-10-25T00:13:37.510Z,1761351217.510 [marl:SendObservationData:C] Running Loop=1
2025-10-25T00:13:37.511Z,1761351217.511 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761351168.00. Resetting abort timer.
2025-10-25T00:13:37.717Z,1761351217.717 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:13:37.815Z,1761351217.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012927,0.972191,0.233833],[-0.993197,-0.039550,0.109526],[0.115728,-0.230827,0.966088]]
2025-10-25T00:13:37.927Z,1761351217.927 [marl:SendObservationData:C] Stopped
2025-10-25T00:13:37.932Z,1761351217.932 [marl:SendObservationData:E] Running Loop=1
2025-10-25T00:13:38.218Z,1761351218.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006966,0.972189,0.234095],[-0.993229,-0.033874,0.111122],[0.115961,-0.231736,0.965842]]
2025-10-25T00:13:38.291Z,1761351218.291 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.013744 min 
2025-10-25T00:13:38.291Z,1761351218.291 [marl:SendObservationData:E] Stopped
2025-10-25T00:13:38.291Z,1761351218.291 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-25T00:13:38.291Z,1761351218.291 [marl:SendObservationData] Stopped
2025-10-25T00:13:38.292Z,1761351218.292 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-25T00:13:38.292Z,1761351218.292 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-25T00:13:38.623Z,1761351218.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001335,0.973062,0.230539],[-0.993241,-0.028046,0.112627],[0.116059,-0.228831,0.966523]]
2025-10-25T00:13:39.026Z,1761351219.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003401,0.975090,0.221783],[-0.993248,-0.022424,0.113820],[0.115958,-0.220673,0.968430]]
2025-10-25T00:13:39.430Z,1761351219.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007307,0.977786,0.209479],[-0.993245,-0.017164,0.114762],[0.115808,-0.208902,0.971055]]
2025-10-25T00:13:39.847Z,1761351219.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011008,0.979579,0.200760],[-0.993249,-0.012475,0.115331],[0.115480,-0.200675,0.972828]]
2025-10-25T00:13:40.241Z,1761351220.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015669,0.980577,0.195505],[-0.993271,-0.007174,0.115588],[0.114745,-0.196001,0.973867]]
2025-10-25T00:13:40.658Z,1761351220.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021443,0.981016,0.192738],[-0.993289,-0.001010,0.115650],[0.113649,-0.193925,0.974411]]
2025-10-25T00:13:40.993Z,1761351220.993 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:13:40.0531

2025-10-25T00:13:40.993Z,1761351220.993 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:13:41.047Z,1761351221.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029175,0.980996,0.191819],[-0.993338,0.007052,0.115018],[0.111480,-0.193897,0.974667]]
2025-10-25T00:13:41.451Z,1761351221.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037731,0.980619,0.192255],[-0.993440,0.016027,0.113224],[0.107948,-0.195266,0.974792]]
2025-10-25T00:13:41.903Z,1761351221.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051086,0.980876,0.187807],[-0.993834,0.031401,0.106335],[0.098404,-0.192082,0.976433]]
2025-10-25T00:13:42.674Z,1761351222.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052354,0.982453,0.179012],[-0.994524,0.035059,0.098449],[0.090446,-0.183186,0.978909]]
2025-10-25T00:13:43.078Z,1761351223.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049111,0.983667,0.173166],[-0.995013,0.033113,0.094089],[0.086819,-0.176924,0.980388]]
2025-10-25T00:13:43.476Z,1761351223.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044096,0.984417,0.170233],[-0.995475,0.028940,0.090504],[0.084167,-0.173454,0.981239]]
2025-10-25T00:13:43.905Z,1761351223.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037600,0.984930,0.168817],[-0.995898,0.023019,0.087511],[0.082307,-0.171415,0.981755]]
2025-10-25T00:13:44.285Z,1761351224.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029973,0.985054,0.169617],[-0.996210,0.015576,0.085581],[0.081659,-0.171539,0.981787]]
2025-10-25T00:13:44.690Z,1761351224.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022208,0.984618,0.173303],[-0.996439,0.007695,0.083970],[0.081345,-0.174550,0.981282]]
2025-10-25T00:13:45.087Z,1761351225.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015450,0.983595,0.179726],[-0.996610,0.000621,0.082270],[0.080809,-0.180388,0.980271]]
2025-10-25T00:13:45.111Z,1761351225.111 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:13:45.112Z,1761351225.112 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:13:45.112Z,1761351225.112 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:13:45.113Z,1761351225.113 [marl:UpdateRudder:A] Stopped
2025-10-25T00:13:45.113Z,1761351225.113 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:13:45.113Z,1761351225.113 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:13:45.113Z,1761351225.113 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:13:45.113Z,1761351225.113 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:13:45.113Z,1761351225.113 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:13:45.113Z,1761351225.113 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:13:45.113Z,1761351225.113 [marl:UpdateCommandMode] Stopped
2025-10-25T00:13:45.114Z,1761351225.114 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:13:45.114Z,1761351225.114 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:13:45.114Z,1761351225.114 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:13:45.114Z,1761351225.114 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:13:45.114Z,1761351225.114 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:13:45.114Z,1761351225.114 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:13:45.114Z,1761351225.114 [marl:UpdateSpeed] Stopped
2025-10-25T00:13:45.114Z,1761351225.114 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:13:45.490Z,1761351225.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010610,0.982200,0.187538],[-0.996740,-0.004613,0.080548],[0.079980,-0.187781,0.978949]]
2025-10-25T00:13:45.531Z,1761351225.531 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:13:45.531Z,1761351225.531 [marl:UpdateRudder:B] Stopped
2025-10-25T00:13:45.532Z,1761351225.532 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:13:45.532Z,1761351225.532 [marl:UpdateRudder] Stopped
2025-10-25T00:13:45.532Z,1761351225.532 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:13:45.912Z,1761351225.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007786,0.980819,0.194763],[-0.996858,-0.007741,0.078831],[0.078826,-0.194765,0.977677]]
2025-10-25T00:13:46.300Z,1761351226.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007644,0.979375,0.201908],[-0.997011,-0.008059,0.076838],[0.076881,-0.201892,0.976386]]
2025-10-25T00:13:46.706Z,1761351226.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009319,0.978086,0.207993],[-0.997195,-0.006358,0.074578],[0.074266,-0.208104,0.975283]]
2025-10-25T00:13:47.108Z,1761351227.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012299,0.976917,0.213266],[-0.997365,-0.003265,0.072473],[0.071496,-0.213595,0.974302]]
2025-10-25T00:13:47.510Z,1761351227.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015972,0.976049,0.216966],[-0.997521,0.000682,0.070366],[0.068533,-0.217552,0.973640]]
2025-10-25T00:13:47.917Z,1761351227.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016500,0.974969,0.221730],[-0.997657,0.001327,0.068406],[0.066400,-0.222339,0.972706]]
2025-10-25T00:13:48.321Z,1761351228.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012576,0.972212,0.233764],[-0.997785,-0.003070,0.066450],[0.065321,-0.234082,0.970020]]
2025-10-25T00:13:48.722Z,1761351228.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003513,0.966884,0.255190],[-0.997842,-0.013344,0.064295],[0.065571,-0.254866,0.964751]]
2025-10-25T00:13:49.126Z,1761351229.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009587,0.959892,0.280205],[-0.997707,-0.027955,0.061630],[0.066991,-0.278971,0.957960]]
2025-10-25T00:13:49.537Z,1761351229.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024927,0.951845,0.305566],[-0.997285,-0.044863,0.058393],[0.069290,-0.303280,0.950379]]
2025-10-25T00:13:49.939Z,1761351229.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041710,0.943193,0.329617],[-0.996518,-0.063108,0.054481],[0.072188,-0.326197,0.942541]]
2025-10-25T00:13:50.436Z,1761351230.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058920,0.933794,0.352925],[-0.995430,-0.081572,0.049643],[0.075145,-0.348388,0.934334]]
2025-10-25T00:13:50.842Z,1761351230.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076076,0.924477,0.373570],[-0.994033,-0.099692,0.044279],[0.078176,-0.367972,0.926545]]
2025-10-25T00:13:51.081Z,1761351231.081 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:13:51.288Z,1761351231.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092012,0.916582,0.389117],[-0.992526,-0.115880,0.038263],[0.080162,-0.382688,0.920393]]
2025-10-25T00:13:51.333Z,1761351231.333 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:13:51.333Z,1761351231.333 [DAT](INFO): #Outgoing data=60
2025-10-25T00:13:51.333Z,1761351231.333 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:13:51.585Z,1761351231.585 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:13:51.653Z,1761351231.653 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:13:51.705Z,1761351231.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108041,0.909859,0.400605],[-0.990781,-0.131674,0.031850],[0.081728,-0.393471,0.915697]]
2025-10-25T00:13:52.092Z,1761351232.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123982,0.904280,0.408541],[-0.988802,-0.147053,0.025416],[0.083060,-0.400815,0.912386]]
2025-10-25T00:13:52.494Z,1761351232.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139265,0.900439,0.412086],[-0.986667,-0.161568,0.019595],[0.084224,-0.403863,0.910934]]
2025-10-25T00:13:52.656Z,1761351232.656 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:13:52.906Z,1761351232.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154591,0.897859,0.412250],[-0.984259,-0.176135,0.014522],[0.085651,-0.403516,0.910955]]
2025-10-25T00:13:53.299Z,1761351233.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169880,0.896796,0.408532],[-0.981624,-0.190557,0.010116],[0.086921,-0.399306,0.912688]]
2025-10-25T00:13:53.706Z,1761351233.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185136,0.896497,0.402515],[-0.978751,-0.204956,0.006311],[0.088155,-0.392794,0.915392]]
2025-10-25T00:13:54.165Z,1761351234.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201277,0.896552,0.394565],[-0.975495,-0.220010,0.002294],[0.088865,-0.384435,0.918865]]
2025-10-25T00:13:54.578Z,1761351234.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217467,0.895188,0.389032],[-0.972070,-0.234667,-0.003398],[0.088251,-0.378905,0.921218]]
2025-10-25T00:13:54.861Z,1761351234.861 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:13:53.9030

2025-10-25T00:13:54.862Z,1761351234.862 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:13:54.983Z,1761351234.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234305,0.893111,0.383997],[-0.968291,-0.249613,-0.010269],[0.086679,-0.374227,0.923277]]
2025-10-25T00:13:55.387Z,1761351235.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251640,0.889894,0.380480],[-0.964140,-0.264754,-0.018432],[0.084331,-0.371474,0.924605]]
2025-10-25T00:13:55.789Z,1761351235.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269544,0.886105,0.377047],[-0.959525,-0.280309,-0.027187],[0.081599,-0.369114,0.925795]]
2025-10-25T00:13:56.627Z,1761351236.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307610,0.876487,0.370333],[-0.948477,-0.313516,-0.045819],[0.075945,-0.365347,0.927768]]
2025-10-25T00:13:57.037Z,1761351237.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326792,0.871053,0.366706],[-0.942294,-0.330153,-0.055505],[0.072722,-0.363684,0.928680]]
2025-10-25T00:13:57.436Z,1761351237.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345071,0.865744,0.362511],[-0.936051,-0.345754,-0.065294],[0.068811,-0.361859,0.929690]]
2025-10-25T00:13:58.242Z,1761351238.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379925,0.853378,0.356936],[-0.923062,-0.374838,-0.086332],[0.060119,-0.362274,0.930131]]
2025-10-25T00:13:58.277Z,1761351238.277 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:13:58.277Z,1761351238.277 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:13:58.277Z,1761351238.277 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:13:58.278Z,1761351238.278 [marl:UpdateRudder:A] Stopped
2025-10-25T00:13:58.278Z,1761351238.278 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:13:58.278Z,1761351238.278 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:13:58.278Z,1761351238.278 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:13:58.278Z,1761351238.278 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:13:58.278Z,1761351238.278 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:13:58.279Z,1761351238.279 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:13:58.279Z,1761351238.279 [marl:UpdateCommandMode] Stopped
2025-10-25T00:13:58.279Z,1761351238.279 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:13:58.279Z,1761351238.279 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:13:58.279Z,1761351238.279 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:13:58.279Z,1761351238.279 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:13:58.279Z,1761351238.279 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:13:58.279Z,1761351238.279 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:13:58.279Z,1761351238.279 [marl:UpdateSpeed] Stopped
2025-10-25T00:13:58.280Z,1761351238.280 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:13:58.651Z,1761351238.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395715,0.846950,0.355085],[-0.916668,-0.387814,-0.096540],[0.055942,-0.363698,0.929836]]
2025-10-25T00:13:58.709Z,1761351238.709 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:13:58.710Z,1761351238.710 [marl:UpdateRudder:B] Stopped
2025-10-25T00:13:58.710Z,1761351238.710 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:13:58.710Z,1761351238.710 [marl:UpdateRudder] Stopped
2025-10-25T00:13:58.710Z,1761351238.710 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:13:59.051Z,1761351239.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410477,0.840645,0.353305],[-0.910425,-0.399624,-0.106894],[0.051329,-0.365536,0.929381]]
2025-10-25T00:13:59.460Z,1761351239.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425121,0.834686,0.350101],[-0.903928,-0.411493,-0.116570],[0.046765,-0.366023,0.929430]]
2025-10-25T00:13:59.903Z,1761351239.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451444,0.823382,0.343860],[-0.891509,-0.432422,-0.134993],[0.037542,-0.367496,0.929267]]
2025-10-25T00:14:00.673Z,1761351240.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463955,0.817769,0.340587],[-0.885261,-0.442125,-0.144353],[0.032535,-0.368481,0.929066]]
2025-10-25T00:14:01.072Z,1761351241.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476539,0.812106,0.336742],[-0.878725,-0.451944,-0.153590],[0.027457,-0.369095,0.928986]]
2025-10-25T00:14:01.921Z,1761351241.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517717,0.792473,0.322422],[-0.855430,-0.485855,-0.179402],[0.014479,-0.368689,0.929440]]
2025-10-25T00:14:02.698Z,1761351242.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545369,0.779075,0.309217],[-0.838166,-0.510030,-0.193255],[0.007150,-0.364571,0.931148]]
2025-10-25T00:14:03.095Z,1761351243.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558401,0.771719,0.304365],[-0.829563,-0.521146,-0.200581],[0.003826,-0.364494,0.931198]]
2025-10-25T00:14:03.395Z,1761351243.395 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:14:03.396Z,1761351243.396 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:14:03.507Z,1761351243.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571205,0.763916,0.300260],[-0.820807,-0.531835,-0.208391],[0.000496,-0.365490,0.930815]]
2025-10-25T00:14:03.912Z,1761351243.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584433,0.755812,0.295273],[-0.811436,-0.542976,-0.216213],[-0.003090,-0.365957,0.930627]]
2025-10-25T00:14:04.307Z,1761351244.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597298,0.747499,0.290655],[-0.801994,-0.553765,-0.223944],[-0.006444,-0.366865,0.930252]]
2025-10-25T00:14:04.374Z,1761351244.374 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-25T00:14:04.437Z,1761351244.437 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:14:04.488Z,1761351244.488 [DAT](INFO): entering command mode
2025-10-25T00:14:04.697Z,1761351244.697 [DAT](INFO): DAT read: 

2025-10-25T00:14:04.698Z,1761351244.698 [DAT](INFO): DAT read: user:67>

2025-10-25T00:14:04.699Z,1761351244.699 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:14:04.699Z,1761351244.699 [DAT](INFO): setting remote address to 0
2025-10-25T00:14:04.941Z,1761351244.941 [DAT](INFO): DAT read: user:67>

2025-10-25T00:14:04.942Z,1761351244.942 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-25T00:14:04.942Z,1761351244.942 [DAT](INFO): set remote address to 0
2025-10-25T00:14:04.942Z,1761351244.942 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:14:04.942Z,1761351244.942 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:14:04.943Z,1761351244.943 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-25T00:14:05.110Z,1761351245.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624382,0.729738,0.278621],[-0.781024,-0.577678,-0.237254],[-0.012180,-0.365746,0.930635]]
2025-10-25T00:14:05.193Z,1761351245.193 [DAT](INFO): DAT read: user:68>

2025-10-25T00:14:05.194Z,1761351245.194 [DAT](INFO): DAT read: Tx time:00:14:04.2041

2025-10-25T00:14:05.195Z,1761351245.195 [DAT](INFO): Ping request sent.
2025-10-25T00:14:05.195Z,1761351245.195 [DAT](INFO): transmitted an acoustic signal
2025-10-25T00:14:05.196Z,1761351245.196 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:14:05.196Z,1761351245.196 [DAT](INFO): #Outgoing data=61
2025-10-25T00:14:05.197Z,1761351245.197 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:14:05.197Z,1761351245.197 [DAT](INFO): publishing transmit ping time
2025-10-25T00:14:05.198Z,1761351245.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002943
2025-10-25T00:14:05.445Z,1761351245.445 [DAT](INFO): setting remote address to 10
2025-10-25T00:14:05.445Z,1761351245.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250416
2025-10-25T00:14:05.696Z,1761351245.696 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:14:05.697Z,1761351245.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502156
2025-10-25T00:14:05.918Z,1761351245.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652227,0.710691,0.263662],[-0.757808,-0.603041,-0.249136],[-0.018060,-0.362298,0.931887]]
2025-10-25T00:14:05.949Z,1761351245.949 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:14:05.949Z,1761351245.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754254
2025-10-25T00:14:06.201Z,1761351246.201 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:14:06.201Z,1761351246.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006694
2025-10-25T00:14:06.323Z,1761351246.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665364,0.700530,0.257970],[-0.746213,-0.614216,-0.256720],[-0.021391,-0.363313,0.931422]]
2025-10-25T00:14:06.452Z,1761351246.452 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:14:06.453Z,1761351246.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258117
2025-10-25T00:14:06.704Z,1761351246.704 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:14:06.705Z,1761351246.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510263
2025-10-25T00:14:06.727Z,1761351246.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678117,0.690719,0.251125],[-0.734539,-0.625468,-0.263139],[-0.024684,-0.362900,0.931501]]
2025-10-25T00:14:06.956Z,1761351246.956 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:14:06.957Z,1761351246.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762236
2025-10-25T00:14:07.140Z,1761351247.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690369,0.680866,0.244565],[-0.722909,-0.636065,-0.269861],[-0.028180,-0.363102,0.931323]]
2025-10-25T00:14:07.208Z,1761351247.208 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:14:07.209Z,1761351247.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014198
2025-10-25T00:14:07.460Z,1761351247.460 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:14:07.461Z,1761351247.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266214
2025-10-25T00:14:07.537Z,1761351247.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702305,0.670658,0.238716],[-0.711165,-0.645997,-0.277368],[-0.031809,-0.364563,0.930635]]
2025-10-25T00:14:07.713Z,1761351247.713 [DAT](INFO): DAT read: Rx Time:00:14:06.2797

2025-10-25T00:14:07.713Z,1761351247.713 [DAT](INFO): Rx dataTimestamp_ set to:1761351247.713023
2025-10-25T00:14:07.714Z,1761351247.714 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:14:07.714Z,1761351247.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519254
2025-10-25T00:14:07.938Z,1761351247.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714138,0.660145,0.232841],[-0.699117,-0.655874,-0.284717],[-0.035241,-0.366110,0.929904]]
2025-10-25T00:14:07.964Z,1761351247.964 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-25T00:14:07.965Z,1761351247.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770210
2025-10-25T00:14:08.233Z,1761351248.233 [DAT](INFO): DAT read: 00:14:06.2797 LVL= 21232, 32753, 28706, 30195, AGC= 41, IDX= 249, 0.35,-2.381, 2.251, 2.296, 3.075, PHS= 0.930,-0.778,-0.822, RAW=  88.7,   7.8, CAL=  88.2,   7.1, ROT=  61.8,  -7.1

2025-10-25T00:14:08.234Z,1761351248.234 [DAT](INFO): got valid direction response:
 00:14:06.2797 LVL= 21232, 32753, 28706, 30195, AGC= 41, IDX= 249, 0.35,-2.381, 2.251, 2.296, 3.075, PHS= 0.930,-0.778,-0.822, RAW=  88.7,   7.8, CAL=  88.2,   7.1, ROT=  61.8,  -7.1

2025-10-25T00:14:08.235Z,1761351248.235 [DAT](INFO): DAT read: Bearing 268,  13 (Remote)

2025-10-25T00:14:08.236Z,1761351248.236 [DAT](INFO): Remote Bearing received:Bearing 268,  13 (Remote)

2025-10-25T00:14:08.237Z,1761351248.237 [DAT](INFO): DAT read: Bearing  61.4,  48.0 (Local)

2025-10-25T00:14:08.237Z,1761351248.237 [DAT](INFO): Local bearing/azimuth received:
 Bearing  61.4,  48.0 (Local)

2025-10-25T00:14:08.239Z,1761351248.239 [DAT](INFO): DAT read: Range 11 to 20 : 34.8 m  (Round-trip  46.5 ms) speed -0.1 m/s

2025-10-25T00:14:08.239Z,1761351248.239 [DAT](INFO): DAT read: user:69>

2025-10-25T00:14:08.240Z,1761351248.240 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-25T00:14:08.241Z,1761351248.241 [DAT](INFO): set remote address to 10
2025-10-25T00:14:08.241Z,1761351248.241 [DAT](INFO): entering online mode
2025-10-25T00:14:08.363Z,1761351248.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725833,0.649252,0.227239],[-0.686787,-0.665468,-0.292363],[-0.038597,-0.368272,0.928917]]
2025-10-25T00:14:08.470Z,1761351248.470 [DAT](INFO): DAT read: user:70>

2025-10-25T00:14:08.471Z,1761351248.471 [DAT](INFO): DAT read: 

2025-10-25T00:14:08.473Z,1761351248.473 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-25T00:14:08.474Z,1761351248.474 [DAT](INFO): commRate: 600
2025-10-25T00:14:08.474Z,1761351248.474 [DAT](INFO): online mode acknowledged
2025-10-25T00:14:08.475Z,1761351248.475 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:14:08.479Z,1761351248.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283809
2025-10-25T00:14:08.721Z,1761351248.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525892
2025-10-25T00:14:08.746Z,1761351248.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737599,0.637991,0.221168],[-0.673966,-0.675493,-0.299132],[-0.041446,-0.369699,0.928227]]
2025-10-25T00:14:08.975Z,1761351248.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780435
2025-10-25T00:14:09.150Z,1761351249.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749409,0.626662,0.213729],[-0.660655,-0.686368,-0.304029],[-0.043827,-0.369043,0.928378]]
2025-10-25T00:14:09.225Z,1761351249.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030067
2025-10-25T00:14:09.477Z,1761351249.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282538
2025-10-25T00:14:09.554Z,1761351249.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761040,0.614956,0.206512],[-0.647059,-0.696949,-0.309155],[-0.046189,-0.368904,0.928319]]
2025-10-25T00:14:09.730Z,1761351249.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534855
2025-10-25T00:14:09.961Z,1761351249.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772602,0.602861,0.199110],[-0.633046,-0.707607,-0.313918],[-0.048358,-0.368580,0.928338]]
2025-10-25T00:14:09.982Z,1761351249.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787155
2025-10-25T00:14:10.233Z,1761351250.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038467
2025-10-25T00:14:10.362Z,1761351250.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783774,0.590568,0.192167],[-0.619010,-0.717828,-0.318669],[-0.050252,-0.368718,0.928182]]
2025-10-25T00:14:10.486Z,1761351250.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290886
2025-10-25T00:14:10.737Z,1761351250.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542126
2025-10-25T00:14:10.770Z,1761351250.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794395,0.578168,0.186166],[-0.605152,-0.727007,-0.324426],[-0.052229,-0.370382,0.927410]]
2025-10-25T00:14:10.821Z,1761351250.821 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:14:10.822Z,1761351250.822 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:14:10.822Z,1761351250.822 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:14:10.822Z,1761351250.822 [marl:UpdateRudder:A] Stopped
2025-10-25T00:14:10.822Z,1761351250.822 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:14:10.822Z,1761351250.822 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:14:10.822Z,1761351250.822 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:14:10.822Z,1761351250.822 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:14:10.823Z,1761351250.823 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:14:10.823Z,1761351250.823 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:14:10.823Z,1761351250.823 [marl:UpdateCommandMode] Stopped
2025-10-25T00:14:10.823Z,1761351250.823 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:14:10.823Z,1761351250.823 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:14:10.823Z,1761351250.823 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:14:10.823Z,1761351250.823 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:14:10.823Z,1761351250.823 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:14:10.824Z,1761351250.824 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:14:10.824Z,1761351250.824 [marl:UpdateSpeed] Stopped
2025-10-25T00:14:10.824Z,1761351250.824 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:14:10.991Z,1761351250.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795696
2025-10-25T00:14:11.170Z,1761351251.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804805,0.565527,0.180188],[-0.591049,-0.735830,-0.330478],[-0.054306,-0.372470,0.926454]]
2025-10-25T00:14:11.225Z,1761351251.225 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:14:11.225Z,1761351251.225 [marl:UpdateRudder:B] Stopped
2025-10-25T00:14:11.225Z,1761351251.225 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:14:11.225Z,1761351251.225 [marl:UpdateRudder] Stopped
2025-10-25T00:14:11.225Z,1761351251.225 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:14:11.241Z,1761351251.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046108
2025-10-25T00:14:11.494Z,1761351251.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298962
2025-10-25T00:14:11.585Z,1761351251.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815233,0.552516,0.173554],[-0.576391,-0.744961,-0.335866],[-0.056281,-0.373844,0.925783]]
2025-10-25T00:14:11.745Z,1761351251.745 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:14:10.8029

2025-10-25T00:14:11.745Z,1761351251.745 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:14:11.746Z,1761351251.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551269
2025-10-25T00:14:11.986Z,1761351251.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825178,0.539880,0.166162],[-0.561820,-0.753868,-0.340650],[-0.058645,-0.374450,0.925391]]
2025-10-25T00:14:11.997Z,1761351251.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802044
2025-10-25T00:14:12.250Z,1761351252.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054930
2025-10-25T00:14:12.383Z,1761351252.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834168,0.528453,0.157802],[-0.548045,-0.762244,-0.344428],[-0.061730,-0.373793,0.925456]]
2025-10-25T00:14:12.501Z,1761351252.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306043
2025-10-25T00:14:12.753Z,1761351252.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558078
2025-10-25T00:14:12.795Z,1761351252.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840579,0.521188,0.147615],[-0.537631,-0.769415,-0.344896],[-0.066179,-0.369275,0.926961]]
2025-10-25T00:14:13.005Z,1761351253.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810115
2025-10-25T00:14:13.192Z,1761351253.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844130,0.519222,0.133612],[-0.531286,-0.776647,-0.338460],[-0.071967,-0.356690,0.931447]]
2025-10-25T00:14:13.257Z,1761351253.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062122
2025-10-25T00:14:13.509Z,1761351253.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314025
2025-10-25T00:14:13.594Z,1761351253.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845527,0.520802,0.117683],[-0.528084,-0.783165,-0.328299],[-0.078814,-0.339732,0.937214]]
2025-10-25T00:14:13.761Z,1761351253.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566142
2025-10-25T00:14:14.013Z,1761351254.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817999
2025-10-25T00:14:14.265Z,1761351254.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070079
2025-10-25T00:14:14.403Z,1761351254.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843449,0.530283,0.085984],[-0.529018,-0.792039,-0.304654],[-0.093450,-0.302448,0.948574]]
2025-10-25T00:14:14.518Z,1761351254.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322886
2025-10-25T00:14:14.769Z,1761351254.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574125
2025-10-25T00:14:14.817Z,1761351254.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840604,0.536824,0.072149],[-0.532174,-0.793732,-0.294584],[-0.100873,-0.286024,0.952898]]
2025-10-25T00:14:15.021Z,1761351255.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826714
2025-10-25T00:14:15.210Z,1761351255.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837159,0.543859,0.058164],[-0.536163,-0.794956,-0.283857],[-0.108140,-0.268818,0.957101]]
2025-10-25T00:14:15.273Z,1761351255.273 [DAT](INFO): Reached modem response timeout
2025-10-25T00:14:15.614Z,1761351255.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833567,0.550599,0.044802],[-0.540217,-0.795520,-0.274434],[-0.115462,-0.252962,0.960562]]
2025-10-25T00:14:16.032Z,1761351256.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830431,0.556166,0.032630],[-0.543499,-0.795860,-0.266865],[-0.122453,-0.239347,0.963181]]
2025-10-25T00:14:16.452Z,1761351256.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828456,0.559682,0.020414],[-0.544948,-0.797168,-0.259913],[-0.129195,-0.226451,0.965416]]
2025-10-25T00:14:16.826Z,1761351256.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828540,0.559855,0.009161],[-0.543416,-0.800053,-0.254192],[-0.134981,-0.215586,0.967110]]
2025-10-25T00:14:17.230Z,1761351257.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828643,0.559776,-0.001409],[-0.541749,-0.802587,-0.249723],[-0.140920,-0.206168,0.968316]]
2025-10-25T00:14:17.642Z,1761351257.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829644,0.558195,-0.010460],[-0.538792,-0.805433,-0.246944],[-0.146268,-0.199240,0.968973]]
2025-10-25T00:14:18.040Z,1761351258.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831190,0.555698,-0.017984],[-0.534940,-0.808119,-0.246544],[-0.151537,-0.195304,0.968965]]
2025-10-25T00:14:18.451Z,1761351258.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832803,0.553029,-0.024445],[-0.530966,-0.810509,-0.247285],[-0.156569,-0.192960,0.968634]]
2025-10-25T00:14:18.549Z,1761351258.549 [DAT](INFO): DAT read: Rx Time:00:14:16.9510

2025-10-25T00:14:18.550Z,1761351258.550 [DAT](INFO): Rx dataTimestamp_ set to:1761351258.549300
2025-10-25T00:14:18.846Z,1761351258.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834039,0.550954,-0.028792],[-0.527557,-0.811717,-0.250596],[-0.161438,-0.193817,0.967664]]
2025-10-25T00:14:19.058Z,1761351259.058 [DAT](INFO): DAT read: 00:14:16.9510 LVL= 24480, 22113, 20930, 22611, AGC= 50, IDX= 148,-0.08, 2.837,-1.608,-2.207,-2.168, PHS=-1.177, 0.605,-0.083, RAW= 292.5,   8.5, CAL= 290.1,   9.1, ROT= 219.9,  -9.1

2025-10-25T00:14:19.059Z,1761351259.059 [DAT](INFO): got valid direction response:
 00:14:16.9510 LVL= 24480, 22113, 20930, 22611, AGC= 50, IDX= 148,-0.08, 2.837,-1.608,-2.207,-2.168, PHS=-1.177, 0.605,-0.083, RAW= 292.5,   8.5, CAL= 290.1,   9.1, ROT= 219.9,  -9.1

2025-10-25T00:14:19.060Z,1761351259.060 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-25T00:14:19.061Z,1761351259.061 [DAT](INFO): direction in FSK: [-0.757510,-0.633376,0.158158]
2025-10-25T00:14:19.252Z,1761351259.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835210,0.548938,-0.033028],[-0.524384,-0.813066,-0.252873],[-0.165666,-0.193883,0.966936]]
2025-10-25T00:14:19.282Z,1761351259.282 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761351296.00. Resetting abort timer.
2025-10-25T00:14:19.305Z,1761351259.305 [DAT](INFO): DAT read: 

2025-10-25T00:14:19.306Z,1761351259.306 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:14:19.306Z,1761351259.306 [DAT](INFO): Got DATA 2
2025-10-25T00:14:19.308Z,1761351259.308 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:14:19.308Z,1761351259.308 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:14:19.308Z,1761351259.308 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:14:19.310Z,1761351259.310 [DAT](INFO): DAT read: CRC:Pass MPD:08.1 PSNR:12.6 AGC:49 SPD:-1.6 CCERR:008

2025-10-25T00:14:19.310Z,1761351259.310 [DAT](INFO): Got CRC:Pass
2025-10-25T00:14:19.310Z,1761351259.310 [DAT](INFO): Got CRC:Pass
2025-10-25T00:14:19.311Z,1761351259.311 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:14:19.311Z,1761351259.311 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:14:19.311Z,1761351259.311 [DAT](INFO): Got ack
2025-10-25T00:14:19.311Z,1761351259.311 [DAT](INFO): DAT read: 

2025-10-25T00:14:19.314Z,1761351259.314 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:14:19.320Z,1761351259.320 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:14:19.557Z,1761351259.557 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:14:19.557Z,1761351259.557 [DAT](INFO): #Outgoing data=62
2025-10-25T00:14:19.557Z,1761351259.557 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:14:19.660Z,1761351259.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835955,0.547537,-0.037175],[-0.522008,-0.814227,-0.254050],[-0.169371,-0.192969,0.966476]]
2025-10-25T00:14:19.809Z,1761351259.809 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:14:20.058Z,1761351260.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836939,0.545749,-0.041128],[-0.519650,-0.815996,-0.253210],[-0.171750,-0.190549,0.966537]]
2025-10-25T00:14:20.469Z,1761351260.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838107,0.543734,-0.043935],[-0.517271,-0.817720,-0.252516],[-0.173228,-0.188910,0.966595]]
2025-10-25T00:14:20.867Z,1761351260.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839423,0.541566,-0.045554],[-0.514852,-0.819254,-0.252488],[-0.174059,-0.188490,0.966527]]
2025-10-25T00:14:21.279Z,1761351261.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840697,0.539469,-0.046921],[-0.512558,-0.820713,-0.252417],[-0.174679,-0.188156,0.966480]]
2025-10-25T00:14:21.686Z,1761351261.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842577,0.536304,-0.049428],[-0.509346,-0.823307,-0.250464],[-0.175019,-0.185859,0.966863]]
2025-10-25T00:14:22.081Z,1761351262.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844619,0.532821,-0.052162],[-0.505853,-0.826161,-0.248137],[-0.175307,-0.183195,0.967320]]
2025-10-25T00:14:22.483Z,1761351262.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846753,0.529076,-0.055571],[-0.502109,-0.829340,-0.245114],[-0.175771,-0.179648,0.967900]]
2025-10-25T00:14:22.776Z,1761351262.776 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:14:22.886Z,1761351262.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849000,0.525218,-0.057840],[-0.498185,-0.832134,-0.243649],[-0.176099,-0.178043,0.968137]]
2025-10-25T00:14:23.086Z,1761351263.086 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:14:22.1528

2025-10-25T00:14:23.086Z,1761351263.086 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:14:23.290Z,1761351263.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850997,0.521790,-0.059490],[-0.494584,-0.834369,-0.243341],[-0.176610,-0.177659,0.968115]]
2025-10-25T00:14:23.347Z,1761351263.347 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:14:23.347Z,1761351263.347 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:14:23.348Z,1761351263.348 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:14:23.348Z,1761351263.348 [marl:UpdateRudder:A] Stopped
2025-10-25T00:14:23.348Z,1761351263.348 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:14:23.349Z,1761351263.349 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:14:23.349Z,1761351263.349 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:14:23.349Z,1761351263.349 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:14:23.349Z,1761351263.349 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:14:23.349Z,1761351263.349 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:14:23.349Z,1761351263.349 [marl:UpdateCommandMode] Stopped
2025-10-25T00:14:23.349Z,1761351263.349 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:14:23.349Z,1761351263.349 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:14:23.350Z,1761351263.350 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:14:23.350Z,1761351263.350 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:14:23.350Z,1761351263.350 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:14:23.350Z,1761351263.350 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:14:23.350Z,1761351263.350 [marl:UpdateSpeed] Stopped
2025-10-25T00:14:23.350Z,1761351263.350 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:14:23.696Z,1761351263.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852628,0.518958,-0.060897],[-0.491554,-0.836159,-0.243337],[-0.177201,-0.177542,0.968028]]
2025-10-25T00:14:23.720Z,1761351263.720 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:14:23.720Z,1761351263.720 [marl:UpdateRudder:B] Stopped
2025-10-25T00:14:23.720Z,1761351263.720 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:14:23.720Z,1761351263.720 [marl:UpdateRudder] Stopped
2025-10-25T00:14:23.720Z,1761351263.720 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:14:23.780Z,1761351263.780 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:14:24.100Z,1761351264.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853645,0.517307,-0.060698],[-0.489693,-0.836807,-0.244856],[-0.177458,-0.179297,0.967658]]
2025-10-25T00:14:24.502Z,1761351264.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854344,0.516439,-0.058195],[-0.488677,-0.836394,-0.248272],[-0.176891,-0.183672,0.966941]]
2025-10-25T00:14:24.906Z,1761351264.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854809,0.516025,-0.054952],[-0.488350,-0.835714,-0.251189],[-0.175544,-0.187883,0.966377]]
2025-10-25T00:14:25.311Z,1761351265.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854787,0.516399,-0.051677],[-0.488895,-0.834645,-0.253672],[-0.174128,-0.191571,0.965909]]
2025-10-25T00:14:25.714Z,1761351265.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854266,0.517605,-0.048108],[-0.490535,-0.833287,-0.254966],[-0.172060,-0.194210,0.965752]]
2025-10-25T00:14:26.118Z,1761351266.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853488,0.519360,-0.042694],[-0.492760,-0.830995,-0.258138],[-0.169545,-0.199279,0.965164]]
2025-10-25T00:14:26.522Z,1761351266.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853347,0.520157,-0.035147],[-0.494112,-0.828438,-0.263712],[-0.166289,-0.207671,0.963961]]
2025-10-25T00:14:27.362Z,1761351267.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859201,0.511630,-0.002845],[-0.487428,-0.820223,-0.299413],[-0.155523,-0.255869,0.954119]]
2025-10-25T00:14:27.767Z,1761351267.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864286,0.502684,0.017878],[-0.480609,-0.814801,-0.324212],[-0.148409,-0.288804,0.945815]]
2025-10-25T00:14:28.176Z,1761351268.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870459,0.490906,0.036235],[-0.471710,-0.810851,-0.346425],[-0.140681,-0.318641,0.937378]]
2025-10-25T00:14:28.575Z,1761351268.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877779,0.476282,0.051561],[-0.460316,-0.808709,-0.366196],[-0.132715,-0.345174,0.929108]]
2025-10-25T00:14:28.979Z,1761351268.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885802,0.459615,0.064097],[-0.446977,-0.807878,-0.384115],[-0.124763,-0.368900,0.921058]]
2025-10-25T00:14:29.382Z,1761351269.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893920,0.442238,0.073022],[-0.432747,-0.809076,-0.397651],[-0.116776,-0.387068,0.914626]]
2025-10-25T00:14:29.659Z,1761351269.659 [DAT](INFO): DAT read: Rx Time:00:14:28.2546

2025-10-25T00:14:29.659Z,1761351269.659 [DAT](INFO): Rx dataTimestamp_ set to:1761351269.659065
2025-10-25T00:14:29.787Z,1761351269.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902047,0.424512,0.078108],[-0.417563,-0.812393,-0.407012],[-0.109327,-0.399759,0.910077]]
2025-10-25T00:14:30.195Z,1761351270.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909701,0.407342,0.080727],[-0.402511,-0.817134,-0.412647],[-0.102124,-0.407879,0.907307]]
2025-10-25T00:14:30.422Z,1761351270.422 [DAT](INFO): DAT read: 00:14:28.2546 LVL= 30960, 25073, 25730, 27731, AGC= 49, IDX= 457, 0.06, 1.910,-2.680,-3.021, 3.018, PHS=-1.006, 0.630, 0.200, RAW= 284.7,   2.4, CAL= 283.3,  -2.8, ROT= 226.7,   2.8

2025-10-25T00:14:30.423Z,1761351270.423 [DAT](INFO): got valid direction response:
 00:14:28.2546 LVL= 30960, 25073, 25730, 27731, AGC= 49, IDX= 457, 0.06, 1.910,-2.680,-3.021, 3.018, PHS=-1.006, 0.630, 0.200, RAW= 284.7,   2.4, CAL= 283.3,  -2.8, ROT= 226.7,   2.8

2025-10-25T00:14:30.424Z,1761351270.424 [DAT](INFO): DAT read: 

2025-10-25T00:14:30.425Z,1761351270.425 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:14:30.426Z,1761351270.426 [DAT](INFO): Got DATA 2
2025-10-25T00:14:30.427Z,1761351270.427 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:14:30.427Z,1761351270.427 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:14:30.427Z,1761351270.427 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:14:30.429Z,1761351270.429 [DAT](INFO): DAT read: CRC:Pass MPD:05.8 PSNR:13.7 AGC:49 SPD:-0.9 CCERR:011

2025-10-25T00:14:30.429Z,1761351270.429 [DAT](INFO): Got CRC:Pass
2025-10-25T00:14:30.429Z,1761351270.429 [DAT](INFO): Got CRC:Pass
2025-10-25T00:14:30.429Z,1761351270.429 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:14:30.429Z,1761351270.429 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:14:30.429Z,1761351270.429 [DAT](INFO): Got ack
2025-10-25T00:14:30.430Z,1761351270.430 [DAT](INFO): DAT read: 

2025-10-25T00:14:30.430Z,1761351270.430 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:14:30.430Z,1761351270.430 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:14:30.431Z,1761351270.431 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-25T00:14:30.432Z,1761351270.432 [DAT](INFO): direction in FSK: [-0.685000,-0.726904,-0.048850]
2025-10-25T00:14:30.595Z,1761351270.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916582,0.391571,0.080924],[-0.388191,-0.822941,-0.414821],[-0.095837,-0.411631,0.906297]]
2025-10-25T00:14:30.651Z,1761351270.651 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761351296.00. Resetting abort timer.
2025-10-25T00:14:30.666Z,1761351270.666 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:14:30.667Z,1761351270.667 [DAT](INFO): #Outgoing data=62
2025-10-25T00:14:30.667Z,1761351270.667 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:14:30.917Z,1761351270.917 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:14:31.000Z,1761351271.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922520,0.377277,0.081361],[-0.375372,-0.828055,-0.416438],[-0.089741,-0.414713,0.905516]]
2025-10-25T00:14:31.414Z,1761351271.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927698,0.364161,0.082237],[-0.363792,-0.832313,-0.418223],[-0.083853,-0.417902,0.904614]]
2025-10-25T00:14:31.807Z,1761351271.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932264,0.352335,0.082116],[-0.353163,-0.837074,-0.417832],[-0.078480,-0.418531,0.904805]]
2025-10-25T00:14:32.214Z,1761351272.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936710,0.340508,0.081419],[-0.342402,-0.842455,-0.415969],[-0.073049,-0.417520,0.905727]]
2025-10-25T00:14:32.616Z,1761351272.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941422,0.327547,0.080237],[-0.330394,-0.848178,-0.414045],[-0.067564,-0.416301,0.906713]]
2025-10-25T00:14:33.018Z,1761351273.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946295,0.313669,0.078336],[-0.317274,-0.854401,-0.411504],[-0.062145,-0.414259,0.908035]]
2025-10-25T00:14:33.426Z,1761351273.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951610,0.298075,0.074770],[-0.301936,-0.861575,-0.408073],[-0.057217,-0.410902,0.909882]]
2025-10-25T00:14:33.832Z,1761351273.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957030,0.281379,0.070137],[-0.285136,-0.869021,-0.404351],[-0.052825,-0.406974,0.911911]]
2025-10-25T00:14:34.202Z,1761351274.202 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:14:33.2527

2025-10-25T00:14:34.203Z,1761351274.203 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:14:34.247Z,1761351274.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962556,0.263373,0.064198],[-0.266604,-0.876837,-0.400100],[-0.049084,-0.402234,0.914220]]
2025-10-25T00:14:34.634Z,1761351274.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967926,0.244527,0.057673],[-0.247001,-0.884224,-0.396406],[-0.045936,-0.397937,0.916262]]
2025-10-25T00:14:35.442Z,1761351275.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977664,0.204942,0.046606],[-0.206677,-0.897178,-0.390328],[-0.038181,-0.391242,0.919495]]
2025-10-25T00:14:35.907Z,1761351275.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981688,0.185365,0.043915],[-0.187695,-0.901807,-0.389250],[-0.032550,-0.390364,0.920085]]
2025-10-25T00:14:35.962Z,1761351275.962 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:14:35.962Z,1761351275.962 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:14:35.962Z,1761351275.962 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:14:35.962Z,1761351275.962 [marl:UpdateRudder:A] Stopped
2025-10-25T00:14:35.962Z,1761351275.962 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:14:35.963Z,1761351275.963 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:14:35.963Z,1761351275.963 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:14:35.963Z,1761351275.963 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:14:35.963Z,1761351275.963 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:14:35.963Z,1761351275.963 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:14:35.963Z,1761351275.963 [marl:UpdateCommandMode] Stopped
2025-10-25T00:14:35.963Z,1761351275.963 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:14:35.963Z,1761351275.963 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:14:35.965Z,1761351275.965 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:14:35.965Z,1761351275.965 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:14:35.965Z,1761351275.965 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:14:35.965Z,1761351275.965 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:14:35.966Z,1761351275.966 [marl:UpdateSpeed] Stopped
2025-10-25T00:14:35.966Z,1761351275.966 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:14:36.258Z,1761351276.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985012,0.167027,0.043055],[-0.170578,-0.906246,-0.386809],[-0.025589,-0.388355,0.921154]]
2025-10-25T00:14:36.282Z,1761351276.282 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:14:36.282Z,1761351276.282 [marl:UpdateRudder:B] Stopped
2025-10-25T00:14:36.282Z,1761351276.282 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:14:36.282Z,1761351276.282 [marl:UpdateRudder] Stopped
2025-10-25T00:14:36.282Z,1761351276.282 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:14:36.659Z,1761351276.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987848,0.149395,0.042861],[-0.154385,-0.911409,-0.381444],[-0.017922,-0.383426,0.923398]]
2025-10-25T00:14:37.058Z,1761351277.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990206,0.132629,0.043617],[-0.139246,-0.915392,-0.377715],[-0.010169,-0.380089,0.924894]]
2025-10-25T00:14:37.463Z,1761351277.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992052,0.117454,0.045134],[-0.125801,-0.918429,-0.375050],[-0.002598,-0.377747,0.925905]]
2025-10-25T00:14:37.909Z,1761351277.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993232,0.106377,0.046627],[-0.116092,-0.921610,-0.370348],[0.003576,-0.373255,0.927722]]
2025-10-25T00:14:38.270Z,1761351278.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993814,0.100577,0.047101],[-0.110825,-0.925631,-0.361836],[0.007206,-0.364818,0.931051]]
2025-10-25T00:14:38.679Z,1761351278.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993941,0.099694,0.046278],[-0.109553,-0.932594,-0.343901],[0.008873,-0.346887,0.937865]]
2025-10-25T00:14:39.079Z,1761351279.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993851,0.101243,0.044826],[-0.110314,-0.940129,-0.322473],[0.009494,-0.325435,0.945517]]
2025-10-25T00:14:39.917Z,1761351279.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993146,0.108459,0.043566],[-0.116363,-0.952559,-0.281231],[0.010997,-0.284373,0.958651]]
2025-10-25T00:14:40.290Z,1761351280.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992712,0.112685,0.042729],[-0.119938,-0.958414,-0.258956],[0.011772,-0.262193,0.964944]]
2025-10-25T00:14:40.695Z,1761351280.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992251,0.116726,0.042571],[-0.123595,-0.962357,-0.242059],[0.012713,-0.245445,0.969327]]
2025-10-25T00:14:40.753Z,1761351280.753 [DAT](INFO): DAT read: Rx Time:00:14:39.3575

2025-10-25T00:14:40.753Z,1761351280.753 [DAT](INFO): Rx dataTimestamp_ set to:1761351280.753187
2025-10-25T00:14:41.100Z,1761351281.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991787,0.120413,0.043109],[-0.127127,-0.965060,-0.229125],[0.014013,-0.232723,0.972442]]
2025-10-25T00:14:41.505Z,1761351281.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991471,0.122749,0.043797],[-0.129375,-0.967548,-0.217054],[0.015733,-0.220869,0.975177]]
2025-10-25T00:14:41.514Z,1761351281.514 [DAT](INFO): DAT read: 00:14:39.3575 LVL= 28352, 20849, 20322, 22323, AGC= 49, IDX= 455, 0.06, 0.485, 2.088, 2.525, 1.863, PHS=-1.275, 0.270, 0.618, RAW= 260.1,   4.5, CAL= 256.6,   1.5, ROT= 253.4,  -1.5

2025-10-25T00:14:41.516Z,1761351281.516 [DAT](INFO): got valid direction response:
 00:14:39.3575 LVL= 28352, 20849, 20322, 22323, AGC= 49, IDX= 455, 0.06, 0.485, 2.088, 2.525, 1.863, PHS=-1.275, 0.270, 0.618, RAW= 260.1,   4.5, CAL= 256.6,   1.5, ROT= 253.4,  -1.5

2025-10-25T00:14:41.516Z,1761351281.516 [DAT](INFO): DAT read: 

2025-10-25T00:14:41.517Z,1761351281.517 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:14:41.517Z,1761351281.517 [DAT](INFO): Got DATA 2
2025-10-25T00:14:41.518Z,1761351281.518 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:14:41.518Z,1761351281.518 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:14:41.518Z,1761351281.518 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:14:41.519Z,1761351281.519 [DAT](INFO): DAT read: CRC:Pass MPD:06.7 PSNR:13.4 AGC:51 SPD:-0.3 CCERR:010

2025-10-25T00:14:41.520Z,1761351281.520 [DAT](INFO): Got CRC:Pass
2025-10-25T00:14:41.520Z,1761351281.520 [DAT](INFO): Got CRC:Pass
2025-10-25T00:14:41.520Z,1761351281.520 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:14:41.520Z,1761351281.520 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:14:41.520Z,1761351281.520 [DAT](INFO): Got ack
2025-10-25T00:14:41.520Z,1761351281.520 [DAT](INFO): DAT read: 

2025-10-25T00:14:41.521Z,1761351281.521 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:14:41.521Z,1761351281.521 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:14:41.521Z,1761351281.521 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-10-25T00:14:41.522Z,1761351281.522 [DAT](INFO): direction in FSK: [-0.285591,-0.957994,0.026177]
2025-10-25T00:14:41.644Z,1761351281.644 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761351296.00. Resetting abort timer.
2025-10-25T00:14:41.761Z,1761351281.761 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:14:41.761Z,1761351281.761 [DAT](INFO): #Outgoing data=62
2025-10-25T00:14:41.761Z,1761351281.761 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:14:41.925Z,1761351281.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991329,0.123320,0.045375],[-0.130207,-0.968364,-0.212879],[0.017688,-0.216941,0.976024]]
2025-10-25T00:14:42.013Z,1761351282.013 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:14:42.310Z,1761351282.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991287,0.123160,0.046716],[-0.130328,-0.968510,-0.212137],[0.019118,-0.216377,0.976123]]
2025-10-25T00:14:42.715Z,1761351282.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991437,0.121571,0.047676],[-0.128953,-0.969005,-0.210713],[0.020582,-0.215057,0.976385]]
2025-10-25T00:14:43.118Z,1761351283.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991963,0.116854,0.048522],[-0.124576,-0.969091,-0.212939],[0.022140,-0.217273,0.975860]]
2025-10-25T00:14:43.522Z,1761351283.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992680,0.110203,0.049420],[-0.118352,-0.969169,-0.216110],[0.024080,-0.220377,0.975117]]
2025-10-25T00:14:43.927Z,1761351283.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993463,0.102458,0.050330],[-0.111180,-0.968424,-0.223146],[0.025878,-0.227283,0.973485]]
2025-10-25T00:14:44.345Z,1761351284.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994954,0.085235,0.052929],[-0.095472,-0.966492,-0.238283],[0.030845,-0.242134,0.969752]]
2025-10-25T00:14:44.741Z,1761351284.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995264,0.079075,0.056536],[-0.090765,-0.964170,-0.249276],[0.034798,-0.253227,0.966781]]
2025-10-25T00:14:45.145Z,1761351285.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995304,0.075290,0.060844],[-0.088546,-0.962096,-0.257936],[0.039118,-0.262112,0.964244]]
2025-10-25T00:14:45.289Z,1761351285.289 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:14:44.3527

2025-10-25T00:14:45.289Z,1761351285.289 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:14:45.548Z,1761351285.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995126,0.073724,0.065491],[-0.088568,-0.960215,-0.264845],[0.043360,-0.269354,0.962065]]
2025-10-25T00:14:45.956Z,1761351285.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994824,0.073875,0.069775],[-0.090158,-0.958438,-0.270680],[0.046879,-0.275570,0.960137]]
2025-10-25T00:14:46.369Z,1761351286.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994276,0.076930,0.074144],[-0.094381,-0.957653,-0.272017],[0.050078,-0.277458,0.959432]]
2025-10-25T00:14:46.754Z,1761351286.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993700,0.080755,0.077707],[-0.098998,-0.957504,-0.270898],[0.052528,-0.276884,0.959466]]
2025-10-25T00:14:47.160Z,1761351287.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992961,0.086155,0.081271],[-0.105084,-0.957394,-0.268988],[0.054633,-0.275635,0.959709]]
2025-10-25T00:14:47.564Z,1761351287.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992341,0.091679,0.082785],[-0.110125,-0.960194,-0.256711],[0.055955,-0.263861,0.962936]]
2025-10-25T00:14:47.966Z,1761351287.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991679,0.097673,0.083865],[-0.115527,-0.962626,-0.244960],[0.056805,-0.252610,0.965899]]
2025-10-25T00:14:48.378Z,1761351288.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991120,0.102486,0.084718],[-0.119687,-0.965174,-0.232624],[0.057927,-0.240698,0.968870]]
2025-10-25T00:14:48.774Z,1761351288.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990581,0.106416,0.086162],[-0.123293,-0.966939,-0.223222],[0.059559,-0.231743,0.970952]]
2025-10-25T00:14:48.812Z,1761351288.812 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:14:48.812Z,1761351288.812 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:14:48.812Z,1761351288.812 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:14:48.812Z,1761351288.812 [marl:UpdateRudder:A] Stopped
2025-10-25T00:14:48.812Z,1761351288.812 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:14:48.812Z,1761351288.812 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:14:48.813Z,1761351288.813 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:14:48.813Z,1761351288.813 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:14:48.813Z,1761351288.813 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:14:48.813Z,1761351288.813 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:14:48.813Z,1761351288.813 [marl:UpdateCommandMode] Stopped
2025-10-25T00:14:48.813Z,1761351288.813 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:14:48.813Z,1761351288.813 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:14:48.813Z,1761351288.813 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:14:48.814Z,1761351288.814 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:14:48.814Z,1761351288.814 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:14:48.814Z,1761351288.814 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:14:48.814Z,1761351288.814 [marl:UpdateSpeed] Stopped
2025-10-25T00:14:48.814Z,1761351288.814 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:14:49.178Z,1761351289.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990384,0.107763,0.086751],[-0.124020,-0.969456,-0.211601],[0.061299,-0.220325,0.973499]]
2025-10-25T00:14:49.214Z,1761351289.214 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:14:49.214Z,1761351289.214 [marl:UpdateRudder:B] Stopped
2025-10-25T00:14:49.214Z,1761351289.214 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:14:49.214Z,1761351289.214 [marl:UpdateRudder] Stopped
2025-10-25T00:14:49.214Z,1761351289.214 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:14:49.585Z,1761351289.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990329,0.107804,0.087336],[-0.123763,-0.970924,-0.204913],[0.062706,-0.213740,0.974876]]
2025-10-25T00:14:49.986Z,1761351289.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990420,0.107205,0.087038],[-0.122287,-0.973705,-0.192209],[0.064143,-0.201011,0.977487]]
2025-10-25T00:14:50.397Z,1761351290.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990666,0.104807,0.087154],[-0.119513,-0.975330,-0.185604],[0.065551,-0.194288,0.978752]]
2025-10-25T00:14:50.794Z,1761351290.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991098,0.100892,0.086863],[-0.115411,-0.976355,-0.182785],[0.066368,-0.191182,0.979308]]
2025-10-25T00:14:51.198Z,1761351291.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991619,0.096323,0.086108],[-0.110708,-0.977057,-0.181946],[0.066607,-0.189953,0.979531]]
2025-10-25T00:14:51.603Z,1761351291.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991861,0.093644,0.086274],[-0.108247,-0.976930,-0.184095],[0.067045,-0.191935,0.979115]]
2025-10-25T00:14:51.848Z,1761351291.848 [DAT](INFO): DAT read: Rx Time:00:14:50.4597

2025-10-25T00:14:51.850Z,1761351291.850 [DAT](INFO): Rx dataTimestamp_ set to:1761351291.848808
2025-10-25T00:14:52.006Z,1761351292.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991817,0.093296,0.087152],[-0.108484,-0.975768,-0.190020],[0.067312,-0.197920,0.977904]]
2025-10-25T00:14:52.410Z,1761351292.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991437,0.095438,0.089129],[-0.111404,-0.974257,-0.195989],[0.068130,-0.204240,0.976547]]
2025-10-25T00:14:52.606Z,1761351292.606 [DAT](INFO): DAT read: 00:14:50.4597 LVL= 32752, 20561, 28594, 32755, AGC= 46, IDX= 447, 0.13, 1.067, 2.885, 2.987, 2.564, PHS=-1.394, 0.367, 0.379, RAW= 269.6,   7.4, CAL= 267.8,   4.8, ROT= 242.2,  -4.8

2025-10-25T00:14:52.607Z,1761351292.607 [DAT](INFO): got valid direction response:
 00:14:50.4597 LVL= 32752, 20561, 28594, 32755, AGC= 46, IDX= 447, 0.13, 1.067, 2.885, 2.987, 2.564, PHS=-1.394, 0.367, 0.379, RAW= 269.6,   7.4, CAL= 267.8,   4.8, ROT= 242.2,  -4.8

2025-10-25T00:14:52.608Z,1761351292.608 [DAT](INFO): DAT read: 

2025-10-25T00:14:52.608Z,1761351292.608 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:14:52.609Z,1761351292.609 [DAT](INFO): Got DATA 2
2025-10-25T00:14:52.609Z,1761351292.609 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:14:52.610Z,1761351292.610 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:14:52.610Z,1761351292.610 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:14:52.611Z,1761351292.611 [DAT](INFO): DAT read: CRC:Pass MPD:07.2 PSNR:14.2 AGC:47 SPD:-0.6 CCERR:011

2025-10-25T00:14:52.611Z,1761351292.611 [DAT](INFO): Got CRC:Pass
2025-10-25T00:14:52.611Z,1761351292.611 [DAT](INFO): Got CRC:Pass
2025-10-25T00:14:52.611Z,1761351292.611 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:14:52.612Z,1761351292.612 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:14:52.612Z,1761351292.612 [DAT](INFO): Got ack
2025-10-25T00:14:52.612Z,1761351292.612 [DAT](INFO): DAT read: 

2025-10-25T00:14:52.612Z,1761351292.612 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:14:52.613Z,1761351292.613 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:14:52.613Z,1761351292.613 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-10-25T00:14:52.614Z,1761351292.614 [DAT](INFO): direction in FSK: [-0.464751,-0.881478,0.083678]
2025-10-25T00:14:52.815Z,1761351292.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990920,0.098327,0.091703],[-0.115165,-0.972695,-0.201497],[0.069386,-0.210228,0.975187]]
2025-10-25T00:14:52.862Z,1761351292.862 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:14:52.862Z,1761351292.862 [DAT](INFO): #Outgoing data=62
2025-10-25T00:14:52.862Z,1761351292.862 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:14:52.915Z,1761351292.915 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761351296.00. Resetting abort timer.
2025-10-25T00:14:53.113Z,1761351293.113 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:14:53.220Z,1761351293.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990364,0.100890,0.094875],[-0.119070,-0.970147,-0.211275],[0.070727,-0.220535,0.972811]]
2025-10-25T00:14:53.624Z,1761351293.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989806,0.103223,0.098123],[-0.122756,-0.967672,-0.220320],[0.072209,-0.230119,0.970480]]
2025-10-25T00:14:53.901Z,1761351293.901 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:14:54.026Z,1761351294.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989356,0.105044,0.100700],[-0.125209,-0.967136,-0.221295],[0.074145,-0.231548,0.969994]]
2025-10-25T00:14:54.430Z,1761351294.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989263,0.104369,0.102302],[-0.124412,-0.968704,-0.214791],[0.076683,-0.225212,0.971287]]
2025-10-25T00:14:54.845Z,1761351294.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989557,0.101211,0.102635],[-0.120826,-0.970696,-0.207727],[0.078603,-0.217958,0.972788]]
2025-10-25T00:14:54.904Z,1761351294.904 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:14:55.239Z,1761351295.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990196,0.095586,0.101862],[-0.114769,-0.972393,-0.203174],[0.079630,-0.212873,0.973830]]
2025-10-25T00:14:55.645Z,1761351295.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990765,0.089819,0.101574],[-0.109244,-0.972517,-0.205614],[0.080315,-0.214811,0.973348]]
2025-10-25T00:14:56.047Z,1761351296.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991397,0.083036,0.101177],[-0.102968,-0.971999,-0.211223],[0.080804,-0.219823,0.972187]]
2025-10-25T00:14:56.389Z,1761351296.389 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:14:55.4526

2025-10-25T00:14:56.389Z,1761351296.389 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:14:56.479Z,1761351296.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991919,0.076663,0.101089],[-0.097279,-0.971065,-0.218103],[0.081444,-0.226175,0.970676]]
2025-10-25T00:14:56.857Z,1761351296.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992481,0.069437,0.100798],[-0.090698,-0.970201,-0.224688],[0.082192,-0.232141,0.969203]]
2025-10-25T00:14:57.258Z,1761351297.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992860,0.063291,0.101114],[-0.085662,-0.968187,-0.235110],[0.083017,-0.242092,0.966695]]
2025-10-25T00:14:57.678Z,1761351297.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992968,0.060165,0.101952],[-0.082953,-0.968046,-0.236654],[0.084456,-0.243447,0.966230]]
2025-10-25T00:14:58.068Z,1761351298.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993112,0.056929,0.102411],[-0.079020,-0.970766,-0.226646],[0.086515,-0.233177,0.968578]]
2025-10-25T00:14:58.470Z,1761351298.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993154,0.054039,0.103562],[-0.076474,-0.970950,-0.226732],[0.088301,-0.233099,0.968436]]
2025-10-25T00:14:58.875Z,1761351298.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993003,0.053547,0.105250],[-0.076531,-0.970591,-0.228245],[0.089933,-0.234703,0.967898]]
2025-10-25T00:14:59.279Z,1761351299.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992906,0.053782,0.106043],[-0.077039,-0.970322,-0.229218],[0.090568,-0.235762,0.967581]]
2025-10-25T00:14:59.687Z,1761351299.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992743,0.055199,0.106836],[-0.079064,-0.969011,-0.234023],[0.090607,-0.240772,0.966343]]
2025-10-25T00:15:00.086Z,1761351300.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992578,0.057643,0.107081],[-0.081472,-0.968908,-0.233621],[0.090285,-0.240611,0.966413]]
2025-10-25T00:15:00.490Z,1761351300.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992472,0.059932,0.106809],[-0.083780,-0.968346,-0.235134],[0.089336,-0.242312,0.966077]]
2025-10-25T00:15:00.894Z,1761351300.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992371,0.062403,0.106331],[-0.086719,-0.966340,-0.242212],[0.087638,-0.249585,0.964379]]
2025-10-25T00:15:01.298Z,1761351301.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992321,0.065301,0.105046],[-0.089376,-0.965647,-0.244005],[0.085503,-0.251520,0.964068]]
2025-10-25T00:15:01.702Z,1761351301.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992338,0.067391,0.103554],[-0.090794,-0.966199,-0.241280],[0.083793,-0.248834,0.964915]]
2025-10-25T00:15:01.755Z,1761351301.755 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:15:01.755Z,1761351301.755 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:15:01.755Z,1761351301.755 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:15:01.755Z,1761351301.755 [marl:UpdateRudder:A] Stopped
2025-10-25T00:15:01.755Z,1761351301.755 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:15:01.755Z,1761351301.755 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:15:01.756Z,1761351301.756 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:15:01.756Z,1761351301.756 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:15:01.756Z,1761351301.756 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:15:01.756Z,1761351301.756 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:15:01.756Z,1761351301.756 [marl:UpdateCommandMode] Stopped
2025-10-25T00:15:01.757Z,1761351301.757 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:15:01.757Z,1761351301.757 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:15:01.757Z,1761351301.757 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:15:01.757Z,1761351301.757 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:15:01.757Z,1761351301.757 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:15:01.757Z,1761351301.757 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:15:01.757Z,1761351301.757 [marl:UpdateSpeed] Stopped
2025-10-25T00:15:01.757Z,1761351301.757 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:15:02.108Z,1761351302.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992522,0.067581,0.101647],[-0.090064,-0.967535,-0.236144],[0.082388,-0.243533,0.966387]]
2025-10-25T00:15:02.182Z,1761351302.182 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:15:02.182Z,1761351302.182 [marl:UpdateRudder:B] Stopped
2025-10-25T00:15:02.182Z,1761351302.182 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:15:02.183Z,1761351302.183 [marl:UpdateRudder] Stopped
2025-10-25T00:15:02.183Z,1761351302.183 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:15:02.511Z,1761351302.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992842,0.066455,0.099240],[-0.087996,-0.968825,-0.231591],[0.080756,-0.238666,0.967738]]
2025-10-25T00:15:02.914Z,1761351302.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993259,0.064308,0.096444],[-0.084979,-0.969824,-0.228518],[0.078838,-0.235173,0.968751]]
2025-10-25T00:15:02.941Z,1761351302.941 [DAT](INFO): DAT read: Rx Time:00:15:01.5621

2025-10-25T00:15:02.941Z,1761351302.941 [DAT](INFO): Rx dataTimestamp_ set to:1761351302.941169
2025-10-25T00:15:03.328Z,1761351303.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993796,0.060881,0.093074],[-0.080529,-0.971110,-0.224634],[0.076709,-0.230736,0.969988]]
2025-10-25T00:15:03.464Z,1761351303.464 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:15:03.465Z,1761351303.465 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:15:03.703Z,1761351303.703 [DAT](INFO): DAT read: 00:15:01.5621 LVL= 32752, 19249, 24306, 29859, AGC= 48, IDX= 455,-0.07,-1.531, 0.230, 0.287,-0.094, PHS=-1.335, 0.369, 0.337, RAW= 270.9,   7.5, CAL= 269.2,   4.9, ROT= 240.8,  -4.9

2025-10-25T00:15:03.704Z,1761351303.704 [DAT](INFO): got valid direction response:
 00:15:01.5621 LVL= 32752, 19249, 24306, 29859, AGC= 48, IDX= 455,-0.07,-1.531, 0.230, 0.287,-0.094, PHS=-1.335, 0.369, 0.337, RAW= 270.9,   7.5, CAL= 269.2,   4.9, ROT= 240.8,  -4.9

2025-10-25T00:15:03.704Z,1761351303.704 [DAT](INFO): DAT read: 

2025-10-25T00:15:03.705Z,1761351303.705 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:15:03.705Z,1761351303.705 [DAT](INFO): Got DATA 2
2025-10-25T00:15:03.706Z,1761351303.706 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:15:03.706Z,1761351303.706 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:15:03.706Z,1761351303.706 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:15:03.716Z,1761351303.716 [DAT](INFO): DAT read: CRC:Pass MPD:03.3 PSNR:14.5 AGC:47 SPD:-0.6 CCERR:012

2025-10-25T00:15:03.716Z,1761351303.716 [DAT](INFO): Got CRC:Pass
2025-10-25T00:15:03.716Z,1761351303.716 [DAT](INFO): Got CRC:Pass
2025-10-25T00:15:03.716Z,1761351303.716 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:15:03.716Z,1761351303.716 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:15:03.716Z,1761351303.716 [DAT](INFO): Got ack
2025-10-25T00:15:03.717Z,1761351303.717 [DAT](INFO): DAT read: 

2025-10-25T00:15:03.717Z,1761351303.717 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:15:03.717Z,1761351303.717 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:15:03.718Z,1761351303.718 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-10-25T00:15:03.719Z,1761351303.719 [DAT](INFO): direction in FSK: [-0.486076,-0.869732,0.085417]
2025-10-25T00:15:03.726Z,1761351303.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994410,0.056273,0.089345],[-0.075210,-0.971388,-0.225273],[0.074112,-0.230733,0.970191]]
2025-10-25T00:15:03.909Z,1761351303.909 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761351296.00. Resetting abort timer.
2025-10-25T00:15:03.949Z,1761351303.949 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:15:03.949Z,1761351303.949 [DAT](INFO): #Outgoing data=62
2025-10-25T00:15:03.949Z,1761351303.949 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:15:04.126Z,1761351304.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994962,0.051534,0.085995],[-0.069857,-0.971623,-0.225984],[0.071909,-0.230853,0.970328]]
2025-10-25T00:15:04.201Z,1761351304.201 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:15:04.530Z,1761351304.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995493,0.046759,0.082502],[-0.064460,-0.971749,-0.227045],[0.069555,-0.231340,0.970383]]
2025-10-25T00:15:04.583Z,1761351304.583 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-25T00:15:04.705Z,1761351304.705 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:04.756Z,1761351304.756 [DAT](INFO): entering command mode
2025-10-25T00:15:04.934Z,1761351304.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995939,0.042967,0.079117],[-0.060220,-0.971176,-0.230633],[0.066927,-0.234461,0.969819]]
2025-10-25T00:15:04.957Z,1761351304.957 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:04.957Z,1761351304.957 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:05.209Z,1761351305.209 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:05.209Z,1761351305.209 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:05.340Z,1761351305.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996320,0.039957,0.075832],[-0.056734,-0.970581,-0.233993],[0.064251,-0.237434,0.969276]]
2025-10-25T00:15:05.461Z,1761351305.461 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:05.461Z,1761351305.461 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:05.713Z,1761351305.713 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:05.713Z,1761351305.713 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:05.747Z,1761351305.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996568,0.039485,0.072759],[-0.055744,-0.969862,-0.237193],[0.061201,-0.240435,0.968734]]
2025-10-25T00:15:05.966Z,1761351305.966 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:05.966Z,1761351305.966 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:06.146Z,1761351306.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996698,0.041840,0.069594],[-0.057234,-0.969929,-0.236563],[0.057604,-0.239765,0.969121]]
2025-10-25T00:15:06.216Z,1761351306.216 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:06.217Z,1761351306.217 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:06.469Z,1761351306.469 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:06.469Z,1761351306.469 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:06.550Z,1761351306.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996734,0.045791,0.066515],[-0.060365,-0.969614,-0.237074],[0.053638,-0.240315,0.969212]]
2025-10-25T00:15:06.721Z,1761351306.721 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:06.721Z,1761351306.721 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:06.955Z,1761351306.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996676,0.050911,0.063606],[-0.064619,-0.969464,-0.236569],[0.049620,-0.239893,0.969530]]
2025-10-25T00:15:06.973Z,1761351306.973 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:06.973Z,1761351306.973 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:07.225Z,1761351307.225 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:07.225Z,1761351307.225 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:07.360Z,1761351307.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996564,0.056605,0.060468],[-0.069437,-0.968942,-0.237340],[0.045155,-0.240724,0.969543]]
2025-10-25T00:15:07.477Z,1761351307.477 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:07.477Z,1761351307.477 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:07.729Z,1761351307.729 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:07.729Z,1761351307.729 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:07.762Z,1761351307.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996424,0.062551,0.056795],[-0.074376,-0.968307,-0.238432],[0.040081,-0.241803,0.969497]]
2025-10-25T00:15:07.981Z,1761351307.981 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:15:07.1025

2025-10-25T00:15:07.982Z,1761351307.982 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:15:07.982Z,1761351307.982 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:07.982Z,1761351307.982 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:08.167Z,1761351308.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996304,0.067839,0.052692],[-0.078486,-0.968218,-0.237474],[0.034908,-0.240732,0.969964]]
2025-10-25T00:15:08.233Z,1761351308.233 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:08.233Z,1761351308.233 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:08.485Z,1761351308.485 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:08.485Z,1761351308.485 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:08.574Z,1761351308.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996275,0.071842,0.047692],[-0.081112,-0.968478,-0.235523],[0.029269,-0.238515,0.970698]]
2025-10-25T00:15:08.737Z,1761351308.737 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:08.737Z,1761351308.737 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:08.975Z,1761351308.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996343,0.074163,0.042423],[-0.082023,-0.969262,-0.231954],[0.023917,-0.234586,0.971801]]
2025-10-25T00:15:08.989Z,1761351308.989 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:08.989Z,1761351308.989 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:09.241Z,1761351309.241 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:09.241Z,1761351309.241 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:09.379Z,1761351309.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996560,0.074445,0.036421],[-0.080788,-0.970655,-0.226499],[0.018490,-0.228662,0.973330]]
2025-10-25T00:15:09.493Z,1761351309.493 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:09.493Z,1761351309.493 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:09.745Z,1761351309.745 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:09.745Z,1761351309.745 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:09.789Z,1761351309.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996862,0.073240,0.030036],[-0.078097,-0.971896,-0.222079],[0.012926,-0.223728,0.974566]]
2025-10-25T00:15:09.996Z,1761351309.996 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:09.997Z,1761351309.997 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:10.188Z,1761351310.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997196,0.071017,0.023574],[-0.074448,-0.973306,-0.217103],[0.007526,-0.218250,0.975864]]
2025-10-25T00:15:10.248Z,1761351310.248 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:10.249Z,1761351310.249 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:10.501Z,1761351310.501 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:10.501Z,1761351310.501 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:10.591Z,1761351310.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997523,0.068055,0.017762],[-0.070284,-0.974092,-0.214951],[0.002673,-0.215667,0.976463]]
2025-10-25T00:15:10.753Z,1761351310.753 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:10.754Z,1761351310.754 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:10.995Z,1761351310.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997772,0.065625,0.012023],[-0.066669,-0.973863,-0.217132],[-0.002541,-0.217450,0.976068]]
2025-10-25T00:15:11.005Z,1761351311.005 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:11.005Z,1761351311.005 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:11.257Z,1761351311.257 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:11.257Z,1761351311.257 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:11.399Z,1761351311.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997865,0.064938,0.007008],[-0.064869,-0.972790,-0.222423],[-0.007626,-0.222403,0.974925]]
2025-10-25T00:15:11.509Z,1761351311.509 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:11.509Z,1761351311.509 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:11.761Z,1761351311.761 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:11.761Z,1761351311.761 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:11.812Z,1761351311.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997940,0.064111,0.002494],[-0.063019,-0.972167,-0.225656],[-0.012042,-0.225348,0.974204]]
2025-10-25T00:15:12.013Z,1761351312.013 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:12.013Z,1761351312.013 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:12.206Z,1761351312.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997918,0.064481,-0.001198],[-0.062468,-0.971039,-0.230610],[-0.016033,-0.230055,0.973045]]
2025-10-25T00:15:12.266Z,1761351312.266 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:12.266Z,1761351312.266 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:12.517Z,1761351312.517 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:12.517Z,1761351312.517 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:12.611Z,1761351312.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997855,0.065288,-0.004694],[-0.062397,-0.970434,-0.233162],[-0.019778,-0.232370,0.972426]]
2025-10-25T00:15:12.770Z,1761351312.770 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:12.770Z,1761351312.770 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:13.016Z,1761351313.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997798,0.065869,-0.007809],[-0.062172,-0.969770,-0.235968],[-0.023116,-0.234963,0.971729]]
2025-10-25T00:15:13.025Z,1761351313.025 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:13.025Z,1761351313.025 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:13.277Z,1761351313.277 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:13.277Z,1761351313.277 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:13.419Z,1761351313.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997752,0.066190,-0.010432],[-0.061788,-0.969060,-0.238966],[-0.025927,-0.237784,0.970972]]
2025-10-25T00:15:13.529Z,1761351313.529 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:13.529Z,1761351313.529 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:13.781Z,1761351313.781 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:13.781Z,1761351313.781 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:13.826Z,1761351313.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997758,0.065593,-0.013276],[-0.060524,-0.969076,-0.239226],[-0.028557,-0.237886,0.970873]]
2025-10-25T00:15:14.033Z,1761351314.033 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:14.033Z,1761351314.033 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:14.226Z,1761351314.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997794,0.064333,-0.016377],[-0.058577,-0.969302,-0.238795],[-0.031237,-0.237309,0.970932]]
2025-10-25T00:15:14.285Z,1761351314.285 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:14.286Z,1761351314.286 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:14.537Z,1761351314.537 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:14.537Z,1761351314.537 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:14.637Z,1761351314.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997877,0.062138,-0.019493],[-0.055724,-0.969606,-0.238240],[-0.033704,-0.236648,0.971011]]
2025-10-25T00:15:14.685Z,1761351314.685 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:15:14.685Z,1761351314.685 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:15:14.685Z,1761351314.685 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:15:14.686Z,1761351314.686 [marl:UpdateRudder:A] Stopped
2025-10-25T00:15:14.686Z,1761351314.686 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:15:14.686Z,1761351314.686 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:15:14.686Z,1761351314.686 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:15:14.686Z,1761351314.686 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:15:14.686Z,1761351314.686 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:15:14.686Z,1761351314.686 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:15:14.686Z,1761351314.686 [marl:UpdateCommandMode] Stopped
2025-10-25T00:15:14.687Z,1761351314.687 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:15:14.687Z,1761351314.687 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:15:14.687Z,1761351314.687 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:15:14.687Z,1761351314.687 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:15:14.687Z,1761351314.687 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:15:14.687Z,1761351314.687 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:15:14.687Z,1761351314.687 [marl:UpdateSpeed] Stopped
2025-10-25T00:15:14.687Z,1761351314.687 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:15:14.790Z,1761351314.790 [DAT](INFO): DAT read: Rx Time:00:15:13.4148

2025-10-25T00:15:14.790Z,1761351314.790 [DAT](INFO): Rx dataTimestamp_ set to:1761351314.789883
2025-10-25T00:15:14.791Z,1761351314.791 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:14.791Z,1761351314.791 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:15.041Z,1761351315.041 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:15.041Z,1761351315.041 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:15.051Z,1761351315.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997962,0.059541,-0.022937],[-0.052484,-0.970432,-0.235600],[-0.036287,-0.233916,0.971579]]
2025-10-25T00:15:15.075Z,1761351315.075 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-25T00:15:15.075Z,1761351315.075 [marl:UpdateRudder:B] Stopped
2025-10-25T00:15:15.079Z,1761351315.079 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:15:15.080Z,1761351315.080 [marl:UpdateRudder] Stopped
2025-10-25T00:15:15.080Z,1761351315.080 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:15:15.293Z,1761351315.293 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:15.293Z,1761351315.293 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:15.443Z,1761351315.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998045,0.056323,-0.027074],[-0.048547,-0.971598,-0.231605],[-0.039349,-0.229838,0.972433]]
2025-10-25T00:15:15.554Z,1761351315.554 [DAT](INFO): DAT read: 00:15:13.4148 LVL= 28080, 19697, 24610, 32755, AGC= 49, IDX= 452,-0.06,-1.282, 0.483, 0.382, 0.086, PHS=-1.266, 0.443, 0.253, RAW= 275.8,   7.1, CAL= 274.0,   4.0, ROT= 236.0,  -4.0

2025-10-25T00:15:15.555Z,1761351315.555 [DAT](INFO): got valid direction response:
 00:15:13.4148 LVL= 28080, 19697, 24610, 32755, AGC= 49, IDX= 452,-0.06,-1.282, 0.483, 0.382, 0.086, PHS=-1.266, 0.443, 0.253, RAW= 275.8,   7.1, CAL= 274.0,   4.0, ROT= 236.0,  -4.0

2025-10-25T00:15:15.555Z,1761351315.555 [DAT](INFO): DAT read: 

2025-10-25T00:15:15.557Z,1761351315.557 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:15:15.557Z,1761351315.557 [DAT](INFO): Got DATA 2
2025-10-25T00:15:15.558Z,1761351315.558 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:15:15.558Z,1761351315.558 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:15:15.558Z,1761351315.558 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:15:15.559Z,1761351315.559 [DAT](INFO): DAT read: CRC:Pass MPD:03.5 PSNR:12.9 AGC:51 SPD:-0.6 CCERR:011

2025-10-25T00:15:15.559Z,1761351315.559 [DAT](INFO): Got CRC:Pass
2025-10-25T00:15:15.560Z,1761351315.560 [DAT](INFO): Got CRC:Pass
2025-10-25T00:15:15.560Z,1761351315.560 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:15:15.560Z,1761351315.560 [DAT](DEBUG): In parseResponses, got ack so set commsState_ = SENDING_VERIFIED
2025-10-25T00:15:15.560Z,1761351315.560 [DAT](INFO): Got ack
2025-10-25T00:15:15.560Z,1761351315.560 [DAT](INFO): DAT read: 

2025-10-25T00:15:15.561Z,1761351315.561 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:15:15.561Z,1761351315.561 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-25T00:15:15.561Z,1761351315.561 [DAT](INFO): #Rx 6: Read direction message, but no range.
2025-10-25T00:15:15.562Z,1761351315.562 [DAT](INFO): direction in FSK: [-0.557831,-0.827018,0.069756]
2025-10-25T00:15:15.618Z,1761351315.618 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:15.618Z,1761351315.618 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:15.797Z,1761351315.797 [DAT](INFO): modem://10: set _.others_observations nan n/a str none_str
2025-10-25T00:15:15.797Z,1761351315.797 [DAT](INFO): #Outgoing data=62
2025-10-25T00:15:15.797Z,1761351315.797 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-25T00:15:15.798Z,1761351315.798 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:15.798Z,1761351315.798 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-25T00:15:15.911Z,1761351315.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998075,0.053430,-0.031504],[-0.044806,-0.972281,-0.229481],[-0.042892,-0.227628,0.972803]]
2025-10-25T00:15:15.987Z,1761351315.987 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761351296.00. Resetting abort timer.
2025-10-25T00:15:16.049Z,1761351316.049 [DAT](INFO): entering online mode
2025-10-25T00:15:16.251Z,1761351316.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998064,0.050705,-0.036025],[-0.041278,-0.973212,-0.226174],[-0.046529,-0.224249,0.973421]]
2025-10-25T00:15:16.301Z,1761351316.301 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:16.552Z,1761351316.552 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:16.660Z,1761351316.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998007,0.048322,-0.040586],[-0.038029,-0.973786,-0.224264],[-0.050359,-0.222274,0.973683]]
2025-10-25T00:15:16.804Z,1761351316.804 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:17.060Z,1761351317.060 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:17.313Z,1761351317.313 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:17.462Z,1761351317.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997695,0.047239,-0.048713],[-0.035023,-0.973358,-0.226601],[-0.058120,-0.224373,0.972769]]
2025-10-25T00:15:17.564Z,1761351317.564 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:17.816Z,1761351317.816 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:17.903Z,1761351317.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997670,0.044552,-0.051668],[-0.031376,-0.972119,-0.232378],[-0.060580,-0.230216,0.971252]]
2025-10-25T00:15:18.068Z,1761351318.068 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:18.279Z,1761351318.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997864,0.037155,-0.053721],[-0.022801,-0.968855,-0.246576],[-0.061210,-0.244825,0.967633]]
2025-10-25T00:15:18.321Z,1761351318.321 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:18.572Z,1761351318.572 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:18.681Z,1761351318.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998174,0.025382,-0.054809],[-0.009490,-0.962050,-0.272708],[-0.059651,-0.271690,0.960534]]
2025-10-25T00:15:18.825Z,1761351318.825 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:19.076Z,1761351319.076 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:19.080Z,1761351319.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998401,0.008255,-0.055928],[0.009437,-0.951067,-0.308842],[-0.055740,-0.308876,0.949468]]
2025-10-25T00:15:19.330Z,1761351319.330 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:15:18.3525

2025-10-25T00:15:19.330Z,1761351319.330 [DAT](DEBUG): Re-entering command mode due to unexpected online mode.
2025-10-25T00:15:19.330Z,1761351319.330 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:19.483Z,1761351319.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998203,-0.014326,-0.058185],[0.033862,-0.935961,-0.350471],[-0.049438,-0.351811,0.934765]]
2025-10-25T00:15:19.581Z,1761351319.581 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:19.834Z,1761351319.834 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:19.909Z,1761351319.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997247,-0.039564,-0.062717],[0.061170,-0.917000,-0.394169],[-0.041917,-0.396920,0.916895]]
2025-10-25T00:15:20.084Z,1761351320.084 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:20.292Z,1761351320.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995451,-0.066166,-0.068554],[0.089376,-0.897777,-0.431287],[-0.033010,-0.435453,0.899606]]
2025-10-25T00:15:20.353Z,1761351320.353 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:20.604Z,1761351320.604 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:20.694Z,1761351320.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992544,-0.095057,-0.076290],[0.119615,-0.879915,-0.459829],[-0.023419,-0.465526,0.884724]]
2025-10-25T00:15:20.858Z,1761351320.858 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:21.099Z,1761351321.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988650,-0.123711,-0.085241],[0.149583,-0.863378,-0.481875],[-0.013982,-0.489157,0.872084]]
2025-10-25T00:15:21.109Z,1761351321.109 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:21.360Z,1761351321.360 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:21.513Z,1761351321.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983644,-0.154061,-0.093325],[0.180078,-0.852728,-0.490334],[-0.004039,-0.499120,0.866524]]
2025-10-25T00:15:21.613Z,1761351321.613 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:21.866Z,1761351321.866 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:21.915Z,1761351321.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977603,-0.184447,-0.101354],[0.210372,-0.842504,-0.495915],[0.006079,-0.506129,0.862436]]
2025-10-25T00:15:22.119Z,1761351322.119 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:22.311Z,1761351322.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970581,-0.215142,-0.108102],[0.240199,-0.834178,-0.496438],[0.016628,-0.507799,0.861315]]
2025-10-25T00:15:22.369Z,1761351322.369 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:22.620Z,1761351322.620 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:22.715Z,1761351322.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962506,-0.246146,-0.113994],[0.269868,-0.826374,-0.494243],[0.027454,-0.506475,0.861817]]
2025-10-25T00:15:22.872Z,1761351322.872 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:23.125Z,1761351323.125 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:23.376Z,1761351323.376 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:23.524Z,1761351323.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943406,-0.307846,-0.123352],[0.327959,-0.810736,-0.484922],[0.049275,-0.497933,0.865814]]
2025-10-25T00:15:23.628Z,1761351323.628 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:23.883Z,1761351323.883 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:23.927Z,1761351323.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932214,-0.338694,-0.127531],[0.356929,-0.802159,-0.478689],[0.059829,-0.491760,0.868673]]
2025-10-25T00:15:24.132Z,1761351324.132 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:24.331Z,1761351324.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920045,-0.369562,-0.130157],[0.385506,-0.794467,-0.469262],[0.070017,-0.481919,0.873414]]
2025-10-25T00:15:24.385Z,1761351324.385 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:24.636Z,1761351324.636 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:24.774Z,1761351324.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906556,-0.400737,-0.132536],[0.414564,-0.786353,-0.458024],[0.079327,-0.470169,0.879004]]
2025-10-25T00:15:24.888Z,1761351324.888 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:25.050Z,1761351325.050 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:15:25.141Z,1761351325.141 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:25.217Z,1761351325.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874633,-0.465461,-0.135513],[0.475596,-0.769678,-0.425915],[0.093946,-0.436969,0.894557]]
2025-10-25T00:15:25.396Z,1761351325.396 [DAT](INFO): DAT read: Rx Time:00:15:24.0158

2025-10-25T00:15:25.397Z,1761351325.397 [DAT](INFO): Rx dataTimestamp_ set to:1761351325.396643
2025-10-25T00:15:25.397Z,1761351325.397 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:25.606Z,1761351325.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855917,-0.497943,-0.139495],[0.507451,-0.756883,-0.411852],[0.099498,-0.423298,0.900511]]
2025-10-25T00:15:25.645Z,1761351325.645 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:25.899Z,1761351325.899 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:26.010Z,1761351326.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835934,-0.529079,-0.145908],[0.538927,-0.741036,-0.400530],[0.103789,-0.413450,0.904592]]
2025-10-25T00:15:26.053Z,1761351326.053 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:15:26.157Z,1761351326.157 [DAT](INFO): DAT read: 00:15:24.0158 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 431, 0.25,-1.750,-0.773,-0.002,-0.894, PHS=-0.754, 0.166, 0.848, RAW= 244.9,  -3.8, CAL= 242.0,  -6.2, ROT= 268.0,   6.2

2025-10-25T00:15:26.158Z,1761351326.158 [DAT](INFO): got valid direction response:
 00:15:24.0158 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 431, 0.25,-1.750,-0.773,-0.002,-0.894, PHS=-0.754, 0.166, 0.848, RAW= 244.9,  -3.8, CAL= 242.0,  -6.2, ROT= 268.0,   6.2

2025-10-25T00:15:26.159Z,1761351326.159 [DAT](INFO): DAT read: 

2025-10-25T00:15:26.159Z,1761351326.159 [DAT](INFO): DAT read: DATA(0002):~~

2025-10-25T00:15:26.159Z,1761351326.159 [DAT](INFO): Got DATA 2
2025-10-25T00:15:26.160Z,1761351326.160 [DAT](INFO): DAT read: Source:010  Destination:011

2025-10-25T00:15:26.161Z,1761351326.161 [DAT](INFO): Got Src/Dest after DATA 
2025-10-25T00:15:26.161Z,1761351326.161 [DAT](INFO): DATA Src=10, Dst=11
2025-10-25T00:15:26.162Z,1761351326.162 [DAT](INFO): DAT read: CRC:Pass MPD:07.7 PSNR:13.0 AGC:53 SPD:-0.3 CCERR:009

2025-10-25T00:15:26.162Z,1761351326.162 [DAT](INFO): Got CRC:Pass
2025-10-25T00:15:26.162Z,1761351326.162 [DAT](INFO): Got CRC:Pass
2025-10-25T00:15:26.162Z,1761351326.162 [DAT](INFO): Incoming data is intended for us
2025-10-25T00:15:26.162Z,1761351326.162 [DAT](INFO): Got ack
2025-10-25T00:15:26.163Z,1761351326.163 [DAT](INFO): DAT read: 

2025-10-25T00:15:26.163Z,1761351326.163 [DAT](INFO): DAT read: <EOP>

2025-10-25T00:15:26.163Z,1761351326.163 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:26.400Z,1761351326.400 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:26.416Z,1761351326.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814081,-0.559895,-0.154238],[0.570795,-0.722425,-0.390250],[0.107074,-0.405734,0.907698]]
2025-10-25T00:15:26.653Z,1761351326.653 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:26.856Z,1761351326.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791116,-0.588362,-0.167231],[0.601850,-0.699976,-0.384462],[0.109145,-0.404802,0.907867]]
2025-10-25T00:15:26.905Z,1761351326.905 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:27.156Z,1761351327.156 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:27.260Z,1761351327.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767451,-0.614772,-0.181864],[0.631580,-0.676267,-0.379169],[0.110114,-0.405855,0.907280]]
2025-10-25T00:15:27.410Z,1761351327.410 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:27.661Z,1761351327.661 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:27.666Z,1761351327.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742594,-0.639757,-0.198155],[0.660703,-0.651327,-0.373156],[0.109666,-0.408025,0.906360]]
2025-10-25T00:15:27.717Z,1761351327.717 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:15:27.717Z,1761351327.717 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:15:27.718Z,1761351327.718 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:15:27.718Z,1761351327.718 [marl:UpdateRudder:A] Stopped
2025-10-25T00:15:27.718Z,1761351327.718 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:15:27.718Z,1761351327.718 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:15:27.719Z,1761351327.719 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:15:27.719Z,1761351327.719 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:15:27.719Z,1761351327.719 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:15:27.720Z,1761351327.720 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:15:27.720Z,1761351327.720 [marl:UpdateCommandMode] Stopped
2025-10-25T00:15:27.721Z,1761351327.721 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:15:27.721Z,1761351327.721 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:15:27.721Z,1761351327.721 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:15:27.721Z,1761351327.721 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:15:27.722Z,1761351327.722 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:15:27.722Z,1761351327.722 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:15:27.722Z,1761351327.722 [marl:UpdateSpeed] Stopped
2025-10-25T00:15:27.722Z,1761351327.722 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:15:27.912Z,1761351327.912 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:28.122Z,1761351328.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717288,-0.663373,-0.213154],[0.688347,-0.627195,-0.364424],[0.108059,-0.408121,0.906510]]
2025-10-25T00:15:28.164Z,1761351328.164 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:28.184Z,1761351328.184 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:15:28.184Z,1761351328.184 [marl:UpdateRudder:B] Stopped
2025-10-25T00:15:28.185Z,1761351328.185 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:15:28.185Z,1761351328.185 [marl:UpdateRudder] Stopped
2025-10-25T00:15:28.185Z,1761351328.185 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:15:28.416Z,1761351328.416 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:28.523Z,1761351328.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691084,-0.685925,-0.227837],[0.715019,-0.602759,-0.354159],[0.105596,-0.407661,0.907007]]
2025-10-25T00:15:28.669Z,1761351328.669 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:28.920Z,1761351328.920 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:28.932Z,1761351328.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664967,-0.706390,-0.242552],[0.739769,-0.578261,-0.344029],[0.102760,-0.408201,0.907090]]
2025-10-25T00:15:29.173Z,1761351329.173 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:29.331Z,1761351329.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639346,-0.723933,-0.259147],[0.762472,-0.553342,-0.335334],[0.099362,-0.411987,0.905756]]
2025-10-25T00:15:29.425Z,1761351329.425 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:29.677Z,1761351329.677 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:29.745Z,1761351329.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615062,-0.740000,-0.272210],[0.782702,-0.531300,-0.324188],[0.095274,-0.412455,0.905982]]
2025-10-25T00:15:29.929Z,1761351329.929 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:30.161Z,1761351330.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592660,-0.755488,-0.279270],[0.800352,-0.513418,-0.309578],[0.090500,-0.406989,0.908939]]
2025-10-25T00:15:30.181Z,1761351330.181 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:30.433Z,1761351330.433 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:30.562Z,1761351330.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572046,-0.769949,-0.282741],[0.815730,-0.498018,-0.294214],[0.085719,-0.398944,0.912960]]
2025-10-25T00:15:30.684Z,1761351330.684 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:30.936Z,1761351330.936 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:30.970Z,1761351330.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551871,-0.783317,-0.286099],[0.830032,-0.482823,-0.279158],[0.080534,-0.391531,0.916634]]
2025-10-25T00:15:31.188Z,1761351331.188 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-25T00:15:31.189Z,1761351331.189 [DAT](FAULT): failed to enter online mode
2025-10-25T00:15:31.189Z,1761351331.189 [DAT](FAULT): Failure returning to online mode
2025-10-25T00:15:31.189Z,1761351331.189 [DAT] Communications Fault, FailCount= 1
2025-10-25T00:15:31.189Z,1761351331.189 [DAT](ERROR): Communications Fault
2025-10-25T00:15:31.189Z,1761351331.189 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:31.244Z,1761351331.244 [DAT](INFO): entering command mode
2025-10-25T00:15:31.370Z,1761351331.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532286,-0.795031,-0.290856],[0.843220,-0.467399,-0.265552],[0.075176,-0.386605,0.919176]]
2025-10-25T00:15:31.452Z,1761351331.452 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-25T00:15:31.648Z,1761351331.648 [DAT](INFO): Powering down
2025-10-25T00:15:31.775Z,1761351331.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512822,-0.805761,-0.296248],[0.855652,-0.451665,-0.252703],[0.069814,-0.383077,0.921075]]
2025-10-25T00:15:32.124Z,1761351332.124 [DAT](FAULT): LCB fault:  Invalid Command. Hardware Overcurrent Shutdown. Current Limiter Activated.
2025-10-25T00:15:32.124Z,1761351332.124 [DAT] Hardware Fault, FailCount= 1
2025-10-25T00:15:32.125Z,1761351332.125 [DAT](ERROR): Hardware Fault
2025-10-25T00:15:32.188Z,1761351332.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493683,-0.815027,-0.303327],[0.867270,-0.435674,-0.240895],[0.064184,-0.381993,0.921934]]
2025-10-25T00:15:32.584Z,1761351332.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474456,-0.824024,-0.309637],[0.878361,-0.419963,-0.228282],[0.058074,-0.380283,0.923045]]
2025-10-25T00:15:32.695Z,1761351332.695 [CBIT](INFO): Clearing failed state for component DAT
2025-10-25T00:15:32.695Z,1761351332.695 [DAT] No Fault, FailCount= 1
2025-10-25T00:15:32.986Z,1761351332.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456066,-0.831578,-0.316987],[0.888439,-0.404712,-0.216530],[0.051773,-0.380376,0.923382]]
2025-10-25T00:15:33.390Z,1761351333.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438825,-0.838071,-0.324146],[0.897415,-0.390447,-0.205420],[0.045595,-0.381037,0.923435]]
2025-10-25T00:15:33.794Z,1761351333.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422719,-0.843344,-0.331781],[0.905403,-0.377076,-0.195088],[0.039420,-0.382863,0.922964]]
2025-10-25T00:15:34.203Z,1761351334.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407075,-0.848200,-0.338889],[0.912778,-0.364128,-0.185062],[0.033570,-0.384664,0.922446]]
2025-10-25T00:15:34.602Z,1761351334.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391869,-0.853203,-0.344216],[0.919576,-0.351598,-0.175380],[0.028609,-0.385259,0.922365]]
2025-10-25T00:15:34.697Z,1761351334.697 [DAT](INFO): Powering up
2025-10-25T00:15:34.698Z,1761351334.698 [DAT](DEBUG): Initializing DAT.
2025-10-25T00:15:35.006Z,1761351335.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376832,-0.857763,-0.349629],[0.925956,-0.338825,-0.166742],[0.024562,-0.386575,0.921931]]
2025-10-25T00:15:35.411Z,1761351335.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361916,-0.862151,-0.354558],[0.931956,-0.325738,-0.159224],[0.021782,-0.388058,0.921377]]
2025-10-25T00:15:35.816Z,1761351335.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347035,-0.866817,-0.358044],[0.937632,-0.312396,-0.152497],[0.020335,-0.388635,0.921167]]
2025-10-25T00:15:36.227Z,1761351336.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331881,-0.871353,-0.361384],[0.943112,-0.298436,-0.146544],[0.019842,-0.389461,0.920829]]
2025-10-25T00:15:36.622Z,1761351336.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315924,-0.875737,-0.365072],[0.948580,-0.283541,-0.140716],[0.019717,-0.390756,0.920283]]
2025-10-25T00:15:37.026Z,1761351337.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298661,-0.880481,-0.368177],[0.954164,-0.267686,-0.133845],[0.019292,-0.391276,0.920071]]
2025-10-25T00:15:37.432Z,1761351337.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280307,-0.884876,-0.372051],[0.959740,-0.251050,-0.125988],[0.018080,-0.392388,0.919622]]
2025-10-25T00:15:37.853Z,1761351337.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260803,-0.888879,-0.376665],[0.965256,-0.233540,-0.117221],[0.016229,-0.394149,0.918903]]
2025-10-25T00:15:38.239Z,1761351338.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241274,-0.892800,-0.380389],[0.970360,-0.216402,-0.107572],[0.013724,-0.395068,0.918549]]
2025-10-25T00:15:38.301Z,1761351338.301 [marl:SendObservationData] Running Loop=1
2025-10-25T00:15:38.302Z,1761351338.302 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-25T00:15:38.302Z,1761351338.302 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-25T00:15:38.303Z,1761351338.303 [marl:SendObservationData:A] Running Loop=1
2025-10-25T00:15:38.321Z,1761351338.321 [marl:SendObservationData:A](INFO): Got test_good :  41da3f05a000000040514000000000004042632e4ea368dec05e7760fccacfdc40301196c000000040909599a0000000 n/a str  and temp var is  nan n/a str 
2025-10-25T00:15:38.321Z,1761351338.321 [marl:SendObservationData:A] Stopped
2025-10-25T00:15:38.321Z,1761351338.321 [marl:SendObservationData:B] Running Loop=1
2025-10-25T00:15:38.644Z,1761351338.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221898,-0.897040,-0.382204],[0.975010,-0.199799,-0.097135],[0.010771,-0.394207,0.918959]]
2025-10-25T00:15:38.710Z,1761351338.710 [marl:SendObservationData:B] Stopped
2025-10-25T00:15:38.710Z,1761351338.710 [marl:SendObservationData:C] Running Loop=1
2025-10-25T00:15:39.046Z,1761351339.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202924,-0.901498,-0.382261],[0.979163,-0.183678,-0.086618],[0.007873,-0.391872,0.919986]]
2025-10-25T00:15:39.083Z,1761351339.083 [marl:SendObservationData:C] Stopped
2025-10-25T00:15:39.084Z,1761351339.084 [marl:SendObservationData:E] Running Loop=1
2025-10-25T00:15:39.451Z,1761351339.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184378,-0.905300,-0.382671],[0.982843,-0.167860,-0.076441],[0.004967,-0.390199,0.920717]]
2025-10-25T00:15:39.500Z,1761351339.500 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.013036 min 
2025-10-25T00:15:39.500Z,1761351339.500 [marl:SendObservationData:E] Stopped
2025-10-25T00:15:39.501Z,1761351339.501 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-25T00:15:39.501Z,1761351339.501 [marl:SendObservationData] Stopped
2025-10-25T00:15:39.501Z,1761351339.501 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-25T00:15:39.501Z,1761351339.501 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-25T00:15:39.901Z,1761351339.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165821,-0.908818,-0.382822],[0.986153,-0.151837,-0.066697],[0.002489,-0.388581,0.921411]]
2025-10-25T00:15:40.271Z,1761351340.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146921,-0.911718,-0.383647],[0.989148,-0.135281,-0.057314],[0.000354,-0.387904,0.921700]]
2025-10-25T00:15:40.299Z,1761351340.299 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:15:40.300Z,1761351340.300 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:15:40.301Z,1761351340.301 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:15:40.301Z,1761351340.301 [marl:UpdateRudder:A] Stopped
2025-10-25T00:15:40.301Z,1761351340.301 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:15:40.301Z,1761351340.301 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:15:40.301Z,1761351340.301 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:15:40.301Z,1761351340.301 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:15:40.302Z,1761351340.302 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:15:40.302Z,1761351340.302 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:15:40.302Z,1761351340.302 [marl:UpdateCommandMode] Stopped
2025-10-25T00:15:40.302Z,1761351340.302 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:15:40.302Z,1761351340.302 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:15:40.302Z,1761351340.302 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:15:40.302Z,1761351340.302 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:15:40.302Z,1761351340.302 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:15:40.303Z,1761351340.303 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:15:40.303Z,1761351340.303 [marl:UpdateSpeed] Stopped
2025-10-25T00:15:40.303Z,1761351340.303 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:15:40.667Z,1761351340.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128489,-0.914677,-0.383219],[0.991710,-0.118931,-0.048641],[-0.001086,-0.386292,0.922376]]
2025-10-25T00:15:40.739Z,1761351340.739 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:15:40.739Z,1761351340.739 [marl:UpdateRudder:B] Stopped
2025-10-25T00:15:40.739Z,1761351340.739 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:15:40.739Z,1761351340.739 [marl:UpdateRudder] Stopped
2025-10-25T00:15:40.739Z,1761351340.739 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:15:41.066Z,1761351341.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108499,-0.916519,-0.384995],[0.994094,-0.100890,-0.039975],[-0.002204,-0.387059,0.922053]]
2025-10-25T00:15:41.470Z,1761351341.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087219,-0.917984,-0.386908],[0.996184,-0.081653,-0.030835],[-0.003286,-0.388121,0.921603]]
2025-10-25T00:15:41.904Z,1761351341.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064375,-0.919082,-0.388772],[0.997915,-0.061111,-0.020771],[-0.004668,-0.389298,0.921100]]
2025-10-25T00:15:42.279Z,1761351342.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040520,-0.920104,-0.389574],[0.999159,-0.039734,-0.010078],[-0.006206,-0.389654,0.920940]]
2025-10-25T00:15:42.690Z,1761351342.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016234,-0.920329,-0.390809],[0.999836,-0.018071,0.001025],[-0.008005,-0.390729,0.920471]]
2025-10-25T00:15:43.086Z,1761351343.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008558,-0.919810,-0.392271],[0.999910,0.003826,0.012842],[-0.010311,-0.392345,0.919760]]
2025-10-25T00:15:43.492Z,1761351343.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033483,-0.918562,-0.393856],[0.999355,0.025641,0.025157],[-0.013010,-0.394444,0.918828]]
2025-10-25T00:15:43.910Z,1761351343.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058204,-0.916594,-0.395561],[0.998171,0.046954,0.038071],[-0.016323,-0.397053,0.917650]]
2025-10-25T00:15:44.299Z,1761351344.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082118,-0.914315,-0.396591],[0.996423,0.067359,0.051026],[-0.019940,-0.399362,0.916576]]
2025-10-25T00:15:44.707Z,1761351344.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104920,-0.912410,-0.395602],[0.994204,0.086852,0.063364],[-0.023456,-0.399957,0.916234]]
2025-10-25T00:15:45.108Z,1761351345.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126829,-0.909463,-0.395970],[0.991553,0.105312,0.075714],[-0.027159,-0.402228,0.915137]]
2025-10-25T00:15:45.510Z,1761351345.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147974,-0.906667,-0.395044],[0.988512,0.123158,0.087614],[-0.030784,-0.403470,0.914475]]
2025-10-25T00:15:45.915Z,1761351345.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168568,-0.903784,-0.393394],[0.985096,0.140617,0.099055],[-0.034207,-0.404228,0.914018]]
2025-10-25T00:15:46.318Z,1761351346.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188884,-0.900415,-0.391887],[0.981269,0.157670,0.110690],[-0.037878,-0.405454,0.913330]]
2025-10-25T00:15:46.724Z,1761351346.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209198,-0.896216,-0.391195],[0.976982,0.174482,0.122724],[-0.041730,-0.407865,0.912088]]
2025-10-25T00:15:46.804Z,1761351346.804 [DAT](INFO): DAT read: 

2025-10-25T00:15:46.805Z,1761351346.805 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-25T00:15:47.126Z,1761351347.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229251,-0.892518,-0.388402],[0.972309,0.191378,0.134125],[-0.045377,-0.408395,0.911677]]
2025-10-25T00:15:47.530Z,1761351347.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249417,-0.887887,-0.386585],[0.967137,0.208032,0.146179],[-0.049369,-0.410341,0.910595]]
2025-10-25T00:15:47.935Z,1761351347.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269032,-0.882572,-0.385601],[0.961672,0.224123,0.157977],[-0.053005,-0.413322,0.909041]]
2025-10-25T00:15:48.345Z,1761351348.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288039,-0.877483,-0.383480],[0.955961,0.239928,0.169034],[-0.056317,-0.415280,0.907949]]
2025-10-25T00:15:48.565Z,1761351348.565 [DAT](INFO): DAT read: MF Frequency Band

2025-10-25T00:15:48.566Z,1761351348.566 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-25T00:15:48.567Z,1761351348.567 [DAT](INFO): DAT read: Oct 25 2025 00:15:42 

2025-10-25T00:15:48.742Z,1761351348.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306368,-0.871393,-0.383161],[0.950077,0.254919,0.179920],[-0.059106,-0.419154,0.905989]]
2025-10-25T00:15:49.146Z,1761351349.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323592,-0.865728,-0.381842],[0.944208,0.269303,0.189596],[-0.061308,-0.421890,0.904572]]
2025-10-25T00:15:49.551Z,1761351349.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340010,-0.860815,-0.378670],[0.938330,0.283694,0.197621],[-0.062689,-0.422511,0.904187]]
2025-10-25T00:15:49.577Z,1761351349.577 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-25T00:15:49.578Z,1761351349.578 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-25T00:15:49.579Z,1761351349.579 [DAT](INFO): commRate: 600
2025-10-25T00:15:49.956Z,1761351349.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355334,-0.855736,-0.376105],[0.932607,0.297393,0.204457],[-0.063110,-0.423408,0.903738]]
2025-10-25T00:15:50.362Z,1761351350.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370335,-0.850785,-0.372849],[0.926793,0.311416,0.209938],[-0.062501,-0.423301,0.903830]]
2025-10-25T00:15:50.763Z,1761351350.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385017,-0.845404,-0.370209],[0.920880,0.325320,0.214818],[-0.061172,-0.423626,0.903769]]
2025-10-25T00:15:51.175Z,1761351351.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399969,-0.839416,-0.367974],[0.914650,0.339871,0.218868],[-0.058658,-0.424108,0.903710]]
2025-10-25T00:15:51.574Z,1761351351.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414953,-0.833143,-0.365632],[0.908142,0.354701,0.222408],[-0.055608,-0.424334,0.903796]]
2025-10-25T00:15:51.644Z,1761351351.644 [DAT](INFO): entering command mode
2025-10-25T00:15:51.846Z,1761351351.846 [DAT](INFO): DAT read: 

2025-10-25T00:15:51.849Z,1761351351.849 [DAT](INFO): DAT read: user:1>

2025-10-25T00:15:51.850Z,1761351351.850 [DAT](INFO): setting verbose to 3
2025-10-25T00:15:51.974Z,1761351351.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430984,-0.826116,-0.363023],[0.900828,0.370465,0.226419],[-0.052561,-0.424604,0.903852]]
2025-10-25T00:15:52.098Z,1761351352.098 [DAT](INFO): DAT read: user:1>

2025-10-25T00:15:52.099Z,1761351352.099 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-25T00:15:52.099Z,1761351352.099 [DAT](INFO): set verbose to 3
2025-10-25T00:15:52.099Z,1761351352.099 [DAT](INFO): setting DatVerbose to 27440
2025-10-25T00:15:52.349Z,1761351352.349 [DAT](INFO): DAT read: user:2>

2025-10-25T00:15:52.350Z,1761351352.350 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-25T00:15:52.350Z,1761351352.350 [DAT](INFO): set DatVerbose to 27440
2025-10-25T00:15:52.350Z,1761351352.350 [DAT](INFO): setting transmit power to 8
2025-10-25T00:15:52.391Z,1761351352.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448674,-0.818135,-0.359647],[0.892306,0.387671,0.231304],[-0.049813,-0.424695,0.903965]]
2025-10-25T00:15:52.601Z,1761351352.601 [DAT](INFO): DAT read: user:3>

2025-10-25T00:15:52.602Z,1761351352.602 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-25T00:15:52.602Z,1761351352.602 [DAT](INFO): set transmit power to 8
2025-10-25T00:15:52.602Z,1761351352.602 [DAT](INFO): setting local address to 11
2025-10-25T00:15:52.782Z,1761351352.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467548,-0.809601,-0.354887],[0.882692,0.406039,0.236615],[-0.047466,-0.423885,0.904472]]
2025-10-25T00:15:52.853Z,1761351352.853 [DAT](INFO): DAT read: user:4>

2025-10-25T00:15:52.854Z,1761351352.854 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-25T00:15:52.854Z,1761351352.854 [DAT](INFO): set local address to 11
2025-10-25T00:15:52.855Z,1761351352.855 [DAT](INFO): Setting time to: 0:15:52 And date to:10/25/2025
2025-10-25T00:15:53.105Z,1761351353.105 [DAT](INFO): DAT read: user:5>

2025-10-25T00:15:53.105Z,1761351353.105 [DAT](INFO): DAT read: Sat Oct 25, 2025  00:15:52  

2025-10-25T00:15:53.106Z,1761351353.106 [DAT](INFO): Local DAT time set to Sat Oct 25, 2025  00:15:52  

2025-10-25T00:15:53.106Z,1761351353.106 [DAT](INFO): setting remote address to 10
2025-10-25T00:15:53.107Z,1761351353.107 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:53.107Z,1761351353.107 [DAT](INFO): setting remote address to 0
2025-10-25T00:15:53.197Z,1761351353.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487588,-0.800996,-0.347365],[0.871870,0.425831,0.241891],[-0.045835,-0.420800,0.905995]]
2025-10-25T00:15:53.250Z,1761351353.250 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:15:53.250Z,1761351353.250 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:15:53.250Z,1761351353.250 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:15:53.250Z,1761351353.250 [marl:UpdateRudder:A] Stopped
2025-10-25T00:15:53.251Z,1761351353.251 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:15:53.251Z,1761351353.251 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:15:53.251Z,1761351353.251 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:15:53.251Z,1761351353.251 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:15:53.251Z,1761351353.251 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:15:53.251Z,1761351353.251 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:15:53.251Z,1761351353.251 [marl:UpdateCommandMode] Stopped
2025-10-25T00:15:53.251Z,1761351353.251 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:15:53.256Z,1761351353.256 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:15:53.256Z,1761351353.256 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:15:53.256Z,1761351353.256 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:15:53.256Z,1761351353.256 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:15:53.256Z,1761351353.256 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:15:53.257Z,1761351353.257 [marl:UpdateSpeed] Stopped
2025-10-25T00:15:53.257Z,1761351353.257 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:15:53.357Z,1761351353.357 [DAT](INFO): DAT read: user:6>

2025-10-25T00:15:53.358Z,1761351353.358 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-25T00:15:53.358Z,1761351353.358 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-25T00:15:53.358Z,1761351353.358 [DAT] Communications Fault, FailCount= 2
2025-10-25T00:15:53.358Z,1761351353.358 [DAT](ERROR): Communications Fault
2025-10-25T00:15:53.359Z,1761351353.359 [DAT](INFO): DAT read: user:7>

2025-10-25T00:15:53.360Z,1761351353.360 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-25T00:15:53.361Z,1761351353.361 [DAT](INFO): set remote address to 0
2025-10-25T00:15:53.361Z,1761351353.361 [DAT](INFO): setting remote address to 10
2025-10-25T00:15:53.361Z,1761351353.361 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:15:53.361Z,1761351353.361 [DAT](INFO): setting remote address to 0
2025-10-25T00:15:53.590Z,1761351353.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507962,-0.791926,-0.338862],[0.860212,0.445898,0.247407],[-0.044830,-0.417167,0.907724]]
2025-10-25T00:15:53.630Z,1761351353.630 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:15:53.630Z,1761351353.630 [marl:UpdateRudder:B] Stopped
2025-10-25T00:15:53.631Z,1761351353.631 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:15:53.631Z,1761351353.631 [marl:UpdateRudder] Stopped
2025-10-25T00:15:53.631Z,1761351353.631 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:15:53.665Z,1761351353.665 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-25T00:15:53.767Z,1761351353.767 [DAT](INFO): Powering down
2025-10-25T00:15:53.994Z,1761351353.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528130,-0.782340,-0.330187],[0.848013,0.465673,0.253028],[-0.044194,-0.413634,0.909370]]
2025-10-25T00:15:54.403Z,1761351354.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548448,-0.771991,-0.321301],[0.835021,0.485372,0.259142],[-0.044105,-0.410419,0.910830]]
2025-10-25T00:15:54.803Z,1761351354.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568384,-0.761265,-0.312115],[0.821560,0.504618,0.265331],[-0.044489,-0.407231,0.912241]]
2025-10-25T00:15:55.059Z,1761351355.059 [CBIT](INFO): Clearing failed state for component DAT
2025-10-25T00:15:55.060Z,1761351355.060 [DAT] No Fault, FailCount= 2
2025-10-25T00:15:55.226Z,1761351355.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608805,-0.736068,-0.295905],[0.791988,0.542316,0.280443],[-0.045951,-0.405089,0.913122]]
2025-10-25T00:15:56.021Z,1761351356.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647846,-0.710183,-0.275566],[0.760178,0.579323,0.294132],[-0.049246,-0.400032,0.915177]]
2025-10-25T00:15:56.180Z,1761351356.180 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:15:56.435Z,1761351356.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663583,-0.701835,-0.259009],[0.746188,0.596195,0.296235],[-0.053489,-0.389846,0.919325]]
2025-10-25T00:15:56.827Z,1761351356.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675883,-0.698254,-0.235847],[0.734574,0.612237,0.292517],[-0.059857,-0.370954,0.926720]]
2025-10-25T00:15:56.985Z,1761351356.985 [DAT](INFO): Powering up
2025-10-25T00:15:56.985Z,1761351356.985 [DAT](DEBUG): Initializing DAT.
2025-10-25T00:15:57.184Z,1761351357.184 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:15:57.230Z,1761351357.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684984,-0.697467,-0.210564],[0.725426,0.626161,0.285795],[-0.067485,-0.348514,0.934871]]
2025-10-25T00:15:57.638Z,1761351357.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690836,-0.698966,-0.184910],[0.718996,0.637235,0.277445],[-0.076094,-0.324618,0.942779]]
2025-10-25T00:15:58.034Z,1761351358.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693741,-0.701995,-0.161016],[0.715205,0.645119,0.268893],[-0.084887,-0.301702,0.949616]]
2025-10-25T00:15:58.442Z,1761351358.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694696,-0.705475,-0.140369],[0.713198,0.650184,0.261935],[-0.093522,-0.282076,0.954823]]
2025-10-25T00:15:58.842Z,1761351358.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693951,-0.709799,-0.120903],[0.712786,0.653478,0.254758],[-0.101819,-0.262968,0.959417]]
2025-10-25T00:15:59.252Z,1761351359.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691952,-0.714418,-0.103964],[0.713540,0.654862,0.249033],[-0.109832,-0.246501,0.962899]]
2025-10-25T00:15:59.660Z,1761351359.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688662,-0.719424,-0.090409],[0.715496,0.654044,0.245544],[-0.117519,-0.233784,0.965160]]
2025-10-25T00:16:00.055Z,1761351360.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684914,-0.724371,-0.078613],[0.717837,0.652338,0.243241],[-0.124914,-0.223030,0.966775]]
2025-10-25T00:16:00.462Z,1761351360.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680947,-0.729040,-0.069360],[0.720367,0.649760,0.242658],[-0.131840,-0.215202,0.967629]]
2025-10-25T00:16:00.863Z,1761351360.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675982,-0.734305,-0.062007],[0.723910,0.645953,0.242280],[-0.137853,-0.208664,0.968223]]
2025-10-25T00:16:01.273Z,1761351361.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670492,-0.739763,-0.056487],[0.727997,0.641324,0.242328],[-0.143038,-0.203601,0.968549]]
2025-10-25T00:16:01.677Z,1761351361.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664932,-0.745045,-0.052655],[0.732329,0.636476,0.242061],[-0.146832,-0.199515,0.968831]]
2025-10-25T00:16:02.075Z,1761351362.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659968,-0.749616,-0.050193],[0.736245,0.631998,0.241913],[-0.149620,-0.196609,0.968999]]
2025-10-25T00:16:02.482Z,1761351362.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656169,-0.753106,-0.047690],[0.739317,0.628922,0.240557],[-0.151172,-0.193104,0.969463]]
2025-10-25T00:16:02.884Z,1761351362.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654329,-0.754913,-0.044261],[0.740715,0.628036,0.238562],[-0.152296,-0.188883,0.970118]]
2025-10-25T00:16:03.287Z,1761351363.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654613,-0.754833,-0.041339],[0.740192,0.628885,0.237950],[-0.153615,-0.186364,0.970397]]
2025-10-25T00:16:03.691Z,1761351363.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656730,-0.753131,-0.038718],[0.737944,0.631212,0.238769],[-0.155385,-0.185378,0.970304]]
2025-10-25T00:16:03.869Z,1761351363.869 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:16:03.870Z,1761351363.870 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:16:04.096Z,1761351364.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660988,-0.749556,-0.035520],[0.733568,0.635472,0.240943],[-0.158028,-0.185316,0.969889]]
2025-10-25T00:16:04.498Z,1761351364.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666479,-0.744853,-0.031634],[0.727789,0.640838,0.244235],[-0.161647,-0.185800,0.969200]]
2025-10-25T00:16:04.902Z,1761351364.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672424,-0.739687,-0.026636],[0.721384,0.646880,0.247289],[-0.165686,-0.185497,0.968576]]
2025-10-25T00:16:04.967Z,1761351364.967 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-25T00:16:05.307Z,1761351365.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678829,-0.733970,-0.021875],[0.714269,0.653112,0.251524],[-0.170324,-0.186367,0.967604]]
2025-10-25T00:16:05.711Z,1761351365.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685209,-0.728092,-0.019246],[0.706880,0.658414,0.258480],[-0.175525,-0.190718,0.965825]]
2025-10-25T00:16:06.126Z,1761351366.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691541,-0.722137,-0.017008],[0.699511,0.663630,0.265103],[-0.180153,-0.195227,0.964070]]
2025-10-25T00:16:06.194Z,1761351366.194 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:16:06.194Z,1761351366.194 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:16:06.194Z,1761351366.194 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:16:06.194Z,1761351366.194 [marl:UpdateRudder:A] Stopped
2025-10-25T00:16:06.195Z,1761351366.195 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:16:06.195Z,1761351366.195 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:16:06.195Z,1761351366.195 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:16:06.195Z,1761351366.195 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:16:06.195Z,1761351366.195 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:16:06.195Z,1761351366.195 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:16:06.195Z,1761351366.195 [marl:UpdateCommandMode] Stopped
2025-10-25T00:16:06.195Z,1761351366.195 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:16:06.196Z,1761351366.195 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:16:06.200Z,1761351366.200 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:16:06.200Z,1761351366.200 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:16:06.200Z,1761351366.200 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:16:06.200Z,1761351366.200 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:16:06.200Z,1761351366.200 [marl:UpdateSpeed] Stopped
2025-10-25T00:16:06.201Z,1761351366.201 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:16:06.552Z,1761351366.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697100,-0.716801,-0.015765],[0.692839,0.667814,0.272026],[-0.184460,-0.200551,0.962161]]
2025-10-25T00:16:06.594Z,1761351366.594 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:16:06.594Z,1761351366.594 [marl:UpdateRudder:B] Stopped
2025-10-25T00:16:06.594Z,1761351366.594 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:16:06.594Z,1761351366.594 [marl:UpdateRudder] Stopped
2025-10-25T00:16:06.595Z,1761351366.595 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:16:06.923Z,1761351366.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701701,-0.712323,-0.014542],[0.687322,0.671416,0.277106],[-0.187626,-0.204441,0.960729]]
2025-10-25T00:16:07.330Z,1761351367.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703952,-0.710108,-0.014101],[0.684570,0.673078,0.279873],[-0.189249,-0.206670,0.959933]]
2025-10-25T00:16:07.732Z,1761351367.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704267,-0.709800,-0.013842],[0.684098,0.673295,0.280506],[-0.189784,-0.207020,0.959752]]
2025-10-25T00:16:08.139Z,1761351368.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703219,-0.710844,-0.013606],[0.685341,0.672649,0.279017],[-0.189186,-0.205535,0.960190]]
2025-10-25T00:16:08.538Z,1761351368.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701417,-0.712614,-0.013962],[0.687406,0.671169,0.277499],[-0.188379,-0.204240,0.960624]]
2025-10-25T00:16:08.942Z,1761351368.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699833,-0.714091,-0.017544],[0.689493,0.668901,0.277795],[-0.186636,-0.206507,0.960480]]
2025-10-25T00:16:09.085Z,1761351369.085 [DAT](INFO): DAT read: 

2025-10-25T00:16:09.086Z,1761351369.086 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-25T00:16:09.349Z,1761351369.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700092,-0.713601,-0.025381],[0.689863,0.666775,0.281956],[-0.184281,-0.214904,0.959092]]
2025-10-25T00:16:09.760Z,1761351369.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703104,-0.710025,-0.038855],[0.687742,0.665118,0.290912],[-0.180712,-0.231264,0.955960]]
2025-10-25T00:16:10.159Z,1761351370.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708249,-0.703447,-0.059545],[0.683711,0.662471,0.306059],[-0.175849,-0.257478,0.950149]]
2025-10-25T00:16:10.849Z,1761351370.849 [DAT](INFO): DAT read: MF Frequency Band

2025-10-25T00:16:10.851Z,1761351370.851 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-25T00:16:10.851Z,1761351370.851 [DAT](INFO): DAT read: Oct 25 2025 00:16:04 

2025-10-25T00:16:10.967Z,1761351370.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720956,-0.685659,-0.100465],[0.673557,0.659261,0.334211],[-0.162922,-0.308621,0.937128]]
2025-10-25T00:16:11.372Z,1761351371.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727505,-0.675355,-0.120963],[0.668336,0.657703,0.347497],[-0.155126,-0.333650,0.929846]]
2025-10-25T00:16:11.785Z,1761351371.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734119,-0.664750,-0.138483],[0.663097,0.657925,0.356983],[-0.146193,-0.353895,0.923789]]
2025-10-25T00:16:11.860Z,1761351371.860 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-25T00:16:11.865Z,1761351371.865 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-25T00:16:11.866Z,1761351371.866 [DAT](INFO): commRate: 600
2025-10-25T00:16:12.213Z,1761351372.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740784,-0.653869,-0.153932],[0.657778,0.659598,0.363674],[-0.136262,-0.370657,0.918720]]
2025-10-25T00:16:12.619Z,1761351372.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747847,-0.642418,-0.167407],[0.651933,0.663057,0.367884],[-0.125335,-0.384259,0.914678]]
2025-10-25T00:16:13.036Z,1761351373.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755724,-0.629977,-0.178912],[0.645003,0.668708,0.369865],[-0.113366,-0.394915,0.911696]]
2025-10-25T00:16:13.434Z,1761351373.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764974,-0.616141,-0.187577],[0.636125,0.677215,0.369763],[-0.100796,-0.402181,0.909995]]
2025-10-25T00:16:13.854Z,1761351373.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775587,-0.600781,-0.193720],[0.625040,0.688003,0.368750],[-0.088258,-0.407080,0.909118]]
2025-10-25T00:16:13.928Z,1761351373.928 [DAT](INFO): entering command mode
2025-10-25T00:16:14.125Z,1761351374.125 [DAT](INFO): DAT read: 

2025-10-25T00:16:14.126Z,1761351374.126 [DAT](INFO): DAT read: user:1>

2025-10-25T00:16:14.126Z,1761351374.126 [DAT](INFO): setting verbose to 3
2025-10-25T00:16:14.245Z,1761351374.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787554,-0.583648,-0.197773],[0.611515,0.700479,0.367939],[-0.076211,-0.410713,0.908574]]
2025-10-25T00:16:14.377Z,1761351374.377 [DAT](INFO): DAT read: user:1>

2025-10-25T00:16:14.378Z,1761351374.378 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-25T00:16:14.378Z,1761351374.378 [DAT](INFO): set verbose to 3
2025-10-25T00:16:14.378Z,1761351374.378 [DAT](INFO): setting DatVerbose to 27440
2025-10-25T00:16:14.629Z,1761351374.629 [DAT](INFO): DAT read: user:2>

2025-10-25T00:16:14.630Z,1761351374.630 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-25T00:16:14.630Z,1761351374.630 [DAT](INFO): set DatVerbose to 27440
2025-10-25T00:16:14.630Z,1761351374.630 [DAT](INFO): setting transmit power to 8
2025-10-25T00:16:14.670Z,1761351374.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800099,-0.565843,-0.199154],[0.596313,0.714157,0.366594],[-0.065208,-0.412070,0.908816]]
2025-10-25T00:16:14.881Z,1761351374.881 [DAT](INFO): DAT read: user:3>

2025-10-25T00:16:14.882Z,1761351374.882 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-25T00:16:14.882Z,1761351374.882 [DAT](INFO): set transmit power to 8
2025-10-25T00:16:14.882Z,1761351374.882 [DAT](INFO): setting local address to 11
2025-10-25T00:16:15.110Z,1761351375.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812916,-0.547035,-0.199799],[0.579783,0.727804,0.366269],[-0.054947,-0.413586,0.908806]]
2025-10-25T00:16:15.133Z,1761351375.133 [DAT](INFO): DAT read: user:4>

2025-10-25T00:16:15.134Z,1761351375.134 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-25T00:16:15.134Z,1761351375.134 [DAT](INFO): set local address to 11
2025-10-25T00:16:15.135Z,1761351375.135 [DAT](INFO): Setting time to: 0:16:15 And date to:10/25/2025
2025-10-25T00:16:15.385Z,1761351375.385 [DAT](INFO): DAT read: user:5>

2025-10-25T00:16:15.386Z,1761351375.386 [DAT](INFO): DAT read: Sat Oct 25, 2025  00:16:15  

2025-10-25T00:16:15.386Z,1761351375.386 [DAT](INFO): Local DAT time set to Sat Oct 25, 2025  00:16:15  

2025-10-25T00:16:15.386Z,1761351375.386 [DAT](INFO): setting remote address to 10
2025-10-25T00:16:15.387Z,1761351375.387 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:16:15.387Z,1761351375.387 [DAT](INFO): setting remote address to 0
2025-10-25T00:16:15.506Z,1761351375.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825717,-0.527372,-0.200174],[0.562243,0.740804,0.367550],[-0.045546,-0.416039,0.908206]]
2025-10-25T00:16:15.641Z,1761351375.641 [DAT](INFO): DAT read: user:6>

2025-10-25T00:16:15.642Z,1761351375.642 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-25T00:16:15.643Z,1761351375.643 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-25T00:16:15.643Z,1761351375.643 [DAT] Communications Fault, FailCount= 3
2025-10-25T00:16:15.643Z,1761351375.643 [DAT](ERROR): Communications Fault
2025-10-25T00:16:15.645Z,1761351375.645 [DAT](INFO): DAT read: user:7>

2025-10-25T00:16:15.646Z,1761351375.646 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-25T00:16:15.646Z,1761351375.646 [DAT](INFO): set remote address to 0
2025-10-25T00:16:15.647Z,1761351375.647 [DAT](INFO): setting remote address to 10
2025-10-25T00:16:15.647Z,1761351375.647 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:16:15.651Z,1761351375.651 [DAT](INFO): setting remote address to 0
2025-10-25T00:16:15.898Z,1761351375.898 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-25T00:16:15.931Z,1761351375.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838022,-0.507754,-0.199764],[0.544368,0.753069,0.369528],[-0.037193,-0.418417,0.907493]]
2025-10-25T00:16:16.056Z,1761351376.056 [DAT](INFO): Powering down
2025-10-25T00:16:16.340Z,1761351376.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849511,-0.488744,-0.198646],[0.526730,0.764481,0.371651],[-0.029781,-0.420354,0.906871]]
2025-10-25T00:16:16.738Z,1761351376.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859892,-0.471232,-0.196280],[0.509951,0.775531,0.372159],[-0.023152,-0.420110,0.907178]]
2025-10-25T00:16:17.052Z,1761351377.052 [CBIT](INFO): Clearing failed state for component DAT
2025-10-25T00:16:17.052Z,1761351377.052 [DAT] No Fault, FailCount= 3
2025-10-25T00:16:17.143Z,1761351377.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869116,-0.454905,-0.194159],[0.494306,0.785158,0.373080],[-0.017270,-0.420224,0.907256]]
2025-10-25T00:16:18.000Z,1761351378.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884713,-0.424532,-0.192496],[0.466104,0.800867,0.375977],[-0.005451,-0.422355,0.906414]]
2025-10-25T00:16:18.397Z,1761351378.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891092,-0.412838,-0.188466],[0.453822,0.810995,0.369234],[0.000411,-0.414551,0.910026]]
2025-10-25T00:16:18.851Z,1761351378.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901441,-0.392771,-0.182029],[0.432736,0.829177,0.353842],[0.011956,-0.397738,0.917421]]
2025-10-25T00:16:19.108Z,1761351379.108 [DAT](INFO): Powering up
2025-10-25T00:16:19.108Z,1761351379.108 [DAT](DEBUG): Initializing DAT.
2025-10-25T00:16:19.252Z,1761351379.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906316,-0.381825,-0.181111],[0.422238,0.835913,0.350662],[0.017502,-0.394283,0.918822]]
2025-10-25T00:16:19.322Z,1761351379.322 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:16:19.323Z,1761351379.323 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:16:19.323Z,1761351379.323 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:16:19.323Z,1761351379.323 [marl:UpdateRudder:A] Stopped
2025-10-25T00:16:19.323Z,1761351379.323 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:16:19.323Z,1761351379.323 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:16:19.323Z,1761351379.323 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:16:19.324Z,1761351379.324 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:16:19.328Z,1761351379.328 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:16:19.328Z,1761351379.328 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:16:19.328Z,1761351379.328 [marl:UpdateCommandMode] Stopped
2025-10-25T00:16:19.328Z,1761351379.328 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:16:19.329Z,1761351379.329 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:16:19.329Z,1761351379.329 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:16:19.329Z,1761351379.329 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:16:19.329Z,1761351379.329 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:16:19.329Z,1761351379.329 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:16:19.329Z,1761351379.329 [marl:UpdateSpeed] Stopped
2025-10-25T00:16:19.329Z,1761351379.329 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:16:19.669Z,1761351379.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911008,-0.370819,-0.180437],[0.411767,0.841951,0.348664],[0.022628,-0.391933,0.919715]]
2025-10-25T00:16:19.734Z,1761351379.734 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:16:19.734Z,1761351379.734 [marl:UpdateRudder:B] Stopped
2025-10-25T00:16:19.734Z,1761351379.734 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:16:19.734Z,1761351379.734 [marl:UpdateRudder] Stopped
2025-10-25T00:16:19.735Z,1761351379.735 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:16:20.061Z,1761351380.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915310,-0.360584,-0.179405],[0.401816,0.847889,0.345872],[0.027399,-0.388668,0.920970]]
2025-10-25T00:16:20.516Z,1761351380.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919496,-0.349453,-0.180025],[0.391781,0.852120,0.346985],[0.032148,-0.389582,0.920431]]
2025-10-25T00:16:20.892Z,1761351380.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923658,-0.337732,-0.181087],[0.381430,0.855815,0.349415],[0.036968,-0.391812,0.919302]]
2025-10-25T00:16:21.285Z,1761351381.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927609,-0.326383,-0.181700],[0.371182,0.860043,0.350072],[0.042012,-0.392174,0.918931]]
2025-10-25T00:16:21.697Z,1761351381.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931531,-0.314547,-0.182508],[0.360609,0.863843,0.351761],[0.047013,-0.393491,0.918126]]
2025-10-25T00:16:22.094Z,1761351382.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935449,-0.301844,-0.183915],[0.349570,0.867040,0.355024],[0.052300,-0.396398,0.916588]]
2025-10-25T00:16:22.572Z,1761351382.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939388,-0.288801,-0.184779],[0.338014,0.870361,0.358077],[0.057412,-0.398831,0.915226]]
2025-10-25T00:16:22.983Z,1761351382.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943315,-0.275591,-0.184950],[0.325990,0.874016,0.360314],[0.062350,-0.400181,0.914313]]
2025-10-25T00:16:23.388Z,1761351383.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947303,-0.262124,-0.184144],[0.313323,0.877824,0.362289],[0.066681,-0.400893,0.913695]]
2025-10-25T00:16:23.791Z,1761351383.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951384,-0.248325,-0.182219],[0.299779,0.882379,0.362684],[0.070722,-0.399677,0.913924]]
2025-10-25T00:16:24.195Z,1761351384.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955441,-0.233841,-0.180140],[0.285689,0.886073,0.365042],[0.074256,-0.400240,0.913397]]
2025-10-25T00:16:24.598Z,1761351384.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959601,-0.217780,-0.178154],[0.270428,0.888693,0.370261],[0.077689,-0.403481,0.911684]]
2025-10-25T00:16:25.059Z,1761351385.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963706,-0.202229,-0.174281],[0.254463,0.893270,0.370562],[0.080742,-0.401461,0.912310]]
2025-10-25T00:16:25.913Z,1761351385.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971715,-0.169658,-0.164272],[0.220307,0.901780,0.371830],[0.085053,-0.397504,0.913650]]
2025-10-25T00:16:26.365Z,1761351386.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975587,-0.152970,-0.157577],[0.202056,0.906331,0.371131],[0.086045,-0.393910,0.915113]]
2025-10-25T00:16:26.762Z,1761351386.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979204,-0.136520,-0.150073],[0.183726,0.910460,0.370549],[0.086048,-0.390415,0.916609]]
2025-10-25T00:16:27.166Z,1761351387.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982491,-0.120098,-0.142435],[0.165560,0.913420,0.371825],[0.085448,-0.388897,0.917310]]
2025-10-25T00:16:27.304Z,1761351387.304 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:16:27.573Z,1761351387.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985229,-0.105201,-0.135118],[0.148604,0.917339,0.369332],[0.085095,-0.383955,0.919422]]
2025-10-25T00:16:27.976Z,1761351387.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987402,-0.091845,-0.128850],[0.133488,0.920738,0.366637],[0.084963,-0.379218,0.921398]]
2025-10-25T00:16:28.308Z,1761351388.308 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:16:28.378Z,1761351388.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989102,-0.079823,-0.123717],[0.120163,0.923212,0.365021],[0.085080,-0.375909,0.922742]]
2025-10-25T00:16:28.783Z,1761351388.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990523,-0.067973,-0.119351],[0.107467,0.924677,0.365270],[0.085532,-0.374635,0.923219]]
2025-10-25T00:16:29.186Z,1761351389.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991693,-0.056477,-0.115563],[0.095466,0.925295,0.367037],[0.086201,-0.375020,0.923000]]
2025-10-25T00:16:29.592Z,1761351389.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992801,-0.044502,-0.111198],[0.082888,0.925458,0.369672],[0.086458,-0.376228,0.922484]]
2025-10-25T00:16:29.994Z,1761351389.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993928,-0.030292,-0.105780],[0.067970,0.925035,0.373752],[0.086529,-0.378673,0.921477]]
2025-10-25T00:16:30.507Z,1761351390.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995810,0.003917,-0.091362],[0.031130,0.924893,0.378951],[0.085984,-0.380207,0.920896]]
2025-10-25T00:16:30.907Z,1761351390.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996311,0.021683,-0.083033],[0.011538,0.924923,0.379979],[0.085039,-0.379535,0.921261]]
2025-10-25T00:16:31.213Z,1761351391.213 [DAT](INFO): DAT read: 

2025-10-25T00:16:31.214Z,1761351391.214 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-25T00:16:31.343Z,1761351391.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996446,0.039960,-0.074147],[-0.008859,0.925137,0.379531],[0.083762,-0.377526,0.922203]]
2025-10-25T00:16:31.795Z,1761351391.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996155,0.058520,-0.065194],[-0.029629,0.925371,0.377904],[0.082444,-0.374519,0.923547]]
2025-10-25T00:16:32.201Z,1761351392.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995431,0.076652,-0.056943],[-0.049817,0.925625,0.375149],[0.081464,-0.370598,0.925214]]
2025-10-25T00:16:32.275Z,1761351392.275 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:16:32.275Z,1761351392.275 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:16:32.275Z,1761351392.275 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:16:32.275Z,1761351392.275 [marl:UpdateRudder:A] Stopped
2025-10-25T00:16:32.275Z,1761351392.275 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:16:32.275Z,1761351392.275 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:16:32.276Z,1761351392.276 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:16:32.276Z,1761351392.276 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:16:32.276Z,1761351392.276 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:16:32.276Z,1761351392.276 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:16:32.276Z,1761351392.276 [marl:UpdateCommandMode] Stopped
2025-10-25T00:16:32.277Z,1761351392.277 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:16:32.277Z,1761351392.277 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:16:32.277Z,1761351392.277 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:16:32.277Z,1761351392.277 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:16:32.277Z,1761351392.277 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:16:32.277Z,1761351392.277 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:16:32.277Z,1761351392.277 [marl:UpdateSpeed] Stopped
2025-10-25T00:16:32.277Z,1761351392.277 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:16:32.602Z,1761351392.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994548,0.091723,-0.049609],[-0.066913,0.926210,0.371022],[0.079979,-0.365680,0.927298]]
2025-10-25T00:16:32.701Z,1761351392.701 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:16:32.701Z,1761351392.701 [marl:UpdateRudder:B] Stopped
2025-10-25T00:16:32.701Z,1761351392.701 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:16:32.701Z,1761351392.701 [marl:UpdateRudder] Stopped
2025-10-25T00:16:32.701Z,1761351392.701 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:16:32.977Z,1761351392.977 [DAT](INFO): DAT read: MF Frequency Band

2025-10-25T00:16:32.978Z,1761351392.978 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-25T00:16:32.979Z,1761351392.979 [DAT](INFO): DAT read: Oct 25 2025 00:16:27 

2025-10-25T00:16:33.006Z,1761351393.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993594,0.104499,-0.043027],[-0.081493,0.926309,0.367845],[0.078296,-0.361983,0.928891]]
2025-10-25T00:16:33.411Z,1761351393.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992587,0.116003,-0.036262],[-0.094722,0.925291,0.367239],[0.076154,-0.361082,0.929420]]
2025-10-25T00:16:33.815Z,1761351393.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991382,0.127831,-0.028663],[-0.108320,0.922913,0.369456],[0.073682,-0.363167,0.928806]]
2025-10-25T00:16:33.985Z,1761351393.985 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-25T00:16:33.986Z,1761351393.986 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-25T00:16:33.987Z,1761351393.987 [DAT](INFO): commRate: 600
2025-10-25T00:16:34.222Z,1761351394.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989924,0.140096,-0.020590],[-0.122441,0.919921,0.372496],[0.071126,-0.366221,0.927806]]
2025-10-25T00:16:34.623Z,1761351394.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988157,0.152943,-0.012390],[-0.137204,0.916841,0.374937],[0.068704,-0.368796,0.926968]]
2025-10-25T00:16:35.037Z,1761351395.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986136,0.165879,-0.004522],[-0.152055,0.914198,0.375662],[0.066449,-0.369766,0.926746]]
2025-10-25T00:16:35.432Z,1761351395.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983920,0.178587,0.002769],[-0.166520,0.911614,0.375808],[0.064590,-0.370226,0.926693]]
2025-10-25T00:16:35.853Z,1761351395.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981640,0.190526,0.009067],[-0.180017,0.909686,0.374252],[0.063056,-0.369013,0.927283]]
2025-10-25T00:16:36.052Z,1761351396.052 [DAT](INFO): entering command mode
2025-10-25T00:16:36.238Z,1761351396.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979244,0.202118,0.015150],[-0.193121,0.907740,0.372441],[0.061524,-0.367637,0.927932]]
2025-10-25T00:16:36.252Z,1761351396.252 [DAT](INFO): DAT read: 

2025-10-25T00:16:36.253Z,1761351396.253 [DAT](INFO): DAT read: user:1>

2025-10-25T00:16:36.253Z,1761351396.253 [DAT](INFO): setting verbose to 3
2025-10-25T00:16:36.507Z,1761351396.507 [DAT](INFO): DAT read: user:1>

2025-10-25T00:16:36.509Z,1761351396.509 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-25T00:16:36.509Z,1761351396.509 [DAT](INFO): set verbose to 3
2025-10-25T00:16:36.510Z,1761351396.510 [DAT](INFO): setting DatVerbose to 27440
2025-10-25T00:16:36.757Z,1761351396.757 [DAT](INFO): DAT read: user:2>

2025-10-25T00:16:36.758Z,1761351396.758 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-25T00:16:36.758Z,1761351396.758 [DAT](INFO): set DatVerbose to 27440
2025-10-25T00:16:36.758Z,1761351396.758 [DAT](INFO): setting transmit power to 8
2025-10-25T00:16:37.013Z,1761351397.013 [DAT](INFO): DAT read: user:3>

2025-10-25T00:16:37.015Z,1761351397.015 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-25T00:16:37.015Z,1761351397.015 [DAT](INFO): set transmit power to 8
2025-10-25T00:16:37.015Z,1761351397.015 [DAT](INFO): setting local address to 11
2025-10-25T00:16:37.071Z,1761351397.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974016,0.224692,0.028397],[-0.218935,0.902042,0.372005],[0.057971,-0.368556,0.927796]]
2025-10-25T00:16:37.265Z,1761351397.265 [DAT](INFO): DAT read: user:4>

2025-10-25T00:16:37.266Z,1761351397.266 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-25T00:16:37.266Z,1761351397.266 [DAT](INFO): set local address to 11
2025-10-25T00:16:37.267Z,1761351397.267 [DAT](INFO): Setting time to: 0:16:37 And date to:10/25/2025
2025-10-25T00:16:37.450Z,1761351397.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970992,0.236382,0.036036],[-0.232542,0.898434,0.372480],[0.055671,-0.370055,0.927340]]
2025-10-25T00:16:37.517Z,1761351397.517 [DAT](INFO): DAT read: user:5>

2025-10-25T00:16:37.518Z,1761351397.518 [DAT](INFO): DAT read: Sat Oct 25, 2025  00:16:37  

2025-10-25T00:16:37.519Z,1761351397.519 [DAT](INFO): Local DAT time set to Sat Oct 25, 2025  00:16:37  

2025-10-25T00:16:37.520Z,1761351397.520 [DAT](INFO): setting remote address to 10
2025-10-25T00:16:37.521Z,1761351397.521 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:16:37.522Z,1761351397.522 [DAT](INFO): setting remote address to 0
2025-10-25T00:16:37.769Z,1761351397.769 [DAT](INFO): DAT read: user:6>

2025-10-25T00:16:37.770Z,1761351397.770 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-25T00:16:37.770Z,1761351397.770 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-25T00:16:37.770Z,1761351397.770 [DAT] Communications Fault, FailCount= 4
2025-10-25T00:16:37.770Z,1761351397.770 [DAT](ERROR): Communications Fault
2025-10-25T00:16:37.771Z,1761351397.771 [DAT](INFO): DAT read: user:7>

2025-10-25T00:16:37.772Z,1761351397.772 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-25T00:16:37.773Z,1761351397.773 [DAT](INFO): set remote address to 0
2025-10-25T00:16:37.773Z,1761351397.773 [DAT](INFO): setting remote address to 10
2025-10-25T00:16:37.773Z,1761351397.773 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:16:37.773Z,1761351397.773 [DAT](INFO): setting remote address to 0
2025-10-25T00:16:38.180Z,1761351398.180 [DAT](INFO): Powering down
2025-10-25T00:16:38.203Z,1761351398.203 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-25T00:16:38.281Z,1761351398.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963067,0.263433,0.055725],[-0.264580,0.887409,0.377496],[0.049994,-0.378298,0.924333]]
2025-10-25T00:16:38.670Z,1761351398.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957951,0.278941,0.067249],[-0.283179,0.881295,0.378323],[0.046263,-0.381458,0.923228]]
2025-10-25T00:16:39.067Z,1761351399.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952023,0.295609,0.079163],[-0.303119,0.875319,0.376742],[0.042075,-0.382663,0.922929]]
2025-10-25T00:16:39.316Z,1761351399.316 [CBIT](INFO): Clearing failed state for component DAT
2025-10-25T00:16:39.316Z,1761351399.316 [DAT] No Fault, FailCount= 4
2025-10-25T00:16:39.472Z,1761351399.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945601,0.312477,0.090534],[-0.323161,0.870131,0.372073],[0.037488,-0.381089,0.923778]]
2025-10-25T00:16:39.915Z,1761351399.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938869,0.329189,0.100799],[-0.342704,0.865690,0.364875],[0.032852,-0.377114,0.925584]]
2025-10-25T00:16:40.278Z,1761351400.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931908,0.345983,0.108828],[-0.361524,0.862001,0.355323],[0.029126,-0.370472,0.928387]]
2025-10-25T00:16:40.687Z,1761351400.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924569,0.363243,0.115004],[-0.380073,0.858080,0.345316],[0.026750,-0.362978,0.931413]]
2025-10-25T00:16:41.086Z,1761351401.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916597,0.381466,0.119723],[-0.398940,0.852852,0.336883],[0.026403,-0.356548,0.933904]]
2025-10-25T00:16:41.224Z,1761351401.224 [DAT](INFO): Powering up
2025-10-25T00:16:41.224Z,1761351401.224 [DAT](DEBUG): Initializing DAT.
2025-10-25T00:16:41.497Z,1761351401.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908386,0.399476,0.123509],[-0.417199,0.846177,0.331556],[0.027938,-0.352709,0.935316]]
2025-10-25T00:16:41.909Z,1761351401.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900654,0.415223,0.128114],[-0.433556,0.838868,0.329134],[0.029193,-0.351980,0.935552]]
2025-10-25T00:16:42.302Z,1761351402.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894254,0.427254,0.133285],[-0.446609,0.832457,0.327955],[0.029166,-0.352801,0.935244]]
2025-10-25T00:16:42.702Z,1761351402.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888470,0.437282,0.139304],[-0.458058,0.826178,0.328043],[0.028358,-0.355266,0.934335]]
2025-10-25T00:16:43.106Z,1761351403.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882404,0.447408,0.145567],[-0.469682,0.819495,0.328372],[0.027625,-0.358126,0.933264]]
2025-10-25T00:16:43.517Z,1761351403.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876108,0.457348,0.152537],[-0.481371,0.812241,0.329465],[0.026783,-0.362073,0.931765]]
2025-10-25T00:16:43.919Z,1761351403.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869372,0.467926,0.158860],[-0.493439,0.804694,0.330130],[0.026643,-0.365394,0.930472]]
2025-10-25T00:16:44.727Z,1761351404.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855167,0.489602,0.170233],[-0.517628,0.789242,0.330392],[0.027406,-0.370657,0.928365]]
2025-10-25T00:16:44.771Z,1761351404.771 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:16:44.771Z,1761351404.771 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:16:44.771Z,1761351404.771 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:16:44.772Z,1761351404.772 [marl:UpdateRudder:A] Stopped
2025-10-25T00:16:44.772Z,1761351404.772 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:16:44.772Z,1761351404.772 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:16:44.772Z,1761351404.772 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:16:44.772Z,1761351404.772 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:16:44.773Z,1761351404.773 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:16:44.773Z,1761351404.773 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:16:44.773Z,1761351404.773 [marl:UpdateCommandMode] Stopped
2025-10-25T00:16:44.773Z,1761351404.773 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:16:44.773Z,1761351404.773 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:16:44.773Z,1761351404.773 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:16:44.773Z,1761351404.773 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:16:44.773Z,1761351404.773 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:16:44.774Z,1761351404.774 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:16:44.774Z,1761351404.774 [marl:UpdateSpeed] Stopped
2025-10-25T00:16:44.774Z,1761351404.774 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:16:45.131Z,1761351405.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847822,0.500534,0.175110],[-0.529534,0.781627,0.329625],[0.028118,-0.372190,0.927731]]
2025-10-25T00:16:45.171Z,1761351405.171 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:16:45.176Z,1761351405.176 [marl:UpdateRudder:B] Stopped
2025-10-25T00:16:45.176Z,1761351405.176 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:16:45.176Z,1761351405.176 [marl:UpdateRudder] Stopped
2025-10-25T00:16:45.176Z,1761351405.176 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:16:45.535Z,1761351405.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839613,0.512071,0.181198],[-0.542408,0.772556,0.330077],[0.029037,-0.375421,0.926400]]
2025-10-25T00:16:45.939Z,1761351405.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830442,0.524375,0.188142],[-0.556323,0.762661,0.329927],[0.029517,-0.378653,0.925068]]
2025-10-25T00:16:46.345Z,1761351406.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820565,0.537184,0.195210],[-0.570785,0.752482,0.328595],[0.029624,-0.381056,0.924077]]
2025-10-25T00:16:46.746Z,1761351406.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810801,0.549421,0.201838],[-0.584648,0.743651,0.324298],[0.028079,-0.380946,0.924171]]
2025-10-25T00:16:47.150Z,1761351407.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802744,0.560828,0.202668],[-0.595795,0.739970,0.312206],[0.025125,-0.371370,0.928145]]
2025-10-25T00:16:47.556Z,1761351407.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796607,0.571240,0.197744],[-0.604108,0.740544,0.294360],[0.021712,-0.353948,0.935013]]
2025-10-25T00:16:47.958Z,1761351407.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792408,0.580100,0.188611],[-0.609714,0.743907,0.273589],[0.018400,-0.331793,0.943173]]
2025-10-25T00:16:48.363Z,1761351408.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790192,0.585939,0.179644],[-0.612681,0.748194,0.254613],[0.014779,-0.311257,0.950211]]
2025-10-25T00:16:48.774Z,1761351408.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790135,0.588511,0.171292],[-0.612840,0.753680,0.237473],[0.010656,-0.292610,0.956172]]
2025-10-25T00:16:49.171Z,1761351409.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791529,0.588664,0.164184],[-0.611100,0.759641,0.222491],[0.006252,-0.276441,0.961011]]
2025-10-25T00:16:49.574Z,1761351409.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793754,0.587114,0.158908],[-0.608237,0.765437,0.210128],[0.001735,-0.263444,0.964673]]
2025-10-25T00:16:49.987Z,1761351409.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796354,0.584518,0.155432],[-0.604823,0.770893,0.199781],[-0.003046,-0.253106,0.967434]]
2025-10-25T00:16:50.382Z,1761351410.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798925,0.581167,0.154807],[-0.601372,0.775535,0.192086],[-0.008424,-0.246559,0.969091]]
2025-10-25T00:16:50.788Z,1761351410.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801206,0.577481,0.156795],[-0.598225,0.779120,0.187344],[-0.013975,-0.243900,0.969700]]
2025-10-25T00:16:51.190Z,1761351411.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802786,0.574300,0.160357],[-0.595941,0.781681,0.183925],[-0.019719,-0.243216,0.969772]]
2025-10-25T00:16:51.595Z,1761351411.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803091,0.572711,0.164461],[-0.595330,0.782814,0.181062],[-0.025047,-0.243318,0.969623]]
2025-10-25T00:16:52.002Z,1761351412.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802276,0.572534,0.168992],[-0.596214,0.782588,0.179120],[-0.029699,-0.244459,0.969205]]
2025-10-25T00:16:52.411Z,1761351412.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800848,0.573462,0.172581],[-0.597901,0.782007,0.176011],[-0.034024,-0.244144,0.969142]]
2025-10-25T00:16:52.806Z,1761351412.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798818,0.575149,0.176331],[-0.600376,0.780688,0.173419],[-0.037918,-0.244395,0.968934]]
2025-10-25T00:16:53.210Z,1761351413.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796608,0.577444,0.178815],[-0.603078,0.779429,0.169671],[-0.041398,-0.243000,0.969142]]
2025-10-25T00:16:53.336Z,1761351413.336 [DAT](INFO): DAT read: 

2025-10-25T00:16:53.337Z,1761351413.337 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-25T00:16:53.614Z,1761351413.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794140,0.580266,0.180647],[-0.606114,0.777921,0.165727],[-0.044363,-0.241103,0.969485]]
2025-10-25T00:16:54.022Z,1761351414.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791658,0.583005,0.182710],[-0.609155,0.776192,0.162654],[-0.046990,-0.240065,0.969619]]
2025-10-25T00:16:54.426Z,1761351414.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789463,0.585328,0.184770],[-0.611781,0.774754,0.159623],[-0.049719,-0.239055,0.969732]]
2025-10-25T00:16:54.828Z,1761351414.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787380,0.587652,0.186275],[-0.614221,0.773615,0.155729],[-0.052591,-0.237032,0.970078]]
2025-10-25T00:16:55.101Z,1761351415.101 [DAT](INFO): DAT read: MF Frequency Band

2025-10-25T00:16:55.102Z,1761351415.102 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-25T00:16:55.103Z,1761351415.103 [DAT](INFO): DAT read: Oct 25 2025 00:16:49 

2025-10-25T00:16:55.234Z,1761351415.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785042,0.589809,0.189298],[-0.616902,0.772072,0.152766],[-0.056049,-0.236706,0.969963]]
2025-10-25T00:16:55.635Z,1761351415.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782681,0.591797,0.192839],[-0.619557,0.770440,0.150239],[-0.059660,-0.237064,0.969660]]
2025-10-25T00:16:56.039Z,1761351416.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780153,0.593497,0.197794],[-0.622332,0.768501,0.148695],[-0.063755,-0.239098,0.968900]]
2025-10-25T00:16:56.109Z,1761351416.109 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-25T00:16:56.110Z,1761351416.110 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-25T00:16:56.111Z,1761351416.111 [DAT](INFO): commRate: 600
2025-10-25T00:16:56.473Z,1761351416.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776820,0.596254,0.202561],[-0.625968,0.766222,0.145148],[-0.068662,-0.239550,0.968453]]
2025-10-25T00:16:56.846Z,1761351416.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773076,0.599412,0.207504],[-0.629984,0.763707,0.140963],[-0.073977,-0.239700,0.968025]]
2025-10-25T00:16:57.250Z,1761351417.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769347,0.602810,0.211485],[-0.633869,0.761509,0.135330],[-0.079469,-0.238170,0.967967]]
2025-10-25T00:16:57.306Z,1761351417.306 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:16:57.306Z,1761351417.306 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:16:57.306Z,1761351417.306 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:16:57.307Z,1761351417.307 [marl:UpdateRudder:A] Stopped
2025-10-25T00:16:57.307Z,1761351417.307 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:16:57.307Z,1761351417.307 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:16:57.307Z,1761351417.307 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:16:57.307Z,1761351417.307 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:16:57.307Z,1761351417.307 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:16:57.312Z,1761351417.312 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:16:57.312Z,1761351417.312 [marl:UpdateCommandMode] Stopped
2025-10-25T00:16:57.312Z,1761351417.312 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:16:57.312Z,1761351417.312 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:16:57.312Z,1761351417.312 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:16:57.312Z,1761351417.312 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:16:57.313Z,1761351417.313 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:16:57.313Z,1761351417.313 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:16:57.313Z,1761351417.313 [marl:UpdateSpeed] Stopped
2025-10-25T00:16:57.313Z,1761351417.313 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:16:57.659Z,1761351417.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766018,0.605995,0.214445],[-0.637260,0.759670,0.129619],[-0.084358,-0.235948,0.968097]]
2025-10-25T00:16:57.717Z,1761351417.717 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:16:57.717Z,1761351417.717 [marl:UpdateRudder:B] Stopped
2025-10-25T00:16:57.717Z,1761351417.717 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:16:57.717Z,1761351417.717 [marl:UpdateRudder] Stopped
2025-10-25T00:16:57.717Z,1761351417.717 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:16:58.060Z,1761351418.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763654,0.608643,0.215377],[-0.639534,0.758835,0.123147],[-0.088484,-0.231782,0.968735]]
2025-10-25T00:16:58.176Z,1761351418.176 [DAT](INFO): entering command mode
2025-10-25T00:16:58.376Z,1761351418.376 [DAT](INFO): DAT read: 

2025-10-25T00:16:58.377Z,1761351418.377 [DAT](INFO): DAT read: user:1>

2025-10-25T00:16:58.377Z,1761351418.377 [DAT](INFO): setting verbose to 3
2025-10-25T00:16:58.434Z,1761351418.434 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:16:58.493Z,1761351418.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763685,0.609166,0.213781],[-0.638610,0.761369,0.111782],[-0.094672,-0.221888,0.970465]]
2025-10-25T00:16:58.629Z,1761351418.629 [DAT](INFO): DAT read: user:1>

2025-10-25T00:16:58.629Z,1761351418.629 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-25T00:16:58.630Z,1761351418.630 [DAT](INFO): set verbose to 3
2025-10-25T00:16:58.630Z,1761351418.630 [DAT](INFO): setting DatVerbose to 27440
2025-10-25T00:16:58.883Z,1761351418.883 [DAT](INFO): DAT read: user:2>

2025-10-25T00:16:58.884Z,1761351418.884 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-25T00:16:58.885Z,1761351418.885 [DAT](INFO): set DatVerbose to 27440
2025-10-25T00:16:58.885Z,1761351418.885 [DAT](INFO): setting transmit power to 8
2025-10-25T00:16:59.133Z,1761351419.133 [DAT](INFO): DAT read: user:3>

2025-10-25T00:16:59.134Z,1761351419.134 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-25T00:16:59.134Z,1761351419.134 [DAT](INFO): set transmit power to 8
2025-10-25T00:16:59.134Z,1761351419.134 [DAT](INFO): setting local address to 11
2025-10-25T00:16:59.270Z,1761351419.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765809,0.606864,0.212726],[-0.635771,0.764186,0.108694],[-0.096600,-0.218483,0.971048]]
2025-10-25T00:16:59.385Z,1761351419.385 [DAT](INFO): DAT read: user:4>

2025-10-25T00:16:59.386Z,1761351419.386 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-25T00:16:59.386Z,1761351419.386 [DAT](INFO): set local address to 11
2025-10-25T00:16:59.387Z,1761351419.387 [DAT](INFO): Setting time to: 0:16:59 And date to:10/25/2025
2025-10-25T00:16:59.438Z,1761351419.438 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:16:59.637Z,1761351419.637 [DAT](INFO): DAT read: user:5>

2025-10-25T00:16:59.637Z,1761351419.637 [DAT](INFO): DAT read: Sat Oct 25, 2025  00:16:59  

2025-10-25T00:16:59.638Z,1761351419.638 [DAT](INFO): Local DAT time set to Sat Oct 25, 2025  00:16:59  

2025-10-25T00:16:59.638Z,1761351419.638 [DAT](INFO): setting remote address to 10
2025-10-25T00:16:59.639Z,1761351419.639 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:16:59.639Z,1761351419.639 [DAT](INFO): setting remote address to 0
2025-10-25T00:16:59.715Z,1761351419.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770895,0.599578,0.215003],[-0.629269,0.769189,0.111215],[-0.098696,-0.221030,0.970260]]
2025-10-25T00:16:59.891Z,1761351419.891 [DAT](INFO): DAT read: user:6>

2025-10-25T00:16:59.895Z,1761351419.895 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-25T00:16:59.897Z,1761351419.897 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-25T00:16:59.898Z,1761351419.898 [DAT] Communications Fault, FailCount= 5
2025-10-25T00:16:59.898Z,1761351419.898 [DAT](ERROR): Communications Fault
2025-10-25T00:16:59.901Z,1761351419.901 [DAT](INFO): DAT read: user:7>

2025-10-25T00:16:59.902Z,1761351419.902 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-25T00:16:59.902Z,1761351419.902 [DAT](INFO): set remote address to 0
2025-10-25T00:16:59.902Z,1761351419.902 [DAT](INFO): setting remote address to 10
2025-10-25T00:16:59.903Z,1761351419.903 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:16:59.903Z,1761351419.903 [DAT](INFO): setting remote address to 0
2025-10-25T00:17:00.223Z,1761351420.223 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-25T00:17:00.304Z,1761351420.304 [DAT](INFO): Powering down
2025-10-25T00:17:00.500Z,1761351420.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775476,0.589671,0.225666],[-0.623015,0.772637,0.122003],[-0.102416,-0.235203,0.966535]]
2025-10-25T00:17:00.893Z,1761351420.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777826,0.583594,0.233250],[-0.619480,0.774514,0.127955],[-0.105982,-0.244021,0.963962]]
2025-10-25T00:17:01.243Z,1761351421.243 [CBIT](INFO): Clearing failed state for component DAT
2025-10-25T00:17:01.243Z,1761351421.243 [DAT] No Fault, FailCount= 5
2025-10-25T00:17:01.295Z,1761351421.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779480,0.578061,0.241366],[-0.616658,0.775860,0.133316],[-0.110201,-0.252757,0.961233]]
2025-10-25T00:17:01.699Z,1761351421.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779324,0.575483,0.247939],[-0.616226,0.775623,0.136654],[-0.113665,-0.259284,0.959089]]
2025-10-25T00:17:02.102Z,1761351422.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777879,0.575292,0.252870],[-0.617689,0.773994,0.139261],[-0.115604,-0.264523,0.957425]]
2025-10-25T00:17:02.515Z,1761351422.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775707,0.576347,0.257105],[-0.620212,0.771526,0.141718],[-0.116684,-0.269391,0.955936]]
2025-10-25T00:17:02.910Z,1761351422.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772576,0.579022,0.260499],[-0.623957,0.768310,0.142747],[-0.117491,-0.272823,0.954863]]
2025-10-25T00:17:03.315Z,1761351423.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769121,0.582015,0.264029],[-0.627941,0.765061,0.142730],[-0.118927,-0.275571,0.953896]]
2025-10-25T00:17:03.352Z,1761351423.352 [DAT](INFO): Powering up
2025-10-25T00:17:03.352Z,1761351423.352 [DAT](DEBUG): Initializing DAT.
2025-10-25T00:17:03.714Z,1761351423.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765611,0.585343,0.266858],[-0.631809,0.762251,0.140682],[-0.121066,-0.276311,0.953413]]
2025-10-25T00:17:03.934Z,1761351423.934 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:17:03.935Z,1761351423.935 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:17:04.121Z,1761351424.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762298,0.588685,0.268982],[-0.635327,0.759925,0.137380],[-0.123532,-0.275616,0.953297]]
2025-10-25T00:17:04.522Z,1761351424.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759356,0.592622,0.268659],[-0.638466,0.758239,0.132039],[-0.125459,-0.271795,0.954142]]
2025-10-25T00:17:04.937Z,1761351424.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756775,0.597604,0.264878],[-0.641453,0.756918,0.124955],[-0.125817,-0.264470,0.956152]]
2025-10-25T00:17:04.977Z,1761351424.977 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-25T00:17:05.331Z,1761351425.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754512,0.603086,0.258842],[-0.644428,0.755458,0.118307],[-0.124195,-0.256069,0.958647]]
2025-10-25T00:17:05.736Z,1761351425.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752937,0.608316,0.251072],[-0.646927,0.754158,0.112830],[-0.120711,-0.247379,0.961370]]
2025-10-25T00:17:06.139Z,1761351426.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753144,0.610582,0.244876],[-0.647451,0.753907,0.111493],[-0.116538,-0.242515,0.963123]]
2025-10-25T00:17:06.592Z,1761351426.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755711,0.609657,0.239207],[-0.645079,0.755977,0.111228],[-0.113025,-0.238363,0.964577]]
2025-10-25T00:17:06.953Z,1761351426.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759641,0.606496,0.234753],[-0.640924,0.759375,0.112095],[-0.110280,-0.235611,0.965570]]
2025-10-25T00:17:07.351Z,1761351427.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763148,0.603176,0.231916],[-0.637157,0.762223,0.114226],[-0.107873,-0.234938,0.966006]]
2025-10-25T00:17:07.754Z,1761351427.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765620,0.600481,0.230757],[-0.634715,0.763522,0.119043],[-0.104705,-0.237607,0.965702]]
2025-10-25T00:17:08.167Z,1761351428.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766950,0.598757,0.230819],[-0.633760,0.763188,0.126065],[-0.100676,-0.242970,0.964795]]
2025-10-25T00:17:08.570Z,1761351428.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767680,0.597611,0.231361],[-0.633661,0.761755,0.134921],[-0.095611,-0.250181,0.963467]]
2025-10-25T00:17:08.966Z,1761351428.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768054,0.596657,0.232577],[-0.634090,0.759373,0.145885],[-0.089570,-0.259523,0.961574]]
2025-10-25T00:17:09.370Z,1761351429.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769346,0.595239,0.231943],[-0.633386,0.758043,0.155542],[-0.083238,-0.266575,0.960213]]
2025-10-25T00:17:09.774Z,1761351429.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771394,0.593094,0.230632],[-0.631719,0.757389,0.165207],[-0.076695,-0.273134,0.958914]]
2025-10-25T00:17:10.180Z,1761351430.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773794,0.590484,0.229287],[-0.629541,0.756972,0.175133],[-0.070151,-0.279862,0.957474]]
2025-10-25T00:17:10.294Z,1761351430.294 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:17:10.294Z,1761351430.294 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:17:10.294Z,1761351430.294 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:17:10.294Z,1761351430.294 [marl:UpdateRudder:A] Stopped
2025-10-25T00:17:10.294Z,1761351430.294 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:17:10.294Z,1761351430.294 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:17:10.295Z,1761351430.295 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:17:10.295Z,1761351430.295 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:17:10.295Z,1761351430.295 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:17:10.295Z,1761351430.295 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:17:10.295Z,1761351430.295 [marl:UpdateCommandMode] Stopped
2025-10-25T00:17:10.295Z,1761351430.295 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:17:10.295Z,1761351430.295 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:17:10.295Z,1761351430.295 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:17:10.296Z,1761351430.296 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:17:10.296Z,1761351430.296 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:17:10.296Z,1761351430.296 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:17:10.296Z,1761351430.296 [marl:UpdateSpeed] Stopped
2025-10-25T00:17:10.296Z,1761351430.296 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:17:10.586Z,1761351430.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775650,0.588164,0.228974],[-0.627890,0.755955,0.185163],[-0.064188,-0.287392,0.955660]]
2025-10-25T00:17:10.656Z,1761351430.656 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:17:10.656Z,1761351430.656 [marl:UpdateRudder:B] Stopped
2025-10-25T00:17:10.656Z,1761351430.656 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:17:10.656Z,1761351430.656 [marl:UpdateRudder] Stopped
2025-10-25T00:17:10.656Z,1761351430.656 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:17:10.986Z,1761351430.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776366,0.587736,0.227645],[-0.627511,0.754609,0.191820],[-0.059044,-0.291773,0.954664]]
2025-10-25T00:17:11.390Z,1761351431.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776120,0.588538,0.226409],[-0.628126,0.753222,0.195227],[-0.055638,-0.293734,0.954267]]
2025-10-25T00:17:11.796Z,1761351431.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775478,0.590773,0.222758],[-0.629122,0.752795,0.193663],[-0.053280,-0.290323,0.955444]]
2025-10-25T00:17:12.200Z,1761351432.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774906,0.593129,0.218447],[-0.629996,0.752783,0.190847],[-0.051247,-0.285509,0.957005]]
2025-10-25T00:17:12.602Z,1761351432.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774340,0.596556,0.210992],[-0.630944,0.753229,0.185893],[-0.048030,-0.277068,0.959649]]
2025-10-25T00:17:13.007Z,1761351433.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772879,0.601816,0.201184],[-0.633150,0.752460,0.181453],[-0.042182,-0.267621,0.962601]]
2025-10-25T00:17:13.421Z,1761351433.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768976,0.609650,0.192359],[-0.638430,0.747852,0.182002],[-0.032899,-0.262763,0.964299]]
2025-10-25T00:17:13.814Z,1761351433.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763023,0.617805,0.190036],[-0.646008,0.738753,0.192141],[-0.021684,-0.269372,0.962792]]
2025-10-25T00:17:14.218Z,1761351434.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756303,0.624472,0.195041],[-0.654135,0.726677,0.209878],[-0.010669,-0.286314,0.958077]]
2025-10-25T00:17:14.626Z,1761351434.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748137,0.630518,0.206731],[-0.663544,0.710873,0.233170],[0.000059,-0.311618,0.950207]]
2025-10-25T00:17:15.431Z,1761351435.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726550,0.643262,0.241534],[-0.686828,0.669769,0.282272],[0.019803,-0.370977,0.928431]]
2025-10-25T00:17:15.460Z,1761351435.460 [DAT](INFO): DAT read: 

2025-10-25T00:17:15.461Z,1761351435.461 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-25T00:17:15.903Z,1761351435.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715078,0.649392,0.258752],[-0.698458,0.648579,0.302491],[0.028615,-0.397032,0.917358]]
2025-10-25T00:17:16.673Z,1761351436.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694026,0.659386,0.289030],[-0.718517,0.609061,0.335823],[0.045400,-0.440743,0.896484]]
2025-10-25T00:17:17.225Z,1761351437.225 [DAT](INFO): DAT read: MF Frequency Band

2025-10-25T00:17:17.226Z,1761351437.226 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-25T00:17:17.226Z,1761351437.226 [DAT](INFO): DAT read: Oct 25 2025 00:17:11 

2025-10-25T00:17:17.498Z,1761351437.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677832,0.674567,0.292409],[-0.732608,0.586241,0.345841],[0.061871,-0.448644,0.891567]]
2025-10-25T00:17:17.916Z,1761351437.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670347,0.683615,0.288626],[-0.738726,0.578035,0.346640],[0.070133,-0.445585,0.892488]]
2025-10-25T00:17:18.233Z,1761351438.233 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-25T00:17:18.234Z,1761351438.234 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-25T00:17:18.235Z,1761351438.235 [DAT](INFO): commRate: 600
2025-10-25T00:17:18.308Z,1761351438.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662874,0.690392,0.289752],[-0.744756,0.568157,0.350051],[0.077048,-0.447835,0.890791]]
2025-10-25T00:17:18.710Z,1761351438.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654937,0.696099,0.294114],[-0.751216,0.557474,0.353408],[0.082046,-0.452403,0.888031]]
2025-10-25T00:17:19.114Z,1761351439.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645651,0.703323,0.297442],[-0.758845,0.547384,0.352881],[0.085374,-0.453550,0.887132]]
2025-10-25T00:17:19.519Z,1761351439.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635354,0.712043,0.298866],[-0.767247,0.538210,0.348801],[0.087509,-0.450916,0.888266]]
2025-10-25T00:17:19.924Z,1761351439.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623790,0.722891,0.297178],[-0.776491,0.529806,0.341127],[0.089151,-0.443547,0.891806]]
2025-10-25T00:17:20.300Z,1761351440.300 [DAT](INFO): entering command mode
2025-10-25T00:17:20.396Z,1761351440.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611975,0.735710,0.290203],[-0.785639,0.523352,0.329961],[0.090877,-0.429922,0.898281]]
2025-10-25T00:17:20.502Z,1761351440.502 [DAT](INFO): DAT read: 

2025-10-25T00:17:20.504Z,1761351440.504 [DAT](INFO): DAT read: user:1>

2025-10-25T00:17:20.506Z,1761351440.506 [DAT](INFO): setting verbose to 3
2025-10-25T00:17:20.753Z,1761351440.753 [DAT](INFO): DAT read: user:1>

2025-10-25T00:17:20.754Z,1761351440.754 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-25T00:17:20.754Z,1761351440.754 [DAT](INFO): set verbose to 3
2025-10-25T00:17:20.754Z,1761351440.754 [DAT](INFO): setting DatVerbose to 27440
2025-10-25T00:17:20.779Z,1761351440.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600340,0.748537,0.281574],[-0.794280,0.516971,0.319156],[0.093334,-0.415251,0.904906]]
2025-10-25T00:17:21.005Z,1761351441.005 [DAT](INFO): DAT read: user:2>

2025-10-25T00:17:21.006Z,1761351441.006 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-25T00:17:21.007Z,1761351441.007 [DAT](INFO): set DatVerbose to 27440
2025-10-25T00:17:21.007Z,1761351441.007 [DAT](INFO): setting transmit power to 8
2025-10-25T00:17:21.223Z,1761351441.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588169,0.761840,0.271399],[-0.802939,0.509972,0.308572],[0.096677,-0.399410,0.911661]]
2025-10-25T00:17:21.257Z,1761351441.257 [DAT](INFO): DAT read: user:3>

2025-10-25T00:17:21.258Z,1761351441.258 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-25T00:17:21.258Z,1761351441.258 [DAT](INFO): set transmit power to 8
2025-10-25T00:17:21.259Z,1761351441.259 [DAT](INFO): setting local address to 11
2025-10-25T00:17:21.509Z,1761351441.509 [DAT](INFO): DAT read: user:4>

2025-10-25T00:17:21.509Z,1761351441.509 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-25T00:17:21.510Z,1761351441.510 [DAT](INFO): set local address to 11
2025-10-25T00:17:21.511Z,1761351441.511 [DAT](INFO): Setting time to: 0:17:21 And date to:10/25/2025
2025-10-25T00:17:21.623Z,1761351441.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574704,0.775048,0.262709],[-0.812068,0.500363,0.300305],[0.101300,-0.385924,0.916952]]
2025-10-25T00:17:21.761Z,1761351441.761 [DAT](INFO): DAT read: user:5>

2025-10-25T00:17:21.762Z,1761351441.762 [DAT](INFO): DAT read: Sat Oct 25, 2025  00:17:21  

2025-10-25T00:17:21.762Z,1761351441.762 [DAT](INFO): Local DAT time set to Sat Oct 25, 2025  00:17:21  

2025-10-25T00:17:21.763Z,1761351441.763 [DAT](INFO): setting remote address to 10
2025-10-25T00:17:21.763Z,1761351441.763 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:17:21.763Z,1761351441.763 [DAT](INFO): setting remote address to 0
2025-10-25T00:17:22.013Z,1761351442.013 [DAT](INFO): DAT read: user:6>

2025-10-25T00:17:22.014Z,1761351442.014 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-25T00:17:22.014Z,1761351442.014 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-25T00:17:22.014Z,1761351442.014 [DAT] Communications Fault, FailCount= 6
2025-10-25T00:17:22.014Z,1761351442.014 [DAT](ERROR): Communications Fault
2025-10-25T00:17:22.015Z,1761351442.015 [DAT](INFO): DAT read: user:7>

2025-10-25T00:17:22.016Z,1761351442.016 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-25T00:17:22.016Z,1761351442.016 [DAT](INFO): set remote address to 0
2025-10-25T00:17:22.017Z,1761351442.017 [DAT](INFO): setting remote address to 10
2025-10-25T00:17:22.017Z,1761351442.017 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:17:22.017Z,1761351442.017 [DAT](INFO): setting remote address to 0
2025-10-25T00:17:22.040Z,1761351442.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559946,0.787425,0.257724],[-0.821630,0.487676,0.295122],[0.106701,-0.377006,0.920044]]
2025-10-25T00:17:22.365Z,1761351442.365 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-25T00:17:22.430Z,1761351442.430 [DAT](INFO): Powering down
2025-10-25T00:17:22.438Z,1761351442.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545680,0.798353,0.254686],[-0.830511,0.474703,0.291390],[0.111732,-0.370525,0.922078]]
2025-10-25T00:17:22.838Z,1761351442.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534306,0.806189,0.254119],[-0.837556,0.464352,0.287884],[0.114088,-0.366657,0.923334]]
2025-10-25T00:17:23.350Z,1761351443.350 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:17:23.350Z,1761351443.350 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:17:23.350Z,1761351443.350 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:17:23.351Z,1761351443.351 [marl:UpdateRudder:A] Stopped
2025-10-25T00:17:23.351Z,1761351443.351 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:17:23.351Z,1761351443.351 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:17:23.351Z,1761351443.351 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:17:23.351Z,1761351443.351 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:17:23.351Z,1761351443.351 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:17:23.351Z,1761351443.351 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:17:23.351Z,1761351443.351 [marl:UpdateCommandMode] Stopped
2025-10-25T00:17:23.351Z,1761351443.351 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:17:23.352Z,1761351443.352 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:17:23.352Z,1761351443.352 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:17:23.352Z,1761351443.352 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:17:23.352Z,1761351443.352 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:17:23.352Z,1761351443.352 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:17:23.352Z,1761351443.352 [marl:UpdateSpeed] Stopped
2025-10-25T00:17:23.353Z,1761351443.353 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:17:23.719Z,1761351443.719 [CBIT](INFO): Clearing failed state for component DAT
2025-10-25T00:17:23.719Z,1761351443.719 [DAT] No Fault, FailCount= 6
2025-10-25T00:17:23.743Z,1761351443.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500611,0.824616,0.263431],[-0.858313,0.433219,0.274993],[0.112640,-0.363771,0.924653]]
2025-10-25T00:17:23.793Z,1761351443.793 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:17:23.793Z,1761351443.793 [marl:UpdateRudder:B] Stopped
2025-10-25T00:17:23.793Z,1761351443.793 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:17:23.793Z,1761351443.793 [marl:UpdateRudder] Stopped
2025-10-25T00:17:23.793Z,1761351443.793 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:17:24.144Z,1761351444.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486739,0.831454,0.267897],[-0.866249,0.419856,0.270800],[0.112680,-0.363874,0.924607]]
2025-10-25T00:17:24.624Z,1761351444.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472384,0.837652,0.274212],[-0.874069,0.405188,0.268003],[0.113386,-0.366280,0.923570]]
2025-10-25T00:17:25.050Z,1761351445.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458735,0.843496,0.279423],[-0.881058,0.390969,0.266233],[0.115321,-0.368318,0.922520]]
2025-10-25T00:17:25.453Z,1761351445.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446570,0.848864,0.282850],[-0.886889,0.378140,0.265400],[0.118332,-0.369377,0.921715]]
2025-10-25T00:17:25.484Z,1761351445.484 [DAT](INFO): Powering up
2025-10-25T00:17:25.484Z,1761351445.484 [DAT](DEBUG): Initializing DAT.
2025-10-25T00:17:25.900Z,1761351445.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436742,0.852465,0.287331],[-0.891344,0.366933,0.266207],[0.121501,-0.372375,0.920095]]
2025-10-25T00:17:26.260Z,1761351446.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428440,0.856035,0.289212],[-0.894888,0.357734,0.266838],[0.124962,-0.373137,0.919322]]
2025-10-25T00:17:27.071Z,1761351447.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413800,0.861286,0.294882],[-0.901265,0.341886,0.266148],[0.128414,-0.375899,0.917720]]
2025-10-25T00:17:27.481Z,1761351447.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404724,0.863425,0.301157],[-0.905384,0.332132,0.264513],[0.128363,-0.379718,0.916153]]
2025-10-25T00:17:27.906Z,1761351447.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392942,0.865955,0.309384],[-0.910636,0.319674,0.261823],[0.127825,-0.384617,0.914183]]
2025-10-25T00:17:28.375Z,1761351448.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378101,0.870168,0.315985],[-0.917027,0.305258,0.256668],[0.126888,-0.386814,0.913386]]
2025-10-25T00:17:28.798Z,1761351448.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361900,0.875153,0.321147],[-0.923717,0.290234,0.250022],[0.125600,-0.387132,0.913429]]
2025-10-25T00:17:29.200Z,1761351449.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345654,0.879534,0.327022],[-0.930081,0.274928,0.243646],[0.124387,-0.388374,0.913068]]
2025-10-25T00:17:29.556Z,1761351449.556 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:17:29.602Z,1761351449.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330782,0.884278,0.329598],[-0.935611,0.261641,0.237014],[0.123350,-0.386776,0.913887]]
2025-10-25T00:17:30.007Z,1761351450.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317636,0.887842,0.332933],[-0.940293,0.249643,0.231360],[0.122296,-0.386543,0.914127]]
2025-10-25T00:17:30.410Z,1761351450.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306271,0.890228,0.337183],[-0.944288,0.239276,0.225982],[0.120495,-0.387609,0.913915]]
2025-10-25T00:17:30.560Z,1761351450.560 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:17:30.815Z,1761351450.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296316,0.891632,0.342329],[-0.947808,0.230342,0.220461],[0.117718,-0.389788,0.913350]]
2025-10-25T00:17:31.220Z,1761351451.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286753,0.892407,0.348399],[-0.951201,0.221957,0.214365],[0.113971,-0.392868,0.912505]]
2025-10-25T00:17:31.700Z,1761351451.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276248,0.893651,0.353660],[-0.954818,0.213231,0.207015],[0.109588,-0.394868,0.912179]]
2025-10-25T00:17:32.098Z,1761351452.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263554,0.896272,0.356702],[-0.958908,0.203150,0.198054],[0.105047,-0.394242,0.912983]]
2025-10-25T00:17:32.947Z,1761351452.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213976,0.907751,0.360837],[-0.972627,0.163720,0.164900],[0.090612,-0.386244,0.917935]]
2025-10-25T00:17:33.361Z,1761351453.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195594,0.913024,0.357952],[-0.976854,0.149157,0.153326],[0.086599,-0.379656,0.921066]]
2025-10-25T00:17:33.754Z,1761351453.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177447,0.916688,0.358043],[-0.980633,0.134053,0.142792],[0.082899,-0.376447,0.922722]]
2025-10-25T00:17:34.159Z,1761351454.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161737,0.919206,0.359030],[-0.983633,0.120886,0.133611],[0.079415,-0.374764,0.923713]]
2025-10-25T00:17:34.564Z,1761351454.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147296,0.921394,0.359635],[-0.986149,0.108778,0.125207],[0.076244,-0.373097,0.924654]]
2025-10-25T00:17:34.966Z,1761351454.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134094,0.923639,0.359039],[-0.988263,0.097888,0.117276],[0.073175,-0.370551,0.925925]]
2025-10-25T00:17:35.371Z,1761351455.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121168,0.925536,0.358749],[-0.990157,0.087190,0.109486],[0.070054,-0.368484,0.926991]]
2025-10-25T00:17:35.775Z,1761351455.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107939,0.927247,0.358556],[-0.991899,0.076151,0.101668],[0.066967,-0.366625,0.927956]]
2025-10-25T00:17:36.180Z,1761351456.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093554,0.928858,0.358428],[-0.993549,0.063927,0.093664],[0.064087,-0.364879,0.928847]]
2025-10-25T00:17:36.243Z,1761351456.243 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:17:36.248Z,1761351456.248 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:17:36.248Z,1761351456.248 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:17:36.248Z,1761351456.248 [marl:UpdateRudder:A] Stopped
2025-10-25T00:17:36.248Z,1761351456.248 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:17:36.249Z,1761351456.249 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:17:36.249Z,1761351456.249 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:17:36.249Z,1761351456.249 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:17:36.249Z,1761351456.249 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:17:36.249Z,1761351456.249 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:17:36.249Z,1761351456.249 [marl:UpdateCommandMode] Stopped
2025-10-25T00:17:36.249Z,1761351456.249 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:17:36.249Z,1761351456.249 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:17:36.250Z,1761351456.250 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:17:36.250Z,1761351456.250 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:17:36.250Z,1761351456.250 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:17:36.250Z,1761351456.250 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:17:36.250Z,1761351456.250 [marl:UpdateSpeed] Stopped
2025-10-25T00:17:36.250Z,1761351456.250 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:17:36.614Z,1761351456.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078173,0.930356,0.358227],[-0.995047,0.050681,0.085518],[0.061407,-0.363137,0.929710]]
2025-10-25T00:17:36.721Z,1761351456.721 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:17:36.721Z,1761351456.721 [marl:UpdateRudder:B] Stopped
2025-10-25T00:17:36.721Z,1761351456.721 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:17:36.721Z,1761351456.721 [marl:UpdateRudder] Stopped
2025-10-25T00:17:36.721Z,1761351456.721 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:17:36.986Z,1761351456.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061436,0.931568,0.358340],[-0.996379,0.036098,0.076981],[0.058777,-0.361772,0.930412]]
2025-10-25T00:17:37.395Z,1761351457.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043828,0.931665,0.360666],[-0.997471,0.020586,0.068034],[0.055960,-0.362736,0.930210]]
2025-10-25T00:17:37.597Z,1761351457.597 [DAT](INFO): DAT read: 

2025-10-25T00:17:37.598Z,1761351457.598 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-25T00:17:37.800Z,1761351457.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025104,0.931928,0.361774],[-0.998262,0.004071,0.058784],[0.053309,-0.362621,0.930411]]
2025-10-25T00:17:38.198Z,1761351458.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005143,0.931921,0.362625],[-0.998686,-0.013703,0.049381],[0.050989,-0.362402,0.930626]]
2025-10-25T00:17:38.603Z,1761351458.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015816,0.930998,0.364682],[-0.998680,-0.032532,0.039738],[0.048860,-0.363572,0.930284]]
2025-10-25T00:17:39.008Z,1761351459.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037120,0.929804,0.366178],[-0.998205,-0.051733,0.030171],[0.046996,-0.364401,0.930055]]
2025-10-25T00:17:39.362Z,1761351459.362 [DAT](INFO): DAT read: MF Frequency Band

2025-10-25T00:17:39.363Z,1761351459.363 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-25T00:17:39.364Z,1761351459.364 [DAT](INFO): DAT read: Oct 25 2025 00:17:33 

2025-10-25T00:17:39.419Z,1761351459.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057864,0.927240,0.369969],[-0.997297,-0.070499,0.020710],[0.045286,-0.367771,0.928813]]
2025-10-25T00:17:39.470Z,1761351459.470 [marl:SendObservationData] Running Loop=1
2025-10-25T00:17:39.470Z,1761351459.470 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-25T00:17:39.470Z,1761351459.470 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-25T00:17:39.471Z,1761351459.471 [marl:SendObservationData:A] Running Loop=1
2025-10-25T00:17:39.476Z,1761351459.476 [marl:SendObservationData:A](INFO): Got test_good :  41da3f05a000000040514000000000004042632e4ea368dec05e7760fccacfdc40301196c000000040909599a0000000 n/a str  and temp var is  nan n/a str 
2025-10-25T00:17:39.476Z,1761351459.476 [marl:SendObservationData:A] Stopped
2025-10-25T00:17:39.477Z,1761351459.477 [marl:SendObservationData:B] Running Loop=1
2025-10-25T00:17:39.827Z,1761351459.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077933,0.924385,0.373416],[-0.995997,-0.088636,0.011551],[0.043775,-0.371021,0.927592]]
2025-10-25T00:17:39.957Z,1761351459.957 [marl:SendObservationData:B] Stopped
2025-10-25T00:17:39.957Z,1761351459.957 [marl:SendObservationData:C] Running Loop=1
2025-10-25T00:17:40.221Z,1761351460.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095869,0.920733,0.378232],[-0.994516,-0.104559,0.002452],[0.041805,-0.375923,0.925708]]
2025-10-25T00:17:40.285Z,1761351460.285 [marl:SendObservationData:C] Stopped
2025-10-25T00:17:40.285Z,1761351460.285 [marl:SendObservationData:E] Running Loop=1
2025-10-25T00:17:40.369Z,1761351460.369 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-25T00:17:40.370Z,1761351460.370 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-25T00:17:40.371Z,1761351460.371 [DAT](INFO): commRate: 600
2025-10-25T00:17:40.628Z,1761351460.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111981,0.918208,0.379939],[-0.992925,-0.118589,-0.006053],[0.039498,-0.377929,0.924992]]
2025-10-25T00:17:40.703Z,1761351460.703 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.014559 min 
2025-10-25T00:17:40.708Z,1761351460.708 [marl:SendObservationData:E] Stopped
2025-10-25T00:17:40.708Z,1761351460.708 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-25T00:17:40.709Z,1761351460.709 [marl:SendObservationData] Stopped
2025-10-25T00:17:40.709Z,1761351460.709 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-25T00:17:40.709Z,1761351460.709 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-25T00:17:41.026Z,1761351461.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126060,0.915124,0.382957],[-0.991339,-0.130541,-0.014380],[0.036832,-0.381453,0.923654]]
2025-10-25T00:17:41.432Z,1761351461.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138687,0.911835,0.386422],[-0.989760,-0.140929,-0.022675],[0.033782,-0.385610,0.922043]]
2025-10-25T00:17:41.894Z,1761351461.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150032,0.909081,0.388668],[-0.988224,-0.149842,-0.030996],[0.030061,-0.388741,0.920856]]
2025-10-25T00:17:42.241Z,1761351462.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160943,0.907543,0.387895],[-0.986623,-0.158271,-0.039063],[0.025941,-0.388993,0.920875]]
2025-10-25T00:17:42.440Z,1761351462.440 [DAT](INFO): entering command mode
2025-10-25T00:17:42.640Z,1761351462.640 [DAT](INFO): DAT read: 

2025-10-25T00:17:42.641Z,1761351462.641 [DAT](INFO): DAT read: user:1>

2025-10-25T00:17:42.642Z,1761351462.642 [DAT](INFO): setting verbose to 3
2025-10-25T00:17:42.667Z,1761351462.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172083,0.907041,0.384271],[-0.984848,-0.166928,-0.047012],[0.021503,-0.386538,0.922023]]
2025-10-25T00:17:42.893Z,1761351462.893 [DAT](INFO): DAT read: user:1>

2025-10-25T00:17:42.894Z,1761351462.894 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-25T00:17:42.895Z,1761351462.895 [DAT](INFO): set verbose to 3
2025-10-25T00:17:42.895Z,1761351462.895 [DAT](INFO): setting DatVerbose to 27440
2025-10-25T00:17:43.047Z,1761351463.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183900,0.906243,0.380664],[-0.982789,-0.176429,-0.054768],[0.017527,-0.384184,0.923090]]
2025-10-25T00:17:43.145Z,1761351463.145 [DAT](INFO): DAT read: user:2>

2025-10-25T00:17:43.146Z,1761351463.146 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-25T00:17:43.146Z,1761351463.146 [DAT](INFO): set DatVerbose to 27440
2025-10-25T00:17:43.146Z,1761351463.146 [DAT](INFO): setting transmit power to 8
2025-10-25T00:17:43.397Z,1761351463.397 [DAT](INFO): DAT read: user:3>

2025-10-25T00:17:43.397Z,1761351463.397 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-25T00:17:43.398Z,1761351463.398 [DAT](INFO): set transmit power to 8
2025-10-25T00:17:43.398Z,1761351463.398 [DAT](INFO): setting local address to 11
2025-10-25T00:17:43.471Z,1761351463.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197569,0.905854,0.374693],[-0.980181,-0.188220,-0.061793],[0.014549,-0.379475,0.925087]]
2025-10-25T00:17:43.649Z,1761351463.649 [DAT](INFO): DAT read: user:4>

2025-10-25T00:17:43.651Z,1761351463.651 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-25T00:17:43.651Z,1761351463.651 [DAT](INFO): set local address to 11
2025-10-25T00:17:43.652Z,1761351463.652 [DAT](INFO): Setting time to: 0:17:43 And date to:10/25/2025
2025-10-25T00:17:43.901Z,1761351463.901 [DAT](INFO): DAT read: user:5>

2025-10-25T00:17:43.902Z,1761351463.902 [DAT](INFO): DAT read: Sat Oct 25, 2025  00:17:43  

2025-10-25T00:17:43.902Z,1761351463.902 [DAT](INFO): Local DAT time set to Sat Oct 25, 2025  00:17:43  

2025-10-25T00:17:43.903Z,1761351463.903 [DAT](INFO): setting remote address to 10
2025-10-25T00:17:43.903Z,1761351463.903 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:17:43.903Z,1761351463.903 [DAT](INFO): setting remote address to 0
2025-10-25T00:17:43.934Z,1761351463.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212908,0.904829,0.368720],[-0.976999,-0.201775,-0.068994],[0.011971,-0.374928,0.926977]]
2025-10-25T00:17:44.153Z,1761351464.153 [DAT](INFO): DAT read: user:6>

2025-10-25T00:17:44.154Z,1761351464.154 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-25T00:17:44.154Z,1761351464.154 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-25T00:17:44.154Z,1761351464.154 [DAT] Communications Fault, FailCount= 7
2025-10-25T00:17:44.154Z,1761351464.154 [DAT](ERROR): Communications Fault
2025-10-25T00:17:44.155Z,1761351464.155 [DAT](INFO): DAT read: user:7>

2025-10-25T00:17:44.156Z,1761351464.156 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-25T00:17:44.157Z,1761351464.157 [DAT](INFO): set remote address to 0
2025-10-25T00:17:44.157Z,1761351464.157 [DAT](INFO): setting remote address to 10
2025-10-25T00:17:44.158Z,1761351464.158 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:17:44.159Z,1761351464.159 [DAT](INFO): setting remote address to 0
2025-10-25T00:17:44.247Z,1761351464.247 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-25T00:17:44.282Z,1761351464.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227818,0.903936,0.361938],[-0.973653,-0.215294,-0.075161],[0.009982,-0.369525,0.929167]]
2025-10-25T00:17:44.565Z,1761351464.565 [DAT](INFO): Powering down
2025-10-25T00:17:44.693Z,1761351464.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243986,0.902794,0.354166],[-0.969743,-0.230284,-0.081046],[0.008391,-0.363224,0.931664]]
2025-10-25T00:17:45.087Z,1761351465.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260696,0.900623,0.347730],[-0.965397,-0.245755,-0.087257],[0.006871,-0.358445,0.933526]]
2025-10-25T00:17:45.491Z,1761351465.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278177,0.898142,0.340527],[-0.960516,-0.262027,-0.093550],[0.005206,-0.353105,0.935569]]
2025-10-25T00:17:45.767Z,1761351465.767 [CBIT](INFO): Clearing failed state for component DAT
2025-10-25T00:17:45.767Z,1761351465.767 [DAT] No Fault, FailCount= 7
2025-10-25T00:17:45.915Z,1761351465.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296357,0.894246,0.335406],[-0.955071,-0.278749,-0.100690],[0.003453,-0.350177,0.936677]]
2025-10-25T00:17:46.309Z,1761351466.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315625,0.889163,0.331315],[-0.948882,-0.296374,-0.108558],[0.001668,-0.348643,0.937254]]
2025-10-25T00:17:46.703Z,1761351466.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335538,0.883410,0.327111],[-0.942027,-0.314455,-0.117065],[-0.000555,-0.347427,0.937707]]
2025-10-25T00:17:47.106Z,1761351467.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356245,0.876528,0.323709],[-0.934388,-0.333129,-0.126268],[-0.002841,-0.347452,0.937693]]
2025-10-25T00:17:47.510Z,1761351467.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377008,0.868604,0.321547],[-0.926196,-0.351657,-0.136006],[-0.005061,-0.349091,0.937075]]
2025-10-25T00:17:47.612Z,1761351467.612 [DAT](INFO): Powering up
2025-10-25T00:17:47.612Z,1761351467.612 [DAT](DEBUG): Initializing DAT.
2025-10-25T00:17:47.921Z,1761351467.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396794,0.860671,0.319063],[-0.917878,-0.369230,-0.145496],[-0.007417,-0.350592,0.936499]]
2025-10-25T00:17:48.322Z,1761351468.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415069,0.852366,0.318105],[-0.909737,-0.385093,-0.155182],[-0.009772,-0.353803,0.935269]]
2025-10-25T00:17:48.722Z,1761351468.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431026,0.844828,0.316988],[-0.902253,-0.398654,-0.164362],[-0.012489,-0.356848,0.934079]]
2025-10-25T00:17:48.768Z,1761351468.768 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:17:48.768Z,1761351468.768 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:17:48.768Z,1761351468.768 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:17:48.769Z,1761351468.769 [marl:UpdateRudder:A] Stopped
2025-10-25T00:17:48.769Z,1761351468.769 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:17:48.769Z,1761351468.769 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:17:48.769Z,1761351468.769 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:17:48.769Z,1761351468.769 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:17:48.769Z,1761351468.769 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:17:48.769Z,1761351468.769 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:17:48.769Z,1761351468.769 [marl:UpdateCommandMode] Stopped
2025-10-25T00:17:48.770Z,1761351468.770 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:17:48.770Z,1761351468.770 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:17:48.770Z,1761351468.770 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:17:48.770Z,1761351468.770 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:17:48.770Z,1761351468.770 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:17:48.770Z,1761351468.770 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:17:48.770Z,1761351468.770 [marl:UpdateSpeed] Stopped
2025-10-25T00:17:48.770Z,1761351468.770 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:17:49.129Z,1761351469.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444861,0.838202,0.315463],[-0.895472,-0.410343,-0.172479],[-0.015124,-0.359217,0.933131]]
2025-10-25T00:17:49.153Z,1761351469.153 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:17:49.153Z,1761351469.153 [marl:UpdateRudder:B] Stopped
2025-10-25T00:17:49.153Z,1761351469.153 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:17:49.153Z,1761351469.153 [marl:UpdateRudder] Stopped
2025-10-25T00:17:49.153Z,1761351469.153 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:17:49.530Z,1761351469.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457719,0.832118,0.313166],[-0.888913,-0.421145,-0.180195],[-0.018055,-0.360856,0.932447]]
2025-10-25T00:17:49.935Z,1761351469.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470966,0.826084,0.309477],[-0.881901,-0.432536,-0.187520],[-0.021047,-0.361244,0.932234]]
2025-10-25T00:17:50.339Z,1761351470.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486040,0.819550,0.303485],[-0.873600,-0.445990,-0.194719],[-0.024230,-0.359766,0.932728]]
2025-10-25T00:17:50.747Z,1761351470.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502159,0.812745,0.295435],[-0.864330,-0.460747,-0.201606],[-0.027733,-0.356592,0.933848]]
2025-10-25T00:17:51.147Z,1761351471.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518986,0.805578,0.285829],[-0.854205,-0.476488,-0.208067],[-0.031420,-0.352141,0.935419]]
2025-10-25T00:17:51.550Z,1761351471.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536610,0.797303,0.276329],[-0.843111,-0.493075,-0.214570],[-0.034826,-0.348117,0.936804]]
2025-10-25T00:17:51.954Z,1761351471.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554294,0.788124,0.267618],[-0.831447,-0.509581,-0.221410],[-0.038126,-0.345237,0.937741]]
2025-10-25T00:17:52.360Z,1761351472.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570588,0.778268,0.262161],[-0.820202,-0.524032,-0.229478],[-0.041214,-0.345963,0.937343]]
2025-10-25T00:17:52.762Z,1761351472.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584688,0.768803,0.259003],[-0.810058,-0.535911,-0.237918],[-0.044110,-0.348916,0.936116]]
2025-10-25T00:17:53.167Z,1761351473.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595569,0.760575,0.258502],[-0.801942,-0.544203,-0.246440],[-0.046758,-0.354076,0.934047]]
2025-10-25T00:17:53.571Z,1761351473.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604956,0.753356,0.257843],[-0.794730,-0.551206,-0.254119],[-0.049317,-0.358646,0.932170]]
2025-10-25T00:17:53.985Z,1761351473.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613043,0.747646,0.255351],[-0.788345,-0.557664,-0.259852],[-0.051877,-0.360605,0.931275]]
2025-10-25T00:17:54.378Z,1761351474.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620822,0.742433,0.251740],[-0.782051,-0.564167,-0.264787],[-0.054563,-0.361259,0.930868]]
2025-10-25T00:17:54.791Z,1761351474.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629572,0.736787,0.246545],[-0.774838,-0.572078,-0.268984],[-0.057141,-0.360378,0.931055]]
2025-10-25T00:17:55.188Z,1761351475.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639890,0.730545,0.238420],[-0.766166,-0.582506,-0.271436],[-0.059415,-0.356358,0.932459]]
2025-10-25T00:17:55.592Z,1761351475.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652271,0.722208,0.230127],[-0.755481,-0.594767,-0.274775],[-0.061573,-0.353084,0.933563]]
2025-10-25T00:17:55.994Z,1761351475.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665402,0.713291,0.220124],[-0.743758,-0.608313,-0.277090],[-0.063741,-0.348096,0.935290]]
2025-10-25T00:17:56.398Z,1761351476.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679205,0.703280,0.209945],[-0.731000,-0.622595,-0.279311],[-0.065723,-0.343179,0.936968]]
2025-10-25T00:17:56.803Z,1761351476.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692568,0.692546,0.201817],[-0.718167,-0.635710,-0.283034],[-0.067717,-0.340958,0.937636]]
2025-10-25T00:17:57.210Z,1761351477.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704956,0.681603,0.196097],[-0.705848,-0.647174,-0.288000],[-0.069393,-0.341442,0.937338]]
2025-10-25T00:17:58.014Z,1761351478.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728060,0.659742,0.186198],[-0.681611,-0.667761,-0.299169],[-0.073039,-0.344727,0.935857]]
2025-10-25T00:17:58.418Z,1761351478.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739751,0.648371,0.179956],[-0.668749,-0.678836,-0.303243],[-0.074453,-0.344669,0.935767]]
2025-10-25T00:17:58.824Z,1761351478.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751225,0.636657,0.174152],[-0.655655,-0.689400,-0.307968],[-0.076010,-0.345537,0.935322]]
2025-10-25T00:17:59.226Z,1761351479.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762685,0.624936,0.166632],[-0.642086,-0.700647,-0.311158],[-0.077704,-0.344308,0.935636]]
2025-10-25T00:17:59.630Z,1761351479.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773596,0.613060,0.160335],[-0.628723,-0.710984,-0.314975],[-0.079103,-0.344469,0.935459]]
2025-10-25T00:17:59.713Z,1761351479.713 [DAT](INFO): DAT read: 

2025-10-25T00:17:59.714Z,1761351479.714 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-25T00:18:00.440Z,1761351480.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794027,0.589327,0.149042],[-0.602410,-0.730038,-0.322718],[-0.081380,-0.346032,0.934687]]
2025-10-25T00:18:00.681Z,1761351480.681 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:18:00.842Z,1761351480.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802713,0.578145,0.146286],[-0.590691,-0.737027,-0.328444],[-0.082072,-0.350056,0.933126]]
2025-10-25T00:18:01.253Z,1761351481.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811093,0.567083,0.143335],[-0.579036,-0.743794,-0.333898],[-0.082736,-0.353818,0.931648]]
2025-10-25T00:18:01.295Z,1761351481.295 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:18:01.295Z,1761351481.295 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:18:01.295Z,1761351481.295 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:18:01.295Z,1761351481.295 [marl:UpdateRudder:A] Stopped
2025-10-25T00:18:01.295Z,1761351481.295 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:18:01.295Z,1761351481.295 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:18:01.295Z,1761351481.295 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:18:01.295Z,1761351481.295 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:18:01.296Z,1761351481.296 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:18:01.296Z,1761351481.296 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:18:01.296Z,1761351481.296 [marl:UpdateCommandMode] Stopped
2025-10-25T00:18:01.296Z,1761351481.296 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:18:01.296Z,1761351481.296 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:18:01.297Z,1761351481.297 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:18:01.297Z,1761351481.297 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:18:01.297Z,1761351481.297 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:18:01.297Z,1761351481.297 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:18:01.297Z,1761351481.297 [marl:UpdateSpeed] Stopped
2025-10-25T00:18:01.297Z,1761351481.297 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:18:01.477Z,1761351481.477 [DAT](INFO): DAT read: MF Frequency Band

2025-10-25T00:18:01.478Z,1761351481.478 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-25T00:18:01.479Z,1761351481.479 [DAT](INFO): DAT read: Oct 25 2025 00:17:55 

2025-10-25T00:18:01.659Z,1761351481.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818800,0.556509,0.140941],[-0.567983,-0.749630,-0.339778],[-0.083436,-0.358263,0.929885]]
2025-10-25T00:18:01.684Z,1761351481.684 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:18:01.718Z,1761351481.718 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:18:01.718Z,1761351481.718 [marl:UpdateRudder:B] Stopped
2025-10-25T00:18:01.719Z,1761351481.719 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:18:01.719Z,1761351481.719 [marl:UpdateRudder] Stopped
2025-10-25T00:18:01.719Z,1761351481.719 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:18:02.056Z,1761351482.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826277,0.546037,0.138238],[-0.556984,-0.755528,-0.344885],[-0.083877,-0.361967,0.928409]]
2025-10-25T00:18:02.459Z,1761351482.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833788,0.535332,0.134970],[-0.545615,-0.761696,-0.349460],[-0.084271,-0.365018,0.927179]]
2025-10-25T00:18:02.485Z,1761351482.485 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-25T00:18:02.486Z,1761351482.486 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-25T00:18:02.486Z,1761351482.486 [DAT](INFO): commRate: 600
2025-10-25T00:18:02.863Z,1761351482.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841245,0.524587,0.130822],[-0.534014,-0.768417,-0.352654],[-0.084472,-0.366529,0.926564]]
2025-10-25T00:18:03.273Z,1761351483.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848577,0.513762,0.126355],[-0.522253,-0.775184,-0.355444],[-0.084666,-0.367611,0.926118]]
2025-10-25T00:18:03.782Z,1761351483.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862757,0.491802,0.117395],[-0.498508,-0.788577,-0.360051],[-0.084498,-0.369159,0.925517]]
2025-10-25T00:18:04.120Z,1761351484.120 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:18:04.120Z,1761351484.120 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:18:04.178Z,1761351484.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869840,0.480233,0.112934],[-0.486100,-0.795269,-0.362289],[-0.084170,-0.370031,0.925199]]
2025-10-25T00:18:04.552Z,1761351484.552 [DAT](INFO): entering command mode
2025-10-25T00:18:04.643Z,1761351484.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877092,0.467922,0.108438],[-0.473001,-0.802157,-0.364437],[-0.083543,-0.370936,0.924893]]
2025-10-25T00:18:04.753Z,1761351484.753 [DAT](INFO): DAT read: 

2025-10-25T00:18:04.754Z,1761351484.754 [DAT](INFO): DAT read: user:1>

2025-10-25T00:18:04.755Z,1761351484.755 [DAT](INFO): setting verbose to 3
2025-10-25T00:18:05.005Z,1761351485.005 [DAT](INFO): DAT read: user:1>

2025-10-25T00:18:05.006Z,1761351485.006 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-25T00:18:05.006Z,1761351485.006 [DAT](INFO): set verbose to 3
2025-10-25T00:18:05.006Z,1761351485.006 [DAT](INFO): setting DatVerbose to 27440
2025-10-25T00:18:05.073Z,1761351485.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884473,0.454812,0.104177],[-0.459203,-0.808924,-0.367117],[-0.082698,-0.372543,0.924323]]
2025-10-25T00:18:05.161Z,1761351485.161 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-25T00:18:05.258Z,1761351485.258 [DAT](INFO): DAT read: user:2>

2025-10-25T00:18:05.259Z,1761351485.259 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-25T00:18:05.259Z,1761351485.259 [DAT](INFO): set DatVerbose to 27440
2025-10-25T00:18:05.259Z,1761351485.259 [DAT](INFO): setting transmit power to 8
2025-10-25T00:18:05.450Z,1761351485.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891988,0.440893,0.099853],[-0.444590,-0.815600,-0.370319],[-0.081831,-0.374714,0.923522]]
2025-10-25T00:18:05.509Z,1761351485.509 [DAT](INFO): DAT read: user:3>

2025-10-25T00:18:05.510Z,1761351485.510 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-25T00:18:05.510Z,1761351485.510 [DAT](INFO): set transmit power to 8
2025-10-25T00:18:05.510Z,1761351485.510 [DAT](INFO): setting local address to 11
2025-10-25T00:18:05.761Z,1761351485.761 [DAT](INFO): DAT read: user:4>

2025-10-25T00:18:05.761Z,1761351485.761 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-25T00:18:05.762Z,1761351485.762 [DAT](INFO): set local address to 11
2025-10-25T00:18:05.763Z,1761351485.763 [DAT](INFO): Setting time to: 0:18:5 And date to:10/25/2025
2025-10-25T00:18:06.013Z,1761351486.013 [DAT](INFO): DAT read: user:5>

2025-10-25T00:18:06.014Z,1761351486.014 [DAT](INFO): DAT read: Sat Oct 25, 2025  00:18:05  

2025-10-25T00:18:06.014Z,1761351486.014 [DAT](INFO): Local DAT time set to Sat Oct 25, 2025  00:18:05  

2025-10-25T00:18:06.015Z,1761351486.015 [DAT](INFO): setting remote address to 10
2025-10-25T00:18:06.015Z,1761351486.015 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:18:06.015Z,1761351486.015 [DAT](INFO): setting remote address to 0
2025-10-25T00:18:06.261Z,1761351486.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906806,0.411870,0.089810],[-0.413825,-0.829159,-0.375826],[-0.080324,-0.377967,0.922328]]
2025-10-25T00:18:06.265Z,1761351486.265 [DAT](INFO): DAT read: user:6>

2025-10-25T00:18:06.266Z,1761351486.266 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-25T00:18:06.266Z,1761351486.266 [DAT](ERROR): failed to set remote address to 0, device returned 10 instead.
2025-10-25T00:18:06.266Z,1761351486.266 [DAT] Communications Fault, FailCount= 8
2025-10-25T00:18:06.266Z,1761351486.266 [DAT](ERROR): Communications Fault
2025-10-25T00:18:06.267Z,1761351486.267 [DAT](INFO): DAT read: user:7>

2025-10-25T00:18:06.268Z,1761351486.268 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-25T00:18:06.269Z,1761351486.269 [DAT](INFO): set remote address to 0
2025-10-25T00:18:06.269Z,1761351486.269 [DAT](INFO): setting remote address to 10
2025-10-25T00:18:06.271Z,1761351486.271 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:18:06.272Z,1761351486.272 [DAT](INFO): setting remote address to 0
2025-10-25T00:18:06.603Z,1761351486.603 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-25T00:18:06.609Z,1761351486.609 [CBIT](FAULT): Communications Fault in component: DAT
2025-10-25T00:18:06.677Z,1761351486.677 [DAT](INFO): Powering down
2025-10-25T00:18:06.687Z,1761351486.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913593,0.397806,0.084252],[-0.398582,-0.835061,-0.379216],[-0.080499,-0.380031,0.921464]]
2025-10-25T00:18:07.063Z,1761351487.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920104,0.383733,0.078470],[-0.383294,-0.840942,-0.381973],[-0.080587,-0.381532,0.920836]]
2025-10-25T00:18:07.467Z,1761351487.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926296,0.369727,0.072647],[-0.367975,-0.846158,-0.385501],[-0.081059,-0.383820,0.919843]]
2025-10-25T00:18:07.902Z,1761351487.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931783,0.356712,0.067356],[-0.353767,-0.850661,-0.388876],[-0.081419,-0.386176,0.918825]]
2025-10-25T00:18:08.277Z,1761351488.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936955,0.343941,0.061801],[-0.339772,-0.855317,-0.391136],[-0.081668,-0.387475,0.918256]]
2025-10-25T00:18:08.685Z,1761351488.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941901,0.331106,0.056497],[-0.325801,-0.859670,-0.393473],[-0.081713,-0.389019,0.917599]]
2025-10-25T00:18:09.083Z,1761351489.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946777,0.317828,0.050973],[-0.311463,-0.864573,-0.394339],[-0.081262,-0.389228,0.917550]]
2025-10-25T00:18:09.487Z,1761351489.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951614,0.303870,0.045753],[-0.296539,-0.869021,-0.396065],[-0.080591,-0.390469,0.917082]]
2025-10-25T00:18:09.907Z,1761351489.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956241,0.289787,0.040329],[-0.281443,-0.873393,-0.397460],[-0.079955,-0.391418,0.916733]]
2025-10-25T00:18:10.297Z,1761351490.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961029,0.274382,0.033718],[-0.264782,-0.878555,-0.397532],[-0.079452,-0.390968,0.916969]]
2025-10-25T00:18:10.699Z,1761351490.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965607,0.258653,0.026476],[-0.247605,-0.883709,-0.397178],[-0.079334,-0.390073,0.917360]]
2025-10-25T00:18:11.157Z,1761351491.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970049,0.242227,0.018181],[-0.229475,-0.889287,-0.395614],[-0.079661,-0.387937,0.918237]]
2025-10-25T00:18:11.555Z,1761351491.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974195,0.225491,0.009864],[-0.210923,-0.893961,-0.395406],[-0.080343,-0.387283,0.918454]]
2025-10-25T00:18:11.961Z,1761351491.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978124,0.208020,0.001070],[-0.191602,-0.898900,-0.394041],[-0.081006,-0.385626,0.919092]]
2025-10-25T00:18:12.382Z,1761351492.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981778,0.189877,-0.007665],[-0.171770,-0.903963,-0.391595],[-0.081284,-0.383142,0.920106]]
2025-10-25T00:18:12.778Z,1761351492.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985080,0.171340,-0.016122],[-0.151575,-0.908164,-0.390210],[-0.081500,-0.381944,0.920585]]
2025-10-25T00:18:13.182Z,1761351493.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987948,0.152850,-0.024415],[-0.131526,-0.912133,-0.388219],[-0.081609,-0.380329,0.921244]]
2025-10-25T00:18:13.587Z,1761351493.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990401,0.134440,-0.032135],[-0.111708,-0.915384,-0.386772],[-0.081413,-0.379470,0.921615]]
2025-10-25T00:18:13.993Z,1761351493.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992409,0.116489,-0.039424],[-0.092447,-0.918058,-0.385518],[-0.081102,-0.378947,0.921858]]
2025-10-25T00:18:14.119Z,1761351494.119 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:18:14.119Z,1761351494.119 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:18:14.119Z,1761351494.119 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:18:14.119Z,1761351494.119 [marl:UpdateRudder:A] Stopped
2025-10-25T00:18:14.120Z,1761351494.120 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:18:14.120Z,1761351494.120 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:18:14.120Z,1761351494.120 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:18:14.120Z,1761351494.120 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:18:14.120Z,1761351494.120 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:18:14.121Z,1761351494.121 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:18:14.121Z,1761351494.121 [marl:UpdateCommandMode] Stopped
2025-10-25T00:18:14.121Z,1761351494.121 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:18:14.121Z,1761351494.121 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:18:14.121Z,1761351494.121 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:18:14.121Z,1761351494.121 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:18:14.121Z,1761351494.121 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:18:14.121Z,1761351494.121 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:18:14.121Z,1761351494.121 [marl:UpdateSpeed] Stopped
2025-10-25T00:18:14.122Z,1761351494.122 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:18:14.395Z,1761351494.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993958,0.099644,-0.046019],[-0.074428,-0.920066,-0.384628],[-0.080666,-0.378880,0.921924]]
2025-10-25T00:18:14.471Z,1761351494.471 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:18:14.471Z,1761351494.471 [marl:UpdateRudder:B] Stopped
2025-10-25T00:18:14.471Z,1761351494.471 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:18:14.471Z,1761351494.471 [marl:UpdateRudder] Stopped
2025-10-25T00:18:14.471Z,1761351494.471 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:18:14.799Z,1761351494.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995081,0.084353,-0.051950],[-0.058024,-0.921294,-0.384514],[-0.080296,-0.379608,0.921656]]
2025-10-25T00:18:15.207Z,1761351495.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995872,0.070543,-0.057121],[-0.043308,-0.922322,-0.383987],[-0.079771,-0.379928,0.921570]]
2025-10-25T00:18:15.608Z,1761351495.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996376,0.058781,-0.061476],[-0.030739,-0.922769,-0.384126],[-0.079307,-0.380844,0.921232]]
2025-10-25T00:18:16.010Z,1761351496.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996643,0.049887,-0.064909],[-0.021582,-0.924939,-0.379502],[-0.078969,-0.376827,0.922911]]
2025-10-25T00:18:16.414Z,1761351496.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996687,0.044934,-0.067798],[-0.016740,-0.929028,-0.369631],[-0.079595,-0.367271,0.926702]]
2025-10-25T00:18:16.873Z,1761351496.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996591,0.043595,-0.070035],[-0.016334,-0.936433,-0.350465],[-0.080862,-0.348127,0.933953]]
2025-10-25T00:18:17.276Z,1761351497.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996437,0.045028,-0.071315],[-0.019217,-0.944529,-0.327866],[-0.082122,-0.325328,0.942029]]
2025-10-25T00:18:17.708Z,1761351497.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996261,0.047911,-0.071890],[-0.023796,-0.952124,-0.304786],[-0.083051,-0.301936,0.949704]]
2025-10-25T00:18:18.082Z,1761351498.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996088,0.052031,-0.071422],[-0.029712,-0.958416,-0.283824],[-0.083220,-0.280592,0.956213]]
2025-10-25T00:18:18.487Z,1761351498.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995916,0.056446,-0.070460],[-0.035631,-0.962841,-0.267709],[-0.082953,-0.264105,0.960920]]
2025-10-25T00:18:18.893Z,1761351498.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995764,0.060852,-0.068931],[-0.041441,-0.966228,-0.254335],[-0.082080,-0.250401,0.964657]]
2025-10-25T00:18:19.295Z,1761351499.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995638,0.064351,-0.067550],[-0.046236,-0.969215,-0.241834],[-0.081033,-0.237656,0.967963]]
2025-10-25T00:18:19.707Z,1761351499.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995586,0.065721,-0.067003],[-0.048691,-0.971994,-0.229905],[-0.080236,-0.225628,0.970904]]
2025-10-25T00:18:20.102Z,1761351500.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995630,0.065594,-0.066471],[-0.049662,-0.974690,-0.217974],[-0.079087,-0.213720,0.973688]]
2025-10-25T00:18:20.508Z,1761351500.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995763,0.064120,-0.065921],[-0.048873,-0.976202,-0.211284],[-0.077900,-0.207167,0.975199]]
2025-10-25T00:18:20.911Z,1761351500.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995942,0.062984,-0.064289],[-0.047995,-0.975954,-0.212626],[-0.076136,-0.208677,0.975016]]
2025-10-25T00:18:21.314Z,1761351501.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996228,0.060995,-0.061725],[-0.046515,-0.975826,-0.213541],[-0.073258,-0.209865,0.974982]]
2025-10-25T00:18:21.722Z,1761351501.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996564,0.059004,-0.058133],[-0.045183,-0.975457,-0.215503],[-0.069422,-0.212136,0.974771]]
2025-10-25T00:18:22.125Z,1761351502.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996954,0.056078,-0.054202],[-0.043027,-0.975118,-0.217472],[-0.065049,-0.214477,0.974560]]
2025-10-25T00:18:22.526Z,1761351502.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997411,0.051293,-0.050396],[-0.039265,-0.975628,-0.215890],[-0.060242,-0.213352,0.975116]]
2025-10-25T00:18:22.930Z,1761351502.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997849,0.046512,-0.046194],[-0.035275,-0.974935,-0.219676],[-0.055254,-0.217574,0.974479]]
2025-10-25T00:18:23.335Z,1761351503.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998249,0.041902,-0.041757],[-0.031623,-0.974544,-0.221953],[-0.049994,-0.220244,0.974163]]
2025-10-25T00:18:23.745Z,1761351503.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998592,0.037826,-0.037198],[-0.028697,-0.974862,-0.220955],[-0.044621,-0.219576,0.974574]]
2025-10-25T00:18:24.144Z,1761351504.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998871,0.034469,-0.032683],[-0.026522,-0.975532,-0.218253],[-0.039406,-0.217139,0.975345]]
2025-10-25T00:18:24.547Z,1761351504.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999090,0.031182,-0.029110],[-0.024163,-0.976045,-0.216223],[-0.035155,-0.215322,0.975910]]
2025-10-25T00:18:24.950Z,1761351504.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999250,0.028026,-0.026727],[-0.021586,-0.976052,-0.216464],[-0.032153,-0.215725,0.975925]]
2025-10-25T00:18:25.355Z,1761351505.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999370,0.024656,-0.025536],[-0.018450,-0.975387,-0.219726],[-0.030325,-0.219116,0.975227]]
2025-10-25T00:18:25.765Z,1761351505.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999432,0.021298,-0.026111],[-0.014998,-0.975092,-0.221295],[-0.030174,-0.220778,0.974857]]
2025-10-25T00:18:26.163Z,1761351506.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999449,0.017963,-0.027916],[-0.011499,-0.976224,-0.216460],[-0.031140,-0.216019,0.975892]]
2025-10-25T00:18:26.567Z,1761351506.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999439,0.015184,-0.029860],[-0.008557,-0.977521,-0.210665],[-0.032387,-0.210291,0.977102]]
2025-10-25T00:18:26.611Z,1761351506.611 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:18:26.611Z,1761351506.611 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:18:26.611Z,1761351506.611 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:18:26.611Z,1761351506.611 [marl:UpdateRudder:A] Stopped
2025-10-25T00:18:26.611Z,1761351506.611 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:18:26.611Z,1761351506.611 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:18:26.612Z,1761351506.612 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:18:26.612Z,1761351506.612 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:18:26.612Z,1761351506.612 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:18:26.612Z,1761351506.612 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:18:26.612Z,1761351506.612 [marl:UpdateCommandMode] Stopped
2025-10-25T00:18:26.612Z,1761351506.612 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:18:26.613Z,1761351506.613 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:18:26.613Z,1761351506.613 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:18:26.613Z,1761351506.613 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:18:26.613Z,1761351506.613 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:18:26.613Z,1761351506.613 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:18:26.613Z,1761351506.613 [marl:UpdateSpeed] Stopped
2025-10-25T00:18:26.613Z,1761351506.613 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:18:26.971Z,1761351506.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999411,0.013597,-0.031510],[-0.006687,-0.977723,-0.209792],[-0.033660,-0.209458,0.977238]]
2025-10-25T00:18:27.002Z,1761351507.002 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:18:27.002Z,1761351507.002 [marl:UpdateRudder:B] Stopped
2025-10-25T00:18:27.002Z,1761351507.002 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:18:27.002Z,1761351507.002 [marl:UpdateRudder] Stopped
2025-10-25T00:18:27.003Z,1761351507.003 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:18:27.381Z,1761351507.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999397,0.014595,-0.031516],[-0.007583,-0.977225,-0.212068],[-0.033894,-0.211701,0.976747]]
2025-10-25T00:18:27.793Z,1761351507.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999464,0.019459,-0.026330],[-0.013340,-0.976459,-0.215290],[-0.029900,-0.214824,0.976195]]
2025-10-25T00:18:28.202Z,1761351508.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999501,0.022191,-0.022464],[-0.016804,-0.976119,-0.216584],[-0.026734,-0.216099,0.976005]]
2025-10-25T00:18:28.593Z,1761351508.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999539,0.024517,-0.017902],[-0.020091,-0.976335,-0.215330],[-0.022758,-0.214871,0.976377]]
2025-10-25T00:18:28.995Z,1761351508.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999582,0.026035,-0.012610],[-0.022773,-0.977012,-0.211963],[-0.017838,-0.211587,0.977196]]
2025-10-25T00:18:29.397Z,1761351509.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999635,0.026077,-0.007049],[-0.023922,-0.975794,-0.217381],[-0.012547,-0.217133,0.976061]]
2025-10-25T00:18:29.815Z,1761351509.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999763,0.021724,-0.001324],[-0.020864,-0.973933,-0.225875],[-0.006197,-0.225793,0.974155]]
2025-10-25T00:18:30.315Z,1761351510.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999900,0.013572,0.003950],[-0.014129,-0.967722,-0.251623],[0.000407,-0.251654,0.967817]]
2025-10-25T00:18:30.707Z,1761351510.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999953,0.002725,0.009283],[-0.005232,-0.959417,-0.281941],[0.008138,-0.281977,0.959387]]
2025-10-25T00:18:31.110Z,1761351511.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999849,-0.011319,0.013202],[0.006626,-0.949857,-0.312614],[0.016078,-0.312479,0.949789]]
2025-10-25T00:18:31.515Z,1761351511.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999509,-0.027510,0.015008],[0.020745,-0.939801,-0.341093],[0.023488,-0.340614,0.939910]]
2025-10-25T00:18:31.804Z,1761351511.804 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:18:31.925Z,1761351511.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998857,-0.045304,0.015269],[0.036729,-0.931644,-0.361512],[0.030603,-0.360538,0.932243]]
2025-10-25T00:18:32.322Z,1761351512.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997818,-0.064389,0.014634],[0.054160,-0.924861,-0.376430],[0.037772,-0.374816,0.926329]]
2025-10-25T00:18:32.726Z,1761351512.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996163,-0.086474,0.013490],[0.074679,-0.920225,-0.384199],[0.045637,-0.381718,0.923152]]
2025-10-25T00:18:32.812Z,1761351512.812 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:18:33.137Z,1761351513.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993926,-0.109499,0.010971],[0.096307,-0.913725,-0.394756],[0.053250,-0.391302,0.918720]]
2025-10-25T00:18:33.534Z,1761351513.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991034,-0.133423,0.007006],[0.119167,-0.906422,-0.405215],[0.060415,-0.400747,0.914195]]
2025-10-25T00:18:33.945Z,1761351513.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987662,-0.156575,0.002639],[0.141485,-0.899448,-0.413491],[0.067116,-0.408017,0.910504]]
2025-10-25T00:18:34.347Z,1761351514.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983947,-0.178457,-0.001153],[0.162648,-0.894089,-0.417314],[0.073442,-0.410803,0.908762]]
2025-10-25T00:18:34.751Z,1761351514.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980128,-0.198328,-0.003842],[0.181720,-0.889946,-0.418298],[0.079541,-0.410684,0.908302]]
2025-10-25T00:18:35.167Z,1761351515.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976175,-0.216913,-0.005603],[0.199412,-0.886638,-0.417263],[0.085542,-0.408439,0.908769]]
2025-10-25T00:18:35.558Z,1761351515.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972188,-0.234102,-0.006757],[0.215661,-0.883610,-0.415599],[0.091322,-0.405498,0.909523]]
2025-10-25T00:18:35.965Z,1761351515.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967975,-0.250955,-0.006699],[0.231381,-0.881487,-0.411636],[0.097397,-0.400003,0.911324]]
2025-10-25T00:18:36.366Z,1761351516.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963355,-0.268180,-0.005204],[0.247387,-0.880830,-0.403656],[0.103669,-0.390151,0.914896]]
2025-10-25T00:18:36.772Z,1761351516.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958154,-0.286228,-0.003816],[0.264137,-0.878908,-0.397180],[0.110330,-0.381568,0.917733]]
2025-10-25T00:18:37.179Z,1761351517.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952396,-0.304841,-0.003564],[0.281890,-0.876116,-0.391099],[0.116100,-0.373486,0.920342]]
2025-10-25T00:18:37.578Z,1761351517.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946731,-0.321978,-0.005477],[0.298375,-0.870678,-0.391015],[0.121130,-0.371820,0.920368]]
2025-10-25T00:18:37.983Z,1761351517.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941280,-0.337516,-0.008661],[0.313421,-0.863971,-0.394108],[0.125535,-0.373680,0.919023]]
2025-10-25T00:18:38.394Z,1761351518.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935686,-0.352505,-0.015259],[0.328744,-0.855277,-0.400537],[0.128140,-0.379793,0.916154]]
2025-10-25T00:18:38.822Z,1761351518.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930154,-0.366446,-0.023045],[0.343563,-0.846494,-0.406710],[0.129529,-0.386221,0.913267]]
2025-10-25T00:18:39.225Z,1761351519.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924404,-0.380410,-0.027660],[0.358719,-0.842468,-0.401957],[0.129606,-0.381493,0.915241]]
2025-10-25T00:18:39.637Z,1761351519.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918361,-0.394517,-0.031147],[0.374513,-0.840962,-0.390542],[0.127882,-0.370323,0.920058]]
2025-10-25T00:18:39.698Z,1761351519.698 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:18:39.698Z,1761351519.698 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:18:39.699Z,1761351519.699 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:18:39.699Z,1761351519.699 [marl:UpdateRudder:A] Stopped
2025-10-25T00:18:39.699Z,1761351519.699 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:18:39.699Z,1761351519.699 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:18:39.699Z,1761351519.699 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:18:39.699Z,1761351519.699 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:18:39.704Z,1761351519.704 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:18:39.704Z,1761351519.704 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:18:39.704Z,1761351519.704 [marl:UpdateCommandMode] Stopped
2025-10-25T00:18:39.704Z,1761351519.704 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:18:39.704Z,1761351519.704 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:18:39.704Z,1761351519.704 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:18:39.704Z,1761351519.704 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:18:39.705Z,1761351519.705 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:18:39.705Z,1761351519.705 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:18:39.705Z,1761351519.705 [marl:UpdateSpeed] Stopped
2025-10-25T00:18:39.705Z,1761351519.705 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:18:40.085Z,1761351520.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912142,-0.408249,-0.036453],[0.390433,-0.838369,-0.380393],[0.124734,-0.361205,0.924106]]
2025-10-25T00:18:40.146Z,1761351520.146 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:18:40.146Z,1761351520.146 [marl:UpdateRudder:B] Stopped
2025-10-25T00:18:40.146Z,1761351520.146 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:18:40.146Z,1761351520.146 [marl:UpdateRudder] Stopped
2025-10-25T00:18:40.146Z,1761351520.146 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:18:40.486Z,1761351520.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905708,-0.421512,-0.044953],[0.406411,-0.833294,-0.374769],[0.120510,-0.357701,0.926028]]
2025-10-25T00:18:40.903Z,1761351520.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899003,-0.434322,-0.056197],[0.422206,-0.825444,-0.374678],[0.116343,-0.360564,0.925450]]
2025-10-25T00:18:41.294Z,1761351521.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892388,-0.446380,-0.066249],[0.436730,-0.817312,-0.375856],[0.113629,-0.364342,0.924307]]
2025-10-25T00:18:41.698Z,1761351521.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885938,-0.458143,-0.072240],[0.449629,-0.810167,-0.376116],[0.113788,-0.365697,0.923752]]
2025-10-25T00:18:42.102Z,1761351522.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879572,-0.469604,-0.076317],[0.461216,-0.802265,-0.379012],[0.116759,-0.368567,0.922239]]
2025-10-25T00:18:42.510Z,1761351522.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873248,-0.481253,-0.076381],[0.471591,-0.795239,-0.381046],[0.122639,-0.368768,0.921396]]
2025-10-25T00:18:42.910Z,1761351522.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866919,-0.492781,-0.074958],[0.481093,-0.787876,-0.384449],[0.130392,-0.369347,0.920098]]
2025-10-25T00:18:43.314Z,1761351523.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859929,-0.505365,-0.071607],[0.491188,-0.781214,-0.385279],[0.138766,-0.366485,0.920018]]
2025-10-25T00:18:43.808Z,1761351523.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839770,-0.538610,-0.068451],[0.521845,-0.765895,-0.375609],[0.149881,-0.351146,0.924247]]
2025-10-25T00:18:44.226Z,1761351524.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826111,-0.558525,-0.074771],[0.542931,-0.753378,-0.371009],[0.150887,-0.347090,0.925614]]
2025-10-25T00:18:44.679Z,1761351524.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810702,-0.578871,-0.087586],[0.566019,-0.736730,-0.369934],[0.149617,-0.349482,0.924920]]
2025-10-25T00:18:45.074Z,1761351525.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794409,-0.597709,-0.107975],[0.589401,-0.715675,-0.374720],[0.146698,-0.361321,0.920829]]
2025-10-25T00:18:45.521Z,1761351525.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776785,-0.616204,-0.129994],[0.613316,-0.693332,-0.378331],[0.143000,-0.373609,0.916497]]
2025-10-25T00:18:45.978Z,1761351525.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759044,-0.632222,-0.155398],[0.636198,-0.669625,-0.383215],[0.138218,-0.389741,0.910493]]
2025-10-25T00:18:46.343Z,1761351526.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742364,-0.645811,-0.178395],[0.656547,-0.648118,-0.385861],[0.133572,-0.403574,0.905144]]
2025-10-25T00:18:46.758Z,1761351526.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726531,-0.658737,-0.195494],[0.674829,-0.630434,-0.383614],[0.129454,-0.410632,0.902564]]
2025-10-25T00:18:47.166Z,1761351527.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711976,-0.671115,-0.206627],[0.690841,-0.616723,-0.377348],[0.125812,-0.411409,0.902726]]
2025-10-25T00:18:47.577Z,1761351527.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699461,-0.681970,-0.213708],[0.704053,-0.606187,-0.369928],[0.122733,-0.409212,0.904147]]
2025-10-25T00:18:47.971Z,1761351527.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688306,-0.690595,-0.222067],[0.715721,-0.596609,-0.363045],[0.118230,-0.408824,0.904922]]
2025-10-25T00:18:48.373Z,1761351528.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678077,-0.698869,-0.227583],[0.726270,-0.589541,-0.353516],[0.112892,-0.404998,0.907322]]
2025-10-25T00:18:48.777Z,1761351528.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668059,-0.706929,-0.232267],[0.736419,-0.583366,-0.342594],[0.106693,-0.399919,0.910319]]
2025-10-25T00:18:49.177Z,1761351529.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657224,-0.718975,-0.226121],[0.746857,-0.580939,-0.323597],[0.101296,-0.381556,0.918779]]
2025-10-25T00:18:49.577Z,1761351529.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645207,-0.730979,-0.222212],[0.757875,-0.575578,-0.307141],[0.096614,-0.366578,0.925357]]
2025-10-25T00:18:49.982Z,1761351529.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632602,-0.742019,-0.221861],[0.768967,-0.567666,-0.294015],[0.092222,-0.356599,0.929695]]
2025-10-25T00:18:50.386Z,1761351530.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619603,-0.750657,-0.229361],[0.780060,-0.556439,-0.286150],[0.087175,-0.356215,0.930329]]
2025-10-25T00:18:50.791Z,1761351530.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606124,-0.757929,-0.241159],[0.791106,-0.543141,-0.281334],[0.082248,-0.361306,0.928813]]
2025-10-25T00:18:51.193Z,1761351531.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593355,-0.764481,-0.251990],[0.801116,-0.530370,-0.277347],[0.078379,-0.366438,0.927135]]
2025-10-25T00:18:51.602Z,1761351531.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581004,-0.770220,-0.263049],[0.810376,-0.517395,-0.274943],[0.075667,-0.372912,0.924776]]
2025-10-25T00:18:52.002Z,1761351532.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568466,-0.776509,-0.271809],[0.819412,-0.504856,-0.271451],[0.073559,-0.377034,0.923274]]
2025-10-25T00:18:52.405Z,1761351532.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554911,-0.784116,-0.277913],[0.828796,-0.492198,-0.266156],[0.071909,-0.378026,0.922998]]
2025-10-25T00:18:52.477Z,1761351532.477 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:18:52.477Z,1761351532.477 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:18:52.478Z,1761351532.478 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:18:52.478Z,1761351532.478 [marl:UpdateRudder:A] Stopped
2025-10-25T00:18:52.478Z,1761351532.478 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:18:52.478Z,1761351532.478 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:18:52.478Z,1761351532.478 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:18:52.478Z,1761351532.478 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:18:52.479Z,1761351532.479 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:18:52.479Z,1761351532.479 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:18:52.479Z,1761351532.479 [marl:UpdateCommandMode] Stopped
2025-10-25T00:18:52.479Z,1761351532.479 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:18:52.479Z,1761351532.479 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:18:52.479Z,1761351532.479 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:18:52.479Z,1761351532.479 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:18:52.479Z,1761351532.479 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:18:52.479Z,1761351532.479 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:18:52.484Z,1761351532.484 [marl:UpdateSpeed] Stopped
2025-10-25T00:18:52.484Z,1761351532.484 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:18:52.811Z,1761351532.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540396,-0.792786,-0.281891],[0.838401,-0.479034,-0.260018],[0.071103,-0.376851,0.923541]]
2025-10-25T00:18:52.855Z,1761351532.855 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:18:52.855Z,1761351532.855 [marl:UpdateRudder:B] Stopped
2025-10-25T00:18:52.855Z,1761351532.855 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:18:52.855Z,1761351532.855 [marl:UpdateRudder] Stopped
2025-10-25T00:18:52.855Z,1761351532.855 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:18:53.212Z,1761351533.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524017,-0.802893,-0.284199],[0.848830,-0.464905,-0.251697],[0.069960,-0.373130,0.925138]]
2025-10-25T00:18:53.622Z,1761351533.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507089,-0.813713,-0.284134],[0.859187,-0.451134,-0.241402],[0.068249,-0.366537,0.927897]]
2025-10-25T00:18:54.023Z,1761351534.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489530,-0.823660,-0.286259],[0.869538,-0.436517,-0.230990],[0.065301,-0.361990,0.929892]]
2025-10-25T00:18:54.428Z,1761351534.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471561,-0.831708,-0.293074],[0.879746,-0.420845,-0.221217],[0.060650,-0.362148,0.930145]]
2025-10-25T00:18:54.829Z,1761351534.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453795,-0.837632,-0.304045],[0.889382,-0.404522,-0.212984],[0.055409,-0.367063,0.928544]]
2025-10-25T00:18:55.234Z,1761351535.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435830,-0.842285,-0.317188],[0.898629,-0.387585,-0.205531],[0.050178,-0.374611,0.925823]]
2025-10-25T00:18:55.637Z,1761351535.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418686,-0.848288,-0.324205],[0.906984,-0.372663,-0.196221],[0.045633,-0.376204,0.925412]]
2025-10-25T00:18:56.053Z,1761351536.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402077,-0.855129,-0.327244],[0.914632,-0.358638,-0.186623],[0.042224,-0.374345,0.926328]]
2025-10-25T00:18:56.474Z,1761351536.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385137,-0.863908,-0.324550],[0.921997,-0.345003,-0.175766],[0.039875,-0.366928,0.929394]]
2025-10-25T00:18:56.899Z,1761351536.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367832,-0.871557,-0.324171],[0.929124,-0.330304,-0.166216],[0.037792,-0.362335,0.931281]]
2025-10-25T00:18:57.304Z,1761351537.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350583,-0.878082,-0.325674],[0.935853,-0.315223,-0.157525],[0.035660,-0.360009,0.932267]]
2025-10-25T00:18:57.706Z,1761351537.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333677,-0.883345,-0.329182],[0.942111,-0.300267,-0.149222],[0.032972,-0.359918,0.932401]]
2025-10-25T00:18:58.113Z,1761351538.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317248,-0.886152,-0.337769],[0.947877,-0.285133,-0.142230],[0.029728,-0.365285,0.930421]]
2025-10-25T00:18:58.515Z,1761351538.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300714,-0.889327,-0.344482],[0.953355,-0.270388,-0.134183],[0.026189,-0.368765,0.929154]]
2025-10-25T00:18:58.921Z,1761351538.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284244,-0.891795,-0.352005],[0.958485,-0.255650,-0.126295],[0.022639,-0.373290,0.927438]]
2025-10-25T00:18:59.322Z,1761351539.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268493,-0.894091,-0.358488],[0.963090,-0.241740,-0.118401],[0.019200,-0.377046,0.925996]]
2025-10-25T00:18:59.727Z,1761351539.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253073,-0.897152,-0.362038],[0.967314,-0.228449,-0.110066],[0.016039,-0.378059,0.925642]]
2025-10-25T00:19:00.130Z,1761351540.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237931,-0.899902,-0.365465],[0.971193,-0.215323,-0.102082],[0.013171,-0.379225,0.925211]]
2025-10-25T00:19:00.536Z,1761351540.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223197,-0.902220,-0.369028],[0.974712,-0.202318,-0.094889],[0.010950,-0.380875,0.924562]]
2025-10-25T00:19:00.939Z,1761351540.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207655,-0.905448,-0.370195],[0.978163,-0.188798,-0.086909],[0.008799,-0.380158,0.924880]]
2025-10-25T00:19:01.343Z,1761351541.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191716,-0.909153,-0.369711],[0.981426,-0.174957,-0.078690],[0.006858,-0.377930,0.925809]]
2025-10-25T00:19:01.746Z,1761351541.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175319,-0.912967,-0.368449],[0.984499,-0.160676,-0.070321],[0.005000,-0.375067,0.926984]]
2025-10-25T00:19:02.152Z,1761351542.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157398,-0.916816,-0.366980],[0.987531,-0.145011,-0.061277],[0.002963,-0.372049,0.928208]]
2025-10-25T00:19:02.555Z,1761351542.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139558,-0.919881,-0.366529],[0.990214,-0.129335,-0.052436],[0.000830,-0.370260,0.928928]]
2025-10-25T00:19:02.932Z,1761351542.932 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:19:02.958Z,1761351542.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120988,-0.922314,-0.367013],[0.992653,-0.113007,-0.043242],[-0.001593,-0.369548,0.929210]]
2025-10-25T00:19:03.363Z,1761351543.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101670,-0.924034,-0.368543],[0.994810,-0.095928,-0.033921],[-0.004010,-0.370079,0.928992]]
2025-10-25T00:19:03.767Z,1761351543.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083132,-0.925058,-0.370617],[0.996517,-0.079606,-0.024829],[-0.006535,-0.371390,0.928454]]
2025-10-25T00:19:03.936Z,1761351543.936 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:19:04.170Z,1761351544.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064793,-0.925686,-0.372703],[0.997855,-0.063581,-0.015557],[-0.009296,-0.372911,0.927820]]
2025-10-25T00:19:04.460Z,1761351544.460 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:19:04.460Z,1761351544.460 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:19:04.582Z,1761351544.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047529,-0.926662,-0.372878],[0.998799,-0.048527,-0.006715],[-0.011872,-0.372750,0.927856]]
2025-10-25T00:19:04.978Z,1761351544.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030691,-0.927817,-0.371772],[0.999423,-0.033904,0.002106],[-0.014559,-0.371493,0.928322]]
2025-10-25T00:19:05.384Z,1761351545.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014836,-0.928458,-0.371141],[0.999746,-0.020071,0.010245],[-0.016961,-0.370895,0.928520]]
2025-10-25T00:19:05.449Z,1761351545.449 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:19:05.449Z,1761351545.449 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:19:05.450Z,1761351545.450 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:19:05.450Z,1761351545.450 [marl:UpdateRudder:A] Stopped
2025-10-25T00:19:05.450Z,1761351545.450 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:19:05.450Z,1761351545.450 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:19:05.450Z,1761351545.450 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:19:05.450Z,1761351545.450 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:19:05.450Z,1761351545.450 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:19:05.451Z,1761351545.451 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:19:05.451Z,1761351545.451 [marl:UpdateCommandMode] Stopped
2025-10-25T00:19:05.451Z,1761351545.451 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:19:05.451Z,1761351545.451 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:19:05.451Z,1761351545.451 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:19:05.451Z,1761351545.451 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:19:05.451Z,1761351545.451 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:19:05.451Z,1761351545.451 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:19:05.451Z,1761351545.451 [marl:UpdateSpeed] Stopped
2025-10-25T00:19:05.452Z,1761351545.452 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:19:05.453Z,1761351545.453 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-25T00:19:05.786Z,1761351545.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000507,-0.928908,-0.370310],[0.999816,-0.006636,0.018016],[-0.019192,-0.370250,0.928734]]
2025-10-25T00:19:05.823Z,1761351545.823 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875494 arcdeg 
2025-10-25T00:19:05.823Z,1761351545.823 [marl:UpdateRudder:B] Stopped
2025-10-25T00:19:05.824Z,1761351545.824 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:19:05.824Z,1761351545.824 [marl:UpdateRudder] Stopped
2025-10-25T00:19:05.824Z,1761351545.824 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:19:06.190Z,1761351546.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015430,-0.928783,-0.370303],[0.999649,0.006348,0.025733],[-0.021550,-0.370570,0.928555]]
2025-10-25T00:19:06.598Z,1761351546.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030149,-0.928457,-0.370214],[0.999259,0.019131,0.033398],[-0.023926,-0.370947,0.928346]]
2025-10-25T00:19:07.008Z,1761351547.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044780,-0.927526,-0.371066],[0.998649,0.031761,0.041127],[-0.026361,-0.372407,0.927695]]
2025-10-25T00:19:07.402Z,1761351547.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059136,-0.927158,-0.369974],[0.997837,0.044237,0.048633],[-0.028724,-0.372049,0.927768]]
2025-10-25T00:19:07.806Z,1761351547.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072442,-0.926706,-0.368738],[0.996903,0.055935,0.055274],[-0.030598,-0.371600,0.927889]]
2025-10-25T00:19:08.213Z,1761351548.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085276,-0.926022,-0.367710],[0.995845,0.067379,0.061262],[-0.031954,-0.371406,0.927920]]
2025-10-25T00:19:08.617Z,1761351548.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097194,-0.925147,-0.366956],[0.994729,0.078194,0.066332],[-0.032673,-0.371469,0.927870]]
2025-10-25T00:19:09.018Z,1761351549.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108276,-0.924858,-0.364573],[0.993588,0.088671,0.070147],[-0.032549,-0.369831,0.928529]]
2025-10-25T00:19:09.428Z,1761351549.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118942,-0.924405,-0.362392],[0.992387,0.098932,0.073354],[-0.031956,-0.368358,0.929135]]
2025-10-25T00:19:09.858Z,1761351549.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141162,-0.923610,-0.356396],[0.989558,0.121048,0.078248],[-0.029129,-0.363720,0.931053]]
2025-10-25T00:19:10.239Z,1761351550.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153420,-0.923808,-0.350773],[0.987780,0.133512,0.080409],[-0.027450,-0.358823,0.933002]]
2025-10-25T00:19:10.648Z,1761351550.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167454,-0.923744,-0.344466],[0.985538,0.147642,0.083166],[-0.025967,-0.353411,0.935108]]
2025-10-25T00:19:11.054Z,1761351551.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183010,-0.922622,-0.339524],[0.982802,0.163038,0.086712],[-0.024648,-0.349554,0.936592]]
2025-10-25T00:19:11.445Z,1761351551.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200812,-0.920949,-0.333958],[0.979343,0.180478,0.091188],[-0.023707,-0.345371,0.938167]]
2025-10-25T00:19:11.887Z,1761351551.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219953,-0.917680,-0.330883],[0.975244,0.198925,0.096584],[-0.022813,-0.343935,0.938716]]
2025-10-25T00:19:12.250Z,1761351552.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240318,-0.912858,-0.330057],[0.970442,0.218193,0.103120],[-0.022118,-0.345083,0.938311]]
2025-10-25T00:19:12.662Z,1761351552.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261453,-0.906745,-0.330842],[0.964983,0.238014,0.110263],[-0.021235,-0.348085,0.937222]]
2025-10-25T00:19:13.069Z,1761351553.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283724,-0.900792,-0.328747],[0.958680,0.259014,0.117667],[-0.020843,-0.348548,0.937059]]
2025-10-25T00:19:13.462Z,1761351553.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306305,-0.893103,-0.329460],[0.951701,0.279663,0.126701],[-0.021020,-0.352356,0.935630]]
2025-10-25T00:19:13.901Z,1761351553.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329069,-0.885565,-0.327853],[0.944045,0.300351,0.136268],[-0.022204,-0.354349,0.934850]]
2025-10-25T00:19:14.270Z,1761351554.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351297,-0.877315,-0.326969],[0.935952,0.320047,0.146849],[-0.024187,-0.357615,0.933556]]
2025-10-25T00:19:14.694Z,1761351554.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371744,-0.869527,-0.325159],[0.927945,0.337896,0.157302],[-0.026909,-0.360206,0.932485]]
2025-10-25T00:19:15.091Z,1761351555.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390371,-0.862449,-0.322167],[0.920171,0.354119,0.166991],[-0.029936,-0.361637,0.931838]]
2025-10-25T00:19:15.494Z,1761351555.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406022,-0.855884,-0.320327],[0.913293,0.367639,0.175322],[-0.032291,-0.363737,0.930942]]
2025-10-25T00:19:15.908Z,1761351555.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419826,-0.849854,-0.318582],[0.906957,0.379572,0.182632],[-0.034286,-0.365614,0.930135]]
2025-10-25T00:19:16.302Z,1761351556.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432560,-0.843716,-0.317861],[0.900897,0.390497,0.189465],[-0.035731,-0.368315,0.929014]]
2025-10-25T00:19:16.716Z,1761351556.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444723,-0.838073,-0.315998],[0.894919,0.401350,0.195033],[-0.036626,-0.369528,0.928497]]
2025-10-25T00:19:17.110Z,1761351557.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457247,-0.832647,-0.312449],[0.888559,0.413002,0.199731],[-0.037264,-0.368956,0.928700]]
2025-10-25T00:19:17.521Z,1761351557.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470688,-0.827148,-0.307048],[0.881496,0.426012,0.203664],[-0.037654,-0.366523,0.929647]]
2025-10-25T00:19:17.918Z,1761351557.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485186,-0.820501,-0.302280],[0.873567,0.439650,0.208778],[-0.038405,-0.365358,0.930075]]
2025-10-25T00:19:17.985Z,1761351557.985 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:19:17.985Z,1761351557.985 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:19:17.985Z,1761351557.985 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:19:17.986Z,1761351557.986 [marl:UpdateRudder:A] Stopped
2025-10-25T00:19:17.986Z,1761351557.986 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:19:17.986Z,1761351557.986 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:19:17.986Z,1761351557.986 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:19:17.986Z,1761351557.986 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:19:17.987Z,1761351557.987 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:19:17.987Z,1761351557.987 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:19:17.987Z,1761351557.987 [marl:UpdateCommandMode] Stopped
2025-10-25T00:19:17.987Z,1761351557.987 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:19:17.987Z,1761351557.987 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:19:17.987Z,1761351557.987 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:19:17.987Z,1761351557.987 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:19:17.987Z,1761351557.987 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:19:17.992Z,1761351557.992 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:19:17.993Z,1761351557.993 [marl:UpdateSpeed] Stopped
2025-10-25T00:19:17.993Z,1761351557.993 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:19:18.323Z,1761351558.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500221,-0.812373,-0.299713],[0.864992,0.452987,0.215850],[-0.039585,-0.367223,0.929290]]
2025-10-25T00:19:18.349Z,1761351558.349 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:19:18.349Z,1761351558.349 [marl:UpdateRudder:B] Stopped
2025-10-25T00:19:18.349Z,1761351558.349 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:19:18.349Z,1761351558.349 [marl:UpdateRudder] Stopped
2025-10-25T00:19:18.349Z,1761351558.349 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:19:18.726Z,1761351558.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514733,-0.804101,-0.297441],[0.856364,0.465569,0.223352],[-0.041118,-0.369685,0.928247]]
2025-10-25T00:19:19.130Z,1761351559.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527852,-0.796831,-0.293994],[0.848247,0.477062,0.229975],[-0.042998,-0.370773,0.927728]]
2025-10-25T00:19:19.539Z,1761351559.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539564,-0.790407,-0.290046],[0.840700,0.487067,0.236620],[-0.045754,-0.371514,0.927299]]
2025-10-25T00:19:19.940Z,1761351559.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547480,-0.788777,-0.279458],[0.835355,0.495407,0.238230],[-0.049465,-0.363873,0.930134]]
2025-10-25T00:19:20.343Z,1761351560.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550304,-0.792440,-0.263067],[0.833205,0.500734,0.234595],[-0.054176,-0.348287,0.935821]]
2025-10-25T00:19:20.747Z,1761351560.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548913,-0.800755,-0.239763],[0.833774,0.504174,0.225012],[-0.059297,-0.323420,0.944396]]
2025-10-25T00:19:21.150Z,1761351561.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544881,-0.810035,-0.216674],[0.836076,0.505156,0.213995],[-0.063889,-0.297758,0.952501]]
2025-10-25T00:19:21.555Z,1761351561.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539518,-0.819025,-0.195239],[0.839280,0.504597,0.202464],[-0.067306,-0.273093,0.959630]]
2025-10-25T00:19:21.960Z,1761351561.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534488,-0.826777,-0.175390],[0.842280,0.503897,0.191445],[-0.069904,-0.250053,0.965705]]
2025-10-25T00:19:22.363Z,1761351562.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531061,-0.832978,-0.155312],[0.844236,0.504497,0.180964],[-0.072385,-0.227223,0.971149]]
2025-10-25T00:19:22.767Z,1761351562.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529651,-0.836798,-0.138701],[0.844904,0.506046,0.173364],[-0.074882,-0.209012,0.975042]]
2025-10-25T00:19:23.171Z,1761351563.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530864,-0.837994,-0.126295],[0.843883,0.509048,0.169503],[-0.077752,-0.196562,0.977404]]
2025-10-25T00:19:23.576Z,1761351563.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533934,-0.837472,-0.116430],[0.841615,0.513172,0.168340],[-0.081231,-0.187872,0.978829]]
2025-10-25T00:19:23.978Z,1761351563.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538003,-0.835768,-0.109751],[0.838635,0.517551,0.169802],[-0.085113,-0.183395,0.979348]]
2025-10-25T00:19:24.383Z,1761351564.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542590,-0.833685,-0.102792],[0.835231,0.522438,0.171602],[-0.089360,-0.178965,0.979789]]
2025-10-25T00:19:24.789Z,1761351564.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547382,-0.831309,-0.096434],[0.831573,0.527326,0.174396],[-0.094124,-0.175653,0.979942]]
2025-10-25T00:19:25.191Z,1761351565.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552582,-0.828662,-0.089287],[0.827542,0.532761,0.177032],[-0.099131,-0.171714,0.980147]]
2025-10-25T00:19:25.594Z,1761351565.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557583,-0.825616,-0.086367],[0.823532,0.537071,0.182620],[-0.104389,-0.172952,0.979383]]
2025-10-25T00:19:26.006Z,1761351566.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562496,-0.821966,-0.089274],[0.819516,0.539979,0.191876],[-0.109509,-0.181091,0.977350]]
2025-10-25T00:19:26.402Z,1761351566.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567560,-0.818335,-0.090569],[0.815344,0.543357,0.199941],[-0.114408,-0.187323,0.975613]]
2025-10-25T00:19:26.812Z,1761351566.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572474,-0.814992,-0.089789],[0.811144,0.546957,0.207081],[-0.119659,-0.191380,0.974195]]
2025-10-25T00:19:27.210Z,1761351567.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577206,-0.811734,-0.089003],[0.806979,0.550328,0.214300],[-0.124974,-0.195518,0.972705]]
2025-10-25T00:19:27.615Z,1761351567.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582134,-0.808322,-0.087954],[0.802509,0.553789,0.222028],[-0.130762,-0.199834,0.971065]]
2025-10-25T00:19:28.022Z,1761351568.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586513,-0.805177,-0.087704],[0.798273,0.556353,0.230720],[-0.136976,-0.205332,0.969060]]
2025-10-25T00:19:28.422Z,1761351568.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590007,-0.802650,-0.087436],[0.794555,0.557968,0.239489],[-0.143440,-0.210773,0.966954]]
2025-10-25T00:19:28.826Z,1761351568.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592880,-0.800696,-0.085905],[0.791184,0.559290,0.247432],[-0.150072,-0.214664,0.965090]]
2025-10-25T00:19:29.230Z,1761351569.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593546,-0.800396,-0.084082],[0.789541,0.558858,0.253582],[-0.155976,-0.216899,0.963653]]
2025-10-25T00:19:29.635Z,1761351569.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592265,-0.801436,-0.083203],[0.789487,0.556576,0.258715],[-0.161035,-0.218916,0.962364]]
2025-10-25T00:19:30.038Z,1761351570.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589451,-0.803558,-0.082710],[0.790855,0.553187,0.261789],[-0.164609,-0.219724,0.961574]]
2025-10-25T00:19:30.443Z,1761351570.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584925,-0.806706,-0.084196],[0.793817,0.548069,0.263582],[-0.166488,-0.221012,0.960956]]
2025-10-25T00:19:30.490Z,1761351570.490 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:19:30.490Z,1761351570.490 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:19:30.490Z,1761351570.490 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:19:30.491Z,1761351570.491 [marl:UpdateRudder:A] Stopped
2025-10-25T00:19:30.491Z,1761351570.491 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:19:30.491Z,1761351570.491 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:19:30.491Z,1761351570.491 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:19:30.491Z,1761351570.491 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:19:30.493Z,1761351570.493 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:19:30.493Z,1761351570.493 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:19:30.493Z,1761351570.493 [marl:UpdateCommandMode] Stopped
2025-10-25T00:19:30.494Z,1761351570.494 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:19:30.494Z,1761351570.494 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:19:30.494Z,1761351570.494 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:19:30.494Z,1761351570.494 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:19:30.494Z,1761351570.494 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:19:30.495Z,1761351570.495 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:19:30.495Z,1761351570.495 [marl:UpdateSpeed] Stopped
2025-10-25T00:19:30.495Z,1761351570.495 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:19:30.846Z,1761351570.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579217,-0.810549,-0.086703],[0.797863,0.541899,0.264122],[-0.167100,-0.222161,0.960584]]
2025-10-25T00:19:30.901Z,1761351570.901 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:19:30.902Z,1761351570.902 [marl:UpdateRudder:B] Stopped
2025-10-25T00:19:30.902Z,1761351570.902 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:19:30.902Z,1761351570.902 [marl:UpdateRudder] Stopped
2025-10-25T00:19:30.902Z,1761351570.902 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:19:31.251Z,1761351571.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572686,-0.815054,-0.087848],[0.802784,0.535883,0.261471],[-0.166037,-0.220264,0.961205]]
2025-10-25T00:19:31.659Z,1761351571.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565747,-0.819770,-0.088925],[0.808232,0.529930,0.256778],[-0.163375,-0.217143,0.962371]]
2025-10-25T00:19:32.059Z,1761351572.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558490,-0.824751,-0.088741],[0.814045,0.524369,0.249738],[-0.159439,-0.211715,0.964239]]
2025-10-25T00:19:32.465Z,1761351572.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551474,-0.829580,-0.087593],[0.819787,0.519526,0.240921],[-0.154356,-0.204670,0.966584]]
2025-10-25T00:19:32.868Z,1761351572.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545234,-0.833555,-0.088919],[0.825065,0.514845,0.232813],[-0.148283,-0.200301,0.968448]]
2025-10-25T00:19:33.270Z,1761351573.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540802,-0.836244,-0.090716],[0.829120,0.511784,0.225026],[-0.141749,-0.196909,0.970121]]
2025-10-25T00:19:33.679Z,1761351573.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538724,-0.837634,-0.090251],[0.831541,0.511459,0.216679],[-0.135338,-0.191778,0.972062]]
2025-10-25T00:19:34.076Z,1761351574.076 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:19:34.079Z,1761351574.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537520,-0.838483,-0.089548],[0.833483,0.512173,0.207327],[-0.127976,-0.186080,0.974164]]
2025-10-25T00:19:34.490Z,1761351574.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535536,-0.840371,-0.083527],[0.836091,0.513663,0.192618],[-0.118966,-0.172990,0.977712]]
2025-10-25T00:19:34.886Z,1761351574.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533709,-0.842367,-0.074650],[0.838268,0.515320,0.178195],[-0.111637,-0.157681,0.981160]]
2025-10-25T00:19:35.080Z,1761351575.080 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:19:35.290Z,1761351575.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533966,-0.842072,-0.076122],[0.838540,0.515884,0.175254],[-0.108306,-0.157411,0.981576]]
2025-10-25T00:19:35.695Z,1761351575.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538521,-0.839531,-0.071990],[0.835804,0.521377,0.172041],[-0.106899,-0.152817,0.982456]]
2025-10-25T00:19:36.101Z,1761351576.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545810,-0.835754,-0.060047],[0.831118,0.530890,0.165522],[-0.106457,-0.140249,0.984376]]
2025-10-25T00:19:36.502Z,1761351576.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554445,-0.828155,-0.082157],[0.825253,0.534370,0.182771],[-0.107460,-0.169137,0.979717]]
2025-10-25T00:19:36.906Z,1761351576.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563750,-0.818416,-0.111269],[0.818722,0.535947,0.206044],[-0.108995,-0.207256,0.972196]]
2025-10-25T00:19:37.311Z,1761351577.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572852,-0.809065,-0.131354],[0.812171,0.538672,0.224078],[-0.110537,-0.235046,0.965679]]
2025-10-25T00:19:38.123Z,1761351578.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587633,-0.796717,-0.141170],[0.801481,0.549221,0.236611],[-0.110978,-0.252186,0.961294]]
2025-10-25T00:19:38.523Z,1761351578.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592752,-0.793787,-0.136186],[0.797615,0.555148,0.235840],[-0.111603,-0.248418,0.962202]]
2025-10-25T00:19:38.928Z,1761351578.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595458,-0.793968,-0.122657],[0.795556,0.561478,0.227670],[-0.111893,-0.233148,0.965982]]
2025-10-25T00:19:39.331Z,1761351579.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596547,-0.794135,-0.116107],[0.794733,0.564324,0.223465],[-0.111940,-0.225582,0.967772]]
2025-10-25T00:19:39.735Z,1761351579.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596084,-0.794118,-0.118573],[0.795242,0.563533,0.223653],[-0.110787,-0.227610,0.967429]]
2025-10-25T00:19:40.144Z,1761351580.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593145,-0.794620,-0.129454],[0.797791,0.558504,0.227163],[-0.108208,-0.238017,0.965214]]
2025-10-25T00:19:40.542Z,1761351580.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589134,-0.796168,-0.137978],[0.801271,0.553574,0.226979],[-0.104333,-0.244279,0.964076]]
2025-10-25T00:19:40.625Z,1761351580.625 [marl:SendObservationData] Running Loop=1
2025-10-25T00:19:40.625Z,1761351580.625 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-25T00:19:40.625Z,1761351580.625 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-25T00:19:40.626Z,1761351580.626 [marl:SendObservationData:A] Running Loop=1
2025-10-25T00:19:40.627Z,1761351580.627 [marl:SendObservationData:A](INFO): Got test_good :  41da3f05a000000040514000000000004042632e4ea368dec05e7760fccacfdc40301196c000000040909599a0000000 n/a str  and temp var is  nan n/a str 
2025-10-25T00:19:40.627Z,1761351580.627 [marl:SendObservationData:A] Stopped
2025-10-25T00:19:40.627Z,1761351580.627 [marl:SendObservationData:B] Running Loop=1
2025-10-25T00:19:40.952Z,1761351580.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584868,-0.799392,-0.137486],[0.804945,0.551121,0.219838],[-0.099966,-0.239245,0.965800]]
2025-10-25T00:19:41.007Z,1761351581.007 [marl:SendObservationData:B] Stopped
2025-10-25T00:19:41.007Z,1761351581.007 [marl:SendObservationData:C] Running Loop=1
2025-10-25T00:19:41.351Z,1761351581.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580032,-0.802578,-0.139394],[0.809059,0.547682,0.213232],[-0.094792,-0.236460,0.967006]]
2025-10-25T00:19:41.418Z,1761351581.418 [marl:SendObservationData:C] Stopped
2025-10-25T00:19:41.418Z,1761351581.418 [marl:SendObservationData:E] Running Loop=1
2025-10-25T00:19:41.762Z,1761351581.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574268,-0.804358,-0.152396],[0.813899,0.540882,0.212167],[-0.088230,-0.245876,0.965277]]
2025-10-25T00:19:41.824Z,1761351581.824 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.012019 min 
2025-10-25T00:19:41.824Z,1761351581.824 [marl:SendObservationData:E] Stopped
2025-10-25T00:19:41.825Z,1761351581.825 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-25T00:19:41.825Z,1761351581.825 [marl:SendObservationData] Stopped
2025-10-25T00:19:41.825Z,1761351581.825 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-25T00:19:41.825Z,1761351581.825 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-25T00:19:42.158Z,1761351582.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568695,-0.805593,-0.166152],[0.818560,0.534403,0.210649],[-0.080905,-0.255800,0.963338]]
2025-10-25T00:19:42.562Z,1761351582.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564011,-0.807131,-0.174442],[0.822522,0.530406,0.205251],[-0.073139,-0.259246,0.963038]]
2025-10-25T00:19:42.971Z,1761351582.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560141,-0.808863,-0.178835],[0.825798,0.528129,0.197832],[-0.065571,-0.258495,0.963785]]
2025-10-25T00:19:43.371Z,1761351583.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558231,-0.809546,-0.181697],[0.827608,0.527828,0.190954],[-0.058681,-0.256970,0.964636]]
2025-10-25T00:19:43.419Z,1761351583.419 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:19:43.419Z,1761351583.419 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:19:43.419Z,1761351583.419 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:19:43.419Z,1761351583.419 [marl:UpdateRudder:A] Stopped
2025-10-25T00:19:43.419Z,1761351583.419 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:19:43.436Z,1761351583.436 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:19:43.436Z,1761351583.436 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:19:43.436Z,1761351583.436 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:19:43.437Z,1761351583.437 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:19:43.437Z,1761351583.437 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:19:43.437Z,1761351583.437 [marl:UpdateCommandMode] Stopped
2025-10-25T00:19:43.437Z,1761351583.437 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:19:43.438Z,1761351583.438 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:19:43.438Z,1761351583.438 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:19:43.438Z,1761351583.438 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:19:43.438Z,1761351583.438 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:19:43.439Z,1761351583.439 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:19:43.439Z,1761351583.439 [marl:UpdateSpeed] Stopped
2025-10-25T00:19:43.439Z,1761351583.439 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:19:43.774Z,1761351583.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558506,-0.810620,-0.175972],[0.827834,0.531259,0.180153],[-0.052549,-0.246292,0.967770]]
2025-10-25T00:19:43.812Z,1761351583.812 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:19:43.812Z,1761351583.812 [marl:UpdateRudder:B] Stopped
2025-10-25T00:19:43.812Z,1761351583.812 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:19:43.812Z,1761351583.812 [marl:UpdateRudder] Stopped
2025-10-25T00:19:43.813Z,1761351583.813 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:19:44.582Z,1761351584.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559398,-0.812998,-0.161581],[0.827888,0.538368,0.157361],[-0.040944,-0.221798,0.974233]]
2025-10-25T00:19:44.988Z,1761351584.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558738,-0.812660,-0.165515],[0.828616,0.538661,0.152443],[-0.034727,-0.222324,0.974354]]
2025-10-25T00:19:45.390Z,1761351585.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559012,-0.810741,-0.173795],[0.828717,0.539457,0.149044],[-0.027081,-0.227344,0.973438]]
2025-10-25T00:19:45.794Z,1761351585.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558032,-0.810943,-0.175990],[0.829636,0.540753,0.138891],[-0.017465,-0.223514,0.974544]]
2025-10-25T00:19:46.198Z,1761351586.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557527,-0.809927,-0.182158],[0.830119,0.541770,0.131860],[-0.008109,-0.224728,0.974388]]
2025-10-25T00:19:46.603Z,1761351586.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558073,-0.808524,-0.186664],[0.829791,0.544074,0.124221],[0.001124,-0.224216,0.974539]]
2025-10-25T00:19:47.006Z,1761351587.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559592,-0.806325,-0.191564],[0.828718,0.546935,0.118693],[0.009068,-0.225172,0.974277]]
2025-10-25T00:19:47.410Z,1761351587.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560788,-0.802908,-0.202127],[0.827805,0.548435,0.118144],[0.015995,-0.233576,0.972207]]
2025-10-25T00:19:47.817Z,1761351587.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562814,-0.799710,-0.209058],[0.826315,0.550787,0.117629],[0.021078,-0.238951,0.970803]]
2025-10-25T00:19:48.219Z,1761351588.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564443,-0.798867,-0.207885],[0.825111,0.553459,0.113468],[0.024410,-0.235574,0.971550]]
2025-10-25T00:19:48.622Z,1761351588.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565634,-0.799085,-0.203768],[0.824234,0.555719,0.108691],[0.026384,-0.229431,0.972967]]
2025-10-25T00:19:49.026Z,1761351589.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567062,-0.798560,-0.201849],[0.823209,0.557701,0.106283],[0.027698,-0.226433,0.973633]]
2025-10-25T00:19:49.439Z,1761351589.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567788,-0.797508,-0.203957],[0.822676,0.558380,0.106851],[0.028671,-0.228459,0.973131]]
2025-10-25T00:19:49.850Z,1761351589.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568635,-0.796612,-0.205094],[0.822073,0.559167,0.107369],[0.029150,-0.229656,0.972835]]
2025-10-25T00:19:49.862Z,1761351589.862 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-10-25T00:19:49.862Z,1761351589.862 [NAL9602] Data Fault, FailCount= 1
2025-10-25T00:19:49.863Z,1761351589.863 [NAL9602](ERROR): Data Fault
2025-10-25T00:19:49.950Z,1761351589.950 [marl:NeedComms] Running Loop=1
2025-10-25T00:19:49.950Z,1761351589.950 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms
2025-10-25T00:19:49.950Z,1761351589.950 [marl:NeedComms:B.GoToSurface] Running Loop=1
2025-10-25T00:19:49.950Z,1761351589.950 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-25T00:19:49.951Z,1761351589.951 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-25T00:19:49.951Z,1761351589.951 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-25T00:19:49.951Z,1761351589.951 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-25T00:19:49.958Z,1761351589.958 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-25T00:19:49.958Z,1761351589.958 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-25T00:19:49.958Z,1761351589.958 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-25T00:19:49.959Z,1761351589.959 [marl:NeedComms:A] Running Loop=1
2025-10-25T00:19:49.964Z,1761351589.964 [marl:NeedComms:A](ERROR): caught uninitialized data element exception.
2025-10-25T00:19:49.964Z,1761351589.964 [marl:NeedComms:A](INFO): last time_fix was:  nan second since 1970/01/01T00:00:00Z 
2025-10-25T00:19:49.965Z,1761351589.965 [marl:NeedComms:A] Stopped
2025-10-25T00:19:50.056Z,1761351590.056 [CBIT](ERROR): Data Fault in component: NAL9602
2025-10-25T00:19:50.250Z,1761351590.250 [NAL9602](INFO): Powering down
2025-10-25T00:19:50.643Z,1761351590.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567392,-0.799097,-0.198770],[0.822823,0.559594,0.099079],[0.032056,-0.219769,0.975025]]
2025-10-25T00:19:51.046Z,1761351591.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565248,-0.800773,-0.198134],[0.824204,0.558237,0.095179],[0.034389,-0.217103,0.975543]]
2025-10-25T00:19:51.434Z,1761351591.434 [CBIT](INFO): Clearing failed state for component NAL9602
2025-10-25T00:19:51.434Z,1761351591.434 [NAL9602] No Fault, FailCount= 1
2025-10-25T00:19:51.476Z,1761351591.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559029,-0.802380,-0.208980],[0.828108,0.552924,0.092266],[0.041518,-0.224637,0.973558]]
2025-10-25T00:19:51.901Z,1761351591.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556191,-0.802700,-0.215231],[0.829801,0.550622,0.090802],[0.045624,-0.229103,0.972333]]
2025-10-25T00:19:52.284Z,1761351592.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554737,-0.803763,-0.215017],[0.830712,0.549561,0.088879],[0.046727,-0.227922,0.972558]]
2025-10-25T00:19:52.691Z,1761351592.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555644,-0.805480,-0.206065],[0.830350,0.550188,0.088385],[0.042182,-0.220217,0.974538]]
2025-10-25T00:19:53.089Z,1761351593.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558965,-0.806781,-0.191476],[0.828607,0.552144,0.092454],[0.031132,-0.210337,0.977133]]
2025-10-25T00:19:53.493Z,1761351593.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564042,-0.805311,-0.182569],[0.825611,0.553998,0.107018],[0.014960,-0.211093,0.977351]]
2025-10-25T00:19:53.914Z,1761351593.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570955,-0.802601,-0.172746],[0.820964,0.556795,0.126483],[-0.005332,-0.214035,0.976812]]
2025-10-25T00:19:54.317Z,1761351594.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578641,-0.800553,-0.155853],[0.815069,0.560843,0.145318],[-0.028925,-0.211118,0.977032]]
2025-10-25T00:19:54.714Z,1761351594.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584953,-0.799659,-0.135555],[0.809246,0.564238,0.163574],[-0.054318,-0.205380,0.977174]]
2025-10-25T00:19:55.118Z,1761351595.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589473,-0.799332,-0.116579],[0.803693,0.565832,0.184151],[-0.081234,-0.202245,0.975960]]
2025-10-25T00:19:55.522Z,1761351595.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592030,-0.799643,-0.100362],[0.798595,0.565337,0.206493],[-0.108382,-0.202399,0.973287]]
2025-10-25T00:19:55.934Z,1761351595.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592901,-0.800885,-0.083969],[0.793813,0.563746,0.228149],[-0.135383,-0.201926,0.969999]]
2025-10-25T00:19:56.331Z,1761351596.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593187,-0.802175,-0.068149],[0.788771,0.562150,0.248651],[-0.161151,-0.201251,0.966193]]
2025-10-25T00:19:56.363Z,1761351596.363 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:19:56.363Z,1761351596.363 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:19:56.363Z,1761351596.363 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:19:56.363Z,1761351596.363 [marl:UpdateRudder:A] Stopped
2025-10-25T00:19:56.363Z,1761351596.363 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:19:56.363Z,1761351596.363 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:19:56.364Z,1761351596.364 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:19:56.364Z,1761351596.364 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:19:56.364Z,1761351596.364 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:19:56.364Z,1761351596.364 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:19:56.364Z,1761351596.364 [marl:UpdateCommandMode] Stopped
2025-10-25T00:19:56.364Z,1761351596.364 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:19:56.365Z,1761351596.365 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:19:56.365Z,1761351596.365 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:19:56.365Z,1761351596.365 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:19:56.365Z,1761351596.365 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:19:56.365Z,1761351596.365 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:19:56.365Z,1761351596.365 [marl:UpdateSpeed] Stopped
2025-10-25T00:19:56.365Z,1761351596.365 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:19:56.734Z,1761351596.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593149,-0.803512,-0.050426],[0.783465,0.561662,0.265929],[-0.185355,-0.197243,0.962673]]
2025-10-25T00:19:56.789Z,1761351596.789 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-25T00:19:56.789Z,1761351596.789 [marl:UpdateRudder:B] Stopped
2025-10-25T00:19:56.789Z,1761351596.789 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:19:56.789Z,1761351596.789 [marl:UpdateRudder] Stopped
2025-10-25T00:19:56.789Z,1761351596.789 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:19:57.148Z,1761351597.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592780,-0.804579,-0.035543],[0.778234,0.560895,0.282397],[-0.207275,-0.195060,0.958639]]
2025-10-25T00:19:57.549Z,1761351597.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592780,-0.805025,-0.023385],[0.772782,0.560383,0.297958],[-0.226759,-0.194695,0.954293]]
2025-10-25T00:19:57.946Z,1761351597.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593580,-0.804641,-0.014699],[0.766805,0.559936,0.313820],[-0.244282,-0.197548,0.949369]]
2025-10-25T00:19:58.436Z,1761351598.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594858,-0.803811,-0.005623],[0.760701,0.560666,0.327089],[-0.259765,-0.198849,0.944977]]
2025-10-25T00:19:58.830Z,1761351598.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596113,-0.802862,0.007847],[0.754754,0.563673,0.335588],[-0.273853,-0.194126,0.941976]]
2025-10-25T00:19:59.235Z,1761351599.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597425,-0.801690,0.019406],[0.748497,0.566144,0.345303],[-0.287813,-0.191767,0.938291]]
2025-10-25T00:19:59.639Z,1761351599.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596927,-0.801759,0.029333],[0.743249,0.566392,0.356065],[-0.302092,-0.190743,0.934001]]
2025-10-25T00:20:00.050Z,1761351600.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592593,-0.803459,0.057332],[0.740464,0.571383,0.353884],[-0.317090,-0.167257,0.933530]]
2025-10-25T00:20:00.545Z,1761351600.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580779,-0.808222,0.097327],[0.742828,0.575067,0.342789],[-0.333019,-0.126788,0.934357]]
2025-10-25T00:20:01.348Z,1761351601.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547241,-0.820921,0.163142],[0.752370,0.567886,0.333834],[-0.366698,-0.059944,0.928407]]
2025-10-25T00:20:01.750Z,1761351601.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529664,-0.827021,0.188392],[0.757209,0.561115,0.334343],[-0.382218,-0.034437,0.923430]]
2025-10-25T00:20:02.155Z,1761351602.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510761,-0.832224,0.215698],[0.762880,0.554413,0.332625],[-0.396404,-0.005340,0.918060]]
2025-10-25T00:20:02.562Z,1761351602.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488169,-0.839021,0.240281],[0.770972,0.543601,0.331812],[-0.409015,0.023270,0.912231]]
2025-10-25T00:20:02.963Z,1761351602.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464164,-0.849251,0.251642],[0.779395,0.526580,0.339495],[-0.420826,0.038548,0.906322]]
2025-10-25T00:20:03.366Z,1761351603.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441247,-0.859657,0.257472],[0.786596,0.508609,0.350119],[-0.431935,0.048038,0.900625]]
2025-10-25T00:20:03.770Z,1761351603.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419210,-0.868200,0.265502],[0.793206,0.492516,0.358122],[-0.441686,0.060470,0.895130]]
2025-10-25T00:20:04.488Z,1761351604.488 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:20:04.488Z,1761351604.488 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:20:04.584Z,1761351604.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378144,-0.882560,0.279453],[0.806314,0.462303,0.368962],[-0.454823,0.085806,0.886438]]
2025-10-25T00:20:04.982Z,1761351604.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360488,-0.889958,0.279328],[0.812266,0.446731,0.375041],[-0.458555,0.091691,0.883923]]
2025-10-25T00:20:05.200Z,1761351605.200 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:20:05.395Z,1761351605.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342857,-0.898725,0.273390],[0.818452,0.428631,0.382638],[-0.461070,0.092567,0.882522]]
2025-10-25T00:20:05.791Z,1761351605.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325364,-0.906520,0.268998],[0.825338,0.411086,0.387074],[-0.461471,0.096075,0.881938]]
2025-10-25T00:20:05.851Z,1761351605.851 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-25T00:20:06.204Z,1761351606.204 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:20:06.609Z,1761351606.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287910,-0.922204,0.258161],[0.842243,0.372137,0.390053],[-0.455780,0.105134,0.883862]]
2025-10-25T00:20:07.002Z,1761351607.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270068,-0.928300,0.255583],[0.851113,0.354278,0.387419],[-0.450188,0.112901,0.885767]]
2025-10-25T00:20:07.410Z,1761351607.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250520,-0.934803,0.251759],[0.861144,0.333995,0.383247],[-0.442346,0.120790,0.888673]]
2025-10-25T00:20:07.810Z,1761351607.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232781,-0.944548,0.231606],[0.870876,0.308454,0.382663],[-0.432883,0.112624,0.894387]]
2025-10-25T00:20:08.217Z,1761351608.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216266,-0.954552,0.205082],[0.880195,0.281514,0.382108],[-0.422475,0.097875,0.901074]]
2025-10-25T00:20:08.622Z,1761351608.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200449,-0.963866,0.175452],[0.888830,0.254241,0.381238],[-0.412069,0.079528,0.907675]]
2025-10-25T00:20:09.023Z,1761351609.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185608,-0.970581,0.153369],[0.896566,0.231154,0.377806],[-0.402143,0.067381,0.913094]]
2025-10-25T00:20:09.426Z,1761351609.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171014,-0.974472,0.145457],[0.903779,0.213940,0.370692],[-0.392348,0.068068,0.917295]]
2025-10-25T00:20:09.480Z,1761351609.480 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:20:09.480Z,1761351609.480 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:20:09.481Z,1761351609.481 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:20:09.481Z,1761351609.481 [marl:UpdateRudder:A] Stopped
2025-10-25T00:20:09.481Z,1761351609.481 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:20:09.481Z,1761351609.481 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:20:09.481Z,1761351609.481 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:20:09.481Z,1761351609.481 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:20:09.482Z,1761351609.482 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:20:09.482Z,1761351609.482 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:20:09.482Z,1761351609.482 [marl:UpdateCommandMode] Stopped
2025-10-25T00:20:09.482Z,1761351609.482 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:20:09.482Z,1761351609.482 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:20:09.482Z,1761351609.482 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:20:09.482Z,1761351609.482 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:20:09.483Z,1761351609.483 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:20:09.483Z,1761351609.483 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:20:09.483Z,1761351609.483 [marl:UpdateSpeed] Stopped
2025-10-25T00:20:09.483Z,1761351609.483 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:20:09.850Z,1761351609.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156689,-0.977520,0.141082],[0.910127,0.198385,0.363747],[-0.383558,0.071408,0.920752]]
2025-10-25T00:20:09.921Z,1761351609.921 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-25T00:20:09.921Z,1761351609.921 [marl:UpdateRudder:B] Stopped
2025-10-25T00:20:09.921Z,1761351609.921 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:20:09.921Z,1761351609.921 [marl:UpdateRudder] Stopped
2025-10-25T00:20:09.921Z,1761351609.921 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:20:10.652Z,1761351610.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133561,-0.983153,0.124788],[0.918692,0.170052,0.356493],[-0.371707,0.067029,0.925927]]
2025-10-25T00:20:11.044Z,1761351611.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123213,-0.985332,0.118066],[0.921804,0.157702,0.354129],[-0.367554,0.065200,0.927714]]
2025-10-25T00:20:11.046Z,1761351611.046 [BPC1](ERROR): Battery stick #10 (s/n: 00BE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-25T00:20:11.047Z,1761351611.047 [BPC1](ERROR): Battery stick #12 (s/n: 0284) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x0AD0.
2025-10-25T00:20:11.048Z,1761351611.048 [BPC1](ERROR): Battery stick #14 (s/n: 0129) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-25T00:20:11.049Z,1761351611.049 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-25T00:20:11.049Z,1761351611.049 [BPC1](ERROR): Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-25T00:20:11.050Z,1761351611.050 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0.
2025-10-25T00:20:11.051Z,1761351611.051 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-25T00:20:11.052Z,1761351611.052 [BPC1](ERROR): Battery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-25T00:20:11.053Z,1761351611.053 [BPC1](ERROR): Battery stick #37 (s/n: 00A3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-25T00:20:11.053Z,1761351611.053 [BPC1](FAULT): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-25T00:20:11.054Z,1761351611.054 [BPC1](FAULT): Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0.
2025-10-25T00:20:11.055Z,1761351611.055 [BPC1](ERROR): Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-25T00:20:11.056Z,1761351611.056 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-25T00:20:11.056Z,1761351611.056 [BPC1](ERROR): Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-25T00:20:11.057Z,1761351611.057 [BPC1](INFO): Calculating totals. Valid battery stick count: 29. Valid reserve battery stick count: 2.
2025-10-25T00:20:11.061Z,1761351611.061 [BPC1](FAULT): Failed to receive data from 11 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 10, 12, 14, 17, 24, 26, 27, 28, 54, 58, 62.
2025-10-25T00:20:11.447Z,1761351611.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112608,-0.987725,0.108249],[0.924673,0.144048,0.352463],[-0.363730,0.060405,0.929544]]
2025-10-25T00:20:11.898Z,1761351611.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101264,-0.990415,0.093932],[0.927284,0.128168,0.351735],[-0.360403,0.051484,0.931375]]
2025-10-25T00:20:12.264Z,1761351612.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087586,-0.993152,0.077314],[0.930332,0.109297,0.350052],[-0.356105,0.041268,0.933534]]
2025-10-25T00:20:12.665Z,1761351612.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072164,-0.995300,0.064581],[0.934048,0.090147,0.345582],[-0.349780,0.035383,0.936164]]
2025-10-25T00:20:13.062Z,1761351613.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055515,-0.996677,0.059604],[0.938336,0.072481,0.338042],[-0.341239,0.037162,0.939242]]
2025-10-25T00:20:13.467Z,1761351613.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040103,-0.997683,0.054950],[0.942604,0.056020,0.329179],[-0.331495,0.038595,0.942667]]
2025-10-25T00:20:13.904Z,1761351613.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015995,-0.998410,0.054052],[0.949585,0.032097,0.311861],[-0.313100,0.046339,0.948589]]
2025-10-25T00:20:14.682Z,1761351614.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005430,-0.998504,0.054407],[0.951582,0.021882,0.306614],[-0.307346,0.050108,0.950278]]
2025-10-25T00:20:15.082Z,1761351615.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004803,-0.998666,0.051416],[0.952376,0.011108,0.304724],[-0.304889,0.050431,0.951052]]
2025-10-25T00:20:15.488Z,1761351615.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015979,-0.999042,0.040735],[0.952080,-0.002757,0.305838],[-0.305433,0.043670,0.951212]]
2025-10-25T00:20:15.911Z,1761351615.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046725,-0.998547,0.026840],[0.949478,-0.036049,0.311756],[-0.310335,0.040051,0.949783]]
2025-10-25T00:20:16.704Z,1761351616.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083791,-0.996229,0.022496],[0.946428,-0.072496,0.314673],[-0.311855,0.047658,0.948934]]
2025-10-25T00:20:17.108Z,1761351617.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103743,-0.994551,0.010241],[0.945352,-0.095400,0.311783],[-0.309108,0.042027,0.950098]]
2025-10-25T00:20:17.512Z,1761351617.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125167,-0.992135,0.001439],[0.944168,-0.118670,0.307351],[-0.304763,0.039829,0.951595]]
2025-10-25T00:20:17.915Z,1761351617.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147313,-0.989088,-0.002055],[0.943035,-0.141080,0.301300],[-0.298303,0.042447,0.953527]]
2025-10-25T00:20:18.316Z,1761351618.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170079,-0.985416,-0.005387],[0.941978,-0.164182,0.292783],[-0.289397,0.044722,0.956164]]
2025-10-25T00:20:18.726Z,1761351618.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192879,-0.981133,-0.013245],[0.940959,-0.188774,0.280998],[-0.278196,0.041736,0.959617]]
2025-10-25T00:20:19.124Z,1761351619.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214122,-0.976609,-0.019645],[0.939708,-0.211438,0.268779],[-0.266646,0.039091,0.963001]]
2025-10-25T00:20:19.527Z,1761351619.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231009,-0.972677,-0.023117],[0.938075,-0.228969,0.259976],[-0.258166,0.038372,0.965338]]
2025-10-25T00:20:19.930Z,1761351619.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244275,-0.969447,-0.022406],[0.935722,-0.241715,0.256900],[-0.254467,0.041788,0.966178]]
2025-10-25T00:20:20.340Z,1761351620.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257084,-0.966169,-0.020618],[0.932184,-0.253554,0.258347],[-0.254835,0.047197,0.965832]]
2025-10-25T00:20:20.346Z,1761351620.346 [NAL9602](INFO): Powering up NAL9602
2025-10-25T00:20:20.746Z,1761351620.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269474,-0.962522,-0.030583],[0.927149,-0.267895,0.261967],[-0.260342,0.042238,0.964592]]
2025-10-25T00:20:21.142Z,1761351621.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285560,-0.957295,-0.045195],[0.919662,-0.286990,0.268064],[-0.269587,0.034984,0.962340]]
2025-10-25T00:20:21.546Z,1761351621.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304460,-0.950539,-0.061476],[0.910212,-0.309351,0.275348],[-0.280747,0.027876,0.959377]]
2025-10-25T00:20:21.952Z,1761351621.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325663,-0.942788,-0.071373],[0.899881,-0.332232,0.282552],[-0.290099,0.027790,0.956593]]
2025-10-25T00:20:22.366Z,1761351622.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347801,-0.934659,-0.073807],[0.890078,-0.353896,0.287261],[-0.294611,0.034215,0.955005]]
2025-10-25T00:20:22.391Z,1761351622.391 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:20:22.391Z,1761351622.391 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:20:22.391Z,1761351622.391 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:20:22.391Z,1761351622.391 [marl:UpdateRudder:A] Stopped
2025-10-25T00:20:22.392Z,1761351622.392 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:20:22.392Z,1761351622.392 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:20:22.392Z,1761351622.392 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:20:22.392Z,1761351622.392 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:20:22.392Z,1761351622.392 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:20:22.392Z,1761351622.392 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:20:22.393Z,1761351622.393 [marl:UpdateCommandMode] Stopped
2025-10-25T00:20:22.393Z,1761351622.393 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:20:22.393Z,1761351622.393 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:20:22.393Z,1761351622.393 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:20:22.393Z,1761351622.393 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:20:22.393Z,1761351622.393 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:20:22.393Z,1761351622.393 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:20:22.393Z,1761351622.393 [marl:UpdateSpeed] Stopped
2025-10-25T00:20:22.394Z,1761351622.394 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:20:22.759Z,1761351622.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370920,-0.925905,-0.071541],[0.881349,-0.375252,0.287071],[-0.292647,0.043428,0.955234]]
2025-10-25T00:20:22.802Z,1761351622.802 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-25T00:20:22.802Z,1761351622.802 [marl:UpdateRudder:B] Stopped
2025-10-25T00:20:22.802Z,1761351622.802 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:20:22.802Z,1761351622.802 [marl:UpdateRudder] Stopped
2025-10-25T00:20:22.802Z,1761351622.802 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:20:23.162Z,1761351623.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393567,-0.916809,-0.067573],[0.873845,-0.395924,0.282205],[-0.285482,0.052018,0.956971]]
2025-10-25T00:20:23.568Z,1761351623.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413652,-0.907556,-0.072353],[0.867356,-0.416989,0.271687],[-0.276742,0.049628,0.959662]]
2025-10-25T00:20:23.970Z,1761351623.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430073,-0.899350,-0.078786],[0.861685,-0.434958,0.261361],[-0.269324,0.044516,0.962020]]
2025-10-25T00:20:24.377Z,1761351624.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443136,-0.892189,-0.087345],[0.856356,-0.450115,0.253084],[-0.265114,0.037352,0.963493]]
2025-10-25T00:20:24.782Z,1761351624.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454442,-0.885727,-0.094707],[0.850331,-0.463023,0.250095],[-0.265368,0.033121,0.963578]]
2025-10-25T00:20:25.184Z,1761351625.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464701,-0.879170,-0.105416],[0.842945,-0.475689,0.251324],[-0.271102,0.027931,0.962145]]
2025-10-25T00:20:25.586Z,1761351625.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474023,-0.872348,-0.119626],[0.833632,-0.488363,0.257991],[-0.283479,0.022570,0.958713]]
2025-10-25T00:20:25.990Z,1761351625.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483200,-0.864742,-0.136892],[0.821659,-0.501892,0.270151],[-0.302316,0.018059,0.953037]]
2025-10-25T00:20:26.395Z,1761351626.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490862,-0.857788,-0.152494],[0.808182,-0.513684,0.288045],[-0.325416,0.018148,0.945397]]
2025-10-25T00:20:26.808Z,1761351626.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497780,-0.850743,-0.168673],[0.793718,-0.525244,0.306807],[-0.349609,0.018843,0.936706]]
2025-10-25T00:20:27.202Z,1761351627.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505740,-0.842896,-0.183721],[0.779160,-0.537713,0.322141],[-0.370320,0.019771,0.928694]]
2025-10-25T00:20:27.606Z,1761351627.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516587,-0.834620,-0.191170],[0.765616,-0.550220,0.333301],[-0.383365,0.025816,0.923236]]
2025-10-25T00:20:28.037Z,1761351628.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528278,-0.827889,-0.188473],[0.755847,-0.559666,0.339807],[-0.386805,0.037056,0.921417]]
2025-10-25T00:20:28.438Z,1761351628.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540123,-0.820742,-0.186146],[0.750194,-0.569786,0.335490],[-0.381414,0.041561,0.923470]]
2025-10-25T00:20:28.854Z,1761351628.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553720,-0.812156,-0.183840],[0.746126,-0.581929,0.323502],[-0.369716,0.041962,0.928197]]
2025-10-25T00:20:29.248Z,1761351629.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571253,-0.800088,-0.183111],[0.739910,-0.598554,0.307029],[-0.355252,0.039905,0.933918]]
2025-10-25T00:20:29.658Z,1761351629.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593026,-0.784475,-0.181433],[0.728837,-0.618763,0.293137],[-0.342223,0.041603,0.938697]]
2025-10-25T00:20:30.055Z,1761351630.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611619,-0.769960,-0.181889],[0.715643,-0.636445,0.287738],[-0.337310,0.045819,0.940278]]
2025-10-25T00:20:30.460Z,1761351630.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628296,-0.755165,-0.187001],[0.699689,-0.653591,0.288539],[-0.340117,0.050445,0.939029]]
2025-10-25T00:20:30.866Z,1761351630.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642148,-0.740081,-0.199817],[0.682946,-0.670704,0.289380],[-0.348182,0.049361,0.936126]]
2025-10-25T00:20:31.266Z,1761351631.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650202,-0.729038,-0.213869],[0.669945,-0.682922,0.291190],[-0.358344,0.046052,0.932453]]
2025-10-25T00:20:31.269Z,1761351631.269 [NAL9602](INFO): NAL9602 initialized
2025-10-25T00:20:31.676Z,1761351631.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652819,-0.723471,-0.224539],[0.663277,-0.689099,0.291900],[-0.365911,0.041626,0.929718]]
2025-10-25T00:20:32.075Z,1761351632.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658642,-0.715756,-0.232130],[0.657494,-0.697468,0.285027],[-0.365913,0.035106,0.929987]]
2025-10-25T00:20:32.480Z,1761351632.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667273,-0.707134,-0.233899],[0.651299,-0.706322,0.277341],[-0.361326,0.032724,0.931865]]
2025-10-25T00:20:32.882Z,1761351632.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678690,-0.697085,-0.231195],[0.642168,-0.716016,0.273755],[-0.356370,0.037328,0.933599]]
2025-10-25T00:20:33.286Z,1761351633.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687633,-0.687886,-0.232322],[0.631671,-0.724554,0.275705],[-0.357983,0.042833,0.932745]]
2025-10-25T00:20:33.692Z,1761351633.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692282,-0.680104,-0.241256],[0.621818,-0.731854,0.278804],[-0.366180,0.042994,0.929550]]
2025-10-25T00:20:34.095Z,1761351634.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696923,-0.669146,-0.257960],[0.611044,-0.742357,0.274828],[-0.375398,0.033909,0.926243]]
2025-10-25T00:20:34.498Z,1761351634.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704107,-0.656151,-0.271475],[0.599678,-0.754196,0.267535],[-0.380289,0.025575,0.924514]]
2025-10-25T00:20:34.902Z,1761351634.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716170,-0.641741,-0.274352],[0.587591,-0.766533,0.259160],[-0.376613,0.024395,0.926049]]
2025-10-25T00:20:35.307Z,1761351635.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730398,-0.628784,-0.266739],[0.577237,-0.777024,0.251059],[-0.365125,0.029401,0.930494]]
2025-10-25T00:20:35.367Z,1761351635.367 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:20:35.367Z,1761351635.367 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:20:35.367Z,1761351635.367 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:20:35.367Z,1761351635.367 [marl:UpdateRudder:A] Stopped
2025-10-25T00:20:35.369Z,1761351635.369 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:20:35.369Z,1761351635.369 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:20:35.369Z,1761351635.369 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:20:35.370Z,1761351635.370 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:20:35.370Z,1761351635.370 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:20:35.370Z,1761351635.370 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:20:35.370Z,1761351635.370 [marl:UpdateCommandMode] Stopped
2025-10-25T00:20:35.370Z,1761351635.370 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:20:35.370Z,1761351635.370 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:20:35.370Z,1761351635.370 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:20:35.370Z,1761351635.370 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:20:35.371Z,1761351635.371 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:20:35.371Z,1761351635.371 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:20:35.371Z,1761351635.371 [marl:UpdateSpeed] Stopped
2025-10-25T00:20:35.371Z,1761351635.371 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:20:35.710Z,1761351635.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745860,-0.616494,-0.252246],[0.567169,-0.786366,0.244844],[-0.349302,0.039553,0.936175]]
2025-10-25T00:20:35.739Z,1761351635.739 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-25T00:20:35.739Z,1761351635.739 [marl:UpdateRudder:B] Stopped
2025-10-25T00:20:35.740Z,1761351635.740 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:20:35.740Z,1761351635.740 [marl:UpdateRudder] Stopped
2025-10-25T00:20:35.740Z,1761351635.740 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:20:36.114Z,1761351636.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761040,-0.602639,-0.240094],[0.554716,-0.796443,0.240768],[-0.336317,0.050050,0.940418]]
2025-10-25T00:20:36.329Z,1761351636.329 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:20:36.518Z,1761351636.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773670,-0.585199,-0.242852],[0.538585,-0.809313,0.234390],[-0.333708,0.050544,0.941320]]
2025-10-25T00:20:36.923Z,1761351636.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781713,-0.568009,-0.257468],[0.519759,-0.821540,0.234356],[-0.344637,0.049378,0.937437]]
2025-10-25T00:20:37.332Z,1761351637.332 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:20:37.407Z,1761351637.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785433,-0.550958,-0.282029],[0.499549,-0.833317,0.236712],[-0.365438,0.045034,0.929746]]
2025-10-25T00:20:37.746Z,1761351637.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785908,-0.536871,-0.306788],[0.482304,-0.842715,0.239195],[-0.386952,0.040021,0.921231]]
2025-10-25T00:20:38.158Z,1761351638.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786206,-0.527332,-0.322183],[0.471682,-0.848918,0.238443],[-0.399245,0.035498,0.916157]]
2025-10-25T00:20:38.561Z,1761351638.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789286,-0.522278,-0.322882],[0.467974,-0.852103,0.234354],[-0.397526,0.033872,0.916965]]
2025-10-25T00:20:38.962Z,1761351638.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796317,-0.518196,-0.312012],[0.466064,-0.854443,0.229588],[-0.385569,0.037408,0.921921]]
2025-10-25T00:20:39.373Z,1761351639.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808093,-0.508160,-0.297925],[0.457968,-0.860075,0.224805],[-0.370475,0.045223,0.927741]]
2025-10-25T00:20:39.770Z,1761351639.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822292,-0.492972,-0.284277],[0.442550,-0.868020,0.225147],[-0.357750,0.059330,0.931931]]
2025-10-25T00:20:40.176Z,1761351640.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836075,-0.475762,-0.273185],[0.424764,-0.876512,0.226499],[-0.347210,0.073331,0.934916]]
2025-10-25T00:20:40.578Z,1761351640.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848568,-0.454694,-0.270529],[0.408783,-0.888053,0.210376],[-0.335901,0.067931,0.939445]]
2025-10-25T00:20:40.983Z,1761351640.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859636,-0.433225,-0.270818],[0.397585,-0.900147,0.177935],[-0.320862,0.045286,0.946043]]
2025-10-25T00:20:41.391Z,1761351641.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868174,-0.411846,-0.276869],[0.388947,-0.911196,0.135799],[-0.308210,0.010210,0.951263]]
2025-10-25T00:20:41.794Z,1761351641.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871877,-0.394635,-0.289989],[0.379520,-0.918718,0.109189],[-0.309507,-0.014857,0.950781]]
2025-10-25T00:20:42.196Z,1761351642.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871344,-0.378292,-0.312497],[0.364038,-0.925423,0.105209],[-0.328992,-0.022088,0.944074]]
2025-10-25T00:20:42.598Z,1761351642.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867827,-0.360605,-0.341819],[0.343802,-0.932475,0.110859],[-0.358714,-0.021312,0.933204]]
2025-10-25T00:20:43.002Z,1761351643.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866011,-0.352457,-0.354682],[0.328276,-0.935813,0.128407],[-0.377174,-0.005232,0.926128]]
2025-10-25T00:20:43.427Z,1761351643.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868058,-0.355254,-0.346800],[0.322261,-0.934575,0.150722],[-0.377655,0.019076,0.925750]]
2025-10-25T00:20:43.846Z,1761351643.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871021,-0.360272,-0.333956],[0.324346,-0.932335,0.159848],[-0.368948,0.030914,0.928936]]
2025-10-25T00:20:44.704Z,1761351644.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880373,-0.373918,-0.291769],[0.339066,-0.926344,0.164077],[-0.331630,0.045520,0.942311]]
2025-10-25T00:20:44.736Z,1761351644.736 [marl:NeedComms:C] Running Loop=1
2025-10-25T00:20:45.107Z,1761351645.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902977,-0.351699,-0.246861],[0.322452,-0.934354,0.151683],[-0.284002,0.057365,0.957106]]
2025-10-25T00:20:45.500Z,1761351645.500 [Radio_Surface](INFO): Powering up
2025-10-25T00:20:45.511Z,1761351645.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932891,-0.305869,-0.190154],[0.282922,-0.949075,0.138610],[-0.222866,0.075509,0.971920]]
2025-10-25T00:20:45.916Z,1761351645.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948435,-0.265418,-0.173272],[0.246740,-0.961366,0.122046],[-0.198971,0.073000,0.977283]]
2025-10-25T00:20:46.326Z,1761351646.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941084,-0.242506,-0.235694],[0.220438,-0.968447,0.116268],[-0.256452,0.057462,0.964847]]
2025-10-25T00:20:46.725Z,1761351646.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918435,-0.257048,-0.300673],[0.230843,-0.965525,0.120303],[-0.321231,0.041082,0.946109]]
2025-10-25T00:20:47.127Z,1761351647.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940401,-0.249741,-0.230814],[0.236210,-0.967980,0.084967],[-0.244643,0.025383,0.969281]]
2025-10-25T00:20:47.537Z,1761351647.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980926,-0.187484,-0.051328],[0.189324,-0.981338,-0.033663],[-0.044059,-0.042738,0.998114]]
2025-10-25T00:20:47.940Z,1761351647.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987461,-0.145228,-0.061888],[0.150603,-0.984163,-0.093493],[-0.047330,-0.101641,0.993695]]
2025-10-25T00:20:48.345Z,1761351648.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982536,-0.146217,-0.115081],[0.160680,-0.978610,-0.128468],[-0.093836,-0.144715,0.985014]]
2025-10-25T00:20:48.369Z,1761351648.369 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:20:48.370Z,1761351648.370 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:20:48.370Z,1761351648.370 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:20:48.370Z,1761351648.370 [marl:UpdateRudder:A] Stopped
2025-10-25T00:20:48.370Z,1761351648.370 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:20:48.370Z,1761351648.370 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:20:48.370Z,1761351648.370 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:20:48.370Z,1761351648.370 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:20:48.371Z,1761351648.371 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:20:48.371Z,1761351648.371 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:20:48.371Z,1761351648.371 [marl:UpdateCommandMode] Stopped
2025-10-25T00:20:48.371Z,1761351648.371 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:20:48.371Z,1761351648.371 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:20:48.371Z,1761351648.371 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:20:48.371Z,1761351648.371 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:20:48.371Z,1761351648.371 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:20:48.372Z,1761351648.372 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:20:48.372Z,1761351648.372 [marl:UpdateSpeed] Stopped
2025-10-25T00:20:48.372Z,1761351648.372 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:20:48.747Z,1761351648.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985050,-0.138589,-0.102317],[0.154737,-0.972875,-0.171961],[-0.075709,-0.185222,0.979776]]
2025-10-25T00:20:48.777Z,1761351648.777 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-25T00:20:48.777Z,1761351648.777 [marl:UpdateRudder:B] Stopped
2025-10-25T00:20:48.777Z,1761351648.777 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:20:48.777Z,1761351648.777 [marl:UpdateRudder] Stopped
2025-10-25T00:20:48.777Z,1761351648.777 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:20:49.150Z,1761351649.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993537,-0.108844,-0.032199],[0.112827,-0.978020,-0.175346],[-0.012406,-0.177846,0.983980]]
2025-10-25T00:20:49.553Z,1761351649.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998896,-0.046471,0.006842],[0.044027,-0.977051,-0.208408],[0.016370,-0.207877,0.978018]]
2025-10-25T00:20:49.955Z,1761351649.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998939,-0.018560,-0.042154],[0.028786,-0.966028,-0.256829],[-0.035955,-0.257770,0.965537]]
2025-10-25T00:20:50.359Z,1761351650.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997170,-0.051824,-0.054463],[0.062939,-0.971678,-0.227774],[-0.041116,-0.230558,0.972190]]
2025-10-25T00:20:50.752Z,1761351650.752 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-10-25T00:20:50.753Z,1761351650.753 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-10-25T00:20:50.765Z,1761351650.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999610,-0.009970,-0.026079],[0.013633,-0.989442,-0.144283],[-0.024365,-0.144582,0.989193]]
2025-10-25T00:20:51.168Z,1761351651.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999748,0.005767,-0.021719],[-0.003925,-0.996465,-0.083917],[-0.022126,-0.083811,0.996236]]
2025-10-25T00:20:51.571Z,1761351651.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997736,0.022444,0.063405],[-0.031499,-0.988835,-0.145648],[0.059428,-0.147316,0.987303]]
2025-10-25T00:20:51.975Z,1761351651.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994231,0.080418,0.070982],[-0.097716,-0.951978,-0.290156],[0.044239,-0.295418,0.954343]]
2025-10-25T00:20:52.380Z,1761351652.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985555,0.149248,0.080045],[-0.169070,-0.894627,-0.413592],[0.009882,-0.421151,0.906937]]
2025-10-25T00:20:52.787Z,1761351652.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974043,0.191391,0.120867],[-0.224949,-0.877968,-0.422576],[0.025241,-0.438796,0.898232]]
2025-10-25T00:20:53.187Z,1761351653.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960725,0.237303,0.143859],[-0.270557,-0.916250,-0.295440],[0.061702,-0.322758,0.944468]]
2025-10-25T00:20:53.592Z,1761351653.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938254,0.341182,0.057213],[-0.345161,-0.934370,-0.088410],[0.023294,-0.102699,0.994440]]
2025-10-25T00:20:53.999Z,1761351653.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922346,0.372873,-0.101215],[-0.376981,-0.925901,0.024341],[-0.084639,0.060607,0.994567]]
2025-10-25T00:20:54.399Z,1761351654.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928763,0.349292,-0.124076],[-0.347810,-0.936944,-0.034123],[-0.128171,0.011462,0.991686]]
2025-10-25T00:20:54.808Z,1761351654.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948491,0.315690,0.026548],[-0.316376,-0.939521,-0.131174],[-0.016468,-0.132816,0.991004]]
2025-10-25T00:20:55.207Z,1761351655.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925121,0.297668,0.235680],[-0.343748,-0.920247,-0.187035],[0.161210,-0.254045,0.953663]]
2025-10-25T00:20:55.614Z,1761351655.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898658,0.339477,0.277794],[-0.411349,-0.872128,-0.264925],[0.152337,-0.352347,0.923388]]
2025-10-25T00:20:56.019Z,1761351656.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889683,0.415209,0.189909],[-0.456555,-0.813258,-0.360788],[0.004643,-0.407691,0.913108]]
2025-10-25T00:20:56.420Z,1761351656.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882985,0.455127,0.114878],[-0.464115,-0.809865,-0.358771],[-0.070251,-0.370106,0.926330]]
2025-10-25T00:20:57.228Z,1761351657.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904833,0.420199,0.068630],[-0.422677,-0.905904,-0.026114],[0.051199,-0.052637,0.997300]]
2025-10-25T00:20:57.631Z,1761351657.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875012,0.482864,0.034600],[-0.482147,-0.875666,0.027256],[0.043459,0.007167,0.999029]]
2025-10-25T00:20:58.038Z,1761351658.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877672,0.479075,0.013396],[-0.478329,-0.873876,-0.086840],[-0.029896,-0.082625,0.996132]]
2025-10-25T00:20:58.439Z,1761351658.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891900,0.441619,0.097404],[-0.452073,-0.864930,-0.218002],[-0.012027,-0.238470,0.971076]]
2025-10-25T00:20:58.844Z,1761351658.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885370,0.419607,0.200125],[-0.462028,-0.841886,-0.278849],[0.051475,-0.339348,0.939251]]
2025-10-25T00:20:59.249Z,1761351659.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874697,0.441803,0.199287],[-0.483701,-0.821731,-0.301315],[0.030639,-0.359955,0.932466]]
2025-10-25T00:20:59.654Z,1761351659.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873148,0.467280,0.138784],[-0.487329,-0.830345,-0.270256],[-0.011046,-0.303607,0.952733]]
2025-10-25T00:21:00.058Z,1761351660.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867688,0.490032,0.083582],[-0.497062,-0.857555,-0.132394],[0.006799,-0.156422,0.987667]]
2025-10-25T00:21:00.459Z,1761351660.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853217,0.519668,0.044334],[-0.519010,-0.854368,0.026154],[0.051469,-0.000694,0.998674]]
2025-10-25T00:21:00.864Z,1761351660.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808464,0.587669,0.032105],[-0.584296,-0.807975,0.075989],[0.070596,0.042675,0.996592]]
2025-10-25T00:21:01.271Z,1761351661.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773757,0.633483,0.000178],[-0.633480,-0.773752,-0.003366],[-0.001995,-0.002717,0.999994]]
2025-10-25T00:21:01.308Z,1761351661.308 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:21:01.308Z,1761351661.308 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:21:01.308Z,1761351661.308 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:21:01.309Z,1761351661.309 [marl:UpdateRudder:A] Stopped
2025-10-25T00:21:01.309Z,1761351661.309 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:21:01.309Z,1761351661.309 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:21:01.309Z,1761351661.309 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:21:01.309Z,1761351661.309 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:21:01.309Z,1761351661.309 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:21:01.309Z,1761351661.309 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:21:01.309Z,1761351661.309 [marl:UpdateCommandMode] Stopped
2025-10-25T00:21:01.309Z,1761351661.309 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:21:01.310Z,1761351661.310 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:21:01.310Z,1761351661.310 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:21:01.310Z,1761351661.310 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:21:01.310Z,1761351661.310 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:21:01.310Z,1761351661.310 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:21:01.310Z,1761351661.310 [marl:UpdateSpeed] Stopped
2025-10-25T00:21:01.310Z,1761351661.310 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:21:01.676Z,1761351661.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794626,0.606550,0.025807],[-0.605015,-0.787664,-0.116371],[-0.050258,-0.108085,0.992871]]
2025-10-25T00:21:01.716Z,1761351661.716 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-25T00:21:01.716Z,1761351661.716 [marl:UpdateRudder:B] Stopped
2025-10-25T00:21:01.716Z,1761351661.716 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:21:01.716Z,1761351661.716 [marl:UpdateRudder] Stopped
2025-10-25T00:21:01.716Z,1761351661.716 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:21:02.078Z,1761351662.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813431,0.569842,0.116668],[-0.580885,-0.785469,-0.213570],[-0.030062,-0.241495,0.969936]]
2025-10-25T00:21:02.488Z,1761351662.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796477,0.551717,0.247454],[-0.602343,-0.759795,-0.244734],[0.052990,-0.343977,0.937482]]
2025-10-25T00:21:02.883Z,1761351662.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752910,0.589156,0.293293],[-0.652049,-0.728196,-0.211097],[0.089205,-0.350179,0.932425]]
2025-10-25T00:21:03.291Z,1761351663.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718699,0.663842,0.206849],[-0.694635,-0.698702,-0.171167],[0.030897,-0.266702,0.963284]]
2025-10-25T00:21:03.693Z,1761351663.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710032,0.685510,0.161031],[-0.703012,-0.703185,-0.106319],[0.040352,-0.188697,0.981206]]
2025-10-25T00:21:04.103Z,1761351664.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692664,0.703814,0.157679],[-0.717704,-0.694260,-0.053894],[0.071539,-0.150498,0.986019]]
2025-10-25T00:21:04.499Z,1761351664.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658029,0.736832,0.155168],[-0.751819,-0.654404,-0.080771],[0.042028,-0.169808,0.984581]]
2025-10-25T00:21:04.589Z,1761351664.589 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:21:04.589Z,1761351664.589 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:21:04.903Z,1761351664.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668639,0.730113,0.140914],[-0.741858,-0.667912,-0.059500],[0.050676,-0.144322,0.988232]]
2025-10-25T00:21:05.310Z,1761351665.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668393,0.721378,0.181284],[-0.731960,-0.681240,0.012105],[0.132230,-0.124602,0.983356]]
2025-10-25T00:21:05.711Z,1761351665.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585600,0.772070,0.246942],[-0.784597,-0.616415,0.066639],[0.203669,-0.154726,0.966736]]
2025-10-25T00:21:06.118Z,1761351666.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496527,0.834464,0.239019],[-0.850584,-0.522659,0.057746],[0.173113,-0.174634,0.969296]]
2025-10-25T00:21:06.174Z,1761351666.174 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-25T00:21:06.519Z,1761351666.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461642,0.873953,0.151964],[-0.882604,-0.469691,0.020008],[0.088862,-0.124888,0.988183]]
2025-10-25T00:21:07.327Z,1761351667.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490944,0.860634,0.135217],[-0.869615,-0.493448,-0.016668],[0.052378,-0.125769,0.990676]]
2025-10-25T00:21:07.452Z,1761351667.452 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:21:07.731Z,1761351667.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453152,0.829204,0.327223],[-0.878437,-0.477826,-0.005654],[0.151667,-0.290007,0.944930]]
2025-10-25T00:21:08.144Z,1761351668.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364328,0.844658,0.392196],[-0.902478,-0.424139,0.075101],[0.229780,-0.326587,0.916811]]
2025-10-25T00:21:08.456Z,1761351668.456 [DataOverHttps](INFO): Radio surface powered ON.
2025-10-25T00:21:08.456Z,1761351668.456 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:21:08.539Z,1761351668.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306349,0.903044,0.301099],[-0.939394,-0.337939,0.057760],[0.153913,-0.265156,0.951842]]
2025-10-25T00:21:08.943Z,1761351668.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275312,0.938231,0.209586],[-0.957862,-0.286281,0.023319],[0.081879,-0.194335,0.977512]]
2025-10-25T00:21:09.347Z,1761351669.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235509,0.962773,0.132680],[-0.965630,-0.247254,0.080147],[0.109969,-0.109245,0.987913]]
2025-10-25T00:21:09.759Z,1761351669.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186908,0.981117,0.049744],[-0.975296,-0.191391,0.110308],[0.117746,-0.027897,0.992652]]
2025-10-25T00:21:10.159Z,1761351670.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159874,0.985520,0.056478],[-0.983890,-0.163724,0.071801],[0.080008,-0.044089,0.995819]]
2025-10-25T00:21:10.559Z,1761351670.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146873,0.980154,0.133143],[-0.988425,-0.150599,0.018305],[0.037993,-0.128913,0.990928]]
2025-10-25T00:21:10.963Z,1761351670.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074418,0.980737,0.180604],[-0.996882,-0.077926,0.012394],[0.026229,-0.179118,0.983478]]
2025-10-25T00:21:11.367Z,1761351671.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037824,0.975423,0.217071],[-0.999278,-0.037691,-0.004758],[0.003541,-0.217095,0.976144]]
2025-10-25T00:21:11.798Z,1761351671.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095118,0.956450,0.275965],[-0.994972,-0.082611,-0.056624],[-0.031361,-0.279963,0.959498]]
2025-10-25T00:21:12.178Z,1761351672.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118974,0.943056,0.310630],[-0.992486,-0.103953,-0.064537],[-0.028571,-0.315974,0.948337]]
2025-10-25T00:21:12.582Z,1761351672.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144864,0.956657,0.252631],[-0.988553,-0.129059,-0.078140],[-0.042149,-0.261059,0.964402]]
2025-10-25T00:21:12.983Z,1761351672.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177461,0.971913,0.154575],[-0.982346,-0.165494,-0.087221],[-0.059190,-0.167325,0.984123]]
2025-10-25T00:21:13.387Z,1761351673.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145794,0.982827,0.113117],[-0.989267,-0.145962,-0.006845],[0.009783,-0.112901,0.993558]]
2025-10-25T00:21:13.792Z,1761351673.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058554,0.994878,0.082401],[-0.991750,-0.067401,0.109035],[0.114031,-0.075336,0.990617]]
2025-10-25T00:21:14.203Z,1761351674.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006615,0.998254,0.058703],[-0.998048,-0.010237,0.061609],[0.062103,-0.058181,0.996373]]
2025-10-25T00:21:14.277Z,1761351674.277 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:21:14.277Z,1761351674.277 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:21:14.277Z,1761351674.277 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:21:14.277Z,1761351674.277 [marl:UpdateRudder:A] Stopped
2025-10-25T00:21:14.277Z,1761351674.277 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:21:14.277Z,1761351674.277 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:21:14.278Z,1761351674.278 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:21:14.278Z,1761351674.278 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:21:14.278Z,1761351674.278 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:21:14.278Z,1761351674.278 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:21:14.278Z,1761351674.278 [marl:UpdateCommandMode] Stopped
2025-10-25T00:21:14.278Z,1761351674.278 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:21:14.278Z,1761351674.278 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:21:14.278Z,1761351674.278 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:21:14.278Z,1761351674.278 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:21:14.279Z,1761351674.279 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:21:14.279Z,1761351674.279 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:21:14.279Z,1761351674.279 [marl:UpdateSpeed] Stopped
2025-10-25T00:21:14.279Z,1761351674.279 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:21:14.599Z,1761351674.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050685,0.992342,0.112640],[-0.995963,-0.041856,-0.079409],[-0.074086,-0.116210,0.990458]]
2025-10-25T00:21:14.632Z,1761351674.632 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-25T00:21:14.632Z,1761351674.632 [marl:UpdateRudder:B] Stopped
2025-10-25T00:21:14.632Z,1761351674.632 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:21:14.632Z,1761351674.632 [marl:UpdateRudder] Stopped
2025-10-25T00:21:14.633Z,1761351674.633 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:21:15.003Z,1761351675.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074845,0.979082,0.189202],[-0.992919,-0.055619,-0.104966],[-0.092247,-0.195719,0.976312]]
2025-10-25T00:21:15.407Z,1761351675.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062425,0.982078,0.177838],[-0.994486,-0.076252,0.071999],[0.084270,-0.172363,0.981422]]
2025-10-25T00:21:15.813Z,1761351675.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039015,0.992165,0.118690],[-0.981353,-0.060418,0.182471],[0.188212,-0.109358,0.976021]]
2025-10-25T00:21:16.219Z,1761351676.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021308,0.998788,0.044361],[-0.977905,0.011592,0.208726],[0.207959,-0.047829,0.976967]]
2025-10-25T00:21:16.619Z,1761351676.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067760,0.997565,-0.016515],[-0.986075,0.069481,0.151095],[0.151874,0.006047,0.988381]]
2025-10-25T00:21:17.430Z,1761351677.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017052,0.981815,0.189075],[-0.997060,0.030828,-0.070157],[-0.074710,-0.187323,0.979453]]
2025-10-25T00:21:17.851Z,1761351677.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011817,0.948140,0.317634],[-0.997816,0.031828,-0.057883],[-0.064991,-0.316256,0.946445]]
2025-10-25T00:21:18.241Z,1761351678.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002459,0.939801,0.341715],[-0.999993,0.001365,0.003442],[0.002768,-0.341721,0.939798]]
2025-10-25T00:21:18.642Z,1761351678.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014457,0.961830,0.273267],[-0.999156,0.003390,0.040929],[0.038440,-0.273628,0.961067]]
2025-10-25T00:21:19.043Z,1761351679.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055504,0.992272,0.110978],[-0.993460,0.043776,0.105454],[0.099780,-0.116105,0.988212]]
2025-10-25T00:21:19.447Z,1761351679.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050834,0.998378,0.025652],[-0.992460,0.047631,0.112936],[0.111531,-0.031200,0.993271]]
2025-10-25T00:21:19.884Z,1761351679.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082003,0.995875,0.038842],[-0.996122,0.083146,-0.028788],[-0.031898,-0.036331,0.998831]]
2025-10-25T00:21:20.267Z,1761351680.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099071,0.991729,0.081605],[-0.988324,0.107607,-0.107872],[-0.115761,-0.069965,0.990810]]
2025-10-25T00:21:21.063Z,1761351681.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087223,0.965970,0.243502],[-0.992291,0.062646,0.106926],[0.088033,-0.250951,0.963988]]
2025-10-25T00:21:21.468Z,1761351681.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112938,0.962364,0.247186],[-0.990769,0.090304,0.101101],[0.074974,-0.256323,0.963679]]
2025-10-25T00:21:21.898Z,1761351681.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154718,0.966280,0.205828],[-0.987274,0.158973,-0.004195],[-0.036775,-0.202560,0.978579]]
2025-10-25T00:21:22.275Z,1761351682.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187239,0.975415,0.116218],[-0.980809,0.192187,-0.032833],[-0.054361,-0.107840,0.992681]]
2025-10-25T00:21:22.684Z,1761351682.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185019,0.982491,0.021908],[-0.979818,0.182708,0.081078],[0.075656,-0.036467,0.996467]]
2025-10-25T00:21:23.083Z,1761351683.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174277,0.984599,0.013888],[-0.982178,0.172806,0.073926],[0.070387,-0.026524,0.997167]]
2025-10-25T00:21:23.487Z,1761351683.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186277,0.980247,0.066461],[-0.982496,0.185728,0.014395],[0.001767,-0.067979,0.997685]]
2025-10-25T00:21:23.905Z,1761351683.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213983,0.972135,0.095739],[-0.976578,0.215155,-0.001976],[-0.022520,-0.093073,0.995405]]
2025-10-25T00:21:24.301Z,1761351684.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230294,0.965224,0.123720],[-0.971978,0.234318,-0.018823],[-0.047159,-0.115918,0.992139]]
2025-10-25T00:21:24.702Z,1761351684.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246487,0.963055,0.108488],[-0.968135,0.249795,-0.017825],[-0.044266,-0.100637,0.993938]]
2025-10-25T00:21:25.103Z,1761351685.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257424,0.963935,0.067535],[-0.966265,0.257366,0.009717],[-0.008014,-0.067758,0.997670]]
2025-10-25T00:21:25.507Z,1761351685.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259068,0.965573,0.023517],[-0.963713,0.256794,0.072904],[0.064355,-0.041550,0.997062]]
2025-10-25T00:21:25.915Z,1761351685.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254133,0.967169,-0.000912],[-0.957478,0.251720,0.140972],[0.136574,-0.034953,0.990013]]
2025-10-25T00:21:26.315Z,1761351686.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235506,0.970158,0.057702],[-0.969929,0.230867,0.077063],[0.061442,-0.074115,0.995355]]
2025-10-25T00:21:26.726Z,1761351686.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246069,0.962506,0.114157],[-0.968539,0.248695,-0.009139],[-0.037187,-0.108317,0.993421]]
2025-10-25T00:21:27.191Z,1761351687.191 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:21:27.191Z,1761351687.191 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:21:27.191Z,1761351687.191 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:21:27.192Z,1761351687.192 [marl:UpdateRudder:A] Stopped
2025-10-25T00:21:27.192Z,1761351687.192 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:21:27.192Z,1761351687.192 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:21:27.192Z,1761351687.192 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:21:27.192Z,1761351687.192 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:21:27.193Z,1761351687.193 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:21:27.193Z,1761351687.193 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:21:27.193Z,1761351687.193 [marl:UpdateCommandMode] Stopped
2025-10-25T00:21:27.193Z,1761351687.193 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:21:27.193Z,1761351687.193 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:21:27.193Z,1761351687.193 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:21:27.193Z,1761351687.193 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:21:27.193Z,1761351687.193 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:21:27.194Z,1761351687.194 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:21:27.194Z,1761351687.194 [marl:UpdateSpeed] Stopped
2025-10-25T00:21:27.194Z,1761351687.194 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:21:27.528Z,1761351687.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367233,0.927482,0.070125],[-0.929097,0.369332,-0.019306],[-0.043805,-0.058063,0.997351]]
2025-10-25T00:21:27.555Z,1761351687.555 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-25T00:21:27.555Z,1761351687.555 [marl:UpdateRudder:B] Stopped
2025-10-25T00:21:27.555Z,1761351687.555 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:21:27.555Z,1761351687.555 [marl:UpdateRudder] Stopped
2025-10-25T00:21:27.555Z,1761351687.555 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:21:27.931Z,1761351687.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347234,0.935733,0.061907],[-0.936020,0.349868,-0.038207],[-0.057410,-0.044680,0.997350]]
2025-10-25T00:21:28.336Z,1761351688.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242608,0.955347,0.168682],[-0.970118,0.238266,0.045837],[0.003599,-0.174762,0.984604]]
2025-10-25T00:21:28.744Z,1761351688.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254394,0.925716,0.279881],[-0.955768,0.196480,0.218868],[0.147619,-0.323180,0.934753]]
2025-10-25T00:21:29.143Z,1761351689.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351822,0.886007,0.302014],[-0.924949,0.279471,0.257616],[0.143845,-0.369983,0.917835]]
2025-10-25T00:21:29.548Z,1761351689.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378765,0.894861,0.236136],[-0.924760,0.355791,0.135024],[0.036813,-0.269511,0.962293]]
2025-10-25T00:21:29.952Z,1761351689.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405289,0.904271,0.134296],[-0.914187,0.401170,0.057657],[-0.001738,-0.146139,0.989263]]
2025-10-25T00:21:30.361Z,1761351690.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445467,0.895202,0.013160],[-0.894406,0.445631,-0.038079],[-0.039953,0.005193,0.999188]]
2025-10-25T00:21:30.759Z,1761351690.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484711,0.872417,-0.062799],[-0.873358,0.478795,-0.089445],[-0.047966,0.098201,0.994010]]
2025-10-25T00:21:31.163Z,1761351691.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472019,0.878469,-0.074092],[-0.881323,0.468147,-0.064091],[-0.021617,0.095551,0.995190]]
2025-10-25T00:21:31.567Z,1761351691.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458697,0.888577,0.005191],[-0.888056,0.458209,0.037434],[0.030884,-0.021781,0.999286]]
2025-10-25T00:21:31.971Z,1761351691.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476378,0.873963,0.096192],[-0.874731,0.460025,0.152388],[0.088930,-0.156736,0.983629]]
2025-10-25T00:21:32.375Z,1761351692.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506673,0.846760,0.162109],[-0.860227,0.484017,0.160430],[0.057382,-0.220736,0.973644]]
2025-10-25T00:21:32.784Z,1761351692.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532622,0.833833,0.145041],[-0.844135,0.510968,0.162320],[0.061237,-0.208889,0.976020]]
2025-10-25T00:21:33.193Z,1761351693.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494603,0.869057,0.010408],[-0.862968,0.489645,0.124635],[0.103219,-0.070627,0.992148]]
2025-10-25T00:21:33.591Z,1761351693.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497052,0.867444,0.021895],[-0.866143,0.494470,0.072771],[0.052298,-0.055135,0.997108]]
2025-10-25T00:21:33.995Z,1761351693.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507376,0.861443,0.022016],[-0.858671,0.503264,0.097001],[0.072481,-0.068121,0.995041]]
2025-10-25T00:21:34.402Z,1761351694.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526203,0.849748,0.032233],[-0.849400,0.523432,0.067362],[0.040369,-0.062824,0.997208]]
2025-10-25T00:21:34.802Z,1761351694.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538938,0.842345,0.000714],[-0.842346,0.538938,0.000597],[0.000118,-0.000923,1.000000]]
2025-10-25T00:21:35.208Z,1761351695.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538188,0.842196,-0.032555],[-0.842257,0.536007,-0.057446],[-0.030931,0.058337,0.997818]]
2025-10-25T00:21:35.611Z,1761351695.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561103,0.825845,-0.056074],[-0.827617,0.558528,-0.055654],[-0.014643,0.077635,0.996874]]
2025-10-25T00:21:36.011Z,1761351696.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568744,0.821540,-0.040023],[-0.822461,0.568587,-0.016323],[0.009346,0.042201,0.999065]]
2025-10-25T00:21:36.415Z,1761351696.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587220,0.809422,0.002779],[-0.809383,0.587149,0.012474],[0.008465,-0.009575,0.999918]]
2025-10-25T00:21:37.227Z,1761351697.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571487,0.817167,0.075104],[-0.818167,0.560335,0.128950],[0.063290,-0.135141,0.988803]]
2025-10-25T00:21:37.627Z,1761351697.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575050,0.817567,0.030044],[-0.816541,0.571275,0.083101],[0.050777,-0.072320,0.996088]]
2025-10-25T00:21:38.031Z,1761351698.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534076,0.845027,-0.026315],[-0.845277,0.534321,0.002794],[0.016422,0.020751,0.999650]]
2025-10-25T00:21:38.441Z,1761351698.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540716,0.839042,-0.060290],[-0.840997,0.540786,-0.016564],[0.018707,0.059660,0.998043]]
2025-10-25T00:21:38.576Z,1761351698.576 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:21:38.839Z,1761351698.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558285,0.828155,-0.049778],[-0.828984,0.559235,0.006504],[0.033224,0.037634,0.998739]]
2025-10-25T00:21:39.244Z,1761351699.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592133,0.803060,-0.066878],[-0.799444,0.595842,0.076562],[0.101333,0.008130,0.994819]]
2025-10-25T00:21:39.580Z,1761351699.580 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:21:39.651Z,1761351699.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596851,0.795774,-0.102531],[-0.784311,0.605594,0.134584],[0.169190,0.000090,0.985583]]
2025-10-25T00:21:40.053Z,1761351700.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539741,0.838464,-0.075215],[-0.828432,0.544904,0.129536],[0.149597,-0.007606,0.988718]]
2025-10-25T00:21:40.094Z,1761351700.094 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:21:40.094Z,1761351700.094 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:21:40.095Z,1761351700.095 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:21:40.095Z,1761351700.095 [marl:UpdateRudder:A] Stopped
2025-10-25T00:21:40.095Z,1761351700.095 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:21:40.095Z,1761351700.095 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:21:40.095Z,1761351700.095 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:21:40.095Z,1761351700.095 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:21:40.112Z,1761351700.112 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:21:40.112Z,1761351700.112 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:21:40.112Z,1761351700.112 [marl:UpdateCommandMode] Stopped
2025-10-25T00:21:40.112Z,1761351700.112 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:21:40.112Z,1761351700.112 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:21:40.112Z,1761351700.112 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:21:40.113Z,1761351700.113 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:21:40.113Z,1761351700.113 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:21:40.113Z,1761351700.113 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:21:40.113Z,1761351700.113 [marl:UpdateSpeed] Stopped
2025-10-25T00:21:40.113Z,1761351700.113 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:21:40.455Z,1761351700.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507651,0.861562,0.001402],[-0.855804,0.504069,0.116246],[0.099446,-0.060212,0.993219]]
2025-10-25T00:21:40.506Z,1761351700.506 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:21:40.507Z,1761351700.507 [marl:UpdateRudder:B] Stopped
2025-10-25T00:21:40.507Z,1761351700.507 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:21:40.507Z,1761351700.507 [marl:UpdateRudder] Stopped
2025-10-25T00:21:40.507Z,1761351700.507 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:21:40.859Z,1761351700.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539169,0.841080,0.043378],[-0.839335,0.532381,0.109940],[0.069374,-0.095685,0.992991]]
2025-10-25T00:21:41.263Z,1761351701.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531271,0.847108,0.012633],[-0.846600,0.530272,0.045619],[0.031945,-0.034931,0.998879]]
2025-10-25T00:21:41.680Z,1761351701.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522962,0.851418,-0.039978],[-0.852190,0.523211,-0.004806],[0.016825,0.036583,0.999189]]
2025-10-25T00:21:41.715Z,1761351701.715 [marl:SendObservationData] Running Loop=1
2025-10-25T00:21:41.715Z,1761351701.715 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-25T00:21:41.732Z,1761351701.732 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-25T00:21:41.732Z,1761351701.732 [marl:SendObservationData:A] Running Loop=1
2025-10-25T00:21:41.734Z,1761351701.734 [marl:SendObservationData:A](INFO): Got test_good :  41da3f05a000000040514000000000004042632e4ea368dec05e7760fccacfdc40301196c000000040909599a0000000 n/a str  and temp var is  nan n/a str 
2025-10-25T00:21:41.734Z,1761351701.734 [marl:SendObservationData:A] Stopped
2025-10-25T00:21:41.734Z,1761351701.734 [marl:SendObservationData:B] Running Loop=1
2025-10-25T00:21:42.071Z,1761351702.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556640,0.824583,-0.101072],[-0.827226,0.561359,0.023941],[0.076479,0.070283,0.994591]]
2025-10-25T00:21:42.121Z,1761351702.121 [marl:SendObservationData:B] Stopped
2025-10-25T00:21:42.121Z,1761351702.121 [marl:SendObservationData:C] Running Loop=1
2025-10-25T00:21:42.476Z,1761351702.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549349,0.830243,-0.094403],[-0.833569,0.552369,0.007209],[0.058131,0.074731,0.995508]]
2025-10-25T00:21:42.527Z,1761351702.527 [marl:SendObservationData:C] Stopped
2025-10-25T00:21:42.527Z,1761351702.527 [marl:SendObservationData:E] Running Loop=1
2025-10-25T00:21:42.879Z,1761351702.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525162,0.850586,-0.026602],[-0.850992,0.525050,-0.011604],[0.004097,0.028732,0.999579]]
2025-10-25T00:21:42.911Z,1761351702.911 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.011719 min 
2025-10-25T00:21:42.911Z,1761351702.911 [marl:SendObservationData:E] Stopped
2025-10-25T00:21:42.911Z,1761351702.911 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-25T00:21:42.911Z,1761351702.911 [marl:SendObservationData] Stopped
2025-10-25T00:21:42.932Z,1761351702.932 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-25T00:21:42.932Z,1761351702.932 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-25T00:21:43.284Z,1761351703.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509119,0.858456,0.062062],[-0.860087,0.510147,-0.000840],[-0.032382,-0.052951,0.998072]]
2025-10-25T00:21:43.694Z,1761351703.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512893,0.849854,0.121195],[-0.855070,0.518276,-0.015667],[-0.076127,-0.095595,0.992505]]
2025-10-25T00:21:44.091Z,1761351704.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503948,0.860717,0.072130],[-0.861974,0.506493,-0.021597],[-0.055122,-0.051290,0.997161]]
2025-10-25T00:21:44.497Z,1761351704.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503044,0.862410,-0.056529],[-0.860034,0.505973,0.065832],[0.085376,0.015500,0.996228]]
2025-10-25T00:21:44.901Z,1761351704.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497942,0.850475,-0.169550],[-0.852399,0.515971,0.084786],[0.159591,0.102306,0.981868]]
2025-10-25T00:21:45.303Z,1761351705.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448403,0.877926,-0.167874],[-0.889118,0.457363,0.016966],[0.091674,0.141653,0.985662]]
2025-10-25T00:21:45.710Z,1761351705.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451235,0.889102,-0.076710],[-0.892254,0.451072,-0.020427],[0.016440,0.077662,0.996844]]
2025-10-25T00:21:46.111Z,1761351706.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448537,0.893705,0.010289],[-0.893632,0.448639,-0.012059],[-0.015393,-0.003786,0.999874]]
2025-10-25T00:21:46.518Z,1761351706.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405679,0.906755,0.114977],[-0.912835,0.408328,0.000564],[-0.046437,-0.105184,0.993368]]
2025-10-25T00:21:47.323Z,1761351707.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396017,0.910063,0.122296],[-0.916766,0.399409,-0.003533],[-0.052062,-0.110717,0.992487]]
2025-10-25T00:21:47.727Z,1761351707.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401464,0.913397,0.067331],[-0.909799,0.406176,-0.085369],[-0.105324,-0.026985,0.994072]]
2025-10-25T00:21:48.133Z,1761351708.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426209,0.904467,0.016875],[-0.899848,0.425799,-0.094705],[-0.092844,0.025179,0.995362]]
2025-10-25T00:21:48.535Z,1761351708.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374740,0.925145,-0.060638],[-0.925965,0.376745,0.025535],[0.046468,0.046579,0.997833]]
2025-10-25T00:21:48.940Z,1761351708.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333896,0.940588,-0.061700],[-0.925390,0.339548,0.168408],[0.179353,0.000866,0.983784]]
2025-10-25T00:21:49.343Z,1761351709.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336283,0.940903,0.040187],[-0.929058,0.324460,0.177698],[0.154158,-0.097092,0.983264]]
2025-10-25T00:21:49.747Z,1761351709.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310675,0.936920,0.160191],[-0.949298,0.297310,0.102175],[0.048103,-0.183813,0.981784]]
2025-10-25T00:21:50.151Z,1761351710.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333362,0.925849,0.177969],[-0.942523,0.322702,0.086685],[0.022826,-0.196637,0.980211]]
2025-10-25T00:21:50.556Z,1761351710.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325093,0.942921,0.072207],[-0.943377,0.318026,0.094337],[0.065989,-0.098787,0.992918]]
2025-10-25T00:21:50.959Z,1761351710.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311216,0.949777,-0.032698],[-0.942129,0.312858,0.120467],[0.124646,-0.006685,0.992179]]
2025-10-25T00:21:51.363Z,1761351711.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292102,0.949948,-0.110795],[-0.930715,0.309009,0.195660],[0.220104,0.045965,0.974393]]
2025-10-25T00:21:51.767Z,1761351711.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279847,0.954534,-0.102720],[-0.917651,0.297398,0.263574],[0.282138,0.020501,0.959155]]
2025-10-25T00:21:52.180Z,1761351712.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309265,0.949627,-0.050626],[-0.909328,0.310884,0.276540],[0.278349,-0.039489,0.959668]]
2025-10-25T00:21:52.575Z,1761351712.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341536,0.939846,0.006496],[-0.913630,0.330371,0.236929],[0.220531,-0.086855,0.971505]]
2025-10-25T00:21:52.979Z,1761351712.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311291,0.949344,0.042934],[-0.934229,0.297432,0.196849],[0.174108,-0.101388,0.979493]]
2025-10-25T00:21:53.045Z,1761351713.045 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:21:53.045Z,1761351713.045 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:21:53.045Z,1761351713.045 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:21:53.046Z,1761351713.046 [marl:UpdateRudder:A] Stopped
2025-10-25T00:21:53.046Z,1761351713.046 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:21:53.046Z,1761351713.046 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:21:53.046Z,1761351713.046 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:21:53.046Z,1761351713.046 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:21:53.046Z,1761351713.046 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:21:53.046Z,1761351713.046 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:21:53.046Z,1761351713.046 [marl:UpdateCommandMode] Stopped
2025-10-25T00:21:53.046Z,1761351713.046 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:21:53.047Z,1761351713.047 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:21:53.047Z,1761351713.047 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:21:53.047Z,1761351713.047 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:21:53.047Z,1761351713.047 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:21:53.047Z,1761351713.047 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:21:53.047Z,1761351713.047 [marl:UpdateSpeed] Stopped
2025-10-25T00:21:53.047Z,1761351713.047 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:21:53.383Z,1761351713.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246858,0.966096,0.075626],[-0.949175,0.225332,0.219754],[0.195263,-0.126031,0.972620]]
2025-10-25T00:21:53.442Z,1761351713.442 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:21:53.442Z,1761351713.442 [marl:UpdateRudder:B] Stopped
2025-10-25T00:21:53.443Z,1761351713.443 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:21:53.443Z,1761351713.443 [marl:UpdateRudder] Stopped
2025-10-25T00:21:53.443Z,1761351713.443 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:21:53.789Z,1761351713.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226761,0.958286,0.173976],[-0.949715,0.177961,0.257627],[0.215920,-0.223647,0.950453]]
2025-10-25T00:21:54.194Z,1761351714.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235739,0.949754,0.205899],[-0.943528,0.172934,0.282575],[0.232770,-0.260886,0.936887]]
2025-10-25T00:21:54.595Z,1761351714.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261147,0.955442,0.137600],[-0.939599,0.218925,0.263107],[0.221259,-0.197999,0.954904]]
2025-10-25T00:21:55.000Z,1761351715.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270281,0.959610,0.078079],[-0.951049,0.253487,0.176778],[0.149846,-0.122037,0.981149]]
2025-10-25T00:21:55.404Z,1761351715.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250444,0.966800,0.050755],[-0.963466,0.243754,0.110979],[0.094923,-0.076695,0.992526]]
2025-10-25T00:21:55.807Z,1761351715.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244559,0.969394,0.021598],[-0.959220,0.238616,0.151524],[0.141733,-0.057774,0.988218]]
2025-10-25T00:21:56.211Z,1761351716.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249584,0.968350,-0.002237],[-0.947591,0.244708,0.205399],[0.199446,-0.049145,0.978676]]
2025-10-25T00:21:56.615Z,1761351716.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266338,0.963848,-0.007872],[-0.939896,0.261513,0.219561],[0.213681,-0.051079,0.975567]]
2025-10-25T00:21:57.021Z,1761351717.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287123,0.957847,0.009467],[-0.933170,0.277467,0.228486],[0.216227,-0.074438,0.973501]]
2025-10-25T00:21:57.424Z,1761351717.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272789,0.961118,0.042870],[-0.946246,0.259985,0.192421],[0.173794,-0.093056,0.980376]]
2025-10-25T00:21:57.834Z,1761351717.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243794,0.964664,0.099941],[-0.962141,0.227627,0.149901],[0.121855,-0.132703,0.983637]]
2025-10-25T00:21:58.233Z,1761351718.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241345,0.960200,0.140600],[-0.958828,0.213597,0.187149],[0.149669,-0.179979,0.972217]]
2025-10-25T00:21:58.635Z,1761351718.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317283,0.938652,0.135144],[-0.935189,0.286051,0.208798],[0.157331,-0.192633,0.968576]]
2025-10-25T00:21:59.039Z,1761351719.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345334,0.933803,0.093570],[-0.938348,0.341892,0.051120],[0.015746,-0.105455,0.994299]]
2025-10-25T00:21:59.443Z,1761351719.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331939,0.941478,0.058613],[-0.938166,0.335968,-0.083480],[-0.098287,-0.027278,0.994784]]
2025-10-25T00:21:59.881Z,1761351719.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314858,0.948926,0.020105],[-0.947349,0.315494,-0.054718],[-0.058266,-0.001818,0.998299]]
2025-10-25T00:22:00.251Z,1761351720.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323836,0.944324,0.058164],[-0.945072,0.325751,-0.026938],[-0.044385,-0.046246,0.997944]]
2025-10-25T00:22:00.662Z,1761351720.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331616,0.939100,0.090121],[-0.942235,0.334463,-0.018124],[-0.047163,-0.078905,0.995766]]
2025-10-25T00:22:01.062Z,1761351721.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315039,0.941342,0.120935],[-0.947709,0.318863,-0.013177],[-0.050966,-0.110460,0.992573]]
2025-10-25T00:22:01.463Z,1761351721.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308824,0.946792,0.090628],[-0.950233,0.303021,0.072356],[0.041043,-0.108463,0.993253]]
2025-10-25T00:22:01.897Z,1761351721.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285205,0.958430,0.008334],[-0.935605,0.276504,0.219517],[0.208088,-0.070405,0.975573]]
2025-10-25T00:22:02.271Z,1761351722.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324584,0.945234,0.034329],[-0.929177,0.311863,0.198424],[0.176851,-0.096303,0.979515]]
2025-10-25T00:22:02.681Z,1761351722.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366487,0.924885,0.101367],[-0.929920,0.360524,0.072609],[0.030610,-0.120873,0.992196]]
2025-10-25T00:22:03.081Z,1761351723.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388664,0.916614,0.093591],[-0.920220,0.391261,-0.010453],[-0.046200,-0.082061,0.995556]]
2025-10-25T00:22:03.483Z,1761351723.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389891,0.919584,0.048475],[-0.920818,0.389843,0.010829],[-0.008939,-0.048859,0.998766]]
2025-10-25T00:22:03.902Z,1761351723.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398144,0.914235,0.075204],[-0.916985,0.394431,0.059695],[0.024912,-0.092728,0.995380]]
2025-10-25T00:22:04.293Z,1761351724.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373848,0.921724,0.103264],[-0.926186,0.365098,0.094250],[0.049171,-0.130877,0.990179]]
2025-10-25T00:22:04.696Z,1761351724.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338664,0.933907,0.114562],[-0.934482,0.319645,0.156749],[0.109769,-0.160141,0.980972]]
2025-10-25T00:22:04.777Z,1761351724.777 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:22:04.777Z,1761351724.777 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:22:05.099Z,1761351725.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359145,0.927679,0.102108],[-0.925332,0.339699,0.168417],[0.121551,-0.154970,0.980413]]
2025-10-25T00:22:05.503Z,1761351725.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393785,0.917175,0.061016],[-0.916786,0.387074,0.098369],[0.066604,-0.094674,0.993278]]
2025-10-25T00:22:05.913Z,1761351725.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385897,0.922141,-0.027194],[-0.914909,0.386322,0.117034],[0.118427,-0.020283,0.992756]]
2025-10-25T00:22:05.970Z,1761351725.970 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:22:05.970Z,1761351725.970 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:22:05.971Z,1761351725.971 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:22:05.971Z,1761351725.971 [marl:UpdateRudder:A] Stopped
2025-10-25T00:22:05.971Z,1761351725.971 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:22:05.971Z,1761351725.971 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:22:05.971Z,1761351725.971 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:22:05.971Z,1761351725.971 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:22:05.971Z,1761351725.971 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:22:05.976Z,1761351725.976 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:22:05.976Z,1761351725.976 [marl:UpdateCommandMode] Stopped
2025-10-25T00:22:05.976Z,1761351725.976 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:22:05.976Z,1761351725.976 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:22:05.976Z,1761351725.976 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:22:05.976Z,1761351725.976 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:22:05.977Z,1761351725.977 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:22:05.977Z,1761351725.977 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:22:05.977Z,1761351725.977 [marl:UpdateSpeed] Stopped
2025-10-25T00:22:05.977Z,1761351725.977 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:22:06.311Z,1761351726.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373165,0.920807,-0.113409],[-0.892590,0.389665,0.226813],[0.253043,0.016589,0.967313]]
2025-10-25T00:22:06.348Z,1761351726.348 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:22:06.348Z,1761351726.348 [marl:UpdateRudder:B] Stopped
2025-10-25T00:22:06.348Z,1761351726.348 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:22:06.348Z,1761351726.348 [marl:UpdateRudder] Stopped
2025-10-25T00:22:06.348Z,1761351726.348 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:22:06.350Z,1761351726.350 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-25T00:22:06.715Z,1761351726.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399657,0.911868,-0.093652],[-0.883183,0.410405,0.227057],[0.245481,-0.008034,0.969368]]
2025-10-25T00:22:07.123Z,1761351727.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437409,0.898989,-0.022155],[-0.883900,0.434341,0.173407],[0.165513,-0.056267,0.984601]]
2025-10-25T00:22:07.525Z,1761351727.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425863,0.904757,0.007460],[-0.897087,0.421150,0.133673],[0.117800,-0.063619,0.990997]]
2025-10-25T00:22:07.927Z,1761351727.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376535,0.924960,0.051675],[-0.921548,0.368276,0.122970],[0.094712,-0.093924,0.991064]]
2025-10-25T00:22:08.332Z,1761351728.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387843,0.916976,0.093447],[-0.914367,0.369980,0.164463],[0.116235,-0.149230,0.981947]]
2025-10-25T00:22:08.739Z,1761351728.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455080,0.890259,0.018464],[-0.879531,0.446166,0.165411],[0.139021,-0.091515,0.986052]]
2025-10-25T00:22:09.148Z,1761351729.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504776,0.859341,-0.082063],[-0.851835,0.511253,0.114007],[0.139926,0.012356,0.990085]]
2025-10-25T00:22:09.543Z,1761351729.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506236,0.853921,-0.120599],[-0.851571,0.517057,0.086484],[0.136207,0.058917,0.988927]]
2025-10-25T00:22:09.700Z,1761351729.700 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:22:09.947Z,1761351729.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510257,0.856778,-0.074625],[-0.852612,0.515319,0.086596],[0.112649,0.019440,0.993445]]
2025-10-25T00:22:10.352Z,1761351730.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522812,0.851740,-0.034753],[-0.836754,0.520546,0.169925],[0.162822,-0.059759,0.984844]]
2025-10-25T00:22:10.704Z,1761351730.704 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:22:10.765Z,1761351730.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497977,0.866639,-0.030897],[-0.846248,0.493426,0.200987],[0.189429,-0.073940,0.979106]]
2025-10-25T00:22:11.163Z,1761351731.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471177,0.882027,0.004598],[-0.875559,0.467079,0.123427],[0.106719,-0.062182,0.992343]]
2025-10-25T00:22:11.563Z,1761351731.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474760,0.877249,0.070976],[-0.879822,0.475137,0.012548],[-0.022716,-0.068404,0.997399]]
2025-10-25T00:22:11.967Z,1761351731.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535180,0.843079,0.052923],[-0.843342,0.536846,-0.023893],[-0.048555,-0.031845,0.998313]]
2025-10-25T00:22:12.373Z,1761351732.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551441,0.832259,-0.057076],[-0.832512,0.553395,0.026030],[0.053249,0.033162,0.998030]]
2025-10-25T00:22:12.775Z,1761351732.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477671,0.871054,-0.114433],[-0.874271,0.484124,0.035690],[0.086488,0.082998,0.992790]]
2025-10-25T00:22:13.183Z,1761351733.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454325,0.889467,-0.049376],[-0.890832,0.453791,-0.022169],[0.002688,0.054058,0.998534]]
2025-10-25T00:22:13.583Z,1761351733.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447005,0.892896,0.054067],[-0.893325,0.448724,-0.024838],[-0.046440,-0.037197,0.998228]]
2025-10-25T00:22:13.989Z,1761351733.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407409,0.898798,0.161806],[-0.912276,0.408702,0.026753],[-0.042085,-0.158511,0.986460]]
2025-10-25T00:22:14.392Z,1761351734.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457480,0.865268,0.204994],[-0.889219,0.444837,0.106818],[0.001237,-0.231152,0.972917]]
2025-10-25T00:22:14.795Z,1761351734.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447551,0.888441,0.101839],[-0.890944,0.433196,0.136235],[0.076921,-0.151705,0.985428]]
2025-10-25T00:22:15.206Z,1761351735.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404684,0.913654,-0.038293],[-0.895956,0.404530,0.183353],[0.183011,-0.039891,0.982301]]
2025-10-25T00:22:15.605Z,1761351735.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380759,0.923603,-0.044503],[-0.911854,0.383031,0.147680],[0.153444,-0.015650,0.988033]]
2025-10-25T00:22:16.007Z,1761351736.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376247,0.926508,0.004567],[-0.926136,0.375945,0.030612],[0.026646,-0.015748,0.999521]]
2025-10-25T00:22:16.411Z,1761351736.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384874,0.922724,0.021278],[-0.922950,0.384913,0.002419],[-0.005958,-0.020569,0.999771]]
2025-10-25T00:22:16.847Z,1761351736.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361540,0.932133,-0.020413],[-0.927085,0.361735,0.098295],[0.099008,-0.016612,0.994948]]
2025-10-25T00:22:17.638Z,1761351737.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378258,0.925690,0.004305],[-0.922475,0.376548,0.085162],[0.077213,-0.036184,0.996358]]
2025-10-25T00:22:18.031Z,1761351738.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359013,0.933217,0.014688],[-0.933057,0.358480,0.029942],[0.022677,-0.024455,0.999444]]
2025-10-25T00:22:18.440Z,1761351738.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304424,0.951773,0.038134],[-0.949547,0.300056,0.091254],[0.075410,-0.063990,0.995097]]
2025-10-25T00:22:18.842Z,1761351738.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291506,0.954802,0.058122],[-0.946508,0.279117,0.161915],[0.138374,-0.102212,0.985092]]
2025-10-25T00:22:18.894Z,1761351738.894 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:22:18.895Z,1761351738.895 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:22:18.895Z,1761351738.895 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:22:18.895Z,1761351738.895 [marl:UpdateRudder:A] Stopped
2025-10-25T00:22:18.895Z,1761351738.895 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:22:18.895Z,1761351738.895 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:22:18.895Z,1761351738.895 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:22:18.900Z,1761351738.900 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:22:18.900Z,1761351738.900 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:22:18.900Z,1761351738.900 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:22:18.900Z,1761351738.900 [marl:UpdateCommandMode] Stopped
2025-10-25T00:22:18.900Z,1761351738.900 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:22:18.901Z,1761351738.901 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:22:18.901Z,1761351738.901 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:22:18.901Z,1761351738.901 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:22:18.901Z,1761351738.901 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:22:18.901Z,1761351738.901 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:22:18.901Z,1761351738.901 [marl:UpdateSpeed] Stopped
2025-10-25T00:22:18.901Z,1761351738.901 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:22:19.244Z,1761351739.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263476,0.963803,0.040790],[-0.946132,0.249934,0.205830],[0.188185,-0.092824,0.977737]]
2025-10-25T00:22:19.283Z,1761351739.283 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-25T00:22:19.283Z,1761351739.283 [marl:UpdateRudder:B] Stopped
2025-10-25T00:22:19.283Z,1761351739.283 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:22:19.283Z,1761351739.283 [marl:UpdateRudder] Stopped
2025-10-25T00:22:19.283Z,1761351739.283 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:22:19.651Z,1761351739.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277103,0.958856,0.061717],[-0.944593,0.260092,0.200242],[0.175951,-0.113785,0.977801]]
2025-10-25T00:22:20.050Z,1761351740.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310656,0.949522,0.043600],[-0.941160,0.300850,0.153972],[0.133083,-0.088867,0.987113]]
2025-10-25T00:22:20.454Z,1761351740.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323999,0.944434,-0.055404],[-0.935650,0.328547,0.128904],[0.139944,0.010074,0.990108]]
2025-10-25T00:22:20.855Z,1761351740.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304791,0.943315,-0.131373],[-0.934609,0.322783,0.149390],[0.183327,0.077249,0.980012]]
2025-10-25T00:22:21.260Z,1761351741.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258183,0.958860,-0.118017],[-0.939412,0.277684,0.200989],[0.225492,0.058975,0.972458]]
2025-10-25T00:22:21.668Z,1761351741.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214046,0.976100,-0.037602],[-0.938194,0.216147,0.270317],[0.271984,-0.022582,0.962037]]
2025-10-25T00:22:22.069Z,1761351742.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248249,0.966275,0.068448],[-0.932994,0.219496,0.285208],[0.260566,-0.134664,0.956018]]
2025-10-25T00:22:22.471Z,1761351742.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292822,0.952373,0.085094],[-0.935400,0.266879,0.231956],[0.198198,-0.147518,0.968997]]
2025-10-25T00:22:22.875Z,1761351742.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301526,0.953446,0.004803],[-0.929836,0.292938,0.222694],[0.210920,-0.071614,0.974877]]
2025-10-25T00:22:23.283Z,1761351743.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283018,0.955104,-0.087620],[-0.918019,0.296214,0.263626],[0.277744,0.005826,0.960637]]
2025-10-25T00:22:23.687Z,1761351743.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237565,0.966967,-0.092404],[-0.927489,0.254073,0.274247],[0.288665,0.020552,0.957210]]
2025-10-25T00:22:24.087Z,1761351744.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211367,0.977407,-0.000407],[-0.939504,0.203286,0.275693],[0.269547,-0.057890,0.961246]]
2025-10-25T00:22:24.492Z,1761351744.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197193,0.974556,0.106561],[-0.950622,0.163508,0.263785],[0.239650,-0.153316,0.958677]]
2025-10-25T00:22:24.895Z,1761351744.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217775,0.964480,0.149504],[-0.950519,0.174814,0.256815],[0.221557,-0.198034,0.954827]]
2025-10-25T00:22:25.307Z,1761351745.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252838,0.965606,0.060643],[-0.939034,0.229819,0.255731],[0.232998,-0.121605,0.964844]]
2025-10-25T00:22:25.703Z,1761351745.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243911,0.966959,-0.074141],[-0.945808,0.254080,0.202216],[0.214372,0.020800,0.976530]]
2025-10-25T00:22:26.113Z,1761351746.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221902,0.962322,-0.157150],[-0.954194,0.247483,0.168125],[0.200682,0.112645,0.973159]]
2025-10-25T00:22:26.511Z,1761351746.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227132,0.964396,-0.135466],[-0.936491,0.254458,0.241322],[0.267201,0.072050,0.960944]]
2025-10-25T00:22:26.915Z,1761351746.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236073,0.970533,-0.048326],[-0.932603,0.240257,0.269312],[0.272987,-0.018508,0.961840]]
2025-10-25T00:22:27.319Z,1761351747.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209953,0.976850,0.041041],[-0.962496,0.199127,0.184255],[0.171817,-0.078186,0.982021]]
2025-10-25T00:22:27.724Z,1761351747.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165922,0.980502,0.105284],[-0.980583,0.152728,0.123008],[0.104530,-0.123650,0.986805]]
2025-10-25T00:22:28.131Z,1761351748.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203028,0.970743,0.128209],[-0.972085,0.184096,0.145466],[0.117607,-0.154164,0.981021]]
2025-10-25T00:22:28.531Z,1761351748.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267884,0.961955,0.053679],[-0.944084,0.250976,0.213813],[0.192206,-0.107955,0.975399]]
2025-10-25T00:22:28.935Z,1761351748.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246785,0.968292,-0.038816],[-0.941223,0.249035,0.228211],[0.230642,-0.019785,0.972838]]
2025-10-25T00:22:29.343Z,1761351749.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225799,0.972712,-0.053346],[-0.947040,0.232015,0.222000],[0.228319,0.000394,0.973586]]
2025-10-25T00:22:29.745Z,1761351749.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243532,0.969340,-0.032733],[-0.948871,0.245106,0.198912],[0.200837,-0.017382,0.979471]]
2025-10-25T00:22:30.147Z,1761351750.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194329,0.978049,0.075214],[-0.978177,0.187464,0.089591],[0.073525,-0.090983,0.993135]]
2025-10-25T00:22:30.551Z,1761351750.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176833,0.959664,0.218573],[-0.977213,0.197677,-0.077320],[-0.117408,-0.199920,0.972753]]
2025-10-25T00:22:30.955Z,1761351750.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176722,0.959321,0.220165],[-0.960509,0.216931,-0.174250],[-0.214922,-0.180677,0.959773]]
2025-10-25T00:22:31.367Z,1761351751.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122603,0.979799,0.157993],[-0.982816,0.141998,-0.117937],[-0.137990,-0.140818,0.980372]]
2025-10-25T00:22:31.763Z,1761351751.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078551,0.992321,0.095547],[-0.995901,0.082422,-0.037264],[-0.044853,-0.092228,0.994727]]
2025-10-25T00:22:31.768Z,1761351751.768 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,002228.00,A,3646.48625,N,12151.83341,W,0.544,189.96,251025,,,A*7C
2025-10-25T00:22:31.770Z,1761351751.770 [NAL9602](INFO): GPS fix at 20251025T002228: (36.774771, -121.863890)
2025-10-25T00:22:31.807Z,1761351751.807 [UniversalFixResidualReporter](INFO): Fix residual: 4.4 %DT, over the last 602.8 m. Residual distance 26.4 m at bearing -74.2 degrees. Fix at (36.7748, -121.8639) with 139.1 m made good.
2025-10-25T00:22:31.922Z,1761351751.922 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:22:31.922Z,1761351751.922 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:22:31.922Z,1761351751.922 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:22:31.922Z,1761351751.922 [marl:UpdateRudder:A] Stopped
2025-10-25T00:22:31.923Z,1761351751.923 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:22:31.923Z,1761351751.923 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:22:31.923Z,1761351751.923 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:22:31.923Z,1761351751.923 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:22:31.923Z,1761351751.923 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:22:31.923Z,1761351751.923 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:22:31.923Z,1761351751.923 [marl:UpdateCommandMode] Stopped
2025-10-25T00:22:31.923Z,1761351751.923 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:22:31.924Z,1761351751.924 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:22:31.932Z,1761351751.932 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:22:31.932Z,1761351751.932 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:22:31.936Z,1761351751.936 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:22:31.936Z,1761351751.936 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:22:31.936Z,1761351751.936 [marl:UpdateSpeed] Stopped
2025-10-25T00:22:31.936Z,1761351751.936 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:22:31.937Z,1761351751.937 [marl:NeedComms:C] Stopped
2025-10-25T00:22:31.937Z,1761351751.937 [marl:NeedComms:D] Running Loop=1
2025-10-25T00:22:31.939Z,1761351751.939 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761351808.00. Resetting abort timer.
2025-10-25T00:22:32.167Z,1761351752.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071554,0.996403,0.045391],[-0.997292,0.070693,0.020299],[0.017017,-0.046720,0.998763]]
2025-10-25T00:22:32.229Z,1761351752.229 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-25T00:22:32.229Z,1761351752.229 [marl:UpdateRudder:B] Stopped
2025-10-25T00:22:32.229Z,1761351752.229 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:22:32.229Z,1761351752.229 [marl:UpdateRudder] Stopped
2025-10-25T00:22:32.229Z,1761351752.229 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:22:32.574Z,1761351752.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092801,0.994607,0.046313],[-0.993711,0.089589,0.067181],[0.062669,-0.052256,0.996665]]
2025-10-25T00:22:32.975Z,1761351752.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124716,0.990499,0.057948],[-0.989490,0.119857,0.080898],[0.073184,-0.067428,0.995036]]
2025-10-25T00:22:33.379Z,1761351753.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167625,0.985182,0.036315],[-0.981516,0.163324,0.099762],[0.092352,-0.052366,0.994348]]
2025-10-25T00:22:33.784Z,1761351753.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184750,0.982780,0.003205],[-0.980327,0.184056,0.071286],[0.069469,-0.016312,0.997451]]
2025-10-25T00:22:34.188Z,1761351754.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149724,0.987868,0.041218],[-0.988203,0.148156,0.038796],[0.032219,-0.046541,0.998397]]
2025-10-25T00:22:34.597Z,1761351754.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124496,0.978994,0.161469],[-0.991046,0.130604,-0.027738],[-0.048244,-0.156570,0.986488]]
2025-10-25T00:22:34.995Z,1761351754.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138432,0.965795,0.219265],[-0.984868,0.157555,-0.072190],[-0.104267,-0.205954,0.972991]]
2025-10-25T00:22:35.403Z,1761351755.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152752,0.966095,0.208153],[-0.988249,0.150510,0.026661],[-0.005572,-0.209779,0.977733]]
2025-10-25T00:22:35.805Z,1761351755.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158624,0.978167,0.134267],[-0.980148,0.139623,0.140768],[0.118948,-0.153931,0.980896]]
2025-10-25T00:22:36.207Z,1761351756.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154179,0.987990,0.010217],[-0.979265,0.151426,0.134572],[0.131408,-0.030753,0.990851]]
2025-10-25T00:22:36.615Z,1761351756.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149130,0.987316,-0.054478],[-0.985708,0.152802,0.070938],[0.078363,0.043121,0.995992]]
2025-10-25T00:22:37.015Z,1761351757.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168957,0.984500,-0.047036],[-0.985029,0.170319,0.026619],[0.034217,0.041835,0.998538]]
2025-10-25T00:22:37.420Z,1761351757.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194751,0.980646,0.020149],[-0.980634,0.194232,0.025125],[0.020725,-0.024652,0.999481]]
2025-10-25T00:22:37.827Z,1761351757.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243498,0.967838,0.063229],[-0.968237,0.238746,0.074276],[0.056792,-0.079306,0.995231]]
2025-10-25T00:22:38.227Z,1761351758.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257694,0.962651,0.083051],[-0.960857,0.246265,0.126912],[0.101719,-0.112505,0.988431]]
2025-10-25T00:22:38.631Z,1761351758.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249148,0.957638,0.144411],[-0.966973,0.237709,0.091961],[0.053737,-0.162553,0.985235]]
2025-10-25T00:22:39.035Z,1761351759.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237458,0.952931,0.188513],[-0.970981,0.227162,0.074783],[0.028440,-0.200800,0.979219]]
2025-10-25T00:22:39.445Z,1761351759.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225241,0.956580,0.184991],[-0.974063,0.216879,0.064529],[0.021606,-0.194728,0.980619]]
2025-10-25T00:22:39.890Z,1761351759.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236192,0.963831,0.123462],[-0.971234,0.230202,0.060931],[0.030306,-0.134302,0.990477]]
2025-10-25T00:22:40.247Z,1761351760.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204206,0.978629,0.024175],[-0.978268,0.203099,0.041751],[0.035949,-0.032176,0.998836]]
2025-10-25T00:22:40.677Z,1761351760.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197032,0.980213,-0.019007],[-0.976841,0.197930,0.081267],[0.083421,0.002554,0.996511]]
2025-10-25T00:22:40.824Z,1761351760.824 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:22:41.055Z,1761351761.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241473,0.970400,0.003724],[-0.953247,0.236483,0.188137],[0.181688,-0.048980,0.982136]]
2025-10-25T00:22:41.831Z,1761351761.831 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:22:43.204Z,1761351763.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338044,0.931515,0.134190],[-0.938139,0.322168,0.126895],[0.074973,-0.168785,0.982797]]
2025-10-25T00:22:43.569Z,1761351763.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433290,0.898091,0.075448],[-0.899203,0.425143,0.103377],[0.060766,-0.112636,0.991777]]
2025-10-25T00:22:43.966Z,1761351763.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444879,0.895476,0.014350],[-0.895522,0.444589,0.019505],[0.011086,-0.021528,0.999707]]
2025-10-25T00:22:44.370Z,1761351764.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433930,0.900681,-0.021867],[-0.900421,0.434378,0.023626],[0.030778,0.009437,0.999482]]
2025-10-25T00:22:44.775Z,1761351764.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431578,0.900848,-0.047044],[-0.892532,0.433997,0.122609],[0.130869,-0.010927,0.991340]]
2025-10-25T00:22:45.178Z,1761351765.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440527,0.897737,-0.002315],[-0.888762,0.436483,0.139945],[0.126645,-0.059592,0.990157]]
2025-10-25T00:22:45.588Z,1761351765.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462886,0.885582,0.038484],[-0.885851,0.460601,0.055816],[0.031704,-0.059927,0.997699]]
2025-10-25T00:22:45.987Z,1761351765.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475674,0.878019,0.053074],[-0.879589,0.474270,0.037300],[0.007578,-0.064426,0.997894]]
2025-10-25T00:22:46.391Z,1761351766.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499129,0.865521,0.041761],[-0.866524,0.498676,0.021396],[-0.002307,-0.046867,0.998898]]
2025-10-25T00:22:46.413Z,1761351766.413 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:22:46.413Z,1761351766.413 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:22:46.414Z,1761351766.414 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:22:46.414Z,1761351766.414 [marl:UpdateRudder:A] Stopped
2025-10-25T00:22:46.414Z,1761351766.414 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:22:46.414Z,1761351766.414 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:22:46.414Z,1761351766.414 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:22:46.414Z,1761351766.414 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:22:46.415Z,1761351766.415 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:22:46.415Z,1761351766.415 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:22:46.415Z,1761351766.415 [marl:UpdateCommandMode] Stopped
2025-10-25T00:22:46.415Z,1761351766.415 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:22:46.415Z,1761351766.415 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:22:46.415Z,1761351766.415 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:22:46.415Z,1761351766.415 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:22:46.416Z,1761351766.416 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:22:46.416Z,1761351766.416 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:22:46.416Z,1761351766.416 [marl:UpdateSpeed] Stopped
2025-10-25T00:22:46.416Z,1761351766.416 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:22:46.795Z,1761351766.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510910,0.859388,0.020583],[-0.858656,0.511324,-0.035461],[-0.040999,0.000444,0.999159]]
2025-10-25T00:22:46.825Z,1761351766.825 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-25T00:22:46.825Z,1761351766.825 [marl:UpdateRudder:B] Stopped
2025-10-25T00:22:46.825Z,1761351766.825 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:22:46.825Z,1761351766.825 [marl:UpdateRudder] Stopped
2025-10-25T00:22:46.825Z,1761351766.825 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:22:47.198Z,1761351767.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516828,0.856087,-0.001948],[-0.853033,0.514789,-0.085602],[-0.072280,0.045903,0.996328]]
2025-10-25T00:22:47.210Z,1761351767.210 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050104110333,35.0, +15.1,   0.0,150
2025-10-25T00:22:47.604Z,1761351767.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567358,0.823471,0.000591],[-0.820451,0.565338,-0.085165],[-0.070465,0.047834,0.996367]]
2025-10-25T00:22:48.006Z,1761351768.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598665,0.800916,-0.011577],[-0.800962,0.598435,-0.018325],[-0.007749,0.020243,0.999765]]
2025-10-25T00:22:48.411Z,1761351768.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569436,0.821679,-0.024204],[-0.818964,0.569605,0.069635],[0.071005,-0.019830,0.997279]]
2025-10-25T00:22:48.815Z,1761351768.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542069,0.839613,0.034794],[-0.836526,0.535212,0.117352],[0.079908,-0.092719,0.992481]]
2025-10-25T00:22:49.219Z,1761351769.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539972,0.835720,0.100013],[-0.841582,0.534239,0.079556],[0.013056,-0.127128,0.991800]]
2025-10-25T00:22:49.622Z,1761351769.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535226,0.838263,0.104150],[-0.844124,0.535361,0.029037],[-0.031418,-0.103457,0.994138]]
2025-10-25T00:22:50.026Z,1761351770.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572042,0.819996,0.019349],[-0.820204,0.571701,0.020572],[0.005807,-0.027638,0.999601]]
2025-10-25T00:22:50.430Z,1761351770.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593931,0.801313,-0.071719],[-0.800716,0.597426,0.044004],[0.078108,0.031291,0.996454]]
2025-10-25T00:22:50.836Z,1761351770.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575253,0.809400,-0.118138],[-0.813571,0.581124,0.019918],[0.084774,0.084656,0.992797]]
2025-10-25T00:22:51.238Z,1761351771.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570051,0.816191,-0.094199],[-0.819516,0.573028,0.005682],[0.058617,0.073959,0.995537]]
2025-10-25T00:22:51.643Z,1761351771.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589251,0.805779,-0.059189],[-0.805302,0.591668,0.037650],[0.065358,0.025480,0.997537]]
2025-10-25T00:22:52.062Z,1761351772.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574164,0.818468,-0.021108],[-0.817202,0.574475,0.046476],[0.050165,-0.009435,0.998696]]
2025-10-25T00:22:52.450Z,1761351772.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530185,0.846154,0.054103],[-0.846409,0.531945,-0.025034],[-0.049962,-0.032521,0.998221]]
2025-10-25T00:22:52.860Z,1761351772.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517212,0.853462,0.063988],[-0.851853,0.520575,-0.057866],[-0.082697,-0.024579,0.996272]]
2025-10-25T00:22:53.260Z,1761351773.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553013,0.832039,-0.043448],[-0.832556,0.553858,0.009581],[0.032036,0.030874,0.999010]]
2025-10-25T00:22:53.666Z,1761351773.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551212,0.826633,-0.113327],[-0.830703,0.556419,0.018183],[0.078088,0.084119,0.993391]]
2025-10-25T00:22:54.077Z,1761351774.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498222,0.866232,-0.037649],[-0.865946,0.499308,0.028781],[0.043729,0.018263,0.998876]]
2025-10-25T00:22:54.476Z,1761351774.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482869,0.873432,0.062884],[-0.874577,0.477386,0.084954],[0.044181,-0.096018,0.994399]]
2025-10-25T00:22:54.910Z,1761351774.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528660,0.844205,0.088521],[-0.848554,0.528283,0.029563],[-0.021807,-0.090744,0.995635]]
2025-10-25T00:22:55.301Z,1761351775.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542578,0.838939,0.042307],[-0.839604,0.543187,-0.003561],[-0.025968,-0.033589,0.999098]]
2025-10-25T00:22:55.688Z,1761351775.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538775,0.841990,0.027835],[-0.842439,0.538640,0.012776],[-0.004236,-0.030332,0.999531]]
2025-10-25T00:22:56.095Z,1761351776.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500255,0.862420,0.077314],[-0.864740,0.502179,-0.006451],[-0.044389,-0.063630,0.996986]]
2025-10-25T00:22:56.490Z,1761351776.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457220,0.885503,0.082666],[-0.888387,0.459078,-0.003940],[-0.041439,-0.071639,0.996569]]
2025-10-25T00:22:56.926Z,1761351776.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500846,0.865026,0.029716],[-0.864909,0.498881,0.055232],[0.032953,-0.053364,0.998031]]
2025-10-25T00:22:57.298Z,1761351777.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564497,0.824876,-0.030363],[-0.825021,0.564997,0.010871],[0.026122,0.018913,0.999480]]
2025-10-25T00:22:57.703Z,1761351777.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554923,0.829764,-0.059605],[-0.831845,0.554299,-0.028051],[0.009763,0.065148,0.997828]]
2025-10-25T00:22:58.114Z,1761351778.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513006,0.858170,-0.019227],[-0.858348,0.513062,-0.002265],[0.007921,0.017665,0.999813]]
2025-10-25T00:22:58.510Z,1761351778.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481206,0.873640,0.072069],[-0.873924,0.484537,-0.038479],[-0.068537,-0.044467,0.996657]]
2025-10-25T00:22:58.931Z,1761351778.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507282,0.851080,0.135377],[-0.852322,0.518695,-0.067099],[-0.127326,-0.081347,0.988519]]
2025-10-25T00:22:59.318Z,1761351779.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537853,0.842439,0.031788],[-0.842819,0.536470,0.043075],[0.019235,-0.049960,0.998566]]
2025-10-25T00:22:59.346Z,1761351779.346 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:22:59.347Z,1761351779.347 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:22:59.347Z,1761351779.347 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:22:59.347Z,1761351779.347 [marl:UpdateRudder:A] Stopped
2025-10-25T00:22:59.347Z,1761351779.347 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:22:59.347Z,1761351779.347 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:22:59.347Z,1761351779.347 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:22:59.348Z,1761351779.348 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:22:59.348Z,1761351779.348 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:22:59.348Z,1761351779.348 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:22:59.348Z,1761351779.348 [marl:UpdateCommandMode] Stopped
2025-10-25T00:22:59.348Z,1761351779.348 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:22:59.349Z,1761351779.349 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:22:59.349Z,1761351779.349 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:22:59.349Z,1761351779.349 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:22:59.349Z,1761351779.349 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:22:59.349Z,1761351779.349 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:22:59.349Z,1761351779.349 [marl:UpdateSpeed] Stopped
2025-10-25T00:22:59.349Z,1761351779.349 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:22:59.723Z,1761351779.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486848,0.862392,-0.138776],[-0.854399,0.503193,0.129611],[0.181607,0.055469,0.981806]]
2025-10-25T00:22:59.753Z,1761351779.753 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:22:59.753Z,1761351779.753 [marl:UpdateRudder:B] Stopped
2025-10-25T00:22:59.753Z,1761351779.753 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:22:59.754Z,1761351779.754 [marl:UpdateRudder] Stopped
2025-10-25T00:22:59.754Z,1761351779.754 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:23:00.126Z,1761351780.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402781,0.902300,-0.153696],[-0.891378,0.424823,0.158019],[0.207874,0.073354,0.975401]]
2025-10-25T00:23:00.532Z,1761351780.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361958,0.928385,-0.084189],[-0.921582,0.369964,0.117529],[0.140259,0.035047,0.989494]]
2025-10-25T00:23:00.938Z,1761351780.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357979,0.933722,0.003746],[-0.931154,0.356691,0.075661],[0.069310,-0.030573,0.997127]]
2025-10-25T00:23:01.341Z,1761351781.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382514,0.921204,0.071173],[-0.923736,0.382944,0.008045],[-0.019844,-0.068822,0.997432]]
2025-10-25T00:23:01.742Z,1761351781.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366500,0.926300,0.087439],[-0.925533,0.372580,-0.067622],[-0.095216,-0.056144,0.993872]]
2025-10-25T00:23:02.146Z,1761351782.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303631,0.945227,0.119809],[-0.945175,0.314680,-0.087300],[-0.120220,-0.086733,0.988951]]
2025-10-25T00:23:02.151Z,1761351782.151 [NAL9602](INFO): SBD MO Status=1, MOMSN=2584, MT Status=0, MTMSN=0
2025-10-25T00:23:02.204Z,1761351782.204 [NAL9602](INFO): Sent 93 bytes from file Logs/20251024T220733/Courier0030.lzma
2025-10-25T00:23:02.204Z,1761351782.204 [NAL9602](INFO): Packets left to send: 0
2025-10-25T00:23:02.557Z,1761351782.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263776,0.957005,0.120680],[-0.964495,0.263377,0.019534],[-0.013090,-0.121548,0.992499]]
2025-10-25T00:23:03.270Z,1761351783.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292377,0.945513,0.143249],[-0.951206,0.272093,0.145506],[0.098601,-0.178802,0.978932]]
2025-10-25T00:23:03.671Z,1761351783.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338013,0.930530,0.140930],[-0.936286,0.317286,0.150658],[0.095477,-0.182876,0.978489]]
2025-10-25T00:23:05.747Z,1761351785.747 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:23:05.748Z,1761351785.748 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:23:05.796Z,1761351785.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285100,0.958173,0.024948],[-0.958465,0.284778,0.015708],[0.007946,-0.028390,0.999565]]
2025-10-25T00:23:06.171Z,1761351786.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280625,0.952511,0.118203],[-0.957555,0.269383,0.102569],[0.065856,-0.141970,0.987678]]
2025-10-25T00:23:06.575Z,1761351786.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298933,0.941840,0.153544],[-0.953087,0.302693,-0.001170],[-0.047579,-0.145991,0.988141]]
2025-10-25T00:23:06.624Z,1761351786.624 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-25T00:23:06.638Z,1761351786.638 [CBIT](INFO): Clearing failed state for component DAT
2025-10-25T00:23:06.638Z,1761351786.638 [DAT] No Fault, FailCount= 8
2025-10-25T00:23:07.003Z,1761351787.003 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,  -172,  -20,A
2025-10-25T00:23:07.036Z,1761351787.036 [DAT](INFO): Powering up
2025-10-25T00:23:07.036Z,1761351787.036 [DAT](DEBUG): Initializing DAT.
2025-10-25T00:23:07.382Z,1761351787.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287615,0.947657,0.138651],[-0.957381,0.288475,0.014294],[-0.026452,-0.136852,0.990238]]
2025-10-25T00:23:07.786Z,1761351787.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299274,0.950608,0.082331],[-0.950696,0.289721,0.110625],[0.081309,-0.111379,0.990446]]
2025-10-25T00:23:08.194Z,1761351788.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297179,0.954794,0.007295],[-0.949598,0.294746,0.106712],[0.099738,-0.038639,0.994263]]
2025-10-25T00:23:08.594Z,1761351788.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279643,0.960031,-0.011863],[-0.959246,0.279894,0.038825],[0.040593,0.000523,0.999176]]
2025-10-25T00:23:09.003Z,1761351789.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302060,0.952050,0.048574],[-0.953006,0.302820,-0.008948],[-0.023228,-0.043589,0.998779]]
2025-10-25T00:23:09.403Z,1761351789.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299897,0.950518,0.081097],[-0.950470,0.304992,-0.059890],[-0.081661,-0.059120,0.994905]]
2025-10-25T00:23:09.809Z,1761351789.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296736,0.948908,0.107342],[-0.953357,0.300870,-0.024246],[-0.055303,-0.095140,0.993926]]
2025-10-25T00:23:10.211Z,1761351790.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288470,0.948962,0.127497],[-0.955455,0.276619,0.102898],[0.062378,-0.151500,0.986487]]
2025-10-25T00:23:10.615Z,1761351790.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296408,0.943071,0.150860],[-0.951942,0.278974,0.126414],[0.077131,-0.181080,0.980439]]
2025-10-25T00:23:11.025Z,1761351791.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310309,0.941701,0.130029],[-0.950187,0.303042,0.072877],[0.029224,-0.146166,0.988828]]
2025-10-25T00:23:11.424Z,1761351791.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269332,0.957302,0.105038],[-0.961809,0.261850,0.079739],[0.048830,-0.122503,0.991266]]
2025-10-25T00:23:11.826Z,1761351791.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285897,0.954258,0.087495],[-0.956359,0.278389,0.088747],[0.060330,-0.109049,0.992204]]
2025-10-25T00:23:11.948Z,1761351791.948 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:23:12.230Z,1761351792.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352487,0.935458,0.025914],[-0.934971,0.350855,0.052255],[0.039790,-0.042648,0.998298]]
2025-10-25T00:23:12.634Z,1761351792.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346112,0.937804,-0.027020],[-0.937317,0.344401,-0.053154],[-0.040542,0.043723,0.998221]]
2025-10-25T00:23:12.952Z,1761351792.952 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:23:13.049Z,1761351793.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332784,0.942645,-0.025984],[-0.940327,0.329639,-0.084394],[-0.070988,0.052518,0.996094]]
2025-10-25T00:23:13.443Z,1761351793.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344867,0.938649,0.002192],[-0.938640,0.344874,-0.004119],[-0.004622,-0.000637,0.999989]]
2025-10-25T00:23:13.847Z,1761351793.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326595,0.942289,0.073666],[-0.945063,0.324423,0.040077],[0.013865,-0.082708,0.996477]]
2025-10-25T00:23:14.258Z,1761351794.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323948,0.932793,0.157972],[-0.942780,0.332212,-0.028314],[-0.078892,-0.139761,0.987037]]
2025-10-25T00:23:14.262Z,1761351794.262 [NAL9602](INFO): SBD MO Status=1, MOMSN=2585, MT Status=0, MTMSN=0
2025-10-25T00:23:14.316Z,1761351794.316 [NAL9602](INFO): Sent 332 bytes from file Logs/20251024T220733/Express0031.lzma
2025-10-25T00:23:14.316Z,1761351794.316 [NAL9602](INFO): Packets left to send: 3
2025-10-25T00:23:14.374Z,1761351794.374 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:23:14.374Z,1761351794.374 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:23:14.374Z,1761351794.374 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:23:14.374Z,1761351794.374 [marl:UpdateRudder:A] Stopped
2025-10-25T00:23:14.374Z,1761351794.374 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:23:14.374Z,1761351794.374 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:23:14.374Z,1761351794.374 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:23:14.375Z,1761351794.375 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:23:14.375Z,1761351794.375 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:23:14.375Z,1761351794.375 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:23:14.375Z,1761351794.375 [marl:UpdateCommandMode] Stopped
2025-10-25T00:23:14.375Z,1761351794.375 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:23:14.375Z,1761351794.375 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:23:14.375Z,1761351794.375 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:23:14.375Z,1761351794.375 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:23:14.376Z,1761351794.376 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:23:14.376Z,1761351794.376 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:23:14.376Z,1761351794.376 [marl:UpdateSpeed] Stopped
2025-10-25T00:23:14.376Z,1761351794.376 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:23:14.660Z,1761351794.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347151,0.926530,0.145013],[-0.933618,0.356046,-0.039866],[-0.088569,-0.121547,0.988626]]
2025-10-25T00:23:15.196Z,1761351795.196 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:23:15.196Z,1761351795.196 [marl:UpdateRudder:B] Stopped
2025-10-25T00:23:15.196Z,1761351795.196 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:23:15.196Z,1761351795.196 [marl:UpdateRudder] Stopped
2025-10-25T00:23:15.196Z,1761351795.196 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:23:15.262Z,1761351795.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342832,0.938037,0.050524],[-0.938183,0.339160,0.069159],[0.047738,-0.071111,0.996325]]
2025-10-25T00:23:15.650Z,1761351795.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318117,0.948051,0.000335],[-0.939363,0.315154,0.135182],[0.128054,-0.043318,0.990821]]
2025-10-25T00:23:17.793Z,1761351797.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373198,0.920504,0.115739],[-0.922262,0.354541,0.154056],[0.100775,-0.164235,0.981260]]
2025-10-25T00:23:18.183Z,1761351798.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392347,0.917903,-0.059313],[-0.916328,0.395656,0.061636],[0.080043,0.030167,0.996335]]
2025-10-25T00:23:18.586Z,1761351798.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393311,0.917549,-0.058399],[-0.917512,0.395783,0.039088],[0.058979,0.038208,0.997528]]
2025-10-25T00:23:18.991Z,1761351798.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423731,0.905397,-0.026620],[-0.905064,0.424384,0.027506],[0.036201,0.012438,0.999267]]
2025-10-25T00:23:19.136Z,1761351799.136 [DAT](INFO): DAT read: 

2025-10-25T00:23:19.137Z,1761351799.137 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-25T00:23:19.397Z,1761351799.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441123,0.897384,-0.010599],[-0.895520,0.440919,0.060286],[0.058773,-0.017102,0.998125]]
2025-10-25T00:23:19.798Z,1761351799.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379981,0.924652,0.025170],[-0.923692,0.377862,0.063356],[0.049071,-0.047323,0.997674]]
2025-10-25T00:23:20.203Z,1761351800.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344727,0.935312,0.079715],[-0.935269,0.334967,0.114322],[0.080225,-0.113965,0.990240]]
2025-10-25T00:23:20.606Z,1761351800.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398121,0.909530,0.119395],[-0.911199,0.377069,0.165939],[0.105906,-0.174856,0.978882]]
2025-10-25T00:23:20.905Z,1761351800.905 [DAT](INFO): DAT read: MF Frequency Band

2025-10-25T00:23:20.909Z,1761351800.909 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-25T00:23:20.911Z,1761351800.911 [DAT](INFO): DAT read: Oct 25 2025 00:23:14 

2025-10-25T00:23:21.021Z,1761351801.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445258,0.891819,0.080022],[-0.891773,0.433640,0.129215],[0.080535,-0.128895,0.988383]]
2025-10-25T00:23:21.416Z,1761351801.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485556,0.874115,-0.012633],[-0.869475,0.484379,0.096899],[0.090820,-0.036065,0.995214]]
2025-10-25T00:23:21.819Z,1761351801.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489175,0.868890,-0.075750],[-0.866789,0.493958,0.068430],[0.096876,0.032185,0.994776]]
2025-10-25T00:23:21.913Z,1761351801.913 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-25T00:23:21.915Z,1761351801.915 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-25T00:23:21.915Z,1761351801.915 [DAT](INFO): commRate: 600
2025-10-25T00:23:22.224Z,1761351802.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468180,0.880163,-0.078237],[-0.883446,0.468063,-0.020967],[0.018165,0.078935,0.996714]]
2025-10-25T00:23:22.626Z,1761351802.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474200,0.880116,-0.023022],[-0.874357,0.467712,-0.129406],[-0.103125,0.081494,0.991324]]
2025-10-25T00:23:23.033Z,1761351803.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499855,0.865507,-0.032300],[-0.864603,0.496440,-0.077515],[-0.051055,0.066672,0.996468]]
2025-10-25T00:23:23.435Z,1761351803.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479556,0.875196,-0.063703],[-0.871907,0.483428,0.077947],[0.099015,0.018163,0.994920]]
2025-10-25T00:23:23.839Z,1761351803.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450741,0.892436,-0.019742],[-0.881065,0.448333,0.150738],[0.143375,-0.050550,0.988377]]
2025-10-25T00:23:23.980Z,1761351803.980 [DAT](INFO): entering command mode
2025-10-25T00:23:24.181Z,1761351804.181 [DAT](INFO): DAT read: 

2025-10-25T00:23:24.181Z,1761351804.181 [DAT](INFO): DAT read: user:1>

2025-10-25T00:23:24.181Z,1761351804.181 [DAT](INFO): setting verbose to 3
2025-10-25T00:23:24.244Z,1761351804.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463442,0.885514,0.032978],[-0.884385,0.459877,0.079856],[0.055548,-0.066174,0.996261]]
2025-10-25T00:23:24.433Z,1761351804.433 [DAT](INFO): DAT read: user:1>

2025-10-25T00:23:24.434Z,1761351804.434 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-25T00:23:24.434Z,1761351804.434 [DAT](INFO): set verbose to 3
2025-10-25T00:23:24.434Z,1761351804.434 [DAT](INFO): setting DatVerbose to 27440
2025-10-25T00:23:24.648Z,1761351804.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482069,0.873487,0.068048],[-0.873940,0.484902,-0.033157],[-0.061958,-0.043486,0.997131]]
2025-10-25T00:23:24.685Z,1761351804.685 [DAT](INFO): DAT read: user:2>

2025-10-25T00:23:24.686Z,1761351804.686 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-25T00:23:24.686Z,1761351804.686 [DAT](INFO): set DatVerbose to 27440
2025-10-25T00:23:24.686Z,1761351804.686 [DAT](INFO): setting transmit power to 8
2025-10-25T00:23:24.937Z,1761351804.937 [DAT](INFO): DAT read: user:3>

2025-10-25T00:23:24.938Z,1761351804.938 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-25T00:23:24.938Z,1761351804.938 [DAT](INFO): set transmit power to 8
2025-10-25T00:23:24.938Z,1761351804.938 [DAT](INFO): setting local address to 11
2025-10-25T00:23:25.051Z,1761351805.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488022,0.871527,0.047704],[-0.868905,0.490279,-0.068050],[-0.082696,-0.008240,0.996541]]
2025-10-25T00:23:25.189Z,1761351805.189 [DAT](INFO): DAT read: user:4>

2025-10-25T00:23:25.190Z,1761351805.190 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-25T00:23:25.190Z,1761351805.190 [DAT](INFO): set local address to 11
2025-10-25T00:23:25.191Z,1761351805.191 [DAT](INFO): Setting time to: 0:23:25 And date to:10/25/2025
2025-10-25T00:23:25.441Z,1761351805.441 [DAT](INFO): DAT read: user:5>

2025-10-25T00:23:25.442Z,1761351805.442 [DAT](INFO): DAT read: Sat Oct 25, 2025  00:23:25  

2025-10-25T00:23:25.442Z,1761351805.442 [DAT](INFO): Local DAT time set to Sat Oct 25, 2025  00:23:25  

2025-10-25T00:23:25.443Z,1761351805.443 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:23:25.443Z,1761351805.443 [DAT](INFO): setting remote address to 0
2025-10-25T00:23:25.469Z,1761351805.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473249,0.880888,0.008456],[-0.879438,0.472984,-0.053623],[-0.051235,0.017941,0.998526]]
2025-10-25T00:23:25.693Z,1761351805.693 [DAT](INFO): DAT read: user:6>

2025-10-25T00:23:25.694Z,1761351805.694 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-25T00:23:25.694Z,1761351805.694 [DAT](INFO): set remote address to 0
2025-10-25T00:23:25.694Z,1761351805.694 [DAT](DEBUG): Acoustic response timeout
2025-10-25T00:23:25.695Z,1761351805.695 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-25T00:23:25.863Z,1761351805.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480545,0.876336,-0.033336],[-0.876220,0.481359,0.023070],[0.036264,0.018124,0.999178]]
2025-10-25T00:23:25.945Z,1761351805.945 [DAT](INFO): DAT read: user:7>

2025-10-25T00:23:25.945Z,1761351805.945 [DAT](INFO): DAT read: Tx time:00:23:25.6666

2025-10-25T00:23:25.946Z,1761351805.946 [DAT](INFO): Ping request sent.
2025-10-25T00:23:25.946Z,1761351805.946 [DAT](INFO): transmitted an acoustic signal
2025-10-25T00:23:25.946Z,1761351805.946 [DAT](INFO): publishing transmit ping time
2025-10-25T00:23:25.946Z,1761351805.946 [DAT](INFO): Failure count cleared after critical for DAT
2025-10-25T00:23:25.947Z,1761351805.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001078
2025-10-25T00:23:26.197Z,1761351806.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251013
2025-10-25T00:23:26.267Z,1761351806.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467020,0.880101,-0.085527],[-0.874664,0.473994,0.101455],[0.129830,0.027426,0.991157]]
2025-10-25T00:23:26.275Z,1761351806.275 [NAL9602](INFO): SBD MO Status=1, MOMSN=2586, MT Status=0, MTMSN=0
2025-10-25T00:23:26.336Z,1761351806.336 [NAL9602](INFO): Sent 332 bytes from file Logs/20251024T220733/Express0031.lzma
2025-10-25T00:23:26.336Z,1761351806.336 [NAL9602](INFO): Packets left to send: 2
2025-10-25T00:23:26.449Z,1761351806.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503089
2025-10-25T00:23:26.675Z,1761351806.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440382,0.892864,-0.094113],[-0.875129,0.450305,0.177131],[0.200533,0.004356,0.979677]]
2025-10-25T00:23:26.701Z,1761351806.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755053
2025-10-25T00:23:26.953Z,1761351806.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007070
2025-10-25T00:23:27.205Z,1761351807.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259133
2025-10-25T00:23:27.457Z,1761351807.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510860
2025-10-25T00:23:27.619Z,1761351807.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442601,0.896285,-0.027878],[-0.876964,0.439131,0.195187],[0.187185,-0.061942,0.980370]]
2025-10-25T00:23:27.710Z,1761351807.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764431
2025-10-25T00:23:27.961Z,1761351807.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015053
2025-10-25T00:23:28.014Z,1761351808.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447683,0.894160,0.007642],[-0.890733,0.445184,0.091686],[0.078580,-0.047853,0.995759]]
2025-10-25T00:23:28.213Z,1761351808.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267087
2025-10-25T00:23:28.465Z,1761351808.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519004
2025-10-25T00:23:28.717Z,1761351808.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770960
2025-10-25T00:23:28.969Z,1761351808.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023027
2025-10-25T00:23:29.221Z,1761351809.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274950
2025-10-25T00:23:29.474Z,1761351809.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527963
2025-10-25T00:23:29.725Z,1761351809.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779116
2025-10-25T00:23:29.978Z,1761351809.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031619
2025-10-25T00:23:30.191Z,1761351810.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351188,0.935836,0.029643],[-0.935134,0.348990,0.061074],[0.046810,-0.049169,0.997693]]
2025-10-25T00:23:30.229Z,1761351810.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283239
2025-10-25T00:23:30.481Z,1761351810.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535400
2025-10-25T00:23:30.591Z,1761351810.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431564,0.901226,-0.039289],[-0.894016,0.433111,0.114677],[0.120366,-0.014366,0.992626]]
2025-10-25T00:23:30.629Z,1761351810.629 [DataOverHttps](IMPORTANT): SBD MTMSN=20251025T002329
2025-10-25T00:23:30.633Z,1761351810.633 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003372
2025-10-25T00:23:30.733Z,1761351810.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787621
2025-10-25T00:23:30.988Z,1761351810.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041798
2025-10-25T00:23:31.003Z,1761351811.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382385,0.923818,-0.018495],[-0.923275,0.382802,0.032024],[0.036665,0.004831,0.999316]]
2025-10-25T00:23:31.241Z,1761351811.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294881
2025-10-25T00:23:31.402Z,1761351811.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356787,0.933162,0.043718],[-0.930337,0.359171,-0.073955],[-0.084715,-0.014287,0.996303]]
2025-10-25T00:23:31.446Z,1761351811.446 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:23:31.447Z,1761351811.447 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:23:31.447Z,1761351811.447 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:23:31.447Z,1761351811.447 [marl:UpdateRudder:A] Stopped
2025-10-25T00:23:31.447Z,1761351811.447 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:23:31.447Z,1761351811.447 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:23:31.447Z,1761351811.447 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:23:31.452Z,1761351811.452 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:23:31.452Z,1761351811.452 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:23:31.452Z,1761351811.452 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:23:31.452Z,1761351811.452 [marl:UpdateCommandMode] Stopped
2025-10-25T00:23:31.452Z,1761351811.452 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:23:31.453Z,1761351811.453 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:23:31.453Z,1761351811.453 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:23:31.453Z,1761351811.453 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:23:31.453Z,1761351811.453 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:23:31.453Z,1761351811.453 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:23:31.453Z,1761351811.453 [marl:UpdateSpeed] Stopped
2025-10-25T00:23:31.453Z,1761351811.453 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:23:31.494Z,1761351811.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547752
2025-10-25T00:23:31.745Z,1761351811.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799133
2025-10-25T00:23:31.803Z,1761351811.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362599,0.930212,0.056819],[-0.924995,0.366657,-0.099731],[-0.113605,-0.016395,0.993391]]
2025-10-25T00:23:31.896Z,1761351811.896 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-25T00:23:31.896Z,1761351811.896 [marl:UpdateRudder:B] Stopped
2025-10-25T00:23:31.897Z,1761351811.897 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:23:31.897Z,1761351811.897 [marl:UpdateRudder] Stopped
2025-10-25T00:23:31.897Z,1761351811.897 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:23:31.998Z,1761351811.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051951
2025-10-25T00:23:32.206Z,1761351812.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370528,0.927345,0.052347],[-0.928604,0.371071,-0.000702],[-0.020076,-0.048350,0.998629]]
2025-10-25T00:23:32.249Z,1761351812.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302862
2025-10-25T00:23:32.501Z,1761351812.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555394
2025-10-25T00:23:32.611Z,1761351812.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360275,0.930749,0.062509],[-0.931466,0.355291,0.078351],[0.050717,-0.086453,0.994964]]
2025-10-25T00:23:32.753Z,1761351812.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806898
2025-10-25T00:23:33.005Z,1761351813.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059620
2025-10-25T00:23:33.023Z,1761351813.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334408,0.938270,0.088441],[-0.941656,0.328860,0.071657],[0.038149,-0.107243,0.993501]]
2025-10-25T00:23:33.257Z,1761351813.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310984
2025-10-25T00:23:33.441Z,1761351813.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287294,0.954632,0.078363],[-0.956054,0.280799,0.084339],[0.058508,-0.099150,0.993351]]
2025-10-25T00:23:33.509Z,1761351813.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563014
2025-10-25T00:23:33.761Z,1761351813.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814969
2025-10-25T00:23:33.822Z,1761351813.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311648,0.948797,0.051577],[-0.948987,0.308053,0.067284],[0.047950,-0.069915,0.996400]]
2025-10-25T00:23:34.013Z,1761351814.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067009
2025-10-25T00:23:34.228Z,1761351814.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388208,0.921523,0.009445],[-0.920985,0.388306,-0.031683],[-0.032864,0.003601,0.999453]]
2025-10-25T00:23:34.265Z,1761351814.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319009
2025-10-25T00:23:34.518Z,1761351814.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.572456
2025-10-25T00:23:34.630Z,1761351814.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356848,0.934143,0.006025],[-0.929621,0.355741,-0.096190],[-0.091999,0.028724,0.995345]]
2025-10-25T00:23:34.769Z,1761351814.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823006
2025-10-25T00:23:35.021Z,1761351815.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074865
2025-10-25T00:23:35.036Z,1761351815.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299366,0.951630,0.069145],[-0.953019,0.301738,-0.026634],[-0.046209,-0.057923,0.997251]]
2025-10-25T00:23:35.273Z,1761351815.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326925
2025-10-25T00:23:35.487Z,1761351815.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274383,0.949415,0.152727],[-0.960402,0.262563,0.093216],[0.048400,-0.172256,0.983862]]
2025-10-25T00:23:35.525Z,1761351815.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578933
2025-10-25T00:23:35.777Z,1761351815.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830931
2025-10-25T00:23:35.842Z,1761351815.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260687,0.944938,0.197825],[-0.959691,0.231344,0.159604],[0.105050,-0.231457,0.967157]]
2025-10-25T00:23:36.029Z,1761351816.029 [DAT](INFO): Reached modem response timeout
2025-10-25T00:23:36.246Z,1761351816.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309986,0.937638,0.157302],[-0.944083,0.284026,0.167440],[0.112320,-0.200410,0.973252]]
2025-10-25T00:23:36.655Z,1761351816.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392254,0.919169,0.035560],[-0.916330,0.387075,0.102531],[0.080479,-0.072803,0.994094]]
2025-10-25T00:23:37.054Z,1761351817.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377726,0.919332,-0.110238],[-0.923207,0.383045,0.031073],[0.070793,0.090035,0.993419]]
2025-10-25T00:23:37.459Z,1761351817.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384405,0.912668,-0.138819],[-0.920124,0.390977,0.022560],[0.074865,0.119058,0.990061]]
2025-10-25T00:23:37.862Z,1761351817.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358791,0.930981,-0.067411],[-0.932745,0.354854,-0.063758],[-0.035436,0.085754,0.995686]]
2025-10-25T00:23:38.268Z,1761351818.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339337,0.939800,0.040341],[-0.925409,0.341218,-0.164889],[-0.168728,0.018621,0.985487]]
2025-10-25T00:23:38.297Z,1761351818.297 [DAT](INFO): DAT read: Response Not Received

2025-10-25T00:23:38.297Z,1761351818.297 [DAT](INFO): response not received
2025-10-25T00:23:38.297Z,1761351818.297 [DAT](ERROR): No response from remote modem.
2025-10-25T00:23:38.680Z,1761351818.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354533,0.932062,0.074614],[-0.924879,0.361295,-0.118595],[-0.137496,-0.026963,0.990135]]
2025-10-25T00:23:39.074Z,1761351819.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348975,0.937000,0.015720],[-0.937082,0.349080,-0.004465],[-0.009671,-0.013172,0.999866]]
2025-10-25T00:23:39.087Z,1761351819.087 [NAL9602](INFO): SBD MO Status=1, MOMSN=2587, MT Status=0, MTMSN=0
2025-10-25T00:23:39.136Z,1761351819.136 [NAL9602](INFO): Sent 332 bytes from file Logs/20251024T220733/Express0031.lzma
2025-10-25T00:23:39.136Z,1761351819.136 [NAL9602](INFO): Packets left to send: 1
2025-10-25T00:23:39.484Z,1761351819.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363839,0.930047,-0.051325],[-0.927466,0.366826,0.072419],[0.086181,0.021253,0.996053]]
2025-10-25T00:23:39.884Z,1761351819.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381151,0.921278,-0.077268],[-0.913262,0.388195,0.123521],[0.143793,0.023485,0.989329]]
2025-10-25T00:23:40.286Z,1761351820.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384091,0.922813,-0.029850],[-0.914458,0.384678,0.125654],[0.127438,-0.020966,0.991625]]
2025-10-25T00:23:40.291Z,1761351820.291 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,002336.00,A,3646.48042,N,12151.82390,W,2.022,73.18,251025,,,A*4D
2025-10-25T00:23:40.293Z,1761351820.293 [NAL9602](INFO): GPS fix at 20251025T002336: (36.774674, -121.863732)
2025-10-25T00:23:40.333Z,1761351820.333 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761351808.00. Resetting abort timer.
2025-10-25T00:23:40.703Z,1761351820.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333659,0.941734,0.042533],[-0.940560,0.329531,0.082196],[0.063391,-0.067430,0.995708]]
2025-10-25T00:23:41.094Z,1761351821.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330834,0.937619,0.106864],[-0.943405,0.331385,0.013082],[-0.023148,-0.105144,0.994188]]
2025-10-25T00:23:41.499Z,1761351821.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382938,0.918579,0.097834],[-0.915259,0.391621,-0.094523],[-0.125141,-0.053347,0.990704]]
2025-10-25T00:23:41.903Z,1761351821.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406261,0.912938,0.038673],[-0.903144,0.407614,-0.134842],[-0.138866,0.019854,0.990112]]
2025-10-25T00:23:42.306Z,1761351822.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392971,0.919520,-0.007449],[-0.917042,0.391288,-0.076993],[-0.067882,0.037087,0.997004]]
2025-10-25T00:23:42.712Z,1761351822.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351081,0.935090,-0.048468],[-0.931443,0.354064,0.083978],[0.095688,0.015662,0.995288]]
2025-10-25T00:23:42.790Z,1761351822.790 [marl:SendObservationData] Running Loop=1
2025-10-25T00:23:42.791Z,1761351822.791 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-25T00:23:42.791Z,1761351822.791 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-25T00:23:42.791Z,1761351822.791 [marl:SendObservationData:A] Running Loop=1
2025-10-25T00:23:42.797Z,1761351822.797 [marl:SendObservationData:A](INFO): Got test_good :  41da3f05a000000040514000000000004042632e4ea368dec05e7760fccacfdc40301196c000000040909599a0000000 n/a str  and temp var is  nan n/a str 
2025-10-25T00:23:42.797Z,1761351822.797 [marl:SendObservationData:A] Stopped
2025-10-25T00:23:42.797Z,1761351822.797 [marl:SendObservationData:B] Running Loop=1
2025-10-25T00:23:43.115Z,1761351823.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330570,0.943683,-0.013667],[-0.927302,0.327458,0.181332],[0.175596,-0.047269,0.983327]]
2025-10-25T00:23:43.127Z,1761351823.127 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,002339.00,A,3646.48007,N,12151.82381,W,1.186,107.23,251025,,,A*75
2025-10-25T00:23:43.129Z,1761351823.129 [NAL9602](INFO): GPS fix at 20251025T002339: (36.774668, -121.863730)
2025-10-25T00:23:43.254Z,1761351823.254 [marl:SendObservationData:B] Stopped
2025-10-25T00:23:43.254Z,1761351823.254 [marl:SendObservationData:C] Running Loop=1
2025-10-25T00:23:43.255Z,1761351823.255 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761351808.00. Resetting abort timer.
2025-10-25T00:23:43.518Z,1761351823.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338262,0.938056,0.075027],[-0.935766,0.326852,0.132326],[0.099606,-0.114969,0.988363]]
2025-10-25T00:23:43.579Z,1761351823.579 [marl:SendObservationData:C] Stopped
2025-10-25T00:23:43.579Z,1761351823.579 [marl:SendObservationData:E] Running Loop=1
2025-10-25T00:23:43.923Z,1761351823.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341165,0.933144,0.113348],[-0.939770,0.335905,0.063251],[0.020948,-0.128101,0.991540]]
2025-10-25T00:23:44.006Z,1761351824.006 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  2.012117 min 
2025-10-25T00:23:44.006Z,1761351824.006 [marl:SendObservationData:E] Stopped
2025-10-25T00:23:44.007Z,1761351824.007 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-25T00:23:44.007Z,1761351824.007 [marl:SendObservationData] Stopped
2025-10-25T00:23:44.007Z,1761351824.007 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-25T00:23:44.007Z,1761351824.007 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-25T00:23:44.329Z,1761351824.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348279,0.936894,0.030523],[-0.937295,0.347592,0.025667],[0.013437,-0.037548,0.999204]]
2025-10-25T00:23:44.401Z,1761351824.401 [marl:UpdateRudder] Running Loop=1
2025-10-25T00:23:44.401Z,1761351824.401 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-25T00:23:44.401Z,1761351824.401 [marl:UpdateRudder:A] Running Loop=1
2025-10-25T00:23:44.402Z,1761351824.402 [marl:UpdateRudder:A] Stopped
2025-10-25T00:23:44.402Z,1761351824.402 [marl:UpdateRudder:B] Running Loop=1
2025-10-25T00:23:44.402Z,1761351824.402 [marl:UpdateCommandMode] Running Loop=1
2025-10-25T00:23:44.402Z,1761351824.402 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-25T00:23:44.402Z,1761351824.402 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-25T00:23:44.402Z,1761351824.402 [marl:UpdateCommandMode:A] Stopped
2025-10-25T00:23:44.402Z,1761351824.402 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-25T00:23:44.402Z,1761351824.402 [marl:UpdateCommandMode] Stopped
2025-10-25T00:23:44.403Z,1761351824.403 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-25T00:23:44.403Z,1761351824.403 [marl:UpdateSpeed] Running Loop=1
2025-10-25T00:23:44.403Z,1761351824.403 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-25T00:23:44.403Z,1761351824.403 [marl:UpdateSpeed:A] Running Loop=1
2025-10-25T00:23:44.403Z,1761351824.403 [marl:UpdateSpeed:A] Stopped
2025-10-25T00:23:44.403Z,1761351824.403 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-25T00:23:44.403Z,1761351824.403 [marl:UpdateSpeed] Stopped
2025-10-25T00:23:44.403Z,1761351824.403 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-25T00:23:44.731Z,1761351824.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331083,0.943345,-0.022000],[-0.943474,0.330565,-0.024181],[-0.015538,0.028763,0.999466]]
2025-10-25T00:23:44.825Z,1761351824.825 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875494 arcdeg 
2025-10-25T00:23:44.825Z,1761351824.825 [marl:UpdateRudder:B] Stopped
2025-10-25T00:23:44.825Z,1761351824.825 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-25T00:23:44.825Z,1761351824.825 [marl:UpdateRudder] Stopped
2025-10-25T00:23:44.825Z,1761351824.825 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-25T00:23:45.135Z,1761351825.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322777,0.946414,0.010731],[-0.946332,0.322905,-0.013726],[-0.016456,-0.005725,0.999848]]
2025-10-25T00:23:45.539Z,1761351825.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309519,0.949169,0.057233],[-0.950311,0.306663,0.053535],[0.033263,-0.070960,0.996924]]
2025-10-25T00:23:45.946Z,1761351825.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294864,0.949573,0.106610],[-0.952676,0.283516,0.109665],[0.073910,-0.133901,0.988235]]
2025-10-25T00:23:45.956Z,1761351825.956 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,002342.00,A,3646.47980,N,12151.82311,W,1.263,111.25,251025,,,A*70
2025-10-25T00:23:45.960Z,1761351825.960 [NAL9602](INFO): GPS fix at 20251025T002342: (36.774663, -121.863719)
2025-10-25T00:23:45.991Z,1761351825.991 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761351808.00. Resetting abort timer.
2025-10-25T00:23:46.347Z,1761351826.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255976,0.955655,0.145603],[-0.965936,0.246942,0.077371],[0.037984,-0.160448,0.986313]]
2025-10-25T00:23:46.433Z,1761351826.433 [DataOverHttps](INFO): Sending 1142 bytes from file Logs/20251024T220733/Express0031.lzma
2025-10-25T00:23:46.439Z,1761351826.439 [DataOverHttps](INFO): Received command: stop
2025-10-25T00:23:46.493Z,1761351826.493 [CommandExec](IMPORTANT): got command stop
2025-10-25T00:23:46.493Z,1761351826.493 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-10-25T00:23:46.751Z,1761351826.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250928,0.958522,0.135171],[-0.967890,0.250595,0.019750],[-0.014942,-0.135787,0.990625]]
2025-10-25T00:23:46.803Z,1761351826.803 [MissionManager](INFO): MissionManager is completed.
2025-10-25T00:23:46.803Z,1761351826.803 [MissionManager](INFO): Uninitializing Mission marl
2025-10-25T00:23:46.803Z,1761351826.803 [marl] Stopped
2025-10-25T00:23:46.803Z,1761351826.803 [marl](DEBUG): Aggregate::uninitialize marl
2025-10-25T00:23:46.803Z,1761351826.803 [marl:AbortDrift] Stopped
2025-10-25T00:23:46.803Z,1761351826.803 [marl:AbortDrift](DEBUG): Aggregate::uninitialize marl:AbortDrift
2025-10-25T00:23:46.803Z,1761351826.803 [marl:AbortDrift:B.AbortDrift] Stopped
2025-10-25T00:23:46.803Z,1761351826.803 [marl:AbortDrift:B.AbortDrift](INFO): Uninitializing AbortDrift.
2025-10-25T00:23:46.803Z,1761351826.803 [marl:B.] Stopped
2025-10-25T00:23:46.804Z,1761351826.804 [marl:B.](DEBUG): Uninitializing TrackAcousticContact.
2025-10-25T00:23:46.804Z,1761351826.804 [marl:NeedComms] Stopped
2025-10-25T00:23:46.805Z,1761351826.805 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms
2025-10-25T00:23:46.805Z,1761351826.805 [marl:NeedComms:B.GoToSurface] Stopped
2025-10-25T00:23:46.805Z,1761351826.805 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-25T00:23:46.805Z,1761351826.805 [marl:NeedComms:D] Stopped
2025-10-25T00:23:46.805Z,1761351826.805 [marl:StandardEnvelopes] Stopped
2025-10-25T00:23:46.805Z,1761351826.805 [marl:StandardEnvelopes](DEBUG): Aggregate::uninitialize marl:StandardEnvelopes
2025-10-25T00:23:46.805Z,1761351826.805 [marl:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-10-25T00:23:46.805Z,1761351826.805 [marl:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-10-25T00:23:46.805Z,1761351826.805 [marl:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-10-25T00:23:46.805Z,1761351826.805 [marl:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-10-25T00:23:46.805Z,1761351826.805 [marl:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-10-25T00:23:46.805Z,1761351826.805 [marl:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-10-25T00:23:46.806Z,1761351826.806 [marl:Science] Stopped
2025-10-25T00:23:46.806Z,1761351826.806 [marl:Science](DEBUG): Aggregate::uninitialize marl:Science
2025-10-25T00:23:46.806Z,1761351826.806 [marl:Science:B] Stopped
2025-10-25T00:23:46.806Z,1761351826.806 [marl:Science:C] Stopped
2025-10-25T00:23:46.806Z,1761351826.806 [marl:Science:E] Stopped
2025-10-25T00:23:46.806Z,1761351826.806 [marl:Science:OceanCurrent] Stopped
2025-10-25T00:23:46.806Z,1761351826.806 [marl:Science:OceanCurrent](DEBUG): Aggregate::uninitialize marl:Science:OceanCurrent
2025-10-25T00:23:46.806Z,1761351826.806 [marl:Science:OceanCurrent:A.] Stopped
2025-10-25T00:23:46.806Z,1761351826.806 [marl:BackseatDriver] Stopped
2025-10-25T00:23:46.806Z,1761351826.806 [marl:BackseatDriver](DEBUG): Aggregate::uninitialize marl:BackseatDriver
2025-10-25T00:23:46.806Z,1761351826.806 [marl:BackseatDriver:A.BackseatDriver] Stopped
2025-10-25T00:23:46.807Z,1761351826.807 [marl:PowerOnly] Stopped
2025-10-25T00:23:46.807Z,1761351826.807 [marl:PowerOnly](DEBUG): Aggregate::uninitialize marl:PowerOnly
2025-10-25T00:23:46.807Z,1761351826.807 [marl:PowerOnly:E.Wait] Stopped
2025-10-25T00:23:46.807Z,1761351826.807 [marl:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-10-25T00:23:46.807Z,1761351826.807 [marl:JoystickControl] Stopped
2025-10-25T00:23:46.807Z,1761351826.807 [marl:JoystickControl](DEBUG): Aggregate::uninitialize marl:JoystickControl
2025-10-25T00:23:46.807Z,1761351826.807 [marl:JoystickControl:A.Buoyancy] Stopped
2025-10-25T00:23:46.807Z,1761351826.807 [marl:JoystickControl:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-10-25T00:23:46.807Z,1761351826.807 [marl:JoystickControl:B.Pitch] Stopped
2025-10-25T00:23:46.807Z,1761351826.807 [marl:JoystickControl:C.Pitch] Stopped
2025-10-25T00:23:46.807Z,1761351826.807 [marl:JoystickControl:D.SetSpeed] Stopped
2025-10-25T00:23:46.807Z,1761351826.807 [marl:JoystickControl:D.SetSpeed](DEBUG): Uninitialize.
2025-10-25T00:23:46.808Z,1761351826.808 [marl:JoystickControl:CmdRudder] Stopped
2025-10-25T00:23:46.808Z,1761351826.808 [marl:JoystickControl:CmdRudder](DEBUG): Aggregate::uninitialize marl:JoystickControl:CmdRudder
2025-10-25T00:23:46.808Z,1761351826.808 [marl:JoystickControl:CmdRudder:A.Point] Stopped
2025-10-25T00:23:47.275Z,1761351827.275 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-10-25T00:23:47.275Z,1761351827.275 [DefaultWithUndock] Running Loop=1
2025-10-25T00:23:47.275Z,1761351827.275 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-10-25T00:23:47.275Z,1761351827.275 [DefaultWithUndock:A.Wait] Running Loop=1
2025-10-25T00:23:47.275Z,1761351827.275 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-10-25T00:23:47.434Z,1761351827.434 [DataOverHttps](INFO): Moved sent file to Logs/20251024T220733/Express0031.lzma.bak
2025-10-25T00:23:47.434Z,1761351827.434 [DataOverHttps](INFO): SBD MOMSN=26232608
2025-10-25T00:23:47.594Z,1761351827.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276426,0.960556,-0.030340],[-0.960275,0.274814,-0.048469],[-0.038219,0.042533,0.998364]]
2025-10-25T00:23:48.002Z,1761351828.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265078,0.963948,-0.023182],[-0.963691,0.264052,-0.039709],[-0.032156,0.032867,0.998942]]
2025-10-25T00:23:48.403Z,1761351828.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295510,0.955339,0.000896],[-0.955332,0.295503,0.004293],[0.003837,-0.002124,0.999990]]
2025-10-25T00:23:48.665Z,1761351828.665 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-10-25T00:23:48.666Z,1761351828.666 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-10-25T00:23:48.806Z,1761351828.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253764,0.967266,0.000172],[-0.966015,0.253426,0.050896],[0.049186,-0.013081,0.998704]]
2025-10-25T00:23:49.211Z,1761351829.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228566,0.971892,0.056431],[-0.971857,0.224395,0.071698],[0.057020,-0.071231,0.995829]]
2025-10-25T00:23:49.216Z,1761351829.216 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,002345.00,A,3646.47940,N,12151.82288,W,0.797,136.68,251025,,,A*79
2025-10-25T00:23:49.218Z,1761351829.218 [NAL9602](INFO): GPS fix at 20251025T002345: (36.774657, -121.863715)
2025-10-25T00:23:49.617Z,1761351829.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216959,0.967633,0.128897],[-0.975876,0.211693,0.053408],[0.024392,-0.137375,0.990219]]
2025-10-25T00:23:50.018Z,1761351830.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192558,0.967200,0.165667],[-0.979785,0.180170,0.086952],[0.054252,-0.179061,0.982341]]
2025-10-25T00:23:50.430Z,1761351830.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207102,0.963912,0.167277],[-0.976678,0.193809,0.092402],[0.056647,-0.182513,0.981570]]
2025-10-25T00:23:50.826Z,1761351830.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210359,0.967224,0.142218],[-0.977571,0.209634,0.020233],[-0.010244,-0.143285,0.989629]]
2025-10-25T00:23:51.232Z,1761351831.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197255,0.976705,0.084482],[-0.979309,0.200286,-0.028961],[-0.045206,-0.077021,0.996004]]
2025-10-25T00:23:51.634Z,1761351831.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136517,0.989511,0.047236],[-0.990631,0.136541,0.002723],[-0.003755,-0.047165,0.998880]]
2025-10-25T00:23:52.038Z,1761351832.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139145,0.989358,0.042529],[-0.989950,0.137877,0.031444],[0.025245,-0.046477,0.998600]]
2025-10-25T00:23:52.047Z,1761351832.047 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,002348.00,A,3646.47918,N,12151.82261,W,0.428,136.68,251025,,,A*79
2025-10-25T00:23:52.049Z,1761351832.049 [NAL9602](INFO): GPS fix at 20251025T002348: (36.774653, -121.863710)
2025-10-25T00:23:52.078Z,1761351832.078 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,    ,     +5147.10,       +53.93,  20.00,  0.00
2025-10-25T00:23:52.450Z,1761351832.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179091,0.982707,0.047038],[-0.983804,0.178515,0.016199],[0.007522,-0.049177,0.998762]]
2025-10-25T00:23:52.847Z,1761351832.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192683,0.979459,0.059441],[-0.981020,0.190938,0.033816],[0.021772,-0.064828,0.997659]]
2025-10-25T00:23:53.250Z,1761351833.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191712,0.980341,0.046667],[-0.981224,0.190427,0.030625],[0.021137,-0.051663,0.998441]]
2025-10-25T00:23:53.655Z,1761351833.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203765,0.976422,0.071274],[-0.978921,0.204239,0.000657],[-0.013916,-0.069906,0.997457]]
2025-10-25T00:23:54.062Z,1761351834.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195170,0.975569,0.100861],[-0.980529,0.191808,0.042114],[0.021739,-0.107117,0.994009]]
2025-10-25T00:23:54.467Z,1761351834.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196528,0.977426,0.077555],[-0.974372,0.185860,0.126709],[0.109435,-0.100469,0.988903]]
2025-10-25T00:23:54.866Z,1761351834.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216626,0.972793,0.082144],[-0.975878,0.213436,0.045911],[0.027129,-0.090108,0.995562]]
2025-10-25T00:23:54.875Z,1761351834.875 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,002351.00,A,3646.47895,N,12151.82219,W,0.408,154.94,251025,,,A*7F
2025-10-25T00:23:54.886Z,1761351834.886 [NAL9602](INFO): GPS fix at 20251025T002351: (36.774649, -121.863703)
2025-10-25T00:23:55.270Z,1761351835.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197744,0.969749,0.143120],[-0.978371,0.204294,-0.032469],[-0.060725,-0.133604,0.989173]]
2025-10-25T00:23:55.675Z,1761351835.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165453,0.961796,0.218115],[-0.985782,0.167860,0.007581],[-0.029322,-0.216268,0.975894]]
2025-10-25T00:23:56.083Z,1761351836.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182094,0.952894,0.242560],[-0.981028,0.159371,0.110388],[0.066531,-0.258059,0.963836]]
2025-10-25T00:23:56.482Z,1761351836.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217673,0.949285,0.226884],[-0.974202,0.197129,0.109862],[0.059565,-0.244945,0.967706]]
2025-10-25T00:23:56.915Z,1761351836.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253110,0.963828,0.083490],[-0.967292,0.253626,0.004539],[-0.016801,-0.081908,0.996498]]
2025-10-25T00:23:57.292Z,1761351837.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280608,0.958967,-0.040519],[-0.956649,0.276000,-0.092990],[-0.077991,0.064856,0.994842]]
2025-10-25T00:23:57.694Z,1761351837.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258421,0.961162,-0.096879],[-0.962965,0.248318,-0.105052],[-0.076915,0.120439,0.989737]]
2025-10-25T00:23:58.098Z,1761351838.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226804,0.973005,-0.042689],[-0.973543,0.225242,-0.038467],[-0.027813,0.050284,0.998348]]
2025-10-25T00:23:58.103Z,1761351838.103 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,002354.00,A,3646.47824,N,12151.82225,W,0.078,175.54,251025,,,A*73
2025-10-25T00:23:58.105Z,1761351838.105 [NAL9602](INFO): GPS fix at 20251025T002354: (36.774637, -121.863704)
2025-10-25T00:23:58.502Z,1761351838.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250155,0.965114,0.077314],[-0.968069,0.247978,0.036739],[0.016285,-0.084036,0.996330]]
2025-10-25T00:23:58.908Z,1761351838.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332031,0.937958,0.099947],[-0.939528,0.319426,0.123511],[0.083922,-0.134913,0.987297]]
2025-10-25T00:23:59.310Z,1761351839.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337288,0.937740,0.082951],[-0.940500,0.331799,0.073282],[0.041197,-0.102733,0.993855]]
2025-10-25T00:23:59.714Z,1761351839.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306736,0.945756,0.107041],[-0.948155,0.313450,-0.052446],[-0.083153,-0.085405,0.992870]]
2025-10-25T00:24:00.119Z,1761351840.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303838,0.950467,0.065540],[-0.951934,0.305667,-0.019721],[-0.038778,-0.056398,0.997655]]
2025-10-25T00:24:00.492Z,1761351840.492 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:24:00.526Z,1761351840.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296390,0.953595,0.053004],[-0.952988,0.291630,0.082255],[0.062981,-0.074891,0.995201]]
2025-10-25T00:24:00.935Z,1761351840.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308523,0.950302,0.041696],[-0.945845,0.301834,0.119470],[0.100947,-0.076297,0.991962]]
2025-10-25T00:24:00.944Z,1761351840.944 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,002357.00,A,3646.47801,N,12151.82183,W,1.302,129.32,251025,,,A*7E
2025-10-25T00:24:00.948Z,1761351840.948 [NAL9602](INFO): GPS fix at 20251025T002357: (36.774634, -121.863697)
2025-10-25T00:24:01.330Z,1761351841.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319952,0.947147,0.023312],[-0.943369,0.316207,0.100340],[0.087666,-0.054096,0.994680]]
2025-10-25T00:24:01.734Z,1761351841.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310677,0.950327,0.018958],[-0.946996,0.307750,0.092138],[0.081727,-0.046579,0.995566]]
2025-10-25T00:24:02.183Z,1761351842.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361517,0.932351,-0.005145],[-0.932140,0.361545,0.020018],[0.020524,-0.002441,0.999786]]
2025-10-25T00:24:02.566Z,1761351842.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391524,0.919762,-0.027347],[-0.918690,0.392406,0.045018],[0.052137,0.007498,0.998612]]
2025-10-25T00:24:02.968Z,1761351842.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400304,0.913896,-0.067456],[-0.910081,0.405091,0.087487],[0.107279,0.026369,0.993879]]
2025-10-25T00:24:03.363Z,1761351843.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374156,0.924570,-0.071959],[-0.927125,0.374700,-0.006282],[0.021155,0.069066,0.997388]]
2025-10-25T00:24:03.770Z,1761351843.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326596,0.944312,0.040128],[-0.933097,0.328898,-0.145449],[-0.150548,0.010060,0.988552]]
2025-10-25T00:24:04.189Z,1761351844.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320792,0.937831,0.132534],[-0.924757,0.340373,-0.170208],[-0.204737,-0.067961,0.976455]]
2025-10-25T00:24:04.195Z,1761351844.195 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,002400.00,A,3646.47781,N,12151.82163,W,0.428,131.03,251025,,,A*77
2025-10-25T00:24:04.197Z,1761351844.197 [NAL9602](INFO): GPS fix at 20251025T002400: (36.774630, -121.863694)
2025-10-25T00:24:04.586Z,1761351844.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303588,0.949770,0.075964],[-0.951530,0.306338,-0.027353],[-0.049250,-0.063978,0.996735]]
2025-10-25T00:24:04.991Z,1761351844.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385926,0.919890,-0.069732],[-0.918234,0.390316,0.067082],[0.088926,0.038141,0.995308]]
2025-10-25T00:24:05.395Z,1761351845.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441252,0.891536,-0.102276],[-0.893748,0.446849,0.039247],[0.080692,0.074091,0.993982]]
2025-10-25T00:24:05.802Z,1761351845.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405854,0.911650,-0.064631],[-0.913659,0.406461,-0.004055],[0.022573,0.060696,0.997901]]
2025-10-25T00:24:06.203Z,1761351846.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420238,0.907413,0.001522],[-0.905284,0.419136,0.069181],[0.062138,-0.030450,0.997603]]
2025-10-25T00:24:06.607Z,1761351846.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427803,0.902754,0.044952],[-0.898419,0.419241,0.130695],[0.099140,-0.096297,0.990403]]
2025-10-25T00:24:06.864Z,1761351846.864 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-10-25T00:24:06.865Z,1761351846.865 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-10-25T00:24:06.865Z,1761351846.865 [LcmPublisher](INFO): Deactivating messaging.
2025-10-25T00:24:07.011Z,1761351847.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416931,0.904146,0.093209],[-0.907833,0.409174,0.091738],[0.044806,-0.122867,0.991411]]
2025-10-25T00:24:07.019Z,1761351847.019 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,002403.00,A,3646.47740,N,12151.82063,W,1.011,123.90,251025,,,A*7E
2025-10-25T00:24:07.021Z,1761351847.021 [NAL9602](INFO): GPS fix at 20251025T002403: (36.774623, -121.863677)
2025-10-25T00:24:07.056Z,1761351847.056 [DAT](INFO): Deactivating messaging.
2025-10-25T00:24:07.236Z,1761351847.236 [WetLabsBB2FL](INFO): Powering down
2025-10-25T00:24:07.416Z,1761351847.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432515,0.897841,0.082538],[-0.901473,0.432318,0.021173],[-0.016673,-0.083564,0.996363]]
2025-10-25T00:24:07.819Z,1761351847.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428779,0.901607,0.057031],[-0.902260,0.430563,-0.023297],[-0.045560,-0.041468,0.998101]]
2025-10-25T00:24:08.223Z,1761351848.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427635,0.903161,0.037796],[-0.903697,0.428132,-0.005824],[-0.021442,-0.031666,0.999269]]
2025-10-25T00:24:08.627Z,1761351848.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455784,0.890011,-0.011883],[-0.889980,0.455477,-0.021837],[-0.014023,0.020529,0.999691]]
2025-10-25T00:24:09.030Z,1761351849.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461359,0.886077,-0.044897],[-0.887210,0.460907,-0.020570],[0.002467,0.049323,0.998780]]
2025-10-25T00:24:09.434Z,1761351849.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448825,0.893378,-0.020781],[-0.892666,0.447150,-0.056603],[-0.041276,0.043956,0.998180]]
2025-10-25T00:24:09.839Z,1761351849.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411408,0.910133,0.049012],[-0.905331,0.414275,-0.093551],[-0.105448,-0.005885,0.994407]]
2025-10-25T00:24:10.242Z,1761351850.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412257,0.905425,0.101241],[-0.910838,0.412095,0.023494],[-0.020449,-0.101900,0.994584]]
2025-10-25T00:24:10.647Z,1761351850.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435645,0.895556,0.090514],[-0.896585,0.422834,0.131709],[0.079681,-0.138532,0.987147]]
2025-10-25T00:24:11.051Z,1761351851.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473869,0.877391,0.075059],[-0.877065,0.462626,0.129365],[0.078779,-0.127134,0.988752]]
2025-10-25T00:24:11.424Z,1761351851.424 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:24:11.454Z,1761351851.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468721,0.879424,0.083151],[-0.883267,0.465342,0.057408],[0.011793,-0.100353,0.994882]]
2025-10-25T00:24:11.859Z,1761351851.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438721,0.895926,0.069571],[-0.898224,0.439519,0.004204],[-0.026812,-0.064335,0.997568]]
2025-10-25T00:24:12.264Z,1761351852.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439299,0.898168,-0.017624],[-0.896131,0.439509,0.061484],[0.062969,-0.011216,0.997953]]
2025-10-25T00:24:12.277Z,1761351852.277 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,  -173,   +9,A
2025-10-25T00:24:12.666Z,1761351852.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429443,0.899626,-0.079065],[-0.893825,0.435915,0.105144],[0.129056,0.025517,0.991309]]
2025-10-25T00:24:13.071Z,1761351853.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421093,0.906339,-0.035092],[-0.903257,0.422552,0.074679],[0.082513,0.000251,0.996590]]
2025-10-25T00:24:13.474Z,1761351853.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426146,0.903917,0.036509],[-0.904318,0.424540,0.044438],[0.024668,-0.051953,0.998345]]
2025-10-25T00:24:13.883Z,1761351853.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441614,0.894797,0.065691],[-0.896802,0.438035,0.062226],[0.026904,-0.086392,0.995898]]
2025-10-25T00:24:14.282Z,1761351854.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490976,0.871089,0.012128],[-0.867659,0.487699,0.096524],[0.078166,-0.057914,0.995257]]
2025-10-25T00:24:14.686Z,1761351854.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507955,0.857342,-0.083352],[-0.849238,0.514635,0.118095],[0.144144,0.010799,0.989498]]
2025-10-25T00:24:15.090Z,1761351855.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428994,0.895082,-0.121626],[-0.884828,0.443487,0.142825],[0.181780,0.046348,0.982246]]
2025-10-25T00:24:15.496Z,1761351855.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340860,0.939910,-0.019582],[-0.924104,0.338810,0.176745],[0.172759,-0.042150,0.984062]]
2025-10-25T00:24:15.929Z,1761351855.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327570,0.939670,0.098578],[-0.933124,0.305376,0.189804],[0.148250,-0.154160,0.976861]]
2025-10-25T00:24:16.302Z,1761351856.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374642,0.918667,0.125279],[-0.923521,0.357769,0.138245],[0.082180,-0.167490,0.982443]]
2025-10-25T00:24:16.707Z,1761351856.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388973,0.916677,0.091668],[-0.921032,0.384791,0.060305],[0.020007,-0.107886,0.993962]]
2025-10-25T00:24:17.111Z,1761351857.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376158,0.926225,0.024766],[-0.926536,0.376190,0.003530],[-0.006047,-0.024274,0.999687]]
2025-10-25T00:24:17.515Z,1761351857.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358589,0.933321,-0.018051],[-0.932679,0.357400,-0.048736],[-0.039035,0.034312,0.998649]]
2025-10-25T00:24:17.548Z,1761351857.548 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-10-25T00:24:17.548Z,1761351857.548 [DefaultWithUndock:A.Wait] Stopped
2025-10-25T00:24:17.548Z,1761351857.548 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-10-25T00:24:17.548Z,1761351857.548 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-10-25T00:24:17.549Z,1761351857.549 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-10-25T00:24:17.549Z,1761351857.549 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-10-25T00:24:17.549Z,1761351857.549 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-10-25T00:24:17.549Z,1761351857.549 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-10-25T00:24:17.549Z,1761351857.549 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-10-25T00:24:17.549Z,1761351857.549 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-10-25T00:24:17.959Z,1761351857.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319594,0.947452,0.013926],[-0.945093,0.319788,-0.067342],[-0.068256,0.008360,0.997633]]
2025-10-25T00:24:18.025Z,1761351858.025 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-10-25T00:24:18.025Z,1761351858.025 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-10-25T00:24:18.026Z,1761351858.026 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth 0.155700 m.
2025-10-25T00:24:18.026Z,1761351858.026 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-10-25T00:24:18.026Z,1761351858.026 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-10-25T00:24:18.323Z,1761351858.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337881,0.940258,0.041857],[-0.939101,0.339759,-0.051507],[-0.062651,-0.021904,0.997795]]
2025-10-25T00:24:18.367Z,1761351858.367 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-10-25T00:24:18.728Z,1761351858.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359679,0.931975,0.045325],[-0.932404,0.360839,-0.020455],[-0.035419,-0.034903,0.998763]]
2025-10-25T00:24:18.762Z,1761351858.762 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-10-25T00:24:18.877Z,1761351858.877 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-10-25T00:24:19.132Z,1761351859.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322254,0.944744,0.060095],[-0.946458,0.322826,0.000213],[-0.019199,-0.056946,0.998193]]
2025-10-25T00:24:19.534Z,1761351859.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291596,0.951816,0.094966],[-0.954752,0.283542,0.089733],[0.058483,-0.116834,0.991428]]
2025-10-25T00:24:19.963Z,1761351859.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284466,0.948663,0.138268],[-0.956242,0.270482,0.111543],[0.068417,-0.163947,0.984094]]
2025-10-25T00:24:20.343Z,1761351860.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331125,0.935347,0.124425],[-0.941624,0.319050,0.107477],[0.060831,-0.152750,0.986391]]
2025-10-25T00:24:20.748Z,1761351860.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328972,0.944021,0.024516],[-0.928020,0.318372,0.193438],[0.174804,-0.086387,0.980806]]
2025-10-25T00:24:21.150Z,1761351861.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279043,0.957572,-0.072053],[-0.945471,0.287092,0.153828],[0.167987,0.025199,0.985467]]
2025-10-25T00:24:21.555Z,1761351861.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297696,0.953583,-0.045344],[-0.954297,0.298557,0.013423],[0.026338,0.039276,0.998881]]
2025-10-25T00:24:21.973Z,1761351861.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296980,0.954679,0.019753],[-0.954668,0.297289,-0.015120],[-0.020307,-0.014367,0.999691]]
2025-10-25T00:24:21.988Z,1761351861.988 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,    ,     +5142.40,    8,  20.00,  0.00
2025-10-25T00:24:22.362Z,1761351862.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267255,0.961345,0.066262],[-0.963512,0.265533,0.033725],[0.014827,-0.072858,0.997232]]
2025-10-25T00:24:22.767Z,1761351862.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238442,0.961921,0.133614],[-0.971146,0.236831,0.028060],[-0.004653,-0.136449,0.990636]]
2025-10-25T00:24:23.171Z,1761351863.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221834,0.963309,0.151080],[-0.974831,0.222629,0.011850],[-0.022220,-0.149906,0.988451]]
2025-10-25T00:24:23.575Z,1761351863.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227564,0.969358,0.092522],[-0.971475,0.219491,0.089780],[0.066722,-0.110314,0.991655]]
2025-10-25T00:24:23.979Z,1761351863.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222255,0.974921,0.011439],[-0.952417,0.214585,0.216460],[0.208576,-0.059004,0.976225]]
2025-10-25T00:24:24.208Z,1761351864.208 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:24:24.382Z,1761351864.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219659,0.975477,-0.013927],[-0.934423,0.214474,0.284350],[0.280363,-0.049447,0.958620]]
2025-10-25T00:24:24.787Z,1761351864.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253727,0.967030,0.021830],[-0.942967,0.242259,0.228305],[0.215490,-0.078512,0.973345]]
2025-10-25T00:24:25.191Z,1761351865.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292053,0.954426,0.061450],[-0.950398,0.282432,0.130294],[0.107001,-0.096454,0.989569]]
2025-10-25T00:24:25.596Z,1761351865.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285484,0.957826,0.032674],[-0.952281,0.279660,0.122275],[0.107980,-0.066022,0.991958]]
2025-10-25T00:24:26.000Z,1761351866.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277664,0.960603,0.012059],[-0.950078,0.272719,0.151582],[0.142321,-0.053546,0.988371]]
2025-10-25T00:24:26.403Z,1761351866.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269064,0.962929,0.019289],[-0.953713,0.263589,0.144748],[0.134298,-0.057343,0.989280]]
2025-10-25T00:24:26.807Z,1761351866.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261324,0.964837,0.028282],[-0.952485,0.253008,0.169586],[0.156467,-0.071255,0.985110]]
2025-10-25T00:24:27.212Z,1761351867.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245012,0.966629,0.074819],[-0.949277,0.223494,0.221189],[0.197086,-0.125218,0.972357]]
2025-10-25T00:24:27.615Z,1761351867.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242328,0.961949,0.126216],[-0.947302,0.206506,0.244895],[0.209512,-0.178910,0.961299]]
2025-10-25T00:24:28.020Z,1761351868.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278697,0.955945,0.092177],[-0.930749,0.245194,0.271269],[0.236717,-0.161395,0.958080]]
2025-10-25T00:24:28.423Z,1761351868.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298965,0.953031,-0.048488],[-0.903385,0.299030,0.307370],[0.307432,-0.048089,0.950354]]
2025-10-25T00:24:28.827Z,1761351868.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271878,0.952292,-0.138647],[-0.901188,0.302484,0.310426],[0.337554,0.040549,0.940432]]
2025-10-25T00:24:29.230Z,1761351869.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260662,0.960441,-0.098024],[-0.913453,0.278219,0.296981],[0.312505,0.012128,0.949839]]
2025-10-25T00:24:29.635Z,1761351869.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279710,0.960002,-0.012598],[-0.928909,0.273921,0.249189],[0.242673,-0.057998,0.968373]]
2025-10-25T00:24:30.042Z,1761351870.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276896,0.959085,0.059036],[-0.946872,0.261878,0.186688],[0.163590,-0.107593,0.980644]]
2025-10-25T00:24:30.442Z,1761351870.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236063,0.965417,0.110658],[-0.958028,0.212157,0.192799],[0.162655,-0.151526,0.974979]]
2025-10-25T00:24:30.846Z,1761351870.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211096,0.965363,0.153336],[-0.965154,0.181038,0.188951],[0.154647,-0.187880,0.969941]]
2025-10-25T00:24:31.254Z,1761351871.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247840,0.958180,0.143063],[-0.957190,0.219390,0.188827],[0.149544,-0.183737,0.971533]]
2025-10-25T00:24:31.656Z,1761351871.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272314,0.958727,0.081775],[-0.949563,0.254030,0.183842],[0.155481,-0.127713,0.979548]]
2025-10-25T00:24:32.059Z,1761351872.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303600,0.952754,0.009288],[-0.943636,0.299317,0.141280],[0.131825,-0.051657,0.989926]]
2025-10-25T00:24:32.082Z,1761351872.082 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,     -190.16969.51,       +26.76,  78.72,  0.00
2025-10-25T00:24:32.462Z,1761351872.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318074,0.947124,-0.042248],[-0.945635,0.320132,0.057363],[0.067855,0.021705,0.997459]]
2025-10-25T00:24:32.867Z,1761351872.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275876,0.959902,-0.049812],[-0.960086,0.277675,0.033627],[0.046110,0.038547,0.998192]]
2025-10-25T00:24:33.261Z,1761351873.261 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:24:33.274Z,1761351873.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173437,0.983128,0.058131],[-0.977605,0.164717,0.130987],[0.119202,-0.079547,0.989678]]
2025-10-25T00:24:33.674Z,1761351873.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146542,0.969049,0.198671],[-0.980448,0.115621,0.159230],[0.131331,-0.218121,0.967045]]
2025-10-25T00:24:34.078Z,1761351874.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223146,0.944168,0.242391],[-0.972051,0.196921,0.127821],[0.072952,-0.264139,0.961722]]
2025-10-25T00:24:34.482Z,1761351874.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337010,0.931100,0.139560],[-0.940813,0.327379,0.087712],[0.035979,-0.160859,0.986321]]
2025-10-25T00:24:34.887Z,1761351874.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380466,0.924674,-0.014946],[-0.924561,0.380684,0.016343],[0.020801,0.007600,0.999755]]
2025-10-25T00:24:35.311Z,1761351875.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299513,0.951600,-0.068913],[-0.953232,0.301528,0.020726],[0.040502,0.059482,0.997407]]
2025-10-25T00:24:35.695Z,1761351875.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298576,0.954041,0.025648],[-0.953932,0.297498,0.038837],[0.029421,-0.036062,0.998916]]
2025-10-25T00:24:36.099Z,1761351876.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337363,0.935282,0.106931],[-0.940977,0.331739,0.067165],[0.027345,-0.123279,0.991995]]
2025-10-25T00:24:36.503Z,1761351876.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319690,0.937500,0.137448],[-0.944468,0.303652,0.125601],[0.076015,-0.169969,0.982513]]
2025-10-25T00:24:36.908Z,1761351876.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315699,0.937446,0.146729],[-0.945519,0.297838,0.131479],[0.079553,-0.180243,0.980400]]
2025-10-25T00:24:37.311Z,1761351877.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298072,0.942583,0.150634],[-0.954227,0.298304,0.021583],[-0.024591,-0.150173,0.988354]]
2025-10-25T00:24:37.715Z,1761351877.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262661,0.958650,0.109543],[-0.962296,0.268578,-0.043041],[-0.070682,-0.094108,0.993050]]
2025-10-25T00:24:38.119Z,1761351878.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273821,0.961423,0.026214],[-0.961776,0.273798,0.004560],[-0.002793,-0.026460,0.999646]]
2025-10-25T00:24:38.523Z,1761351878.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300819,0.952397,-0.049468],[-0.950917,0.303490,0.060419],[0.072556,0.028865,0.996947]]
2025-10-25T00:24:38.569Z,1761351878.569 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 1061.40 m. Transitioning docking module to standby.
2025-10-25T00:24:38.926Z,1761351878.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333556,0.938393,-0.090328],[-0.941394,0.336650,0.021059],[0.050170,0.078010,0.995689]]
2025-10-25T00:24:38.963Z,1761351878.963 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-10-25T00:24:39.332Z,1761351879.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328625,0.942701,-0.057628],[-0.944002,0.329755,0.011065],[0.029434,0.050765,0.998277]]
2025-10-25T00:24:39.337Z,1761351879.337 [NAL9602](INFO): Not Powering down - fast GPS
2025-10-25T00:24:39.354Z,1761351879.354 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-10-25T00:24:39.354Z,1761351879.354 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-10-25T00:24:39.354Z,1761351879.354 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2025-10-25T00:24:39.354Z,1761351879.354 [DefaultWithUndock:LeaveDock] Stopped
2025-10-25T00:24:39.354Z,1761351879.354 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-10-25T00:24:39.354Z,1761351879.354 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2025-10-25T00:24:39.354Z,1761351879.354 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2025-10-25T00:24:39.354Z,1761351879.354 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-10-25T00:24:39.354Z,1761351879.354 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-25T00:24:39.355Z,1761351879.355 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-10-25T00:24:39.355Z,1761351879.355 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-10-25T00:24:39.355Z,1761351879.355 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-10-25T00:24:39.355Z,1761351879.355 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-10-25T00:24:39.357Z,1761351879.357 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-25T00:24:39.357Z,1761351879.357 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-25T00:24:39.736Z,1761351879.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305445,0.950919,0.049567],[-0.951243,0.302377,0.060868],[0.042893,-0.065742,0.996914]]
2025-10-25T00:24:39.750Z,1761351879.750 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2025-10-25T00:24:39.751Z,1761351879.751 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-10-25T00:24:39.751Z,1761351879.751 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-10-25T00:24:40.138Z,1761351880.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343681,0.926084,0.155729],[-0.936976,0.327051,0.122933],[0.062915,-0.188164,0.980120]]
2025-10-25T00:24:40.542Z,1761351880.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371644,0.913855,0.163555],[-0.927644,0.358551,0.104491],[0.036847,-0.190554,0.980985]]
2025-10-25T00:24:40.947Z,1761351880.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364903,0.927462,0.081602],[-0.928570,0.356146,0.104487],[0.067845,-0.113900,0.991173]]
2025-10-25T00:24:41.352Z,1761351881.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377456,0.925976,-0.009775],[-0.919819,0.376125,0.111643],[0.107055,-0.033149,0.993700]]
2025-10-25T00:24:41.754Z,1761351881.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400603,0.915495,-0.037231],[-0.916050,0.401037,0.004720],[0.019252,0.032214,0.999296]]
2025-10-25T00:24:41.769Z,1761351881.769 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,002438.00,A,3646.47508,N,12151.81641,W,0.214,149.29,251025,,,A*75
2025-10-25T00:24:41.771Z,1761351881.771 [NAL9602](INFO): GPS fix at 20251025T002438: (36.774585, -121.863607)
2025-10-25T00:24:41.793Z,1761351881.793 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-10-25T00:24:41.794Z,1761351881.794 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-10-25T00:24:42.158Z,1761351882.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405115,0.914264,-0.001882],[-0.910521,0.403269,-0.091248],[-0.082666,0.038679,0.995826]]
2025-10-25T00:24:42.562Z,1761351882.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378181,0.924389,0.049839],[-0.924029,0.380202,-0.040208],[-0.056117,-0.030847,0.997948]]
2025-10-25T00:24:42.966Z,1761351882.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353482,0.926736,0.127319],[-0.935370,0.348485,0.060337],[0.011547,-0.140418,0.990025]]
2025-10-25T00:24:43.370Z,1761351883.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389340,0.901645,0.188284],[-0.921067,0.379554,0.087025],[0.007002,-0.207304,0.978251]]
2025-10-25T00:24:43.774Z,1761351883.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428545,0.896013,0.116231],[-0.903002,0.429097,0.021519],[-0.030593,-0.114179,0.992989]]
2025-10-25T00:24:44.179Z,1761351884.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421613,0.906559,0.019855],[-0.906236,0.422016,-0.025281],[-0.031298,-0.007335,0.999483]]
2025-10-25T00:24:44.583Z,1761351884.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463184,0.882406,-0.082580],[-0.886144,0.462628,-0.026913],[0.014456,0.085643,0.996221]]
2025-10-25T00:24:44.987Z,1761351884.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516838,0.842345,-0.152755],[-0.850709,0.525313,0.018433],[0.095771,0.120423,0.988092]]
2025-10-25T00:24:45.395Z,1761351885.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447283,0.887014,-0.114649],[-0.886544,0.456645,0.074264],[0.118227,0.068424,0.990626]]
2025-10-25T00:24:45.801Z,1761351885.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418901,0.898318,0.132464],[-0.906566,0.405465,0.117201],[0.051575,-0.169183,0.984234]]
2025-10-25T00:24:46.203Z,1761351886.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451665,0.886848,0.097463],[-0.889322,0.438770,0.128793],[0.071456,-0.144847,0.986870]]
2025-10-25T00:24:46.607Z,1761351886.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427726,0.903787,0.014821],[-0.903192,0.426677,0.046814],[0.035986,-0.033410,0.998794]]
2025-10-25T00:24:47.010Z,1761351887.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385618,0.922200,-0.029089],[-0.922642,0.385230,-0.018177],[-0.005557,0.033848,0.999412]]
2025-10-25T00:24:47.412Z,1761351887.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350409,0.936214,-0.026792],[-0.933530,0.351431,0.070835],[0.075732,0.000190,0.997128]]
2025-10-25T00:24:47.815Z,1761351887.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310532,0.950460,0.013991],[-0.920958,0.297183,0.252031],[0.235387,-0.091149,0.967618]]
2025-10-25T00:24:48.219Z,1761351888.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291981,0.953100,0.079668],[-0.895409,0.243129,0.373002],[0.336139,-0.180245,0.924404]]
2025-10-25T00:24:48.624Z,1761351888.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374475,0.918357,0.128020],[-0.882735,0.310829,0.352370],[0.283809,-0.244961,0.927063]]
2025-10-25T00:24:49.027Z,1761351889.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435995,0.894601,0.097965],[-0.891448,0.414384,0.183321],[0.123404,-0.167258,0.978160]]
2025-10-25T00:24:49.123Z,1761351889.123 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20251024T220733/Courier0033.lzma
2025-10-25T00:24:49.430Z,1761351889.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421486,0.906272,0.031958],[-0.906798,0.421525,0.005852],[-0.008167,-0.031446,0.999472]]
2025-10-25T00:24:49.834Z,1761351889.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438712,0.898584,0.008830],[-0.896926,0.438464,-0.057204],[-0.055275,0.017176,0.998324]]
2025-10-25T00:24:50.126Z,1761351890.126 [DataOverHttps](INFO): Moved sent file to Logs/20251024T220733/Courier0033.lzma.bak
2025-10-25T00:24:50.126Z,1761351890.126 [DataOverHttps](INFO): SBD MOMSN=26232659
2025-10-25T00:24:50.295Z,1761351890.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497000,0.867656,-0.012774],[-0.867193,0.496099,-0.043160],[-0.031111,0.032528,0.998986]]
2025-10-25T00:24:50.642Z,1761351890.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517573,0.854651,-0.041116],[-0.855435,0.517901,-0.003038],[0.018698,0.036744,0.999150]]
2025-10-25T00:24:51.047Z,1761351891.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477109,0.878147,-0.035010],[-0.872137,0.478004,0.104353],[0.108372,-0.019254,0.993924]]
2025-10-25T00:24:51.451Z,1761351891.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443805,0.893233,0.071914],[-0.892799,0.433825,0.121270],[0.077124,-0.118025,0.990011]]
2025-10-25T00:24:51.854Z,1761351891.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443891,0.879425,0.171967],[-0.895831,0.440055,0.061965],[-0.021182,-0.181559,0.983152]]
2025-10-25T00:24:52.259Z,1761351892.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439277,0.886146,0.147586],[-0.898092,0.437133,0.048431],[-0.021598,-0.153820,0.987863]]
2025-10-25T00:24:52.662Z,1761351892.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448220,0.890554,0.077535],[-0.893912,0.446094,0.043829],[0.004444,-0.088955,0.996026]]
2025-10-25T00:24:53.067Z,1761351893.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484652,0.874677,0.007215],[-0.874237,0.484105,0.036775],[0.028673,-0.024131,0.999298]]
2025-10-25T00:24:53.474Z,1761351893.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483898,0.873965,-0.045023],[-0.874865,0.484366,-0.000587],[0.021295,0.039673,0.998986]]
2025-10-25T00:24:53.478Z,1761351893.478 [NAL9602](INFO): SBD MO Status=0, MOMSN=2588, MT Status=0, MTMSN=0
2025-10-25T00:24:53.479Z,1761351893.479 [NAL9602](INFO): No messages in MT queue
2025-10-25T00:24:53.879Z,1761351893.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449605,0.893153,-0.011494],[-0.893068,0.449244,-0.024689],[-0.016887,0.021365,0.999629]]
2025-10-25T00:24:54.278Z,1761351894.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457914,0.888983,0.004869],[-0.886946,0.456480,0.070374],[0.060338,-0.036544,0.997509]]
2025-10-25T00:24:54.682Z,1761351894.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458845,0.886360,-0.061861],[-0.865041,0.461536,0.196696],[0.202895,-0.036741,0.978511]]
2025-10-25T00:24:55.087Z,1761351895.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456113,0.888668,-0.047215],[-0.877387,0.457929,0.143155],[0.148838,-0.023869,0.988573]]
2025-10-25T00:24:55.492Z,1761351895.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462299,0.886220,0.029900],[-0.886508,0.461178,0.037670],[0.019595,-0.043921,0.998843]]
2025-10-25T00:24:55.919Z,1761351895.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456126,0.889006,0.040227],[-0.889794,0.454852,0.037092],[0.014678,-0.052712,0.998502]]
2025-10-25T00:24:56.300Z,1761351896.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423020,0.904577,0.052857],[-0.904435,0.417958,0.085487],[0.055238,-0.083968,0.994936]]
2025-10-25T00:24:56.702Z,1761351896.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352087,0.928444,0.118436],[-0.935420,0.344723,0.078464],[0.032022,-0.138413,0.989857]]
2025-10-25T00:24:57.107Z,1761351897.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345832,0.924133,0.162414],[-0.938189,0.343195,0.044933],[-0.014216,-0.167914,0.985699]]
2025-10-25T00:24:57.513Z,1761351897.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395299,0.914417,0.087063],[-0.918478,0.392284,0.050114],[0.011672,-0.099775,0.994942]]
2025-10-25T00:24:57.945Z,1761351897.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387188,0.921105,-0.040647],[-0.920441,0.388720,0.041054],[0.053615,0.021518,0.998330]]
2025-10-25T00:24:58.318Z,1761351898.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361223,0.928340,-0.087763],[-0.931940,0.362613,-0.000120],[0.031713,0.081833,0.996141]]
2025-10-25T00:24:58.722Z,1761351898.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360890,0.929359,-0.077784],[-0.930765,0.364163,0.032593],[0.058617,0.060636,0.996437]]
2025-10-25T00:24:59.126Z,1761351899.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362553,0.930786,-0.046834],[-0.924581,0.365539,0.107385],[0.117072,0.004369,0.993114]]
2025-10-25T00:24:59.533Z,1761351899.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358168,0.933650,-0.003620],[-0.924082,0.355046,0.141472],[0.133370,-0.047326,0.989936]]
2025-10-25T00:24:59.957Z,1761351899.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318911,0.945563,0.064847],[-0.939714,0.306546,0.151547],[0.123419,-0.109268,0.986321]]
2025-10-25T00:25:00.339Z,1761351900.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255752,0.954949,0.150542],[-0.960675,0.233627,0.150073],[0.108142,-0.183004,0.977146]]
2025-10-25T00:25:00.742Z,1761351900.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253928,0.946480,0.199240],[-0.961777,0.225254,0.155711],[0.102498,-0.231164,0.967501]]
2025-10-25T00:25:01.147Z,1761351901.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271060,0.949378,0.158769],[-0.956137,0.246536,0.158182],[0.111032,-0.194682,0.974562]]
2025-10-25T00:25:01.551Z,1761351901.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239680,0.970273,0.033526],[-0.954946,0.229387,0.188310],[0.175022,-0.077149,0.981537]]
2025-10-25T00:25:01.996Z,1761351901.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234978,0.968984,-0.076516],[-0.941534,0.246461,0.229717],[0.241451,0.018064,0.970245]]
2025-10-25T00:25:02.358Z,1761351902.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233939,0.963014,-0.133703],[-0.929310,0.261901,0.260368],[0.285755,0.063341,0.956207]]
2025-10-25T00:25:02.763Z,1761351902.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216155,0.970123,-0.110177],[-0.937425,0.237759,0.254370],[0.272966,0.048300,0.960810]]
2025-10-25T00:25:03.166Z,1761351903.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229493,0.973004,-0.024415],[-0.951841,0.229600,0.203182],[0.203303,-0.023389,0.978836]]
2025-10-25T00:25:03.572Z,1761351903.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191498,0.980175,0.050838],[-0.966469,0.179286,0.183832],[0.171073,-0.084337,0.981642]]
2025-10-25T00:25:03.975Z,1761351903.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126427,0.977662,0.167908],[-0.983805,0.101897,0.147458],[0.127055,-0.183831,0.974712]]
2025-10-25T00:25:04.378Z,1761351904.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136423,0.945536,0.295549],[-0.985862,0.100283,0.134235],[0.097285,-0.309684,0.945850]]
2025-10-25T00:25:04.782Z,1761351904.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173894,0.945605,0.274941],[-0.978478,0.134415,0.156569],[0.111096,-0.296250,0.948627]]
2025-10-25T00:25:05.187Z,1761351905.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180206,0.973895,0.138035],[-0.973032,0.155956,0.169963],[0.143999,-0.164941,0.975735]]
2025-10-25T00:25:05.593Z,1761351905.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174151,0.984681,-0.008608],[-0.976360,0.173803,0.128502],[0.128030,-0.013974,0.991672]]
2025-10-25T00:25:05.994Z,1761351905.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198845,0.976175,-0.086847],[-0.975070,0.205966,0.082566],[0.098486,0.068264,0.992794]]
2025-10-25T00:25:06.398Z,1761351906.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209981,0.974300,-0.081528],[-0.972442,0.216764,0.085845],[0.101311,0.061256,0.992967]]
2025-10-25T00:25:06.700Z,1761351906.700 [DataOverHttps](INFO): Sending 502 bytes from file Logs/20251024T220733/Express0034.lzma
2025-10-25T00:25:06.803Z,1761351906.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175594,0.984133,0.025497],[-0.981737,0.173123,0.078868],[0.073202,-0.038880,0.996559]]
2025-10-25T00:25:07.207Z,1761351907.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158795,0.974830,0.156493],[-0.986371,0.149720,0.068239],[0.043092,-0.165196,0.985319]]
2025-10-25T00:25:07.610Z,1761351907.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209805,0.955003,0.209645],[-0.977466,0.199761,0.068236],[0.023287,-0.219237,0.975394]]
2025-10-25T00:25:07.702Z,1761351907.702 [DataOverHttps](INFO): Moved sent file to Logs/20251024T220733/Express0034.lzma.bak
2025-10-25T00:25:07.702Z,1761351907.702 [DataOverHttps](INFO): SBD MOMSN=26232668
2025-10-25T00:25:08.014Z,1761351908.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217214,0.959905,0.177203],[-0.976122,0.213261,0.041293],[0.001847,-0.181941,0.983308]]
2025-10-25T00:25:08.418Z,1761351908.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192971,0.975267,0.107785],[-0.981151,0.190650,0.031535],[0.010206,-0.111838,0.993674]]
2025-10-25T00:25:08.823Z,1761351908.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202900,0.974312,0.097710],[-0.977603,0.195862,0.077012],[0.055896,-0.111147,0.992231]]
2025-10-25T00:25:09.227Z,1761351909.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241938,0.966306,0.087855],[-0.969279,0.236558,0.067361],[0.044308,-0.101453,0.993853]]
2025-10-25T00:25:09.256Z,1761351909.256 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-10-25T00:25:09.257Z,1761351909.257 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-10-25T00:25:09.257Z,1761351909.257 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-10-25T00:25:09.631Z,1761351909.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205138,0.970267,0.128452],[-0.977412,0.209907,-0.024608],[-0.050839,-0.120503,0.991410]]
2025-10-25T00:25:10.035Z,1761351910.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165617,0.967356,0.191818],[-0.981685,0.180282,-0.061588],[-0.094159,-0.178105,0.979496]]
2025-10-25T00:25:10.440Z,1761351910.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160396,0.965264,0.206249],[-0.987006,0.154811,0.043050],[0.009625,-0.210474,0.977552]]
2025-10-25T00:25:10.843Z,1761351910.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194852,0.964281,0.179430],[-0.973005,0.166970,0.159316],[0.123665,-0.205629,0.970785]]
2025-10-25T00:25:11.247Z,1761351911.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233569,0.970469,0.060288],[-0.953844,0.216649,0.207954],[0.188752,-0.106077,0.976279]]
2025-10-25T00:25:11.651Z,1761351911.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250983,0.964305,-0.084404],[-0.942475,0.263325,0.205913],[0.220789,0.027868,0.974923]]
2025-10-25T00:25:12.057Z,1761351912.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263479,0.958278,-0.110821],[-0.948832,0.278167,0.149465],[0.174056,0.065770,0.982537]]
2025-10-25T00:25:12.458Z,1761351912.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277066,0.959960,-0.041378],[-0.955472,0.279809,0.093704],[0.101530,0.013573,0.994740]]
2025-10-25T00:25:12.862Z,1761351912.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276170,0.960520,0.033628],[-0.950946,0.268008,0.154510],[0.139397,-0.074649,0.987419]]
2025-10-25T00:25:13.268Z,1761351913.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279269,0.958455,0.058070],[-0.927638,0.253683,0.274104],[0.247985,-0.130417,0.959945]]
2025-10-25T00:25:13.672Z,1761351913.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285958,0.956074,0.064423],[-0.917213,0.253633,0.307229],[0.277394,-0.146944,0.949452]]
2025-10-25T00:25:14.074Z,1761351914.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277989,0.959350,0.048683],[-0.931385,0.256792,0.258029],[0.235039,-0.117072,0.964910]]
2025-10-25T00:25:14.478Z,1761351914.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272301,0.961940,0.022863],[-0.936125,0.259349,0.237506],[0.222537,-0.086076,0.971117]]
2025-10-25T00:25:14.882Z,1761351914.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294485,0.955656,0.000102],[-0.918874,0.283121,0.274796],[0.262582,-0.081017,0.961502]]
2025-10-25T00:25:15.288Z,1761351915.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339935,0.938376,-0.062405],[-0.908187,0.344782,0.237323],[0.244214,-0.023999,0.969424]]
2025-10-25T00:25:15.690Z,1761351915.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320583,0.939231,-0.122766],[-0.925681,0.338133,0.169652],[0.200854,0.059255,0.977827]]
2025-10-25T00:25:16.094Z,1761351916.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257706,0.963758,-0.068986],[-0.943762,0.266378,0.195847],[0.207126,0.014635,0.978205]]
2025-10-25T00:25:16.499Z,1761351916.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295875,0.953341,0.059988],[-0.919737,0.267361,0.287405],[0.257956,-0.140209,0.955929]]
2025-10-25T00:25:16.903Z,1761351916.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355864,0.932133,0.066991],[-0.882684,0.311708,0.351720],[0.306968,-0.184297,0.933705]]
2025-10-25T00:25:17.307Z,1761351917.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378254,0.925636,0.010999],[-0.881052,0.356339,0.311080],[0.284028,-0.127358,0.950320]]
2025-10-25T00:25:17.460Z,1761351917.460 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:25:17.710Z,1761351917.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381129,0.922560,-0.060195],[-0.883764,0.382673,0.269302],[0.271482,-0.049440,0.961173]]
2025-10-25T00:25:18.114Z,1761351918.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383736,0.916530,-0.112779],[-0.880603,0.399961,0.254106],[0.278003,0.001804,0.960578]]
2025-10-25T00:25:18.520Z,1761351918.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410343,0.907447,-0.090321],[-0.880235,0.420019,0.220841],[0.238339,-0.011117,0.971119]]
2025-10-25T00:25:18.922Z,1761351918.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430999,0.901040,-0.048653],[-0.880319,0.431706,0.196641],[0.198185,-0.041922,0.979268]]
2025-10-25T00:25:19.327Z,1761351919.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426021,0.904440,0.022217],[-0.895919,0.418337,0.149410],[0.125838,-0.083557,0.988526]]
2025-10-25T00:25:19.731Z,1761351919.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427157,0.899086,0.095820],[-0.900469,0.413421,0.135050],[0.081808,-0.143971,0.986195]]
2025-10-25T00:25:20.136Z,1761351920.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407963,0.909998,0.073959],[-0.902435,0.389630,0.183847],[0.138484,-0.141746,0.980169]]
2025-10-25T00:25:20.538Z,1761351920.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388954,0.920413,0.039425],[-0.900290,0.370676,0.228206],[0.195430,-0.124255,0.972814]]
2025-10-25T00:25:20.943Z,1761351920.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411378,0.910766,0.035691],[-0.904232,0.402878,0.141611],[0.114595,-0.090529,0.989279]]
2025-10-25T00:25:21.346Z,1761351921.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422115,0.905824,0.036073],[-0.906513,0.422086,0.008786],[-0.007267,-0.036410,0.999310]]
2025-10-25T00:25:21.751Z,1761351921.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440367,0.897596,0.019954],[-0.897067,0.440799,-0.031111],[-0.036721,-0.004200,0.999317]]
2025-10-25T00:25:22.156Z,1761351922.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474319,0.879934,-0.027179],[-0.879682,0.474936,0.024388],[0.034368,0.012341,0.999333]]
2025-10-25T00:25:22.558Z,1761351922.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436504,0.896991,-0.069794],[-0.892031,0.441586,0.096343],[0.117239,0.020205,0.992898]]
2025-10-25T00:25:22.963Z,1761351922.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367134,0.927629,-0.068682],[-0.918662,0.373181,0.129604],[0.145855,0.015514,0.989184]]
2025-10-25T00:25:23.367Z,1761351923.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378346,0.925539,-0.015227],[-0.919744,0.377732,0.106722],[0.104527,-0.026373,0.994172]]
2025-10-25T00:25:23.772Z,1761351923.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395619,0.917542,0.040025],[-0.917989,0.393734,0.047640],[0.027953,-0.055590,0.998062]]
2025-10-25T00:25:24.174Z,1761351924.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356613,0.923671,0.140211],[-0.931516,0.363020,-0.022249],[-0.071450,-0.122674,0.989872]]
2025-10-25T00:25:24.190Z,1761351924.190 [NAL9602](INFO): Not Powering down - fast GPS
2025-10-25T00:25:24.579Z,1761351924.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344046,0.915173,0.209978],[-0.928816,0.364484,-0.066722],[-0.137596,-0.172076,0.975427]]
2025-10-25T00:25:24.983Z,1761351924.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353052,0.923186,0.151929],[-0.929949,0.364086,-0.051335],[-0.102707,-0.123162,0.987057]]
2025-10-25T00:25:25.388Z,1761351925.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378759,0.923118,0.066297],[-0.925181,0.379524,0.001135],[-0.024114,-0.061767,0.997799]]
2025-10-25T00:25:25.790Z,1761351925.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375600,0.926386,-0.027104],[-0.924341,0.376571,0.061543],[0.067219,0.001938,0.997736]]
2025-10-25T00:25:26.076Z,1761351926.076 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:25:26.194Z,1761351926.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370291,0.923155,-0.103292],[-0.913280,0.382117,0.141089],[0.169716,0.042090,0.984594]]
2025-10-25T00:25:26.599Z,1761351926.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385651,0.919369,-0.077681],[-0.900960,0.393397,0.183059],[0.198858,-0.000609,0.980028]]
2025-10-25T00:25:27.008Z,1761351927.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361817,0.932248,-0.001360],[-0.922168,0.358118,0.146141],[0.136727,-0.051622,0.989263]]
2025-10-25T00:25:27.406Z,1761351927.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329071,0.941998,0.065973],[-0.939308,0.319352,0.125360],[0.097021,-0.103221,0.989915]]
2025-10-25T00:25:27.810Z,1761351927.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334543,0.940250,0.063333],[-0.929421,0.318089,0.187072],[0.155749,-0.121447,0.980303]]
2025-10-25T00:25:28.216Z,1761351928.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370489,0.928742,0.013256],[-0.900822,0.355799,0.248851],[0.226402,-0.104138,0.968451]]
2025-10-25T00:25:28.619Z,1761351928.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385259,0.922781,-0.007167],[-0.909165,0.380882,0.168370],[0.158098,-0.058350,0.985698]]
2025-10-25T00:25:29.023Z,1761351929.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387582,0.919849,-0.060482],[-0.912208,0.392165,0.118671],[0.132878,0.009177,0.991090]]
2025-10-25T00:25:29.427Z,1761351929.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394096,0.914570,-0.090830],[-0.893559,0.404405,0.194959],[0.215036,0.004329,0.976597]]
2025-10-25T00:25:29.830Z,1761351929.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380269,0.917192,-0.118973],[-0.897233,0.397053,0.193190],[0.224431,0.033282,0.973921]]
2025-10-25T00:25:30.234Z,1761351930.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344310,0.932435,-0.109617],[-0.920661,0.358202,0.155158],[0.183940,0.047497,0.981789]]
2025-10-25T00:25:30.638Z,1761351930.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324538,0.943841,-0.061963],[-0.930134,0.330353,0.160366],[0.171829,0.005589,0.985111]]
2025-10-25T00:25:31.051Z,1761351931.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334063,0.936494,0.106686],[-0.941799,0.327133,0.077450],[0.037630,-0.126350,0.991272]]
2025-10-25T00:25:31.451Z,1761351931.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308984,0.939094,0.150439],[-0.950678,0.300444,0.077101],[0.027206,-0.166842,0.985608]]
2025-10-25T00:25:31.854Z,1761351931.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315072,0.935195,0.161680],[-0.948631,0.315493,0.023750],[-0.028797,-0.160857,0.986557]]
2025-10-25T00:25:32.260Z,1761351932.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346402,0.924295,0.160265],[-0.925522,0.364605,-0.102331],[-0.153017,-0.112881,0.981755]]
2025-10-25T00:25:32.661Z,1761351932.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350441,0.934377,0.064265],[-0.914256,0.356173,-0.193070],[-0.203290,0.008905,0.979078]]
2025-10-25T00:25:33.062Z,1761351933.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287416,0.957769,-0.008377],[-0.949523,0.283772,-0.133712],[-0.125688,0.046385,0.990985]]
2025-10-25T00:25:33.466Z,1761351933.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293499,0.955821,-0.016306],[-0.955773,0.293736,0.014744],[0.018882,0.011257,0.999758]]
2025-10-25T00:25:33.874Z,1761351933.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367777,0.929726,-0.018702],[-0.913105,0.364862,0.181976],[0.176011,-0.049850,0.983125]]
2025-10-25T00:25:34.275Z,1761351934.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349183,0.936728,-0.024739],[-0.916097,0.346806,0.201226],[0.197073,-0.047601,0.979232]]
2025-10-25T00:25:34.678Z,1761351934.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328033,0.944324,0.025438],[-0.940614,0.324016,0.101289],[0.087408,-0.057154,0.994532]]
2025-10-25T00:25:34.772Z,1761351934.772 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:25:35.082Z,1761351935.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319099,0.945012,0.071615],[-0.947258,0.315669,0.055265],[0.029619,-0.085473,0.995900]]
2025-10-25T00:25:35.487Z,1761351935.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312985,0.947004,0.072280],[-0.949313,0.309603,0.054318],[0.029062,-0.085617,0.995904]]
2025-10-25T00:25:35.907Z,1761351935.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319318,0.944488,0.077320],[-0.945926,0.312758,0.086064],[0.057104,-0.100621,0.993285]]
2025-10-25T00:25:36.294Z,1761351936.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352784,0.931524,0.088358],[-0.934449,0.345845,0.084833],[0.048466,-0.112494,0.992470]]
2025-10-25T00:25:36.698Z,1761351936.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344398,0.933551,0.099360],[-0.938102,0.346349,-0.002555],[-0.036799,-0.092330,0.995048]]
2025-10-25T00:25:37.104Z,1761351937.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294733,0.944415,0.145645],[-0.954074,0.299383,-0.010609],[-0.053623,-0.135829,0.989280]]
2025-10-25T00:25:37.506Z,1761351937.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353001,0.917628,0.182616],[-0.935568,0.344070,0.079557],[0.010171,-0.198933,0.979960]]
2025-10-25T00:25:37.961Z,1761351937.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418959,0.898248,0.132754],[-0.905106,0.401459,0.140051],[0.072505,-0.178832,0.981204]]
2025-10-25T00:25:38.314Z,1761351938.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412045,0.905140,0.104599],[-0.908853,0.400114,0.117877],[0.064844,-0.143636,0.987504]]
2025-10-25T00:25:38.719Z,1761351938.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406732,0.911286,0.064239],[-0.912765,0.402467,0.069859],[0.037807,-0.087049,0.995486]]
2025-10-25T00:25:39.124Z,1761351939.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393531,0.919286,0.006793],[-0.917680,0.392382,0.062455],[0.054749,-0.030811,0.998025]]
2025-10-25T00:25:39.526Z,1761351939.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333943,0.942325,-0.022470],[-0.938675,0.334632,0.083127],[0.085852,-0.006668,0.996286]]
2025-10-25T00:25:39.964Z,1761351939.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328898,0.944251,0.014675],[-0.938779,0.325225,0.113678],[0.102568,-0.051165,0.993409]]
2025-10-25T00:25:40.335Z,1761351940.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408703,0.912608,0.010367],[-0.907622,0.405225,0.109608],[0.095828,-0.054207,0.993921]]
2025-10-25T00:25:40.740Z,1761351940.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444436,0.895539,-0.022079],[-0.894371,0.444983,0.045729],[0.050777,-0.000577,0.998710]]
2025-10-25T00:25:41.142Z,1761351941.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444976,0.895226,-0.023815],[-0.895540,0.444752,-0.014304],[-0.002213,0.027692,0.999614]]
2025-10-25T00:25:41.547Z,1761351941.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473475,0.880417,-0.026209],[-0.879937,0.471475,-0.058495],[-0.039143,0.050758,0.997944]]
2025-10-25T00:25:41.963Z,1761351941.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449205,0.893416,-0.004886],[-0.892003,0.448172,-0.058922],[-0.050452,0.030827,0.998251]]
2025-10-25T00:25:42.354Z,1761351942.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403326,0.914733,0.024339],[-0.912470,0.400045,0.085804],[0.068751,-0.056816,0.996015]]
2025-10-25T00:25:42.758Z,1761351942.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408459,0.910713,0.061343],[-0.886194,0.379566,0.265687],[0.218681,-0.162884,0.962106]]
2025-10-25T00:25:43.162Z,1761351943.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452243,0.886998,0.093337],[-0.859152,0.405153,0.312586],[0.239447,-0.221555,0.945293]]
2025-10-25T00:25:43.460Z,1761351943.460 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:25:43.568Z,1761351943.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497575,0.864409,0.072226],[-0.846214,0.465426,0.259423],[0.190632,-0.190201,0.963059]]
2025-10-25T00:25:43.970Z,1761351943.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496423,0.867938,-0.015767],[-0.856002,0.492454,0.157320],[0.144308,-0.064600,0.987422]]
2025-10-25T00:25:44.374Z,1761351944.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478423,0.874407,-0.080774],[-0.870259,0.484413,0.089406],[0.117305,0.027520,0.992714]]
2025-10-25T00:25:44.779Z,1761351944.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482390,0.873549,-0.064898],[-0.871395,0.486110,0.066086],[0.089277,0.024673,0.995701]]
2025-10-25T00:25:45.185Z,1761351945.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497783,0.867297,0.002706],[-0.867134,0.497624,0.021188],[0.017030,-0.012894,0.999772]]
2025-10-25T00:25:45.587Z,1761351945.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527928,0.847155,0.060168],[-0.848304,0.529402,-0.010672],[-0.040893,-0.045407,0.998131]]
2025-10-25T00:25:45.990Z,1761351945.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581768,0.813248,-0.013188],[-0.812696,0.581873,0.030804],[0.032725,-0.007203,0.999438]]
2025-10-25T00:25:46.394Z,1761351946.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542368,0.836474,-0.078411],[-0.832776,0.547598,0.081367],[0.110999,0.021168,0.993595]]
2025-10-25T00:25:46.800Z,1761351946.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482884,0.875552,-0.015226],[-0.872938,0.482673,0.070752],[0.069297,-0.020874,0.997378]]
2025-10-25T00:25:47.202Z,1761351947.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452173,0.886540,0.097906],[-0.891827,0.447718,0.064762],[0.013580,-0.116599,0.993086]]
2025-10-25T00:25:47.606Z,1761351947.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436327,0.883566,0.170089],[-0.899636,0.424913,0.100520],[0.016543,-0.196878,0.980289]]
2025-10-25T00:25:48.010Z,1761351948.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443385,0.883064,0.153648],[-0.895626,0.429677,0.115030],[0.035560,-0.188613,0.981407]]
2025-10-25T00:25:48.415Z,1761351948.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479669,0.873093,0.087326],[-0.877342,0.475674,0.063283],[0.013713,-0.106970,0.994168]]
2025-10-25T00:25:48.820Z,1761351948.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491539,0.870820,0.007845],[-0.870847,0.491555,-0.000172],[-0.004006,-0.006747,0.999969]]
2025-10-25T00:25:49.222Z,1761351949.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464739,0.883655,-0.056325],[-0.885274,0.462447,-0.049325],[-0.017538,0.072786,0.997193]]
2025-10-25T00:25:49.626Z,1761351949.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423876,0.903514,-0.063173],[-0.905419,0.424503,-0.003809],[0.023376,0.058812,0.997995]]
2025-10-25T00:25:50.031Z,1761351950.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406671,0.913574,0.001171],[-0.907704,0.403912,0.113706],[0.103406,-0.047304,0.993514]]
2025-10-25T00:25:50.435Z,1761351950.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433299,0.894952,0.106361],[-0.891108,0.407774,0.199114],[0.134826,-0.181055,0.974187]]
2025-10-25T00:25:50.838Z,1761351950.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459041,0.868940,0.184999],[-0.884470,0.427380,0.187242],[0.083637,-0.249578,0.964736]]
2025-10-25T00:25:51.243Z,1761351951.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448525,0.872435,0.194121],[-0.893289,0.430453,0.129402],[0.029334,-0.231446,0.972405]]
2025-10-25T00:25:51.646Z,1761351951.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435820,0.891396,0.124397],[-0.900010,0.430626,0.067395],[0.006507,-0.141331,0.989941]]
2025-10-25T00:25:52.053Z,1761351952.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464034,0.885787,-0.007403],[-0.885685,0.464093,0.013386],[0.015293,0.000345,0.999883]]
2025-10-25T00:25:52.068Z,1761351952.068 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:25:52.454Z,1761351952.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496850,0.864734,-0.073315],[-0.867346,0.491955,-0.075434],[-0.029163,0.101069,0.994452]]
2025-10-25T00:25:52.858Z,1761351952.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482214,0.875867,-0.018095],[-0.864070,0.472112,-0.174623],[-0.144404,0.099841,0.984469]]
2025-10-25T00:25:53.262Z,1761351953.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442612,0.890064,0.109000],[-0.854202,0.455486,-0.250742],[-0.272824,0.017873,0.961898]]
2025-10-25T00:25:53.669Z,1761351953.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464621,0.873002,0.148309],[-0.864377,0.483498,-0.138137],[-0.192301,-0.064013,0.979246]]
2025-10-25T00:25:54.070Z,1761351954.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481968,0.875630,0.031294],[-0.872939,0.476801,0.103145],[0.075396,-0.077030,0.994174]]
2025-10-25T00:25:54.474Z,1761351954.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473851,0.880036,-0.031655],[-0.854051,0.468026,0.227045],[0.214623,-0.080550,0.973370]]
2025-10-25T00:25:54.881Z,1761351954.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512970,0.858355,0.009475],[-0.843138,0.501742,0.193322],[0.161185,-0.107157,0.981090]]
2025-10-25T00:25:55.282Z,1761351955.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514888,0.855613,0.053069],[-0.854824,0.507781,0.106930],[0.064543,-0.100422,0.992849]]
2025-10-25T00:25:55.686Z,1761351955.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492613,0.866362,0.082155],[-0.869437,0.485879,0.089451],[0.037579,-0.115493,0.992597]]
2025-10-25T00:25:56.090Z,1761351956.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482500,0.864137,0.143042],[-0.873996,0.485741,0.013675],[-0.057664,-0.131617,0.989622]]
2025-10-25T00:25:56.497Z,1761351956.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467985,0.875008,0.123900],[-0.880048,0.474225,-0.025029],[-0.080657,-0.097325,0.991979]]
2025-10-25T00:25:56.898Z,1761351956.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498541,0.866321,0.030740],[-0.866135,0.499263,-0.023357],[-0.035582,-0.014981,0.999254]]
2025-10-25T00:25:57.302Z,1761351957.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499597,0.864119,-0.060832],[-0.865786,0.500411,-0.002127],[0.028603,0.053730,0.998146]]
2025-10-25T00:25:57.706Z,1761351957.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463771,0.883409,-0.067114],[-0.882830,0.467164,0.048667],[0.074346,0.036680,0.996558]]
2025-10-25T00:25:58.113Z,1761351958.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481861,0.875777,0.028723],[-0.875015,0.479187,0.068764],[0.046458,-0.058267,0.997219]]
2025-10-25T00:25:58.515Z,1761351958.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513150,0.855513,0.069100],[-0.857238,0.514854,-0.008288],[-0.042667,-0.054982,0.997575]]
2025-10-25T00:25:58.919Z,1761351958.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482927,0.870841,0.091744],[-0.873746,0.486144,-0.015246],[-0.057878,-0.072798,0.995666]]
2025-10-25T00:25:59.323Z,1761351959.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436810,0.891520,0.119954],[-0.899434,0.430674,0.074424],[0.014690,-0.140400,0.989986]]
2025-10-25T00:25:59.728Z,1761351959.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447910,0.885871,0.120869],[-0.889596,0.428051,0.159350],[0.089425,-0.178899,0.979795]]
2025-10-25T00:26:00.130Z,1761351960.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522711,0.852201,0.022972],[-0.846090,0.515285,0.136429],[0.104428,-0.090749,0.990383]]
2025-10-25T00:26:00.535Z,1761351960.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540844,0.839611,-0.050405],[-0.839312,0.542639,0.033121],[0.055160,0.024392,0.998180]]
2025-10-25T00:26:00.748Z,1761351960.748 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:26:00.939Z,1761351960.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526685,0.849027,-0.041914],[-0.849892,0.526921,-0.006086],[0.016918,0.038828,0.999103]]
2025-10-25T00:26:01.344Z,1761351961.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531367,0.846741,-0.026051],[-0.847135,0.530985,-0.020438],[-0.003473,0.032929,0.999452]]
2025-10-25T00:26:01.747Z,1761351961.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530215,0.847783,-0.011686],[-0.846897,0.528902,-0.055027],[-0.040470,0.039073,0.998416]]
2025-10-25T00:26:02.151Z,1761351962.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518642,0.854718,0.021652],[-0.854733,0.518942,-0.011474],[-0.021044,-0.012556,0.999700]]
2025-10-25T00:26:02.555Z,1761351962.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533244,0.842027,0.081498],[-0.845962,0.530755,0.051458],[0.000074,-0.096384,0.995344]]
2025-10-25T00:26:02.967Z,1761351962.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568654,0.812716,0.126981],[-0.822556,0.560731,0.094779],[0.005826,-0.158345,0.987367]]
2025-10-25T00:26:03.371Z,1761351963.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610928,0.789332,0.061000],[-0.791292,0.606380,0.078481],[0.024958,-0.096215,0.995048]]
2025-10-25T00:26:03.777Z,1761351963.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614775,0.788404,-0.021680],[-0.788557,0.613902,-0.036091],[-0.015145,0.039283,0.999113]]
2025-10-25T00:26:04.170Z,1761351964.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584123,0.811150,-0.028916],[-0.804719,0.574105,-0.151098],[-0.105962,0.111529,0.988096]]
2025-10-25T00:26:04.575Z,1761351964.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554686,0.832019,0.008247],[-0.827417,0.552609,-0.100026],[-0.087780,0.048659,0.994951]]
2025-10-25T00:26:04.981Z,1761351964.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580003,0.814590,0.006264],[-0.812101,0.577593,0.082933],[0.063938,-0.053189,0.996535]]
2025-10-25T00:26:05.383Z,1761351965.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614340,0.789034,0.003522],[-0.776032,0.603397,0.183538],[0.142693,-0.115488,0.983006]]
2025-10-25T00:26:05.787Z,1761351965.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658933,0.752175,0.006300],[-0.740796,0.647466,0.178908],[0.130491,-0.122555,0.983846]]
2025-10-25T00:26:06.191Z,1761351966.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668952,0.743000,0.021333],[-0.740065,0.663084,0.112357],[0.069336,-0.090949,0.993439]]
2025-10-25T00:26:06.596Z,1761351966.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657940,0.752298,0.034094],[-0.752825,0.658207,0.004264],[-0.019233,-0.028473,0.999410]]
2025-10-25T00:26:07.024Z,1761351967.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661983,0.749518,0.000776],[-0.747717,0.660463,-0.068622],[-0.051946,0.044846,0.997642]]
2025-10-25T00:26:07.403Z,1761351967.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693215,0.719267,-0.045913],[-0.719757,0.687562,-0.095962],[-0.037454,0.099569,0.994326]]
2025-10-25T00:26:07.806Z,1761351967.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724774,0.682964,-0.090905],[-0.687447,0.725649,-0.029163],[0.046048,0.083629,0.995432]]
2025-10-25T00:26:08.210Z,1761351968.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734181,0.671581,-0.099780],[-0.671897,0.739795,0.035466],[0.097635,0.041003,0.994377]]
2025-10-25T00:26:08.614Z,1761351968.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710464,0.701041,-0.061500],[-0.695128,0.712717,0.093984],[0.109718,-0.024022,0.993672]]
2025-10-25T00:26:09.018Z,1761351969.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680011,0.733187,-0.004679],[-0.722828,0.671446,0.163341],[0.122902,-0.107691,0.986558]]
2025-10-25T00:26:09.424Z,1761351969.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679684,0.733486,0.005339],[-0.719440,0.665214,0.199741],[0.142956,-0.139602,0.979834]]
2025-10-25T00:26:09.826Z,1761351969.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705535,0.707623,-0.038605],[-0.697255,0.702875,0.140717],[0.126709,-0.072363,0.989297]]
2025-10-25T00:26:10.231Z,1761351970.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725462,0.677914,-0.118899],[-0.681981,0.731320,0.008581],[0.092770,0.074861,0.992869]]
2025-10-25T00:26:10.635Z,1761351970.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721742,0.661669,-0.203180],[-0.687030,0.720510,-0.094102],[0.084129,0.207508,0.974609]]
2025-10-25T00:26:11.039Z,1761351971.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706893,0.666779,-0.236025],[-0.695085,0.716647,-0.057222],[0.130992,0.204507,0.970061]]
2025-10-25T00:26:11.072Z,1761351971.072 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:26:11.442Z,1761351971.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720123,0.673957,-0.164939],[-0.684915,0.728495,-0.013636],[0.110967,0.122789,0.986209]]
2025-10-25T00:26:11.846Z,1761351971.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734989,0.675323,-0.061076],[-0.677915,0.733805,-0.044278],[0.014916,0.073948,0.997151]]
2025-10-25T00:26:12.250Z,1761351972.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723335,0.690434,-0.009324],[-0.690477,0.723351,-0.002153],[0.005258,0.007996,0.999954]]
2025-10-25T00:26:12.657Z,1761351972.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707039,0.707169,-0.002922],[-0.705463,0.705609,0.066614],[0.049169,-0.045038,0.997775]]
2025-10-25T00:26:13.058Z,1761351973.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741689,0.669786,0.035843],[-0.670744,0.740670,0.038866],[-0.000516,-0.052868,0.998601]]
2025-10-25T00:26:13.462Z,1761351973.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760853,0.646532,0.055669],[-0.645139,0.762879,-0.042563],[-0.069987,-0.003530,0.997542]]
2025-10-25T00:26:13.867Z,1761351973.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746000,0.663514,-0.056863],[-0.663191,0.747959,0.027101],[0.060513,0.017494,0.998014]]
2025-10-25T00:26:14.273Z,1761351974.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736365,0.670103,-0.093423],[-0.651869,0.739650,0.167286],[0.181199,-0.062284,0.981472]]
2025-10-25T00:26:14.675Z,1761351974.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749088,0.662419,-0.008329],[-0.648388,0.735684,0.195859],[0.135869,-0.141315,0.980597]]
2025-10-25T00:26:15.078Z,1761351975.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759168,0.650874,-0.005237],[-0.641589,0.749645,0.162467],[0.109671,-0.119979,0.986700]]
2025-10-25T00:26:15.482Z,1761351975.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768574,0.635971,-0.069535],[-0.627361,0.770508,0.112850],[0.125346,-0.043110,0.991176]]
2025-10-25T00:26:15.909Z,1761351975.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748885,0.660014,-0.059607],[-0.661645,0.749736,-0.011057],[0.037391,0.047719,0.998161]]
2025-10-25T00:26:16.702Z,1761351976.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756768,0.649823,-0.070939],[-0.646683,0.760081,0.063855],[0.095414,-0.002448,0.995435]]
2025-10-25T00:26:17.103Z,1761351977.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756148,0.649902,-0.076602],[-0.646152,0.760011,0.069784],[0.103571,-0.003270,0.994617]]
2025-10-25T00:26:17.507Z,1761351977.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741189,0.663585,-0.101454],[-0.660717,0.747854,0.064552],[0.118709,0.019187,0.992744]]
2025-10-25T00:26:17.943Z,1761351977.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736315,0.672901,-0.071024],[-0.672875,0.739230,0.027901],[0.071278,0.027247,0.997084]]
2025-10-25T00:26:18.312Z,1761351978.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748767,0.662599,-0.017627],[-0.662662,0.748913,0.002844],[0.015086,0.009551,0.999841]]
2025-10-25T00:26:18.715Z,1761351978.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753564,0.657091,0.019292],[-0.657259,0.753657,0.003391],[-0.012311,-0.015235,0.999808]]
2025-10-25T00:26:19.118Z,1761351979.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760127,0.646099,0.069012],[-0.643463,0.763253,-0.058310],[-0.090348,-0.000084,0.995910]]
2025-10-25T00:26:19.523Z,1761351979.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762238,0.646227,0.037210],[-0.644191,0.762951,-0.054072],[-0.063332,0.017245,0.997844]]
2025-10-25T00:26:19.616Z,1761351979.616 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:26:19.957Z,1761351979.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752757,0.651144,-0.096792],[-0.647690,0.758867,0.067966],[0.117708,0.011529,0.992981]]
2025-10-25T00:26:20.331Z,1761351980.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716960,0.693227,-0.073518],[-0.690269,0.720704,0.064152],[0.097457,0.004753,0.995228]]
2025-10-25T00:26:20.735Z,1761351980.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684540,0.727525,0.045963],[-0.728800,0.684397,0.021236],[-0.016007,-0.048035,0.998717]]
2025-10-25T00:26:21.139Z,1761351981.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717238,0.695926,0.035448],[-0.696176,0.717839,-0.006750],[-0.030143,-0.019837,0.999349]]
2025-10-25T00:26:21.543Z,1761351981.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740927,0.667145,-0.077110],[-0.671437,0.738283,-0.064116],[0.014154,0.099280,0.994959]]
2025-10-25T00:26:21.962Z,1761351981.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678139,0.711258,-0.185041],[-0.732745,0.673756,-0.095595],[0.056679,0.200415,0.978070]]
2025-10-25T00:26:22.351Z,1761351982.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648816,0.721251,-0.242558],[-0.741923,0.670425,0.008958],[0.169078,0.174147,0.970096]]
2025-10-25T00:26:22.756Z,1761351982.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646303,0.727775,-0.229426],[-0.718972,0.681508,0.136475],[0.255679,0.076747,0.963711]]
2025-10-25T00:26:23.159Z,1761351983.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646083,0.755958,-0.105372],[-0.745794,0.654619,0.123557],[0.162383,-0.001242,0.986727]]
2025-10-25T00:26:23.562Z,1761351983.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649955,0.759863,0.012935],[-0.758398,0.647419,0.075368],[0.048895,-0.058796,0.997072]]
2025-10-25T00:26:23.969Z,1761351983.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638157,0.768545,0.045758],[-0.769740,0.635660,0.058622],[0.015967,-0.072632,0.997231]]
2025-10-25T00:26:24.371Z,1761351984.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647676,0.760556,0.045497],[-0.761901,0.646138,0.044868],[0.004728,-0.063724,0.997956]]
2025-10-25T00:26:24.774Z,1761351984.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659352,0.750306,0.047914],[-0.750861,0.660402,-0.008807],[-0.038251,-0.030170,0.998813]]
2025-10-25T00:26:25.179Z,1761351985.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653086,0.756467,0.035154],[-0.753589,0.653780,-0.068384],[-0.074713,0.018169,0.997040]]
2025-10-25T00:26:25.582Z,1761351985.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630190,0.775909,0.028739],[-0.774378,0.630782,-0.049535],[-0.056563,0.008962,0.998359]]
2025-10-25T00:26:25.988Z,1761351985.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595228,0.801579,0.056343],[-0.803186,0.595619,0.011407],[-0.024415,-0.052043,0.998346]]
2025-10-25T00:26:26.390Z,1761351986.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626827,0.771838,0.106558],[-0.777038,0.629331,0.012452],[-0.057449,-0.090605,0.994229]]
2025-10-25T00:26:26.794Z,1761351986.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673549,0.731179,0.108208],[-0.732335,0.679979,-0.036251],[-0.100085,-0.054828,0.993467]]
2025-10-25T00:26:27.199Z,1761351987.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680020,0.732938,0.019340],[-0.729627,0.679075,-0.080624],[-0.072225,0.040715,0.996557]]
2025-10-25T00:26:27.603Z,1761351987.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649136,0.757355,-0.070958],[-0.760627,0.645253,-0.071383],[-0.008276,0.100310,0.994922]]
2025-10-25T00:26:28.006Z,1761351988.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613666,0.787472,-0.057465],[-0.789234,0.613892,-0.015715],[0.022902,0.054997,0.998224]]
2025-10-25T00:26:28.360Z,1761351988.360 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:26:28.410Z,1761351988.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613212,0.788822,0.041617],[-0.789918,0.612420,0.031169],[-0.000900,-0.051987,0.998647]]
2025-10-25T00:26:28.814Z,1761351988.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605866,0.787881,0.110322],[-0.793940,0.607649,0.020543],[-0.050851,-0.100035,0.993684]]
2025-10-25T00:26:29.220Z,1761351989.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606561,0.787430,0.109720],[-0.793790,0.607541,0.028127],[-0.044511,-0.104155,0.993565]]
2025-10-25T00:26:29.622Z,1761351989.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665186,0.746663,0.004662],[-0.745808,0.664097,0.052395],[0.036025,-0.038329,0.998616]]
2025-10-25T00:26:30.026Z,1761351990.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652872,0.746490,-0.128491],[-0.753797,0.656972,-0.013310],[0.074479,0.105546,0.991621]]
2025-10-25T00:26:30.431Z,1761351990.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583066,0.796149,-0.161803],[-0.811736,0.579102,-0.075669],[0.033457,0.175461,0.983918]]
2025-10-25T00:26:30.836Z,1761351990.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546524,0.830186,-0.110014],[-0.837294,0.544176,-0.053030],[0.015842,0.121096,0.992514]]
2025-10-25T00:26:31.238Z,1761351991.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574934,0.814021,-0.082588],[-0.814180,0.579181,0.040752],[0.081006,0.043812,0.995750]]
2025-10-25T00:26:31.642Z,1761351991.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619779,0.777960,-0.103208],[-0.773964,0.627687,0.083602],[0.129821,0.028065,0.991140]]
2025-10-25T00:26:32.047Z,1761351992.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601370,0.795461,-0.074811],[-0.793456,0.605578,0.060855],[0.093712,0.022763,0.995339]]
2025-10-25T00:26:32.451Z,1761351992.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587409,0.808688,-0.031225],[-0.808056,0.588207,0.032544],[0.044685,0.006114,0.998982]]
2025-10-25T00:26:32.856Z,1761351992.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605625,0.795056,0.033223],[-0.791718,0.606229,-0.075293],[-0.080003,0.019296,0.996608]]
2025-10-25T00:26:33.258Z,1761351993.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602153,0.797514,0.037190],[-0.790221,0.601994,-0.114692],[-0.113857,0.039674,0.992705]]
2025-10-25T00:26:33.663Z,1761351993.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596947,0.801807,-0.027566],[-0.801745,0.597452,0.016040],[0.029331,0.012525,0.999491]]
2025-10-25T00:26:34.067Z,1761351994.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608978,0.792732,-0.026866],[-0.785828,0.607586,0.115385],[0.107793,-0.049155,0.992958]]
2025-10-25T00:26:34.473Z,1761351994.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609872,0.792465,-0.007414],[-0.781923,0.603229,0.157198],[0.129046,-0.090074,0.987539]]
2025-10-25T00:26:34.874Z,1761351994.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593015,0.805079,-0.013433],[-0.791927,0.586180,0.171010],[0.145550,-0.090774,0.985178]]
2025-10-25T00:26:35.278Z,1761351995.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607488,0.794282,0.008649],[-0.792307,0.605129,0.077903],[0.056643,-0.054177,0.996923]]
2025-10-25T00:26:35.682Z,1761351995.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624227,0.780759,0.027492],[-0.780759,0.624692,-0.013207],[-0.027486,-0.013221,0.999535]]
2025-10-25T00:26:36.088Z,1761351996.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623671,0.779461,-0.058952],[-0.781460,0.623532,-0.022989],[0.018839,0.060406,0.997996]]
2025-10-25T00:26:36.490Z,1761351996.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632221,0.766319,-0.114241],[-0.774452,0.629384,-0.064039],[0.022827,0.128961,0.991387]]
2025-10-25T00:26:36.895Z,1761351996.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617730,0.785167,-0.043859],[-0.785146,0.612655,-0.090557],[-0.044232,0.090376,0.994925]]
2025-10-25T00:26:36.908Z,1761351996.908 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:26:37.300Z,1761351997.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590048,0.804447,0.068615],[-0.805370,0.592434,-0.020039],[-0.056770,-0.043436,0.997442]]
2025-10-25T00:26:37.702Z,1761351997.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569557,0.810663,0.135760],[-0.821105,0.568651,0.049217],[-0.037302,-0.139505,0.989519]]
2025-10-25T00:26:38.106Z,1761351998.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583974,0.801338,0.129740],[-0.811579,0.579823,0.071731],[-0.017745,-0.147183,0.988950]]
2025-10-25T00:26:38.512Z,1761351998.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609987,0.790130,0.060082],[-0.792404,0.608552,0.041957],[-0.003411,-0.073202,0.997311]]
2025-10-25T00:26:38.915Z,1761351998.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632874,0.773529,-0.033507],[-0.774253,0.632206,-0.029109],[-0.001333,0.044366,0.999014]]
2025-10-25T00:26:39.319Z,1761351999.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622949,0.779339,-0.067575],[-0.779225,0.610605,-0.141316],[-0.068871,0.140688,0.987656]]
2025-10-25T00:26:39.724Z,1761351999.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644654,0.760606,-0.076808],[-0.761528,0.630107,-0.151792],[-0.067057,0.156345,0.985424]]
2025-10-25T00:26:40.126Z,1761352000.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676225,0.728459,-0.109853],[-0.733208,0.679991,-0.004265],[0.071593,0.083429,0.993939]]
2025-10-25T00:26:40.531Z,1761352000.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632230,0.768978,-0.094649],[-0.750775,0.638226,0.170308],[0.191370,-0.036614,0.980835]]
2025-10-25T00:26:40.934Z,1761352000.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571012,0.820678,0.020825],[-0.796034,0.547308,0.258426],[0.200687,-0.164142,0.965807]]
2025-10-25T00:26:41.340Z,1761352001.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548156,0.827110,0.124153],[-0.829077,0.517784,0.211025],[0.110257,-0.218607,0.969564]]
2025-10-25T00:26:41.742Z,1761352001.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560892,0.818930,0.121464],[-0.827887,0.554485,0.084558],[0.001897,-0.147986,0.988988]]
2025-10-25T00:26:42.146Z,1761352002.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559488,0.828835,0.002376],[-0.828836,0.559476,0.004236],[0.002182,-0.004339,0.999988]]
2025-10-25T00:26:42.551Z,1761352002.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545956,0.828287,-0.125986],[-0.833338,0.552388,0.020402],[0.086492,0.093850,0.991822]]
2025-10-25T00:26:42.954Z,1761352002.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540020,0.835764,-0.099389],[-0.841168,0.539938,-0.030053],[0.028547,0.099832,0.994595]]
2025-10-25T00:26:43.358Z,1761352003.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521949,0.852892,-0.012002],[-0.850621,0.519411,-0.081581],[-0.063345,0.052790,0.996594]]
2025-10-25T00:26:43.762Z,1761352003.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536954,0.843393,0.019204],[-0.843405,0.537187,-0.009894],[-0.018661,-0.010884,0.999767]]
2025-10-25T00:26:44.167Z,1761352004.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567920,0.822432,-0.032751],[-0.817366,0.568210,0.095131],[0.096849,-0.027257,0.994926]]
2025-10-25T00:26:44.570Z,1761352004.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510881,0.859536,-0.014097],[-0.853063,0.508923,0.115241],[0.106227,-0.046849,0.993238]]
2025-10-25T00:26:44.974Z,1761352004.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440325,0.896226,0.053791],[-0.897352,0.437324,0.059215],[0.029547,-0.074343,0.996795]]
2025-10-25T00:26:45.378Z,1761352005.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476179,0.878413,0.040549],[-0.878462,0.473122,0.066789],[0.039483,-0.067424,0.996943]]
2025-10-25T00:26:45.783Z,1761352005.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517579,0.853920,-0.054158],[-0.853052,0.519896,0.044838],[0.066444,0.022992,0.997525]]
2025-10-25T00:26:45.808Z,1761352005.808 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:26:46.186Z,1761352006.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475898,0.876609,-0.071253],[-0.877433,0.478771,0.029841],[0.060273,0.048318,0.997012]]
2025-10-25T00:26:46.590Z,1761352006.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422110,0.906545,-0.000252],[-0.906390,0.422043,0.018374],[0.016763,-0.007528,0.999831]]
2025-10-25T00:26:46.994Z,1761352006.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403915,0.910332,0.090268],[-0.914469,0.404440,0.013215],[-0.024478,-0.087886,0.995830]]
2025-10-25T00:26:47.399Z,1761352007.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426859,0.895508,0.125923],[-0.901522,0.432335,-0.018556],[-0.071058,-0.105601,0.991866]]
2025-10-25T00:26:47.804Z,1761352007.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419381,0.905060,0.070611],[-0.907565,0.419807,0.009409],[-0.021128,-0.068030,0.997460]]
2025-10-25T00:26:48.207Z,1761352008.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355602,0.934628,0.004165],[-0.934522,0.355625,-0.014155],[-0.014711,0.001141,0.999891]]
2025-10-25T00:26:48.610Z,1761352008.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314645,0.949181,-0.007368],[-0.948726,0.314227,-0.034354],[-0.030292,0.017800,0.999383]]
2025-10-25T00:26:49.014Z,1761352009.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329430,0.944163,-0.005676],[-0.942837,0.329275,0.051348],[0.050350,-0.011564,0.998665]]
2025-10-25T00:26:49.423Z,1761352009.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318721,0.947636,-0.020088],[-0.938320,0.318443,0.134719],[0.134062,-0.024089,0.990680]]
2025-10-25T00:26:49.822Z,1761352009.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340184,0.939912,-0.028993],[-0.926030,0.340203,0.163494],[0.163534,-0.028770,0.986118]]
2025-10-25T00:26:50.227Z,1761352010.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300938,0.951227,-0.067853],[-0.941187,0.307717,0.139558],[0.153631,0.021864,0.987886]]
2025-10-25T00:26:50.631Z,1761352010.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240593,0.968299,-0.067169],[-0.968048,0.244419,0.056061],[0.070701,0.051535,0.996165]]
2025-10-25T00:26:51.037Z,1761352011.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273172,0.960735,-0.048637],[-0.961658,0.274013,0.011425],[0.024304,0.043651,0.998751]]
2025-10-25T00:26:51.438Z,1761352011.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233134,0.971711,-0.037776],[-0.971174,0.230669,-0.060098],[-0.049684,0.050698,0.997477]]
2025-10-25T00:26:51.842Z,1761352011.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209714,0.977732,-0.007796],[-0.975040,0.208528,-0.076248],[-0.072924,0.023591,0.997058]]
2025-10-25T00:26:52.247Z,1761352012.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170941,0.984391,0.041887],[-0.985055,0.171658,-0.014137],[-0.021107,-0.038844,0.999022]]
2025-10-25T00:26:52.651Z,1761352012.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158702,0.981629,0.105920],[-0.986900,0.154565,0.046240],[0.029019,-0.111871,0.993299]]
2025-10-25T00:26:53.054Z,1761352013.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174056,0.973793,0.146395],[-0.984424,0.168329,0.050738],[0.024766,-0.152946,0.987924]]
2025-10-25T00:26:53.458Z,1761352013.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209405,0.971525,0.110857],[-0.977495,0.205022,0.049688],[0.025545,-0.118767,0.992593]]
2025-10-25T00:26:53.864Z,1761352013.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166050,0.985371,0.038347],[-0.985903,0.165078,0.027280],[0.020550,-0.042336,0.998892]]
2025-10-25T00:26:54.267Z,1761352014.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082864,0.996543,0.006037],[-0.996557,0.082879,-0.002231],[-0.002723,-0.005831,0.999979]]
2025-10-25T00:26:54.420Z,1761352014.420 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:26:54.671Z,1761352014.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071334,0.997448,-0.003015],[-0.994930,0.071368,0.070856],[0.070890,-0.002054,0.997482]]
2025-10-25T00:26:55.074Z,1761352015.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085703,0.996311,-0.004483],[-0.993780,0.085805,0.070990],[0.071113,-0.001629,0.997467]]
2025-10-25T00:26:55.480Z,1761352015.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106061,0.994330,-0.007682],[-0.994061,0.106215,0.023680],[0.024362,0.005125,0.999690]]
2025-10-25T00:26:55.885Z,1761352015.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152462,0.987969,-0.025926],[-0.983510,0.154252,0.094412],[0.097275,0.011104,0.995196]]
2025-10-25T00:26:56.286Z,1761352016.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161410,0.986340,-0.032862],[-0.970402,0.164686,0.176631],[0.179630,0.003380,0.983728]]
2025-10-25T00:26:56.691Z,1761352016.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083412,0.995152,0.052107],[-0.990072,0.076823,0.117707],[0.113133,-0.061407,0.991680]]
2025-10-25T00:26:57.099Z,1761352017.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070581,0.987158,0.143312],[-0.997485,0.068919,0.016530],[0.006441,-0.144118,0.989540]]
2025-10-25T00:26:57.498Z,1761352017.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061000,0.990529,0.123006],[-0.996965,0.066437,-0.040584],[-0.048371,-0.120157,0.991576]]
2025-10-25T00:26:57.958Z,1761352017.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050101,0.995066,0.085633],[-0.998001,0.046571,0.042734],[0.038535,-0.087603,0.995410]]
2025-10-25T00:26:58.712Z,1761352018.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048388,0.995559,0.080759],[-0.992152,0.038574,0.118937],[0.115293,-0.085880,0.989612]]
2025-10-25T00:26:59.114Z,1761352019.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020904,0.995708,0.090155],[-0.995336,0.012232,0.095690],[0.094176,-0.091735,0.991320]]
2025-10-25T00:26:59.518Z,1761352019.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030266,0.994113,0.104032],[-0.999522,0.029439,0.009478],[0.006359,-0.104269,0.994529]]
2025-10-25T00:26:59.955Z,1761352019.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013044,0.993378,0.114150],[-0.999912,-0.013253,0.001074],[0.002580,-0.114126,0.993463]]
2025-10-25T00:27:00.730Z,1761352020.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029640,0.991015,0.130422],[-0.996393,-0.039673,0.075017],[0.079517,-0.127728,0.988617]]
2025-10-25T00:27:01.134Z,1761352021.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006922,0.991388,0.130771],[-0.989715,-0.025479,0.140767],[0.142887,-0.128452,0.981368]]
2025-10-25T00:27:01.538Z,1761352021.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030698,0.991967,0.122719],[-0.998935,0.026217,0.037961],[0.034438,-0.123754,0.991715]]
2025-10-25T00:27:01.964Z,1761352021.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017011,0.989489,0.143607],[-0.998045,-0.008165,-0.061966],[-0.060143,-0.144381,0.987693]]
2025-10-25T00:27:02.355Z,1761352022.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017127,0.983724,0.178870],[-0.997533,-0.004630,-0.070053],[-0.068084,-0.179628,0.981376]]
2025-10-25T00:27:02.755Z,1761352022.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008975,0.991356,0.130890],[-0.997816,0.017446,-0.063711],[-0.065444,-0.130032,0.989348]]
2025-10-25T00:27:02.888Z,1761352022.888 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:27:03.159Z,1761352023.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025304,0.999217,0.030403],[-0.998964,0.026425,-0.037061],[-0.037835,-0.029433,0.998850]]
2025-10-25T00:27:03.563Z,1761352023.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006915,0.999975,-0.001624],[-0.998566,0.006819,-0.053091],[-0.053079,0.001989,0.998588]]
2025-10-25T00:27:03.967Z,1761352023.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005950,0.999880,0.014317],[-0.996831,-0.004795,-0.079407],[-0.079329,-0.014744,0.996740]]
2025-10-25T00:27:04.366Z,1761352024.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011783,0.998838,0.046734],[-0.998666,-0.009405,-0.050774],[-0.050275,-0.047270,0.997616]]
2025-10-25T00:27:04.770Z,1761352024.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017826,0.997021,0.075046],[-0.998791,-0.014317,-0.047029],[-0.045815,-0.075794,0.996070]]
2025-10-25T00:27:05.177Z,1761352025.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002697,0.996998,0.077382],[-0.999804,-0.001169,-0.019786],[-0.019636,-0.077420,0.996805]]
2025-10-25T00:27:05.578Z,1761352025.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012527,0.997678,0.066952],[-0.995341,0.006039,0.096231],[0.095603,-0.067846,0.993105]]
2025-10-25T00:27:05.982Z,1761352025.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009795,0.999522,0.029324],[-0.981598,0.004018,0.190918],[0.190709,-0.030654,0.981168]]
2025-10-25T00:27:06.387Z,1761352026.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054563,0.998486,0.006982],[-0.988390,0.053016,0.142387],[0.141801,-0.014670,0.989787]]
2025-10-25T00:27:06.793Z,1761352026.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063988,0.996607,0.051780],[-0.997378,0.065623,-0.030510],[-0.033804,-0.049692,0.998192]]
2025-10-25T00:27:07.194Z,1761352027.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007539,0.990161,0.139732],[-0.992529,0.024427,-0.119541],[-0.121778,-0.137786,0.982947]]
2025-10-25T00:27:07.598Z,1761352027.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013049,0.974202,0.225302],[-0.995699,0.033329,-0.086444],[-0.091723,-0.223205,0.970447]]
2025-10-25T00:27:08.002Z,1761352028.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074004,0.974141,0.213476],[-0.996931,0.066782,0.040853],[0.025541,-0.215844,0.976094]]
2025-10-25T00:27:08.409Z,1761352028.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105660,0.986155,0.127805],[-0.988521,0.090206,0.121198],[0.107991,-0.139144,0.984366]]
2025-10-25T00:27:08.811Z,1761352028.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119091,0.986882,0.109002],[-0.985241,0.103866,0.136057],[0.122951,-0.123596,0.984686]]
2025-10-25T00:27:09.215Z,1761352029.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142509,0.982843,0.117090],[-0.980907,0.124421,0.149469],[0.132336,-0.136155,0.981809]]
2025-10-25T00:27:09.619Z,1761352029.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149632,0.980294,0.128970],[-0.975094,0.124708,0.183413],[0.163715,-0.153202,0.974539]]
2025-10-25T00:27:10.022Z,1761352030.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160435,0.979228,0.123990],[-0.975633,0.138276,0.170354],[0.149671,-0.148300,0.977551]]
2025-10-25T00:27:10.427Z,1761352030.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190845,0.971975,0.137269],[-0.974086,0.170228,0.148924],[0.121384,-0.162134,0.979275]]
2025-10-25T00:27:10.831Z,1761352030.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250025,0.965645,0.070836],[-0.962760,0.240172,0.124136],[0.102859,-0.099235,0.989734]]
2025-10-25T00:27:11.235Z,1761352031.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228654,0.973487,0.006365],[-0.968069,0.226682,0.107042],[0.102761,-0.030638,0.994234]]
2025-10-25T00:27:11.596Z,1761352031.596 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:27:11.638Z,1761352031.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158692,0.985946,0.052220],[-0.978367,0.149922,0.142552],[0.132720,-0.073712,0.988409]]
2025-10-25T00:27:12.043Z,1761352032.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175691,0.974742,0.137883],[-0.975606,0.153670,0.156776],[0.131627,-0.162063,0.977962]]
2025-10-25T00:27:12.447Z,1761352032.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262428,0.956637,0.126403],[-0.957169,0.241465,0.159759],[0.122310,-0.162914,0.979030]]
2025-10-25T00:27:12.852Z,1761352032.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314523,0.949239,0.004565],[-0.942665,0.311773,0.119083],[0.111615,-0.041758,0.992874]]
2025-10-25T00:27:13.254Z,1761352033.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280118,0.954800,-0.099451],[-0.952153,0.289533,0.097853],[0.122224,0.067283,0.990219]]
2025-10-25T00:27:13.658Z,1761352033.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271089,0.961902,-0.035428],[-0.948465,0.273214,0.160523],[0.164086,-0.009914,0.986396]]
2025-10-25T00:27:14.062Z,1761352034.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319361,0.945132,0.068803],[-0.933680,0.301415,0.193365],[0.162018,-0.125994,0.978711]]
2025-10-25T00:27:14.469Z,1761352034.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326183,0.935597,0.135143],[-0.936599,0.300499,0.180230],[0.128012,-0.185362,0.974297]]
2025-10-25T00:27:14.871Z,1761352034.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321579,0.938058,0.128975],[-0.938086,0.297098,0.178122],[0.128770,-0.178270,0.975519]]
2025-10-25T00:27:15.275Z,1761352035.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348603,0.935737,0.053588],[-0.922991,0.332788,0.193238],[0.162986,-0.116825,0.979687]]
2025-10-25T00:27:15.679Z,1761352035.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354363,0.934644,-0.029453],[-0.923435,0.354727,0.146415],[0.147293,-0.024686,0.988785]]
2025-10-25T00:27:16.085Z,1761352036.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377903,0.923036,-0.072074],[-0.912464,0.384498,0.139896],[0.156841,0.012898,0.987540]]
2025-10-25T00:27:16.488Z,1761352036.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390889,0.917090,-0.078433],[-0.898544,0.398678,0.183506],[0.199561,-0.001255,0.979885]]
2025-10-25T00:27:16.890Z,1761352036.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380414,0.924204,-0.033649],[-0.909608,0.380481,0.166875],[0.167030,-0.032874,0.985404]]
2025-10-25T00:27:17.295Z,1761352037.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387557,0.919486,0.065920],[-0.919409,0.380347,0.100113],[0.066981,-0.099407,0.992790]]
2025-10-25T00:27:17.699Z,1761352037.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419793,0.901052,0.108992],[-0.907472,0.418853,0.032496],[-0.016371,-0.112549,0.993511]]
2025-10-25T00:27:18.102Z,1761352038.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457233,0.882640,0.109017],[-0.887164,0.461255,-0.013586],[-0.062276,-0.090504,0.993947]]
2025-10-25T00:27:18.506Z,1761352038.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431439,0.897652,0.089897],[-0.897548,0.437149,-0.057519],[-0.090931,-0.055870,0.994289]]
2025-10-25T00:27:18.910Z,1761352038.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423719,0.899387,0.107537],[-0.896717,0.433272,-0.090410],[-0.127906,-0.058122,0.990082]]
2025-10-25T00:27:19.316Z,1761352039.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494519,0.862686,0.105940],[-0.860280,0.503199,-0.081911],[-0.123972,-0.050631,0.990993]]
2025-10-25T00:27:19.417Z,1761352039.417 [DataOverHttps](IMPORTANT): SBD MTMSN=20251025T002718
2025-10-25T00:27:19.718Z,1761352039.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496289,0.868132,0.006576],[-0.868078,0.496127,0.017302],[0.011758,-0.014295,0.999829]]
2025-10-25T00:27:20.122Z,1761352040.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467280,0.882540,-0.052645],[-0.872230,0.469912,0.135635],[0.144442,-0.017461,0.989359]]
2025-10-25T00:27:20.526Z,1761352040.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463254,0.886176,0.009356],[-0.875646,0.456073,0.158874],[0.136524,-0.081792,0.987254]]
2025-10-25T00:27:20.932Z,1761352040.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458172,0.885441,0.077924],[-0.884380,0.445312,0.139886],[0.089161,-0.133006,0.987097]]
2025-10-25T00:27:21.335Z,1761352041.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467672,0.877385,0.107137],[-0.882041,0.455386,0.120941],[0.057324,-0.151060,0.986861]]
2025-10-25T00:27:21.738Z,1761352041.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489831,0.869174,0.067842],[-0.866588,0.476906,0.146923],[0.095347,-0.130758,0.986819]]
2025-10-25T00:27:22.142Z,1761352042.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491940,0.870431,-0.018549],[-0.861381,0.489702,0.134959],[0.126556,-0.050414,0.990677]]
2025-10-25T00:27:22.548Z,1761352042.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485180,0.872696,-0.054790],[-0.870570,0.487967,0.063211],[0.081899,0.017030,0.996495]]
2025-10-25T00:27:22.951Z,1761352042.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471417,0.881878,0.007596],[-0.881450,0.471432,-0.028243],[-0.028488,0.006619,0.999572]]
2025-10-25T00:27:23.354Z,1761352043.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498035,0.865234,0.057723],[-0.864556,0.500591,-0.044171],[-0.067113,-0.027906,0.997355]]
2025-10-25T00:27:23.759Z,1761352043.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534174,0.845366,0.003841],[-0.844495,0.533405,0.048046],[0.038568,-0.028909,0.998838]]
2025-10-25T00:27:24.163Z,1761352044.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511706,0.853820,-0.095647],[-0.844402,0.520336,0.127418],[0.158561,0.015565,0.987227]]
2025-10-25T00:27:24.568Z,1761352044.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462313,0.879428,-0.113464],[-0.869842,0.474631,0.134537],[0.172169,0.036498,0.984391]]
2025-10-25T00:27:24.970Z,1761352044.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450991,0.890397,-0.061637],[-0.873430,0.454497,0.174794],[0.183650,-0.024995,0.982674]]
2025-10-25T00:27:25.374Z,1761352045.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475934,0.878802,-0.034564],[-0.863719,0.474450,0.169962],[0.165762,-0.051037,0.984844]]
2025-10-25T00:27:25.779Z,1761352045.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493567,0.869550,-0.016554],[-0.853258,0.487829,0.184317],[0.168349,-0.076848,0.982727]]
2025-10-25T00:27:26.182Z,1761352046.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468222,0.882087,0.051872],[-0.878311,0.458191,0.136497],[0.096635,-0.109470,0.989282]]
2025-10-25T00:27:26.586Z,1761352046.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453663,0.879839,0.141681],[-0.890796,0.452330,0.043360],[-0.025937,-0.145879,0.988962]]
2025-10-25T00:27:26.964Z,1761352046.964 [DataOverHttps](INFO): Received command: run Maintenance/run_backseat_on_surface.tl
2025-10-25T00:27:26.991Z,1761352046.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436924,0.888151,0.142424],[-0.893689,0.446592,-0.043299],[-0.102062,-0.108364,0.988858]]
2025-10-25T00:27:27.069Z,1761352047.069 [CommandExec](IMPORTANT): got command run ./Missions/Maintenance/run_backseat_on_surface.tl
2025-10-25T00:27:27.070Z,1761352047.070 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/run_backseat_on_surface.tl
2025-10-25T00:27:27.071Z,1761352047.071 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/run_backseat_on_surface.tl
2025-10-25T00:27:27.086Z,1761352047.086 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/run_backseat_on_surface.tl
2025-10-25T00:27:27.396Z,1761352047.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385956,0.914941,0.117985],[-0.909831,0.398660,-0.115230],[-0.152465,-0.062873,0.986307]]
2025-10-25T00:27:27.798Z,1761352047.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388008,0.915127,0.109505],[-0.915284,0.396543,-0.070769],[-0.108186,-0.072769,0.991464]]
2025-10-25T00:27:28.202Z,1761352048.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457064,0.883883,0.099211],[-0.884619,0.463344,-0.052559],[-0.092425,-0.063741,0.993677]]
2025-10-25T00:27:28.606Z,1761352048.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511359,0.856159,0.074190],[-0.855587,0.515297,-0.049389],[-0.080514,-0.038220,0.996020]]
2025-10-25T00:27:28.968Z,1761352048.968 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:27:29.013Z,1761352049.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498503,0.866869,-0.005724],[-0.864284,0.497506,0.074162],[0.067137,-0.032023,0.997230]]
2025-10-25T00:27:29.416Z,1761352049.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466633,0.883546,-0.040017],[-0.870361,0.466772,0.156828],[0.157244,-0.038351,0.986815]]
2025-10-25T00:27:29.818Z,1761352049.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454180,0.890646,0.021666],[-0.882771,0.446618,0.145765],[0.120148,-0.085330,0.989082]]
2025-10-25T00:27:30.225Z,1761352050.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434000,0.898515,0.065692],[-0.890510,0.416797,0.182409],[0.136517,-0.137665,0.981026]]
2025-10-25T00:27:30.629Z,1761352050.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464406,0.875357,0.134450],[-0.880904,0.440927,0.172022],[0.091298,-0.198326,0.975875]]
2025-10-25T00:27:30.910Z,1761352050.910 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/run_backseat_on_surface.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="run_backseat_on_surface">
    <DefineArg Name="ElapsedSinceMissionStarted">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <Insert Id="Science" Filename="Insert/Science.tl" />
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Assign>
        <Sequence />
        <Arg Name="BackseatDriver:EnableBackseat" />
        <True />
    </Assign>
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:GoToSurface>
        <Progression />
    </Guidance:GoToSurface>
    <Aggregate Id="CheckIn">
        <Sequence Repeat="288" />
        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M" />
            <Universal:time_fix />
        </ReadDatum>
        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute>
                    <Sequence />
                    <Setting>
                        <Guidance:Execute.command />
                        <String>Burn on</String>
                    </Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
        <Assign>
            <Sequence />
            <Arg Name="ElapsedSinceMissionStarted" />
            <Elapsed>
                <Universal:mission_started />
            </Elapsed>
        </Assign>
        <Syslog Severity="Important">
            run_backseat_on_surface mission has been running for 
            <Arg Name="ElapsedSinceMissionStarted" />
            <Units:minute />
        </Syslog>
    </Aggregate>
    <Syslog Severity="Important">Restarting logs and run_backseat_on_surface mission.</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
</Mission>

2025-10-25T00:27:30.914Z,1761352050.914 [MissionManager](INFO): DefineArg run_backseat_on_surface.ElapsedSinceMissionStarted = 0.000000 min
2025-10-25T00:27:30.915Z,1761352050.915 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-10-25T00:27:30.915Z,1761352050.915 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-10-25T00:27:30.933Z,1761352050.933 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-10-25T00:27:31.030Z,1761352051.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523677,0.830339,0.190525],[-0.850095,0.523940,0.053152],[-0.055690,-0.189798,0.980242]]
2025-10-25T00:27:31.435Z,1761352051.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546000,0.829857,0.114982],[-0.832741,0.552615,-0.034050],[-0.091797,-0.077159,0.992784]]
2025-10-25T00:27:31.839Z,1761352051.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508050,0.861160,0.016976],[-0.860604,0.508332,-0.030974],[-0.035303,0.001126,0.999376]]
2025-10-25T00:27:32.243Z,1761352052.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471984,0.878250,0.076863],[-0.881259,0.472451,0.013145],[-0.024769,-0.073941,0.996955]]
2025-10-25T00:27:32.648Z,1761352052.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482537,0.865239,0.136086],[-0.875690,0.479773,0.054634],[-0.018019,-0.145532,0.989189]]
2025-10-25T00:27:33.051Z,1761352053.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479722,0.870373,0.110987],[-0.876206,0.468557,0.112770],[0.046148,-0.151346,0.987403]]
2025-10-25T00:27:33.455Z,1761352053.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521282,0.850752,0.066979],[-0.851479,0.513273,0.107401],[0.056993,-0.113017,0.991957]]
2025-10-25T00:27:33.859Z,1761352053.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560913,0.827848,-0.006633],[-0.827426,0.560854,0.028433],[0.027258,-0.010461,0.999574]]
2025-10-25T00:27:34.263Z,1761352054.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548295,0.832193,-0.082632],[-0.835687,0.548958,-0.016508],[0.031623,0.078105,0.996443]]
2025-10-25T00:27:34.667Z,1761352054.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537092,0.838635,-0.090685],[-0.839602,0.541851,0.038281],[0.081242,0.055579,0.995144]]
2025-10-25T00:27:35.072Z,1761352055.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516982,0.855204,-0.036820],[-0.852001,0.518244,0.074284],[0.082610,-0.007033,0.996557]]
2025-10-25T00:27:35.475Z,1761352055.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494562,0.867573,0.052203],[-0.869130,0.493337,0.035103],[0.004700,-0.062732,0.998019]]
2025-10-25T00:27:35.885Z,1761352055.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497461,0.859403,0.118148],[-0.867014,0.497052,0.035023],[-0.028627,-0.119858,0.992378]]
2025-10-25T00:27:36.283Z,1761352056.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526422,0.847280,0.070691],[-0.850184,0.523775,0.053348],[0.008175,-0.088184,0.996071]]
2025-10-25T00:27:36.687Z,1761352056.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528753,0.848756,0.005865],[-0.848704,0.528606,0.016638],[0.011022,-0.013775,0.999844]]
2025-10-25T00:27:37.113Z,1761352057.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527653,0.849460,0.000588],[-0.848569,0.527132,-0.045413],[-0.038886,0.023463,0.998968]]
2025-10-25T00:27:37.496Z,1761352057.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519608,0.854162,0.020379],[-0.852533,0.519900,-0.053782],[-0.056534,0.010572,0.998345]]
2025-10-25T00:27:37.951Z,1761352057.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526262,0.850228,-0.012685],[-0.847888,0.525825,0.067776],[0.064295,-0.024913,0.997620]]
2025-10-25T00:27:38.303Z,1761352058.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550890,0.830035,-0.086959],[-0.809895,0.556841,0.184389],[0.201471,-0.031151,0.978999]]
2025-10-25T00:27:38.508Z,1761352058.508 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDepthAvgProfilesChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledRBRTridente">
        <Science:RBRTridente.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="NumberOfLayers">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlAvgProfiles">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepthAvgProfiles">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="EnabledRBRTridente" />
            </Or>
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
        <Aggregate Id="SyslogSendDataPeakDepthAvgProfilesChl">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="PeakDepthAvgProfilesChlActive" />
                </Not>
            </Break>
            <Syslog Severity="Info">
                PeakChlAvgProfiles = 
                <Arg Name="PeakChlAvgProfiles" />
                <Units:microgram_per_liter />
                . PeakChlDepthAvgProfiles = 
                <Arg Name="PeakChlDepthAvgProfiles" />
                <Units:meter />
            </Syslog>
            <SendData Service="Express">
                <Arg Name="PeakChlAvgProfiles" />
                <Arg Name="PeakChlDepthAvgProfiles" />
            </SendData>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDepthAvgProfilesChl">
        <While>
            <Arg Name="PeakDepthAvgProfilesChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectHorizontal</Syslog>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <False />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <OutputArg Name="PeakChlAvgProfiles">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepthAvgProfiles">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-10-25T00:27:38.574Z,1761352058.574 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectChlActive = 0 bool
2025-10-25T00:27:38.576Z,1761352058.576 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDepthAvgProfilesChlActive = 0 bool
2025-10-25T00:27:38.578Z,1761352058.578 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EdgeDetectChlActive = 0 bool
2025-10-25T00:27:38.581Z,1761352058.581 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.TimeWindowPeakReport = nan min
2025-10-25T00:27:38.582Z,1761352058.582 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.HighestChlPeakReportActive = 0 bool
2025-10-25T00:27:38.600Z,1761352058.600 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.HighestSaltPeakReportActive = 0 bool
2025-10-25T00:27:38.602Z,1761352058.602 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.HighestOilPeakReportActive = 0 bool
2025-10-25T00:27:38.608Z,1761352058.608 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PatchTracking = 0 bool
2025-10-25T00:27:38.610Z,1761352058.610 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.FilterWidthHorizontal = 3.000000 count
2025-10-25T00:27:38.617Z,1761352058.617 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.NumProfilesSlidingwindow = 100.000000 count
2025-10-25T00:27:38.619Z,1761352058.619 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.OffPeakFractionHorizontal = 80.000000 %
2025-10-25T00:27:38.625Z,1761352058.625 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectNO3Active = 0 bool
2025-10-25T00:27:38.627Z,1761352058.627 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectOilActive = 0 bool
2025-10-25T00:27:38.633Z,1761352058.633 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectFDOMActive = 0 bool
2025-10-25T00:27:38.635Z,1761352058.635 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectSalinityActive = 0 bool
2025-10-25T00:27:38.640Z,1761352058.640 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-10-25T00:27:38.642Z,1761352058.642 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-10-25T00:27:38.649Z,1761352058.649 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-10-25T00:27:38.651Z,1761352058.651 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-10-25T00:27:38.657Z,1761352058.657 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-10-25T00:27:38.659Z,1761352058.659 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-10-25T00:27:38.665Z,1761352058.665 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-10-25T00:27:38.667Z,1761352058.667 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-10-25T00:27:38.673Z,1761352058.673 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-10-25T00:27:38.680Z,1761352058.680 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledAanderaaO2 = 0 bool
2025-10-25T00:27:38.682Z,1761352058.682 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledNeilBrown = 0 bool
2025-10-25T00:27:38.689Z,1761352058.689 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledRBRTridente = 0 bool
2025-10-25T00:27:38.691Z,1761352058.691 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledSeabird = 1 bool
2025-10-25T00:27:38.707Z,1761352058.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539398,0.837363,-0.088728],[-0.820847,0.546385,0.166353],[0.187778,-0.016898,0.982066]]
2025-10-25T00:27:38.730Z,1761352058.730 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledWetLabsBB2FL = 1 bool
2025-10-25T00:27:38.737Z,1761352058.737 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-10-25T00:27:38.739Z,1761352058.739 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledWetLabsUBAT = 0 bool
2025-10-25T00:27:38.750Z,1761352058.750 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.LowPassWindowLength = 20.000000 count
2025-10-25T00:27:38.760Z,1761352058.760 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.MedianFilterLen = 5.000000 count
2025-10-25T00:27:38.762Z,1761352058.762 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.ShallowBound = nan m
2025-10-25T00:27:38.772Z,1761352058.772 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.DeepBound = nan m
2025-10-25T00:27:38.774Z,1761352058.774 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-10-25T00:27:38.787Z,1761352058.787 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.OffPeakFractionVerticalAscent = nan %
2025-10-25T00:27:38.798Z,1761352058.798 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.OffPeakFractionVerticalDescent = nan %
2025-10-25T00:27:38.804Z,1761352058.804 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.ChlPeakThresh = 0.000000 ug/l
2025-10-25T00:27:38.806Z,1761352058.806 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.NumberOfLayers = 1.000000 count
2025-10-25T00:27:38.812Z,1761352058.812 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.ChlThreshTriggerActive = 0 bool
2025-10-25T00:27:38.814Z,1761352058.814 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.ChlLowerThresh = nan ug/l
2025-10-25T00:27:38.821Z,1761352058.821 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.ChlUpperThresh = nan ug/l
2025-10-25T00:27:38.823Z,1761352058.823 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.NumProfilesThresh = 5.000000 count
2025-10-25T00:27:38.829Z,1761352058.829 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-10-25T00:27:38.831Z,1761352058.831 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-10-25T00:27:38.838Z,1761352058.838 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-10-25T00:27:38.844Z,1761352058.844 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-10-25T00:27:38.846Z,1761352058.846 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.GoDown = 1 bool
2025-10-25T00:27:38.853Z,1761352058.853 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChl = nan ug/l
2025-10-25T00:27:38.855Z,1761352058.855 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlDepth = nan m
2025-10-25T00:27:38.861Z,1761352058.861 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlTemperature = nan degC
2025-10-25T00:27:38.863Z,1761352058.863 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlLatitude = nan arcdeg
2025-10-25T00:27:38.870Z,1761352058.870 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlLongitude = nan arcdeg
2025-10-25T00:27:38.876Z,1761352058.876 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlAvgProfiles = nan ug/l
2025-10-25T00:27:38.878Z,1761352058.878 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlDepthAvgProfiles = nan m
2025-10-25T00:27:38.885Z,1761352058.885 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgeChl = nan ug/l
2025-10-25T00:27:38.887Z,1761352058.887 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgeChlDepth = nan m
2025-10-25T00:27:38.893Z,1761352058.893 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgeChlTemperature = nan degC
2025-10-25T00:27:38.895Z,1761352058.895 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgeChlLatitude = nan arcdeg
2025-10-25T00:27:38.903Z,1761352058.903 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgeChlLongitude = nan arcdeg
2025-10-25T00:27:38.909Z,1761352058.909 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakNO3 = nan umol/l
2025-10-25T00:27:38.911Z,1761352058.911 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakNO3Depth = nan m
2025-10-25T00:27:38.918Z,1761352058.918 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakNO3Latitude = nan arcdeg
2025-10-25T00:27:38.924Z,1761352058.924 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakNO3Longitude = nan arcdeg
2025-10-25T00:27:38.926Z,1761352058.926 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakOil = nan kg/m3
2025-10-25T00:27:38.933Z,1761352058.933 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakOilDepth = nan m
2025-10-25T00:27:38.935Z,1761352058.935 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakOilLatitude = nan arcdeg
2025-10-25T00:27:38.941Z,1761352058.941 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakOilLongitude = nan arcdeg
2025-10-25T00:27:38.943Z,1761352058.943 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOM = nan ppb
2025-10-25T00:27:38.950Z,1761352058.950 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOMDepth = nan m
2025-10-25T00:27:38.956Z,1761352058.956 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOMTemperature = nan degC
2025-10-25T00:27:38.958Z,1761352058.958 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOMLatitude = nan arcdeg
2025-10-25T00:27:38.965Z,1761352058.965 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOMLongitude = nan arcdeg
2025-10-25T00:27:38.967Z,1761352058.967 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSalt = nan psu
2025-10-25T00:27:38.973Z,1761352058.973 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSaltDepth = nan m
2025-10-25T00:27:38.975Z,1761352058.975 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSaltTemperature = nan degC
2025-10-25T00:27:38.982Z,1761352058.982 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSaltLatitude = nan arcdeg
2025-10-25T00:27:38.988Z,1761352058.988 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSaltLongitude = nan arcdeg
2025-10-25T00:27:38.990Z,1761352058.990 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-10-25T00:27:38.997Z,1761352058.997 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-10-25T00:27:38.999Z,1761352058.999 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-10-25T00:27:39.006Z,1761352059.006 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-10-25T00:27:39.012Z,1761352059.012 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-10-25T00:27:39.014Z,1761352059.014 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-10-25T00:27:39.020Z,1761352059.020 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-10-25T00:27:39.023Z,1761352059.023 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-10-25T00:27:39.029Z,1761352059.029 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-10-25T00:27:39.031Z,1761352059.031 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-10-25T00:27:39.038Z,1761352059.038 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-10-25T00:27:39.044Z,1761352059.044 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-10-25T00:27:39.046Z,1761352059.046 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-10-25T00:27:39.053Z,1761352059.053 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-10-25T00:27:39.055Z,1761352059.055 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-10-25T00:27:39.061Z,1761352059.061 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-10-25T00:27:39.068Z,1761352059.068 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-10-25T00:27:39.070Z,1761352059.070 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-10-25T00:27:39.076Z,1761352059.076 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-10-25T00:27:39.079Z,1761352059.079 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-10-25T00:27:39.085Z,1761352059.085 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-10-25T00:27:39.087Z,1761352059.087 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-10-25T00:27:39.094Z,1761352059.094 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-10-25T00:27:39.110Z,1761352059.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507857,0.861188,-0.020900],[-0.853023,0.506130,0.127218],[0.120137,-0.046780,0.991655]]
2025-10-25T00:27:39.128Z,1761352059.128 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-10-25T00:27:39.130Z,1761352059.130 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-10-25T00:27:39.141Z,1761352059.141 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-10-25T00:27:39.143Z,1761352059.143 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-10-25T00:27:39.151Z,1761352059.151 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-10-25T00:27:39.166Z,1761352059.166 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-10-25T00:27:39.172Z,1761352059.172 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-10-25T00:27:39.175Z,1761352059.175 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-10-25T00:27:39.177Z,1761352059.177 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-10-25T00:27:39.179Z,1761352059.179 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-10-25T00:27:39.192Z,1761352059.192 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-10-25T00:27:39.195Z,1761352059.195 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-10-25T00:27:39.201Z,1761352059.201 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-10-25T00:27:39.203Z,1761352059.203 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-10-25T00:27:39.210Z,1761352059.210 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-10-25T00:27:39.216Z,1761352059.216 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-10-25T00:27:39.218Z,1761352059.218 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-10-25T00:27:39.225Z,1761352059.225 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChl = nan ug/l
2025-10-25T00:27:39.227Z,1761352059.227 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChlDepth = nan m
2025-10-25T00:27:39.233Z,1761352059.233 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChlLatitude = nan arcdeg
2025-10-25T00:27:39.241Z,1761352059.241 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChlLongitude = nan arcdeg
2025-10-25T00:27:39.243Z,1761352059.243 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChlDistance = nan m
2025-10-25T00:27:39.249Z,1761352059.249 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSalt = nan psu
2025-10-25T00:27:39.256Z,1761352059.256 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSaltDepth = nan m
2025-10-25T00:27:39.258Z,1761352059.258 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSaltLatitude = nan arcdeg
2025-10-25T00:27:39.265Z,1761352059.265 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSaltLongitude = nan arcdeg
2025-10-25T00:27:39.267Z,1761352059.267 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSaltDistance = nan m
2025-10-25T00:27:39.273Z,1761352059.273 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOil = nan psu
2025-10-25T00:27:39.280Z,1761352059.280 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOilDepth = nan m
2025-10-25T00:27:39.282Z,1761352059.282 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOilLatitude = nan arcdeg
2025-10-25T00:27:39.288Z,1761352059.288 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOilLongitude = nan arcdeg
2025-10-25T00:27:39.291Z,1761352059.291 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOilDistance = nan m
2025-10-25T00:27:39.297Z,1761352059.297 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.TriggeredOnChl = 0 bool
2025-10-25T00:27:39.299Z,1761352059.299 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.ChlTriggering = nan ug/l
2025-10-25T00:27:39.342Z,1761352059.342 [run_backseat_on_surface:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-25T00:27:39.364Z,1761352059.364 [run_backseat_on_surface:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-25T00:27:39.414Z,1761352059.414 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-25T00:27:39.438Z,1761352059.438 [run_backseat_on_surface:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-25T00:27:39.455Z,1761352059.455 [run_backseat_on_surface:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-25T00:27:39.477Z,1761352059.477 [run_backseat_on_surface:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-25T00:27:39.495Z,1761352059.495 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-25T00:27:39.515Z,1761352059.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497293,0.867379,0.018803],[-0.858307,0.488700,0.156466],[0.126526,-0.093948,0.987504]]
2025-10-25T00:27:39.571Z,1761352059.571 [run_backseat_on_surface:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-25T00:27:39.607Z,1761352059.607 [run_backseat_on_surface:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-25T00:27:39.630Z,1761352059.630 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-25T00:27:39.655Z,1761352059.655 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-25T00:27:39.679Z,1761352059.679 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-25T00:27:39.719Z,1761352059.719 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-25T00:27:39.743Z,1761352059.743 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-25T00:27:39.783Z,1761352059.783 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-25T00:27:39.807Z,1761352059.807 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-25T00:27:39.847Z,1761352059.847 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-25T00:27:39.871Z,1761352059.871 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-25T00:27:39.966Z,1761352059.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500045,0.865962,0.008083],[-0.849160,0.488468,0.200815],[0.169950,-0.107280,0.979596]]
2025-10-25T00:27:39.981Z,1761352059.981 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-10-25T00:27:40.005Z,1761352060.005 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-10-25T00:27:40.005Z,1761352060.005 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-10-25T00:27:40.006Z,1761352060.006 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-10-25T00:27:40.065Z,1761352060.065 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-10-25T00:27:40.076Z,1761352060.076 [MissionManager](INFO): DefineArg run_backseat_on_surface:BackseatDriver.EnableBackseat = 0 bool
2025-10-25T00:27:40.078Z,1761352060.078 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-10-25T00:27:40.090Z,1761352060.090 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-10-25T00:27:40.090Z,1761352060.090 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-10-25T00:27:40.091Z,1761352060.091 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-10-25T00:27:40.290Z,1761352060.290 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-10-25T00:27:40.297Z,1761352060.297 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.SampleAll = 0 bool
2025-10-25T00:27:40.299Z,1761352060.299 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.SampleLoad1 = 0 bool
2025-10-25T00:27:40.305Z,1761352060.305 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.SampleLoad2 = 0 bool
2025-10-25T00:27:40.307Z,1761352060.307 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.SampleLoad3 = 0 bool
2025-10-25T00:27:40.323Z,1761352060.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508822,0.860613,-0.021110],[-0.843985,0.503524,0.184803],[0.169673,-0.076216,0.982549]]
2025-10-25T00:27:40.346Z,1761352060.346 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.EnabledPowerOnly = 0 bool
2025-10-25T00:27:40.368Z,1761352060.368 [run_backseat_on_surface:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-10-25T00:27:40.370Z,1761352060.370 [run_backseat_on_surface:E.GoToSurface](DEBUG): Construct GoToSurface.
2025-10-25T00:27:40.404Z,1761352060.404 [run_backseat_on_surface:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-10-25T00:27:40.406Z,1761352060.406 [run_backseat_on_surface:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-10-25T00:27:40.421Z,1761352060.421 [run_backseat_on_surface:H.Execute](DEBUG): Construct Execute.
2025-10-25T00:27:40.495Z,1761352060.495 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission run_backseat_on_surface {
  arguments {
    ElapsedSinceMissionStarted = 0 minute
  }

  # Power the science payload.

  insert id="Science" Insert/Science.tl

  # Power the Backseat payload.

  insert Insert/BackseatDriver.tl

  assign in sequence BackseatDriver:EnableBackseat = true

  insert Insert/PowerOnly.tl

  behavior Guidance:GoToSurface {
    run in progression
  }

  aggregate CheckIn {
    run in sequence repeat=288

    readDatum id="Read_GPS" {
      timeout duration=P5M

      Universal:time_fix
    }

    readDatum id="Read_Iridium" {
      timeout duration=P2H {
        behavior Guidance:Execute {
          run in sequence

          set command = "Burn on"
        }

        syslog critical "Dropped weight due to communications timeout."
      }

      Universal:platform_communications
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = 5 minute
    }

    assign in sequence ElapsedSinceMissionStarted = elapsed ( Universal:mission_started )

    syslog important "run_backseat_on_surface mission has been running for "
         + ElapsedSinceMissionStarted~minute
  }

  syslog important "Restarting logs and run_backseat_on_surface mission."

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }
}


2025-10-25T00:27:40.501Z,1761352060.501 [CommandExec](IMPORTANT): Running ./Missions/Maintenance/run_backseat_on_surface.tl
2025-10-25T00:27:40.726Z,1761352060.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491664,0.869870,-0.039918],[-0.863123,0.492893,0.109887],[0.115263,-0.019573,0.993142]]
2025-10-25T00:27:40.753Z,1761352060.753 [DefaultWithUndock] Stopped
2025-10-25T00:27:40.753Z,1761352060.753 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-10-25T00:27:40.753Z,1761352060.753 [DefaultWithUndock:SurfaceDefault] Stopped
2025-10-25T00:27:40.753Z,1761352060.753 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2025-10-25T00:27:40.753Z,1761352060.753 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2025-10-25T00:27:40.753Z,1761352060.753 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-25T00:27:40.753Z,1761352060.753 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-10-25T00:27:40.753Z,1761352060.753 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-10-25T00:27:40.754Z,1761352060.754 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-10-25T00:27:40.754Z,1761352060.754 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-10-25T00:27:40.754Z,1761352060.754 [MissionManager](IMPORTANT): Started mission run_backseat_on_surface
2025-10-25T00:27:40.754Z,1761352060.754 [run_backseat_on_surface] Running Loop=1
2025-10-25T00:27:40.754Z,1761352060.754 [run_backseat_on_surface](DEBUG): Aggregate::initialize run_backseat_on_surface
2025-10-25T00:27:40.754Z,1761352060.754 [run_backseat_on_surface:Science] Running Loop=1
2025-10-25T00:27:40.754Z,1761352060.754 [run_backseat_on_surface:Science](DEBUG): Aggregate::initialize run_backseat_on_surface:Science
2025-10-25T00:27:40.754Z,1761352060.754 [run_backseat_on_surface:Science:A] Running Loop=1
2025-10-25T00:27:40.754Z,1761352060.754 [run_backseat_on_surface:Science:B] Running Loop=1
2025-10-25T00:27:40.755Z,1761352060.755 [run_backseat_on_surface:Science:C] Running Loop=1
2025-10-25T00:27:40.755Z,1761352060.755 [run_backseat_on_surface:Science:D] Running Loop=1
2025-10-25T00:27:40.755Z,1761352060.755 [run_backseat_on_surface:Science:E] Running Loop=1
2025-10-25T00:27:40.755Z,1761352060.755 [run_backseat_on_surface:Science:F] Running Loop=1
2025-10-25T00:27:40.755Z,1761352060.755 [run_backseat_on_surface:Science:Read_Oil] Running Loop=1
2025-10-25T00:27:40.755Z,1761352060.755 [run_backseat_on_surface:Science:PeakDetectChl] Running Loop=1
2025-10-25T00:27:40.755Z,1761352060.755 [run_backseat_on_surface:Science:PeakDetectChl](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectChl
2025-10-25T00:27:40.755Z,1761352060.755 [run_backseat_on_surface:Science:PeakDetectChl:A] Running Loop=1
2025-10-25T00:27:40.755Z,1761352060.755 [run_backseat_on_surface:Science:EdgeDetectChl] Running Loop=1
2025-10-25T00:27:40.755Z,1761352060.755 [run_backseat_on_surface:Science:EdgeDetectChl](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:EdgeDetectChl
2025-10-25T00:27:40.755Z,1761352060.755 [run_backseat_on_surface:Science:EdgeDetectChl:A] Running Loop=1
2025-10-25T00:27:40.755Z,1761352060.755 [run_backseat_on_surface:Science:HighestChlPeakReport] Running Loop=1
2025-10-25T00:27:40.760Z,1761352060.760 [run_backseat_on_surface:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:HighestChlPeakReport
2025-10-25T00:27:40.760Z,1761352060.760 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-25T00:27:40.760Z,1761352060.760 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-25T00:27:40.760Z,1761352060.760 [run_backseat_on_surface:Science:PeakDepthAvgProfilesChl] Running Loop=1
2025-10-25T00:27:40.761Z,1761352060.761 [run_backseat_on_surface:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDepthAvgProfilesChl
2025-10-25T00:27:40.761Z,1761352060.761 [run_backseat_on_surface:Science:PeakDepthAvgProfilesChl:A] Running Loop=1
2025-10-25T00:27:40.761Z,1761352060.761 [run_backseat_on_surface:Science:PeakDetectNO3] Running Loop=1
2025-10-25T00:27:40.761Z,1761352060.761 [run_backseat_on_surface:Science:PeakDetectNO3](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectNO3
2025-10-25T00:27:40.761Z,1761352060.761 [run_backseat_on_surface:Science:PeakDetectNO3:A] Running Loop=1
2025-10-25T00:27:40.761Z,1761352060.761 [run_backseat_on_surface:Science:PeakDetectOil] Running Loop=1
2025-10-25T00:27:40.761Z,1761352060.761 [run_backseat_on_surface:Science:PeakDetectOil](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectOil
2025-10-25T00:27:40.761Z,1761352060.761 [run_backseat_on_surface:Science:PeakDetectOil:A] Running Loop=1
2025-10-25T00:27:40.761Z,1761352060.761 [run_backseat_on_surface:Science:HighestOilPeakReport] Running Loop=1
2025-10-25T00:27:40.762Z,1761352060.762 [run_backseat_on_surface:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:HighestOilPeakReport
2025-10-25T00:27:40.762Z,1761352060.762 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-25T00:27:40.762Z,1761352060.762 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-25T00:27:40.762Z,1761352060.762 [run_backseat_on_surface:Science:PeakDetectFDOM] Running Loop=1
2025-10-25T00:27:40.762Z,1761352060.762 [run_backseat_on_surface:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectFDOM
2025-10-25T00:27:40.762Z,1761352060.762 [run_backseat_on_surface:Science:PeakDetectFDOM:A] Running Loop=1
2025-10-25T00:27:40.762Z,1761352060.762 [run_backseat_on_surface:Science:PeakDetectSalinity] Running Loop=1
2025-10-25T00:27:40.763Z,1761352060.763 [run_backseat_on_surface:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectSalinity
2025-10-25T00:27:40.763Z,1761352060.763 [run_backseat_on_surface:Science:PeakDetectSalinity:A] Running Loop=1
2025-10-25T00:27:40.763Z,1761352060.763 [run_backseat_on_surface:Science:HighestSaltPeakReport] Running Loop=1
2025-10-25T00:27:40.763Z,1761352060.763 [run_backseat_on_surface:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:HighestSaltPeakReport
2025-10-25T00:27:40.763Z,1761352060.763 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-25T00:27:40.763Z,1761352060.763 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-25T00:27:40.763Z,1761352060.763 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-10-25T00:27:40.768Z,1761352060.768 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI
2025-10-25T00:27:40.768Z,1761352060.768 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-10-25T00:27:40.768Z,1761352060.768 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-10-25T00:27:40.768Z,1761352060.768 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI
2025-10-25T00:27:40.768Z,1761352060.768 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-10-25T00:27:40.768Z,1761352060.768 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-10-25T00:27:40.768Z,1761352060.768 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI
2025-10-25T00:27:40.769Z,1761352060.769 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-10-25T00:27:40.769Z,1761352060.769 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-10-25T00:27:40.769Z,1761352060.769 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI
2025-10-25T00:27:40.769Z,1761352060.769 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-10-25T00:27:40.769Z,1761352060.769 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-10-25T00:27:40.769Z,1761352060.769 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms
2025-10-25T00:27:40.770Z,1761352060.770 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-10-25T00:27:40.770Z,1761352060.770 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-10-25T00:27:40.770Z,1761352060.770 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms
2025-10-25T00:27:40.770Z,1761352060.770 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-10-25T00:27:40.770Z,1761352060.770 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-10-25T00:27:40.770Z,1761352060.770 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates
2025-10-25T00:27:40.770Z,1761352060.770 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-10-25T00:27:40.770Z,1761352060.770 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-10-25T00:27:40.771Z,1761352060.771 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates
2025-10-25T00:27:40.771Z,1761352060.771 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-10-25T00:27:40.771Z,1761352060.771 [run_backseat_on_surface:Science:ChlThreshTrigger] Running Loop=1
2025-10-25T00:27:40.771Z,1761352060.771 [run_backseat_on_surface:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:ChlThreshTrigger
2025-10-25T00:27:40.771Z,1761352060.771 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-10-25T00:27:40.771Z,1761352060.771 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-10-25T00:27:40.772Z,1761352060.772 [run_backseat_on_surface:Science:OceanCurrent] Running Loop=1
2025-10-25T00:27:40.776Z,1761352060.776 [run_backseat_on_surface:Science:OceanCurrent](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:OceanCurrent
2025-10-25T00:27:40.776Z,1761352060.776 [run_backseat_on_surface:Science:OceanCurrent:A.] Running Loop=1
2025-10-25T00:27:40.776Z,1761352060.776 [run_backseat_on_surface:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-10-25T00:27:40.776Z,1761352060.776 [run_backseat_on_surface:BackseatDriver] Running Loop=1
2025-10-25T00:27:40.776Z,1761352060.776 [run_backseat_on_surface:BackseatDriver](DEBUG): Aggregate::initialize run_backseat_on_surface:BackseatDriver
2025-10-25T00:27:40.776Z,1761352060.776 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-10-25T00:27:40.776Z,1761352060.776 [run_backseat_on_surface:PowerOnly] Running Loop=1
2025-10-25T00:27:40.777Z,1761352060.777 [run_backseat_on_surface:PowerOnly](DEBUG): Aggregate::initialize run_backseat_on_surface:PowerOnly
2025-10-25T00:27:40.777Z,1761352060.777 [run_backseat_on_surface:PowerOnly:A] Running Loop=1
2025-10-25T00:27:40.777Z,1761352060.777 [run_backseat_on_surface:PowerOnly:B] Running Loop=1
2025-10-25T00:27:40.777Z,1761352060.777 [run_backseat_on_surface:PowerOnly:C] Running Loop=1
2025-10-25T00:27:40.777Z,1761352060.777 [run_backseat_on_surface:PowerOnly:D] Running Loop=1
2025-10-25T00:27:40.777Z,1761352060.777 [run_backseat_on_surface:PowerOnly:E.Wait] Running Loop=1
2025-10-25T00:27:40.777Z,1761352060.777 [run_backseat_on_surface:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-10-25T00:27:40.777Z,1761352060.777 [run_backseat_on_surface:E.GoToSurface] Running Loop=1
2025-10-25T00:27:40.777Z,1761352060.777 [run_backseat_on_surface:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-25T00:27:40.778Z,1761352060.778 [run_backseat_on_surface:E.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-10-25T00:27:40.778Z,1761352060.778 [run_backseat_on_surface:E.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-10-25T00:27:40.778Z,1761352060.778 [run_backseat_on_surface:E.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-10-25T00:27:40.778Z,1761352060.778 [run_backseat_on_surface:E.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-10-25T00:27:40.779Z,1761352060.779 [run_backseat_on_surface:E.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-25T00:27:40.779Z,1761352060.779 [run_backseat_on_surface:E.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-25T00:27:40.779Z,1761352060.779 [run_backseat_on_surface:C] Running Loop=1
2025-10-25T00:27:40.787Z,1761352060.787 [run_backseat_on_surface:PowerOnly] Running Loop=1
2025-10-25T00:27:40.792Z,1761352060.792 [run_backseat_on_surface:PowerOnly:D] Stopped
2025-10-25T00:27:40.792Z,1761352060.792 [run_backseat_on_surface:PowerOnly:C] Stopped
2025-10-25T00:27:40.792Z,1761352060.792 [run_backseat_on_surface:PowerOnly:B] Stopped
2025-10-25T00:27:40.792Z,1761352060.792 [run_backseat_on_surface:PowerOnly:A] Stopped
2025-10-25T00:27:40.792Z,1761352060.792 [run_backseat_on_surface:C] Stopped
2025-10-25T00:27:40.793Z,1761352060.793 [run_backseat_on_surface:BackseatDriver] Running Loop=1
2025-10-25T00:27:40.793Z,1761352060.793 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-10-25T00:27:40.834Z,1761352060.834 [run_backseat_on_surface:Science] Running Loop=1
2025-10-25T00:27:40.836Z,1761352060.836 [run_backseat_on_surface:Science:ChlThreshTrigger] Stopped
2025-10-25T00:27:40.836Z,1761352060.836 [run_backseat_on_surface:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:ChlThreshTrigger
2025-10-25T00:27:40.836Z,1761352060.836 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-10-25T00:27:40.836Z,1761352060.836 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-10-25T00:27:40.837Z,1761352060.837 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-10-25T00:27:40.837Z,1761352060.837 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates
2025-10-25T00:27:40.837Z,1761352060.837 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-10-25T00:27:40.837Z,1761352060.837 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-10-25T00:27:40.837Z,1761352060.837 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates
2025-10-25T00:27:40.837Z,1761352060.837 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-10-25T00:27:40.837Z,1761352060.837 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-10-25T00:27:40.837Z,1761352060.837 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms
2025-10-25T00:27:40.837Z,1761352060.837 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-10-25T00:27:40.837Z,1761352060.837 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-10-25T00:27:40.837Z,1761352060.837 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms
2025-10-25T00:27:40.837Z,1761352060.837 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-10-25T00:27:40.838Z,1761352060.838 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-10-25T00:27:40.838Z,1761352060.838 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI
2025-10-25T00:27:40.838Z,1761352060.838 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-10-25T00:27:40.838Z,1761352060.838 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-10-25T00:27:40.838Z,1761352060.838 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI
2025-10-25T00:27:40.838Z,1761352060.838 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-10-25T00:27:40.838Z,1761352060.838 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-10-25T00:27:40.838Z,1761352060.838 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI
2025-10-25T00:27:40.838Z,1761352060.838 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-10-25T00:27:40.838Z,1761352060.838 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-10-25T00:27:40.838Z,1761352060.838 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI
2025-10-25T00:27:40.838Z,1761352060.838 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-10-25T00:27:40.839Z,1761352060.839 [run_backseat_on_surface:Science:HighestSaltPeakReport] Stopped
2025-10-25T00:27:40.839Z,1761352060.839 [run_backseat_on_surface:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:HighestSaltPeakReport
2025-10-25T00:27:40.839Z,1761352060.839 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-25T00:27:40.839Z,1761352060.839 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-25T00:27:40.839Z,1761352060.839 [run_backseat_on_surface:Science:PeakDetectSalinity] Stopped
2025-10-25T00:27:40.839Z,1761352060.839 [run_backseat_on_surface:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectSalinity
2025-10-25T00:27:40.839Z,1761352060.839 [run_backseat_on_surface:Science:PeakDetectSalinity:A] Stopped
2025-10-25T00:27:40.839Z,1761352060.839 [run_backseat_on_surface:Science:PeakDetectFDOM] Stopped
2025-10-25T00:27:40.839Z,1761352060.839 [run_backseat_on_surface:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectFDOM
2025-10-25T00:27:40.839Z,1761352060.839 [run_backseat_on_surface:Science:PeakDetectFDOM:A] Stopped
2025-10-25T00:27:40.839Z,1761352060.839 [run_backseat_on_surface:Science:HighestOilPeakReport] Stopped
2025-10-25T00:27:40.839Z,1761352060.839 [run_backseat_on_surface:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:HighestOilPeakReport
2025-10-25T00:27:40.844Z,1761352060.844 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-25T00:27:40.844Z,1761352060.844 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-25T00:27:40.844Z,1761352060.844 [run_backseat_on_surface:Science:PeakDetectOil] Stopped
2025-10-25T00:27:40.844Z,1761352060.844 [run_backseat_on_surface:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectOil
2025-10-25T00:27:40.844Z,1761352060.844 [run_backseat_on_surface:Science:PeakDetectOil:A] Stopped
2025-10-25T00:27:40.844Z,1761352060.844 [run_backseat_on_surface:Science:PeakDetectNO3] Stopped
2025-10-25T00:27:40.844Z,1761352060.844 [run_backseat_on_surface:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectNO3
2025-10-25T00:27:40.844Z,1761352060.844 [run_backseat_on_surface:Science:PeakDetectNO3:A] Stopped
2025-10-25T00:27:40.845Z,1761352060.845 [run_backseat_on_surface:Science:PeakDepthAvgProfilesChl] Stopped
2025-10-25T00:27:40.845Z,1761352060.845 [run_backseat_on_surface:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDepthAvgProfilesChl
2025-10-25T00:27:40.845Z,1761352060.845 [run_backseat_on_surface:Science:PeakDepthAvgProfilesChl:A] Stopped
2025-10-25T00:27:40.845Z,1761352060.845 [run_backseat_on_surface:Science:HighestChlPeakReport] Stopped
2025-10-25T00:27:40.845Z,1761352060.845 [run_backseat_on_surface:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:HighestChlPeakReport
2025-10-25T00:27:40.845Z,1761352060.845 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-25T00:27:40.845Z,1761352060.845 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-25T00:27:40.845Z,1761352060.845 [run_backseat_on_surface:Science:EdgeDetectChl] Stopped
2025-10-25T00:27:40.845Z,1761352060.845 [run_backseat_on_surface:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:EdgeDetectChl
2025-10-25T00:27:40.845Z,1761352060.845 [run_backseat_on_surface:Science:EdgeDetectChl:A] Stopped
2025-10-25T00:27:40.845Z,1761352060.845 [run_backseat_on_surface:Science:PeakDetectChl] Stopped
2025-10-25T00:27:40.846Z,1761352060.846 [run_backseat_on_surface:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectChl
2025-10-25T00:27:40.846Z,1761352060.846 [run_backseat_on_surface:Science:PeakDetectChl:A] Stopped
2025-10-25T00:27:40.846Z,1761352060.846 [run_backseat_on_surface:Science:OceanCurrent:A.] Running Loop=1
2025-10-25T00:27:40.847Z,1761352060.847 [run_backseat_on_surface:Science:Read_Oil] Stopped
2025-10-25T00:27:40.847Z,1761352060.847 [run_backseat_on_surface:Science:F] Stopped
2025-10-25T00:27:40.847Z,1761352060.847 [run_backseat_on_surface:Science:E] Running Loop=1
2025-10-25T00:27:40.847Z,1761352060.847 [run_backseat_on_surface:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-10-25T00:27:40.852Z,1761352060.852 [run_backseat_on_surface:Science:D] Stopped
2025-10-25T00:27:40.852Z,1761352060.852 [run_backseat_on_surface:Science:C] Running Loop=1
2025-10-25T00:27:40.852Z,1761352060.852 [run_backseat_on_surface:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-10-25T00:27:40.853Z,1761352060.853 [run_backseat_on_surface:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-10-25T00:27:40.853Z,1761352060.853 [run_backseat_on_surface:Science:B] Running Loop=1
2025-10-25T00:27:40.853Z,1761352060.853 [run_backseat_on_surface:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-10-25T00:27:40.854Z,1761352060.854 [run_backseat_on_surface:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-10-25T00:27:40.854Z,1761352060.854 [run_backseat_on_surface:Science:A] Stopped
2025-10-25T00:27:41.132Z,1761352061.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481664,0.875499,-0.038751],[-0.872207,0.483213,0.075900],[0.085175,-0.002759,0.996362]]
2025-10-25T00:27:41.161Z,1761352061.161 [run_backseat_on_surface:CheckIn] Running Loop=1
2025-10-25T00:27:41.161Z,1761352061.161 [run_backseat_on_surface:CheckIn](DEBUG): Aggregate::initialize run_backseat_on_surface:CheckIn
2025-10-25T00:27:41.161Z,1761352061.161 [run_backseat_on_surface:CheckIn:Read_GPS] Running Loop=1
2025-10-25T00:27:41.189Z,1761352061.189 [BackseatComponent](INFO): Powering up
2025-10-25T00:27:41.190Z,1761352061.190 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-10-25T00:27:41.535Z,1761352061.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493082,0.867856,-0.060805],[-0.857263,0.496592,0.135999],[0.148223,-0.014932,0.988841]]
2025-10-25T00:27:41.570Z,1761352061.570 [run_backseat_on_surface:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-10-25T00:27:41.576Z,1761352061.576 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:27:41.633Z,1761352061.633 [WetLabsBB2FL](INFO): Powering up
2025-10-25T00:27:41.969Z,1761352061.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468686,0.880674,-0.068902],[-0.874367,0.473603,0.105747],[0.125760,0.010683,0.992003]]
2025-10-25T00:27:42.343Z,1761352062.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474837,0.879921,-0.016417],[-0.879933,0.475012,0.009038],[0.015751,0.010154,0.999824]]
2025-10-25T00:27:42.747Z,1761352062.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454575,0.890161,0.031203],[-0.890705,0.454393,0.013124],[-0.002496,-0.033758,0.999427]]
2025-10-25T00:27:43.153Z,1761352063.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442829,0.895297,0.048427],[-0.895969,0.439833,0.061536],[0.033793,-0.070639,0.996929]]
2025-10-25T00:27:43.159Z,1761352063.159 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,002742.00,A,3646.45940,N,12151.79208,W,0.622,135.89,251025,,,A*77
2025-10-25T00:27:43.162Z,1761352063.162 [NAL9602](INFO): GPS fix at 20251025T002742: (36.774323, -121.863201)
2025-10-25T00:27:43.197Z,1761352063.197 [run_backseat_on_surface:CheckIn:Read_GPS] Stopped
2025-10-25T00:27:43.197Z,1761352063.197 [run_backseat_on_surface:CheckIn:Read_Iridium] Running Loop=1
2025-10-25T00:27:43.555Z,1761352063.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484011,0.872786,0.063074],[-0.873919,0.478438,0.085805],[0.044712,-0.096652,0.994313]]
2025-10-25T00:27:43.626Z,1761352063.626 [run_backseat_on_surface:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-10-25T00:27:44.165Z,1761352064.165 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-10-25T00:27:44.419Z,1761352064.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389988,0.920726,0.013119],[-0.914287,0.385488,0.124411],[0.109492,-0.060514,0.992144]]
2025-10-25T00:27:45.183Z,1761352065.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365996,0.927967,0.070177],[-0.927301,0.357293,0.111603],[0.078490,-0.105922,0.991272]]
2025-10-25T00:27:45.587Z,1761352065.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429091,0.902619,0.034068],[-0.897483,0.421783,0.128933],[0.102008,-0.085900,0.991068]]
2025-10-25T00:27:45.996Z,1761352065.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456178,0.889740,0.016269],[-0.889887,0.456061,0.010516],[0.001937,-0.019275,0.999812]]
2025-10-25T00:27:46.401Z,1761352066.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428472,0.900950,0.068563],[-0.894433,0.433679,-0.109143],[-0.128067,-0.014560,0.991659]]
2025-10-25T00:27:46.803Z,1761352066.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430583,0.900998,0.052934],[-0.902298,0.431110,0.001611],[-0.021369,-0.048456,0.998597]]
2025-10-25T00:27:47.211Z,1761352067.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430614,0.902437,-0.013361],[-0.891280,0.427528,0.151125],[0.142093,-0.053168,0.988424]]
2025-10-25T00:27:47.617Z,1761352067.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434389,0.900450,-0.022258],[-0.885077,0.431298,0.174987],[0.167167,-0.056313,0.984319]]
2025-10-25T00:27:48.011Z,1761352068.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429253,0.898170,0.095038],[-0.902547,0.422615,0.082501],[0.033936,-0.121190,0.992049]]
2025-10-25T00:27:48.415Z,1761352068.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415933,0.893463,0.169482],[-0.909152,0.412848,0.054763],[-0.021041,-0.176862,0.984011]]
2025-10-25T00:27:48.819Z,1761352068.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395942,0.897311,0.195096],[-0.917820,0.393404,0.053292],[-0.028932,-0.200163,0.979335]]
2025-10-25T00:27:49.223Z,1761352069.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355741,0.920713,0.160423],[-0.934363,0.354115,0.039604],[-0.020345,-0.163982,0.986254]]
2025-10-25T00:27:49.629Z,1761352069.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365442,0.927317,0.080839],[-0.930673,0.362385,0.050242],[0.017296,-0.093596,0.995460]]
2025-10-25T00:27:50.031Z,1761352070.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397787,0.915008,-0.067279],[-0.915329,0.400803,0.039120],[0.062761,0.046021,0.996967]]
2025-10-25T00:27:50.436Z,1761352070.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405367,0.901546,-0.151305],[-0.911584,0.411055,0.007001],[0.068507,0.135090,0.988462]]
2025-10-25T00:27:50.839Z,1761352070.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414970,0.901160,-0.125344],[-0.909473,0.414734,-0.029220],[0.025652,0.126122,0.991683]]
2025-10-25T00:27:51.011Z,1761352071.011 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20251024T220733/Courier0036.lzma
2025-10-25T00:27:51.242Z,1761352071.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410188,0.911146,-0.039488],[-0.911343,0.411151,0.020189],[0.034630,0.027706,0.999016]]
2025-10-25T00:27:51.603Z,1761352071.603 [DataOverHttps](INFO): Moved sent file to Logs/20251024T220733/Courier0036.lzma.bak
2025-10-25T00:27:51.604Z,1761352071.604 [DataOverHttps](INFO): SBD MOMSN=26232699
2025-10-25T00:27:51.654Z,1761352071.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381175,0.923335,0.046455],[-0.923011,0.377225,0.075849],[0.052510,-0.071791,0.996037]]
2025-10-25T00:27:52.052Z,1761352072.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346751,0.925217,0.154068],[-0.937702,0.338115,0.079956],[0.021884,-0.172195,0.984820]]
2025-10-25T00:27:52.455Z,1761352072.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364288,0.914262,0.177256],[-0.929524,0.345250,0.129566],[0.057259,-0.211963,0.975599]]
2025-10-25T00:27:52.859Z,1761352072.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364318,0.925711,0.101647],[-0.924421,0.346258,0.159850],[0.112779,-0.152201,0.981894]]
2025-10-25T00:27:53.271Z,1761352073.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358536,0.932230,0.048982],[-0.930008,0.352153,0.105227],[0.080847,-0.083281,0.993241]]
2025-10-25T00:27:53.673Z,1761352073.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354577,0.934584,-0.028783],[-0.931258,0.355741,0.078784],[0.083870,-0.001131,0.996476]]
2025-10-25T00:27:54.071Z,1761352074.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331740,0.938160,-0.099013],[-0.939970,0.337623,0.049675],[0.080032,0.076590,0.993846]]
2025-10-25T00:27:54.474Z,1761352074.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311652,0.948268,-0.060505],[-0.948697,0.314105,0.036225],[0.053356,0.046111,0.997510]]
2025-10-25T00:27:54.878Z,1761352074.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291030,0.955968,0.037768],[-0.956119,0.289230,0.046725],[0.033744,-0.049709,0.998194]]
2025-10-25T00:27:55.287Z,1761352075.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297086,0.947945,0.114625],[-0.954817,0.295941,0.027280],[-0.008062,-0.117551,0.993034]]
2025-10-25T00:27:55.689Z,1761352075.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319037,0.941844,0.105574],[-0.945910,0.323362,-0.026292],[-0.058902,-0.091475,0.994064]]
2025-10-25T00:27:56.097Z,1761352076.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290571,0.955085,0.058148],[-0.956760,0.290856,0.003688],[-0.013391,-0.056705,0.998301]]
2025-10-25T00:27:56.494Z,1761352076.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242941,0.967688,0.067526],[-0.969807,0.240765,0.038812],[0.021300,-0.074917,0.996962]]
2025-10-25T00:27:56.900Z,1761352076.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242761,0.967933,0.064602],[-0.969707,0.240265,0.044064],[0.027130,-0.073342,0.996938]]
2025-10-25T00:27:57.303Z,1761352077.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274174,0.961461,0.020522],[-0.957972,0.271183,0.093537],[0.084367,-0.045305,0.995404]]
2025-10-25T00:27:57.707Z,1761352077.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252665,0.967265,-0.023623],[-0.963783,0.253759,0.082034],[0.085343,0.002040,0.996350]]
2025-10-25T00:27:58.113Z,1761352078.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264292,0.964442,-0.001148],[-0.964366,0.264286,0.012255],[0.012123,-0.002132,0.999924]]
2025-10-25T00:27:58.516Z,1761352078.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225607,0.973766,0.029695],[-0.974212,0.225386,0.010619],[0.003648,-0.031325,0.999503]]
2025-10-25T00:27:58.918Z,1761352078.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191690,0.975545,0.107547],[-0.981125,0.187629,0.046784],[0.025461,-0.114485,0.993099]]
2025-10-25T00:27:59.328Z,1761352079.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249504,0.956681,0.150029],[-0.968347,0.245326,0.046044],[0.007243,-0.156768,0.987609]]
2025-10-25T00:27:59.731Z,1761352079.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242698,0.960166,0.138486],[-0.970094,0.239621,0.038732],[0.004005,-0.143745,0.989607]]
2025-10-25T00:28:00.132Z,1761352080.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236041,0.962919,0.130659],[-0.971555,0.231207,0.051223],[0.019115,-0.139033,0.990103]]
2025-10-25T00:28:00.534Z,1761352080.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236278,0.969517,0.064877],[-0.971284,0.233735,0.044433],[0.027914,-0.073513,0.996904]]
2025-10-25T00:28:00.939Z,1761352080.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216376,0.976035,0.023180],[-0.975816,0.216961,-0.026663],[-0.031053,-0.016850,0.999376]]
2025-10-25T00:28:01.349Z,1761352081.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197262,0.980237,0.014950],[-0.980344,0.197293,-0.000562],[-0.003501,-0.014545,0.999888]]
2025-10-25T00:28:01.749Z,1761352081.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229075,0.972761,0.035492],[-0.968754,0.224266,0.105930],[0.095085,-0.058649,0.993740]]
2025-10-25T00:28:02.150Z,1761352082.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244173,0.967756,0.061867],[-0.966042,0.237188,0.102489],[0.084510,-0.084791,0.992808]]
2025-10-25T00:28:02.555Z,1761352082.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271232,0.956466,0.107734],[-0.961148,0.263184,0.083238],[0.051260,-0.126125,0.990689]]
2025-10-25T00:28:02.960Z,1761352082.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297155,0.942092,0.155443],[-0.954814,0.294100,0.042837],[-0.005359,-0.161148,0.986916]]
2025-10-25T00:28:03.364Z,1761352083.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272147,0.943170,0.190698],[-0.960200,0.279125,-0.010210],[-0.062859,-0.180330,0.981596]]
2025-10-25T00:28:03.803Z,1761352083.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217639,0.961173,0.169644],[-0.975444,0.220219,0.003689],[-0.033813,-0.166281,0.985498]]
2025-10-25T00:28:04.173Z,1761352084.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155829,0.973308,0.168488],[-0.987521,0.157443,0.003821],[-0.022808,-0.166981,0.985696]]
2025-10-25T00:28:04.581Z,1761352084.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182537,0.974417,0.131120],[-0.983003,0.183534,0.004547],[-0.019635,-0.129721,0.991356]]
2025-10-25T00:28:04.978Z,1761352084.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276392,0.960821,0.020730],[-0.960817,0.275793,0.027721],[0.020918,-0.027579,0.999401]]
2025-10-25T00:28:05.394Z,1761352085.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288298,0.951099,-0.110883],[-0.957533,0.286822,-0.029390],[0.003851,0.114647,0.993399]]
2025-10-25T00:28:05.406Z,1761352085.406 [NAL9602](INFO): SBD MO Status=0, MOMSN=2589, MT Status=0, MTMSN=0
2025-10-25T00:28:05.406Z,1761352085.406 [NAL9602](INFO): No messages in MT queue
2025-10-25T00:28:05.787Z,1761352085.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310202,0.942781,-0.122221],[-0.950584,0.305860,-0.053298],[-0.012866,0.132714,0.991071]]
2025-10-25T00:28:06.191Z,1761352086.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290274,0.956333,-0.034169],[-0.956908,0.290384,-0.001805],[0.008196,0.033220,0.999414]]
2025-10-25T00:28:06.598Z,1761352086.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245689,0.963513,0.106211],[-0.968858,0.240600,0.058526],[0.030836,-0.117282,0.992620]]
2025-10-25T00:28:06.999Z,1761352086.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280346,0.936905,0.208844],[-0.959824,0.270888,0.073199],[0.012007,-0.220974,0.975206]]
2025-10-25T00:28:07.403Z,1761352087.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289173,0.931127,0.222221],[-0.956287,0.270432,0.111271],[0.043512,-0.244683,0.968626]]
2025-10-25T00:28:07.806Z,1761352087.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306577,0.938530,0.158658],[-0.946823,0.283592,0.151989],[0.097652,-0.196817,0.975565]]
2025-10-25T00:28:08.210Z,1761352088.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330804,0.942511,0.047344],[-0.940528,0.325167,0.098349],[0.077301,-0.077062,0.994025]]
2025-10-25T00:28:08.615Z,1761352088.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307177,0.950867,-0.038668],[-0.949442,0.308978,0.055615],[0.064830,0.019629,0.997703]]
2025-10-25T00:28:09.020Z,1761352089.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279762,0.960058,-0.004708],[-0.959922,0.279629,-0.018892],[-0.016821,0.009804,0.999810]]
2025-10-25T00:28:09.199Z,1761352089.199 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20251024T220733/Courier0042.lzma
2025-10-25T00:28:09.424Z,1761352089.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299499,0.951316,0.072787],[-0.952827,0.302163,-0.028593],[-0.049195,-0.060790,0.996938]]
2025-10-25T00:28:09.826Z,1761352089.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313784,0.946560,0.074595],[-0.944354,0.302957,0.128110],[0.098665,-0.110643,0.988951]]
2025-10-25T00:28:10.202Z,1761352090.202 [DataOverHttps](INFO): Moved sent file to Logs/20251024T220733/Courier0042.lzma.bak
2025-10-25T00:28:10.202Z,1761352090.202 [DataOverHttps](INFO): SBD MOMSN=26232702
2025-10-25T00:28:10.231Z,1761352090.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342161,0.938744,0.041053],[-0.911100,0.320764,0.258859],[0.229834,-0.125975,0.965042]]
2025-10-25T00:28:10.634Z,1761352090.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396746,0.917862,0.011046],[-0.899277,0.386243,0.205224],[0.184101,-0.091355,0.978653]]
2025-10-25T00:28:11.040Z,1761352091.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381861,0.924201,0.005849],[-0.921642,0.380316,0.077045],[0.068981,-0.034811,0.997010]]
2025-10-25T00:28:11.443Z,1761352091.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336867,0.940065,0.052903],[-0.940334,0.333042,0.069681],[0.047886,-0.073220,0.996166]]
2025-10-25T00:28:11.846Z,1761352091.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322864,0.940326,0.107449],[-0.944644,0.313165,0.097851],[0.058363,-0.133093,0.989384]]
2025-10-25T00:28:12.251Z,1761352092.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332066,0.932196,0.144021],[-0.941620,0.318616,0.108789],[0.055525,-0.171739,0.983577]]
2025-10-25T00:28:12.660Z,1761352092.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386698,0.914575,0.118394],[-0.922066,0.381199,0.066949],[0.016099,-0.135056,0.990707]]
2025-10-25T00:28:13.064Z,1761352093.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465864,0.883466,0.049586],[-0.883563,0.467481,-0.027906],[-0.047834,-0.030812,0.998380]]
2025-10-25T00:28:13.463Z,1761352093.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482785,0.874164,-0.052494],[-0.874000,0.477184,-0.091763],[-0.055167,0.090182,0.994396]]
2025-10-25T00:28:13.867Z,1761352093.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465747,0.881497,-0.077736],[-0.883698,0.458697,-0.093133],[-0.046439,0.112072,0.992614]]
2025-10-25T00:28:14.273Z,1761352094.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472769,0.880504,-0.034656],[-0.879926,0.469625,-0.071995],[-0.047117,0.064532,0.996803]]
2025-10-25T00:28:14.678Z,1761352094.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486479,0.873469,0.019753],[-0.873673,0.486493,0.004432],[-0.005738,-0.019414,0.999795]]
2025-10-25T00:28:15.082Z,1761352095.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467722,0.880663,0.075293],[-0.883760,0.464580,0.055984],[0.014323,-0.092726,0.995589]]
2025-10-25T00:28:15.483Z,1761352095.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479782,0.867721,0.129885],[-0.877179,0.471156,0.092565],[0.019124,-0.158343,0.987199]]
2025-10-25T00:28:15.906Z,1761352095.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491723,0.865377,0.096593],[-0.870041,0.483809,0.094640],[0.035167,-0.130577,0.990814]]
2025-10-25T00:28:16.290Z,1761352096.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516046,0.856104,-0.027962],[-0.849989,0.515850,0.106857],[0.105905,-0.031376,0.993881]]
2025-10-25T00:28:16.695Z,1761352096.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551440,0.829915,-0.084587],[-0.824526,0.557635,0.095914],[0.126769,0.016853,0.991789]]
2025-10-25T00:28:17.098Z,1761352097.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539480,0.841841,-0.016267],[-0.841639,0.539714,0.018759],[0.024572,0.003571,0.999692]]
2025-10-25T00:28:17.502Z,1761352097.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510422,0.856877,0.072330],[-0.859916,0.508967,0.038692],[-0.003659,-0.081947,0.996630]]
2025-10-25T00:28:17.938Z,1761352097.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550589,0.830379,0.085568],[-0.831115,0.535698,0.149249],[0.078094,-0.153292,0.985090]]
2025-10-25T00:28:18.314Z,1761352098.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582524,0.811129,0.052306],[-0.807141,0.569670,0.154921],[0.095864,-0.132464,0.986541]]
2025-10-25T00:28:18.715Z,1761352098.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584275,0.811550,0.002898],[-0.808967,0.582123,0.081892],[0.064772,-0.050192,0.996637]]
2025-10-25T00:28:19.118Z,1761352099.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564273,0.823914,-0.052556],[-0.819053,0.566665,0.089678],[0.103669,-0.007557,0.994583]]
2025-10-25T00:28:19.522Z,1761352099.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558929,0.823384,-0.098166],[-0.810185,0.567479,0.146862],[0.176631,-0.002553,0.984274]]
2025-10-25T00:28:19.951Z,1761352099.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589160,0.802959,-0.090259],[-0.787383,0.595605,0.159006],[0.181435,-0.022611,0.983143]]
2025-10-25T00:28:20.332Z,1761352100.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615901,0.785837,-0.055914],[-0.772220,0.616236,0.154692],[0.156019,-0.052097,0.986379]]
2025-10-25T00:28:20.734Z,1761352100.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625430,0.778399,-0.054146],[-0.766283,0.625815,0.145487],[0.147133,-0.049501,0.987877]]
2025-10-25T00:28:21.138Z,1761352101.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643658,0.762583,-0.064587],[-0.746443,0.644173,0.166922],[0.168897,-0.059230,0.983852]]
2025-10-25T00:28:21.549Z,1761352101.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662013,0.745884,-0.073458],[-0.728922,0.663549,0.168448],[0.174386,-0.057970,0.982969]]
2025-10-25T00:28:21.963Z,1761352101.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656288,0.750820,-0.074539],[-0.740839,0.659965,0.124914],[0.142981,-0.026758,0.989364]]
2025-10-25T00:28:22.364Z,1761352102.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647381,0.760482,-0.050636],[-0.758785,0.649336,0.051071],[0.071719,0.005359,0.997411]]
2025-10-25T00:28:22.754Z,1761352102.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650933,0.758693,-0.025925],[-0.758216,0.651445,0.026981],[0.037359,0.002094,0.999300]]
2025-10-25T00:28:23.158Z,1761352103.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691456,0.718875,-0.071469],[-0.714369,0.695125,0.080492],[0.107544,-0.004601,0.994190]]
2025-10-25T00:28:23.574Z,1761352103.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693994,0.712932,-0.100496],[-0.708872,0.701022,0.077899],[0.125987,0.017178,0.991883]]
2025-10-25T00:28:23.969Z,1761352103.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685853,0.722717,-0.085353],[-0.722674,0.690193,0.037087],[0.085713,0.036246,0.995660]]
2025-10-25T00:28:24.370Z,1761352104.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703105,0.707584,-0.070489],[-0.707568,0.706029,0.029514],[0.070651,0.029125,0.997076]]
2025-10-25T00:28:24.775Z,1761352104.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709155,0.702841,-0.055803],[-0.704216,0.709947,-0.007497],[0.034348,0.044614,0.998414]]
2025-10-25T00:28:25.181Z,1761352105.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701686,0.709426,-0.065970],[-0.712246,0.700841,-0.039081],[0.018510,0.074410,0.997056]]
2025-10-25T00:28:25.585Z,1761352105.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709867,0.695554,-0.110876],[-0.697567,0.716051,0.025904],[0.097410,0.058955,0.993497]]
2025-10-25T00:28:25.986Z,1761352105.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737429,0.671301,-0.074523],[-0.668765,0.741155,0.058663],[0.094614,0.006579,0.995492]]
2025-10-25T00:28:26.391Z,1761352106.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756541,0.653946,-0.000204],[-0.653778,0.756353,0.022466],[0.014846,-0.016864,0.999748]]
2025-10-25T00:28:26.796Z,1761352106.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724308,0.687245,0.055424],[-0.688554,0.725155,0.006608],[-0.035650,-0.042949,0.998441]]
2025-10-25T00:28:27.200Z,1761352107.200 [DataOverHttps](INFO): Sending 174 bytes from file Logs/20251024T220733/Express0038.lzma
2025-10-25T00:28:27.205Z,1761352107.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724070,0.683742,0.090660],[-0.688266,0.724818,0.030481],[-0.044871,-0.084469,0.995415]]
2025-10-25T00:28:27.602Z,1761352107.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747481,0.662752,0.045086],[-0.663547,0.748125,0.003711],[-0.031271,-0.032690,0.998976]]
2025-10-25T00:28:28.007Z,1761352108.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782489,0.621871,-0.031440],[-0.622665,0.781526,-0.038811],[0.000436,0.049946,0.998752]]
2025-10-25T00:28:28.202Z,1761352108.202 [DataOverHttps](INFO): Moved sent file to Logs/20251024T220733/Express0038.lzma.bak
2025-10-25T00:28:28.202Z,1761352108.202 [DataOverHttps](INFO): SBD MOMSN=26232705
2025-10-25T00:28:28.415Z,1761352108.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777447,0.625339,-0.067290],[-0.628086,0.777526,-0.031009],[0.032928,0.066371,0.997252]]
2025-10-25T00:28:28.814Z,1761352108.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745929,0.661255,-0.079564],[-0.664488,0.746989,-0.021498],[0.045218,0.068905,0.996598]]
2025-10-25T00:28:29.255Z,1761352109.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770642,0.637232,-0.006861],[-0.637003,0.770586,0.020592],[0.018409,-0.011499,0.999764]]
2025-10-25T00:28:29.653Z,1761352109.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797009,0.602844,0.036820],[-0.602222,0.797859,-0.027396],[-0.045892,-0.000339,0.998946]]
2025-10-25T00:28:30.059Z,1761352110.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793669,0.608229,-0.012107],[-0.607441,0.793414,0.038858],[0.033241,-0.023486,0.999171]]
2025-10-25T00:28:30.458Z,1761352110.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778447,0.626618,-0.037008],[-0.617108,0.774758,0.137576],[0.114880,-0.084258,0.989800]]
2025-10-25T00:28:30.859Z,1761352110.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788202,0.614959,-0.023734],[-0.607543,0.783689,0.129316],[0.098124,-0.087508,0.991319]]
2025-10-25T00:28:31.262Z,1761352111.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761235,0.648186,0.019383],[-0.648465,0.761054,0.017026],[-0.003715,-0.025530,0.999667]]
2025-10-25T00:28:31.671Z,1761352111.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747740,0.659315,0.078665],[-0.656287,0.751855,-0.063258],[-0.100852,-0.004326,0.994892]]
2025-10-25T00:28:32.072Z,1761352112.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768167,0.639609,0.028623],[-0.639090,0.768699,-0.025809],[-0.038511,0.001533,0.999257]]
2025-10-25T00:28:32.478Z,1761352112.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783972,0.616567,-0.072341],[-0.615054,0.787242,0.044258],[0.084238,0.009796,0.996397]]
2025-10-25T00:28:32.879Z,1761352112.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783824,0.604718,-0.141196],[-0.602988,0.795515,0.059679],[0.148412,0.038361,0.988181]]
2025-10-25T00:28:33.283Z,1761352113.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768588,0.624606,-0.138348],[-0.618302,0.780769,0.090015],[0.164242,0.016356,0.986284]]
2025-10-25T00:28:33.690Z,1761352113.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761792,0.642621,-0.081918],[-0.628524,0.763801,0.146854],[0.156940,-0.060384,0.985760]]
2025-10-25T00:28:34.091Z,1761352114.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771557,0.636159,-0.000876],[-0.625319,0.758662,0.182777],[0.116940,-0.140476,0.983154]]
2025-10-25T00:28:34.494Z,1761352114.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754586,0.655629,0.027396],[-0.651224,0.743077,0.154089],[0.080668,-0.134114,0.987677]]
2025-10-25T00:28:34.898Z,1761352114.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735624,0.677367,-0.005608],[-0.674051,0.732794,0.093106],[0.067176,-0.064711,0.995640]]
2025-10-25T00:28:35.303Z,1761352115.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737017,0.671504,-0.076739],[-0.666802,0.740963,0.079679],[0.110365,-0.007556,0.993862]]
2025-10-25T00:28:35.707Z,1761352115.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746911,0.657765,-0.097313],[-0.654474,0.753101,0.067095],[0.117419,0.013574,0.992990]]
2025-10-25T00:28:36.110Z,1761352116.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767110,0.637857,-0.068415],[-0.638104,0.769663,0.021036],[0.066074,0.027519,0.997435]]
2025-10-25T00:28:36.117Z,1761352116.117 [NAL9602](INFO): Not Powering down - fast GPS
2025-10-25T00:28:36.527Z,1761352116.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751413,0.654284,-0.085384],[-0.652524,0.756049,0.051015],[0.097932,0.017381,0.995041]]
2025-10-25T00:28:36.918Z,1761352116.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729752,0.676506,-0.099002],[-0.663446,0.735652,0.136586],[0.165232,-0.033991,0.985669]]
2025-10-25T00:28:37.323Z,1761352117.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747045,0.658848,-0.088566],[-0.639297,0.748540,0.176033],[0.182274,-0.074885,0.980392]]
2025-10-25T00:28:37.726Z,1761352117.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751600,0.655681,-0.071975],[-0.645029,0.753409,0.127719],[0.137970,-0.049568,0.989195]]
2025-10-25T00:28:38.134Z,1761352118.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718337,0.695689,-0.002913],[-0.694855,0.717669,0.046127],[0.034181,-0.031111,0.998931]]
2025-10-25T00:28:38.548Z,1761352118.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729007,0.682723,0.049376],[-0.682771,0.730398,-0.018530],[-0.048715,-0.020204,0.998608]]
2025-10-25T00:28:38.938Z,1761352118.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735431,0.677567,0.006599],[-0.674874,0.733311,-0.082456],[-0.060709,0.056187,0.996573]]
2025-10-25T00:28:39.343Z,1761352119.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740807,0.666633,-0.082492],[-0.671397,0.738644,-0.060256],[0.020764,0.100023,0.994768]]
2025-10-25T00:28:39.748Z,1761352119.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753974,0.649501,-0.098350],[-0.650864,0.758878,0.021934],[0.088881,0.047475,0.994910]]
2025-10-25T00:28:40.153Z,1761352120.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749951,0.660226,-0.040932],[-0.660140,0.750939,0.017504],[0.042294,0.013894,0.999009]]
2025-10-25T00:28:40.555Z,1761352120.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730950,0.682260,0.015271],[-0.682413,0.730911,0.009071],[-0.004973,-0.017052,0.999842]]
2025-10-25T00:28:40.958Z,1761352120.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730153,0.682668,0.028985],[-0.682341,0.726264,0.083375],[0.035867,-0.080654,0.996097]]
2025-10-25T00:28:41.364Z,1761352121.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729109,0.684125,0.019289],[-0.681424,0.723029,0.113536],[0.063726,-0.095925,0.993347]]
2025-10-25T00:28:41.766Z,1761352121.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706779,0.707162,0.019635],[-0.706868,0.704830,0.059598],[0.028306,-0.056002,0.998029]]
2025-10-25T00:28:42.173Z,1761352122.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699422,0.714673,0.007187],[-0.713760,0.698976,-0.044496],[-0.036824,0.025992,0.998984]]
2025-10-25T00:28:42.574Z,1761352122.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714069,0.698843,-0.041520],[-0.695984,0.702244,-0.149864],[-0.075575,0.135911,0.987834]]
2025-10-25T00:28:42.979Z,1761352122.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757487,0.644541,-0.103830],[-0.652707,0.744347,-0.141144],[-0.013688,0.174685,0.984529]]
2025-10-25T00:28:43.384Z,1761352123.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758757,0.640855,-0.116593],[-0.650132,0.756130,-0.074811],[0.040216,0.132564,0.990358]]
2025-10-25T00:28:43.787Z,1761352123.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737277,0.668718,-0.096125],[-0.670445,0.741745,0.017837],[0.083228,0.051296,0.995209]]
2025-10-25T00:28:44.194Z,1761352124.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683327,0.730092,0.005409],[-0.722219,0.674835,0.151645],[0.107065,-0.107530,0.988420]]
2025-10-25T00:28:44.594Z,1761352124.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685934,0.720223,0.103792],[-0.719383,0.649739,0.245616],[0.109461,-0.243143,0.963795]]
2025-10-25T00:28:45.001Z,1761352125.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717439,0.683849,0.132785],[-0.695092,0.690117,0.201459],[0.046131,-0.236832,0.970455]]
2025-10-25T00:28:45.403Z,1761352125.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668353,0.731295,0.136058],[-0.739885,0.672427,0.020301],[-0.076643,-0.114235,0.990493]]
2025-10-25T00:28:45.548Z,1761352125.548 [DataOverHttps](INFO): Sending 213 bytes from file Logs/20251024T220733/Express0043.lzma
2025-10-25T00:28:45.806Z,1761352125.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641189,0.763423,0.077855],[-0.764137,0.644504,-0.026628],[-0.070506,-0.042418,0.996609]]
2025-10-25T00:28:46.210Z,1761352126.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709913,0.703765,-0.027157],[-0.699349,0.708968,0.090968],[0.083274,-0.045587,0.995483]]
2025-10-25T00:28:46.550Z,1761352126.550 [DataOverHttps](INFO): Moved sent file to Logs/20251024T220733/Express0043.lzma.bak
2025-10-25T00:28:46.550Z,1761352126.550 [DataOverHttps](INFO): SBD MOMSN=26232710
2025-10-25T00:28:46.616Z,1761352126.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733452,0.666475,-0.133640],[-0.653297,0.745465,0.132231],[0.187753,-0.009679,0.982169]]
2025-10-25T00:28:47.023Z,1761352127.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692334,0.712107,-0.116522],[-0.712562,0.700158,0.045115],[0.113710,0.051794,0.992163]]
2025-10-25T00:28:47.423Z,1761352127.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683480,0.729940,0.006570],[-0.727531,0.681904,-0.075534],[-0.059615,0.046846,0.997122]]
2025-10-25T00:28:47.826Z,1761352127.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665449,0.743225,0.069234],[-0.727588,0.666559,-0.162217],[-0.166712,0.057573,0.984323]]
2025-10-25T00:28:47.849Z,1761352127.849 [run_backseat_on_surface:CheckIn:Read_Iridium] Stopped
2025-10-25T00:28:47.849Z,1761352127.849 [run_backseat_on_surface:CheckIn:C.Wait] Running Loop=1
2025-10-25T00:28:47.849Z,1761352127.849 [run_backseat_on_surface:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-10-25T00:28:48.234Z,1761352128.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669225,0.742080,0.038147],[-0.733326,0.667870,-0.127215],[-0.119881,0.057161,0.991141]]
2025-10-25T00:28:48.634Z,1761352128.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675904,0.736705,0.020483],[-0.736454,0.676211,-0.019342],[-0.028101,-0.002012,0.999603]]
2025-10-25T00:28:49.054Z,1761352129.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662014,0.744479,0.086535],[-0.748792,0.661961,0.033441],[-0.032386,-0.086935,0.995687]]
2025-10-25T00:28:49.442Z,1761352129.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674521,0.731251,0.101456],[-0.737613,0.673271,0.051306],[-0.030790,-0.109442,0.993516]]
2025-10-25T00:28:49.860Z,1761352129.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701486,0.712536,0.014507],[-0.711412,0.698875,0.073937],[0.042544,-0.062187,0.997157]]
2025-10-25T00:28:50.268Z,1761352130.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686861,0.723639,-0.067592],[-0.721050,0.690148,0.061497],[0.091150,0.006498,0.995816]]
2025-10-25T00:28:50.681Z,1761352130.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635497,0.771278,-0.035685],[-0.769493,0.636469,0.052797],[0.063434,-0.006093,0.997967]]
2025-10-25T00:28:51.074Z,1761352131.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624654,0.779954,0.038445],[-0.780508,0.622019,0.062446],[0.024792,-0.069014,0.997308]]
2025-10-25T00:28:51.478Z,1761352131.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655436,0.754671,0.029580],[-0.755242,0.654732,0.030601],[0.003726,-0.042397,0.999094]]
2025-10-25T00:28:51.887Z,1761352131.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640416,0.767481,0.029002],[-0.766406,0.641060,-0.040787],[-0.049896,0.003893,0.998747]]
2025-10-25T00:28:52.292Z,1761352132.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617372,0.786189,0.027556],[-0.784632,0.617914,-0.050345],[-0.056608,0.009460,0.998352]]
2025-10-25T00:28:52.697Z,1761352132.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606411,0.794402,-0.034510],[-0.790065,0.606866,0.086667],[0.089791,-0.025290,0.995639]]
2025-10-25T00:28:53.098Z,1761352133.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613696,0.783541,-0.097164],[-0.761365,0.619879,0.189928],[0.209046,-0.042581,0.976978]]
2025-10-25T00:28:53.512Z,1761352133.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638874,0.764686,-0.084236],[-0.753296,0.644038,0.133265],[0.156157,-0.021685,0.987494]]
2025-10-25T00:28:53.975Z,1761352133.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634612,0.771873,-0.038471],[-0.770893,0.635759,0.039177],[0.054698,0.004795,0.998491]]
2025-10-25T00:28:54.310Z,1761352134.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627205,0.778786,-0.010329],[-0.778267,0.627192,0.030519],[0.030246,-0.011103,0.999481]]
2025-10-25T00:28:54.714Z,1761352134.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595563,0.802167,0.042801],[-0.803263,0.594118,0.042340],[0.008534,-0.059597,0.998186]]
2025-10-25T00:28:55.118Z,1761352135.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584698,0.802009,0.122107],[-0.806038,0.591359,-0.024458],[-0.091825,-0.084122,0.992216]]
2025-10-25T00:28:55.525Z,1761352135.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626618,0.772457,0.103253],[-0.764010,0.635025,-0.114160],[-0.153752,-0.007351,0.988082]]
2025-10-25T00:28:55.955Z,1761352135.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647831,0.761691,0.011873],[-0.751139,0.641298,-0.156615],[-0.126906,0.092542,0.987588]]
2025-10-25T00:28:56.331Z,1761352136.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621840,0.780694,-0.061904],[-0.780885,0.612107,-0.124675],[-0.059442,0.125868,0.990265]]
2025-10-25T00:28:56.734Z,1761352136.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598423,0.800455,-0.034071],[-0.800662,0.595965,-0.061377],[-0.028824,0.064009,0.997533]]
2025-10-25T00:28:57.140Z,1761352137.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603761,0.795762,0.047295],[-0.795528,0.605260,-0.028201],[-0.051067,-0.020597,0.998483]]
2025-10-25T00:28:57.545Z,1761352137.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595623,0.799098,0.081708],[-0.802957,0.595119,0.033064],[-0.022205,-0.085302,0.996108]]
2025-10-25T00:28:57.962Z,1761352137.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566025,0.819366,0.090857],[-0.823282,0.556115,0.113763],[0.042686,-0.139194,0.989345]]
2025-10-25T00:28:58.350Z,1761352138.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555167,0.827093,0.087787],[-0.830705,0.546119,0.108089],[0.041458,-0.132933,0.990258]]
2025-10-25T00:28:58.504Z,1761352138.504 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:28:58.754Z,1761352138.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562088,0.825425,0.052266],[-0.826250,0.563229,-0.009146],[-0.036987,-0.038044,0.998591]]
2025-10-25T00:28:59.158Z,1761352139.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549868,0.835244,0.003545],[-0.832247,0.548244,-0.082429],[-0.070792,0.042375,0.996591]]
2025-10-25T00:28:59.563Z,1761352139.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599459,0.798080,-0.060966],[-0.799603,0.593708,-0.090261],[-0.035839,0.102856,0.994050]]
2025-10-25T00:28:59.995Z,1761352139.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636197,0.754401,-0.161658],[-0.767225,0.640702,-0.029446],[0.081361,0.142761,0.986408]]
2025-10-25T00:29:00.371Z,1761352140.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566739,0.800655,-0.194314],[-0.810775,0.583906,0.041216],[0.146461,0.134186,0.980073]]
2025-10-25T00:29:00.775Z,1761352140.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492447,0.868923,-0.049687],[-0.866761,0.494794,0.062485],[0.078879,0.012296,0.996808]]
2025-10-25T00:29:01.179Z,1761352141.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447945,0.887104,0.111316],[-0.894056,0.444850,0.052641],[-0.002821,-0.123103,0.992390]]
2025-10-25T00:29:01.584Z,1761352141.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404944,0.898612,0.168872],[-0.914175,0.394375,0.093557],[0.017473,-0.192264,0.981188]]
2025-10-25T00:29:01.994Z,1761352141.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416559,0.897761,0.143191],[-0.907569,0.401499,0.122956],[0.052894,-0.181174,0.982028]]
2025-10-25T00:29:02.391Z,1761352142.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428579,0.900203,0.077162],[-0.902654,0.422906,0.079790],[0.039195,-0.103847,0.993821]]
2025-10-25T00:29:02.795Z,1761352142.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414270,0.909427,0.036374],[-0.910154,0.413961,0.016021],[-0.000487,-0.039743,0.999210]]
2025-10-25T00:29:03.201Z,1761352143.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390162,0.920690,0.010139],[-0.920746,0.390141,0.004101],[-0.000179,-0.010935,0.999940]]
2025-10-25T00:29:03.603Z,1761352143.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371318,0.928262,0.021259],[-0.927889,0.370139,0.044936],[0.033843,-0.036411,0.998764]]
2025-10-25T00:29:04.009Z,1761352144.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372073,0.927296,0.041027],[-0.925912,0.367688,0.086553],[0.065175,-0.070192,0.995402]]
2025-10-25T00:29:04.416Z,1761352144.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403893,0.912792,0.060671],[-0.913109,0.398219,0.087479],[0.055690,-0.090732,0.994317]]
2025-10-25T00:29:04.820Z,1761352144.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416688,0.903620,0.099205],[-0.909042,0.414647,0.041366],[-0.003756,-0.107419,0.994207]]
2025-10-25T00:29:05.223Z,1761352145.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362762,0.919699,0.150192],[-0.931842,0.359493,0.049350],[-0.008606,-0.157857,0.987424]]
2025-10-25T00:29:05.631Z,1761352145.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358272,0.912403,0.197894],[-0.932328,0.338515,0.127166],[0.049037,-0.230062,0.971940]]
2025-10-25T00:29:06.031Z,1761352146.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387457,0.899817,0.200514],[-0.921072,0.368699,0.125248],[0.038771,-0.233217,0.971651]]
2025-10-25T00:29:06.436Z,1761352146.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420191,0.900009,0.115862],[-0.907312,0.414584,0.070042],[0.015004,-0.134554,0.990793]]
2025-10-25T00:29:06.839Z,1761352146.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419769,0.907265,-0.025780],[-0.906604,0.420476,0.035635],[0.043170,0.008414,0.999032]]
2025-10-25T00:29:07.243Z,1761352147.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385405,0.919335,-0.079289],[-0.921511,0.387912,0.018493],[0.047758,0.065938,0.996680]]
2025-10-25T00:29:07.647Z,1761352147.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369055,0.928744,-0.035117],[-0.929388,0.369029,-0.007459],[0.006032,0.035390,0.999355]]
2025-10-25T00:29:08.051Z,1761352148.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373923,0.926837,0.033987],[-0.927144,0.374501,-0.012398],[-0.024219,-0.026875,0.999345]]
2025-10-25T00:29:08.455Z,1761352148.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410348,0.908969,0.073413],[-0.909625,0.413702,-0.037864],[-0.064788,-0.051241,0.996583]]
2025-10-25T00:29:08.859Z,1761352148.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420009,0.905213,0.064673],[-0.904914,0.423135,-0.045689],[-0.068724,-0.039333,0.996860]]
2025-10-25T00:29:09.263Z,1761352149.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384339,0.922640,0.031914],[-0.923051,0.383446,0.030768],[0.016150,-0.041284,0.999017]]
2025-10-25T00:29:09.679Z,1761352149.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356334,0.932484,0.059156],[-0.932680,0.351186,0.082321],[0.055988,-0.084507,0.994849]]
2025-10-25T00:29:10.079Z,1761352150.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415251,0.905626,0.086070],[-0.909669,0.414236,0.030185],[-0.008317,-0.090830,0.995832]]
2025-10-25T00:29:10.481Z,1761352150.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474259,0.879567,-0.037949],[-0.878767,0.475559,0.040139],[0.053352,0.014313,0.998473]]
2025-10-25T00:29:10.878Z,1761352150.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370550,0.914692,-0.161344],[-0.920842,0.384493,0.064924],[0.121421,0.124515,0.984760]]
2025-10-25T00:29:11.285Z,1761352151.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259932,0.957871,-0.122138],[-0.960955,0.269024,0.064743],[0.094874,0.100541,0.990399]]
2025-10-25T00:29:11.698Z,1761352151.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274961,0.957727,0.084590],[-0.961453,0.273714,0.026232],[0.001969,-0.088543,0.996070]]
2025-10-25T00:29:11.974Z,1761352151.974 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:29:12.095Z,1761352152.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293723,0.947296,0.127891],[-0.955002,0.296578,-0.003444],[-0.041192,-0.121124,0.991782]]
2025-10-25T00:29:12.502Z,1761352152.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242295,0.967206,0.076201],[-0.969508,0.244346,-0.018713],[-0.036719,-0.069343,0.996917]]
2025-10-25T00:29:12.903Z,1761352152.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229255,0.971816,0.054922],[-0.973365,0.228779,0.014885],[0.001901,-0.056872,0.998380]]
2025-10-25T00:29:13.305Z,1761352153.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232372,0.972490,0.016318],[-0.968191,0.229680,0.099261],[0.092782,-0.038864,0.994928]]
2025-10-25T00:29:13.713Z,1761352153.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201124,0.979564,-0.002029],[-0.961977,0.197903,0.188241],[0.184795,-0.035908,0.982121]]
2025-10-25T00:29:14.111Z,1761352154.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180187,0.982084,0.055175],[-0.963583,0.164969,0.210458],[0.197585,-0.091088,0.976045]]
2025-10-25T00:29:14.514Z,1761352154.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179945,0.978561,0.100187],[-0.969815,0.159449,0.184484],[0.164554,-0.130359,0.977716]]
2025-10-25T00:29:14.919Z,1761352154.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171226,0.980036,0.101045],[-0.975127,0.153925,0.159478],[0.140741,-0.125839,0.982017]]
2025-10-25T00:29:15.322Z,1761352155.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150082,0.984843,0.086950],[-0.975372,0.133112,0.175872],[0.161633,-0.111204,0.980565]]
2025-10-25T00:29:15.727Z,1761352155.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170663,0.982243,0.077927],[-0.961579,0.148768,0.230724],[0.215034,-0.114309,0.969894]]
2025-10-25T00:29:16.130Z,1761352156.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168519,0.984664,0.045136],[-0.959056,0.153218,0.238193],[0.227624,-0.083428,0.970168]]
2025-10-25T00:29:16.539Z,1761352156.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126135,0.992006,-0.003735],[-0.972944,0.124444,0.194662],[0.193571,-0.020920,0.980863]]
2025-10-25T00:29:16.946Z,1761352156.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125764,0.991908,0.017385],[-0.974120,0.120153,0.191451],[0.187812,-0.041013,0.981348]]
2025-10-25T00:29:17.347Z,1761352157.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181246,0.983334,0.014262],[-0.969651,0.176266,0.169434],[0.164097,-0.044538,0.985438]]
2025-10-25T00:29:17.751Z,1761352157.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190677,0.981531,-0.015461],[-0.972192,0.190998,0.135512],[0.135962,-0.010808,0.990655]]
2025-10-25T00:29:18.155Z,1761352158.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139412,0.990233,-0.001565],[-0.978390,0.137988,0.153987],[0.152699,-0.019936,0.988072]]
2025-10-25T00:29:18.560Z,1761352158.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084226,0.991061,0.103458],[-0.985543,0.067536,0.155385],[0.147009,-0.115049,0.982422]]
2025-10-25T00:29:18.968Z,1761352158.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062481,0.969058,0.238795],[-0.990163,0.030174,0.136627],[0.125194,-0.244982,0.961411]]
2025-10-25T00:29:19.366Z,1761352159.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085211,0.957814,0.274467],[-0.982594,0.035146,0.182409],[0.165067,-0.285233,0.944137]]
2025-10-25T00:29:19.772Z,1761352159.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123220,0.977321,0.172221],[-0.973298,0.085149,0.213168],[0.193669,-0.193889,0.961717]]
2025-10-25T00:29:20.176Z,1761352160.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113240,0.993554,-0.005242],[-0.977431,0.112346,0.178907],[0.178343,-0.015136,0.983852]]
2025-10-25T00:29:20.579Z,1761352160.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062139,0.993843,-0.091735],[-0.987580,0.074515,0.138322],[0.144306,0.082001,0.986130]]
2025-10-25T00:29:20.888Z,1761352160.888 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:29:20.984Z,1761352160.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074120,0.996165,-0.046493],[-0.990353,0.079001,0.113842],[0.117078,0.037607,0.992410]]
2025-10-25T00:29:21.386Z,1761352161.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121433,0.992551,0.009814],[-0.987322,0.119763,0.104175],[0.102224,-0.022340,0.994511]]
2025-10-25T00:29:21.791Z,1761352161.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083030,0.994671,0.061112],[-0.993891,0.078178,0.077900],[0.072708,-0.067207,0.995086]]
2025-10-25T00:29:22.203Z,1761352162.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053443,0.985837,0.158963],[-0.996129,0.041506,0.077494],[0.069798,-0.162490,0.984238]]
2025-10-25T00:29:22.623Z,1761352162.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032939,0.965609,0.257904],[-0.996315,0.011276,0.085027],[0.079195,-0.259754,0.962422]]
2025-10-25T00:29:23.002Z,1761352163.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028970,0.966698,0.254275],[-0.991383,-0.004724,0.130911],[0.127753,-0.255876,0.958231]]
2025-10-25T00:29:23.406Z,1761352163.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013807,0.989846,0.141472],[-0.993318,-0.002635,0.115382],[0.114583,-0.142120,0.983195]]
2025-10-25T00:29:23.812Z,1761352163.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025171,0.998620,0.046092],[-0.999600,0.024548,0.014037],[0.012886,-0.046427,0.998839]]
2025-10-25T00:29:24.217Z,1761352164.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033371,0.999441,0.001900],[-0.997567,0.033424,-0.061180],[-0.061210,0.000146,0.998125]]
2025-10-25T00:29:24.618Z,1761352164.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027188,0.999630,-0.000299],[-0.993214,0.026979,-0.113133],[-0.113083,0.003373,0.993580]]
2025-10-25T00:29:25.026Z,1761352165.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076445,0.996927,-0.017107],[-0.993936,0.074833,-0.080566],[-0.079038,0.023163,0.996602]]
2025-10-25T00:29:25.426Z,1761352165.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055347,0.998009,-0.030247],[-0.998328,0.055819,0.014985],[0.016644,0.029367,0.999430]]
2025-10-25T00:29:25.833Z,1761352165.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079312,0.996167,0.036902],[-0.992029,-0.082510,0.095241],[0.097921,-0.029055,0.994770]]
2025-10-25T00:29:26.234Z,1761352166.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147822,0.977348,0.151457],[-0.982899,-0.162179,0.087225],[0.109812,-0.135973,0.984608]]
2025-10-25T00:29:26.638Z,1761352166.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063990,0.977296,0.201985],[-0.993712,-0.081033,0.077262],[0.091875,-0.195771,0.976336]]
2025-10-25T00:29:27.047Z,1761352167.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015483,0.991259,0.131015],[-0.998110,-0.023116,0.056942],[0.059472,-0.129886,0.989744]]
2025-10-25T00:29:27.455Z,1761352167.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062468,0.994744,0.081135],[-0.990842,-0.071562,0.114507],[0.119711,-0.073239,0.990104]]
2025-10-25T00:29:27.850Z,1761352167.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062458,0.985617,0.157026],[-0.989509,-0.081688,0.119156],[0.130269,-0.147937,0.980380]]
2025-10-25T00:29:28.256Z,1761352168.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078266,0.971166,0.225192],[-0.996540,-0.082547,0.009647],[0.027957,-0.223658,0.974267]]
2025-10-25T00:29:28.662Z,1761352168.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093474,0.966484,0.239106],[-0.995438,-0.095331,-0.003813],[0.019109,-0.238372,0.970986]]
2025-10-25T00:29:29.072Z,1761352169.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091483,0.974660,0.204128],[-0.992862,-0.105029,0.056522],[0.076529,-0.197500,0.977311]]
2025-10-25T00:29:29.469Z,1761352169.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115136,0.980574,0.158800],[-0.989998,-0.126394,0.062685],[0.081539,-0.149995,0.985319]]
2025-10-25T00:29:29.882Z,1761352169.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119901,0.986158,0.114527],[-0.991676,-0.124421,0.033143],[0.046933,-0.109600,0.992867]]
2025-10-25T00:29:29.960Z,1761352169.960 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:29:30.274Z,1761352170.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136122,0.985825,0.098083],[-0.988448,-0.141807,0.053500],[0.066650,-0.089668,0.993739]]
2025-10-25T00:29:30.682Z,1761352170.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192319,0.970906,0.142671],[-0.972138,-0.208348,0.107420],[0.134020,-0.118037,0.983924]]
2025-10-25T00:29:31.087Z,1761352171.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173443,0.967813,0.182359],[-0.979765,-0.188345,0.067721],[0.099887,-0.166923,0.980897]]
2025-10-25T00:29:31.486Z,1761352171.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083082,0.980621,0.177423],[-0.996356,-0.085187,0.004266],[0.019298,-0.176422,0.984125]]
2025-10-25T00:29:31.902Z,1761352171.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085574,0.988536,0.124396],[-0.996132,-0.087388,0.009189],[0.019954,-0.123128,0.992190]]
2025-10-25T00:29:32.295Z,1761352172.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123325,0.988216,0.090664],[-0.991449,-0.126623,0.031558],[0.042666,-0.085997,0.995381]]
2025-10-25T00:29:32.699Z,1761352172.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131928,0.980955,0.142555],[-0.987686,-0.117886,-0.102857],[-0.084093,-0.154369,0.984428]]
2025-10-25T00:29:33.103Z,1761352173.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185713,0.962700,0.196774],[-0.974237,-0.154323,-0.164461],[-0.127960,-0.222247,0.966557]]
2025-10-25T00:29:33.506Z,1761352173.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232596,0.938753,0.254248],[-0.972470,-0.220676,-0.074856],[-0.014165,-0.264660,0.964238]]
2025-10-25T00:29:33.965Z,1761352173.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204072,0.929489,0.307252],[-0.972754,-0.227807,0.043066],[0.110023,-0.290092,0.950653]]
2025-10-25T00:29:34.320Z,1761352174.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152465,0.932965,0.326083],[-0.983290,-0.176405,0.044964],[0.099472,-0.313779,0.944271]]
2025-10-25T00:29:34.718Z,1761352174.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083871,0.965251,0.247498],[-0.996368,-0.084898,-0.006541],[0.014698,-0.247148,0.968866]]
2025-10-25T00:29:35.122Z,1761352175.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053208,0.993827,0.097345],[-0.997188,-0.047730,-0.057770],[-0.052767,-0.100145,0.993573]]
2025-10-25T00:29:35.526Z,1761352175.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079280,0.996851,0.001592],[-0.996823,-0.079290,0.007597],[0.007699,-0.000985,0.999970]]
2025-10-25T00:29:35.966Z,1761352175.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079010,0.996502,0.027211],[-0.992333,-0.081223,0.093154],[0.095038,-0.019643,0.995280]]
2025-10-25T00:29:36.138Z,1761352176.138 [BackseatComponent](IMPORTANT): ptvr-v2b: running backseat_app backseat application.
2025-10-25T00:29:36.335Z,1761352176.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076550,0.991396,0.106182],[-0.991093,-0.087298,0.100570],[0.108974,-0.097538,0.989248]]
2025-10-25T00:29:36.739Z,1761352176.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065827,0.983941,0.165910],[-0.996254,-0.074152,0.044486],[0.056074,-0.162360,0.985137]]
2025-10-25T00:29:37.142Z,1761352177.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.035674,0.984878,0.169534],[-0.997430,-0.024542,-0.067310],[-0.062131,-0.171500,0.983223]]
2025-10-25T00:29:37.547Z,1761352177.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000548,0.988216,0.153066],[-0.997253,0.011878,-0.073115],[-0.074071,-0.152606,0.985507]]
2025-10-25T00:29:37.965Z,1761352177.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034919,0.994018,0.103480],[-0.998690,-0.030830,-0.040848],[-0.037413,-0.104771,0.993792]]
2025-10-25T00:29:38.354Z,1761352178.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095572,0.992664,0.074053],[-0.994718,-0.092443,-0.044603],[-0.037430,-0.077925,0.996256]]
2025-10-25T00:29:38.763Z,1761352178.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072189,0.993705,0.085666],[-0.996919,-0.074531,0.024465],[0.030696,-0.083636,0.996023]]
2025-10-25T00:29:38.974Z,1761352178.974 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:29:38.974Z,1761352178.974 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:29:39.016Z,1761352179.016 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:29:39.162Z,1761352179.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007742,0.996442,0.083923],[-0.994917,-0.016102,0.099402],[0.100400,-0.082727,0.991502]]
2025-10-25T00:29:39.173Z,1761352179.173 [DAT](ERROR): Failed to copy DAT.enableBroadcast's data value to LCM message.
2025-10-25T00:29:39.174Z,1761352179.174 [DAT](INFO): Activating messaging.
2025-10-25T00:29:39.238Z,1761352179.238 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.horizontalCmdMode with code: 2221
2025-10-25T00:29:39.239Z,1761352179.239 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.rudderAngleCmd with code: 2222
2025-10-25T00:29:39.241Z,1761352179.241 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.speedCmd with code: 2223
2025-10-25T00:29:39.566Z,1761352179.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014976,0.996718,0.079552],[-0.995133,-0.022608,0.095912],[0.097396,-0.077728,0.992206]]
2025-10-25T00:29:39.971Z,1761352179.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019104,0.995338,0.094535],[-0.997956,-0.024750,0.058913],[0.060978,-0.093216,0.993777]]
2025-10-25T00:29:40.374Z,1761352180.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004972,0.992013,0.126042],[-0.995254,-0.007341,0.097037],[0.097188,-0.125926,0.987267]]
2025-10-25T00:29:40.389Z,1761352180.389 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,002939.00,A,3646.45095,N,12151.77759,W,1.302,122.00,251025,,,A*7A
2025-10-25T00:29:40.391Z,1761352180.391 [NAL9602](INFO): GPS fix at 20251025T002939: (36.774183, -121.862960)
2025-10-25T00:29:40.778Z,1761352180.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040925,0.993078,0.110097],[-0.991231,0.026497,0.129455],[0.125642,-0.114430,0.985454]]
2025-10-25T00:29:41.182Z,1761352181.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031757,0.998901,0.034460],[-0.995430,0.028503,0.091146],[0.090064,-0.037197,0.995241]]
2025-10-25T00:29:41.586Z,1761352181.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013128,0.999748,0.018180],[-0.999629,0.012688,0.024113],[0.023876,-0.018490,0.999544]]
2025-10-25T00:29:41.990Z,1761352181.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002284,0.999008,0.044476],[-0.999667,0.001137,0.025795],[0.025718,-0.044520,0.998677]]
2025-10-25T00:29:42.394Z,1761352182.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011535,0.994186,0.107056],[-0.993611,-0.023416,0.110401],[0.112266,-0.105099,0.988105]]
2025-10-25T00:29:42.804Z,1761352182.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006649,0.989612,0.143612],[-0.977755,-0.036543,0.206544],[0.209646,-0.139044,0.967841]]
2025-10-25T00:29:43.221Z,1761352183.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046608,0.990625,0.128411],[-0.970702,0.014581,0.239843],[0.235723,-0.135828,0.962281]]
2025-10-25T00:29:43.606Z,1761352183.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060995,0.993924,0.091622],[-0.973718,0.039071,0.224382],[0.219439,-0.102900,0.970185]]
2025-10-25T00:29:44.010Z,1761352184.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039621,0.996403,0.074908],[-0.981948,0.024951,0.187496],[0.184953,-0.080985,0.979405]]
2025-10-25T00:29:44.423Z,1761352184.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048037,0.992216,0.114891],[-0.991351,0.033296,0.126944],[0.122130,-0.119995,0.985234]]
2025-10-25T00:29:44.819Z,1761352184.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071876,0.989155,0.128087],[-0.993286,0.059316,0.099317],[0.090643,-0.134365,0.986778]]
2025-10-25T00:29:45.226Z,1761352185.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028636,0.988761,0.146740],[-0.997118,0.017938,0.073718],[0.070258,-0.148428,0.986424]]
2025-10-25T00:29:45.626Z,1761352185.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038763,0.981749,0.186188],[-0.992952,-0.058728,0.102940],[0.111996,-0.180885,0.977107]]
2025-10-25T00:29:46.032Z,1761352186.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005882,0.967210,0.253909],[-0.968341,-0.068877,0.239940],[0.249561,-0.244459,0.936995]]
2025-10-25T00:29:46.437Z,1761352186.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073515,0.977240,0.198993],[-0.924774,-0.007899,0.380434],[0.373347,-0.211991,0.903145]]
2025-10-25T00:29:46.839Z,1761352186.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114869,0.991109,0.067148],[-0.936099,0.085376,0.341218],[0.332451,-0.102053,0.937583]]
2025-10-25T00:29:47.246Z,1761352187.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166071,0.986081,0.007975],[-0.971058,0.162123,0.175391],[0.171657,-0.036871,0.984466]]
2025-10-25T00:29:47.648Z,1761352187.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201614,0.979464,-0.001209],[-0.974443,0.200705,0.100888],[0.099059,-0.019162,0.994897]]
2025-10-25T00:29:48.050Z,1761352188.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206829,0.978364,0.005100],[-0.975131,0.205716,0.082465],[0.079632,-0.022029,0.996581]]
2025-10-25T00:29:48.454Z,1761352188.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210895,0.973530,0.088105],[-0.977167,0.207582,0.045318],[0.025830,-0.095650,0.995080]]
2025-10-25T00:29:48.858Z,1761352188.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226538,0.957332,0.179432],[-0.973611,0.227791,0.013866],[-0.027599,-0.177838,0.983673]]
2025-10-25T00:29:49.273Z,1761352189.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222524,0.948293,0.226326],[-0.974055,0.226068,0.010483],[-0.041224,-0.222787,0.973995]]
2025-10-25T00:29:49.673Z,1761352189.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200479,0.952979,0.227241],[-0.979402,0.200650,0.022593],[-0.024065,-0.227089,0.973577]]
2025-10-25T00:29:50.070Z,1761352190.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194307,0.964479,0.178953],[-0.980702,0.186978,0.057114],[0.021625,-0.186597,0.982198]]
2025-10-25T00:29:50.475Z,1761352190.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256717,0.963158,0.080140],[-0.963146,0.248061,0.103993],[0.080283,-0.103883,0.991344]]
2025-10-25T00:29:50.879Z,1761352190.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303518,0.952783,-0.008971],[-0.945141,0.302251,0.123909],[0.120770,-0.029130,0.992253]]
2025-10-25T00:29:51.294Z,1761352191.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305035,0.952277,0.011079],[-0.944893,0.301177,0.128331],[0.118870,-0.049613,0.991670]]
2025-10-25T00:29:51.352Z,1761352191.352 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:29:52.090Z,1761352192.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315182,0.939674,0.132938],[-0.947805,0.304553,0.094410],[0.048228,-0.155755,0.986618]]
2025-10-25T00:29:52.496Z,1761352192.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375117,0.922056,0.095395],[-0.925931,0.377594,-0.008701],[-0.044043,-0.085065,0.995401]]
2025-10-25T00:29:52.908Z,1761352192.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338890,0.940155,0.035519],[-0.940716,0.339186,-0.002496],[-0.014394,-0.032568,0.999366]]
2025-10-25T00:29:53.304Z,1761352193.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356963,0.931874,0.064712],[-0.932023,0.350669,0.091458],[0.062535,-0.092961,0.993704]]
2025-10-25T00:29:53.707Z,1761352193.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407382,0.906420,0.111550],[-0.908964,0.390600,0.145659],[0.088457,-0.160733,0.983026]]
2025-10-25T00:29:54.111Z,1761352194.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390199,0.909736,0.141867],[-0.917849,0.372153,0.138039],[0.072783,-0.184075,0.980214]]
2025-10-25T00:29:54.516Z,1761352194.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370301,0.913307,0.169550],[-0.928291,0.357163,0.103493],[0.033964,-0.195716,0.980072]]
2025-10-25T00:29:54.922Z,1761352194.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419302,0.899701,0.121345],[-0.907172,0.410078,0.094207],[0.034997,-0.149582,0.988130]]
2025-10-25T00:29:55.322Z,1761352195.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441114,0.896674,-0.037332],[-0.889860,0.442403,0.111486],[0.116482,-0.015958,0.993065]]
2025-10-25T00:29:55.726Z,1761352195.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393268,0.909097,-0.137411],[-0.908818,0.407001,0.091653],[0.139248,0.088837,0.986265]]
2025-10-25T00:29:56.132Z,1761352196.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371907,0.921673,-0.110472],[-0.922110,0.380501,0.070231],[0.106765,0.075747,0.991395]]
2025-10-25T00:29:56.539Z,1761352196.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404961,0.914289,-0.009034],[-0.913763,0.405038,0.031320],[0.032294,-0.004429,0.999469]]
2025-10-25T00:29:56.555Z,1761352196.555 [NAL9602](INFO): SBD MO Status=0, MOMSN=2590, MT Status=0, MTMSN=0
2025-10-25T00:29:56.555Z,1761352196.555 [NAL9602](INFO): No messages in MT queue
2025-10-25T00:29:56.944Z,1761352196.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342473,0.920024,0.190442],[-0.939151,0.329491,0.097115],[0.026599,-0.212113,0.976883]]
2025-10-25T00:29:57.347Z,1761352197.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395962,0.896940,0.196756],[-0.916094,0.371120,0.151793],[0.063129,-0.240351,0.968631]]
2025-10-25T00:29:57.752Z,1761352197.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455621,0.883016,0.112662],[-0.889958,0.449063,0.079475],[0.019585,-0.136475,0.990450]]
2025-10-25T00:29:57.757Z,1761352197.757 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,002957.00,A,3646.44883,N,12151.77562,W,1.089,191.82,251025,,,A*74
2025-10-25T00:29:57.759Z,1761352197.759 [NAL9602](INFO): GPS fix at 20251025T002957: (36.774147, -121.862927)
2025-10-25T00:29:58.155Z,1761352198.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440513,0.897578,0.017386],[-0.897390,0.440801,-0.019643],[-0.025295,-0.006949,0.999656]]
2025-10-25T00:29:58.556Z,1761352198.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424301,0.905314,-0.019351],[-0.905473,0.423960,-0.019422],[-0.009379,0.025762,0.999624]]
2025-10-25T00:29:58.958Z,1761352198.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401156,0.915915,0.013183],[-0.915997,0.401185,0.000536],[-0.004798,-0.012291,0.999913]]
2025-10-25T00:29:59.372Z,1761352199.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391653,0.917289,0.072033],[-0.920112,0.390338,0.032091],[0.001319,-0.078847,0.996886]]
2025-10-25T00:29:59.767Z,1761352199.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370006,0.923763,0.098779],[-0.927286,0.360708,0.100150],[0.056885,-0.128653,0.990057]]
2025-10-25T00:30:00.171Z,1761352200.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366354,0.924986,0.100927],[-0.924293,0.349290,0.153881],[0.107085,-0.149660,0.982921]]
2025-10-25T00:30:00.576Z,1761352200.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435459,0.896026,0.086676],[-0.896670,0.423203,0.129935],[0.079743,-0.134301,0.987727]]
2025-10-25T00:30:00.624Z,1761352200.624 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:30:00.979Z,1761352200.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460813,0.887070,0.027520],[-0.885337,0.457309,0.083943],[0.061878,-0.063047,0.996090]]
2025-10-25T00:30:00.984Z,1761352200.984 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003000.00,A,3646.44889,N,12151.77557,W,0.214,294.61,251025,,,A*7E
2025-10-25T00:30:00.986Z,1761352200.986 [NAL9602](INFO): GPS fix at 20251025T003000: (36.774148, -121.862926)
2025-10-25T00:30:01.390Z,1761352201.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464121,0.885666,-0.013711],[-0.885318,0.464323,0.024835],[0.028362,0.000613,0.999598]]
2025-10-25T00:30:01.787Z,1761352201.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430216,0.902391,-0.024576],[-0.902715,0.430186,-0.006772],[0.004461,0.025099,0.999675]]
2025-10-25T00:30:02.190Z,1761352202.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392910,0.919574,-0.002176],[-0.919444,0.392811,-0.017966],[-0.015667,0.009059,0.999836]]
2025-10-25T00:30:02.595Z,1761352202.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436602,0.898074,0.053305],[-0.898022,0.438612,-0.034300],[-0.054184,-0.032893,0.997989]]
2025-10-25T00:30:03.007Z,1761352203.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462444,0.886048,0.032608],[-0.886616,0.461802,0.025502],[0.007538,-0.040704,0.999143]]
2025-10-25T00:30:03.415Z,1761352203.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443835,0.896002,-0.013817],[-0.892031,0.443232,0.088467],[0.085391,-0.026940,0.995983]]
2025-10-25T00:30:03.807Z,1761352203.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423440,0.905606,-0.023997],[-0.901844,0.423896,0.083604],[0.085885,-0.013759,0.996210]]
2025-10-25T00:30:04.211Z,1761352204.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427334,0.904091,0.002401],[-0.901787,0.426052,0.072531],[0.064552,-0.033160,0.997363]]
2025-10-25T00:30:04.219Z,1761352204.219 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003003.00,A,3646.44895,N,12151.77543,W,0.972,58.40,251025,,,A*4F
2025-10-25T00:30:04.221Z,1761352204.221 [NAL9602](INFO): GPS fix at 20251025T003003: (36.774149, -121.862924)
2025-10-25T00:30:04.617Z,1761352204.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419837,0.905383,0.063388],[-0.907368,0.417125,0.051869],[0.020521,-0.079293,0.996640]]
2025-10-25T00:30:05.019Z,1761352205.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410192,0.901694,0.136712],[-0.911931,0.407361,0.049389],[-0.011157,-0.144931,0.989379]]
2025-10-25T00:30:05.426Z,1761352205.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416985,0.894786,0.159631],[-0.908913,0.410714,0.072051],[-0.001093,-0.175135,0.984544]]
2025-10-25T00:30:05.826Z,1761352205.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415126,0.905534,0.087625],[-0.908322,0.407121,0.095937],[0.051200,-0.119418,0.991523]]
2025-10-25T00:30:06.234Z,1761352206.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381563,0.923746,0.033211],[-0.918150,0.374610,0.129103],[0.106818,-0.079753,0.991075]]
2025-10-25T00:30:06.635Z,1761352206.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424940,0.905190,0.007523],[-0.899379,0.421240,0.116941],[0.102685,-0.056459,0.993110]]
2025-10-25T00:30:07.038Z,1761352207.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453571,0.891209,0.004554],[-0.891210,0.453535,0.007069],[0.004234,-0.007265,0.999965]]
2025-10-25T00:30:07.051Z,1761352207.051 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003006.00,A,3646.44873,N,12151.77439,W,1.438,106.92,251025,,,A*79
2025-10-25T00:30:07.053Z,1761352207.053 [NAL9602](INFO): GPS fix at 20251025T003006: (36.774146, -121.862906)
2025-10-25T00:30:07.443Z,1761352207.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458792,0.888539,-0.002814],[-0.888451,0.458787,0.013018],[0.012858,-0.003472,0.999911]]
2025-10-25T00:30:07.846Z,1761352207.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434765,0.900456,0.012564],[-0.893860,0.429799,0.127617],[0.109513,-0.066714,0.991744]]
2025-10-25T00:30:08.253Z,1761352208.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435030,0.897351,0.074226],[-0.893235,0.419701,0.161190],[0.113492,-0.136424,0.984128]]
2025-10-25T00:30:08.657Z,1761352208.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438498,0.892572,0.105044],[-0.897427,0.428562,0.104688],[0.048423,-0.140175,0.988942]]
2025-10-25T00:30:09.058Z,1761352209.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457339,0.884774,0.089533],[-0.886235,0.445108,0.128325],[0.073687,-0.138035,0.987682]]
2025-10-25T00:30:09.466Z,1761352209.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494782,0.868987,0.007293],[-0.856217,0.486041,0.175092],[0.148607,-0.092877,0.984525]]
2025-10-25T00:30:09.877Z,1761352209.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499188,0.866328,-0.016935],[-0.861259,0.498223,0.100036],[0.095102,-0.035351,0.994840]]
2025-10-25T00:30:09.884Z,1761352209.884 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003009.00,A,3646.44847,N,12151.77405,W,0.816,181.13,251025,,,A*79
2025-10-25T00:30:09.905Z,1761352209.905 [NAL9602](INFO): GPS fix at 20251025T003009: (36.774141, -121.862901)
2025-10-25T00:30:10.271Z,1761352210.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462292,0.884607,0.061290],[-0.886515,0.462589,0.010101],[-0.019417,-0.059004,0.998069]]
2025-10-25T00:30:10.679Z,1761352210.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465438,0.877265,0.117361],[-0.884459,0.465972,0.024535],[-0.033163,-0.115221,0.992786]]
2025-10-25T00:30:11.079Z,1761352211.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509050,0.860403,0.023986],[-0.856380,0.503475,0.114569],[0.086499,-0.078863,0.993126]]
2025-10-25T00:30:11.489Z,1761352211.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522012,0.846858,-0.101657],[-0.834106,0.531755,0.146646],[0.178245,0.008242,0.983952]]
2025-10-25T00:30:11.508Z,1761352211.508 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:30:11.934Z,1761352211.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490164,0.866654,-0.093008],[-0.863681,0.497299,0.082150],[0.117449,0.040063,0.992271]]
2025-10-25T00:30:12.290Z,1761352212.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451504,0.892265,0.002604],[-0.891717,0.451326,-0.033840],[-0.031369,0.012957,0.999424]]
2025-10-25T00:30:12.696Z,1761352212.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440767,0.895040,0.068030],[-0.896064,0.443199,-0.025360],[-0.052849,-0.049781,0.997361]]
2025-10-25T00:30:13.098Z,1761352213.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504572,0.859848,0.077904],[-0.863267,0.501063,0.060883],[0.013315,-0.097972,0.995100]]
2025-10-25T00:30:13.113Z,1761352213.113 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003012.00,A,3646.44851,N,12151.77415,W,0.525,261.28,251025,,,A*7D
2025-10-25T00:30:13.115Z,1761352213.115 [NAL9602](INFO): GPS fix at 20251025T003012: (36.774142, -121.862903)
2025-10-25T00:30:13.502Z,1761352213.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548645,0.831723,0.084998],[-0.835831,0.548011,0.032718],[-0.019367,-0.088995,0.995844]]
2025-10-25T00:30:13.973Z,1761352213.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534262,0.843086,0.061393],[-0.845233,0.533832,0.024583],[-0.012048,-0.065025,0.997811]]
2025-10-25T00:30:14.312Z,1761352214.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514458,0.855563,0.057834],[-0.855503,0.507465,0.102921],[0.058706,-0.102426,0.993007]]
2025-10-25T00:30:14.715Z,1761352214.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539460,0.841843,0.016862],[-0.833512,0.531069,0.152391],[0.119334,-0.096264,0.988176]]
2025-10-25T00:30:15.118Z,1761352215.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520401,0.853866,-0.009796],[-0.845308,0.516743,0.135760],[0.120983,-0.062369,0.990693]]
2025-10-25T00:30:15.522Z,1761352215.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484546,0.874766,0.000238],[-0.873375,0.483760,0.056512],[0.049320,-0.027591,0.998402]]
2025-10-25T00:30:15.961Z,1761352215.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507757,0.860608,-0.039199],[-0.859451,0.502888,-0.091911],[-0.059387,0.080358,0.994995]]
2025-10-25T00:30:15.975Z,1761352215.975 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003015.00,A,3646.44820,N,12151.77396,W,0.272,165.25,251025,,,A*7F
2025-10-25T00:30:15.981Z,1761352215.981 [NAL9602](INFO): GPS fix at 20251025T003015: (36.774137, -121.862899)
2025-10-25T00:30:16.331Z,1761352216.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522870,0.842446,-0.129967],[-0.851291,0.508261,-0.130284],[-0.043700,0.178761,0.982922]]
2025-10-25T00:30:16.735Z,1761352216.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553927,0.806873,-0.205236],[-0.830805,0.551720,-0.073266],[0.054116,0.211095,0.975966]]
2025-10-25T00:30:17.140Z,1761352217.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584793,0.785610,-0.202076],[-0.806213,0.590419,-0.037754],[0.089650,0.184995,0.978642]]
2025-10-25T00:30:17.544Z,1761352217.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520097,0.848147,-0.100726],[-0.848291,0.526690,0.054770],[0.099504,0.056959,0.993406]]
2025-10-25T00:30:17.966Z,1761352217.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427306,0.901368,0.070318],[-0.894331,0.409999,0.179087],[0.132593,-0.139412,0.981317]]
2025-10-25T00:30:18.357Z,1761352218.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446827,0.872884,0.196009],[-0.879076,0.387731,0.277291],[0.166044,-0.296208,0.940580]]
2025-10-25T00:30:18.754Z,1761352218.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514215,0.833084,0.203848],[-0.851814,0.468368,0.234617],[0.099979,-0.294284,0.950474]]
2025-10-25T00:30:19.158Z,1761352219.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526550,0.839978,0.131080],[-0.849949,0.516825,0.102365],[0.018239,-0.165312,0.986073]]
2025-10-25T00:30:19.163Z,1761352219.163 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003018.00,A,3646.44782,N,12151.77340,W,1.322,147.94,251025,,,A*71
2025-10-25T00:30:19.165Z,1761352219.165 [NAL9602](INFO): GPS fix at 20251025T003018: (36.774130, -121.862890)
2025-10-25T00:30:19.566Z,1761352219.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530031,0.847964,-0.004883],[-0.847395,0.529871,0.034026],[0.031440,-0.013897,0.999409]]
2025-10-25T00:30:19.975Z,1761352219.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534780,0.841172,-0.080254],[-0.844933,0.531203,-0.062545],[-0.009980,0.101257,0.994810]]
2025-10-25T00:30:20.379Z,1761352220.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533331,0.844838,-0.042502],[-0.839507,0.522458,-0.149216],[-0.103857,0.115262,0.987891]]
2025-10-25T00:30:20.775Z,1761352220.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531537,0.846847,-0.017849],[-0.845013,0.528694,-0.080222],[-0.058499,0.057724,0.996617]]
2025-10-25T00:30:20.804Z,1761352220.804 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:30:21.179Z,1761352221.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510090,0.858254,-0.056633],[-0.854894,0.513138,0.076456],[0.094679,0.009416,0.995463]]
2025-10-25T00:30:21.583Z,1761352221.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524445,0.851096,-0.024333],[-0.843902,0.523382,0.117902],[0.113081,-0.041299,0.992727]]
2025-10-25T00:30:21.990Z,1761352221.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524948,0.848447,0.067590],[-0.850021,0.518545,0.092601],[0.043518,-0.106064,0.993407]]
2025-10-25T00:30:22.004Z,1761352222.004 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003021.00,A,3646.44785,N,12151.77284,W,1.127,94.16,251025,,,A*47
2025-10-25T00:30:22.006Z,1761352222.006 [NAL9602](INFO): GPS fix at 20251025T003021: (36.774131, -121.862881)
2025-10-25T00:30:22.390Z,1761352222.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503938,0.858002,0.099392],[-0.863731,0.501095,0.053592],[-0.003823,-0.112855,0.993604]]
2025-10-25T00:30:22.796Z,1761352222.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465276,0.881341,0.082196],[-0.882838,0.455318,0.115247],[0.064147,-0.126187,0.989930]]
2025-10-25T00:30:23.198Z,1761352223.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487535,0.872883,0.019614],[-0.857615,0.474553,0.198233],[0.163726,-0.113467,0.979959]]
2025-10-25T00:30:23.604Z,1761352223.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507901,0.858041,-0.076177],[-0.837764,0.512600,0.188129],[0.200471,-0.031733,0.979186]]
2025-10-25T00:30:24.007Z,1761352224.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527322,0.846204,-0.076617],[-0.846192,0.531172,0.042600],[0.076746,0.042369,0.996150]]
2025-10-25T00:30:24.415Z,1761352224.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517399,0.855725,-0.005770],[-0.849171,0.512579,-0.127163],[-0.105859,0.070694,0.991865]]
2025-10-25T00:30:24.814Z,1761352224.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506792,0.861853,-0.019236],[-0.858923,0.502914,-0.096587],[-0.073569,0.065472,0.995139]]
2025-10-25T00:30:25.218Z,1761352225.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520499,0.853254,-0.032221],[-0.852802,0.521363,0.030178],[0.042548,0.011771,0.999025]]
2025-10-25T00:30:25.227Z,1761352225.227 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003024.00,A,3646.44750,N,12151.77284,W,0.389,136.86,251025,,,A*7D
2025-10-25T00:30:25.229Z,1761352225.229 [NAL9602](INFO): GPS fix at 20251025T003024: (36.774125, -121.862881)
2025-10-25T00:30:25.626Z,1761352225.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550277,0.833703,0.046192],[-0.832596,0.543685,0.105783],[0.063078,-0.096669,0.993316]]
2025-10-25T00:30:26.032Z,1761352226.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578809,0.813301,0.059348],[-0.808475,0.562819,0.172057],[0.106532,-0.147569,0.983298]]
2025-10-25T00:30:26.430Z,1761352226.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579529,0.813871,0.041951],[-0.806983,0.565922,0.168851],[0.113682,-0.131708,0.984748]]
2025-10-25T00:30:26.838Z,1761352226.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566127,0.822181,0.059318],[-0.821186,0.556247,0.127445],[0.071787,-0.120861,0.990070]]
2025-10-25T00:30:27.262Z,1761352227.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583938,0.810705,0.042123],[-0.809617,0.577784,0.103373],[0.059467,-0.094467,0.993750]]
2025-10-25T00:30:27.643Z,1761352227.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575383,0.817240,0.032444],[-0.817579,0.573632,0.050119],[0.022349,-0.055363,0.998216]]
2025-10-25T00:30:28.046Z,1761352228.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533312,0.845722,0.018250],[-0.845863,0.532906,0.022973],[0.009704,-0.027689,0.999569]]
2025-10-25T00:30:28.051Z,1761352228.051 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003027.00,A,3646.44700,N,12151.77149,W,0.836,113.46,251025,,,A*7D
2025-10-25T00:30:28.053Z,1761352228.053 [NAL9602](INFO): GPS fix at 20251025T003027: (36.774117, -121.862858)
2025-10-25T00:30:28.451Z,1761352228.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574824,0.818093,-0.017359],[-0.817830,0.575082,0.020875],[0.027060,0.002198,0.999631]]
2025-10-25T00:30:28.860Z,1761352228.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637689,0.769511,-0.034716],[-0.769361,0.634053,-0.077847],[-0.037892,0.076351,0.996361]]
2025-10-25T00:30:29.260Z,1761352229.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625879,0.779698,0.018633],[-0.768365,0.620527,-0.156720],[-0.133756,0.083771,0.987467]]
2025-10-25T00:30:29.666Z,1761352229.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615785,0.781681,0.098909],[-0.773432,0.623643,-0.113453],[-0.150368,-0.006637,0.988608]]
2025-10-25T00:30:30.067Z,1761352230.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629021,0.770550,0.102886],[-0.776316,0.629575,0.031107],[-0.040805,-0.099439,0.994207]]
2025-10-25T00:30:30.152Z,1761352230.152 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:30:30.470Z,1761352230.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616849,0.781719,0.091722],[-0.786583,0.608114,0.107165],[0.027996,-0.138251,0.990001]]
2025-10-25T00:30:30.875Z,1761352230.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627366,0.773106,0.093375],[-0.778533,0.620028,0.097220],[0.017266,-0.133688,0.990873]]
2025-10-25T00:30:30.880Z,1761352230.880 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003030.00,A,3646.44680,N,12151.77161,W,1.263,158.52,251025,,,A*79
2025-10-25T00:30:30.883Z,1761352230.883 [NAL9602](INFO): GPS fix at 20251025T003030: (36.774113, -121.862860)
2025-10-25T00:30:31.280Z,1761352231.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654873,0.755695,0.008193],[-0.753916,0.652502,0.076498],[0.052463,-0.056273,0.997036]]
2025-10-25T00:30:31.686Z,1761352231.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681100,0.730311,-0.052428],[-0.731873,0.681165,-0.019385],[0.021556,0.051574,0.998437]]
2025-10-25T00:30:32.086Z,1761352232.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692389,0.719232,-0.057472],[-0.719675,0.682722,-0.126323],[-0.051618,0.128826,0.990323]]
2025-10-25T00:30:32.491Z,1761352232.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677688,0.729144,-0.095330],[-0.735157,0.674758,-0.065156],[0.016817,0.114238,0.993311]]
2025-10-25T00:30:32.895Z,1761352232.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667571,0.740532,-0.077206],[-0.738759,0.671715,0.055084],[0.092652,0.020265,0.995492]]
2025-10-25T00:30:33.299Z,1761352233.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675522,0.735199,0.056147],[-0.737286,0.672590,0.063499],[0.008920,-0.084291,0.996401]]
2025-10-25T00:30:33.705Z,1761352233.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690033,0.713291,0.122757],[-0.721180,0.691952,0.033195],[-0.061265,-0.111435,0.991881]]
2025-10-25T00:30:34.106Z,1761352234.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727884,0.683649,0.052992],[-0.683058,0.729689,-0.031404],[-0.060137,-0.013338,0.998101]]
2025-10-25T00:30:34.131Z,1761352234.131 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003033.00,A,3646.44691,N,12151.77220,W,0.758,251.25,251025,,,A*7A
2025-10-25T00:30:34.133Z,1761352234.133 [NAL9602](INFO): GPS fix at 20251025T003033: (36.774115, -121.862870)
2025-10-25T00:30:34.510Z,1761352234.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714645,0.697817,-0.048308],[-0.698921,0.709581,-0.089471],[-0.028156,0.097703,0.994817]]
2025-10-25T00:30:34.915Z,1761352234.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709330,0.693121,-0.128195],[-0.699232,0.714885,-0.003781],[0.089024,0.092320,0.991742]]
2025-10-25T00:30:35.323Z,1761352235.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717117,0.688470,-0.108404],[-0.687952,0.724158,0.048143],[0.111646,0.040053,0.992941]]
2025-10-25T00:30:35.722Z,1761352235.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691696,0.720590,-0.048026],[-0.715680,0.692853,0.088078],[0.096743,-0.026552,0.994955]]
2025-10-25T00:30:36.127Z,1761352236.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691550,0.721987,-0.022228],[-0.704405,0.680883,0.200529],[0.159914,-0.123019,0.979436]]
2025-10-25T00:30:36.531Z,1761352236.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723523,0.689384,0.035548],[-0.685985,0.712297,0.148516],[0.077064,-0.131840,0.988271]]
2025-10-25T00:30:36.936Z,1761352236.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733901,0.668690,0.119343],[-0.673718,0.738985,0.002432],[-0.086566,-0.082188,0.992850]]
2025-10-25T00:30:36.941Z,1761352236.941 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003036.00,A,3646.44655,N,12151.77086,W,0.311,122.07,251025,,,A*77
2025-10-25T00:30:36.943Z,1761352236.943 [NAL9602](INFO): GPS fix at 20251025T003036: (36.774109, -121.862848)
2025-10-25T00:30:37.348Z,1761352237.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738729,0.663711,0.117335],[-0.659598,0.747701,-0.076642],[-0.138600,-0.020776,0.990131]]
2025-10-25T00:30:37.742Z,1761352237.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745022,0.666981,0.008886],[-0.666052,0.744577,-0.044495],[-0.036294,0.027231,0.998970]]
2025-10-25T00:30:38.150Z,1761352238.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734857,0.670751,-0.100386],[-0.672808,0.739626,0.016813],[0.085525,0.055185,0.994806]]
2025-10-25T00:30:38.552Z,1761352238.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724595,0.682310,-0.097029],[-0.682166,0.730110,0.039853],[0.098034,0.037312,0.994483]]
2025-10-25T00:30:38.954Z,1761352238.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723290,0.689557,-0.036908],[-0.687880,0.724160,0.049119],[0.060598,-0.010139,0.998111]]
2025-10-25T00:30:39.013Z,1761352239.013 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:30:39.013Z,1761352239.013 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:30:39.358Z,1761352239.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718917,0.694143,-0.036370],[-0.691556,0.719550,0.063222],[0.070055,-0.020299,0.997337]]
2025-10-25T00:30:39.436Z,1761352239.436 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:30:39.763Z,1761352239.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713761,0.699152,-0.041613],[-0.696427,0.714780,0.063866],[0.074396,-0.016604,0.997090]]
2025-10-25T00:30:40.175Z,1761352240.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710020,0.704156,0.006054],[-0.704079,0.709743,0.023174],[0.012022,-0.020716,0.999713]]
2025-10-25T00:30:40.188Z,1761352240.188 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003039.00,A,3646.44625,N,12151.77038,W,0.330,127.55,251025,,,A*7B
2025-10-25T00:30:40.191Z,1761352240.191 [NAL9602](INFO): GPS fix at 20251025T003039: (36.774104, -121.862840)
2025-10-25T00:30:40.570Z,1761352240.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710705,0.703388,0.012022],[-0.703331,0.710804,-0.009137],[-0.014972,-0.001962,0.999886]]
2025-10-25T00:30:40.974Z,1761352240.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689095,0.724658,-0.004340],[-0.724515,0.688811,-0.024831],[-0.015004,0.020255,0.999682]]
2025-10-25T00:30:41.378Z,1761352241.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676004,0.736555,-0.022478],[-0.735929,0.676365,0.030626],[0.037762,-0.004161,0.999278]]
2025-10-25T00:30:41.785Z,1761352241.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694846,0.713958,-0.086327],[-0.701509,0.699323,0.137231],[0.158348,-0.034795,0.986770]]
2025-10-25T00:30:42.196Z,1761352242.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646827,0.742094,-0.175818],[-0.746373,0.663338,0.053945],[0.156659,0.096333,0.982944]]
2025-10-25T00:30:42.595Z,1761352242.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636399,0.767663,-0.075435],[-0.761004,0.640817,0.101129],[0.125973,-0.006953,0.992009]]
2025-10-25T00:30:43.005Z,1761352243.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681245,0.731050,0.038365],[-0.730824,0.676125,0.093548],[0.042449,-0.091767,0.994875]]
2025-10-25T00:30:43.015Z,1761352243.015 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003042.00,A,3646.44582,N,12151.76996,W,1.166,140.11,251025,,,A*74
2025-10-25T00:30:43.021Z,1761352243.021 [NAL9602](INFO): GPS fix at 20251025T003042: (36.774097, -121.862833)
2025-10-25T00:30:43.405Z,1761352243.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679714,0.733473,-0.002474],[-0.733476,0.679706,-0.003447],[-0.000846,0.004158,0.999991]]
2025-10-25T00:30:43.808Z,1761352243.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660145,0.750521,-0.030440],[-0.750764,0.657996,-0.058253],[-0.023690,0.061309,0.997838]]
2025-10-25T00:30:44.207Z,1761352244.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648336,0.760896,0.026392],[-0.757369,0.648097,-0.079767],[-0.077799,0.031728,0.996464]]
2025-10-25T00:30:44.612Z,1761352244.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650798,0.758541,0.032841],[-0.757238,0.651612,-0.044627],[-0.055251,0.004174,0.998464]]
2025-10-25T00:30:45.015Z,1761352245.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659862,0.750727,-0.031481],[-0.750288,0.660583,0.026429],[0.040636,0.006180,0.999155]]
2025-10-25T00:30:45.419Z,1761352245.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629595,0.773401,-0.073896],[-0.769125,0.633892,0.081411],[0.109806,0.005579,0.993937]]
2025-10-25T00:30:45.830Z,1761352245.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601149,0.798112,-0.040470],[-0.796734,0.602497,0.047032],[0.061920,0.003971,0.998073]]
2025-10-25T00:30:46.226Z,1761352246.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608713,0.793123,-0.020592],[-0.792932,0.607275,-0.049761],[-0.026962,0.046618,0.998549]]
2025-10-25T00:30:46.235Z,1761352246.235 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003045.00,A,3646.44554,N,12151.76971,W,0.194,143.87,251025,,,A*71
2025-10-25T00:30:46.237Z,1761352246.237 [NAL9602](INFO): GPS fix at 20251025T003045: (36.774092, -121.862829)
2025-10-25T00:30:46.630Z,1761352246.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623319,0.781815,-0.015436],[-0.778505,0.618583,-0.106230],[-0.073504,0.078233,0.994222]]
2025-10-25T00:30:47.037Z,1761352247.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610567,0.788863,-0.070019],[-0.791899,0.606988,-0.066795],[-0.010191,0.096231,0.995307]]
2025-10-25T00:30:47.438Z,1761352247.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546604,0.825801,-0.138843],[-0.829216,0.556887,0.047714],[0.116722,0.089050,0.989164]]
2025-10-25T00:30:47.843Z,1761352247.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512888,0.850311,-0.117975],[-0.842636,0.524921,0.120097],[0.164047,0.037813,0.985727]]
2025-10-25T00:30:48.250Z,1761352248.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537121,0.841989,-0.050551],[-0.832660,0.538842,0.127776],[0.134825,-0.026539,0.990514]]
2025-10-25T00:30:48.652Z,1761352248.652 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:30:48.656Z,1761352248.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517177,0.855870,0.003980],[-0.851005,0.513731,0.108951],[0.091203,-0.059734,0.994039]]
2025-10-25T00:30:49.055Z,1761352249.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488081,0.871338,0.050468],[-0.870842,0.482304,0.094960],[0.058401,-0.090298,0.994201]]
2025-10-25T00:30:49.066Z,1761352249.066 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003048.00,A,3646.44546,N,12151.76949,W,1.127,139.90,251025,,,A*76
2025-10-25T00:30:49.069Z,1761352249.069 [NAL9602](INFO): GPS fix at 20251025T003048: (36.774091, -121.862825)
2025-10-25T00:30:49.463Z,1761352249.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499941,0.864306,0.055079],[-0.862420,0.491008,0.123054],[0.079312,-0.109021,0.990870]]
2025-10-25T00:30:49.867Z,1761352249.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484968,0.874389,0.015810],[-0.872852,0.482837,0.070691],[0.054178,-0.048083,0.997373]]
2025-10-25T00:30:50.271Z,1761352250.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432809,0.899351,0.062004],[-0.895776,0.436778,-0.082523],[-0.101299,-0.019825,0.994658]]
2025-10-25T00:30:50.676Z,1761352250.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405693,0.907864,0.105810],[-0.888410,0.418885,-0.187784],[-0.214804,-0.017820,0.976494]]
2025-10-25T00:30:51.076Z,1761352251.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386838,0.921029,0.045414],[-0.910063,0.389252,-0.142367],[-0.148802,0.013743,0.988771]]
2025-10-25T00:30:51.480Z,1761352251.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412955,0.909371,-0.050118],[-0.904507,0.415935,0.094152],[0.106465,0.006451,0.994295]]
2025-10-25T00:30:51.888Z,1761352251.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409492,0.910919,-0.050429],[-0.888732,0.410784,0.203498],[0.206086,-0.038513,0.977776]]
2025-10-25T00:30:51.937Z,1761352251.937 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003051.00,A,3646.44544,N,12151.76908,W,1.924,93.59,251025,,,A*46
2025-10-25T00:30:51.955Z,1761352251.955 [NAL9602](INFO): GPS fix at 20251025T003051: (36.774091, -121.862818)
2025-10-25T00:30:52.293Z,1761352252.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389583,0.920773,0.020056],[-0.914329,0.384059,0.128454],[0.110574,-0.068381,0.991513]]
2025-10-25T00:30:52.692Z,1761352252.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402376,0.912281,0.076398],[-0.915164,0.398664,0.059514],[0.023836,-0.093864,0.995300]]
2025-10-25T00:30:53.101Z,1761352253.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383078,0.921224,0.067809],[-0.923706,0.381699,0.032759],[0.004295,-0.075185,0.997160]]
2025-10-25T00:30:53.498Z,1761352253.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356323,0.933230,0.045994],[-0.932874,0.352546,0.073868],[0.052721,-0.069227,0.996207]]
2025-10-25T00:30:53.942Z,1761352253.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339317,0.940362,0.024142],[-0.937771,0.336144,0.087136],[0.073825,-0.052206,0.995904]]
2025-10-25T00:30:54.317Z,1761352254.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287633,0.957340,0.027687],[-0.955124,0.284592,0.082132],[0.070748,-0.050068,0.996237]]
2025-10-25T00:30:54.711Z,1761352254.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268847,0.961525,0.056487],[-0.959687,0.262419,0.100682],[0.081985,-0.081278,0.993314]]
2025-10-25T00:30:55.123Z,1761352255.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290284,0.955640,0.049875],[-0.945483,0.278378,0.169019],[0.147637,-0.096220,0.984350]]
2025-10-25T00:30:55.163Z,1761352255.163 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003054.00,A,3646.44537,N,12151.76868,W,0.816,96.04,251025,,,A*4C
2025-10-25T00:30:55.173Z,1761352255.173 [NAL9602](INFO): GPS fix at 20251025T003054: (36.774090, -121.862811)
2025-10-25T00:30:55.519Z,1761352255.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264722,0.964284,-0.008866],[-0.927725,0.257173,0.270533],[0.263150,-0.063390,0.962670]]
2025-10-25T00:30:55.959Z,1761352255.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247304,0.968834,-0.014151],[-0.925872,0.240593,0.291335],[0.285661,-0.058946,0.956516]]
2025-10-25T00:30:56.330Z,1761352256.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280972,0.959672,-0.009226],[-0.918662,0.271722,0.286754],[0.277696,-0.072094,0.957960]]
2025-10-25T00:30:56.730Z,1761352256.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285067,0.958470,-0.008491],[-0.930751,0.278917,0.236447],[0.228996,-0.059500,0.971607]]
2025-10-25T00:30:57.137Z,1761352257.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220207,0.974158,0.050240],[-0.963626,0.209253,0.166246],[0.151437,-0.085021,0.984804]]
2025-10-25T00:30:57.539Z,1761352257.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199529,0.970101,0.138177],[-0.969315,0.174740,0.172901],[0.143586,-0.168435,0.975199]]
2025-10-25T00:30:57.970Z,1761352257.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223688,0.969146,0.103534],[-0.950271,0.193242,0.244219],[0.216677,-0.153014,0.964177]]
2025-10-25T00:30:57.975Z,1761352257.975 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003057.00,A,3646.44487,N,12151.76802,W,0.156,123.40,251025,,,A*7B
2025-10-25T00:30:57.981Z,1761352257.981 [NAL9602](INFO): GPS fix at 20251025T003057: (36.774081, -121.862800)
2025-10-25T00:30:58.366Z,1761352258.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204457,0.978236,0.035388],[-0.939495,0.185953,0.287698],[0.274856,-0.092069,0.957067]]
2025-10-25T00:30:58.762Z,1761352258.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208286,0.978014,0.010287],[-0.933542,0.195656,0.300363],[0.291747,-0.072164,0.953769]]
2025-10-25T00:30:59.166Z,1761352259.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266128,0.963914,-0.006691],[-0.936177,0.260112,0.236460],[0.229668,-0.056665,0.971618]]
2025-10-25T00:30:59.571Z,1761352259.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266158,0.963925,-0.002772],[-0.961861,0.265774,0.064713],[0.063115,-0.014558,0.997900]]
2025-10-25T00:30:59.720Z,1761352259.720 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:30:59.976Z,1761352259.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225429,0.973277,0.043737],[-0.973982,0.226208,-0.013712],[-0.023239,-0.039508,0.998949]]
2025-10-25T00:31:00.383Z,1761352260.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228424,0.965689,0.123564],[-0.973545,0.225836,0.034751],[0.005653,-0.128233,0.991728]]
2025-10-25T00:31:00.787Z,1761352260.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260939,0.958020,0.118781],[-0.962991,0.249716,0.101443],[0.067523,-0.140855,0.987725]]
2025-10-25T00:31:01.187Z,1761352261.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249494,0.966841,0.054505],[-0.962022,0.241027,0.128136],[0.110750,-0.084405,0.990258]]
2025-10-25T00:31:01.191Z,1761352261.191 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003100.00,A,3646.44480,N,12151.76816,W,1.108,242.04,251025,,,A*74
2025-10-25T00:31:01.194Z,1761352261.194 [NAL9602](INFO): GPS fix at 20251025T003100: (36.774080, -121.862803)
2025-10-25T00:31:01.591Z,1761352261.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225450,0.973276,0.043669],[-0.967050,0.218117,0.131296],[0.118262,-0.071830,0.990381]]
2025-10-25T00:31:01.994Z,1761352261.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230274,0.968617,0.093571],[-0.973075,0.228211,0.032334],[0.009966,-0.098497,0.995087]]
2025-10-25T00:31:02.402Z,1761352262.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243608,0.957904,0.151905],[-0.962470,0.258081,-0.083943],[-0.119614,-0.125755,0.984824]]
2025-10-25T00:31:02.808Z,1761352262.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245429,0.958913,0.142304],[-0.965327,0.255213,-0.054865],[-0.088929,-0.123904,0.988301]]
2025-10-25T00:31:03.209Z,1761352263.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206030,0.969933,0.129541],[-0.976223,0.212849,-0.041049],[-0.067387,-0.118003,0.990724]]
2025-10-25T00:31:03.611Z,1761352263.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199121,0.973628,0.111348],[-0.976360,0.206853,-0.062716],[-0.084095,-0.096228,0.991801]]
2025-10-25T00:31:04.015Z,1761352264.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209328,0.976563,0.050061],[-0.976171,0.211690,-0.047714],[-0.057193,-0.038880,0.997606]]
2025-10-25T00:31:04.023Z,1761352264.023 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003103.00,A,3646.44459,N,12151.76820,W,1.069,173.03,251025,,,A*76
2025-10-25T00:31:04.025Z,1761352264.025 [NAL9602](INFO): GPS fix at 20251025T003103: (36.774076, -121.862803)
2025-10-25T00:31:04.422Z,1761352264.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223056,0.974724,-0.012612],[-0.974792,0.222964,-0.008262],[-0.005241,0.014137,0.999886]]
2025-10-25T00:31:04.823Z,1761352264.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233766,0.971939,-0.026226],[-0.969297,0.235077,0.072128],[0.076269,0.008560,0.997051]]
2025-10-25T00:31:05.227Z,1761352265.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198807,0.979154,0.041642],[-0.968637,0.189855,0.160302],[0.149054,-0.072205,0.986189]]
2025-10-25T00:31:05.631Z,1761352265.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115987,0.982691,0.144448],[-0.990303,0.103218,0.092980],[0.076461,-0.153831,0.985134]]
2025-10-25T00:31:06.035Z,1761352266.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074214,0.978702,0.191403],[-0.995647,0.083568,-0.041261],[-0.056378,-0.187508,0.980644]]
2025-10-25T00:31:06.449Z,1761352266.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099571,0.981221,0.165197],[-0.988855,0.116048,-0.093268],[-0.110688,-0.154069,0.981841]]
2025-10-25T00:31:06.843Z,1761352266.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104961,0.990587,0.087865],[-0.994079,0.107007,-0.018885],[-0.028110,-0.085363,0.995953]]
2025-10-25T00:31:07.247Z,1761352267.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046734,0.998907,0.001056],[-0.994203,0.046411,0.096988],[0.096833,-0.005582,0.995285]]
2025-10-25T00:31:07.252Z,1761352267.252 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003106.00,A,3646.44414,N,12151.76768,W,1.069,200.61,251025,,,A*7A
2025-10-25T00:31:07.254Z,1761352267.254 [NAL9602](INFO): GPS fix at 20251025T003106: (36.774069, -121.862795)
2025-10-25T00:31:07.652Z,1761352267.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002383,0.999989,-0.004124],[-0.991937,0.002887,0.126698],[0.126708,0.003789,0.991933]]
2025-10-25T00:31:08.056Z,1761352268.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012868,0.999687,0.021457],[-0.987957,-0.016020,0.153900],[0.154195,-0.019218,0.987853]]
2025-10-25T00:31:08.459Z,1761352268.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020865,0.998049,0.058847],[-0.984569,-0.030741,0.172273],[0.173746,-0.054344,0.983290]]
2025-10-25T00:31:08.862Z,1761352268.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043956,0.995664,0.081988],[-0.992561,-0.052850,0.109677],[0.113534,-0.076558,0.990580]]
2025-10-25T00:31:09.272Z,1761352269.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085639,0.986096,0.142411],[-0.995461,-0.090643,0.029018],[0.041523,-0.139279,0.989382]]
2025-10-25T00:31:09.361Z,1761352269.361 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:31:09.677Z,1761352269.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152745,0.963817,0.218460],[-0.985796,-0.164212,0.035221],[0.069820,-0.209977,0.975210]]
2025-10-25T00:31:10.074Z,1761352270.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141268,0.953325,0.266863],[-0.983186,-0.166613,0.074732],[0.115707,-0.251819,0.960833]]
2025-10-25T00:31:10.083Z,1761352270.083 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003109.00,A,3646.44422,N,12151.76761,W,0.175,159.57,251025,,,A*7E
2025-10-25T00:31:10.085Z,1761352270.085 [NAL9602](INFO): GPS fix at 20251025T003109: (36.774070, -121.862793)
2025-10-25T00:31:10.483Z,1761352270.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108146,0.970825,0.214018],[-0.991509,-0.120969,0.047712],[0.072210,-0.207041,0.975664]]
2025-10-25T00:31:10.885Z,1761352270.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126750,0.989622,0.067696],[-0.991515,-0.128387,0.020387],[0.028867,-0.064537,0.997498]]
2025-10-25T00:31:11.295Z,1761352271.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122966,0.992237,-0.018577],[-0.992086,-0.122425,0.027899],[0.025408,0.021860,0.999438]]
2025-10-25T00:31:11.692Z,1761352271.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161275,0.986865,-0.009333],[-0.986125,-0.160763,0.041385],[0.039341,0.015878,0.999100]]
2025-10-25T00:31:12.094Z,1761352272.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232380,0.971605,0.044542],[-0.971947,-0.233684,0.026662],[0.036314,-0.037096,0.998652]]
2025-10-25T00:31:12.499Z,1761352272.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237347,0.958668,0.156915],[-0.971320,-0.236579,-0.023829],[0.014279,-0.158071,0.987325]]
2025-10-25T00:31:12.902Z,1761352272.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179734,0.960238,0.213632],[-0.983696,-0.176815,-0.032857],[0.006223,-0.216054,0.976362]]
2025-10-25T00:31:12.935Z,1761352272.935 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003112.00,A,3646.44391,N,12151.76744,W,0.719,145.55,251025,,,A*7F
2025-10-25T00:31:12.937Z,1761352272.937 [NAL9602](INFO): GPS fix at 20251025T003112: (36.774065, -121.862791)
2025-10-25T00:31:13.306Z,1761352273.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195373,0.961488,0.193314],[-0.980354,-0.196916,-0.011392],[0.027114,-0.191742,0.981071]]
2025-10-25T00:31:13.712Z,1761352273.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225251,0.961144,0.159578],[-0.972871,-0.230752,0.016578],[0.052757,-0.151514,0.987046]]
2025-10-25T00:31:14.115Z,1761352274.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212698,0.965497,0.150252],[-0.976878,-0.213527,-0.010781],[0.021673,-0.149071,0.988589]]
2025-10-25T00:31:14.519Z,1761352274.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222506,0.959497,0.172788],[-0.973294,-0.228884,0.017650],[0.056483,-0.164247,0.984801]]
2025-10-25T00:31:14.923Z,1761352274.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196566,0.961591,0.191585],[-0.978485,-0.204875,0.024371],[0.062686,-0.182672,0.981173]]
2025-10-25T00:31:15.327Z,1761352275.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179861,0.975103,0.129709],[-0.983692,-0.178336,-0.023374],[0.000339,-0.131798,0.991277]]
2025-10-25T00:31:15.731Z,1761352275.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162936,0.985589,0.045450],[-0.986465,-0.161877,-0.026120],[-0.018387,-0.049091,0.998625]]
2025-10-25T00:31:16.134Z,1761352276.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192760,0.979997,0.049487],[-0.981024,-0.191399,-0.030948],[-0.020857,-0.054514,0.998295]]
2025-10-25T00:31:16.147Z,1761352276.147 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003115.00,A,3646.44371,N,12151.76678,W,0.369,105.15,251025,,,A*7B
2025-10-25T00:31:16.149Z,1761352276.149 [NAL9602](INFO): GPS fix at 20251025T003115: (36.774062, -121.862780)
2025-10-25T00:31:16.540Z,1761352276.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236402,0.960377,0.147613],[-0.971227,-0.238063,-0.006565],[0.028837,-0.144917,0.989023]]
2025-10-25T00:31:16.944Z,1761352276.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167337,0.962251,0.214641],[-0.981868,-0.182325,0.051900],[0.089075,-0.202064,0.975313]]
2025-10-25T00:31:17.347Z,1761352277.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113785,0.982287,0.148877],[-0.987347,-0.128461,0.092967],[0.110445,-0.136415,0.984476]]
2025-10-25T00:31:17.754Z,1761352277.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104360,0.992964,0.055960],[-0.992308,-0.107728,0.060994],[0.066593,-0.049164,0.996568]]
2025-10-25T00:31:18.155Z,1761352278.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079775,0.995924,0.042086],[-0.996812,-0.079665,-0.004288],[-0.000917,-0.042294,0.999105]]
2025-10-25T00:31:18.559Z,1761352278.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098001,0.984387,0.146212],[-0.994866,-0.100633,0.010693],[0.025240,-0.144413,0.989196]]
2025-10-25T00:31:18.632Z,1761352278.632 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:31:18.962Z,1761352278.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077431,0.964428,0.252751],[-0.995157,-0.090160,0.039156],[0.060551,-0.248495,0.966739]]
2025-10-25T00:31:18.999Z,1761352278.999 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003118.00,A,3646.44350,N,12151.76646,W,0.855,170.82,251025,,,A*70
2025-10-25T00:31:19.002Z,1761352279.002 [NAL9602](INFO): GPS fix at 20251025T003118: (36.774058, -121.862774)
2025-10-25T00:31:19.366Z,1761352279.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040808,0.962147,0.269458],[-0.999167,-0.039360,-0.010777],[0.000237,-0.269673,0.962952]]
2025-10-25T00:31:19.779Z,1761352279.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044347,0.968859,0.243609],[-0.995487,-0.022377,-0.092223],[-0.083900,-0.246599,0.965479]]
2025-10-25T00:31:20.175Z,1761352280.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043833,0.975410,0.215997],[-0.996745,-0.028057,-0.075572],[-0.067654,-0.218607,0.973465]]
2025-10-25T00:31:20.583Z,1761352280.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028736,0.990697,0.133018],[-0.999550,-0.029631,0.004757],[0.008654,-0.132822,0.991102]]
2025-10-25T00:31:20.983Z,1761352280.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028626,0.998898,0.037184],[-0.999385,-0.029353,0.019173],[0.020244,-0.036612,0.999124]]
2025-10-25T00:31:21.386Z,1761352281.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019924,0.999751,-0.010056],[-0.999146,0.020274,0.036013],[0.036208,0.009330,0.999301]]
2025-10-25T00:31:21.790Z,1761352281.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083121,0.995891,-0.035935],[-0.995649,0.084517,0.039233],[0.042109,0.032517,0.998584]]
2025-10-25T00:31:22.194Z,1761352282.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133928,0.990523,-0.030449],[-0.990982,0.133734,-0.008311],[-0.004160,0.031287,0.999502]]
2025-10-25T00:31:22.203Z,1761352282.203 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003121.00,A,3646.44309,N,12151.76675,W,0.836,170.87,251025,,,A*76
2025-10-25T00:31:22.205Z,1761352282.205 [NAL9602](INFO): GPS fix at 20251025T003121: (36.774051, -121.862779)
2025-10-25T00:31:22.604Z,1761352282.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148162,0.987305,0.057247],[-0.988947,0.148245,0.002830],[-0.005693,-0.057034,0.998356]]
2025-10-25T00:31:23.002Z,1761352283.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077518,0.977978,0.193777],[-0.993926,0.060576,0.091883],[0.078121,-0.199722,0.976733]]
2025-10-25T00:31:23.406Z,1761352283.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079823,0.946997,0.311168],[-0.995203,0.057997,0.078790],[0.056567,-0.315964,0.947083]]
2025-10-25T00:31:23.811Z,1761352283.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157618,0.941999,0.296302],[-0.987203,0.157671,0.023879],[-0.024224,-0.296274,0.954796]]
2025-10-25T00:31:24.215Z,1761352284.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146674,0.973132,0.177484],[-0.985976,0.158266,-0.052945],[-0.079612,-0.167229,0.982699]]
2025-10-25T00:31:24.629Z,1761352284.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120746,0.990314,0.068550],[-0.988800,0.126089,-0.079851],[-0.087721,-0.058141,0.994447]]
2025-10-25T00:31:25.022Z,1761352285.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165305,0.986187,-0.010424],[-0.986205,0.165382,0.006918],[0.008546,0.009137,0.999922]]
2025-10-25T00:31:25.031Z,1761352285.031 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003124.00,A,3646.44280,N,12151.76650,W,0.641,150.86,251025,,,A*79
2025-10-25T00:31:25.050Z,1761352285.050 [NAL9602](INFO): GPS fix at 20251025T003124: (36.774047, -121.862775)
2025-10-25T00:31:25.426Z,1761352285.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160922,0.982695,-0.091733],[-0.975899,0.172309,0.133904],[0.147393,0.067974,0.986739]]
2025-10-25T00:31:25.831Z,1761352285.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166305,0.979637,-0.112491],[-0.965535,0.184940,0.183136],[0.200210,0.078157,0.976631]]
2025-10-25T00:31:26.245Z,1761352286.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207009,0.977586,-0.038375],[-0.975384,0.209271,0.069506],[0.075979,0.023042,0.996843]]
2025-10-25T00:31:26.649Z,1761352286.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208415,0.967393,0.143922],[-0.976297,0.196997,0.089642],[0.058367,-0.159193,0.985521]]
2025-10-25T00:31:27.048Z,1761352287.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279546,0.941018,0.190627],[-0.957353,0.258091,0.129864],[0.073005,-0.218800,0.973035]]
2025-10-25T00:31:27.452Z,1761352287.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293039,0.944537,0.148251],[-0.954652,0.280524,0.099729],[0.052609,-0.170753,0.983908]]
2025-10-25T00:31:27.854Z,1761352287.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278044,0.957372,0.078300],[-0.955094,0.266849,0.128790],[0.102406,-0.110593,0.988576]]
2025-10-25T00:31:27.874Z,1761352287.874 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:31:28.266Z,1761352288.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273074,0.961785,0.019987],[-0.944296,0.264026,0.196458],[0.183673,-0.072521,0.980309]]
2025-10-25T00:31:28.272Z,1761352288.272 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003127.00,A,3646.44255,N,12151.76585,W,0.525,120.50,251025,,,A*74
2025-10-25T00:31:28.274Z,1761352288.274 [NAL9602](INFO): GPS fix at 20251025T003127: (36.774043, -121.862764)
2025-10-25T00:31:28.676Z,1761352288.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308063,0.951267,0.013742],[-0.930557,0.298289,0.212339],[0.197892,-0.078201,0.977100]]
2025-10-25T00:31:29.062Z,1761352289.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404015,0.914662,-0.012877],[-0.901504,0.400511,0.163957],[0.155122,-0.054632,0.986383]]
2025-10-25T00:31:29.466Z,1761352289.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437031,0.895981,-0.078883],[-0.893593,0.442503,0.075382],[0.102447,0.037545,0.994030]]
2025-10-25T00:31:29.871Z,1761352289.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407387,0.908271,-0.095282],[-0.908667,0.413574,0.057284],[0.091435,0.063243,0.993801]]
2025-10-25T00:31:30.287Z,1761352290.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406095,0.912744,-0.044542],[-0.895886,0.407260,0.177560],[0.180208,-0.032201,0.983101]]
2025-10-25T00:31:30.683Z,1761352290.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443446,0.896156,-0.016121],[-0.850207,0.426267,0.308940],[0.283730,-0.123292,0.950945]]
2025-10-25T00:31:31.083Z,1761352291.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492053,0.869943,-0.032908],[-0.798875,0.466232,0.380035],[0.345951,-0.160708,0.924387]]
2025-10-25T00:31:31.323Z,1761352291.323 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003130.00,A,3646.44228,N,12151.76579,W,0.253,176.74,251025,,,A*78
2025-10-25T00:31:31.329Z,1761352291.329 [NAL9602](INFO): GPS fix at 20251025T003130: (36.774038, -121.862763)
2025-10-25T00:31:31.486Z,1761352291.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521389,0.847421,-0.100156],[-0.764962,0.516183,0.385213],[0.378136,-0.124230,0.917377]]
2025-10-25T00:31:31.905Z,1761352291.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538269,0.829219,-0.150540],[-0.766554,0.555946,0.321433],[0.350231,-0.057621,0.934889]]
2025-10-25T00:31:32.295Z,1761352292.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555314,0.818325,-0.148224],[-0.776551,0.574016,0.259758],[0.297649,-0.029144,0.954230]]
2025-10-25T00:31:32.698Z,1761352292.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545964,0.825528,-0.142923],[-0.785163,0.563676,0.256493],[0.292304,-0.027818,0.955921]]
2025-10-25T00:31:33.103Z,1761352293.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563328,0.818504,-0.112750],[-0.771464,0.569923,0.282897],[0.295811,-0.072382,0.952500]]
2025-10-25T00:31:33.508Z,1761352293.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620523,0.781842,-0.060618],[-0.748133,0.613390,0.253080],[0.235051,-0.111692,0.965544]]
2025-10-25T00:31:33.960Z,1761352293.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660610,0.744866,-0.093645],[-0.720168,0.663997,0.201164],[0.212020,-0.065451,0.975071]]
2025-10-25T00:31:33.969Z,1761352293.969 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003133.00,A,3646.44178,N,12151.76497,W,1.283,171.73,251025,,,A*70
2025-10-25T00:31:33.984Z,1761352293.984 [NAL9602](INFO): GPS fix at 20251025T003133: (36.774030, -121.862750)
2025-10-25T00:31:34.314Z,1761352294.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642201,0.736083,-0.213915],[-0.710266,0.676366,0.195067],[0.288271,0.026664,0.957178]]
2025-10-25T00:31:34.718Z,1761352294.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601032,0.752127,-0.270304],[-0.729606,0.654402,0.198579],[0.326244,0.077863,0.942073]]
2025-10-25T00:31:35.122Z,1761352295.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627812,0.754662,-0.190622],[-0.739137,0.654783,0.157908],[0.243983,0.041759,0.968880]]
2025-10-25T00:31:35.530Z,1761352295.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668224,0.738573,-0.089365],[-0.728483,0.673959,0.122848],[0.150961,-0.016989,0.988394]]
2025-10-25T00:31:35.957Z,1761352295.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681674,0.728988,-0.062423],[-0.714892,0.681785,0.155237],[0.155726,-0.061195,0.985903]]
2025-10-25T00:31:36.339Z,1761352296.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676799,0.734571,-0.048467],[-0.719633,0.674037,0.166740],[0.155151,-0.077971,0.984809]]
2025-10-25T00:31:36.753Z,1761352296.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662187,0.740361,-0.115645],[-0.717107,0.670888,0.188859],[0.217409,-0.042130,0.975171]]
2025-10-25T00:31:37.142Z,1761352297.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652521,0.730640,-0.200952],[-0.698307,0.682763,0.214946],[0.294251,0.000070,0.955728]]
2025-10-25T00:31:37.148Z,1761352297.148 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003136.00,A,3646.44148,N,12151.76524,W,0.505,261.34,251025,,,A*76
2025-10-25T00:31:37.150Z,1761352297.150 [NAL9602](INFO): GPS fix at 20251025T003136: (36.774025, -121.862754)
2025-10-25T00:31:37.532Z,1761352297.532 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:31:37.547Z,1761352297.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669531,0.720907,-0.178944],[-0.708490,0.692167,0.137649],[0.223091,0.034620,0.974183]]
2025-10-25T00:31:37.965Z,1761352297.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642722,0.762335,-0.075858],[-0.762515,0.646138,0.032800],[0.074019,0.036762,0.996579]]
2025-10-25T00:31:38.354Z,1761352298.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661852,0.748163,0.046951],[-0.745339,0.663463,-0.065474],[-0.080135,0.008340,0.996749]]
2025-10-25T00:31:38.762Z,1761352298.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711155,0.695606,0.101937],[-0.685572,0.718278,-0.118607],[-0.155723,0.014463,0.987695]]
2025-10-25T00:31:39.163Z,1761352299.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692732,0.714363,0.099039],[-0.698035,0.698655,-0.156934],[-0.181302,0.039580,0.982631]]
2025-10-25T00:31:39.349Z,1761352299.349 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:31:39.349Z,1761352299.349 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:31:39.576Z,1761352299.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697571,0.713345,0.067329],[-0.700844,0.698841,-0.142965],[-0.149035,0.052541,0.987435]]
2025-10-25T00:31:39.970Z,1761352299.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733771,0.678278,0.038976],[-0.674893,0.734301,-0.072952],[-0.078101,0.027225,0.996574]]
2025-10-25T00:31:39.979Z,1761352299.979 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003139.00,A,3646.44160,N,12151.76534,W,1.263,50.98,251025,,,A*42
2025-10-25T00:31:39.991Z,1761352299.991 [NAL9602](INFO): GPS fix at 20251025T003139: (36.774027, -121.862756)
2025-10-25T00:31:40.374Z,1761352300.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761141,0.648319,0.018592],[-0.648425,0.761279,-0.000475],[-0.014462,-0.011694,0.999827]]
2025-10-25T00:31:40.785Z,1761352300.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771465,0.635242,-0.036184],[-0.631665,0.771471,0.076363],[0.076424,-0.036055,0.996423]]
2025-10-25T00:31:41.188Z,1761352301.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742764,0.661945,-0.100652],[-0.644083,0.747457,0.162680],[0.182918,-0.056005,0.981532]]
2025-10-25T00:31:41.591Z,1761352301.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695823,0.704461,-0.139875],[-0.673198,0.707586,0.214770],[0.250271,-0.055278,0.966596]]
2025-10-25T00:31:41.995Z,1761352301.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659701,0.751123,-0.024665],[-0.738971,0.654303,0.160653],[0.136809,-0.087757,0.986703]]
2025-10-25T00:31:42.398Z,1761352302.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671973,0.734869,0.091763],[-0.738687,0.673939,0.012210],[-0.052869,-0.075989,0.995706]]
2025-10-25T00:31:42.810Z,1761352302.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675363,0.737478,0.003306],[-0.733541,0.672207,-0.100272],[-0.076171,0.065296,0.994955]]
2025-10-25T00:31:43.207Z,1761352303.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676949,0.725525,-0.123911],[-0.735843,0.663317,-0.136181],[-0.016611,0.183366,0.982904]]
2025-10-25T00:31:43.227Z,1761352303.227 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003142.00,A,3646.44079,N,12151.76368,W,0.350,111.72,251025,,,A*78
2025-10-25T00:31:43.231Z,1761352303.231 [NAL9602](INFO): GPS fix at 20251025T003142: (36.774013, -121.862728)
2025-10-25T00:31:43.611Z,1761352303.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686925,0.711521,-0.147892],[-0.726693,0.674511,-0.130199],[0.007116,0.196909,0.980396]]
2025-10-25T00:31:44.014Z,1761352304.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658606,0.747828,-0.083615],[-0.752478,0.655084,-0.068134],[0.003822,0.107792,0.994166]]
2025-10-25T00:31:44.418Z,1761352304.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627983,0.778140,0.011608],[-0.777772,0.627036,0.043555],[0.026613,-0.036381,0.998984]]
2025-10-25T00:31:44.823Z,1761352304.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609447,0.791445,0.046794],[-0.786721,0.596388,0.159348],[0.098208,-0.133928,0.986113]]
2025-10-25T00:31:45.234Z,1761352305.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601985,0.798332,0.016739],[-0.776749,0.580592,0.244077],[0.185136,-0.159933,0.969611]]
2025-10-25T00:31:45.630Z,1761352305.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623899,0.780711,-0.035208],[-0.755146,0.613846,0.230102],[0.201256,-0.116973,0.972529]]
2025-10-25T00:31:46.034Z,1761352306.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644007,0.763311,-0.051093],[-0.757266,0.645541,0.099122],[0.108644,-0.025145,0.993763]]
2025-10-25T00:31:46.041Z,1761352306.041 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003145.00,A,3646.44037,N,12151.76279,W,1.458,127.03,251025,,,A*79
2025-10-25T00:31:46.043Z,1761352306.043 [NAL9602](INFO): GPS fix at 20251025T003145: (36.774006, -121.862713)
2025-10-25T00:31:46.438Z,1761352306.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632730,0.772407,-0.055147],[-0.772437,0.634578,0.025544],[0.054725,0.026435,0.998151]]
2025-10-25T00:31:46.851Z,1761352306.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617841,0.782166,-0.080552],[-0.777657,0.622983,0.084513],[0.116286,0.010427,0.993161]]
2025-10-25T00:31:46.852Z,1761352306.852 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:31:47.247Z,1761352307.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601063,0.796920,-0.060349],[-0.790708,0.603957,0.100086],[0.116208,-0.012439,0.993147]]
2025-10-25T00:31:47.651Z,1761352307.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596023,0.802949,0.005423],[-0.802140,0.595088,0.049410],[0.036447,-0.033800,0.998764]]
2025-10-25T00:31:48.055Z,1761352308.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612358,0.789999,0.030319],[-0.790196,0.610413,0.054642],[0.024660,-0.057419,0.998046]]
2025-10-25T00:31:48.459Z,1761352308.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609839,0.789889,0.064586],[-0.792188,0.609930,0.020585],[-0.023133,-0.063717,0.997700]]
2025-10-25T00:31:48.886Z,1761352308.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568912,0.812536,0.126982],[-0.813922,0.578408,-0.054557],[-0.117777,-0.072316,0.990403]]
2025-10-25T00:31:48.903Z,1761352308.903 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003148.00,A,3646.44047,N,12151.76301,W,0.661,237.14,251025,,,A*70
2025-10-25T00:31:48.909Z,1761352308.909 [NAL9602](INFO): GPS fix at 20251025T003148: (36.774008, -121.862717)
2025-10-25T00:31:49.266Z,1761352309.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550208,0.828695,0.102644],[-0.828010,0.557349,-0.061329],[-0.108031,-0.051246,0.992826]]
2025-10-25T00:31:49.676Z,1761352309.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564936,0.825039,-0.012580],[-0.825099,0.564988,0.000698],[0.007684,0.009985,0.999921]]
2025-10-25T00:31:50.074Z,1761352310.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592520,0.801823,-0.077455],[-0.799990,0.596983,0.060221],[0.094526,0.026281,0.995175]]
2025-10-25T00:31:50.478Z,1761352310.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617584,0.784525,-0.055773],[-0.782055,0.620077,0.062410],[0.083546,0.005074,0.996491]]
2025-10-25T00:31:50.891Z,1761352310.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625493,0.779953,-0.020763],[-0.778558,0.625673,0.048793],[0.051047,-0.014354,0.998593]]
2025-10-25T00:31:51.287Z,1761352311.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626421,0.778139,-0.045793],[-0.778480,0.627515,0.013918],[0.039566,0.026931,0.998854]]
2025-10-25T00:31:51.694Z,1761352311.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617338,0.781212,-0.092741],[-0.781679,0.622418,0.039679],[0.088721,0.047998,0.994899]]
2025-10-25T00:31:52.095Z,1761352312.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597553,0.797133,-0.086657],[-0.790045,0.603783,0.106183],[0.136964,0.005013,0.990563]]
2025-10-25T00:31:52.103Z,1761352312.103 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003151.00,A,3646.44022,N,12151.76265,W,0.739,111.62,251025,,,A*72
2025-10-25T00:31:52.105Z,1761352312.105 [NAL9602](INFO): GPS fix at 20251025T003151: (36.774004, -121.862711)
2025-10-25T00:31:52.500Z,1761352312.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597081,0.801786,-0.025167],[-0.793341,0.594856,0.129451],[0.118762,-0.057326,0.991266]]
2025-10-25T00:31:52.902Z,1761352312.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595508,0.802399,0.039055],[-0.800396,0.588454,0.114401],[0.068813,-0.099386,0.992667]]
2025-10-25T00:31:53.306Z,1761352313.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613912,0.786670,0.065292],[-0.788772,0.608109,0.089674],[0.030839,-0.106552,0.993829]]
2025-10-25T00:31:53.716Z,1761352313.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629375,0.777072,0.006817],[-0.776179,0.628175,0.054240],[0.037866,-0.039428,0.998505]]
2025-10-25T00:31:54.114Z,1761352314.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625527,0.774652,-0.092896],[-0.774425,0.630942,0.046679],[0.094772,0.042742,0.994581]]
2025-10-25T00:31:54.520Z,1761352314.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598224,0.783972,-0.165877],[-0.781639,0.616492,0.094755],[0.176548,0.072971,0.981583]]
2025-10-25T00:31:54.922Z,1761352314.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570542,0.806183,-0.156686],[-0.789752,0.590915,0.164655],[0.225330,0.029801,0.973827]]
2025-10-25T00:31:54.928Z,1761352314.928 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003154.00,A,3646.43983,N,12151.76211,W,1.749,122.13,251025,,,A*71
2025-10-25T00:31:54.930Z,1761352314.930 [NAL9602](INFO): GPS fix at 20251025T003154: (36.773997, -121.862702)
2025-10-25T00:31:55.327Z,1761352315.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613985,0.786990,-0.060565],[-0.774732,0.615546,0.144546],[0.151037,-0.041827,0.987643]]
2025-10-25T00:31:55.731Z,1761352315.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624857,0.779747,0.039349],[-0.779680,0.620593,0.083447],[0.040647,-0.082822,0.995735]]
2025-10-25T00:31:56.134Z,1761352316.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568215,0.818339,0.086331],[-0.822868,0.564503,0.064998],[0.004457,-0.107972,0.994144]]
2025-10-25T00:31:56.348Z,1761352316.348 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:31:56.538Z,1761352316.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598858,0.795217,0.094862],[-0.799910,0.588187,0.119076],[0.038895,-0.147191,0.988343]]
2025-10-25T00:31:56.942Z,1761352316.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635890,0.771691,-0.011725],[-0.763098,0.630936,0.140006],[0.115439,-0.080081,0.990081]]
2025-10-25T00:31:57.361Z,1761352317.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625282,0.770748,-0.122351],[-0.765922,0.636152,0.093138],[0.149620,0.035474,0.988107]]
2025-10-25T00:31:57.750Z,1761352317.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619532,0.769551,-0.154824],[-0.775766,0.630357,0.028938],[0.119864,0.102179,0.987518]]
2025-10-25T00:31:58.154Z,1761352318.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615110,0.780662,-0.110484],[-0.786658,0.617082,-0.019446],[0.052997,0.098875,0.993688]]
2025-10-25T00:31:58.196Z,1761352318.196 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003157.00,A,3646.43946,N,12151.76162,W,0.816,107.73,251025,,,A*79
2025-10-25T00:31:58.200Z,1761352318.200 [NAL9602](INFO): GPS fix at 20251025T003157: (36.773991, -121.862694)
2025-10-25T00:31:58.558Z,1761352318.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613889,0.788305,-0.041406],[-0.789113,0.614222,-0.005633],[0.020992,0.036132,0.999126]]
2025-10-25T00:31:58.964Z,1761352318.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634211,0.773160,-0.000451],[-0.773142,0.634200,0.006465],[0.005284,-0.003751,0.999979]]
2025-10-25T00:31:59.366Z,1761352319.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643239,0.765061,0.030411],[-0.765014,0.643823,-0.015674],[-0.031571,-0.013183,0.999415]]
2025-10-25T00:31:59.770Z,1761352319.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600246,0.791956,0.111851],[-0.791018,0.608495,-0.063445],[-0.118307,-0.050394,0.991698]]
2025-10-25T00:32:00.174Z,1761352320.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597960,0.785986,0.157066],[-0.789868,0.611138,-0.051168],[-0.136206,-0.093465,0.986262]]
2025-10-25T00:32:00.581Z,1761352320.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653777,0.751055,0.092152],[-0.755689,0.654308,0.028541],[-0.038860,-0.088298,0.995336]]
2025-10-25T00:32:00.982Z,1761352320.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683913,0.727484,-0.055045],[-0.725568,0.686114,0.052906],[0.076256,0.003756,0.997081]]
2025-10-25T00:32:00.991Z,1761352320.991 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003200.00,A,3646.43936,N,12151.76210,W,1.147,201.50,251025,,,A*71
2025-10-25T00:32:01.002Z,1761352321.002 [NAL9602](INFO): GPS fix at 20251025T003200: (36.773989, -121.862702)
2025-10-25T00:32:01.386Z,1761352321.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642327,0.746212,-0.174882],[-0.754688,0.655590,0.025461],[0.133650,0.115627,0.984260]]
2025-10-25T00:32:01.792Z,1761352321.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557878,0.817103,-0.145310],[-0.821802,0.568320,0.040676],[0.115819,0.096724,0.988550]]
2025-10-25T00:32:02.202Z,1761352322.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543657,0.839251,-0.009754],[-0.839119,0.543744,0.014882],[0.017794,0.000094,0.999842]]
2025-10-25T00:32:02.616Z,1761352322.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575599,0.815773,0.056573],[-0.817288,0.576189,0.006905],[-0.026963,-0.050211,0.998375]]
2025-10-25T00:32:03.429Z,1761352323.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580545,0.814223,-0.002865],[-0.813849,0.580378,0.028488],[0.024859,-0.014207,0.999590]]
2025-10-25T00:32:03.823Z,1761352323.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559895,0.828547,0.005149],[-0.828557,0.559855,0.007442],[0.003283,-0.008433,0.999959]]
2025-10-25T00:32:04.228Z,1761352324.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548577,0.833771,0.062361],[-0.834284,0.550774,-0.024871],[-0.055084,-0.038384,0.997744]]
2025-10-25T00:32:04.235Z,1761352324.235 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003203.00,A,3646.43926,N,12151.76103,W,1.147,100.21,251025,,,A*76
2025-10-25T00:32:04.237Z,1761352324.237 [NAL9602](INFO): GPS fix at 20251025T003203: (36.773988, -121.862684)
2025-10-25T00:32:04.631Z,1761352324.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523721,0.846686,0.094023],[-0.850139,0.526524,-0.006013],[-0.054597,-0.076783,0.995552]]
2025-10-25T00:32:05.034Z,1761352325.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517886,0.854211,0.046024],[-0.855220,0.515750,0.050993],[0.019822,-0.065769,0.997638]]
2025-10-25T00:32:05.439Z,1761352325.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523901,0.851778,-0.001358],[-0.847808,0.521612,0.095614],[0.082150,-0.048941,0.995418]]
2025-10-25T00:32:05.844Z,1761352325.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530746,0.847292,-0.020103],[-0.842750,0.530120,0.093510],[0.089888,-0.032688,0.995415]]
2025-10-25T00:32:06.246Z,1761352326.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515863,0.856463,-0.018857],[-0.855282,0.516155,0.045575],[0.048767,-0.007382,0.998783]]
2025-10-25T00:32:06.404Z,1761352326.404 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:32:06.652Z,1761352326.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500530,0.865458,0.021284],[-0.865717,0.500428,0.010273],[-0.001760,-0.023568,0.999721]]
2025-10-25T00:32:07.054Z,1761352327.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512473,0.854975,0.079925],[-0.857594,0.514318,-0.002946],[-0.043626,-0.067034,0.996796]]
2025-10-25T00:32:07.060Z,1761352327.060 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003206.00,A,3646.43891,N,12151.76010,W,0.641,110.67,251025,,,A*7E
2025-10-25T00:32:07.062Z,1761352327.062 [NAL9602](INFO): GPS fix at 20251025T003206: (36.773982, -121.862668)
2025-10-25T00:32:07.467Z,1761352327.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497225,0.865548,0.059947],[-0.867153,0.493498,0.067130],[0.028521,-0.085362,0.995942]]
2025-10-25T00:32:07.862Z,1761352327.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503572,0.861506,-0.064982],[-0.849040,0.507393,0.147256],[0.159833,-0.018982,0.986961]]
2025-10-25T00:32:08.266Z,1761352328.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495865,0.858539,-0.130492],[-0.853137,0.509668,0.111338],[0.162096,0.056119,0.985178]]
2025-10-25T00:32:08.680Z,1761352328.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443925,0.890066,-0.103505],[-0.892412,0.449574,0.038518],[0.080817,0.075270,0.993883]]
2025-10-25T00:32:09.074Z,1761352329.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472990,0.879836,-0.046575],[-0.880992,0.471594,-0.038114],[-0.011570,0.059060,0.998187]]
2025-10-25T00:32:09.479Z,1761352329.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467267,0.883856,-0.021449],[-0.883288,0.465642,-0.054586],[-0.038259,0.044452,0.998279]]
2025-10-25T00:32:09.905Z,1761352329.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433397,0.900523,0.035003],[-0.901125,0.432520,0.030011],[0.011886,-0.044548,0.998937]]
2025-10-25T00:32:10.079Z,1761352330.079 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003209.00,A,3646.43870,N,12151.76046,W,1.575,214.63,251025,,,A*7B
2025-10-25T00:32:10.085Z,1761352330.085 [NAL9602](INFO): GPS fix at 20251025T003209: (36.773978, -121.862674)
2025-10-25T00:32:10.306Z,1761352330.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457509,0.888259,0.041013],[-0.887925,0.453891,0.074644],[0.047687,-0.070567,0.996367]]
2025-10-25T00:32:10.701Z,1761352330.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485048,0.874476,0.004540],[-0.870455,0.482307,0.098429],[0.083884,-0.051695,0.995134]]
2025-10-25T00:32:11.099Z,1761352331.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486641,0.870979,-0.067647],[-0.863335,0.491315,0.115159],[0.133537,0.002362,0.991041]]
2025-10-25T00:32:11.503Z,1761352331.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442111,0.888080,-0.125907],[-0.881309,0.456204,0.123179],[0.166832,0.056505,0.984365]]
2025-10-25T00:32:11.943Z,1761352331.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409181,0.906717,-0.102148],[-0.894719,0.420671,0.150049],[0.179023,0.029997,0.983388]]
2025-10-25T00:32:12.312Z,1761352332.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455846,0.889214,-0.038757],[-0.870584,0.454509,0.188429],[0.185170,-0.052153,0.981322]]
2025-10-25T00:32:12.710Z,1761352332.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466506,0.883389,-0.044692],[-0.860568,0.464972,0.207903],[0.204439,-0.058528,0.977128]]
2025-10-25T00:32:13.114Z,1761352333.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422579,0.903769,-0.068034],[-0.874257,0.426268,0.232317],[0.238962,-0.038693,0.970258]]
2025-10-25T00:32:13.123Z,1761352333.123 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003212.00,A,3646.43843,N,12151.76045,W,0.719,147.44,251025,,,A*7B
2025-10-25T00:32:13.125Z,1761352333.125 [NAL9602](INFO): GPS fix at 20251025T003212: (36.773974, -121.862674)
2025-10-25T00:32:13.518Z,1761352333.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421319,0.905504,-0.050526],[-0.854318,0.414965,0.312962],[0.304355,-0.088691,0.948421]]
2025-10-25T00:32:13.955Z,1761352333.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430677,0.898056,-0.089516],[-0.830431,0.433169,0.350355],[0.353414,-0.076553,0.932330]]
2025-10-25T00:32:14.328Z,1761352334.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446777,0.887112,-0.115852],[-0.829225,0.459228,0.318583],[0.335821,-0.046268,0.940789]]
2025-10-25T00:32:14.730Z,1761352334.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446436,0.888025,-0.110029],[-0.847823,0.459105,0.265365],[0.286166,-0.025183,0.957849]]
2025-10-25T00:32:15.135Z,1761352335.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443278,0.891408,-0.094325],[-0.864033,0.452922,0.219792],[0.238646,-0.015929,0.970976]]
2025-10-25T00:32:15.547Z,1761352335.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451299,0.886474,-0.102435],[-0.861517,0.462739,0.208955],[0.232634,-0.006051,0.972546]]
2025-10-25T00:32:15.901Z,1761352335.901 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:32:15.963Z,1761352335.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468231,0.877188,-0.106300],[-0.857730,0.480119,0.183808],[0.212271,0.005112,0.977197]]
2025-10-25T00:32:15.969Z,1761352335.969 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003215.00,A,3646.43843,N,12151.75953,W,0.447,78.04,251025,,,A*40
2025-10-25T00:32:15.972Z,1761352335.972 [NAL9602](INFO): GPS fix at 20251025T003215: (36.773974, -121.862659)
2025-10-25T00:32:16.348Z,1761352336.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482000,0.867788,-0.120917],[-0.847381,0.496788,0.187478],[0.222761,0.012098,0.974798]]
2025-10-25T00:32:16.750Z,1761352336.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453250,0.884951,-0.106891],[-0.857799,0.465632,0.217643],[0.242375,-0.006955,0.970158]]
2025-10-25T00:32:17.157Z,1761352337.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455805,0.889207,-0.039402],[-0.858958,0.451040,0.242392],[0.233309,-0.076638,0.969378]]
2025-10-25T00:32:17.562Z,1761352337.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462479,0.884908,-0.055229],[-0.843370,0.458280,0.280548],[0.273570,-0.083169,0.958250]]
2025-10-25T00:32:17.971Z,1761352337.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433294,0.893310,-0.119388],[-0.858068,0.449411,0.248493],[0.275636,-0.005227,0.961248]]
2025-10-25T00:32:18.370Z,1761352338.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411466,0.907226,-0.087389],[-0.890426,0.420597,0.173898],[0.194521,0.006260,0.980878]]
2025-10-25T00:32:18.770Z,1761352338.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432447,0.901175,-0.029544],[-0.893403,0.432681,0.120904],[0.121739,-0.025890,0.992224]]
2025-10-25T00:32:19.181Z,1761352339.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489196,0.872098,-0.011528],[-0.868758,0.488406,0.081975],[0.077121,-0.030087,0.996568]]
2025-10-25T00:32:19.191Z,1761352339.191 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003218.00,A,3646.43817,N,12151.75898,W,0.680,114.94,251025,,,A*71
2025-10-25T00:32:19.210Z,1761352339.210 [NAL9602](INFO): GPS fix at 20251025T003218: (36.773969, -121.862650)
2025-10-25T00:32:19.582Z,1761352339.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498568,0.866611,-0.020374],[-0.861525,0.497969,0.099003],[0.095942,-0.031807,0.994879]]
2025-10-25T00:32:19.982Z,1761352339.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442697,0.896664,-0.003575],[-0.892588,0.441058,0.093568],[0.085476,-0.038231,0.995606]]
2025-10-25T00:32:20.387Z,1761352340.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388134,0.917959,0.081876],[-0.921202,0.389051,0.005103],[-0.027170,-0.077405,0.996629]]
2025-10-25T00:32:20.791Z,1761352340.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360662,0.922308,0.138818],[-0.927567,0.370272,-0.050186],[-0.097688,-0.110663,0.989045]]
2025-10-25T00:32:21.195Z,1761352341.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414754,0.905357,0.091148],[-0.908324,0.417894,-0.017694],[-0.054109,-0.075453,0.995680]]
2025-10-25T00:32:21.599Z,1761352341.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462781,0.886305,-0.017223],[-0.886060,0.463071,0.021494],[0.027026,0.005313,0.999621]]
2025-10-25T00:32:22.003Z,1761352342.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439396,0.892736,-0.099767],[-0.889665,0.447840,0.089079],[0.124204,0.049618,0.991015]]
2025-10-25T00:32:22.011Z,1761352342.011 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003221.00,A,3646.43795,N,12151.75866,W,0.894,143.04,251025,,,A*7F
2025-10-25T00:32:22.013Z,1761352342.013 [NAL9602](INFO): GPS fix at 20251025T003221: (36.773966, -121.862644)
2025-10-25T00:32:22.407Z,1761352342.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374657,0.923647,-0.080671],[-0.918352,0.381656,0.104725],[0.127517,0.034849,0.991224]]
2025-10-25T00:32:22.810Z,1761352342.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365977,0.930218,-0.027466],[-0.928000,0.367001,0.064232],[0.069830,0.001981,0.997557]]
2025-10-25T00:32:23.214Z,1761352343.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354876,0.934809,0.013980],[-0.933973,0.353808,0.050143],[0.041928,-0.030852,0.998644]]
2025-10-25T00:32:23.620Z,1761352343.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379697,0.924970,0.016149],[-0.923701,0.378098,0.061796],[0.051054,-0.038381,0.997958]]
2025-10-25T00:32:24.022Z,1761352344.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419335,0.907408,-0.027747],[-0.905091,0.420247,0.064832],[0.070490,-0.002073,0.997510]]
2025-10-25T00:32:24.427Z,1761352344.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393756,0.914198,-0.095910],[-0.913324,0.400891,0.071598],[0.103904,0.059405,0.992812]]
2025-10-25T00:32:24.831Z,1761352344.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344251,0.934270,-0.092901],[-0.928924,0.353300,0.110809],[0.136347,0.048152,0.989490]]
2025-10-25T00:32:25.240Z,1761352345.240 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:32:25.248Z,1761352345.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351814,0.935894,-0.018156],[-0.922582,0.349960,0.162387],[0.158331,-0.040380,0.986560]]
2025-10-25T00:32:25.260Z,1761352345.260 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003224.00,A,3646.43791,N,12151.75856,W,0.175,132.05,251025,,,A*7C
2025-10-25T00:32:25.262Z,1761352345.262 [NAL9602](INFO): GPS fix at 20251025T003224: (36.773965, -121.862643)
2025-10-25T00:32:25.639Z,1761352345.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374379,0.926878,0.027146],[-0.905450,0.359096,0.226299],[0.200003,-0.109300,0.973680]]
2025-10-25T00:32:26.446Z,1761352346.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332897,0.942843,0.015043],[-0.913594,0.318537,0.252746],[0.233508,-0.097881,0.967416]]
2025-10-25T00:32:26.853Z,1761352346.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363318,0.931659,-0.003378],[-0.913624,0.356991,0.194545],[0.182456,-0.067595,0.980888]]
2025-10-25T00:32:27.288Z,1761352347.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384979,0.921175,-0.056820],[-0.906063,0.388943,0.166651],[0.175614,-0.012674,0.984378]]
2025-10-25T00:32:27.668Z,1761352347.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378715,0.919276,-0.107271],[-0.888418,0.393571,0.236254],[0.259401,0.005828,0.965752]]
2025-10-25T00:32:28.064Z,1761352348.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363827,0.921769,-0.134060],[-0.881837,0.387208,0.269135],[0.299989,0.020300,0.953727]]
2025-10-25T00:32:28.071Z,1761352348.071 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003227.00,A,3646.43771,N,12151.75886,W,0.816,203.66,251025,,,A*74
2025-10-25T00:32:28.074Z,1761352348.074 [NAL9602](INFO): GPS fix at 20251025T003227: (36.773962, -121.862648)
2025-10-25T00:32:28.470Z,1761352348.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332572,0.935618,-0.118384],[-0.909089,0.351447,0.223702],[0.250906,0.033225,0.967441]]
2025-10-25T00:32:28.870Z,1761352348.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304346,0.951607,-0.042642],[-0.929165,0.306434,0.206762],[0.209823,-0.023306,0.977462]]
2025-10-25T00:32:29.274Z,1761352349.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272663,0.960887,0.048485],[-0.937994,0.254279,0.235604],[0.214061,-0.109719,0.970639]]
2025-10-25T00:32:29.687Z,1761352349.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285783,0.950037,0.125528],[-0.927113,0.240959,0.287055],[0.242466,-0.198414,0.949654]]
2025-10-25T00:32:30.083Z,1761352350.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341618,0.932233,0.119331],[-0.912497,0.298592,0.279628],[0.225047,-0.204415,0.952664]]
2025-10-25T00:32:30.489Z,1761352350.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324064,0.945609,0.028388],[-0.920227,0.308120,0.241340],[0.219467,-0.104333,0.970025]]
2025-10-25T00:32:30.890Z,1761352350.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257750,0.964663,-0.054693],[-0.931940,0.263151,0.249480],[0.255057,-0.013333,0.966834]]
2025-10-25T00:32:30.899Z,1761352350.899 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003230.00,A,3646.43738,N,12151.75860,W,1.127,150.59,251025,,,A*74
2025-10-25T00:32:30.901Z,1761352350.901 [NAL9602](INFO): GPS fix at 20251025T003230: (36.773956, -121.862643)
2025-10-25T00:32:31.297Z,1761352351.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260493,0.964986,-0.030731],[-0.929369,0.259248,0.262801],[0.261566,-0.039897,0.964361]]
2025-10-25T00:32:31.710Z,1761352351.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325790,0.944827,0.034100],[-0.923488,0.310290,0.225589],[0.202561,-0.104986,0.973626]]
2025-10-25T00:32:32.102Z,1761352352.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346957,0.935209,0.070745],[-0.930031,0.333333,0.154697],[0.121092,-0.119468,0.985426]]
2025-10-25T00:32:32.508Z,1761352352.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341029,0.936460,0.082111],[-0.938610,0.334366,0.084921],[0.052070,-0.106031,0.992999]]
2025-10-25T00:32:32.910Z,1761352352.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346059,0.931428,0.112631],[-0.938174,0.344638,0.032478],[-0.008566,-0.116907,0.993106]]
2025-10-25T00:32:33.314Z,1761352353.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345334,0.928955,0.133371],[-0.938211,0.345132,0.025371],[-0.022462,-0.133892,0.990741]]
2025-10-25T00:32:33.722Z,1761352353.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332230,0.934689,0.126415],[-0.936289,0.310626,0.163936],[0.113961,-0.172825,0.978338]]
2025-10-25T00:32:34.124Z,1761352354.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344654,0.929204,0.133392],[-0.911081,0.296875,0.286001],[0.226152,-0.220102,0.948899]]
2025-10-25T00:32:34.134Z,1761352354.134 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003233.00,A,3646.43719,N,12151.75779,W,1.749,104.25,251025,,,A*77
2025-10-25T00:32:34.137Z,1761352354.137 [NAL9602](INFO): GPS fix at 20251025T003233: (36.773953, -121.862630)
2025-10-25T00:32:34.496Z,1761352354.496 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:32:34.527Z,1761352354.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394569,0.903408,0.167838],[-0.908076,0.355465,0.221454],[0.140403,-0.239788,0.960619]]
2025-10-25T00:32:34.930Z,1761352354.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463087,0.874687,0.143082],[-0.886046,0.452919,0.098926],[0.021724,-0.172589,0.984754]]
2025-10-25T00:32:35.335Z,1761352355.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463858,0.882689,0.075477],[-0.885664,0.464050,0.016031],[-0.020875,-0.074284,0.997019]]
2025-10-25T00:32:35.751Z,1761352355.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450373,0.891966,0.039514],[-0.892836,0.450075,0.016650],[-0.002933,-0.042778,0.999080]]
2025-10-25T00:32:36.148Z,1761352356.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473582,0.880158,0.032292],[-0.878647,0.469601,0.086340],[0.060829,-0.069262,0.995742]]
2025-10-25T00:32:36.550Z,1761352356.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478005,0.878226,0.015159],[-0.875947,0.475345,0.082244],[0.065023,-0.052592,0.996497]]
2025-10-25T00:32:36.953Z,1761352356.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499405,0.865080,0.047227],[-0.866359,0.498407,0.031819],[0.003988,-0.056806,0.998377]]
2025-10-25T00:32:36.975Z,1761352356.975 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003236.00,A,3646.43694,N,12151.75699,W,0.505,132.04,251025,,,A*74
2025-10-25T00:32:36.977Z,1761352356.977 [NAL9602](INFO): GPS fix at 20251025T003236: (36.773949, -121.862617)
2025-10-25T00:32:37.382Z,1761352357.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522751,0.848320,0.084170],[-0.849153,0.526885,-0.036491],[-0.075304,-0.052397,0.995783]]
2025-10-25T00:32:37.759Z,1761352357.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524989,0.848809,0.062530],[-0.848053,0.527911,-0.046010],[-0.072064,-0.028874,0.996982]]
2025-10-25T00:32:38.165Z,1761352358.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531464,0.846913,0.016831],[-0.847078,0.531410,0.007923],[-0.002234,-0.018468,0.999827]]
2025-10-25T00:32:38.568Z,1761352358.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534617,0.842148,0.070512],[-0.844311,0.535851,0.001666],[-0.036381,-0.060425,0.997509]]
2025-10-25T00:32:38.970Z,1761352358.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549446,0.828998,0.104266],[-0.831176,0.555032,-0.032944],[-0.085181,-0.068562,0.994004]]
2025-10-25T00:32:39.375Z,1761352359.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614512,0.788499,0.025385],[-0.788751,0.614712,-0.000089],[-0.015675,-0.019968,0.999678]]
2025-10-25T00:32:39.481Z,1761352359.481 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:32:39.481Z,1761352359.481 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:32:39.780Z,1761352359.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622401,0.768772,-0.146991],[-0.774986,0.631602,0.021807],[0.109604,0.100344,0.988897]]
2025-10-25T00:32:40.183Z,1761352360.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597011,0.763357,-0.246708],[-0.780408,0.623869,0.041842],[0.185854,0.167553,0.968186]]
2025-10-25T00:32:40.191Z,1761352360.191 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003239.00,A,3646.43668,N,12151.75754,W,1.108,173.33,251025,,,A*71
2025-10-25T00:32:40.193Z,1761352360.193 [NAL9602](INFO): GPS fix at 20251025T003239: (36.773945, -121.862626)
2025-10-25T00:32:40.587Z,1761352360.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565706,0.803793,-0.184099],[-0.807602,0.585162,0.073244],[0.166601,0.107244,0.980175]]
2025-10-25T00:32:40.990Z,1761352360.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547631,0.835697,-0.041354],[-0.833705,0.549183,0.057742],[0.070966,0.002856,0.997475]]
2025-10-25T00:32:41.395Z,1761352361.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556528,0.829528,0.046481],[-0.830796,0.555133,0.040085],[0.007448,-0.060925,0.998115]]
2025-10-25T00:32:41.799Z,1761352361.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538404,0.840104,0.065937],[-0.841500,0.540149,-0.010834],[-0.044717,-0.049653,0.997765]]
2025-10-25T00:32:42.203Z,1761352362.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538694,0.841280,0.045355],[-0.841658,0.539783,-0.015693],[-0.037685,-0.029720,0.998848]]
2025-10-25T00:32:42.610Z,1761352362.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543344,0.838495,0.041277],[-0.838810,0.544242,-0.014085],[-0.034275,-0.026971,0.999048]]
2025-10-25T00:32:43.010Z,1761352363.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529096,0.846002,0.065865],[-0.843842,0.532741,-0.064170],[-0.089377,-0.021627,0.995763]]
2025-10-25T00:32:43.023Z,1761352363.023 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003242.00,A,3646.43650,N,12151.75728,W,0.467,214.04,251025,,,A*76
2025-10-25T00:32:43.025Z,1761352363.025 [NAL9602](INFO): GPS fix at 20251025T003242: (36.773942, -121.862621)
2025-10-25T00:32:43.415Z,1761352363.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534771,0.841928,0.071955],[-0.835581,0.539568,-0.103301],[-0.125797,-0.004882,0.992044]]
2025-10-25T00:32:43.820Z,1761352363.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576160,0.816038,0.046066],[-0.810458,0.577700,-0.097064],[-0.105820,0.018590,0.994211]]
2025-10-25T00:32:44.036Z,1761352364.036 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:32:44.222Z,1761352364.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581299,0.813674,-0.005047],[-0.810338,0.578331,-0.094258],[-0.073776,0.058882,0.995535]]
2025-10-25T00:32:44.639Z,1761352364.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563335,0.825662,-0.030598],[-0.825233,0.560453,-0.069883],[-0.040551,0.064618,0.997086]]
2025-10-25T00:32:45.031Z,1761352365.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573381,0.818810,-0.028011],[-0.819247,0.572673,-0.029666],[-0.008250,0.039958,0.999167]]
2025-10-25T00:32:45.435Z,1761352365.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576353,0.817119,-0.011539],[-0.813737,0.575152,0.083861],[0.075161,-0.038943,0.996411]]
2025-10-25T00:32:45.838Z,1761352365.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550180,0.835031,0.005049],[-0.825594,0.543035,0.153325],[0.125289,-0.088525,0.988163]]
2025-10-25T00:32:46.243Z,1761352366.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562851,0.826189,0.024708],[-0.820626,0.554986,0.136248],[0.098854,-0.096964,0.990367]]
2025-10-25T00:32:46.251Z,1761352366.251 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003245.00,A,3646.43593,N,12151.75631,W,2.313,123.76,251025,,,A*70
2025-10-25T00:32:46.253Z,1761352366.253 [NAL9602](INFO): GPS fix at 20251025T003245: (36.773932, -121.862605)
2025-10-25T00:32:46.649Z,1761352366.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569424,0.821306,0.034829],[-0.820594,0.565393,0.083405],[0.048809,-0.076074,0.995907]]
2025-10-25T00:32:47.051Z,1761352367.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557873,0.829726,0.018256],[-0.829636,0.556960,0.038721],[0.021960,-0.036747,0.999083]]
2025-10-25T00:32:47.455Z,1761352367.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609512,0.792189,-0.030519],[-0.791781,0.610224,0.026627],[0.039717,0.007934,0.999179]]
2025-10-25T00:32:47.867Z,1761352367.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589497,0.804503,-0.072583],[-0.805659,0.592070,0.019123],[0.058359,0.047205,0.997179]]
2025-10-25T00:32:48.263Z,1761352368.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557033,0.828820,-0.052652],[-0.829873,0.557943,0.003202],[0.032030,0.041911,0.998608]]
2025-10-25T00:32:48.670Z,1761352368.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542619,0.839939,-0.008199],[-0.839940,0.542474,-0.014940],[-0.008101,0.014994,0.999855]]
2025-10-25T00:32:49.071Z,1761352369.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549897,0.835186,0.008797],[-0.834495,0.548938,0.047804],[0.035096,-0.033628,0.998818]]
2025-10-25T00:32:49.087Z,1761352369.087 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003248.00,A,3646.43571,N,12151.75617,W,0.350,125.31,251025,,,A*75
2025-10-25T00:32:49.089Z,1761352369.089 [NAL9602](INFO): GPS fix at 20251025T003248: (36.773928, -121.862603)
2025-10-25T00:32:49.475Z,1761352369.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570258,0.819520,-0.056499],[-0.806390,0.571583,0.151750],[0.156656,-0.040977,0.986803]]
2025-10-25T00:32:49.886Z,1761352369.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517520,0.844325,-0.138879],[-0.831070,0.534616,0.153328],[0.203705,0.036068,0.978368]]
2025-10-25T00:32:50.283Z,1761352370.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509800,0.852514,-0.115428],[-0.849069,0.520202,0.092046],[0.138517,0.051081,0.989042]]
2025-10-25T00:32:50.702Z,1761352370.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515244,0.849716,-0.111834],[-0.850988,0.522714,0.050891],[0.101700,0.068949,0.992423]]
2025-10-25T00:32:51.090Z,1761352371.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485926,0.869090,-0.092508],[-0.868870,0.491812,0.056448],[0.094555,0.052948,0.994111]]
2025-10-25T00:32:51.495Z,1761352371.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477044,0.877883,-0.041836],[-0.875831,0.478812,0.060488],[0.073133,0.007786,0.997292]]
2025-10-25T00:32:51.958Z,1761352371.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417291,0.908675,0.013351],[-0.904865,0.414091,0.098727],[0.084182,-0.053279,0.995025]]
2025-10-25T00:32:51.983Z,1761352371.983 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003251.00,A,3646.43533,N,12151.75647,W,0.525,206.47,251025,,,A*79
2025-10-25T00:32:51.989Z,1761352371.989 [NAL9602](INFO): GPS fix at 20251025T003251: (36.773922, -121.862608)
2025-10-25T00:32:52.710Z,1761352372.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450363,0.891506,0.048892],[-0.890787,0.444934,0.092369],[0.060594,-0.085151,0.994524]]
2025-10-25T00:32:53.118Z,1761352373.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444430,0.893901,0.058513],[-0.895814,0.443520,0.028428],[-0.000540,-0.065051,0.997882]]
2025-10-25T00:32:53.485Z,1761352373.485 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:32:53.515Z,1761352373.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442446,0.896401,0.026584],[-0.896327,0.441062,0.045421],[0.028990,-0.043924,0.998614]]
2025-10-25T00:32:53.965Z,1761352373.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430762,0.902313,-0.016606],[-0.899146,0.430682,0.077776],[0.077330,-0.018572,0.996833]]
2025-10-25T00:32:54.727Z,1761352374.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416133,0.908859,-0.028446],[-0.902857,0.416699,0.105879],[0.108082,-0.018377,0.993972]]
2025-10-25T00:32:55.138Z,1761352375.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379644,0.925011,0.015003],[-0.924481,0.378719,0.043665],[0.034709,-0.030447,0.998934]]
2025-10-25T00:32:55.143Z,1761352375.143 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003254.00,A,3646.43500,N,12151.75629,W,1.089,137.41,251025,,,A*71
2025-10-25T00:32:55.146Z,1761352375.146 [NAL9602](INFO): GPS fix at 20251025T003254: (36.773917, -121.862605)
2025-10-25T00:32:55.546Z,1761352375.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421757,0.904886,-0.057465],[-0.901890,0.425198,0.076173],[0.093362,0.019701,0.995437]]
2025-10-25T00:32:55.965Z,1761352375.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401196,0.906020,-0.134797],[-0.903484,0.415646,0.104668],[0.150859,0.079795,0.985330]]
2025-10-25T00:32:56.347Z,1761352376.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383143,0.918873,-0.094198],[-0.916781,0.390744,0.082657],[0.112759,0.054690,0.992116]]
2025-10-25T00:32:56.756Z,1761352376.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367423,0.929762,-0.023281],[-0.922711,0.367548,0.116244],[0.116636,-0.021229,0.992948]]
2025-10-25T00:32:57.161Z,1761352377.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332629,0.942553,0.030842],[-0.937989,0.327278,0.114305],[0.097645,-0.066951,0.992967]]
2025-10-25T00:32:57.562Z,1761352377.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302085,0.950083,0.078020],[-0.950287,0.293644,0.103580],[0.075500,-0.105431,0.991556]]
2025-10-25T00:32:57.995Z,1761352377.995 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003257.00,A,3646.43491,N,12151.75559,W,0.039,102.79,251025,,,A*78
2025-10-25T00:32:58.001Z,1761352378.001 [NAL9602](INFO): GPS fix at 20251025T003257: (36.773915, -121.862593)
2025-10-25T00:32:58.371Z,1761352378.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282267,0.953230,0.108066],[-0.959190,0.278461,0.049141],[0.016750,-0.117527,0.992928]]
2025-10-25T00:32:58.775Z,1761352378.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305920,0.951880,0.018353],[-0.948243,0.302915,0.095276],[0.085132,-0.046550,0.995282]]
2025-10-25T00:32:59.180Z,1761352379.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302041,0.949922,-0.080117],[-0.935865,0.311467,0.164759],[0.181462,0.025214,0.983075]]
2025-10-25T00:32:59.583Z,1761352379.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278987,0.952105,-0.125146],[-0.943412,0.296074,0.149379],[0.179277,0.076390,0.980828]]
2025-10-25T00:32:59.987Z,1761352379.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229633,0.969133,-0.089725],[-0.960586,0.240513,0.139383],[0.156661,0.054181,0.986165]]
2025-10-25T00:33:00.391Z,1761352380.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236946,0.971404,0.015177],[-0.964272,0.233243,0.125610],[0.118478,-0.044397,0.991964]]
2025-10-25T00:33:00.796Z,1761352380.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291112,0.952833,0.085812],[-0.956678,0.289509,0.030845],[0.004547,-0.091074,0.995834]]
2025-10-25T00:33:01.198Z,1761352381.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247625,0.965869,0.076023],[-0.967101,0.251135,-0.040579],[-0.058286,-0.063474,0.996280]]
2025-10-25T00:33:01.205Z,1761352381.205 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003300.00,A,3646.43456,N,12151.75522,W,0.156,128.52,251025,,,A*75
2025-10-25T00:33:01.207Z,1761352381.207 [NAL9602](INFO): GPS fix at 20251025T003300: (36.773909, -121.862587)
2025-10-25T00:33:01.609Z,1761352381.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214569,0.967149,0.136321],[-0.975462,0.219249,-0.020117],[-0.049344,-0.128660,0.990460]]
2025-10-25T00:33:02.012Z,1761352382.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208298,0.962107,0.175962],[-0.977389,0.211448,0.000866],[-0.036374,-0.172164,0.984397]]
2025-10-25T00:33:02.411Z,1761352382.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138408,0.979527,0.146182],[-0.990282,0.134847,0.034039],[0.013629,-0.149473,0.988672]]
2025-10-25T00:33:02.814Z,1761352382.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166883,0.975309,0.144646],[-0.980153,0.148181,0.131695],[0.107009,-0.163753,0.980680]]
2025-10-25T00:33:03.219Z,1761352383.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235751,0.963956,0.123333],[-0.965261,0.217556,0.144708],[0.112660,-0.153164,0.981758]]
2025-10-25T00:33:03.625Z,1761352383.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243106,0.965978,0.088242],[-0.968964,0.237636,0.068107],[0.044821,-0.102060,0.993768]]
2025-10-25T00:33:04.030Z,1761352384.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253668,0.965342,0.061380],[-0.967290,0.253263,0.014414],[-0.001631,-0.063029,0.998010]]
2025-10-25T00:33:04.036Z,1761352384.036 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003303.00,A,3646.43450,N,12151.75547,W,0.797,148.40,251025,,,A*7D
2025-10-25T00:33:04.038Z,1761352384.038 [NAL9602](INFO): GPS fix at 20251025T003303: (36.773908, -121.862591)
2025-10-25T00:33:04.432Z,1761352384.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253002,0.967005,0.029861],[-0.967132,0.251983,0.034068],[0.025419,-0.037499,0.998973]]
2025-10-25T00:33:04.835Z,1761352384.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258089,0.965516,0.034190],[-0.960850,0.252829,0.113335],[0.100783,-0.062102,0.992968]]
2025-10-25T00:33:05.241Z,1761352385.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209632,0.976087,0.057513],[-0.957980,0.193255,0.211959],[0.195776,-0.099529,0.975585]]
2025-10-25T00:33:05.643Z,1761352385.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173148,0.978240,0.114307],[-0.958535,0.140703,0.247817],[0.226341,-0.152477,0.962040]]
2025-10-25T00:33:06.051Z,1761352386.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241447,0.960032,0.141570],[-0.953508,0.207590,0.218467],[0.180347,-0.187736,0.965521]]
2025-10-25T00:33:06.451Z,1761352386.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285560,0.957340,0.044213],[-0.947882,0.275334,0.160346],[0.141332,-0.087698,0.986070]]
2025-10-25T00:33:06.855Z,1761352386.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261833,0.963143,-0.061632],[-0.951711,0.268275,0.149246],[0.160279,0.019578,0.986878]]
2025-10-25T00:33:06.867Z,1761352386.867 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003306.00,A,3646.43420,N,12151.75513,W,1.225,161.95,251025,,,A*70
2025-10-25T00:33:06.870Z,1761352386.870 [NAL9602](INFO): GPS fix at 20251025T003306: (36.773903, -121.862585)
2025-10-25T00:33:07.258Z,1761352387.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242110,0.969423,-0.040015],[-0.955912,0.245393,0.161289],[0.166177,-0.000799,0.986096]]
2025-10-25T00:33:07.667Z,1761352387.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245907,0.968955,0.025636],[-0.966019,0.242818,0.088588],[0.079613,-0.046549,0.995738]]
2025-10-25T00:33:07.880Z,1761352387.880 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:33:08.083Z,1761352388.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275738,0.959321,0.060599],[-0.961213,0.274782,0.023750],[0.006132,-0.064797,0.997880]]
2025-10-25T00:33:08.471Z,1761352388.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288181,0.954242,0.079834],[-0.957574,0.287338,0.022095],[-0.001855,-0.082814,0.996563]]
2025-10-25T00:33:08.874Z,1761352388.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278287,0.958102,0.067800],[-0.957111,0.270692,0.103264],[0.080585,-0.093629,0.992341]]
2025-10-25T00:33:09.279Z,1761352389.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264846,0.962260,0.062548],[-0.952277,0.250789,0.173992],[0.151739,-0.105644,0.982759]]
2025-10-25T00:33:09.687Z,1761352389.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268084,0.959695,0.084358],[-0.960562,0.259557,0.099756],[0.073840,-0.107774,0.991430]]
2025-10-25T00:33:10.096Z,1761352390.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222911,0.968986,0.106660],[-0.974478,0.218512,0.051440],[0.026538,-0.115404,0.992964]]
2025-10-25T00:33:10.118Z,1761352390.118 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003309.00,A,3646.43389,N,12151.75461,W,1.089,128.58,251025,,,A*77
2025-10-25T00:33:10.124Z,1761352390.124 [NAL9602](INFO): GPS fix at 20251025T003309: (36.773898, -121.862577)
2025-10-25T00:33:10.491Z,1761352390.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255363,0.955728,0.146197],[-0.959580,0.232028,0.159278],[0.118304,-0.180961,0.976349]]
2025-10-25T00:33:10.896Z,1761352390.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359894,0.927308,0.102846],[-0.919263,0.333595,0.208971],[0.159472,-0.169750,0.972499]]
2025-10-25T00:33:11.298Z,1761352391.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303097,0.952039,0.041887],[-0.946530,0.295664,0.129087],[0.110511,-0.078773,0.990748]]
2025-10-25T00:33:11.703Z,1761352391.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237191,0.966550,0.097579],[-0.970165,0.230486,0.075203],[0.050197,-0.112505,0.992383]]
2025-10-25T00:33:12.109Z,1761352392.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315057,0.941712,0.117974],[-0.945858,0.321777,-0.042566],[-0.078046,-0.098176,0.992104]]
2025-10-25T00:33:12.511Z,1761352392.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332178,0.941579,0.055552],[-0.937370,0.336093,-0.091532],[-0.104855,-0.021668,0.994251]]
2025-10-25T00:33:12.914Z,1761352392.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295362,0.955385,-0.001051],[-0.954600,0.295163,0.040221],[0.038737,-0.010877,0.999190]]
2025-10-25T00:33:12.927Z,1761352392.927 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003312.00,A,3646.43376,N,12151.75424,W,1.050,167.47,251025,,,A*7D
2025-10-25T00:33:12.929Z,1761352392.929 [NAL9602](INFO): GPS fix at 20251025T003312: (36.773896, -121.862571)
2025-10-25T00:33:13.318Z,1761352393.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306289,0.951939,0.000282],[-0.944709,0.303926,0.123102],[0.117100,-0.037971,0.992394]]
2025-10-25T00:33:13.723Z,1761352393.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346390,0.937961,0.015571],[-0.930148,0.341255,0.135534],[0.121812,-0.061431,0.990650]]
2025-10-25T00:33:14.127Z,1761352394.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322533,0.945488,0.045012],[-0.941139,0.315242,0.121980],[0.101141,-0.081705,0.991511]]
2025-10-25T00:33:14.530Z,1761352394.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312604,0.944989,0.096303],[-0.947776,0.303553,0.097861],[0.063245,-0.121866,0.990530]]
2025-10-25T00:33:14.944Z,1761352394.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364463,0.927732,0.080502],[-0.929560,0.357294,0.090884],[0.055553,-0.107955,0.992602]]
2025-10-25T00:33:15.340Z,1761352395.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435434,0.900209,0.004641],[-0.897201,0.433546,0.084075],[0.073673,-0.040773,0.996449]]
2025-10-25T00:33:15.749Z,1761352395.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438263,0.897819,-0.042976],[-0.898722,0.438498,-0.004305],[0.014980,0.040510,0.999067]]
2025-10-25T00:33:16.146Z,1761352396.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391436,0.920025,-0.018221],[-0.918784,0.389654,-0.063289],[-0.051127,0.041515,0.997829]]
2025-10-25T00:33:16.152Z,1761352396.152 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003315.00,A,3646.43340,N,12151.75417,W,0.467,159.93,251025,,,A*7A
2025-10-25T00:33:16.154Z,1761352396.154 [NAL9602](INFO): GPS fix at 20251025T003315: (36.773890, -121.862570)
2025-10-25T00:33:16.550Z,1761352396.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328806,0.940809,0.082252],[-0.944234,0.329122,0.010074],[-0.017593,-0.080977,0.996561]]
2025-10-25T00:33:16.954Z,1761352396.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358152,0.921830,0.148174],[-0.931668,0.342487,0.121235],[0.061010,-0.181470,0.981502]]
2025-10-25T00:33:17.356Z,1761352397.356 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:33:17.365Z,1761352397.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415277,0.904224,0.099621],[-0.902766,0.396144,0.167582],[0.112068,-0.159527,0.980812]]
2025-10-25T00:33:17.766Z,1761352397.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439861,0.896332,0.055773],[-0.895956,0.433727,0.095621],[0.061518,-0.092030,0.993854]]
2025-10-25T00:33:18.167Z,1761352398.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445422,0.894538,0.037433],[-0.895272,0.444573,0.029024],[0.009322,-0.046441,0.998878]]
2025-10-25T00:33:18.578Z,1761352398.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449406,0.893277,0.009538],[-0.893326,0.449358,0.006742],[0.001737,-0.011551,0.999932]]
2025-10-25T00:33:18.976Z,1761352398.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455371,0.888969,-0.048689],[-0.888861,0.457064,0.031917],[0.050627,0.028744,0.998304]]
2025-10-25T00:33:18.995Z,1761352398.995 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003318.00,A,3646.43336,N,12151.75425,W,0.603,205.34,251025,,,A*70
2025-10-25T00:33:18.997Z,1761352398.997 [NAL9602](INFO): GPS fix at 20251025T003318: (36.773889, -121.862571)
2025-10-25T00:33:19.407Z,1761352399.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482138,0.871938,-0.085250],[-0.870119,0.487923,0.069458],[0.102159,0.040690,0.993936]]
2025-10-25T00:33:19.802Z,1761352399.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523345,0.848282,-0.080794],[-0.845909,0.528617,0.070720],[0.102700,0.031333,0.994219]]
2025-10-25T00:33:20.216Z,1761352400.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511777,0.856951,-0.060985],[-0.851443,0.515393,0.097027],[0.114579,0.002269,0.993412]]
2025-10-25T00:33:20.620Z,1761352400.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464926,0.885347,0.002068],[-0.873921,0.458550,0.161226],[0.141793,-0.076766,0.986915]]
2025-10-25T00:33:21.022Z,1761352401.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460580,0.885147,0.066188],[-0.866303,0.432025,0.250744],[0.193350,-0.172827,0.965788]]
2025-10-25T00:33:21.428Z,1761352401.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508897,0.858437,0.064110],[-0.839560,0.478493,0.257263],[0.190168,-0.184745,0.964212]]
2025-10-25T00:33:21.830Z,1761352401.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562105,0.826601,0.027715],[-0.819832,0.552453,0.150570],[0.109150,-0.107358,0.988211]]
2025-10-25T00:33:22.241Z,1761352402.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543846,0.839061,-0.014443],[-0.839185,0.543755,-0.009975],[-0.000516,0.017545,0.999846]]
2025-10-25T00:33:22.247Z,1761352402.247 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003321.00,A,3646.43300,N,12151.75373,W,0.952,152.00,251025,,,A*76
2025-10-25T00:33:22.249Z,1761352402.249 [NAL9602](INFO): GPS fix at 20251025T003321: (36.773883, -121.862562)
2025-10-25T00:33:22.639Z,1761352402.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506805,0.862001,-0.010094],[-0.860719,0.506635,0.049834],[0.048071,-0.016568,0.998707]]
2025-10-25T00:33:23.042Z,1761352403.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562527,0.826391,0.025316],[-0.807806,0.542838,0.229730],[0.176104,-0.149680,0.972925]]
2025-10-25T00:33:23.450Z,1761352403.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632579,0.771332,0.069939],[-0.768886,0.614581,0.176367],[0.093054,-0.165341,0.981837]]
2025-10-25T00:33:23.850Z,1761352403.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672487,0.735168,0.085372],[-0.739734,0.671332,0.045917],[-0.023557,-0.094031,0.995291]]
2025-10-25T00:33:24.254Z,1761352404.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675051,0.737355,0.024796],[-0.737112,0.675487,-0.019564],[-0.031174,-0.005071,0.999501]]
2025-10-25T00:33:24.663Z,1761352404.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682429,0.730236,-0.032344],[-0.730838,0.682436,-0.012541],[0.012915,0.032196,0.999398]]
2025-10-25T00:33:25.071Z,1761352405.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683711,0.727322,-0.059514],[-0.726750,0.686020,0.034788],[0.066129,0.019467,0.997621]]
2025-10-25T00:33:25.078Z,1761352405.078 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003324.00,A,3646.43270,N,12151.75313,W,0.311,140.81,251025,,,A*74
2025-10-25T00:33:25.081Z,1761352405.081 [NAL9602](INFO): GPS fix at 20251025T003324: (36.773878, -121.862552)
2025-10-25T00:33:25.466Z,1761352405.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720580,0.690352,-0.064635],[-0.690793,0.722806,0.018857],[0.059737,0.031062,0.997731]]
2025-10-25T00:33:25.870Z,1761352405.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755330,0.643451,-0.124287],[-0.650471,0.759193,-0.022666],[0.079773,0.097966,0.991987]]
2025-10-25T00:33:26.274Z,1761352406.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719788,0.671062,-0.177708],[-0.680426,0.732735,0.010963],[0.137570,0.113026,0.984022]]
2025-10-25T00:33:26.682Z,1761352406.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716104,0.686576,-0.125730],[-0.680270,0.726839,0.094539],[0.156294,0.017830,0.987550]]
2025-10-25T00:33:26.688Z,1761352406.688 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:33:27.084Z,1761352407.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759982,0.647553,-0.055702],[-0.642581,0.761471,0.085154],[0.097557,-0.028922,0.994810]]
2025-10-25T00:33:27.488Z,1761352407.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779170,0.626803,0.003526],[-0.626347,0.778362,0.042928],[0.024162,-0.035657,0.999072]]
2025-10-25T00:33:27.910Z,1761352407.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775252,0.631525,-0.012655],[-0.630971,0.775191,0.030879],[0.029311,-0.015954,0.999443]]
2025-10-25T00:33:27.926Z,1761352407.926 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003327.00,A,3646.43235,N,12151.75324,W,0.603,186.25,251025,,,A*70
2025-10-25T00:33:27.934Z,1761352407.934 [NAL9602](INFO): GPS fix at 20251025T003327: (36.773873, -121.862554)
2025-10-25T00:33:28.294Z,1761352408.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775881,0.627144,-0.068547],[-0.629142,0.777221,-0.010360],[0.046779,0.051164,0.997594]]
2025-10-25T00:33:28.715Z,1761352408.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798465,0.599094,-0.059496],[-0.601720,0.797361,-0.046347],[0.019674,0.072806,0.997152]]
2025-10-25T00:33:29.105Z,1761352409.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810735,0.584444,-0.033656],[-0.585047,0.810921,-0.011288],[0.020695,0.028842,0.999370]]
2025-10-25T00:33:29.507Z,1761352409.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773251,0.633789,-0.019867],[-0.633998,0.773309,-0.006261],[0.011395,0.017437,0.999783]]
2025-10-25T00:33:29.957Z,1761352409.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764276,0.644880,0.003387],[-0.643861,0.763343,-0.052437],[-0.036401,0.037896,0.998618]]
2025-10-25T00:33:30.315Z,1761352410.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814340,0.580213,-0.014250],[-0.580326,0.813647,-0.034645],[-0.008507,0.036482,0.999298]]
2025-10-25T00:33:30.720Z,1761352410.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816151,0.575480,-0.052157],[-0.574591,0.817808,0.032191],[0.061179,0.003696,0.998120]]
2025-10-25T00:33:31.122Z,1761352411.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821652,0.569981,0.003150],[-0.569857,0.821329,0.026105],[0.012292,-0.023245,0.999654]]
2025-10-25T00:33:31.226Z,1761352411.226 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003330.00,A,3646.43231,N,12151.75323,W,0.622,158.71,251025,,,A*74
2025-10-25T00:33:31.232Z,1761352411.232 [NAL9602](INFO): GPS fix at 20251025T003330: (36.773872, -121.862554)
2025-10-25T00:33:31.526Z,1761352411.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837336,0.546181,0.023552],[-0.546646,0.837027,0.023736],[-0.006750,-0.032750,0.999441]]
2025-10-25T00:33:31.528Z,1761352411.528 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-10-25T00:33:31.959Z,1761352411.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829036,0.557327,-0.045670],[-0.555109,0.830084,0.053050],[0.067476,-0.018628,0.997547]]
2025-10-25T00:33:32.342Z,1761352412.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798537,0.597159,-0.075764],[-0.592312,0.801936,0.077882],[0.107266,-0.017315,0.994080]]
2025-10-25T00:33:32.739Z,1761352412.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800819,0.595743,-0.061480],[-0.591209,0.802755,0.077820],[0.095714,-0.025972,0.995070]]
2025-10-25T00:33:33.142Z,1761352413.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825030,0.562375,-0.055322],[-0.558881,0.826518,0.067240],[0.083538,-0.024557,0.996202]]
2025-10-25T00:33:33.555Z,1761352413.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821357,0.566040,-0.070503],[-0.564550,0.824357,0.041448],[0.081581,0.005759,0.996650]]
2025-10-25T00:33:33.963Z,1761352413.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839806,0.529806,-0.118459],[-0.535461,0.844326,-0.019878],[0.089486,0.080124,0.992760]]
2025-10-25T00:33:33.969Z,1761352413.969 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003333.00,A,3646.43178,N,12151.75268,W,0.583,136.72,251025,,,A*74
2025-10-25T00:33:33.971Z,1761352413.971 [NAL9602](INFO): GPS fix at 20251025T003333: (36.773863, -121.862545)
2025-10-25T00:33:34.354Z,1761352414.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847423,0.507445,-0.156122],[-0.522864,0.848695,-0.079556],[0.092130,0.149048,0.984529]]
2025-10-25T00:33:34.758Z,1761352414.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832740,0.546990,-0.085711],[-0.553660,0.823299,-0.125056],[0.002161,0.151594,0.988440]]
2025-10-25T00:33:35.162Z,1761352415.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831998,0.554555,0.015755],[-0.552502,0.830819,-0.066945],[-0.050214,0.046993,0.997632]]
2025-10-25T00:33:35.568Z,1761352415.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841788,0.539804,0.002037],[-0.539378,0.840962,0.043066],[0.021535,-0.037351,0.999070]]
2025-10-25T00:33:35.971Z,1761352415.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836389,0.547977,-0.013193],[-0.544833,0.833746,0.089584],[0.060089,-0.067739,0.995892]]
2025-10-25T00:33:36.136Z,1761352416.136 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:33:36.415Z,1761352416.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829474,0.558493,-0.007703],[-0.553636,0.823928,0.120951],[0.073897,-0.096061,0.992629]]
2025-10-25T00:33:37.189Z,1761352417.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824969,0.565142,0.006318],[-0.564953,0.824905,-0.018983],[-0.015940,0.012091,0.999800]]
2025-10-25T00:33:37.202Z,1761352417.202 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003336.00,A,3646.43164,N,12151.75200,W,0.797,108.05,251025,,,A*78
2025-10-25T00:33:37.204Z,1761352417.204 [NAL9602](INFO): GPS fix at 20251025T003336: (36.773861, -121.862533)
2025-10-25T00:33:37.593Z,1761352417.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837563,0.535240,-0.109574],[-0.544457,0.834357,-0.086110],[0.045334,0.131781,0.990242]]
2025-10-25T00:33:37.997Z,1761352417.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837926,0.526221,-0.144816],[-0.545006,0.820904,-0.170545],[0.029135,0.221829,0.974650]]
2025-10-25T00:33:38.399Z,1761352418.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829024,0.542578,-0.135380],[-0.559090,0.809248,-0.180379],[0.011687,0.225228,0.974236]]
2025-10-25T00:33:38.814Z,1761352418.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799443,0.579560,-0.158119],[-0.590882,0.806087,-0.032894],[0.108394,0.119727,0.986872]]
2025-10-25T00:33:39.215Z,1761352419.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784073,0.614383,-0.088107],[-0.596152,0.784979,0.168555],[0.172719,-0.079634,0.981747]]
2025-10-25T00:33:39.621Z,1761352419.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815782,0.578360,0.000815],[-0.568145,0.801109,0.188242],[0.108218,-0.154027,0.982122]]
2025-10-25T00:33:39.756Z,1761352419.756 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:33:39.757Z,1761352419.757 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:33:40.026Z,1761352420.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818642,0.569103,0.077118],[-0.574022,0.815035,0.078844],[-0.017984,-0.108813,0.993900]]
2025-10-25T00:33:40.048Z,1761352420.048 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003339.00,A,3646.43123,N,12151.75176,W,1.127,149.08,251025,,,D*77
2025-10-25T00:33:40.051Z,1761352420.051 [NAL9602](INFO): GPS fix at 20251025T003339: (36.773854, -121.862529)
2025-10-25T00:33:40.427Z,1761352420.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803290,0.593259,0.052623],[-0.592960,0.804909,-0.022808],[-0.055888,-0.012882,0.998354]]
2025-10-25T00:33:40.834Z,1761352420.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813880,0.577215,-0.066506],[-0.580050,0.813819,-0.035217],[0.033796,0.067239,0.997164]]
2025-10-25T00:33:41.235Z,1761352421.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816472,0.572485,-0.075061],[-0.576145,0.816321,-0.040951],[0.037831,0.076681,0.996338]]
2025-10-25T00:33:41.639Z,1761352421.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828141,0.559907,-0.026203],[-0.560350,0.825838,-0.063235],[-0.013766,0.067050,0.997655]]
2025-10-25T00:33:42.049Z,1761352422.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836295,0.548277,-0.001335],[-0.547156,0.834424,-0.066013],[-0.035080,0.055936,0.997818]]
2025-10-25T00:33:42.451Z,1761352422.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838425,0.544037,-0.032662],[-0.544923,0.835659,-0.068798],[-0.010135,0.075480,0.997096]]
2025-10-25T00:33:42.853Z,1761352422.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832233,0.546836,-0.091428],[-0.551341,0.833644,-0.032570],[0.058408,0.077514,0.995279]]
2025-10-25T00:33:43.255Z,1761352423.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827081,0.557702,-0.070037],[-0.559939,0.828377,-0.016102],[0.049037,0.052534,0.997414]]
2025-10-25T00:33:43.263Z,1761352423.263 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003342.00,A,3646.43111,N,12151.75196,W,0.389,149.08,251025,,,A*76
2025-10-25T00:33:43.265Z,1761352423.265 [NAL9602](INFO): GPS fix at 20251025T003342: (36.773852, -121.862533)
2025-10-25T00:33:43.662Z,1761352423.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842177,0.536944,-0.049277],[-0.537662,0.843159,-0.001568],[0.040706,0.027815,0.998784]]
2025-10-25T00:33:44.065Z,1761352424.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845082,0.524941,-0.101356],[-0.525550,0.850458,0.022768],[0.098151,0.034026,0.994590]]
2025-10-25T00:33:44.467Z,1761352424.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837466,0.526054,-0.148049],[-0.526390,0.849295,0.040133],[0.146850,0.044322,0.988165]]
2025-10-25T00:33:44.871Z,1761352424.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815596,0.564201,-0.128376],[-0.558169,0.825626,0.082397],[0.152479,0.004453,0.988297]]
2025-10-25T00:33:45.276Z,1761352425.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785538,0.617484,-0.040548],[-0.609240,0.783204,0.124171],[0.108431,-0.072837,0.991432]]
2025-10-25T00:33:45.683Z,1761352425.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798885,0.592708,0.102366],[-0.601245,0.791714,0.108140],[-0.016949,-0.147939,0.988851]]
2025-10-25T00:33:46.083Z,1761352426.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794716,0.572631,0.201298],[-0.592221,0.804201,0.050358],[-0.133047,-0.159234,0.978235]]
2025-10-25T00:33:46.091Z,1761352426.091 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003345.00,A,3646.43067,N,12151.75083,W,0.700,115.04,251025,,,A*74
2025-10-25T00:33:46.093Z,1761352426.093 [NAL9602](INFO): GPS fix at 20251025T003345: (36.773845, -121.862514)
2025-10-25T00:33:46.488Z,1761352426.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824568,0.557128,0.098470],[-0.564576,0.821548,0.079450],[-0.036634,-0.121106,0.991963]]
2025-10-25T00:33:46.903Z,1761352426.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810970,0.578493,-0.087595],[-0.572899,0.815526,0.081883],[0.118805,-0.016222,0.992785]]
2025-10-25T00:33:47.295Z,1761352427.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792002,0.582014,-0.184371],[-0.596158,0.802379,-0.028001],[0.131638,0.132091,0.982458]]
2025-10-25T00:33:47.699Z,1761352427.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769473,0.616197,-0.167965],[-0.633440,0.769912,-0.077387],[0.081633,0.165943,0.982751]]
2025-10-25T00:33:48.104Z,1761352428.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761729,0.637768,-0.114111],[-0.639130,0.768551,0.029037],[0.106219,0.050813,0.993044]]
2025-10-25T00:33:48.508Z,1761352428.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783935,0.617434,-0.064963],[-0.610533,0.785675,0.099819],[0.112671,-0.038590,0.992883]]
2025-10-25T00:33:48.562Z,1761352428.562 [run_backseat_on_surface:CheckIn:C.Wait](INFO): Done Waiting.
2025-10-25T00:33:48.562Z,1761352428.562 [run_backseat_on_surface:CheckIn:C.Wait] Stopped
2025-10-25T00:33:48.562Z,1761352428.562 [run_backseat_on_surface:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-10-25T00:33:48.562Z,1761352428.562 [run_backseat_on_surface:CheckIn:D] Running Loop=1
2025-10-25T00:33:48.911Z,1761352428.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821520,0.562772,-0.091612],[-0.557463,0.826507,0.078241],[0.119750,-0.013207,0.992716]]
2025-10-25T00:33:48.919Z,1761352428.919 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003348.00,A,3646.43050,N,12151.75033,W,0.700,112.70,251025,,,D*77
2025-10-25T00:33:48.921Z,1761352428.921 [NAL9602](INFO): GPS fix at 20251025T003348: (36.773842, -121.862505)
2025-10-25T00:33:48.970Z,1761352428.970 [run_backseat_on_surface:CheckIn:D] Stopped
2025-10-25T00:33:48.970Z,1761352428.970 [run_backseat_on_surface:CheckIn:E] Running Loop=1
2025-10-25T00:33:49.314Z,1761352429.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797846,0.593058,-0.108280],[-0.592036,0.804662,0.044863],[0.113735,0.028312,0.993108]]
2025-10-25T00:33:49.357Z,1761352429.357 [run_backseat_on_surface:CheckIn:E](IMPORTANT): run_backseat_on_surface mission has been running for  6.136927 min 
2025-10-25T00:33:49.358Z,1761352429.358 [run_backseat_on_surface:CheckIn:E] Stopped
2025-10-25T00:33:49.358Z,1761352429.358 [run_backseat_on_surface:CheckIn](INFO): Completed run_backseat_on_surface:CheckIn
2025-10-25T00:33:49.358Z,1761352429.358 [run_backseat_on_surface:CheckIn] Stopped
2025-10-25T00:33:49.358Z,1761352429.358 [run_backseat_on_surface:CheckIn](DEBUG): Aggregate::uninitialize run_backseat_on_surface:CheckIn
2025-10-25T00:33:49.358Z,1761352429.358 [run_backseat_on_surface:CheckIn](INFO): Running loop #2
2025-10-25T00:33:49.358Z,1761352429.358 [run_backseat_on_surface:CheckIn] Running Loop=2
2025-10-25T00:33:49.358Z,1761352429.358 [run_backseat_on_surface:CheckIn](DEBUG): Aggregate::initialize run_backseat_on_surface:CheckIn
2025-10-25T00:33:49.358Z,1761352429.358 [run_backseat_on_surface:CheckIn:Read_GPS] Running Loop=1
2025-10-25T00:33:49.718Z,1761352429.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767495,0.636571,-0.075681],[-0.636859,0.770625,0.023401],[0.073218,0.030238,0.996857]]
2025-10-25T00:33:49.808Z,1761352429.808 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:33:50.124Z,1761352430.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769115,0.639104,0.002931],[-0.639027,0.769080,-0.012702],[-0.010372,0.007896,0.999915]]
2025-10-25T00:33:50.534Z,1761352430.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779812,0.623595,0.054977],[-0.617627,0.780719,-0.094944],[-0.102128,0.040083,0.993963]]
2025-10-25T00:33:50.932Z,1761352430.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796690,0.603646,0.029950],[-0.594829,0.791904,-0.138081],[-0.107070,0.092192,0.989968]]
2025-10-25T00:33:51.337Z,1761352431.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803016,0.595817,0.012915],[-0.588724,0.796450,-0.138095],[-0.092566,0.103289,0.990335]]
2025-10-25T00:33:51.739Z,1761352431.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802279,0.594738,0.051327],[-0.586610,0.801397,-0.116840],[-0.110623,0.063629,0.991823]]
2025-10-25T00:33:52.143Z,1761352432.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812720,0.582189,0.023276],[-0.580248,0.812344,-0.058389],[-0.052902,0.033948,0.998022]]
2025-10-25T00:33:52.175Z,1761352432.175 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003351.00,A,3646.43035,N,12151.75055,W,0.700,187.68,251025,,,D*79
2025-10-25T00:33:52.186Z,1761352432.186 [NAL9602](INFO): GPS fix at 20251025T003351: (36.773839, -121.862509)
2025-10-25T00:33:52.335Z,1761352432.335 [run_backseat_on_surface:CheckIn:Read_GPS] Stopped
2025-10-25T00:33:52.335Z,1761352432.335 [run_backseat_on_surface:CheckIn:Read_Iridium] Running Loop=1
2025-10-25T00:33:52.586Z,1761352432.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801335,0.593744,-0.073007],[-0.595849,0.803044,-0.009196],[0.053167,0.050870,0.997289]]
2025-10-25T00:33:54.126Z,1761352434.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715681,0.696213,-0.055576],[-0.691355,0.717483,0.085127],[0.099141,-0.022501,0.994819]]
2025-10-25T00:33:54.517Z,1761352434.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705877,0.704180,-0.076608],[-0.702512,0.709807,0.051489],[0.090634,0.017473,0.995731]]
2025-10-25T00:33:54.848Z,1761352434.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733914,0.672398,-0.096183],[-0.676489,0.736310,-0.014466],[0.061094,0.075684,0.995259]]
2025-10-25T00:33:55.251Z,1761352435.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728954,0.670698,-0.137079],[-0.682061,0.728683,-0.061758],[0.058466,0.138515,0.988633]]
2025-10-25T00:33:55.264Z,1761352435.264 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003354.00,A,3646.42983,N,12151.74989,W,1.011,204.52,251025,,,D*77
2025-10-25T00:33:55.266Z,1761352435.266 [NAL9602](INFO): GPS fix at 20251025T003354: (36.773831, -121.862498)
2025-10-25T00:33:55.661Z,1761352435.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706753,0.688126,-0.164263],[-0.699525,0.714406,-0.016989],[0.105660,0.126913,0.986270]]
2025-10-25T00:33:56.059Z,1761352436.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706925,0.689120,-0.159282],[-0.689128,0.721785,0.064259],[0.159249,0.064340,0.985140]]
2025-10-25T00:33:56.463Z,1761352436.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702963,0.693144,-0.159356],[-0.680391,0.720647,0.133176],[0.207149,0.014807,0.978197]]
2025-10-25T00:33:56.867Z,1761352436.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689024,0.715364,-0.116191],[-0.707790,0.698676,0.104333],[0.155816,0.010352,0.987732]]
2025-10-25T00:33:57.271Z,1761352437.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664439,0.746759,-0.029537],[-0.742244,0.663999,0.090440],[0.087149,-0.038168,0.995464]]
2025-10-25T00:33:57.680Z,1761352437.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642309,0.766354,0.011909],[-0.759843,0.634663,0.140859],[0.100390,-0.099524,0.989958]]
2025-10-25T00:33:58.348Z,1761352438.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650955,0.758888,0.018597],[-0.752999,0.642412,0.142473],[0.096174,-0.106747,0.989624]]
2025-10-25T00:33:58.417Z,1761352438.417 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003357.00,A,3646.42986,N,12151.74955,W,0.933,104.27,251025,,,D*79
2025-10-25T00:33:58.422Z,1761352438.422 [NAL9602](INFO): GPS fix at 20251025T003357: (36.773831, -121.862493)
2025-10-25T00:33:58.703Z,1761352438.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674399,0.737928,0.025481],[-0.738140,0.672932,0.048079],[0.018332,-0.051233,0.998518]]
2025-10-25T00:33:59.108Z,1761352439.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697742,0.715928,0.024558],[-0.711245,0.696447,-0.095352],[-0.085368,0.049065,0.995141]]
2025-10-25T00:33:59.515Z,1761352439.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733417,0.679562,0.017202],[-0.658409,0.716428,-0.230714],[-0.169109,0.157883,0.972870]]
2025-10-25T00:34:00.019Z,1761352440.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757358,0.652727,-0.018864],[-0.625848,0.717321,-0.306209],[-0.186340,0.243716,0.951777]]
2025-10-25T00:34:00.473Z,1761352440.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757917,0.623290,-0.192539],[-0.632517,0.774362,0.016915],[0.159638,0.108964,0.981144]]
2025-10-25T00:34:00.841Z,1761352440.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710628,0.681786,-0.173712],[-0.657508,0.731412,0.180887],[0.250381,-0.014326,0.968041]]
2025-10-25T00:34:01.243Z,1761352441.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638035,0.765326,-0.084779],[-0.742556,0.640685,0.195279],[0.203769,-0.061641,0.977077]]
2025-10-25T00:34:01.259Z,1761352441.259 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003400.00,A,3646.42950,N,12151.74861,W,3.110,106.75,251025,,,D*7E
2025-10-25T00:34:01.261Z,1761352441.261 [NAL9602](INFO): GPS fix at 20251025T003400: (36.773825, -121.862477)
2025-10-25T00:34:01.647Z,1761352441.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625473,0.779950,-0.021482],[-0.773419,0.623399,0.114879],[0.102992,-0.055239,0.993147]]
2025-10-25T00:34:02.055Z,1761352442.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646870,0.762193,-0.024932],[-0.761818,0.647341,0.024141],[0.034539,0.003378,0.999398]]
2025-10-25T00:34:02.483Z,1761352442.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651239,0.755862,-0.067528],[-0.758727,0.646787,-0.077457],[-0.014871,0.101679,0.994706]]
2025-10-25T00:34:02.877Z,1761352442.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643056,0.763789,-0.055726],[-0.762742,0.632257,-0.135925],[-0.068585,0.129912,0.989151]]
2025-10-25T00:34:03.262Z,1761352443.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650528,0.755944,-0.073225],[-0.759041,0.643840,-0.096572],[-0.025857,0.118404,0.992629]]
2025-10-25T00:34:03.679Z,1761352443.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625725,0.773772,-0.098717],[-0.779341,0.625506,-0.037007],[0.033113,0.100090,0.994427]]
2025-10-25T00:34:04.085Z,1761352444.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567772,0.822233,-0.039595],[-0.823092,0.567778,-0.012189],[0.012459,0.039511,0.999141]]
2025-10-25T00:34:04.121Z,1761352444.121 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003403.00,A,3646.42936,N,12151.74866,W,0.272,239.29,251025,,,D*78
2025-10-25T00:34:04.123Z,1761352444.123 [NAL9602](INFO): GPS fix at 20251025T003403: (36.773823, -121.862478)
2025-10-25T00:34:04.554Z,1761352444.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535046,0.842801,0.058416],[-0.844810,0.534133,0.031573],[-0.004593,-0.066244,0.997793]]
2025-10-25T00:34:04.891Z,1761352444.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557494,0.825478,0.088246],[-0.828851,0.547432,0.115434],[0.046980,-0.137496,0.989387]]
2025-10-25T00:34:05.287Z,1761352445.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526760,0.849994,0.005850],[-0.834521,0.515838,0.193614],[0.161553,-0.106870,0.981060]]
2025-10-25T00:34:05.698Z,1761352445.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482011,0.873405,-0.069497],[-0.845211,0.484414,0.225748],[0.230835,-0.050073,0.971704]]
2025-10-25T00:34:06.102Z,1761352446.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503238,0.862255,-0.057175],[-0.854475,0.506386,0.115958],[0.128938,-0.009499,0.991607]]
2025-10-25T00:34:06.509Z,1761352446.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508417,0.860847,-0.021313],[-0.860581,0.507081,-0.047625],[-0.030190,0.042555,0.998638]]
2025-10-25T00:34:06.908Z,1761352446.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476917,0.878439,-0.029927],[-0.878636,0.475563,-0.042877],[-0.023433,0.046744,0.998632]]
2025-10-25T00:34:06.915Z,1761352446.915 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003406.00,A,3646.42876,N,12151.74767,W,0.525,142.70,251025,,,D*70
2025-10-25T00:34:06.917Z,1761352446.917 [NAL9602](INFO): GPS fix at 20251025T003406: (36.773813, -121.862461)
2025-10-25T00:34:07.101Z,1761352447.101 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20251024T220733/Courier0045.lzma
2025-10-25T00:34:07.311Z,1761352447.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464638,0.884612,-0.039654],[-0.881469,0.466327,0.074505],[0.084400,0.000336,0.996432]]
2025-10-25T00:34:07.723Z,1761352447.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495692,0.868207,-0.022494],[-0.862819,0.495242,0.101387],[0.099164,-0.030848,0.994593]]
2025-10-25T00:34:07.734Z,1761352447.734 [DataOverHttps](INFO): Moved sent file to Logs/20251024T220733/Courier0045.lzma.bak
2025-10-25T00:34:07.734Z,1761352447.734 [DataOverHttps](INFO): SBD MOMSN=26232715
2025-10-25T00:34:08.129Z,1761352448.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519529,0.854229,-0.019561],[-0.852043,0.519646,0.063166],[0.064123,-0.016150,0.997811]]
2025-10-25T00:34:08.522Z,1761352448.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534410,0.843938,-0.046632],[-0.838997,0.536349,0.091725],[0.102422,-0.009895,0.994692]]
2025-10-25T00:34:08.927Z,1761352448.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531631,0.841813,-0.093381],[-0.824216,0.539578,0.171822],[0.195028,-0.014380,0.980692]]
2025-10-25T00:34:09.333Z,1761352449.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487105,0.867845,-0.097846],[-0.848970,0.496814,0.180071],[0.204885,-0.004645,0.978775]]
2025-10-25T00:34:09.734Z,1761352449.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475017,0.877827,-0.061465],[-0.869713,0.478967,0.119118],[0.134005,-0.003126,0.990976]]
2025-10-25T00:34:10.142Z,1761352450.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510461,0.857477,-0.064518],[-0.850003,0.514514,0.113007],[0.130096,-0.002845,0.991497]]
2025-10-25T00:34:10.148Z,1761352450.148 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003409.00,A,3646.42877,N,12151.74753,W,0.214,114.27,251025,,,D*7D
2025-10-25T00:34:10.150Z,1761352450.150 [NAL9602](INFO): GPS fix at 20251025T003409: (36.773813, -121.862459)
2025-10-25T00:34:10.542Z,1761352450.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530653,0.835714,-0.141382],[-0.822813,0.547961,0.150727],[0.203437,0.036347,0.978413]]
2025-10-25T00:34:10.949Z,1761352450.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503820,0.840449,-0.199528],[-0.834094,0.533396,0.140626],[0.224617,0.095575,0.969749]]
2025-10-25T00:34:11.350Z,1761352451.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466221,0.868441,-0.168668],[-0.856737,0.490749,0.158640],[0.220543,0.070543,0.972823]]
2025-10-25T00:34:11.754Z,1761352451.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443837,0.888675,-0.115179],[-0.865904,0.458409,0.200178],[0.230692,0.010888,0.972966]]
2025-10-25T00:34:12.159Z,1761352452.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418705,0.907138,-0.042269],[-0.882964,0.417545,0.214548],[0.212274,-0.052511,0.975798]]
2025-10-25T00:34:12.564Z,1761352452.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418670,0.908086,0.009795],[-0.890996,0.408657,0.197803],[0.175619,-0.091542,0.980193]]
2025-10-25T00:34:12.968Z,1761352452.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449534,0.892234,-0.042855],[-0.872110,0.448763,0.195028],[0.193243,-0.050298,0.979861]]
2025-10-25T00:34:12.986Z,1761352452.986 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003412.00,A,3646.42868,N,12151.74766,W,0.719,173.49,251025,,,D*7E
2025-10-25T00:34:12.989Z,1761352452.989 [NAL9602](INFO): GPS fix at 20251025T003412: (36.773811, -121.862461)
2025-10-25T00:34:13.370Z,1761352453.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448494,0.875686,-0.178962],[-0.851212,0.479542,0.213257],[0.272566,0.056690,0.960466]]
2025-10-25T00:34:13.775Z,1761352453.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394416,0.877082,-0.274159],[-0.856788,0.458846,0.235319],[0.332191,0.142082,0.932449]]
2025-10-25T00:34:14.184Z,1761352454.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333349,0.913317,-0.233946],[-0.885643,0.388432,0.254474],[0.323288,0.122364,0.938356]]
2025-10-25T00:34:14.583Z,1761352454.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303632,0.947533,-0.099940],[-0.903699,0.319634,0.284889],[0.301886,0.003815,0.953336]]
2025-10-25T00:34:14.995Z,1761352454.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289788,0.957064,0.007218],[-0.927581,0.278986,0.248517],[0.235833,-0.078713,0.968601]]
2025-10-25T00:34:15.391Z,1761352455.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282104,0.957919,0.053000],[-0.952446,0.273004,0.135334],[0.115170,-0.088657,0.989381]]
2025-10-25T00:34:15.794Z,1761352455.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265181,0.961726,0.069004],[-0.964115,0.263537,0.032098],[0.012685,-0.075040,0.997100]]
2025-10-25T00:34:16.202Z,1761352456.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256275,0.965293,0.050328],[-0.966600,0.255773,0.016276],[0.002839,-0.052818,0.998600]]
2025-10-25T00:34:16.207Z,1761352456.207 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003415.00,A,3646.42823,N,12151.74645,W,0.389,114.78,251025,,,D*78
2025-10-25T00:34:16.210Z,1761352456.210 [NAL9602](INFO): GPS fix at 20251025T003415: (36.773804, -121.862441)
2025-10-25T00:34:16.603Z,1761352456.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235262,0.971813,0.015180],[-0.970977,0.234311,0.047974],[0.043065,-0.026026,0.998733]]
2025-10-25T00:34:17.007Z,1761352457.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222552,0.974668,0.022190],[-0.974106,0.221378,0.045929],[0.039853,-0.031837,0.998698]]
2025-10-25T00:34:17.412Z,1761352457.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188627,0.981078,0.043656],[-0.980369,0.185519,0.066780],[0.057417,-0.055396,0.996812]]
2025-10-25T00:34:17.815Z,1761352457.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169052,0.982445,0.078895],[-0.978612,0.157793,0.131986],[0.117219,-0.099520,0.988107]]
2025-10-25T00:34:18.222Z,1761352458.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170334,0.981525,0.087151],[-0.975113,0.155159,0.158370],[0.141922,-0.111958,0.983526]]
2025-10-25T00:34:18.623Z,1761352458.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166759,0.983354,0.072161],[-0.983767,0.161015,0.079230],[0.066292,-0.084202,0.994241]]
2025-10-25T00:34:19.036Z,1761352459.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185185,0.982289,0.028558],[-0.982671,0.184865,0.013505],[0.007986,-0.030564,0.999501]]
2025-10-25T00:34:19.047Z,1761352459.047 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003418.00,A,3646.42810,N,12151.74645,W,0.330,113.69,251025,,,D*70
2025-10-25T00:34:19.049Z,1761352459.049 [NAL9602](INFO): GPS fix at 20251025T003418: (36.773802, -121.862441)
2025-10-25T00:34:19.430Z,1761352459.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143393,0.989544,0.015562],[-0.989607,0.143195,0.013135],[0.010769,-0.017284,0.999793]]
2025-10-25T00:34:19.836Z,1761352459.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108790,0.992072,0.062908],[-0.994055,0.108288,0.011338],[0.004436,-0.063767,0.997955]]
2025-10-25T00:34:20.253Z,1761352460.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114059,0.989463,0.089185],[-0.990725,0.106611,0.084244],[0.073849,-0.097967,0.992446]]
2025-10-25T00:34:20.642Z,1761352460.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103015,0.990958,0.085963],[-0.978075,0.085191,0.190030],[0.180989,-0.103654,0.978008]]
2025-10-25T00:34:21.047Z,1761352461.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108884,0.992563,0.054431],[-0.974656,0.095834,0.202144],[0.195424,-0.075062,0.977842]]
2025-10-25T00:34:21.454Z,1761352461.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167450,0.985844,-0.008489],[-0.969809,0.166263,0.178399],[0.177285,-0.021640,0.983922]]
2025-10-25T00:34:21.855Z,1761352461.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174510,0.981982,-0.072516],[-0.964661,0.185268,0.187364],[0.197422,0.037256,0.979610]]
2025-10-25T00:34:22.259Z,1761352462.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149501,0.986119,-0.072243],[-0.967621,0.160941,0.194443],[0.203371,0.040834,0.978250]]
2025-10-25T00:34:22.267Z,1761352462.267 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003421.00,A,3646.42798,N,12151.74618,W,0.952,106.01,251025,,,D*79
2025-10-25T00:34:22.269Z,1761352462.269 [NAL9602](INFO): GPS fix at 20251025T003421: (36.773800, -121.862436)
2025-10-25T00:34:22.667Z,1761352462.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148743,0.988582,-0.024107],[-0.967661,0.150532,0.202418],[0.203735,-0.006781,0.979003]]
2025-10-25T00:34:23.072Z,1761352463.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123113,0.992387,0.003358],[-0.975995,0.120465,0.181446],[0.179660,-0.025616,0.983395]]
2025-10-25T00:34:23.483Z,1761352463.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084085,0.995987,0.030665],[-0.984699,0.078340,0.155660],[0.152633,-0.043285,0.987335]]
2025-10-25T00:34:23.883Z,1761352463.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084648,0.994961,0.053734],[-0.982965,0.074554,0.167994],[0.163142,-0.067039,0.984322]]
2025-10-25T00:34:24.283Z,1761352464.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072059,0.995892,0.054830],[-0.986637,0.063119,0.150214],[0.146136,-0.064921,0.987132]]
2025-10-25T00:34:24.691Z,1761352464.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099072,0.994351,0.038088],[-0.986044,0.092954,0.138120],[0.133799,-0.051240,0.989683]]
2025-10-25T00:34:25.091Z,1761352465.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130600,0.990387,-0.045571],[-0.968151,0.137301,0.209360],[0.213605,0.016777,0.976776]]
2025-10-25T00:34:25.119Z,1761352465.119 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003424.00,A,3646.42781,N,12151.74548,W,1.225,117.78,251025,,,D*76
2025-10-25T00:34:25.125Z,1761352465.125 [NAL9602](INFO): GPS fix at 20251025T003424: (36.773797, -121.862425)
2025-10-25T00:34:25.495Z,1761352465.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058118,0.992315,-0.109239],[-0.967104,0.083108,0.240422],[0.247653,0.091673,0.964502]]
2025-10-25T00:34:25.923Z,1761352465.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012570,0.997832,-0.064608],[-0.977878,0.025760,0.207582],[0.208796,0.060569,0.976082]]
2025-10-25T00:34:26.304Z,1761352466.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016116,0.999595,-0.023475],[-0.988068,0.019518,0.152778],[0.153175,0.020732,0.987982]]
2025-10-25T00:34:26.706Z,1761352466.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008099,0.999596,0.027234],[-0.994186,0.005125,0.107558],[0.107375,-0.027947,0.993826]]
2025-10-25T00:34:27.110Z,1761352467.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031080,0.994586,0.099157],[-0.999463,0.029897,0.013390],[0.010353,-0.099520,0.994982]]
2025-10-25T00:34:27.515Z,1761352467.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008932,0.987540,0.157117],[-0.991742,0.011354,-0.127743],[-0.127935,-0.156960,0.979283]]
2025-10-25T00:34:27.954Z,1761352467.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052750,0.977963,0.202006],[-0.992861,-0.029692,-0.115519],[-0.106975,-0.206657,0.972548]]
2025-10-25T00:34:27.962Z,1761352467.962 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003427.00,A,3646.42765,N,12151.74521,W,1.089,286.13,251025,,,D*72
2025-10-25T00:34:27.977Z,1761352467.977 [NAL9602](INFO): GPS fix at 20251025T003427: (36.773794, -121.862420)
2025-10-25T00:34:28.322Z,1761352468.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060830,0.978008,0.199497],[-0.996618,-0.048449,-0.066371],[-0.055245,-0.202860,0.977648]]
2025-10-25T00:34:28.727Z,1761352468.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056947,0.985720,0.158469],[-0.995722,-0.044506,-0.080978],[-0.072769,-0.162403,0.984038]]
2025-10-25T00:34:28.737Z,1761352468.737 [DataOverHttps](INFO): Sending 1340 bytes from file Logs/20251024T220733/Express0046.lzma
2025-10-25T00:34:29.131Z,1761352469.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067397,0.994784,0.076569],[-0.997712,-0.066785,-0.010533],[-0.005364,-0.077103,0.997009]]
2025-10-25T00:34:29.537Z,1761352469.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095301,0.994796,0.036037],[-0.993777,-0.097176,0.054451],[0.057669,-0.030623,0.997866]]
2025-10-25T00:34:29.738Z,1761352469.738 [DataOverHttps](INFO): Moved sent file to Logs/20251024T220733/Express0046.lzma.bak
2025-10-25T00:34:29.738Z,1761352469.738 [DataOverHttps](INFO): SBD MOMSN=26232718
2025-10-25T00:34:29.965Z,1761352469.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105965,0.993948,0.028979],[-0.993960,-0.105039,-0.031787],[-0.028551,-0.032172,0.999075]]
2025-10-25T00:34:30.343Z,1761352470.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084318,0.996428,-0.004656],[-0.995688,-0.084435,-0.038429],[-0.038685,0.001395,0.999251]]
2025-10-25T00:34:30.783Z,1761352470.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070683,0.996514,-0.044317],[-0.995902,-0.067987,0.059638],[0.056417,0.048350,0.997236]]
2025-10-25T00:34:31.151Z,1761352471.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091990,0.995757,-0.002495],[-0.991835,-0.091405,0.088926],[0.088320,0.010655,0.996035]]
2025-10-25T00:34:31.159Z,1761352471.159 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003430.00,A,3646.42750,N,12151.74521,W,0.097,266.23,251025,,,D*71
2025-10-25T00:34:31.161Z,1761352471.161 [NAL9602](INFO): GPS fix at 20251025T003430: (36.773792, -121.862420)
2025-10-25T00:34:31.558Z,1761352471.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093414,0.990850,0.097415],[-0.990533,-0.102375,0.091451],[0.100587,-0.087950,0.991033]]
2025-10-25T00:34:31.589Z,1761352471.589 [run_backseat_on_surface:CheckIn:Read_Iridium] Stopped
2025-10-25T00:34:31.590Z,1761352471.590 [run_backseat_on_surface:CheckIn:C.Wait] Running Loop=1
2025-10-25T00:34:31.590Z,1761352471.590 [run_backseat_on_surface:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-10-25T00:34:31.971Z,1761352471.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111804,0.971744,0.207880],[-0.992705,-0.118719,0.021055],[0.045139,-0.204009,0.977928]]
2025-10-25T00:34:32.362Z,1761352472.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127829,0.963360,0.235790],[-0.991684,-0.120575,-0.044994],[-0.014915,-0.239580,0.970762]]
2025-10-25T00:34:33.172Z,1761352473.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168722,0.981672,0.088619],[-0.985545,-0.166626,-0.030594],[-0.015267,-0.092499,0.995596]]
2025-10-25T00:34:33.579Z,1761352473.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161305,0.986423,0.030820],[-0.984991,-0.162857,0.057177],[0.061420,-0.021134,0.997888]]
2025-10-25T00:34:33.979Z,1761352473.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145514,0.988636,0.037748],[-0.977123,-0.149591,0.151169],[0.155098,-0.014887,0.987787]]
2025-10-25T00:34:33.991Z,1761352473.991 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003433.00,A,3646.42727,N,12151.74491,W,0.875,138.74,251025,,,D*76
2025-10-25T00:34:34.001Z,1761352474.001 [NAL9602](INFO): GPS fix at 20251025T003433: (36.773788, -121.862415)
2025-10-25T00:34:34.386Z,1761352474.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096348,0.987467,0.125003],[-0.982681,-0.114340,0.145821],[0.158286,-0.108788,0.981382]]
2025-10-25T00:34:34.789Z,1761352474.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047023,0.982576,0.179814],[-0.995798,-0.060272,0.068945],[0.078582,-0.175817,0.981282]]
2025-10-25T00:34:35.191Z,1761352475.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021332,0.993694,0.110075],[-0.996496,-0.030038,0.078056],[0.080871,-0.108024,0.990854]]
2025-10-25T00:34:35.597Z,1761352475.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010999,0.999738,0.020055],[-0.990797,-0.013602,0.134671],[0.134909,-0.018389,0.990687]]
2025-10-25T00:34:35.000Z,1761352476.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029234,0.999572,0.000943],[-0.989394,-0.029071,0.142318],[0.142284,0.003227,0.989821]]
2025-10-25T00:34:36.408Z,1761352476.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050796,0.997508,0.048973],[-0.983137,-0.058569,0.173236],[0.175672,-0.039348,0.983662]]
2025-10-25T00:34:36.807Z,1761352476.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015587,0.994936,0.099293],[-0.976926,-0.036309,0.210470],[0.213010,-0.093721,0.972545]]
2025-10-25T00:34:37.211Z,1761352477.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034892,0.990821,0.130603],[-0.981687,0.009491,0.190262],[0.187276,-0.134850,0.973007]]
2025-10-25T00:34:37.219Z,1761352477.219 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003436.00,A,3646.42684,N,12151.74466,W,0.330,188.70,251025,,,D*76
2025-10-25T00:34:37.221Z,1761352477.221 [NAL9602](INFO): GPS fix at 20251025T003436: (36.773781, -121.862411)
2025-10-25T00:34:37.616Z,1761352477.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072811,0.989638,0.123758],[-0.990891,0.057686,0.121682],[0.113282,-0.131491,0.984823]]
2025-10-25T00:34:38.019Z,1761352478.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056886,0.996296,0.064488],[-0.992980,0.049750,0.107311],[0.103705,-0.070140,0.992132]]
2025-10-25T00:34:38.441Z,1761352478.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004521,0.995249,0.097262],[-0.992393,-0.016431,0.122008],[0.123026,-0.095971,0.987752]]
2025-10-25T00:34:38.827Z,1761352478.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016207,0.983663,0.179286],[-0.992003,-0.006629,0.126043],[0.125172,-0.179895,0.975689]]
2025-10-25T00:34:39.231Z,1761352479.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076505,0.980682,0.180028],[-0.990013,0.053272,0.130527],[0.118415,-0.188216,0.974963]]
2025-10-25T00:34:39.638Z,1761352479.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112752,0.987771,0.107686],[-0.983586,0.095591,0.153037],[0.140871,-0.123174,0.982336]]
2025-10-25T00:34:40.039Z,1761352480.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089349,0.995487,0.031986],[-0.981092,0.082431,0.175110],[0.171683,-0.047027,0.984029]]
2025-10-25T00:34:40.047Z,1761352480.047 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003439.00,A,3646.42642,N,12151.74415,W,1.244,128.81,251025,,,D*70
2025-10-25T00:34:40.062Z,1761352480.062 [NAL9602](INFO): GPS fix at 20251025T003439: (36.773774, -121.862403)
2025-10-25T00:34:40.150Z,1761352480.150 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:34:40.150Z,1761352480.150 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:34:40.457Z,1761352480.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056449,0.998155,0.022383],[-0.994193,0.054139,0.093002],[0.091619,-0.027503,0.995414]]
2025-10-25T00:34:40.846Z,1761352480.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102331,0.993683,0.046076],[-0.994691,0.101708,0.015676],[0.010891,-0.047435,0.998815]]
2025-10-25T00:34:41.255Z,1761352481.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137282,0.990234,0.024292],[-0.989689,0.136112,0.044606],[0.040864,-0.030165,0.998709]]
2025-10-25T00:34:41.388Z,1761352481.388 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:34:41.662Z,1761352481.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112684,0.991551,0.064256],[-0.993574,0.111749,0.017962],[0.010630,-0.065867,0.997772]]
2025-10-25T00:34:42.063Z,1761352482.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030232,0.983931,0.175974],[-0.999536,0.029093,0.009051],[0.003786,-0.176166,0.984353]]
2025-10-25T00:34:42.870Z,1761352482.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033275,0.958749,0.282300],[-0.998428,0.044632,-0.033897],[-0.045098,-0.280728,0.958727]]
2025-10-25T00:34:43.274Z,1761352483.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047597,0.980343,0.191475],[-0.998086,0.054255,-0.029677],[-0.039482,-0.189696,0.981049]]
2025-10-25T00:34:43.279Z,1761352483.279 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003442.00,A,3646.42653,N,12151.74386,W,0.214,79.26,251025,,,D*4D
2025-10-25T00:34:43.282Z,1761352483.282 [NAL9602](INFO): GPS fix at 20251025T003442: (36.773775, -121.862398)
2025-10-25T00:34:43.683Z,1761352483.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040219,0.993425,0.107183],[-0.999105,0.038579,0.017337],[0.013088,-0.107784,0.994088]]
2025-10-25T00:34:44.078Z,1761352484.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032257,0.997151,0.068189],[-0.998419,0.029006,0.048144],[0.046029,-0.069634,0.996510]]
2025-10-25T00:34:44.511Z,1761352484.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062015,0.997844,0.021506],[-0.994519,0.059962,0.085656],[0.084182,-0.026700,0.996093]]
2025-10-25T00:34:44.888Z,1761352484.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104441,0.993431,-0.046770],[-0.981533,0.110541,0.156123],[0.160267,0.029600,0.986630]]
2025-10-25T00:34:45.291Z,1761352485.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074640,0.995407,-0.059946],[-0.979870,0.084372,0.180934],[0.185160,0.045235,0.981667]]
2025-10-25T00:34:45.696Z,1761352485.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047748,0.998730,0.016057],[-0.993619,0.045847,0.103050],[0.102183,-0.020875,0.994547]]
2025-10-25T00:34:46.100Z,1761352486.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040986,0.993841,0.102955],[-0.998718,0.043814,-0.025350],[-0.029705,-0.101784,0.994363]]
2025-10-25T00:34:46.107Z,1761352486.107 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003445.00,A,3646.42618,N,12151.74320,W,0.564,111.33,251025,,,D*72
2025-10-25T00:34:46.110Z,1761352486.110 [NAL9602](INFO): GPS fix at 20251025T003445: (36.773770, -121.862387)
2025-10-25T00:34:46.503Z,1761352486.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047317,0.991198,0.123640],[-0.991610,0.061518,-0.113689],[-0.120294,-0.117223,0.985793]]
2025-10-25T00:34:46.907Z,1761352486.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023301,0.990488,0.135609],[-0.998578,0.029564,-0.044355],[-0.047942,-0.134382,0.989769]]
2025-10-25T00:34:47.311Z,1761352487.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005455,0.978314,0.207055],[-0.999532,-0.000896,0.030568],[0.030090,-0.207125,0.977852]]
2025-10-25T00:34:47.716Z,1761352487.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047126,0.969213,0.241672],[-0.998373,0.053477,-0.019785],[-0.032099,-0.240346,0.970156]]
2025-10-25T00:34:48.119Z,1761352488.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050502,0.979139,0.196817],[-0.998412,0.054423,-0.014560],[-0.024968,-0.195769,0.980332]]
2025-10-25T00:34:48.522Z,1761352488.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056258,0.990818,0.122943],[-0.996766,0.048660,0.063952],[0.057382,-0.126144,0.990351]]
2025-10-25T00:34:48.934Z,1761352488.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069241,0.995846,0.059138],[-0.990083,0.061335,0.126384],[0.122232,-0.067303,0.990217]]
2025-10-25T00:34:48.943Z,1761352488.943 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003448.00,A,3646.42583,N,12151.74319,W,1.244,127.95,251025,,,D*79
2025-10-25T00:34:48.946Z,1761352488.946 [NAL9602](INFO): GPS fix at 20251025T003448: (36.773764, -121.862386)
2025-10-25T00:34:49.331Z,1761352489.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087334,0.996027,0.017406],[-0.989757,0.084777,0.114861],[0.112929,-0.027259,0.993229]]
2025-10-25T00:34:49.734Z,1761352489.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115038,0.992858,0.031604],[-0.989946,0.111949,0.086457],[0.082301,-0.041232,0.995754]]
2025-10-25T00:34:50.138Z,1761352490.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137470,0.988156,0.068181],[-0.983296,0.127856,0.129549],[0.119297,-0.084852,0.989226]]
2025-10-25T00:34:50.546Z,1761352490.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109700,0.984844,0.134347],[-0.989769,0.095828,0.105706],[0.091230,-0.144569,0.985280]]
2025-10-25T00:34:50.948Z,1761352490.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100232,0.980702,0.167862],[-0.994922,0.100337,0.007880],[-0.009115,-0.167799,0.985779]]
2025-10-25T00:34:51.350Z,1761352491.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142062,0.980187,0.138028],[-0.989801,0.142155,0.009238],[-0.010566,-0.137932,0.990385]]
2025-10-25T00:34:51.755Z,1761352491.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136000,0.988338,0.068499],[-0.989989,0.132941,0.047409],[0.037749,-0.074261,0.996524]]
2025-10-25T00:34:52.159Z,1761352492.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063313,0.996920,0.046281],[-0.997587,0.061895,0.031449],[0.028488,-0.048160,0.998433]]
2025-10-25T00:34:52.187Z,1761352492.187 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003451.00,A,3646.42570,N,12151.74304,W,0.175,124.67,251025,,,A*7A
2025-10-25T00:34:52.194Z,1761352492.194 [NAL9602](INFO): GPS fix at 20251025T003451: (36.773762, -121.862384)
2025-10-25T00:34:52.563Z,1761352492.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100103,0.993361,0.056694],[-0.993375,0.096548,0.062326],[0.056439,-0.062558,0.996444]]
2025-10-25T00:34:52.967Z,1761352492.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149714,0.988082,0.035786],[-0.985675,0.146311,0.083891],[0.077655,-0.047833,0.995832]]
2025-10-25T00:34:53.097Z,1761352493.097 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:34:53.370Z,1761352493.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083387,0.994863,0.057392],[-0.996226,0.081832,0.028944],[0.024099,-0.059589,0.997932]]
2025-10-25T00:34:53.775Z,1761352493.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110180,0.989871,0.089534],[-0.993697,0.111580,-0.010774],[-0.020655,-0.087782,0.995926]]
2025-10-25T00:34:54.182Z,1761352494.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157476,0.985438,0.064131],[-0.986898,0.154735,0.045700],[0.035111,-0.070487,0.996895]]
2025-10-25T00:34:54.590Z,1761352494.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101991,0.992608,0.065782],[-0.993613,0.098438,0.055163],[0.048279,-0.070988,0.996308]]
2025-10-25T00:34:54.988Z,1761352494.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061217,0.992331,0.107387],[-0.998099,0.061634,-0.000563],[-0.007177,-0.107148,0.994217]]
2025-10-25T00:34:54.995Z,1761352494.995 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003454.00,A,3646.42572,N,12151.74208,W,0.894,92.83,251025,,,A*40
2025-10-25T00:34:54.997Z,1761352494.997 [NAL9602](INFO): GPS fix at 20251025T003454: (36.773762, -121.862368)
2025-10-25T00:34:55.391Z,1761352495.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076903,0.986218,0.146492],[-0.996351,0.070561,0.048014],[0.037015,-0.149650,0.988046]]
2025-10-25T00:34:55.794Z,1761352495.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138921,0.976533,0.164571],[-0.987266,0.123564,0.100186],[0.077500,-0.176394,0.981264]]
2025-10-25T00:34:56.203Z,1761352496.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112151,0.984028,0.138243],[-0.993055,0.106013,0.051015],[0.035544,-0.143004,0.989084]]
2025-10-25T00:34:56.607Z,1761352496.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056817,0.987309,0.148300],[-0.996276,0.065716,-0.055811],[-0.064849,-0.144576,0.987366]]
2025-10-25T00:34:57.012Z,1761352497.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064362,0.985336,0.158020],[-0.991262,0.081395,-0.103801],[-0.115141,-0.149959,0.981965]]
2025-10-25T00:34:57.422Z,1761352497.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068008,0.993265,0.093809],[-0.997642,0.068577,-0.002852],[-0.009266,-0.093394,0.995586]]
2025-10-25T00:34:57.820Z,1761352497.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065360,0.997603,0.022709],[-0.992883,0.062746,0.101224],[0.099556,-0.029164,0.994604]]
2025-10-25T00:34:58.223Z,1761352498.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073316,0.997282,-0.007255],[-0.992561,0.073674,0.096929],[0.097200,0.000095,0.995265]]
2025-10-25T00:34:58.231Z,1761352498.231 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003457.00,A,3646.42567,N,12151.74234,W,0.836,301.69,251025,,,A*7D
2025-10-25T00:34:58.233Z,1761352498.233 [NAL9602](INFO): GPS fix at 20251025T003457: (36.773761, -121.862372)
2025-10-25T00:34:58.627Z,1761352498.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066098,0.996670,0.047749],[-0.997173,0.064266,0.038944],[0.035746,-0.050188,0.998100]]
2025-10-25T00:34:59.033Z,1761352499.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031644,0.989217,0.142998],[-0.999436,0.029713,0.015618],[0.011201,-0.143412,0.989600]]
2025-10-25T00:34:59.437Z,1761352499.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018580,0.971174,0.237646],[-0.998111,0.004097,0.061292],[0.058552,-0.238336,0.969416]]
2025-10-25T00:34:59.839Z,1761352499.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064610,0.961333,0.267701],[-0.996606,0.048445,0.066560],[0.051018,-0.271092,0.961200]]
2025-10-25T00:35:00.242Z,1761352500.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089102,0.974460,0.206128],[-0.995997,0.088665,0.011376],[-0.007191,-0.206316,0.978459]]
2025-10-25T00:35:00.646Z,1761352500.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070302,0.990935,0.114477],[-0.996824,0.074091,-0.029186],[-0.037404,-0.112062,0.992997]]
2025-10-25T00:35:01.053Z,1761352501.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061762,0.996227,0.060965],[-0.997511,0.063693,-0.030254],[-0.034023,-0.058945,0.997681]]
2025-10-25T00:35:01.063Z,1761352501.063 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003500.00,A,3646.42555,N,12151.74174,W,0.583,82.89,251025,,,D*48
2025-10-25T00:35:01.065Z,1761352501.065 [NAL9602](INFO): GPS fix at 20251025T003500: (36.773759, -121.862362)
2025-10-25T00:35:01.454Z,1761352501.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057987,0.997226,0.046676],[-0.998248,0.058469,-0.009017],[-0.011722,-0.046071,0.998869]]
2025-10-25T00:35:01.858Z,1761352501.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068036,0.995021,0.072831],[-0.997671,0.068205,0.000164],[-0.004804,-0.072673,0.997344]]
2025-10-25T00:35:02.263Z,1761352502.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041595,0.987570,0.151578],[-0.998824,0.037318,0.030956],[0.024915,-0.152687,0.987960]]
2025-10-25T00:35:03.071Z,1761352503.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084695,0.963272,0.254821],[-0.994895,0.067670,0.074868],[0.054874,-0.259861,0.964086]]
2025-10-25T00:35:03.474Z,1761352503.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128407,0.967005,0.220028],[-0.991250,0.118306,0.058544],[0.030581,-0.225620,0.973735]]
2025-10-25T00:35:03.882Z,1761352503.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155371,0.979982,0.124481],[-0.986732,0.147946,0.066880],[0.047124,-0.133221,0.989965]]
2025-10-25T00:35:03.902Z,1761352503.902 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003503.00,A,3646.42504,N,12151.74114,W,0.914,133.40,251025,,,D*75
2025-10-25T00:35:03.926Z,1761352503.926 [NAL9602](INFO): GPS fix at 20251025T003503: (36.773751, -121.862352)
2025-10-25T00:35:04.285Z,1761352504.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144267,0.988340,0.048688],[-0.986367,0.139695,0.086978],[0.079163,-0.060572,0.995020]]
2025-10-25T00:35:04.564Z,1761352504.564 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:35:04.691Z,1761352504.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161502,0.986789,0.012809],[-0.984949,0.160364,0.064491],[0.061585,-0.023032,0.997836]]
2025-10-25T00:35:05.091Z,1761352505.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168124,0.984955,0.039985],[-0.985430,0.168987,-0.019280],[-0.025747,-0.036161,0.999014]]
2025-10-25T00:35:05.494Z,1761352505.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162951,0.975997,0.144488],[-0.985006,0.169338,-0.032983],[-0.056658,-0.136947,0.988957]]
2025-10-25T00:35:05.935Z,1761352505.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171394,0.949201,0.263897],[-0.981290,0.188323,-0.040047],[-0.087711,-0.252096,0.963719]]
2025-10-25T00:35:06.302Z,1761352506.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172724,0.936001,0.306706],[-0.972916,0.210695,-0.095090],[-0.153626,-0.281975,0.947042]]
2025-10-25T00:35:06.707Z,1761352506.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179262,0.951273,0.250889],[-0.979294,0.196926,-0.046952],[-0.094071,-0.237277,0.966876]]
2025-10-25T00:35:07.112Z,1761352507.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181178,0.972644,0.145388],[-0.980093,0.166370,0.108345],[0.081193,-0.162124,0.983424]]
2025-10-25T00:35:07.119Z,1761352507.119 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003506.00,A,3646.42505,N,12151.74118,W,0.758,261.87,251025,,,D*74
2025-10-25T00:35:07.121Z,1761352507.121 [NAL9602](INFO): GPS fix at 20251025T003506: (36.773751, -121.862353)
2025-10-25T00:35:07.514Z,1761352507.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160440,0.984602,0.069407],[-0.978852,0.149673,0.139455],[0.126919,-0.090313,0.987793]]
2025-10-25T00:35:07.955Z,1761352507.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185381,0.982667,0.000404],[-0.976950,0.184259,0.107784],[0.105841,-0.020376,0.994174]]
2025-10-25T00:35:08.324Z,1761352508.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199310,0.979612,-0.025233],[-0.976282,0.200722,0.081137],[0.084548,0.008463,0.996383]]
2025-10-25T00:35:08.727Z,1761352508.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166932,0.985707,0.022702],[-0.984658,0.165479,0.055359],[0.050811,-0.031595,0.998208]]
2025-10-25T00:35:09.131Z,1761352509.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146985,0.985125,0.089017],[-0.989114,0.145749,0.020264],[0.006988,-0.091026,0.995824]]
2025-10-25T00:35:09.535Z,1761352509.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130766,0.981921,0.136863],[-0.989264,0.120148,0.083196],[0.065248,-0.146273,0.987090]]
2025-10-25T00:35:09.967Z,1761352509.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116046,0.987204,0.109370],[-0.972476,0.090529,0.214697],[0.202049,-0.131274,0.970538]]
2025-10-25T00:35:09.991Z,1761352509.991 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003509.00,A,3646.42460,N,12151.74097,W,1.069,165.25,251025,,,D*74
2025-10-25T00:35:09.997Z,1761352509.997 [NAL9602](INFO): GPS fix at 20251025T003509: (36.773743, -121.862349)
2025-10-25T00:35:10.344Z,1761352510.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141184,0.984484,0.104201],[-0.963158,0.112259,0.244387],[0.228898,-0.134865,0.964063]]
2025-10-25T00:35:10.747Z,1761352510.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195826,0.977432,0.079237],[-0.953002,0.170637,0.250338],[0.231168,-0.124536,0.964910]]
2025-10-25T00:35:11.150Z,1761352511.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237760,0.970384,-0.042721],[-0.937271,0.240747,0.252121],[0.254939,-0.019903,0.966752]]
2025-10-25T00:35:11.555Z,1761352511.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206569,0.969607,-0.131117],[-0.944823,0.232495,0.230773],[0.254244,0.076212,0.964133]]
2025-10-25T00:35:11.986Z,1761352511.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169364,0.984596,-0.043428],[-0.966767,0.174536,0.186810],[0.191512,0.010346,0.981436]]
2025-10-25T00:35:12.362Z,1761352512.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188413,0.977149,0.098394],[-0.981531,0.183979,0.052424],[0.033124,-0.106454,0.993766]]
2025-10-25T00:35:13.171Z,1761352513.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199183,0.948625,0.245840],[-0.967955,0.229602,-0.101718],[-0.152938,-0.217702,0.963959]]
2025-10-25T00:35:13.176Z,1761352513.176 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003512.00,A,3646.42352,N,12151.74074,W,1.050,242.65,251025,,,D*7D
2025-10-25T00:35:13.178Z,1761352513.178 [NAL9602](INFO): GPS fix at 20251025T003512: (36.773725, -121.862346)
2025-10-25T00:35:13.575Z,1761352513.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174158,0.956297,0.234871],[-0.970735,0.206783,-0.122128],[-0.165358,-0.206728,0.964324]]
2025-10-25T00:35:13.980Z,1761352513.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134789,0.970746,0.198707],[-0.989236,0.143358,-0.029321],[-0.056949,-0.192616,0.979620]]
2025-10-25T00:35:14.116Z,1761352514.116 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:35:14.389Z,1761352514.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158794,0.977544,0.138536],[-0.979333,0.138149,0.147721],[0.125265,-0.159130,0.979278]]
2025-10-25T00:35:14.786Z,1761352514.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264687,0.962262,0.063190],[-0.941896,0.243920,0.230944],[0.206816,-0.120647,0.970913]]
2025-10-25T00:35:15.192Z,1761352515.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304983,0.952319,0.008578],[-0.933225,0.297047,0.202123],[0.189937,-0.069649,0.979323]]
2025-10-25T00:35:15.595Z,1761352515.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318351,0.945870,0.063106],[-0.943581,0.309772,0.117033],[0.091150,-0.096804,0.991121]]
2025-10-25T00:35:15.999Z,1761352515.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331031,0.928385,0.168879],[-0.942421,0.334291,0.009593],[-0.047549,-0.162331,0.985590]]
2025-10-25T00:35:16.007Z,1761352516.007 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003515.00,A,3646.42322,N,12151.73948,W,1.205,116.57,251025,,,D*7D
2025-10-25T00:35:16.009Z,1761352516.009 [NAL9602](INFO): GPS fix at 20251025T003515: (36.773720, -121.862325)
2025-10-25T00:35:16.405Z,1761352516.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318161,0.919406,0.231228],[-0.942441,0.333192,-0.028070],[-0.102852,-0.208988,0.972495]]
2025-10-25T00:35:16.808Z,1761352516.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322993,0.921902,0.213944],[-0.945468,0.324360,0.029686],[-0.042028,-0.211866,0.976395]]
2025-10-25T00:35:17.211Z,1761352517.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361633,0.923133,0.130567],[-0.929687,0.346540,0.124866],[0.070021,-0.166542,0.983545]]
2025-10-25T00:35:17.615Z,1761352517.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422462,0.903967,0.066100],[-0.901684,0.411739,0.132052],[0.092155,-0.115388,0.989036]]
2025-10-25T00:35:18.019Z,1761352518.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448700,0.893682,-0.000799],[-0.891946,0.447883,0.061915],[0.055690,-0.027069,0.998081]]
2025-10-25T00:35:18.424Z,1761352518.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473416,0.879787,-0.043032],[-0.879961,0.474560,0.021475],[0.039315,0.027700,0.998843]]
2025-10-25T00:35:18.826Z,1761352518.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492216,0.868842,-0.053261],[-0.869106,0.493950,0.025854],[0.048771,0.033563,0.998246]]
2025-10-25T00:35:19.231Z,1761352519.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484986,0.873382,-0.044634],[-0.869047,0.487024,0.086976],[0.097702,-0.003393,0.995210]]
2025-10-25T00:35:19.254Z,1761352519.254 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003518.00,A,3646.42264,N,12151.73918,W,0.778,149.48,251025,,,D*7C
2025-10-25T00:35:19.280Z,1761352519.280 [NAL9602](INFO): GPS fix at 20251025T003518: (36.773711, -121.862320)
2025-10-25T00:35:19.637Z,1761352519.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487158,0.872547,-0.036575],[-0.844374,0.481294,0.235348],[0.222956,-0.083769,0.971223]]
2025-10-25T00:35:20.039Z,1761352520.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512102,0.858201,-0.035237],[-0.805205,0.493950,0.328114],[0.298993,-0.139655,0.943981]]
2025-10-25T00:35:20.443Z,1761352520.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543929,0.838957,-0.017100],[-0.793245,0.520725,0.315607],[0.273685,-0.158103,0.948736]]
2025-10-25T00:35:20.846Z,1761352520.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550041,0.833447,-0.053120],[-0.799194,0.543761,0.256150],[0.242372,-0.098440,0.965176]]
2025-10-25T00:35:21.252Z,1761352521.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578890,0.809598,-0.097146],[-0.788385,0.586136,0.186797],[0.208171,-0.031547,0.977584]]
2025-10-25T00:35:21.657Z,1761352521.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615394,0.773471,-0.151764],[-0.763092,0.632856,0.131083],[0.197434,0.035142,0.979686]]
2025-10-25T00:35:22.059Z,1761352522.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613377,0.769213,-0.179107],[-0.773534,0.630875,0.060351],[0.159417,0.101527,0.981977]]
2025-10-25T00:35:22.075Z,1761352522.075 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003521.00,A,3646.42234,N,12151.73950,W,1.886,274.53,251025,,,D*77
2025-10-25T00:35:22.086Z,1761352522.086 [NAL9602](INFO): GPS fix at 20251025T003521: (36.773706, -121.862325)
2025-10-25T00:35:22.463Z,1761352522.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623498,0.768708,-0.142613],[-0.766386,0.637003,0.082945],[0.154605,0.057581,0.986297]]
2025-10-25T00:35:22.876Z,1761352522.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656446,0.743241,-0.129117],[-0.725293,0.668892,0.162889],[0.207431,-0.013280,0.978159]]
2025-10-25T00:35:23.271Z,1761352523.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664593,0.734355,-0.137979],[-0.705063,0.677464,0.209590],[0.247389,-0.042008,0.968005]]
2025-10-25T00:35:23.679Z,1761352523.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650285,0.744924,-0.149055],[-0.713380,0.666232,0.217309],[0.261184,-0.034980,0.964655]]
2025-10-25T00:35:24.079Z,1761352524.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635600,0.758419,-0.144264],[-0.726895,0.650859,0.219105],[0.260070,-0.034399,0.964977]]
2025-10-25T00:35:24.485Z,1761352524.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633281,0.766986,-0.103383],[-0.744726,0.640274,0.188237],[0.210568,-0.042215,0.976667]]
2025-10-25T00:35:24.890Z,1761352524.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635201,0.770611,-0.051750],[-0.754887,0.633613,0.169353],[0.163295,-0.068508,0.984196]]
2025-10-25T00:35:24.895Z,1761352524.895 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003524.00,A,3646.42208,N,12151.73903,W,1.108,127.23,251025,,,D*76
2025-10-25T00:35:24.911Z,1761352524.911 [NAL9602](INFO): GPS fix at 20251025T003524: (36.773701, -121.862317)
2025-10-25T00:35:25.291Z,1761352525.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636711,0.770669,-0.025862],[-0.755301,0.630067,0.180378],[0.155307,-0.095315,0.983257]]
2025-10-25T00:35:25.695Z,1761352525.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652790,0.756166,-0.045583],[-0.739816,0.649302,0.176294],[0.162904,-0.081360,0.983282]]
2025-10-25T00:35:26.099Z,1761352526.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653599,0.749672,-0.103921],[-0.740015,0.661807,0.119952],[0.158700,-0.001497,0.987326]]
2025-10-25T00:35:26.510Z,1761352526.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642406,0.740334,-0.198041],[-0.729647,0.669882,0.137382],[0.234373,0.056245,0.970518]]
2025-10-25T00:35:26.912Z,1761352526.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606602,0.774227,-0.180571],[-0.754857,0.632182,0.174750],[0.249450,0.030302,0.967913]]
2025-10-25T00:35:27.327Z,1761352527.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622730,0.775268,-0.105675],[-0.751364,0.630204,0.195690],[0.218309,-0.042462,0.974955]]
2025-10-25T00:35:27.736Z,1761352527.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627027,0.778012,-0.039174],[-0.765778,0.624832,0.152213],[0.142901,-0.065443,0.987571]]
2025-10-25T00:35:28.123Z,1761352528.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598014,0.801409,-0.011115],[-0.795356,0.595095,0.115197],[0.098934,-0.060049,0.993281]]
2025-10-25T00:35:28.131Z,1761352528.131 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003527.00,A,3646.42179,N,12151.73820,W,1.419,117.40,251025,,,D*73
2025-10-25T00:35:28.133Z,1761352528.133 [NAL9602](INFO): GPS fix at 20251025T003527: (36.773696, -121.862303)
2025-10-25T00:35:28.228Z,1761352528.228 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:35:28.531Z,1761352528.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619550,0.783420,-0.049108],[-0.775451,0.620555,0.116567],[0.121795,-0.034138,0.991968]]
2025-10-25T00:35:28.926Z,1761352528.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632537,0.771704,-0.066108],[-0.766546,0.635956,0.089258],[0.110922,-0.005784,0.993812]]
2025-10-25T00:35:29.339Z,1761352529.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640193,0.768077,-0.014488],[-0.768070,0.640324,0.007284],[0.014872,0.006465,0.999869]]
2025-10-25T00:35:29.736Z,1761352529.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629782,0.776259,0.028235],[-0.775220,0.630405,-0.040295],[-0.049078,0.003489,0.998789]]
2025-10-25T00:35:30.140Z,1761352530.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572046,0.819722,0.028630],[-0.819796,0.572525,-0.012229],[-0.026415,-0.016475,0.999515]]
2025-10-25T00:35:30.545Z,1761352530.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581799,0.812839,-0.028348],[-0.811703,0.582485,0.042995],[0.051461,-0.002004,0.998673]]
2025-10-25T00:35:30.947Z,1761352530.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620448,0.783695,-0.029439],[-0.782585,0.621139,0.041789],[0.051036,-0.002889,0.998693]]
2025-10-25T00:35:30.955Z,1761352530.955 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003530.00,A,3646.42193,N,12151.73769,W,0.389,49.41,251025,,,D*47
2025-10-25T00:35:30.957Z,1761352530.957 [NAL9602](INFO): GPS fix at 20251025T003530: (36.773699, -121.862295)
2025-10-25T00:35:31.359Z,1761352531.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600456,0.799495,0.016147],[-0.799315,0.600667,-0.017163],[-0.023420,-0.002601,0.999722]]
2025-10-25T00:35:31.755Z,1761352531.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585310,0.809999,0.036259],[-0.810762,0.585176,0.015297],[-0.008827,-0.038350,0.999225]]
2025-10-25T00:35:32.163Z,1761352532.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636597,0.771172,0.006135],[-0.767753,0.632984,0.099432],[0.072795,-0.068008,0.995025]]
2025-10-25T00:35:32.568Z,1761352532.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634359,0.773038,0.001105],[-0.771188,0.632740,0.070058],[0.053458,-0.045294,0.997542]]
2025-10-25T00:35:32.967Z,1761352532.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560839,0.827791,0.014894],[-0.824792,0.557063,0.096955],[0.071961,-0.066660,0.995177]]
2025-10-25T00:35:33.375Z,1761352533.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596427,0.798254,0.084055],[-0.794958,0.572973,0.199358],[0.110977,-0.185722,0.976315]]
2025-10-25T00:35:33.775Z,1761352533.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682317,0.725251,0.091947],[-0.728828,0.665025,0.162945],[0.057029,-0.178194,0.982341]]
2025-10-25T00:35:34.178Z,1761352534.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691442,0.721065,0.044412],[-0.722204,0.691460,0.017445],[-0.018130,-0.044137,0.998861]]
2025-10-25T00:35:34.191Z,1761352534.191 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003533.00,A,3646.42156,N,12151.73801,W,0.505,218.43,251025,,,D*7A
2025-10-25T00:35:34.193Z,1761352534.193 [NAL9602](INFO): GPS fix at 20251025T003533: (36.773693, -121.862300)
2025-10-25T00:35:34.583Z,1761352534.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710382,0.701503,-0.057020],[-0.703816,0.708041,-0.057626],[-0.000052,0.081068,0.996709]]
2025-10-25T00:35:34.986Z,1761352534.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683501,0.725997,-0.075862],[-0.729612,0.676322,-0.101268],[-0.022213,0.124566,0.991963]]
2025-10-25T00:35:35.400Z,1761352535.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655044,0.754659,0.037529],[-0.746753,0.654157,-0.120160],[-0.115230,0.050686,0.992045]]
2025-10-25T00:35:35.794Z,1761352535.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645723,0.758703,0.086090],[-0.753507,0.651394,-0.088953],[-0.123567,-0.007430,0.992308]]
2025-10-25T00:35:36.199Z,1761352536.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648653,0.761084,-0.000330],[-0.761026,0.648598,-0.012677],[-0.009434,0.008474,0.999920]]
2025-10-25T00:35:36.603Z,1761352536.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655036,0.747204,-0.112309],[-0.744609,0.663597,0.072092],[0.128396,0.036403,0.991055]]
2025-10-25T00:35:37.007Z,1761352537.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665045,0.736885,-0.121306],[-0.736371,0.674102,0.057836],[0.124391,0.050862,0.990929]]
2025-10-25T00:35:37.019Z,1761352537.019 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003536.00,A,3646.42158,N,12151.73727,W,1.536,137.22,251025,,,A*77
2025-10-25T00:35:37.022Z,1761352537.022 [NAL9602](INFO): GPS fix at 20251025T003536: (36.773693, -121.862288)
2025-10-25T00:35:37.426Z,1761352537.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660716,0.747622,-0.067203],[-0.748630,0.662845,0.013775],[0.054843,0.041209,0.997644]]
2025-10-25T00:35:37.572Z,1761352537.572 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:35:37.814Z,1761352537.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633426,0.773080,0.033461],[-0.773221,0.634034,-0.011382],[-0.030015,-0.018663,0.999375]]
2025-10-25T00:35:38.218Z,1761352538.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624287,0.776507,0.085448],[-0.777628,0.628149,-0.026910],[-0.074570,-0.049647,0.995979]]
2025-10-25T00:35:38.622Z,1761352538.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612781,0.789231,0.040179],[-0.790145,0.612745,0.014651],[-0.013056,-0.040725,0.999085]]
2025-10-25T00:35:39.029Z,1761352539.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668359,0.737754,-0.094953],[-0.733402,0.674899,0.081445],[0.124170,0.015204,0.992144]]
2025-10-25T00:35:39.437Z,1761352539.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697967,0.702561,-0.138744],[-0.704947,0.708154,0.039585],[0.126063,0.070178,0.989537]]
2025-10-25T00:35:39.843Z,1761352539.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637103,0.764224,-0.100308],[-0.766154,0.642129,0.026031],[0.084305,0.060267,0.994616]]
2025-10-25T00:35:40.239Z,1761352540.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648349,0.761167,0.016357],[-0.761294,0.647915,0.025229],[0.008606,-0.028810,0.999548]]
2025-10-25T00:35:40.247Z,1761352540.247 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003539.00,A,3646.42099,N,12151.73711,W,1.322,162.93,251025,,,A*78
2025-10-25T00:35:40.250Z,1761352540.250 [NAL9602](INFO): GPS fix at 20251025T003539: (36.773683, -121.862285)
2025-10-25T00:35:40.374Z,1761352540.374 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:35:40.374Z,1761352540.374 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:35:40.642Z,1761352540.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661280,0.746510,0.073692],[-0.749467,0.661650,0.022780],[-0.031753,-0.070293,0.997021]]
2025-10-25T00:35:41.046Z,1761352541.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649429,0.755739,0.084265],[-0.758952,0.651069,0.010055],[-0.047263,-0.070483,0.996393]]
2025-10-25T00:35:41.468Z,1761352541.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649617,0.755307,0.086656],[-0.757622,0.652633,-0.008939],[-0.063306,-0.059846,0.996198]]
2025-10-25T00:35:41.875Z,1761352541.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646715,0.758931,0.076053],[-0.761947,0.647352,0.019292],[-0.034591,-0.070425,0.996917]]
2025-10-25T00:35:42.282Z,1761352542.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669197,0.741967,0.040751],[-0.742576,0.669762,-0.000285],[-0.027505,-0.030070,0.999169]]
2025-10-25T00:35:43.119Z,1761352543.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650644,0.759070,-0.021786],[-0.757500,0.646745,-0.088963],[-0.053439,0.074386,0.995797]]
2025-10-25T00:35:43.203Z,1761352543.203 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003542.00,A,3646.42089,N,12151.73709,W,0.680,125.71,251025,,,A*7F
2025-10-25T00:35:43.229Z,1761352543.229 [NAL9602](INFO): GPS fix at 20251025T003542: (36.773682, -121.862285)
2025-10-25T00:35:43.518Z,1761352543.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651491,0.758480,-0.016343],[-0.756245,0.647554,-0.093631],[-0.060434,0.073359,0.995473]]
2025-10-25T00:35:43.959Z,1761352543.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690757,0.722786,-0.020871],[-0.722890,0.690955,0.003382],[0.016866,0.012751,0.999776]]
2025-10-25T00:35:44.339Z,1761352544.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683190,0.729805,-0.025239],[-0.723624,0.681237,0.110838],[0.098084,-0.057460,0.993518]]
2025-10-25T00:35:44.723Z,1761352544.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648824,0.760621,0.021952],[-0.754624,0.639464,0.147064],[0.097823,-0.111984,0.988883]]
2025-10-25T00:35:45.127Z,1761352545.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652128,0.757788,0.022048],[-0.747489,0.637870,0.185425],[0.126449,-0.137402,0.982411]]
2025-10-25T00:35:45.538Z,1761352545.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659835,0.750946,-0.026409],[-0.735560,0.652699,0.181482],[0.153520,-0.100323,0.983040]]
2025-10-25T00:35:45.970Z,1761352545.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648055,0.759137,-0.061122],[-0.752670,0.650645,0.100744],[0.116247,-0.019283,0.993033]]
2025-10-25T00:35:46.006Z,1761352546.006 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003545.00,A,3646.42046,N,12151.73586,W,0.855,122.35,251025,,,A*7F
2025-10-25T00:35:46.012Z,1761352546.012 [NAL9602](INFO): GPS fix at 20251025T003545: (36.773674, -121.862264)
2025-10-25T00:35:46.346Z,1761352546.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625747,0.776017,-0.078978],[-0.777243,0.628856,0.020834],[0.065833,0.048349,0.996659]]
2025-10-25T00:35:46.743Z,1761352546.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623475,0.780057,-0.052823],[-0.781775,0.621103,-0.055305],[-0.010333,0.075777,0.997071]]
2025-10-25T00:35:47.148Z,1761352547.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634758,0.772546,-0.015952],[-0.769639,0.630261,-0.102109],[-0.068830,0.077092,0.994645]]
2025-10-25T00:35:47.551Z,1761352547.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632481,0.774395,-0.016749],[-0.774427,0.631787,-0.033283],[-0.015192,0.034022,0.999306]]
2025-10-25T00:35:47.964Z,1761352547.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615444,0.787812,-0.024086],[-0.783074,0.614644,0.094909],[0.089575,-0.039550,0.995194]]
2025-10-25T00:35:48.360Z,1761352548.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632936,0.773904,-0.021548],[-0.761020,0.627031,0.166377],[0.142271,-0.088907,0.985827]]
2025-10-25T00:35:48.763Z,1761352548.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660866,0.750449,-0.009101],[-0.741513,0.654773,0.146393],[0.115819,-0.089997,0.989185]]
2025-10-25T00:35:49.166Z,1761352549.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629028,0.777188,-0.017386],[-0.774696,0.628555,0.069037],[0.064582,-0.029957,0.997463]]
2025-10-25T00:35:49.179Z,1761352549.179 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003548.00,A,3646.42043,N,12151.73603,W,0.797,113.03,251025,,,A*7F
2025-10-25T00:35:49.181Z,1761352549.181 [NAL9602](INFO): GPS fix at 20251025T003548: (36.773674, -121.862267)
2025-10-25T00:35:49.326Z,1761352549.326 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:35:49.581Z,1761352549.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572559,0.819341,0.029284],[-0.817490,0.573253,-0.055609],[-0.062350,0.007900,0.998023]]
2025-10-25T00:35:49.975Z,1761352549.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589260,0.806234,0.052531],[-0.792808,0.589524,-0.154653],[-0.155655,0.049484,0.986571]]
2025-10-25T00:35:50.381Z,1761352550.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629576,0.775890,-0.040369],[-0.766471,0.611753,-0.195656],[-0.127112,0.154122,0.979841]]
2025-10-25T00:35:50.791Z,1761352550.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611676,0.776675,-0.150428],[-0.790399,0.591928,-0.157765],[-0.033489,0.215399,0.975952]]
2025-10-25T00:35:51.187Z,1761352551.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629129,0.758029,-0.172015],[-0.777205,0.616929,-0.123899],[0.012202,0.211639,0.977272]]
2025-10-25T00:35:51.592Z,1761352551.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658295,0.742064,-0.126442],[-0.750914,0.659107,-0.041306],[0.052687,0.122139,0.991114]]
2025-10-25T00:35:51.994Z,1761352551.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597874,0.798634,-0.068787],[-0.789499,0.601532,0.121863],[0.138701,-0.018552,0.990160]]
2025-10-25T00:35:52.003Z,1761352552.003 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003551.00,A,3646.42021,N,12151.73543,W,1.652,109.30,251025,,,A*76
2025-10-25T00:35:52.014Z,1761352552.014 [NAL9602](INFO): GPS fix at 20251025T003551: (36.773670, -121.862257)
2025-10-25T00:35:52.399Z,1761352552.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520826,0.853356,0.022890],[-0.839161,0.506873,0.197204],[0.156683,-0.121917,0.980095]]
2025-10-25T00:35:53.215Z,1761352553.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494726,0.867702,0.048366],[-0.868968,0.494674,0.013884],[-0.011878,-0.048897,0.998733]]
2025-10-25T00:35:53.611Z,1761352553.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490353,0.867185,-0.086857],[-0.870599,0.491983,-0.002997],[0.040133,0.077087,0.996216]]
2025-10-25T00:35:54.016Z,1761352554.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484590,0.853918,-0.189727],[-0.868893,0.494930,0.008290],[0.100980,0.160835,0.981802]]
2025-10-25T00:35:54.420Z,1761352554.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482607,0.860274,-0.164374],[-0.869860,0.492685,0.024606],[0.102153,0.131108,0.986091]]
2025-10-25T00:35:54.830Z,1761352554.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436060,0.895290,-0.091143],[-0.884097,0.445098,0.142339],[0.168002,0.018511,0.985613]]
2025-10-25T00:35:55.227Z,1761352555.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418110,0.907834,-0.031969],[-0.860355,0.407046,0.306763],[0.291503,-0.100756,0.951249]]
2025-10-25T00:35:55.235Z,1761352555.235 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003554.00,A,3646.41998,N,12151.73514,W,1.302,110.59,251025,,,D*7B
2025-10-25T00:35:55.237Z,1761352555.237 [NAL9602](INFO): GPS fix at 20251025T003554: (36.773666, -121.862252)
2025-10-25T00:35:55.630Z,1761352555.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444688,0.895358,-0.024229],[-0.825099,0.420019,0.377883],[0.348517,-0.148049,0.925536]]
2025-10-25T00:35:56.039Z,1761352556.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449732,0.892860,-0.023291],[-0.838416,0.431011,0.333600],[0.307897,-0.130503,0.942427]]
2025-10-25T00:35:56.439Z,1761352556.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405464,0.913827,-0.022772],[-0.872961,0.394482,0.286919],[0.271178,-0.096456,0.957684]]
2025-10-25T00:35:56.843Z,1761352556.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373792,0.927327,0.018567],[-0.903813,0.359671,0.231862],[0.208333,-0.103449,0.972572]]
2025-10-25T00:35:57.248Z,1761352557.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394717,0.918742,-0.010558],[-0.903124,0.390069,0.179478],[0.169012,-0.061308,0.983705]]
2025-10-25T00:35:57.651Z,1761352557.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423269,0.902783,-0.076330],[-0.886056,0.430059,0.173071],[0.189072,-0.005623,0.981947]]
2025-10-25T00:35:58.055Z,1761352558.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417617,0.897218,-0.143509],[-0.886944,0.436832,0.150030],[0.197299,0.064630,0.978211]]
2025-10-25T00:35:58.089Z,1761352558.089 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003557.00,A,3646.41979,N,12151.73454,W,0.544,130.22,251025,,,D*79
2025-10-25T00:35:58.091Z,1761352558.091 [NAL9602](INFO): GPS fix at 20251025T003557: (36.773663, -121.862242)
2025-10-25T00:35:58.458Z,1761352558.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364336,0.923123,-0.122893],[-0.920942,0.376742,0.099655],[0.138292,0.076869,0.987404]]
2025-10-25T00:35:58.864Z,1761352558.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331669,0.942155,-0.048378],[-0.932715,0.335177,0.133037],[0.141557,0.000999,0.989930]]
2025-10-25T00:35:59.266Z,1761352559.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353331,0.935410,0.012840],[-0.904769,0.338204,0.258866],[0.237803,-0.103083,0.965828]]
2025-10-25T00:35:59.675Z,1761352559.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390835,0.920136,0.024447],[-0.876085,0.363714,0.316524],[0.282354,-0.145126,0.948269]]
2025-10-25T00:36:00.075Z,1761352560.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360029,0.932933,-0.003977],[-0.893407,0.345997,0.286550],[0.268708,-0.099613,0.958057]]
2025-10-25T00:36:00.479Z,1761352560.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348695,0.937210,-0.006980],[-0.921742,0.344270,0.178522],[0.169716,-0.055816,0.983911]]
2025-10-25T00:36:00.882Z,1761352560.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326056,0.945345,0.003220],[-0.943272,0.325111,0.067378],[0.062648,-0.025006,0.997722]]
2025-10-25T00:36:00.893Z,1761352560.893 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003600.00,A,3646.41953,N,12151.73436,W,0.816,191.46,251025,,,D*77
2025-10-25T00:36:00.895Z,1761352560.895 [NAL9602](INFO): GPS fix at 20251025T003600: (36.773659, -121.862239)
2025-10-25T00:36:01.315Z,1761352561.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279841,0.959756,0.023607],[-0.959955,0.280070,-0.006929],[-0.013261,-0.020723,0.999697]]
2025-10-25T00:36:01.376Z,1761352561.376 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:36:01.692Z,1761352561.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301121,0.951499,0.063047],[-0.951939,0.303828,-0.038746],[-0.056023,-0.048349,0.997258]]
2025-10-25T00:36:02.094Z,1761352562.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369664,0.927657,0.052924],[-0.928427,0.371041,-0.018757],[-0.037037,-0.042202,0.998422]]
2025-10-25T00:36:02.499Z,1761352562.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373366,0.927204,-0.029854],[-0.926203,0.374395,0.044467],[0.052407,0.011048,0.998565]]
2025-10-25T00:36:02.903Z,1761352562.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296440,0.953076,-0.061400],[-0.949539,0.301017,0.088112],[0.102460,0.032182,0.994216]]
2025-10-25T00:36:03.314Z,1761352563.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272020,0.961796,-0.030892],[-0.954804,0.273761,0.115777],[0.119811,-0.001997,0.992795]]
2025-10-25T00:36:03.712Z,1761352563.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322546,0.946060,0.030563],[-0.933178,0.312414,0.177696],[0.158563,-0.085836,0.983611]]
2025-10-25T00:36:04.115Z,1761352564.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373673,0.923450,0.087224],[-0.920630,0.357763,0.156352],[0.113178,-0.138726,0.983842]]
2025-10-25T00:36:04.127Z,1761352564.127 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003603.00,A,3646.41911,N,12151.73378,W,1.380,127.39,251025,,,D*7F
2025-10-25T00:36:04.129Z,1761352564.129 [NAL9602](INFO): GPS fix at 20251025T003603: (36.773652, -121.862230)
2025-10-25T00:36:04.519Z,1761352564.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367838,0.922585,0.116331],[-0.927975,0.356173,0.109558],[0.059642,-0.148252,0.987149]]
2025-10-25T00:36:04.922Z,1761352564.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331252,0.930580,0.155864],[-0.943519,0.325531,0.061658],[0.006639,-0.167485,0.985852]]
2025-10-25T00:36:05.330Z,1761352565.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304720,0.939611,0.155810],[-0.952233,0.303974,0.029180],[-0.019945,-0.157259,0.987356]]
2025-10-25T00:36:05.731Z,1761352565.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327651,0.941559,0.078183],[-0.944306,0.329029,-0.005086],[-0.030514,-0.072162,0.996926]]
2025-10-25T00:36:06.135Z,1761352566.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329437,0.943757,-0.028178],[-0.943994,0.328637,-0.029553],[-0.018630,0.036336,0.999166]]
2025-10-25T00:36:06.543Z,1761352566.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324582,0.943388,-0.068302],[-0.945203,0.326196,0.013671],[0.035177,0.060122,0.997571]]
2025-10-25T00:36:06.944Z,1761352566.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335585,0.939052,-0.074598],[-0.933874,0.342027,0.104391],[0.123543,0.034633,0.991735]]
2025-10-25T00:36:06.955Z,1761352566.955 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003606.00,A,3646.41905,N,12151.73346,W,1.458,120.96,251025,,,D*72
2025-10-25T00:36:06.961Z,1761352566.961 [NAL9602](INFO): GPS fix at 20251025T003606: (36.773651, -121.862224)
2025-10-25T00:36:07.351Z,1761352567.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310503,0.949255,-0.050033],[-0.933093,0.314418,0.174584],[0.181456,-0.007524,0.983370]]
2025-10-25T00:36:07.757Z,1761352567.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339642,0.939979,0.032888],[-0.931522,0.331341,0.149933],[0.130037,-0.081559,0.988149]]
2025-10-25T00:36:08.161Z,1761352568.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356752,0.933756,0.028771],[-0.931037,0.352843,0.093126],[0.076806,-0.060009,0.995239]]
2025-10-25T00:36:08.567Z,1761352568.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307979,0.948294,0.076723],[-0.951283,0.308168,0.009669],[-0.014475,-0.075963,0.997006]]
2025-10-25T00:36:08.971Z,1761352568.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316730,0.940851,0.120337],[-0.941464,0.327276,-0.080842],[-0.115444,-0.087687,0.989436]]
2025-10-25T00:36:09.377Z,1761352569.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332209,0.940223,0.074952],[-0.936394,0.338300,-0.093380],[-0.113155,-0.039163,0.992805]]
2025-10-25T00:36:09.782Z,1761352569.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309716,0.950753,-0.012045],[-0.950826,0.309658,-0.006453],[-0.002405,0.013451,0.999907]]
2025-10-25T00:36:10.186Z,1761352570.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334311,0.940828,-0.055497],[-0.936383,0.338255,0.093645],[0.106876,0.020660,0.994058]]
2025-10-25T00:36:10.192Z,1761352570.192 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003609.00,A,3646.41873,N,12151.73318,W,0.894,177.05,251025,,,D*73
2025-10-25T00:36:10.194Z,1761352570.194 [NAL9602](INFO): GPS fix at 20251025T003609: (36.773646, -121.862220)
2025-10-25T00:36:10.587Z,1761352570.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341164,0.939079,-0.041682],[-0.933795,0.343665,0.099605],[0.107862,0.004941,0.994154]]
2025-10-25T00:36:10.992Z,1761352570.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323736,0.945818,0.024984],[-0.943343,0.320632,0.085439],[0.072799,-0.051228,0.996030]]
2025-10-25T00:36:11.394Z,1761352571.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336954,0.937928,0.082171],[-0.937920,0.326759,0.116337],[0.082266,-0.116270,0.989805]]
2025-10-25T00:36:11.420Z,1761352571.420 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:36:11.804Z,1761352571.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383015,0.921598,0.062904],[-0.921162,0.375973,0.100527],[0.068995,-0.096448,0.992944]]
2025-10-25T00:36:12.207Z,1761352572.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372011,0.928154,0.011773],[-0.927053,0.370872,0.055015],[0.046696,-0.031381,0.998416]]
2025-10-25T00:36:13.011Z,1761352573.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340423,0.940079,-0.019080],[-0.929175,0.339444,0.146329],[0.144037,-0.032085,0.989052]]
2025-10-25T00:36:13.017Z,1761352573.017 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003612.00,A,3646.41830,N,12151.73218,W,0.836,110.44,251025,,,D*73
2025-10-25T00:36:13.019Z,1761352573.019 [NAL9602](INFO): GPS fix at 20251025T003612: (36.773638, -121.862203)
2025-10-25T00:36:13.415Z,1761352573.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365721,0.930356,0.026181],[-0.928950,0.363144,0.071957],[0.057438,-0.050637,0.997064]]
2025-10-25T00:36:13.819Z,1761352573.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401770,0.914109,0.054639],[-0.915496,0.402326,0.000891],[-0.021168,-0.050380,0.998506]]
2025-10-25T00:36:14.225Z,1761352574.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395844,0.916927,0.050521],[-0.917639,0.397067,-0.016607],[-0.035287,-0.039786,0.998585]]
2025-10-25T00:36:14.626Z,1761352574.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414973,0.909530,0.023513],[-0.909816,0.414986,0.004596],[-0.005578,-0.023300,0.999713]]
2025-10-25T00:36:15.030Z,1761352575.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421465,0.906810,0.007855],[-0.906271,0.420875,0.039216],[0.032255,-0.023647,0.999200]]
2025-10-25T00:36:15.436Z,1761352575.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384542,0.923107,-0.000002],[-0.921600,0.383915,0.057117],[0.052726,-0.021962,0.998367]]
2025-10-25T00:36:15.838Z,1761352575.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373703,0.927187,0.025876],[-0.924434,0.370019,0.092234],[0.075944,-0.058389,0.995401]]
2025-10-25T00:36:16.246Z,1761352576.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440054,0.897971,-0.000597],[-0.889460,0.435974,0.137069],[0.123345,-0.059787,0.990561]]
2025-10-25T00:36:16.251Z,1761352576.251 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003615.00,A,3646.41815,N,12151.73215,W,0.661,124.77,251025,,,D*75
2025-10-25T00:36:16.253Z,1761352576.253 [NAL9602](INFO): GPS fix at 20251025T003615: (36.773636, -121.862202)
2025-10-25T00:36:16.647Z,1761352576.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450241,0.890909,-0.059702],[-0.886587,0.453995,0.088617],[0.106054,0.013032,0.994275]]
2025-10-25T00:36:17.052Z,1761352577.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391572,0.918942,-0.047082],[-0.920070,0.391688,-0.007125],[0.011894,0.046109,0.998866]]
2025-10-25T00:36:17.455Z,1761352577.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373512,0.927060,-0.032394],[-0.927133,0.371949,-0.045583],[-0.030210,0.047060,0.998435]]
2025-10-25T00:36:17.858Z,1761352577.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373437,0.925641,-0.061102],[-0.927528,0.373669,-0.008018],[0.015410,0.059668,0.998099]]
2025-10-25T00:36:18.269Z,1761352578.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357388,0.932642,-0.049516],[-0.933927,0.356458,-0.026790],[-0.007335,0.055819,0.998414]]
2025-10-25T00:36:18.671Z,1761352578.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396973,0.916760,-0.044318],[-0.916805,0.393786,-0.066335],[-0.043361,0.066964,0.996813]]
2025-10-25T00:36:19.070Z,1761352579.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481412,0.862762,-0.154547],[-0.874148,0.485494,-0.012682],[0.064090,0.141202,0.987904]]
2025-10-25T00:36:19.087Z,1761352579.087 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003618.00,A,3646.41791,N,12151.73235,W,0.719,207.39,251025,,,D*7F
2025-10-25T00:36:19.089Z,1761352579.089 [NAL9602](INFO): GPS fix at 20251025T003618: (36.773632, -121.862206)
2025-10-25T00:36:19.475Z,1761352579.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465947,0.837977,-0.284056],[-0.866765,0.496792,0.043770],[0.177795,0.225816,0.957808]]
2025-10-25T00:36:19.883Z,1761352579.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329340,0.922099,-0.203147],[-0.935204,0.348206,0.064387],[0.130109,0.168779,0.977029]]
2025-10-25T00:36:20.292Z,1761352580.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213549,0.976433,0.031223],[-0.976839,0.212977,0.020645],[0.013509,-0.034908,0.999299]]
2025-10-25T00:36:20.690Z,1761352580.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217553,0.965095,0.145819],[-0.975863,0.217983,0.013226],[-0.019022,-0.145176,0.989223]]
2025-10-25T00:36:20.744Z,1761352580.744 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:36:21.090Z,1761352581.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236933,0.965740,0.105869],[-0.971166,0.232468,0.052877],[0.026454,-0.115345,0.992973]]
2025-10-25T00:36:21.496Z,1761352581.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227531,0.973631,0.016499],[-0.967097,0.223959,0.120691],[0.113814,-0.043417,0.992553]]
2025-10-25T00:36:21.923Z,1761352581.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228969,0.971470,-0.061804],[-0.959778,0.235899,0.152246],[0.162482,0.024459,0.986408]]
2025-10-25T00:36:21.957Z,1761352581.957 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003621.00,A,3646.41772,N,12151.73196,W,1.283,142.99,251025,,,D*7D
2025-10-25T00:36:21.959Z,1761352581.959 [NAL9602](INFO): GPS fix at 20251025T003621: (36.773629, -121.862199)
2025-10-25T00:36:22.312Z,1761352582.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229473,0.966042,-0.118764],[-0.963243,0.242909,0.114704],[0.139658,0.088077,0.986275]]
2025-10-25T00:36:22.706Z,1761352582.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193091,0.974389,-0.115247],[-0.973392,0.205003,0.102381],[0.123385,0.092411,0.988047]]
2025-10-25T00:36:23.111Z,1761352583.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149562,0.988378,-0.027200],[-0.976659,0.151966,0.151798],[0.154167,0.003862,0.988037]]
2025-10-25T00:36:23.517Z,1761352583.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156036,0.982603,0.100712],[-0.967464,0.131476,0.216164],[0.199163,-0.131165,0.971149]]
2025-10-25T00:36:23.959Z,1761352583.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165659,0.975425,0.145272],[-0.961336,0.126866,0.244412],[0.219976,-0.180144,0.958728]]
2025-10-25T00:36:24.322Z,1761352584.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155479,0.981577,0.111058],[-0.959811,0.123519,0.252004],[0.233643,-0.145776,0.961333]]
2025-10-25T00:36:24.727Z,1761352584.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147287,0.988585,0.031737],[-0.938921,0.129654,0.318774],[0.311021,-0.076750,0.947299]]
2025-10-25T00:36:25.131Z,1761352585.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131771,0.990487,-0.039656],[-0.917867,0.137023,0.372486],[0.374376,-0.012684,0.927190]]
2025-10-25T00:36:25.151Z,1761352585.151 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003624.00,A,3646.41730,N,12151.73102,W,1.050,119.76,251025,,,D*70
2025-10-25T00:36:25.153Z,1761352585.153 [NAL9602](INFO): GPS fix at 20251025T003624: (36.773622, -121.862184)
2025-10-25T00:36:25.536Z,1761352585.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151076,0.986311,-0.066083],[-0.922664,0.164688,0.348669],[0.354779,0.008297,0.934913]]
2025-10-25T00:36:25.957Z,1761352585.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171088,0.984663,-0.034166],[-0.940867,0.173573,0.290932],[0.292400,-0.017629,0.956134]]
2025-10-25T00:36:26.348Z,1761352586.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081163,0.996034,0.036461],[-0.951941,0.066626,0.298947],[0.295332,-0.058972,0.953573]]
2025-10-25T00:36:26.748Z,1761352586.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082246,0.969960,0.228938],[-0.946657,0.004218,0.322217],[0.311572,-0.243226,0.918566]]
2025-10-25T00:36:27.150Z,1761352587.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163600,0.956905,0.239931],[-0.934567,0.072441,0.348334],[0.315942,-0.281219,0.906144]]
2025-10-25T00:36:27.564Z,1761352587.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148139,0.985140,0.086914],[-0.936453,0.111474,0.332609],[0.317978,-0.130664,0.939051]]
2025-10-25T00:36:27.965Z,1761352587.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104081,0.993310,-0.050018],[-0.940709,0.114646,0.319255],[0.322854,0.013824,0.946348]]
2025-10-25T00:36:27.975Z,1761352587.975 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003627.00,A,3646.41767,N,12151.73100,W,0.778,316.94,251025,,,D*7E
2025-10-25T00:36:27.977Z,1761352587.977 [NAL9602](INFO): GPS fix at 20251025T003627: (36.773628, -121.862183)
2025-10-25T00:36:28.362Z,1761352588.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058474,0.995466,-0.075021],[-0.937060,0.080646,0.339727],[0.344237,0.050434,0.937527]]
2025-10-25T00:36:28.773Z,1761352588.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082127,0.996258,0.026922],[-0.934635,0.067613,0.349122],[0.345996,-0.053834,0.936690]]
2025-10-25T00:36:29.170Z,1761352589.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157122,0.983324,0.091575],[-0.943735,0.122177,0.307307],[0.290994,-0.134707,0.947194]]
2025-10-25T00:36:29.574Z,1761352589.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188058,0.980692,0.053646],[-0.949670,0.167634,0.264623],[0.250520,-0.100710,0.962859]]
2025-10-25T00:36:29.978Z,1761352589.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149080,0.988607,0.020758],[-0.960389,0.139763,0.241080],[0.235433,-0.055876,0.970283]]
2025-10-25T00:36:30.389Z,1761352590.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131653,0.989188,0.064611],[-0.975291,0.117587,0.187029],[0.177410,-0.087638,0.980227]]
2025-10-25T00:36:30.416Z,1761352590.416 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:36:30.787Z,1761352590.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089978,0.985762,0.142047],[-0.987485,0.069752,0.141453],[0.129530,-0.152997,0.979701]]
2025-10-25T00:36:31.190Z,1761352591.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035042,0.968984,0.244628],[-0.988063,-0.003152,0.154022],[0.150015,-0.247105,0.957306]]
2025-10-25T00:36:31.203Z,1761352591.203 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003630.00,A,3646.41758,N,12151.73146,W,0.875,287.36,251025,,,D*75
2025-10-25T00:36:31.214Z,1761352591.214 [NAL9602](INFO): GPS fix at 20251025T003630: (36.773626, -121.862191)
2025-10-25T00:36:31.594Z,1761352591.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098499,0.940998,0.323761],[-0.978959,0.033199,0.201340],[0.178712,-0.336780,0.924468]]
2025-10-25T00:36:31.998Z,1761352591.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171307,0.958228,0.229026],[-0.960854,0.111116,0.253796],[0.217746,-0.263537,0.939752]]
2025-10-25T00:36:32.413Z,1761352592.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180733,0.983211,0.025138],[-0.959306,0.170586,0.225016],[0.216950,-0.064783,0.974031]]
2025-10-25T00:36:33.210Z,1761352593.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168631,0.970720,-0.171072],[-0.957162,0.202713,0.206757],[0.235382,0.128877,0.963320]]
2025-10-25T00:36:33.617Z,1761352593.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168160,0.981686,-0.089529],[-0.973338,0.179728,0.142518],[0.155999,0.063176,0.985735]]
2025-10-25T00:36:34.019Z,1761352594.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193182,0.977947,0.079377],[-0.978615,0.186222,0.087377],[0.070668,-0.094559,0.993008]]
2025-10-25T00:36:34.031Z,1761352594.031 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003633.00,A,3646.41714,N,12151.73043,W,1.108,117.33,251025,,,D*77
2025-10-25T00:36:34.033Z,1761352594.033 [NAL9602](INFO): GPS fix at 20251025T003633: (36.773619, -121.862174)
2025-10-25T00:36:34.426Z,1761352594.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197152,0.962286,0.187448],[-0.979882,0.187369,0.068729],[0.031015,-0.197227,0.979867]]
2025-10-25T00:36:34.827Z,1761352594.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168153,0.966042,0.196180],[-0.985442,0.159676,0.058374],[0.025066,-0.203140,0.978829]]
2025-10-25T00:36:35.232Z,1761352595.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121593,0.967807,0.220375],[-0.991986,0.110810,0.060698],[0.034324,-0.225989,0.973525]]
2025-10-25T00:36:35.634Z,1761352595.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145008,0.957420,0.249639],[-0.989046,0.133231,0.063539],[0.027574,-0.256118,0.966252]]
2025-10-25T00:36:36.039Z,1761352596.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207425,0.956308,0.206035],[-0.978210,0.200838,0.052622],[0.008943,-0.212460,0.977129]]
2025-10-25T00:36:36.446Z,1761352596.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171131,0.971203,0.165770],[-0.984135,0.176496,-0.018082],[-0.046819,-0.160046,0.985999]]
2025-10-25T00:36:36.846Z,1761352596.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066682,0.991047,0.115668],[-0.997592,0.064003,0.026726],[0.019084,-0.117172,0.992928]]
2025-10-25T00:36:37.257Z,1761352597.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086921,0.992732,0.083233],[-0.966432,0.063750,0.248887],[0.241772,-0.102073,0.964950]]
2025-10-25T00:36:37.321Z,1761352597.321 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003636.00,A,3646.41671,N,12151.72966,W,1.244,120.06,251025,,,D*76
2025-10-25T00:36:37.324Z,1761352597.324 [NAL9602](INFO): GPS fix at 20251025T003636: (36.773612, -121.862161)
2025-10-25T00:36:37.656Z,1761352597.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207653,0.975343,0.074744],[-0.940697,0.178152,0.288706],[0.268272,-0.130262,0.954496]]
2025-10-25T00:36:38.059Z,1761352598.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297304,0.949458,0.100694],[-0.949881,0.283456,0.131827],[0.096622,-0.134840,0.986145]]
2025-10-25T00:36:38.465Z,1761352598.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320464,0.943450,0.084884],[-0.947258,0.319395,0.026258],[-0.002339,-0.088822,0.996045]]
2025-10-25T00:36:38.866Z,1761352598.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330624,0.938941,0.095279],[-0.943416,0.331549,0.006413],[-0.025569,-0.092008,0.995430]]
2025-10-25T00:36:39.271Z,1761352599.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350262,0.933324,0.078889],[-0.936635,0.348508,0.035462],[0.005604,-0.086311,0.996253]]
2025-10-25T00:36:39.685Z,1761352599.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361942,0.930410,0.057758],[-0.930245,0.356477,0.086994],[0.060351,-0.085216,0.994533]]
2025-10-25T00:36:39.720Z,1761352599.720 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:36:40.078Z,1761352600.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363206,0.931100,0.033688],[-0.926234,0.356921,0.121238],[0.100861,-0.075238,0.992052]]
2025-10-25T00:36:40.097Z,1761352600.097 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003639.00,A,3646.41648,N,12151.73010,W,0.330,250.68,251025,,,D*75
2025-10-25T00:36:40.099Z,1761352600.099 [NAL9602](INFO): GPS fix at 20251025T003639: (36.773608, -121.862168)
2025-10-25T00:36:40.482Z,1761352600.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370414,0.928719,0.016589],[-0.916723,0.362635,0.167678],[0.149710,-0.077317,0.985702]]
2025-10-25T00:36:40.635Z,1761352600.635 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:36:40.636Z,1761352600.636 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:36:40.886Z,1761352600.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383289,0.923281,0.025319],[-0.904133,0.369456,0.214582],[0.188765,-0.105138,0.976378]]
2025-10-25T00:36:41.290Z,1761352601.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400956,0.914321,0.057022],[-0.893764,0.376762,0.243385],[0.201049,-0.148551,0.968252]]
2025-10-25T00:36:41.699Z,1761352601.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393420,0.917641,0.056177],[-0.900114,0.372028,0.226693],[0.187124,-0.139751,0.972345]]
2025-10-25T00:36:42.099Z,1761352602.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368460,0.929022,0.033975],[-0.911188,0.353658,0.211336],[0.184320,-0.108827,0.976823]]
2025-10-25T00:36:42.502Z,1761352602.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394500,0.918231,-0.034968],[-0.883109,0.389378,0.261731],[0.253945,-0.072373,0.964507]]
2025-10-25T00:36:42.923Z,1761352602.923 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003642.00,A,3646.41601,N,12151.72936,W,0.914,158.99,251025,,,D*71
2025-10-25T00:36:42.930Z,1761352602.930 [NAL9602](INFO): GPS fix at 20251025T003642: (36.773600, -121.862156)
2025-10-25T00:36:43.310Z,1761352603.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533343,0.836111,-0.128311],[-0.787542,0.546167,0.285445],[0.308743,-0.051190,0.949767]]
2025-10-25T00:36:43.721Z,1761352603.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513288,0.844303,-0.153911],[-0.811388,0.535843,0.233500],[0.279617,0.005029,0.960099]]
2025-10-25T00:36:44.118Z,1761352604.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492312,0.863267,-0.111347],[-0.824914,0.503562,0.256791],[0.277749,-0.034569,0.960031]]
2025-10-25T00:36:44.523Z,1761352604.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503764,0.860853,-0.071791],[-0.791225,0.493173,0.361585],[0.346677,-0.125350,0.929571]]
2025-10-25T00:36:44.928Z,1761352604.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537082,0.841226,-0.062303],[-0.746388,0.508344,0.429524],[0.392998,-0.184187,0.900904]]
2025-10-25T00:36:45.332Z,1761352605.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572175,0.817358,-0.067391],[-0.729255,0.544649,0.414180],[0.375238,-0.187838,0.907697]]
2025-10-25T00:36:45.749Z,1761352605.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609654,0.782329,-0.127606],[-0.712661,0.611451,0.343862],[0.347039,-0.118697,0.930309]]
2025-10-25T00:36:46.139Z,1761352606.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639381,0.738619,-0.213620],[-0.685965,0.673473,0.275475],[0.347338,-0.029598,0.937273]]
2025-10-25T00:36:46.147Z,1761352606.147 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003645.00,A,3646.41584,N,12151.72890,W,0.836,145.22,251025,,,D*78
2025-10-25T00:36:46.157Z,1761352606.157 [NAL9602](INFO): GPS fix at 20251025T003645: (36.773597, -121.862148)
2025-10-25T00:36:46.542Z,1761352606.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654759,0.690511,-0.307385],[-0.655844,0.721187,0.223066],[0.375712,0.055542,0.925071]]
2025-10-25T00:36:46.947Z,1761352606.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639679,0.677960,-0.362189],[-0.656590,0.726946,0.201095],[0.399626,0.109173,0.910154]]
2025-10-25T00:36:47.350Z,1761352607.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642656,0.700493,-0.310328],[-0.658057,0.712111,0.244659],[0.392370,0.046982,0.918607]]
2025-10-25T00:36:47.756Z,1761352607.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664670,0.723930,-0.184766],[-0.680576,0.688686,0.250056],[0.308268,-0.040458,0.950439]]
2025-10-25T00:36:48.159Z,1761352608.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656930,0.750592,-0.071099],[-0.721936,0.653420,0.227709],[0.217374,-0.098260,0.971130]]
2025-10-25T00:36:48.568Z,1761352608.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663351,0.748296,-0.004309],[-0.730279,0.648615,0.214455],[0.163270,-0.139112,0.976724]]
2025-10-25T00:36:48.967Z,1761352608.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714097,0.699792,-0.018874],[-0.688335,0.706806,0.163155],[0.127515,-0.103517,0.986420]]
2025-10-25T00:36:48.981Z,1761352608.981 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003648.00,A,3646.41573,N,12151.72901,W,1.438,278.16,251025,,,D*7D
2025-10-25T00:36:48.983Z,1761352608.983 [NAL9602](INFO): GPS fix at 20251025T003648: (36.773595, -121.862150)
2025-10-25T00:36:49.077Z,1761352609.077 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:36:49.371Z,1761352609.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749510,0.650334,-0.123694],[-0.647961,0.758970,0.064120],[0.135579,0.032090,0.990247]]
2025-10-25T00:36:49.774Z,1761352609.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749022,0.622961,-0.225580],[-0.636818,0.770881,0.014355],[0.182838,0.132901,0.974119]]
2025-10-25T00:36:50.179Z,1761352610.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753209,0.599319,-0.271095],[-0.620116,0.784430,0.011241],[0.219392,0.159644,0.962487]]
2025-10-25T00:36:50.582Z,1761352610.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758178,0.578691,-0.300472],[-0.595816,0.802059,0.041301],[0.264896,0.147712,0.952896]]
2025-10-25T00:36:50.988Z,1761352610.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725205,0.621706,-0.295902],[-0.608908,0.779711,0.145886],[0.321416,0.074380,0.944012]]
2025-10-25T00:36:51.392Z,1761352611.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667811,0.715637,-0.204674],[-0.664217,0.697061,0.270042],[0.335923,-0.044389,0.940843]]
2025-10-25T00:36:51.803Z,1761352611.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647990,0.760942,-0.032808],[-0.709609,0.618804,0.336952],[0.276703,-0.195061,0.940950]]
2025-10-25T00:36:52.204Z,1761352612.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679054,0.729400,0.082830],[-0.731853,0.663865,0.153867],[0.057243,-0.165103,0.984614]]
2025-10-25T00:36:52.236Z,1761352612.236 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003651.00,A,3646.41538,N,12151.72788,W,1.633,120.91,251025,,,D*7D
2025-10-25T00:36:52.239Z,1761352612.239 [NAL9602](INFO): GPS fix at 20251025T003651: (36.773590, -121.862131)
2025-10-25T00:36:52.607Z,1761352612.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633231,0.773782,0.016727],[-0.773189,0.631485,0.058346],[0.034584,-0.049880,0.998156]]
2025-10-25T00:36:53.013Z,1761352613.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626337,0.779274,-0.020846],[-0.778912,0.624515,-0.057256],[-0.031599,0.052099,0.998142]]
2025-10-25T00:36:53.417Z,1761352613.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662855,0.745285,-0.071929],[-0.748246,0.655827,-0.100095],[-0.027427,0.120169,0.992375]]
2025-10-25T00:36:53.817Z,1761352613.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670615,0.730864,-0.126940],[-0.741078,0.667652,-0.071019],[0.032846,0.141699,0.989365]]
2025-10-25T00:36:54.227Z,1761352614.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644036,0.757164,-0.109180],[-0.763450,0.645222,-0.028857],[0.048596,0.101939,0.993603]]
2025-10-25T00:36:54.623Z,1761352614.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636144,0.771289,-0.020840],[-0.771538,0.636132,-0.008043],[0.007053,0.021196,0.999750]]
2025-10-25T00:36:55.027Z,1761352615.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648547,0.760396,0.034417],[-0.761175,0.647907,0.028794],[-0.000404,-0.044872,0.998993]]
2025-10-25T00:36:55.158Z,1761352615.158 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003654.00,A,3646.41548,N,12151.72779,W,0.739,113.87,251025,,,D*7C
2025-10-25T00:36:55.165Z,1761352615.165 [NAL9602](INFO): GPS fix at 20251025T003654: (36.773591, -121.862130)
2025-10-25T00:36:55.431Z,1761352615.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600426,0.799681,0.000174],[-0.791977,0.594611,0.138601],[0.110733,-0.083358,0.990348]]
2025-10-25T00:36:55.836Z,1761352615.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569910,0.820742,-0.039812],[-0.792769,0.561938,0.236098],[0.216148,-0.102993,0.970913]]
2025-10-25T00:36:56.241Z,1761352616.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577821,0.815853,-0.022501],[-0.793698,0.568126,0.217433],[0.190176,-0.107778,0.975816]]
2025-10-25T00:36:56.643Z,1761352616.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575554,0.817549,-0.018735],[-0.803318,0.569526,0.174127],[0.153028,-0.085169,0.984545]]
2025-10-25T00:36:57.046Z,1761352617.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591990,0.803876,-0.057709],[-0.797447,0.594616,0.102523],[0.116730,-0.014673,0.993055]]
2025-10-25T00:36:57.452Z,1761352617.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595308,0.800158,-0.073184],[-0.802410,0.596769,-0.002341],[0.041801,0.060117,0.997316]]
2025-10-25T00:36:57.854Z,1761352617.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600091,0.797361,-0.064075],[-0.798715,0.592838,-0.102946],[-0.044099,0.112954,0.992621]]
2025-10-25T00:36:58.258Z,1761352618.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566939,0.823491,0.021036],[-0.815951,0.564889,-0.122981],[-0.113157,0.052558,0.992186]]
2025-10-25T00:36:58.263Z,1761352618.263 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003657.00,A,3646.41505,N,12151.72718,W,0.544,173.75,251025,,,D*72
2025-10-25T00:36:58.266Z,1761352618.266 [NAL9602](INFO): GPS fix at 20251025T003657: (36.773584, -121.862120)
2025-10-25T00:36:58.380Z,1761352618.380 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:36:58.670Z,1761352618.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545250,0.835086,0.073033],[-0.837062,0.547074,-0.006106],[-0.045053,-0.057804,0.997311]]
2025-10-25T00:36:59.066Z,1761352619.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593365,0.803003,0.055708],[-0.800976,0.582178,0.139661],[0.079716,-0.127491,0.988631]]
2025-10-25T00:36:59.471Z,1761352619.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614418,0.787531,0.047802],[-0.780121,0.597348,0.185972],[0.117904,-0.151556,0.981391]]
2025-10-25T00:36:59.879Z,1761352619.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599803,0.799341,0.035919],[-0.791000,0.585580,0.177245],[0.120645,-0.134724,0.983511]]
2025-10-25T00:37:00.280Z,1761352620.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610187,0.791899,0.023826],[-0.787311,0.602748,0.129753],[0.088390,-0.097932,0.991260]]
2025-10-25T00:37:00.687Z,1761352620.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603103,0.797480,0.017132],[-0.796084,0.600419,0.075805],[0.050166,-0.059357,0.996975]]
2025-10-25T00:37:01.086Z,1761352621.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590398,0.807008,0.012942],[-0.805954,0.588617,0.062988],[0.043213,-0.047619,0.997930]]
2025-10-25T00:37:01.095Z,1761352621.095 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003700.00,A,3646.41453,N,12151.72642,W,1.186,140.65,251025,,,D*77
2025-10-25T00:37:01.106Z,1761352621.106 [NAL9602](INFO): GPS fix at 20251025T003700: (36.773575, -121.862107)
2025-10-25T00:37:01.490Z,1761352621.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626949,0.779049,0.004244],[-0.777454,0.625298,0.067589],[0.050001,-0.045675,0.997704]]
2025-10-25T00:37:01.927Z,1761352621.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640676,0.767811,0.000730],[-0.767770,0.640632,0.010948],[0.007939,-0.007574,0.999940]]
2025-10-25T00:37:02.301Z,1761352622.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590144,0.807090,0.018348],[-0.805601,0.590224,-0.051412],[-0.052324,0.015559,0.998509]]
2025-10-25T00:37:02.710Z,1761352622.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560414,0.827378,0.037159],[-0.827743,0.561043,-0.008491],[-0.027873,-0.026000,0.999273]]
2025-10-25T00:37:03.106Z,1761352623.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608940,0.792398,0.036013],[-0.793104,0.607460,0.044481],[0.013370,-0.055648,0.998361]]
2025-10-25T00:37:03.510Z,1761352623.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648990,0.760797,-0.000769],[-0.760179,0.648503,0.039650],[0.030665,-0.025148,0.999213]]
2025-10-25T00:37:03.954Z,1761352623.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628172,0.773247,-0.086541],[-0.772715,0.633007,0.047059],[0.091169,0.037310,0.995136]]
2025-10-25T00:37:03.984Z,1761352623.984 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003703.00,A,3646.41425,N,12151.72613,W,1.672,164.15,251025,,,D*7C
2025-10-25T00:37:03.986Z,1761352623.986 [NAL9602](INFO): GPS fix at 20251025T003703: (36.773571, -121.862102)
2025-10-25T00:37:04.318Z,1761352624.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595516,0.791645,-0.136595],[-0.787108,0.608996,0.097900],[0.160688,0.049214,0.985777]]
2025-10-25T00:37:04.725Z,1761352624.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593602,0.797844,-0.105266],[-0.775713,0.602087,0.189104],[0.214255,-0.030597,0.976298]]
2025-10-25T00:37:05.128Z,1761352625.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612558,0.789549,-0.037219],[-0.769278,0.606326,0.201445],[0.181618,-0.094765,0.978792]]
2025-10-25T00:37:05.531Z,1761352625.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604423,0.796662,0.001486],[-0.791576,0.600352,0.113949],[0.089887,-0.070049,0.993486]]
2025-10-25T00:37:05.958Z,1761352625.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562078,0.826812,0.021217],[-0.826094,0.559965,0.063311],[0.040466,-0.053112,0.997768]]
2025-10-25T00:37:06.340Z,1761352626.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589701,0.807385,-0.019550],[-0.805495,0.589731,0.058260],[0.058567,-0.018608,0.998110]]
2025-10-25T00:37:06.745Z,1761352626.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625314,0.772550,-0.110226],[-0.773070,0.632530,0.047627],[0.106515,0.055431,0.992765]]
2025-10-25T00:37:07.146Z,1761352627.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606801,0.789420,-0.092781],[-0.794815,0.603784,-0.060951],[0.007904,0.110729,0.993819]]
2025-10-25T00:37:07.152Z,1761352627.152 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003706.00,A,3646.41395,N,12151.72593,W,1.030,165.53,251025,,,D*7D
2025-10-25T00:37:07.154Z,1761352627.154 [NAL9602](INFO): GPS fix at 20251025T003706: (36.773566, -121.862099)
2025-10-25T00:37:07.550Z,1761352627.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585188,0.810723,0.016819],[-0.800540,0.580894,-0.147303],[-0.129192,0.072736,0.988948]]
2025-10-25T00:37:07.672Z,1761352627.672 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:37:07.963Z,1761352627.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622984,0.779381,0.066750],[-0.770702,0.626160,-0.118082],[-0.133827,0.022118,0.990758]]
2025-10-25T00:37:08.358Z,1761352628.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629342,0.777049,0.011113],[-0.776845,0.629434,-0.018036],[-0.021010,0.002718,0.999776]]
2025-10-25T00:37:08.764Z,1761352628.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617019,0.785683,-0.044604],[-0.782296,0.618539,0.073632],[0.085440,-0.010539,0.996288]]
2025-10-25T00:37:09.166Z,1761352629.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600690,0.796640,-0.067346],[-0.782305,0.603063,0.155927],[0.164832,-0.040979,0.985470]]
2025-10-25T00:37:09.571Z,1761352629.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570042,0.821454,-0.016273],[-0.812131,0.566353,0.140313],[0.124477,-0.066769,0.989973]]
2025-10-25T00:37:09.975Z,1761352629.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566087,0.823737,0.031682],[-0.824344,0.565594,0.023673],[0.001581,-0.039518,0.999218]]
2025-10-25T00:37:09.995Z,1761352629.995 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003709.00,A,3646.41382,N,12151.72567,W,0.816,117.75,251025,,,D*73
2025-10-25T00:37:09.997Z,1761352629.997 [NAL9602](INFO): GPS fix at 20251025T003709: (36.773564, -121.862094)
2025-10-25T00:37:10.378Z,1761352630.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560261,0.828259,0.009701],[-0.827611,0.560229,-0.034701],[-0.034176,0.011413,0.999351]]
2025-10-25T00:37:10.782Z,1761352630.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534413,0.845171,-0.009383],[-0.844320,0.533296,-0.052143],[-0.039066,0.035788,0.998596]]
2025-10-25T00:37:11.194Z,1761352631.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505388,0.862876,0.005237],[-0.862537,0.505345,-0.025634],[-0.024766,0.008438,0.999658]]
2025-10-25T00:37:11.591Z,1761352631.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481829,0.875310,0.040898],[-0.876106,0.482107,0.003434],[-0.016712,-0.037486,0.999157]]
2025-10-25T00:37:11.995Z,1761352631.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503014,0.862206,0.059816],[-0.863176,0.504663,-0.015605],[-0.043641,-0.043782,0.998087]]
2025-10-25T00:37:12.400Z,1761352632.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556699,0.830706,-0.003831],[-0.830712,0.556679,-0.005163],[-0.002156,0.006057,0.999979]]
2025-10-25T00:37:12.807Z,1761352632.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553007,0.828499,-0.088164],[-0.826367,0.558909,0.068833],[0.106304,0.034791,0.993725]]
2025-10-25T00:37:13.211Z,1761352633.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546293,0.834665,-0.069995],[-0.824653,0.550604,0.129549],[0.146669,-0.013050,0.989100]]
2025-10-25T00:37:13.238Z,1761352633.238 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003712.00,A,3646.41338,N,12151.72503,W,2.508,125.13,251025,,,D*7B
2025-10-25T00:37:13.244Z,1761352633.244 [NAL9602](INFO): GPS fix at 20251025T003712: (36.773556, -121.862084)
2025-10-25T00:37:13.611Z,1761352633.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537274,0.843291,-0.014067],[-0.829724,0.531476,0.170562],[0.151309,-0.079967,0.985247]]
2025-10-25T00:37:14.014Z,1761352634.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473541,0.880772,-0.000248],[-0.865813,0.465550,0.183388],[0.161639,-0.086627,0.983041]]
2025-10-25T00:37:14.420Z,1761352634.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456300,0.886968,0.071255],[-0.883100,0.441570,0.158590],[0.109201,-0.135290,0.984770]]
2025-10-25T00:37:14.826Z,1761352634.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469383,0.876878,0.103751],[-0.882508,0.461973,0.088093],[0.029317,-0.132910,0.990694]]
2025-10-25T00:37:15.228Z,1761352635.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467526,0.880383,0.079662],[-0.883743,0.467584,0.019070],[-0.020460,-0.079317,0.996639]]
2025-10-25T00:37:15.630Z,1761352635.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447803,0.893939,0.018610],[-0.894131,0.447673,0.010847],[0.001365,-0.021497,0.999768]]
2025-10-25T00:37:16.035Z,1761352636.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444484,0.893458,-0.064548],[-0.892007,0.448070,0.059642],[0.082209,0.031067,0.996131]]
2025-10-25T00:37:16.097Z,1761352636.097 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003715.00,A,3646.41301,N,12151.72400,W,0.544,54.65,251025,,,D*48
2025-10-25T00:37:16.099Z,1761352636.099 [NAL9602](INFO): GPS fix at 20251025T003715: (36.773550, -121.862067)
2025-10-25T00:37:16.440Z,1761352636.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467952,0.880244,-0.078692],[-0.876783,0.473578,0.083513],[0.110778,0.029916,0.993395]]
2025-10-25T00:37:16.846Z,1761352636.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486440,0.872167,-0.051969],[-0.868546,0.489166,0.079652],[0.094892,0.006392,0.995467]]
2025-10-25T00:37:16.968Z,1761352636.968 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:37:17.246Z,1761352637.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482722,0.875362,-0.026826],[-0.872237,0.483298,0.075009],[0.078625,-0.012809,0.996822]]
2025-10-25T00:37:17.651Z,1761352637.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437770,0.898334,0.036784],[-0.898957,0.436646,0.034876],[0.015269,-0.048335,0.998714]]
2025-10-25T00:37:18.054Z,1761352638.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402541,0.908759,0.110079],[-0.914857,0.403530,0.014134],[-0.031576,-0.106396,0.993822]]
2025-10-25T00:37:18.461Z,1761352638.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433633,0.893405,0.117428],[-0.899580,0.436756,-0.000956],[-0.052142,-0.105221,0.993081]]
2025-10-25T00:37:18.862Z,1761352638.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453456,0.887609,0.080802],[-0.889823,0.456031,-0.015862],[-0.050927,-0.064707,0.996604]]
2025-10-25T00:37:19.267Z,1761352639.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438484,0.898738,-0.001288],[-0.898665,0.438466,0.012225],[0.011552,-0.004203,0.999924]]
2025-10-25T00:37:19.275Z,1761352639.275 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003718.00,A,3646.41280,N,12151.72379,W,0.855,154.67,251025,,,D*7A
2025-10-25T00:37:19.277Z,1761352639.277 [NAL9602](INFO): GPS fix at 20251025T003718: (36.773547, -121.862063)
2025-10-25T00:37:19.679Z,1761352639.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428085,0.900601,-0.075233],[-0.893274,0.434291,0.115987],[0.137131,0.017551,0.990397]]
2025-10-25T00:37:20.076Z,1761352640.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400508,0.913940,-0.065623],[-0.903517,0.405827,0.137698],[0.152479,0.004142,0.988298]]
2025-10-25T00:37:20.480Z,1761352640.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367904,0.929821,-0.008933],[-0.928795,0.367924,0.044404],[0.044574,-0.008040,0.998974]]
2025-10-25T00:37:20.887Z,1761352640.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387197,0.921895,0.013733],[-0.921624,0.386574,0.034192],[0.026213,-0.025896,0.999321]]
2025-10-25T00:37:21.292Z,1761352641.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383227,0.923651,0.002342],[-0.919337,0.381190,0.097539],[0.089199,-0.039533,0.995229]]
2025-10-25T00:37:21.698Z,1761352641.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338557,0.940777,0.017842],[-0.935494,0.334497,0.113854],[0.101143,-0.055237,0.993337]]
2025-10-25T00:37:22.099Z,1761352642.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299830,0.951196,0.072990],[-0.953325,0.295880,0.060220],[0.035685,-0.087639,0.995513]]
2025-10-25T00:37:22.107Z,1761352642.107 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003721.00,A,3646.41284,N,12151.72401,W,0.836,250.60,251025,,,D*79
2025-10-25T00:37:22.109Z,1761352642.109 [NAL9602](INFO): GPS fix at 20251025T003721: (36.773547, -121.862067)
2025-10-25T00:37:22.503Z,1761352642.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290006,0.953399,0.083228],[-0.957025,0.288961,0.024602],[-0.000594,-0.086786,0.996227]]
2025-10-25T00:37:23.311Z,1761352643.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256812,0.966458,-0.002481],[-0.941018,0.250635,0.227304],[0.220302,-0.056039,0.973821]]
2025-10-25T00:37:23.714Z,1761352643.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259236,0.964603,-0.048345],[-0.935420,0.263222,0.236017],[0.240388,-0.015962,0.970546]]
2025-10-25T00:37:24.119Z,1761352644.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273165,0.959553,-0.068112],[-0.939897,0.281307,0.193545],[0.204877,0.011149,0.978724]]
2025-10-25T00:37:24.524Z,1761352644.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282064,0.958670,-0.037292],[-0.940894,0.284013,0.184543],[0.187507,-0.016965,0.982117]]
2025-10-25T00:37:24.926Z,1761352644.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268929,0.963019,0.016488],[-0.944615,0.260369,0.199775],[0.188094,-0.069300,0.979703]]
2025-10-25T00:37:24.945Z,1761352644.945 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003724.00,A,3646.41248,N,12151.72331,W,1.011,134.80,251025,,,D*7B
2025-10-25T00:37:24.947Z,1761352644.947 [NAL9602](INFO): GPS fix at 20251025T003724: (36.773541, -121.862055)
2025-10-25T00:37:25.335Z,1761352645.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276528,0.957693,0.079730],[-0.951911,0.261580,0.159503],[0.131899,-0.120002,0.983973]]
2025-10-25T00:37:25.736Z,1761352645.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228787,0.963179,0.141216],[-0.972152,0.218494,0.084741],[0.050766,-0.156671,0.986345]]
2025-10-25T00:37:26.138Z,1761352646.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170185,0.967787,0.185539],[-0.985410,0.167540,0.029962],[-0.002088,-0.187931,0.982180]]
2025-10-25T00:37:26.204Z,1761352646.204 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:37:26.543Z,1761352646.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182992,0.965308,0.186262],[-0.982460,0.186470,-0.001171],[-0.035862,-0.182781,0.982499]]
2025-10-25T00:37:26.946Z,1761352646.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245842,0.964608,0.095356],[-0.969032,0.246936,0.000340],[-0.023219,-0.092487,0.995443]]
2025-10-25T00:37:27.355Z,1761352647.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263646,0.964122,-0.030989],[-0.964574,0.263809,0.001216],[0.009347,0.029570,0.999519]]
2025-10-25T00:37:27.754Z,1761352647.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235464,0.969952,-0.061236],[-0.971519,0.233182,-0.042166],[-0.026620,0.069420,0.997232]]
2025-10-25T00:37:28.164Z,1761352648.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179400,0.983714,0.011078],[-0.983775,0.179407,0.000338],[-0.001655,-0.010959,0.999939]]
2025-10-25T00:37:28.172Z,1761352648.172 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003727.00,A,3646.41238,N,12151.72307,W,1.225,92.02,251025,,,D*48
2025-10-25T00:37:28.182Z,1761352648.182 [NAL9602](INFO): GPS fix at 20251025T003727: (36.773540, -121.862051)
2025-10-25T00:37:28.563Z,1761352648.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180808,0.974444,0.133294],[-0.979833,0.166747,0.110104],[0.085064,-0.150513,0.984942]]
2025-10-25T00:37:28.969Z,1761352648.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194398,0.963060,0.186349],[-0.968099,0.157745,0.194680],[0.158093,-0.218249,0.963002]]
2025-10-25T00:37:29.382Z,1761352649.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174782,0.968259,0.178677],[-0.977904,0.149570,0.146057],[0.114696,-0.200257,0.973007]]
2025-10-25T00:37:29.775Z,1761352649.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195008,0.970548,0.141451],[-0.979751,0.186088,0.073891],[0.045393,-0.152996,0.987184]]
2025-10-25T00:37:30.183Z,1761352650.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203886,0.978021,0.043649],[-0.978953,0.203264,0.018290],[0.009016,-0.046459,0.998879]]
2025-10-25T00:37:30.584Z,1761352650.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169399,0.984023,-0.054792],[-0.984461,0.171560,0.037461],[0.046263,0.047595,0.997795]]
2025-10-25T00:37:30.987Z,1761352650.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165303,0.985237,-0.044537],[-0.979079,0.169368,0.112781],[0.118659,0.024963,0.992621]]
2025-10-25T00:37:30.995Z,1761352650.995 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003730.00,A,3646.41232,N,12151.72248,W,0.233,104.13,251025,,,D*76
2025-10-25T00:37:30.997Z,1761352650.997 [NAL9602](INFO): GPS fix at 20251025T003730: (36.773539, -121.862041)
2025-10-25T00:37:31.394Z,1761352651.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176554,0.984283,0.004049],[-0.976112,0.174557,0.129362],[0.126622,-0.026791,0.991589]]
2025-10-25T00:37:31.795Z,1761352651.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149563,0.987100,0.057142],[-0.980103,0.140379,0.140331],[0.130499,-0.076994,0.988454]]
2025-10-25T00:37:32.199Z,1761352652.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121320,0.986895,0.106395],[-0.973640,0.097458,0.206222],[0.193150,-0.128609,0.972704]]
2025-10-25T00:37:32.604Z,1761352652.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148784,0.978566,0.142382],[-0.957401,0.106514,0.268399],[0.247480,-0.176250,0.952727]]
2025-10-25T00:37:33.414Z,1761352653.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245271,0.969048,-0.028080],[-0.931208,0.243551,0.271171],[0.269617,-0.040362,0.962121]]
2025-10-25T00:37:33.816Z,1761352653.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225069,0.965268,-0.132672],[-0.921014,0.255200,0.294288],[0.317925,0.055958,0.946463]]
2025-10-25T00:37:34.218Z,1761352654.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164409,0.978297,-0.126113],[-0.925182,0.197279,0.324221],[0.342064,0.063373,0.937537]]
2025-10-25T00:37:34.224Z,1761352654.224 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003733.00,A,3646.41197,N,12151.72189,W,0.972,100.99,251025,,,D*7F
2025-10-25T00:37:34.226Z,1761352654.226 [NAL9602](INFO): GPS fix at 20251025T003733: (36.773533, -121.862032)
2025-10-25T00:37:34.622Z,1761352654.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134149,0.990946,0.005500],[-0.941431,0.125710,0.312897],[0.309373,-0.047153,0.949771]]
2025-10-25T00:37:35.026Z,1761352655.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167438,0.976384,0.136524],[-0.961032,0.130749,0.243562],[0.219959,-0.171985,0.960229]]
2025-10-25T00:37:35.430Z,1761352655.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150232,0.975344,0.161659],[-0.974878,0.118947,0.188322],[0.164450,-0.185889,0.968711]]
2025-10-25T00:37:35.704Z,1761352655.704 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:37:35.834Z,1761352655.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164123,0.979785,0.114386],[-0.960871,0.132560,0.243219],[0.223139,-0.149828,0.963203]]
2025-10-25T00:37:36.238Z,1761352656.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191351,0.981472,0.009885],[-0.947966,0.182189,0.261091],[0.254453,-0.059331,0.965264]]
2025-10-25T00:37:36.655Z,1761352656.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166801,0.985304,-0.036802],[-0.981520,0.169479,0.088859],[0.093790,0.021300,0.995364]]
2025-10-25T00:37:37.067Z,1761352657.067 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003736.00,A,3646.41184,N,12151.72200,W,0.952,142.29,251025,,,D*75
2025-10-25T00:37:37.069Z,1761352657.069 [NAL9602](INFO): GPS fix at 20251025T003736: (36.773531, -121.862033)
2025-10-25T00:37:37.456Z,1761352657.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189588,0.981464,0.028018],[-0.981403,0.188547,0.036039],[0.030088,-0.034329,0.998958]]
2025-10-25T00:37:37.860Z,1761352657.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200967,0.979379,0.020709],[-0.975754,0.198263,0.092717],[0.086699,-0.038840,0.995477]]
2025-10-25T00:37:38.271Z,1761352658.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222085,0.974767,0.022521],[-0.961701,0.215186,0.169782],[0.160652,-0.059364,0.985224]]
2025-10-25T00:37:38.675Z,1761352658.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214074,0.976455,0.026602],[-0.961388,0.205793,0.182709],[0.172932,-0.064688,0.982807]]
2025-10-25T00:37:39.071Z,1761352659.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190832,0.979401,0.066010],[-0.976848,0.182850,0.111061],[0.096703,-0.085676,0.991619]]
2025-10-25T00:37:39.475Z,1761352659.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189307,0.975878,0.108740],[-0.979085,0.179194,0.096341],[0.074532,-0.124704,0.989391]]
2025-10-25T00:37:39.884Z,1761352659.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214456,0.969085,0.121997],[-0.973458,0.201841,0.107889],[0.079929,-0.141896,0.986649]]
2025-10-25T00:37:39.910Z,1761352659.910 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003739.00,A,3646.41140,N,12151.72179,W,0.525,120.79,251025,,,D*72
2025-10-25T00:37:39.960Z,1761352659.960 [NAL9602](INFO): GPS fix at 20251025T003739: (36.773523, -121.862030)
2025-10-25T00:37:40.284Z,1761352660.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232257,0.966735,0.107141],[-0.971893,0.226307,0.064875],[0.038470,-0.119197,0.992125]]
2025-10-25T00:37:40.689Z,1761352660.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253250,0.959572,0.122821],[-0.962873,0.262294,-0.063849],[-0.093483,-0.102091,0.990373]]
2025-10-25T00:37:40.776Z,1761352660.776 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:37:40.776Z,1761352660.776 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:37:41.091Z,1761352661.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229180,0.958761,0.168087],[-0.959959,0.251205,-0.123998],[-0.161108,-0.132939,0.977942]]
2025-10-25T00:37:41.495Z,1761352661.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210583,0.959842,0.185362],[-0.971238,0.226978,-0.071951],[-0.111135,-0.164879,0.980033]]
2025-10-25T00:37:41.972Z,1761352661.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212913,0.962065,0.170586],[-0.977071,0.209742,0.036616],[-0.000552,-0.174470,0.984662]]
2025-10-25T00:37:42.305Z,1761352662.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187261,0.967614,0.169279],[-0.980540,0.173788,0.091314],[0.058938,-0.183084,0.981329]]
2025-10-25T00:37:43.110Z,1761352663.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254302,0.967114,0.004460],[-0.963255,0.252870,0.090540],[0.086435,-0.027321,0.995883]]
2025-10-25T00:37:43.137Z,1761352663.137 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003742.00,A,3646.41114,N,12151.72169,W,2.002,144.39,251025,,,D*7A
2025-10-25T00:37:43.140Z,1761352663.140 [NAL9602](INFO): GPS fix at 20251025T003742: (36.773519, -121.862028)
2025-10-25T00:37:43.516Z,1761352663.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280715,0.955285,-0.092898],[-0.958659,0.283766,0.021181],[0.046596,0.083112,0.995450]]
2025-10-25T00:37:43.960Z,1761352663.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223462,0.971718,-0.076351],[-0.972027,0.216351,-0.091409],[-0.072305,0.094642,0.992882]]
2025-10-25T00:37:44.323Z,1761352664.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232819,0.971913,0.034347],[-0.964169,0.235294,-0.122537],[-0.127177,-0.004587,0.991869]]
2025-10-25T00:37:44.726Z,1761352664.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246994,0.965776,0.079190],[-0.967538,0.250306,-0.034890],[-0.053518,-0.068001,0.996249]]
2025-10-25T00:37:45.141Z,1761352665.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159558,0.980287,0.116522],[-0.984002,0.148456,0.098487],[0.079247,-0.130373,0.988293]]
2025-10-25T00:37:45.308Z,1761352665.308 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:37:45.534Z,1761352665.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139812,0.973876,0.178936],[-0.973777,0.102478,0.203115],[0.179472,-0.202642,0.962666]]
2025-10-25T00:37:45.966Z,1761352665.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189901,0.967067,0.169466],[-0.959400,0.146120,0.241250],[0.208542,-0.208399,0.955552]]
2025-10-25T00:37:45.972Z,1761352665.972 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003745.00,A,3646.41095,N,12151.72065,W,2.430,107.49,251025,,,D*7D
2025-10-25T00:37:45.974Z,1761352665.974 [NAL9602](INFO): GPS fix at 20251025T003745: (36.773516, -121.862011)
2025-10-25T00:37:46.343Z,1761352666.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204008,0.977970,0.044218],[-0.961452,0.191647,0.197181],[0.184363,-0.082740,0.979369]]
2025-10-25T00:37:46.748Z,1761352666.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237597,0.969535,-0.059581],[-0.969316,0.240631,0.050234],[0.063040,0.045818,0.996959]]
2025-10-25T00:37:47.154Z,1761352667.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229071,0.965736,-0.121990],[-0.972873,0.222976,-0.061647],[-0.032334,0.132802,0.990615]]
2025-10-25T00:37:47.554Z,1761352667.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209877,0.974576,-0.078448],[-0.977682,0.209967,-0.007195],[0.009459,0.078207,0.996892]]
2025-10-25T00:37:47.969Z,1761352667.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174739,0.982062,0.070861],[-0.984590,0.173771,0.019646],[0.006980,-0.073202,0.997293]]
2025-10-25T00:37:48.365Z,1761352668.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157303,0.966580,0.202432],[-0.987381,0.157735,0.014099],[-0.018303,-0.202095,0.979195]]
2025-10-25T00:37:48.766Z,1761352668.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165119,0.955670,0.243784],[-0.984196,0.143624,0.103585],[0.063979,-0.257035,0.964282]]
2025-10-25T00:37:49.170Z,1761352669.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164856,0.968760,0.185275],[-0.975480,0.132371,0.175831],[0.145813,-0.209719,0.966828]]
2025-10-25T00:37:49.183Z,1761352669.183 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003748.00,A,3646.41072,N,12151.71978,W,1.069,91.24,251025,,,D*41
2025-10-25T00:37:49.185Z,1761352669.185 [NAL9602](INFO): GPS fix at 20251025T003748: (36.773512, -121.861996)
2025-10-25T00:37:49.574Z,1761352669.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169433,0.978633,0.116487],[-0.977280,0.151563,0.148163],[0.127342,-0.138945,0.982079]]
2025-10-25T00:37:49.988Z,1761352669.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218630,0.975255,0.032829],[-0.969680,0.213370,0.119138],[0.109185,-0.057880,0.992335]]
2025-10-25T00:37:50.383Z,1761352670.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213003,0.977043,-0.004066],[-0.974550,0.212753,0.070633],[0.069877,-0.011082,0.997494]]
2025-10-25T00:37:50.787Z,1761352670.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129375,0.990338,0.049930],[-0.991421,0.130132,-0.012210],[-0.018589,-0.047922,0.998678]]
2025-10-25T00:37:51.191Z,1761352671.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131610,0.983861,0.121225],[-0.987797,0.140435,-0.067343],[-0.083281,-0.110882,0.990338]]
2025-10-25T00:37:51.595Z,1761352671.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165299,0.977245,0.132923],[-0.983631,0.173161,-0.049861],[-0.071743,-0.122506,0.989871]]
2025-10-25T00:37:51.999Z,1761352671.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151301,0.987992,0.031303],[-0.988433,0.150882,0.015342],[0.010435,-0.033262,0.999392]]
2025-10-25T00:37:52.007Z,1761352672.007 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003751.00,A,3646.41064,N,12151.72034,W,1.808,282.46,251025,,,D*77
2025-10-25T00:37:52.009Z,1761352672.009 [NAL9602](INFO): GPS fix at 20251025T003751: (36.773511, -121.862006)
2025-10-25T00:37:52.402Z,1761352672.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088014,0.993744,-0.068744],[-0.991512,0.094028,0.089794],[0.095697,0.060257,0.993585]]
2025-10-25T00:37:53.211Z,1761352673.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084274,0.986098,0.143209],[-0.972742,-0.112575,0.202733],[0.216037,-0.122220,0.968706]]
2025-10-25T00:37:53.622Z,1761352673.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000139,0.967234,0.253885],[-0.964217,-0.067439,0.256395],[0.265116,-0.244764,0.932633]]
2025-10-25T00:37:54.019Z,1761352674.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082588,0.986108,0.144120],[-0.978649,0.052937,0.198603],[0.188215,-0.157445,0.969426]]
2025-10-25T00:37:54.422Z,1761352674.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109626,0.992866,0.046891],[-0.993044,0.107363,0.048336],[0.042957,-0.051863,0.997730]]
2025-10-25T00:37:54.826Z,1761352674.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076699,0.994795,0.067084],[-0.996751,0.078162,-0.019463],[-0.024605,-0.065373,0.997558]]
2025-10-25T00:37:55.231Z,1761352675.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018228,0.992571,0.120291],[-0.999237,0.022240,-0.032098],[-0.034534,-0.119614,0.992220]]
2025-10-25T00:37:55.244Z,1761352675.244 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003754.00,A,3646.41053,N,12151.71971,W,1.419,68.16,251025,,,D*42
2025-10-25T00:37:55.246Z,1761352675.246 [NAL9602](INFO): GPS fix at 20251025T003754: (36.773509, -121.861995)
2025-10-25T00:37:55.639Z,1761352675.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010711,0.983849,0.178679],[-0.999624,-0.006026,-0.026747],[-0.025238,-0.178899,0.983544]]
2025-10-25T00:37:56.038Z,1761352676.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001413,0.979814,0.199905],[-0.999917,-0.003941,0.012249],[0.012790,-0.199871,0.979739]]
2025-10-25T00:37:56.443Z,1761352676.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044965,0.982084,0.183000],[-0.996663,0.031610,0.075253],[0.068120,-0.185773,0.980228]]
2025-10-25T00:37:56.789Z,1761352676.789 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:37:56.846Z,1761352676.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093705,0.990673,0.098922],[-0.991937,0.084383,0.094551],[0.085322,-0.106985,0.990593]]
2025-10-25T00:37:57.251Z,1761352677.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131457,0.990772,0.033008],[-0.990061,0.129539,0.054758],[0.049977,-0.039878,0.997954]]
2025-10-25T00:37:57.690Z,1761352677.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147006,0.988989,0.017006],[-0.988214,0.146105,0.045681],[0.042693,-0.023521,0.998811]]
2025-10-25T00:37:58.063Z,1761352678.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134726,0.987207,0.085270],[-0.989294,0.129140,0.067968],[0.056087,-0.093514,0.994037]]
2025-10-25T00:37:58.068Z,1761352678.068 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003757.00,A,3646.41031,N,12151.71911,W,0.680,105.12,251025,,,A*7B
2025-10-25T00:37:58.070Z,1761352678.070 [NAL9602](INFO): GPS fix at 20251025T003757: (36.773505, -121.861985)
2025-10-25T00:37:58.462Z,1761352678.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156752,0.973237,0.168045],[-0.987175,0.149182,0.056843],[0.030253,-0.174800,0.984139]]
2025-10-25T00:37:58.866Z,1761352678.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172496,0.963429,0.205059],[-0.984370,0.176111,0.000629],[-0.035507,-0.201963,0.978749]]
2025-10-25T00:37:59.270Z,1761352679.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181914,0.970597,0.157635],[-0.982166,0.187098,-0.018572],[-0.047520,-0.151445,0.987323]]
2025-10-25T00:37:59.686Z,1761352679.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170140,0.979522,0.107649],[-0.984665,0.173267,-0.020319],[-0.038555,-0.102542,0.993981]]
2025-10-25T00:38:00.078Z,1761352680.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097651,0.991489,0.086108],[-0.994686,0.094396,0.041111],[0.032633,-0.089665,0.995437]]
2025-10-25T00:38:00.483Z,1761352680.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113167,0.988013,0.104994],[-0.982523,0.095563,0.159740],[0.147792,-0.121236,0.981560]]
2025-10-25T00:38:00.887Z,1761352680.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221413,0.967439,0.122633],[-0.949108,0.184898,0.254963],[0.223986,-0.172844,0.959143]]
2025-10-25T00:38:00.895Z,1761352680.895 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003800.00,A,3646.41014,N,12151.71828,W,2.197,101.58,251025,,,A*73
2025-10-25T00:38:00.898Z,1761352680.898 [NAL9602](INFO): GPS fix at 20251025T003800: (36.773502, -121.861971)
2025-10-25T00:38:01.292Z,1761352681.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267676,0.957134,0.110654],[-0.947604,0.240735,0.209984],[0.174344,-0.161064,0.971423]]
2025-10-25T00:38:01.696Z,1761352681.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281146,0.956080,0.082868],[-0.957708,0.274013,0.087821],[0.061257,-0.104053,0.992684]]
2025-10-25T00:38:02.103Z,1761352682.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312942,0.949715,-0.010461],[-0.949524,0.313093,0.019392],[0.021692,0.003864,0.999757]]
2025-10-25T00:38:02.503Z,1761352682.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320500,0.946142,-0.045775],[-0.947180,0.320683,-0.003477],[0.011390,0.044472,0.998946]]
2025-10-25T00:38:02.906Z,1761352682.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320931,0.947098,-0.003006],[-0.947073,0.320894,-0.008890],[-0.007455,0.005700,0.999956]]
2025-10-25T00:38:03.326Z,1761352683.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306029,0.951478,0.032191],[-0.950682,0.303630,0.063344],[0.050497,-0.049988,0.997472]]
2025-10-25T00:38:03.722Z,1761352683.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286627,0.955702,0.066927],[-0.954891,0.279325,0.100803],[0.077644,-0.092801,0.992653]]
2025-10-25T00:38:04.143Z,1761352684.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288186,0.953276,0.090632],[-0.956893,0.283118,0.064812],[0.036125,-0.105403,0.993773]]
2025-10-25T00:38:04.155Z,1761352684.155 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003803.00,A,3646.41011,N,12151.71813,W,0.467,151.20,251025,,,A*7F
2025-10-25T00:38:04.165Z,1761352684.165 [NAL9602](INFO): GPS fix at 20251025T003803: (36.773502, -121.861969)
2025-10-25T00:38:04.535Z,1761352684.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302085,0.951731,0.054347],[-0.952882,0.299818,0.046109],[0.027590,-0.065715,0.997457]]
2025-10-25T00:38:04.941Z,1761352684.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270500,0.962686,0.008124],[-0.960317,0.269220,0.072885],[0.067978,-0.027517,0.997307]]
2025-10-25T00:38:05.345Z,1761352685.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244052,0.969762,0.000382],[-0.963595,0.242455,0.112694],[0.109194,-0.027872,0.993630]]
2025-10-25T00:38:05.747Z,1761352685.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258539,0.965960,0.008834],[-0.952752,0.253473,0.167375],[0.159439,-0.051689,0.985854]]
2025-10-25T00:38:06.152Z,1761352686.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269378,0.962719,-0.024659],[-0.942026,0.268734,0.200919],[0.200055,-0.030893,0.979298]]
2025-10-25T00:38:06.554Z,1761352686.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283885,0.955798,-0.076550],[-0.936099,0.293553,0.193768],[0.207674,0.016651,0.978056]]
2025-10-25T00:38:06.959Z,1761352686.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304266,0.948611,-0.086949],[-0.928546,0.315726,0.195241],[0.212660,0.021331,0.976893]]
2025-10-25T00:38:07.029Z,1761352687.029 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003806.00,A,3646.40975,N,12151.71806,W,0.389,153.82,251025,,,A*79
2025-10-25T00:38:07.032Z,1761352687.032 [NAL9602](INFO): GPS fix at 20251025T003806: (36.773496, -121.861968)
2025-10-25T00:38:07.365Z,1761352687.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282762,0.958527,-0.035657],[-0.934474,0.283670,0.215149],[0.216341,-0.027515,0.975930]]
2025-10-25T00:38:07.444Z,1761352687.444 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:38:07.768Z,1761352687.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270543,0.961108,0.055472],[-0.941151,0.251921,0.225323],[0.202585,-0.113167,0.972704]]
2025-10-25T00:38:08.171Z,1761352688.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284510,0.956226,0.068461],[-0.935607,0.261385,0.237312],[0.209029,-0.131570,0.969018]]
2025-10-25T00:38:08.574Z,1761352688.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252677,0.966818,0.037640],[-0.948387,0.239781,0.207525],[0.191614,-0.088134,0.977505]]
2025-10-25T00:38:08.978Z,1761352688.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249324,0.967785,0.035068],[-0.949373,0.237113,0.206079],[0.191125,-0.084673,0.977907]]
2025-10-25T00:38:09.385Z,1761352689.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293584,0.955871,-0.010897],[-0.939064,0.290517,0.183734],[0.178792,-0.043709,0.982916]]
2025-10-25T00:38:09.786Z,1761352689.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337167,0.938867,-0.069617],[-0.929477,0.343722,0.133891],[0.149635,0.019564,0.988548]]
2025-10-25T00:38:10.190Z,1761352690.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317643,0.944323,-0.085772],[-0.937271,0.326392,0.122442],[0.143620,0.041499,0.988762]]
2025-10-25T00:38:10.203Z,1761352690.203 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003809.00,A,3646.40966,N,12151.71800,W,0.739,149.80,251025,,,A*74
2025-10-25T00:38:10.205Z,1761352690.205 [NAL9602](INFO): GPS fix at 20251025T003809: (36.773494, -121.861967)
2025-10-25T00:38:10.601Z,1761352690.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269820,0.962735,-0.018382],[-0.949503,0.269189,0.161186],[0.160128,-0.026037,0.986753]]
2025-10-25T00:38:11.000Z,1761352691.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288330,0.956171,0.051019],[-0.941823,0.273585,0.195243],[0.172727,-0.104345,0.979427]]
2025-10-25T00:38:11.404Z,1761352691.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352700,0.935307,0.028361],[-0.910927,0.336257,0.239048],[0.214046,-0.110147,0.970594]]
2025-10-25T00:38:11.807Z,1761352691.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322131,0.946435,-0.022199],[-0.918342,0.318093,0.235508],[0.229955,-0.055478,0.971619]]
2025-10-25T00:38:12.214Z,1761352692.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294183,0.955522,0.020843],[-0.942541,0.286436,0.171964],[0.158345,-0.070234,0.984883]]
2025-10-25T00:38:12.618Z,1761352692.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331944,0.942497,0.038904],[-0.940644,0.327636,0.088560],[0.070721,-0.065992,0.995311]]
2025-10-25T00:38:13.035Z,1761352693.035 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003812.00,A,3646.40935,N,12151.71715,W,0.369,107.50,251025,,,A*75
2025-10-25T00:38:13.037Z,1761352693.037 [NAL9602](INFO): GPS fix at 20251025T003812: (36.773489, -121.861953)
2025-10-25T00:38:13.425Z,1761352693.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241801,0.967758,0.070548],[-0.970251,0.242043,0.005218],[-0.012026,-0.069711,0.997495]]
2025-10-25T00:38:13.826Z,1761352693.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272914,0.960228,0.058997],[-0.957262,0.264945,0.115987],[0.095743,-0.088130,0.991497]]
2025-10-25T00:38:14.235Z,1761352694.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347450,0.936778,0.041534],[-0.936154,0.343996,0.072685],[0.053803,-0.064136,0.996490]]
2025-10-25T00:38:14.634Z,1761352694.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370405,0.927581,0.048923],[-0.926633,0.372654,-0.049803],[-0.064428,-0.026887,0.997560]]
2025-10-25T00:38:15.040Z,1761352695.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381483,0.923524,0.039680],[-0.921915,0.383247,-0.056521],[-0.067406,-0.015020,0.997613]]
2025-10-25T00:38:15.443Z,1761352695.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396080,0.918196,0.006052],[-0.914877,0.394069,0.087803],[0.078236,-0.040314,0.996119]]
2025-10-25T00:38:15.846Z,1761352695.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380686,0.924679,-0.006826],[-0.895482,0.370487,0.246682],[0.230630,-0.087796,0.969072]]
2025-10-25T00:38:16.255Z,1761352696.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353253,0.934609,0.041447],[-0.913361,0.334958,0.231461],[0.202443,-0.119620,0.971961]]
2025-10-25T00:38:16.260Z,1761352696.260 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003815.00,A,3646.40895,N,12151.71704,W,1.594,128.78,251025,,,A*7B
2025-10-25T00:38:16.263Z,1761352696.263 [NAL9602](INFO): GPS fix at 20251025T003815: (36.773483, -121.861951)
2025-10-25T00:38:16.659Z,1761352696.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341599,0.934402,0.101006],[-0.933230,0.324501,0.154213],[0.111320,-0.146941,0.982861]]
2025-10-25T00:38:16.660Z,1761352696.660 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:38:17.059Z,1761352697.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396390,0.915875,0.063625],[-0.914361,0.387601,0.117089],[0.082578,-0.104589,0.991081]]
2025-10-25T00:38:17.464Z,1761352697.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460630,0.886392,-0.046141],[-0.887298,0.461194,0.001793],[0.022869,0.040115,0.998933]]
2025-10-25T00:38:17.867Z,1761352697.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425270,0.900978,-0.085937],[-0.902346,0.414719,-0.117387],[-0.070123,0.127466,0.989361]]
2025-10-25T00:38:18.281Z,1761352698.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400375,0.915213,-0.045662],[-0.914521,0.395932,-0.082996],[-0.057881,0.074988,0.995503]]
2025-10-25T00:38:18.711Z,1761352698.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364636,0.930110,0.044010],[-0.931144,0.364056,0.020832],[0.003354,-0.048575,0.998814]]
2025-10-25T00:38:19.103Z,1761352699.103 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003818.00,A,3646.40879,N,12151.71689,W,0.389,224.42,251025,,,A*7D
2025-10-25T00:38:19.121Z,1761352699.121 [NAL9602](INFO): GPS fix at 20251025T003818: (36.773480, -121.861948)
2025-10-25T00:38:19.485Z,1761352699.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376201,0.916893,0.133344],[-0.926535,0.372645,0.051654],[-0.002329,-0.142980,0.989723]]
2025-10-25T00:38:19.914Z,1761352699.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404648,0.911723,0.070863],[-0.914396,0.404400,0.018457],[-0.011829,-0.072265,0.997315]]
2025-10-25T00:38:20.703Z,1761352700.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442606,0.891033,-0.100798],[-0.891518,0.449337,0.057366],[0.096408,0.064473,0.993252]]
2025-10-25T00:38:21.108Z,1761352701.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418220,0.904657,-0.081784],[-0.906031,0.421883,0.033492],[0.064802,0.060092,0.996087]]
2025-10-25T00:38:21.507Z,1761352701.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411441,0.911271,-0.017370],[-0.911354,0.411585,0.005560],[0.012216,0.013543,0.999834]]
2025-10-25T00:38:21.953Z,1761352701.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393322,0.918047,0.049869],[-0.919254,0.393650,0.003484],[-0.016432,-0.047213,0.998750]]
2025-10-25T00:38:21.979Z,1761352701.979 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003821.00,A,3646.40846,N,12151.71661,W,0.292,162.03,251025,,,A*72
2025-10-25T00:38:22.009Z,1761352702.009 [NAL9602](INFO): GPS fix at 20251025T003821: (36.773474, -121.861943)
2025-10-25T00:38:22.319Z,1761352702.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400231,0.913989,0.066625],[-0.916349,0.398275,0.041016],[0.010953,-0.077468,0.996935]]
2025-10-25T00:38:22.720Z,1761352702.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430129,0.901989,0.037473],[-0.901290,0.426682,0.074956],[0.051621,-0.066015,0.996482]]
2025-10-25T00:38:23.118Z,1761352703.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440874,0.897564,0.003078],[-0.896934,0.440431,0.039104],[0.033743,-0.020001,0.999230]]
2025-10-25T00:38:23.523Z,1761352703.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427811,0.902949,-0.040745],[-0.903860,0.427559,-0.015162],[0.003730,0.043314,0.999054]]
2025-10-25T00:38:23.953Z,1761352703.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406189,0.912500,-0.048521],[-0.913702,0.404843,-0.035381],[-0.012642,0.058705,0.998195]]
2025-10-25T00:38:24.334Z,1761352704.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434532,0.900566,-0.012777],[-0.900395,0.434704,0.017908],[0.021681,0.003723,0.999758]]
2025-10-25T00:38:24.734Z,1761352704.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429023,0.903282,-0.004493],[-0.893413,0.425058,0.145393],[0.133240,-0.058363,0.989364]]
2025-10-25T00:38:25.142Z,1761352705.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408005,0.912938,0.008765],[-0.900769,0.400964,0.166863],[0.148821,-0.075976,0.985941]]
2025-10-25T00:38:25.147Z,1761352705.147 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003824.00,A,3646.40816,N,12151.71626,W,0.836,118.97,251025,,,A*75
2025-10-25T00:38:25.150Z,1761352705.150 [NAL9602](INFO): GPS fix at 20251025T003824: (36.773469, -121.861938)
2025-10-25T00:38:25.542Z,1761352705.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419574,0.907428,0.023064],[-0.906044,0.417120,0.071387],[0.055158,-0.050849,0.997182]]
2025-10-25T00:38:25.961Z,1761352705.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442782,0.896620,0.004113],[-0.896358,0.442756,-0.022574],[-0.022061,0.006308,0.999737]]
2025-10-25T00:38:26.084Z,1761352706.084 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:38:26.350Z,1761352706.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432912,0.900860,-0.032228],[-0.901400,0.432939,-0.006489],[0.008107,0.031860,0.999459]]
2025-10-25T00:38:26.755Z,1761352706.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446595,0.893968,-0.037070],[-0.894430,0.447143,0.007621],[0.023389,0.029753,0.999284]]
2025-10-25T00:38:27.165Z,1761352707.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471071,0.881706,-0.026218],[-0.882058,0.471118,-0.004752],[0.008162,0.025364,0.999645]]
2025-10-25T00:38:27.575Z,1761352707.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430047,0.902751,0.009998],[-0.902804,0.430045,0.002490],[-0.002051,-0.010097,0.999947]]
2025-10-25T00:38:27.971Z,1761352707.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412581,0.908355,0.068324],[-0.910903,0.411885,0.024634],[-0.005765,-0.072400,0.997359]]
2025-10-25T00:38:27.977Z,1761352707.977 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003827.00,A,3646.40798,N,12151.71623,W,0.214,133.20,251025,,,A*75
2025-10-25T00:38:27.979Z,1761352707.979 [NAL9602](INFO): GPS fix at 20251025T003827: (36.773466, -121.861937)
2025-10-25T00:38:28.375Z,1761352708.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470394,0.876997,0.098008],[-0.882113,0.464205,0.079937],[0.024609,-0.124056,0.991970]]
2025-10-25T00:38:28.779Z,1761352708.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478083,0.876288,0.059637],[-0.878065,0.475225,0.056245],[0.020946,-0.079255,0.996634]]
2025-10-25T00:38:29.182Z,1761352709.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468392,0.883508,0.004778],[-0.883380,0.468214,0.020382],[0.015771,-0.013767,0.999781]]
2025-10-25T00:38:29.590Z,1761352709.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465057,0.883258,-0.059807],[-0.879503,0.468672,0.082587],[0.100975,0.014193,0.994788]]
2025-10-25T00:38:29.990Z,1761352709.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445888,0.889184,-0.102646],[-0.878943,0.456639,0.137622],[0.169244,0.028856,0.985152]]
2025-10-25T00:38:30.394Z,1761352710.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438589,0.897489,-0.046397],[-0.894883,0.440895,0.069246],[0.082603,0.011150,0.996520]]
2025-10-25T00:38:30.799Z,1761352710.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454627,0.890586,0.013033],[-0.890480,0.454164,0.027927],[0.018952,-0.024302,0.999525]]
2025-10-25T00:38:31.208Z,1761352711.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468302,0.882305,0.047234],[-0.883526,0.467085,0.034842],[0.008679,-0.058049,0.998276]]
2025-10-25T00:38:31.215Z,1761352711.215 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003830.00,A,3646.40786,N,12151.71590,W,0.486,102.45,251025,,,A*7B
2025-10-25T00:38:31.217Z,1761352711.217 [NAL9602](INFO): GPS fix at 20251025T003830: (36.773464, -121.861932)
2025-10-25T00:38:31.606Z,1761352711.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444242,0.886890,0.126789],[-0.893486,0.448979,-0.010023],[-0.065815,-0.108832,0.991879]]
2025-10-25T00:38:32.011Z,1761352712.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400133,0.897666,0.184632],[-0.906942,0.416815,-0.061004],[-0.131718,-0.143041,0.980913]]
2025-10-25T00:38:32.421Z,1761352712.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467021,0.875888,0.121290],[-0.881100,0.472521,-0.019656],[-0.074529,-0.097689,0.992422]]
2025-10-25T00:38:32.818Z,1761352712.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491540,0.869382,-0.050631],[-0.868683,0.493589,0.041955],[0.061465,0.023360,0.997836]]
2025-10-25T00:38:33.227Z,1761352713.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424461,0.893824,-0.144607],[-0.894662,0.438598,0.084925],[0.139332,0.093327,0.985838]]
2025-10-25T00:38:33.626Z,1761352713.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427647,0.897734,-0.105792],[-0.895677,0.436616,0.084429],[0.121985,0.058650,0.990798]]
2025-10-25T00:38:34.031Z,1761352714.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468448,0.883489,-0.002029],[-0.880936,0.467267,0.074922],[0.067141,-0.033309,0.997187]]
2025-10-25T00:38:34.045Z,1761352714.045 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003833.00,A,3646.40764,N,12151.71522,W,2.099,103.43,251025,,,A*72
2025-10-25T00:38:34.049Z,1761352714.049 [NAL9602](INFO): GPS fix at 20251025T003833: (36.773461, -121.861920)
2025-10-25T00:38:34.439Z,1761352714.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440051,0.891702,0.105939],[-0.896777,0.430308,0.103086],[0.046336,-0.140366,0.989015]]
2025-10-25T00:38:34.841Z,1761352714.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422268,0.886113,0.191035],[-0.902628,0.391648,0.178536],[0.083385,-0.247823,0.965210]]
2025-10-25T00:38:35.242Z,1761352715.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459067,0.873436,0.162377],[-0.880245,0.422479,0.216058],[0.120113,-0.242116,0.962784]]
2025-10-25T00:38:35.304Z,1761352715.304 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:38:35.648Z,1761352715.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482876,0.874579,0.044068],[-0.864031,0.467660,0.186397],[0.142410,-0.128082,0.981486]]
2025-10-25T00:38:36.061Z,1761352716.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481352,0.874344,-0.061827],[-0.863528,0.485135,0.137709],[0.150400,-0.012898,0.988541]]
2025-10-25T00:38:36.455Z,1761352716.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488891,0.865514,-0.108955],[-0.863207,0.498012,0.082812],[0.125936,0.053564,0.990591]]
2025-10-25T00:38:36.859Z,1761352716.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494951,0.864696,-0.085581],[-0.863573,0.500424,0.061783],[0.096251,0.043326,0.994414]]
2025-10-25T00:38:36.883Z,1761352716.883 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003836.00,A,3646.40745,N,12151.71486,W,0.330,148.71,251025,,,A*77
2025-10-25T00:38:36.885Z,1761352716.885 [NAL9602](INFO): GPS fix at 20251025T003836: (36.773457, -121.861914)
2025-10-25T00:38:37.265Z,1761352717.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510857,0.857903,-0.055019],[-0.850528,0.513698,0.112771],[0.125009,-0.010815,0.992097]]
2025-10-25T00:38:37.699Z,1761352717.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509310,0.857132,-0.076987],[-0.839375,0.514505,0.175313],[0.189877,-0.024668,0.981498]]
2025-10-25T00:38:38.073Z,1761352718.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466896,0.882162,-0.061626],[-0.865912,0.470212,0.170581],[0.179457,-0.026281,0.983415]]
2025-10-25T00:38:38.474Z,1761352718.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457718,0.888331,0.036896],[-0.885580,0.451827,0.107707],[0.079009,-0.081974,0.993498]]
2025-10-25T00:38:38.881Z,1761352718.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479502,0.875168,0.064491],[-0.876912,0.475081,0.072967],[0.033220,-0.091540,0.995247]]
2025-10-25T00:38:39.282Z,1761352719.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499615,0.866222,-0.006598],[-0.862177,0.497991,0.093038],[0.083877,-0.040795,0.995641]]
2025-10-25T00:38:39.689Z,1761352719.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484401,0.868139,-0.108122],[-0.865241,0.493674,0.087437],[0.129285,0.051197,0.990285]]
2025-10-25T00:38:40.091Z,1761352720.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467443,0.872574,-0.141812],[-0.871551,0.481732,0.091292],[0.147974,0.080923,0.985675]]
2025-10-25T00:38:40.099Z,1761352720.099 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003839.00,A,3646.40736,N,12151.71531,W,0.719,181.11,251025,,,A*7D
2025-10-25T00:38:40.101Z,1761352720.101 [NAL9602](INFO): GPS fix at 20251025T003839: (36.773456, -121.861922)
2025-10-25T00:38:40.494Z,1761352720.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464694,0.878787,-0.108591],[-0.871495,0.475610,0.119549],[0.156705,0.039083,0.986872]]
2025-10-25T00:38:40.900Z,1761352720.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439361,0.897847,-0.028847],[-0.884896,0.438106,0.158183],[0.154663,-0.043973,0.986988]]
2025-10-25T00:38:41.004Z,1761352721.004 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:38:41.005Z,1761352721.005 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:38:41.302Z,1761352721.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424486,0.898351,0.113031],[-0.903062,0.411032,0.124623],[0.065496,-0.154975,0.985745]]
2025-10-25T00:38:41.707Z,1761352721.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444720,0.881499,0.158692],[-0.895407,0.433268,0.102589],[0.021676,-0.187718,0.981984]]
2025-10-25T00:38:42.112Z,1761352722.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433735,0.897233,0.082741],[-0.899733,0.426332,0.093389],[0.048516,-0.114950,0.992186]]
2025-10-25T00:38:42.514Z,1761352722.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363917,0.930666,0.037746],[-0.931226,0.362688,0.035715],[0.019548,-0.048147,0.998649]]
2025-10-25T00:38:42.918Z,1761352722.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332371,0.939482,0.083087],[-0.940950,0.336319,-0.038766],[-0.064364,-0.065296,0.995788]]
2025-10-25T00:38:42.923Z,1761352722.923 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003842.00,A,3646.40711,N,12151.71491,W,0.467,74.65,251025,,,A*4D
2025-10-25T00:38:42.926Z,1761352722.926 [NAL9602](INFO): GPS fix at 20251025T003842: (36.773452, -121.861915)
2025-10-25T00:38:43.323Z,1761352723.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404464,0.911456,0.075215],[-0.906983,0.410317,-0.094978],[-0.117431,-0.029804,0.992634]]
2025-10-25T00:38:43.729Z,1761352723.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401028,0.915818,0.021327],[-0.912656,0.401434,-0.076883],[-0.078972,0.011368,0.996812]]
2025-10-25T00:38:44.130Z,1761352724.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362213,0.930042,0.061839],[-0.932042,0.360684,0.034716],[0.009982,-0.070211,0.997482]]
2025-10-25T00:38:44.553Z,1761352724.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392321,0.908808,0.141961],[-0.918201,0.377756,0.119196],[0.054699,-0.177112,0.982669]]
2025-10-25T00:38:44.632Z,1761352724.632 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:38:44.948Z,1761352724.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431115,0.886967,0.165616],[-0.902039,0.419283,0.102599],[0.021562,-0.193624,0.980839]]
2025-10-25T00:38:45.351Z,1761352725.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430751,0.892202,0.135753],[-0.901686,0.431751,0.023519],[-0.037628,-0.132538,0.990463]]
2025-10-25T00:38:45.754Z,1761352725.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412833,0.907702,0.075143],[-0.910663,0.412827,0.016333],[-0.016196,-0.075173,0.997039]]
2025-10-25T00:38:46.158Z,1761352726.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426588,0.904101,0.024968],[-0.904341,0.425954,0.027030],[0.013802,-0.034110,0.999323]]
2025-10-25T00:38:46.171Z,1761352726.171 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003845.00,A,3646.40672,N,12151.71402,W,1.555,109.03,251025,,,A*7E
2025-10-25T00:38:46.173Z,1761352726.173 [NAL9602](INFO): GPS fix at 20251025T003845: (36.773445, -121.861900)
2025-10-25T00:38:46.566Z,1761352726.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455935,0.889696,-0.023743],[-0.888619,0.456551,0.043794],[0.049804,0.001131,0.998758]]
2025-10-25T00:38:46.967Z,1761352726.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463476,0.884996,-0.044419],[-0.877820,0.465403,0.113278],[0.120923,-0.013509,0.992570]]
2025-10-25T00:38:47.370Z,1761352727.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449959,0.893009,-0.008413],[-0.887749,0.448294,0.104565],[0.097149,-0.039581,0.994483]]
2025-10-25T00:38:47.775Z,1761352727.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481936,0.874456,0.055354],[-0.875789,0.478796,0.061217],[0.027029,-0.077981,0.996588]]
2025-10-25T00:38:48.179Z,1761352728.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484388,0.873024,0.056543],[-0.874851,0.483224,0.033618],[0.002026,-0.065751,0.997834]]
2025-10-25T00:38:48.583Z,1761352728.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456226,0.887716,0.061792],[-0.889827,0.455736,0.022629],[-0.008072,-0.065308,0.997832]]
2025-10-25T00:38:48.988Z,1761352728.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472405,0.878710,0.068576],[-0.881380,0.470824,0.038647],[0.001672,-0.078698,0.996897]]
2025-10-25T00:38:48.995Z,1761352728.995 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003848.00,A,3646.40660,N,12151.71334,W,0.214,105.75,251025,,,A*7C
2025-10-25T00:38:48.997Z,1761352728.997 [NAL9602](INFO): GPS fix at 20251025T003848: (36.773443, -121.861889)
2025-10-25T00:38:49.391Z,1761352729.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507477,0.861636,0.007162],[-0.860200,0.506112,0.062497],[0.050225,-0.037876,0.998019]]
2025-10-25T00:38:49.794Z,1761352729.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485547,0.869979,-0.085908],[-0.866622,0.491923,0.083539],[0.114937,0.033888,0.992795]]
2025-10-25T00:38:50.199Z,1761352730.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431894,0.895226,-0.109720],[-0.882695,0.444533,0.152447],[0.185248,0.031008,0.982202]]
2025-10-25T00:38:50.610Z,1761352730.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453248,0.889905,-0.051338],[-0.870215,0.454227,0.190798],[0.193111,-0.041803,0.980286]]
2025-10-25T00:38:51.006Z,1761352731.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500302,0.865746,-0.013498],[-0.852140,0.495083,0.169559],[0.153478,-0.073328,0.985428]]
2025-10-25T00:38:51.411Z,1761352731.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532665,0.845313,-0.041385],[-0.840967,0.534153,0.086340],[0.095090,-0.011186,0.995406]]
2025-10-25T00:38:51.816Z,1761352731.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525043,0.845182,-0.099988],[-0.845475,0.531432,0.052459],[0.097474,0.056994,0.993605]]
2025-10-25T00:38:52.218Z,1761352732.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473128,0.872957,-0.118725],[-0.872189,0.483131,0.076618],[0.124244,0.067300,0.989967]]
2025-10-25T00:38:52.233Z,1761352732.233 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003851.00,A,3646.40637,N,12151.71345,W,0.836,187.54,251025,,,A*73
2025-10-25T00:38:52.235Z,1761352732.235 [NAL9602](INFO): GPS fix at 20251025T003851: (36.773440, -121.861891)
2025-10-25T00:38:52.622Z,1761352732.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456237,0.888770,-0.044009],[-0.881073,0.458112,0.117662],[0.124736,-0.014906,0.992078]]
2025-10-25T00:38:53.033Z,1761352733.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466215,0.879809,0.092621],[-0.881181,0.452533,0.136874],[0.078509,-0.145428,0.986249]]
2025-10-25T00:38:53.430Z,1761352733.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478654,0.864203,0.155058],[-0.877536,0.465118,0.116601],[0.028646,-0.191880,0.981000]]
2025-10-25T00:38:53.834Z,1761352733.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454211,0.883591,0.113844],[-0.890451,0.454293,0.026733],[-0.028098,-0.113515,0.993139]]
2025-10-25T00:38:54.239Z,1761352734.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465597,0.884537,0.028535],[-0.883917,0.466380,-0.034365],[-0.043705,-0.009223,0.999002]]
2025-10-25T00:38:54.643Z,1761352734.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523185,0.845553,-0.106386],[-0.852200,0.518235,-0.072025],[-0.005767,0.128345,0.991713]]
2025-10-25T00:38:55.048Z,1761352735.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525445,0.825945,-0.204259],[-0.850695,0.514229,-0.109022],[0.014990,0.231047,0.972827]]
2025-10-25T00:38:55.053Z,1761352735.053 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003854.00,A,3646.40625,N,12151.71397,W,0.991,232.96,251025,,,A*75
2025-10-25T00:38:55.055Z,1761352735.055 [NAL9602](INFO): GPS fix at 20251025T003854: (36.773438, -121.861900)
2025-10-25T00:38:55.100Z,1761352735.100 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:38:55.450Z,1761352735.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522817,0.823028,-0.222009],[-0.850815,0.519907,-0.076224],[0.052690,0.228740,0.972061]]
2025-10-25T00:38:55.854Z,1761352735.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533139,0.824790,-0.188372],[-0.834837,0.548975,0.040900],[0.137145,0.135455,0.981246]]
2025-10-25T00:38:56.259Z,1761352736.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526288,0.844319,-0.100728],[-0.837441,0.535205,0.110673],[0.147354,0.026108,0.988739]]
2025-10-25T00:38:56.666Z,1761352736.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486372,0.872337,0.049699],[-0.873691,0.484883,0.039398],[0.010271,-0.062584,0.997987]]
2025-10-25T00:38:57.066Z,1761352737.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447494,0.885002,0.128531],[-0.887109,0.457467,-0.061335],[-0.113080,-0.086574,0.989807]]
2025-10-25T00:38:57.470Z,1761352737.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445755,0.893482,0.054698],[-0.889613,0.448957,-0.083829],[-0.099457,-0.011292,0.994978]]
2025-10-25T00:38:57.880Z,1761352737.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464371,0.881882,-0.081504],[-0.885640,0.462272,-0.044121],[-0.001232,0.092672,0.995696]]
2025-10-25T00:38:57.897Z,1761352737.897 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003857.00,A,3646.40611,N,12151.71310,W,1.186,137.00,251025,,,A*78
2025-10-25T00:38:57.912Z,1761352737.912 [NAL9602](INFO): GPS fix at 20251025T003857: (36.773435, -121.861885)
2025-10-25T00:38:58.283Z,1761352738.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493618,0.857231,-0.146618],[-0.862529,0.504126,0.043593],[0.111283,0.104944,0.988232]]
2025-10-25T00:38:58.686Z,1761352738.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493118,0.853923,-0.166282],[-0.847231,0.514787,0.131122],[0.197568,0.076221,0.977321]]
2025-10-25T00:38:59.088Z,1761352739.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453516,0.874208,-0.173448],[-0.843154,0.483905,0.234364],[0.288816,0.039956,0.956551]]
2025-10-25T00:38:59.491Z,1761352739.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449188,0.882658,-0.138366],[-0.833629,0.469773,0.290476],[0.321392,-0.015133,0.946826]]
2025-10-25T00:38:59.939Z,1761352739.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431581,0.900635,-0.050943],[-0.876421,0.432011,0.212730],[0.213600,-0.047162,0.975782]]
2025-10-25T00:39:00.298Z,1761352740.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400395,0.915907,0.028270],[-0.902900,0.389068,0.182749],[0.156382,-0.098697,0.982753]]
2025-10-25T00:39:00.704Z,1761352740.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405461,0.913072,0.043602],[-0.898491,0.389298,0.202882],[0.168272,-0.121437,0.978232]]
2025-10-25T00:39:01.106Z,1761352741.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401252,0.915640,-0.024498],[-0.894198,0.397372,0.206170],[0.198513,-0.060820,0.978209]]
2025-10-25T00:39:01.129Z,1761352741.129 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003900.00,A,3646.40573,N,12151.71206,W,0.214,118.11,251025,,,A*7E
2025-10-25T00:39:01.131Z,1761352741.131 [NAL9602](INFO): GPS fix at 20251025T003900: (36.773429, -121.861868)
2025-10-25T00:39:01.517Z,1761352741.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380175,0.920853,-0.086589],[-0.903838,0.389752,0.176552],[0.196326,0.011142,0.980475]]
2025-10-25T00:39:01.945Z,1761352741.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383491,0.919836,-0.082683],[-0.912557,0.391176,0.119250],[0.142034,0.029721,0.989416]]
2025-10-25T00:39:02.318Z,1761352742.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354940,0.932831,-0.062002],[-0.923996,0.360126,0.128610],[0.142300,0.011641,0.989755]]
2025-10-25T00:39:02.729Z,1761352742.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328647,0.944452,0.001569],[-0.932684,0.324290,0.157915],[0.148634,-0.053362,0.987451]]
2025-10-25T00:39:03.126Z,1761352743.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381882,0.920185,0.086173],[-0.919368,0.368694,0.137209],[0.094486,-0.131622,0.986787]]
2025-10-25T00:39:03.534Z,1761352743.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415846,0.907152,0.064406],[-0.907042,0.408575,0.101695],[0.065938,-0.100708,0.992729]]
2025-10-25T00:39:03.959Z,1761352743.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370476,0.926084,-0.071524],[-0.902165,0.377089,0.209530],[0.221013,-0.013100,0.975183]]
2025-10-25T00:39:03.965Z,1761352743.965 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003903.00,A,3646.40581,N,12151.71210,W,0.097,118.11,251025,,,A*7E
2025-10-25T00:39:03.967Z,1761352743.967 [NAL9602](INFO): GPS fix at 20251025T003903: (36.773430, -121.861868)
2025-10-25T00:39:04.376Z,1761352744.376 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:39:04.746Z,1761352744.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370143,0.928124,-0.039758],[-0.898842,0.368620,0.237072],[0.234688,-0.052015,0.970678]]
2025-10-25T00:39:05.161Z,1761352745.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297660,0.953903,0.038302],[-0.945959,0.289297,0.146520],[0.128685,-0.079845,0.988466]]
2025-10-25T00:39:05.555Z,1761352745.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286857,0.954088,0.086193],[-0.954812,0.277446,0.106577],[0.077770,-0.112871,0.990561]]
2025-10-25T00:39:05.963Z,1761352745.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345240,0.936134,0.066795],[-0.937131,0.339995,0.078665],[0.050931,-0.089754,0.994661]]
2025-10-25T00:39:06.370Z,1761352746.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406803,0.912760,-0.037171],[-0.910957,0.408371,0.058232],[0.068331,0.010172,0.997611]]
2025-10-25T00:39:06.764Z,1761352746.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435731,0.888703,-0.142641],[-0.893842,0.445866,0.047446],[0.105764,0.106825,0.988637]]
2025-10-25T00:39:07.169Z,1761352747.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382798,0.912528,-0.144079],[-0.921434,0.388363,0.011583],[0.066524,0.128326,0.989498]]
2025-10-25T00:39:07.175Z,1761352747.175 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003906.00,A,3646.40547,N,12151.71160,W,1.341,165.10,251025,,,A*77
2025-10-25T00:39:07.177Z,1761352747.177 [NAL9602](INFO): GPS fix at 20251025T003906: (36.773424, -121.861860)
2025-10-25T00:39:07.573Z,1761352747.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333837,0.942110,-0.031321],[-0.940916,0.331042,-0.071331],[-0.056834,0.053283,0.996961]]
2025-10-25T00:39:07.974Z,1761352747.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326413,0.938818,0.109889],[-0.934423,0.338021,-0.112227],[-0.142506,-0.066050,0.987588]]
2025-10-25T00:39:08.378Z,1761352748.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310981,0.938611,0.149333],[-0.945853,0.321023,-0.048033],[-0.093024,-0.126309,0.987620]]
2025-10-25T00:39:08.785Z,1761352748.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367658,0.927123,0.072603],[-0.927119,0.359316,0.106504],[0.072655,-0.106468,0.991658]]
2025-10-25T00:39:09.190Z,1761352749.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387437,0.921885,-0.004671],[-0.915918,0.385495,0.111747],[0.104818,-0.039016,0.993726]]
2025-10-25T00:39:09.590Z,1761352749.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348304,0.937180,-0.019443],[-0.935777,0.348846,0.051257],[0.054819,0.000342,0.998496]]
2025-10-25T00:39:10.001Z,1761352750.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358175,0.933594,-0.010633],[-0.933424,0.358316,0.018133],[0.020739,0.003430,0.999779]]
2025-10-25T00:39:10.015Z,1761352750.015 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003909.00,A,3646.40535,N,12151.71168,W,1.147,160.80,251025,,,A*7D
2025-10-25T00:39:10.022Z,1761352750.022 [NAL9602](INFO): GPS fix at 20251025T003909: (36.773423, -121.861861)
2025-10-25T00:39:10.402Z,1761352750.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362969,0.931502,-0.023634],[-0.930905,0.363615,0.034636],[0.040857,0.009429,0.999121]]
2025-10-25T00:39:10.802Z,1761352750.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337235,0.941336,-0.012587],[-0.938170,0.337151,0.078526],[0.078163,-0.014673,0.996833]]
2025-10-25T00:39:11.209Z,1761352751.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345066,0.937851,0.036950],[-0.938207,0.343554,0.041688],[0.026403,-0.049052,0.998447]]
2025-10-25T00:39:11.613Z,1761352751.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369839,0.926338,0.071536],[-0.928777,0.370633,0.002318],[-0.024367,-0.067298,0.997435]]
2025-10-25T00:39:12.017Z,1761352752.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373205,0.926047,0.056170],[-0.926983,0.369752,0.063142],[0.037703,-0.075633,0.996423]]
2025-10-25T00:39:12.422Z,1761352752.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367491,0.926748,0.078027],[-0.928431,0.360653,0.089133],[0.054463,-0.105198,0.992959]]
2025-10-25T00:39:12.822Z,1761352752.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354063,0.929987,0.098812],[-0.934483,0.347606,0.076882],[0.037152,-0.119559,0.992132]]
2025-10-25T00:39:13.233Z,1761352753.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413416,0.908853,0.055446],[-0.908760,0.408032,0.087555],[0.056951,-0.086584,0.994615]]
2025-10-25T00:39:13.238Z,1761352753.238 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003912.00,A,3646.40492,N,12151.71084,W,0.855,127.02,251025,,,A*7A
2025-10-25T00:39:13.241Z,1761352753.241 [NAL9602](INFO): GPS fix at 20251025T003912: (36.773415, -121.861847)
2025-10-25T00:39:13.630Z,1761352753.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444334,0.895823,-0.008261],[-0.895446,0.444390,0.026339],[0.027266,-0.004306,0.999619]]
2025-10-25T00:39:14.035Z,1761352754.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392196,0.919473,-0.027428],[-0.919845,0.392272,-0.002775],[0.008208,0.026318,0.999620]]
2025-10-25T00:39:14.440Z,1761352754.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373445,0.926561,0.044978],[-0.924985,0.375607,-0.057631],[-0.070292,-0.020082,0.997324]]
2025-10-25T00:39:14.758Z,1761352754.758 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:39:14.844Z,1761352754.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406711,0.905225,0.123101],[-0.901707,0.419407,-0.104987],[-0.146667,-0.068302,0.986825]]
2025-10-25T00:39:15.253Z,1761352755.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464949,0.885063,0.022043],[-0.884118,0.465471,-0.040881],[-0.046442,-0.000481,0.998921]]
2025-10-25T00:39:15.652Z,1761352755.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446226,0.875857,-0.183729],[-0.884315,0.463058,0.059698],[0.137364,0.135835,0.981162]]
2025-10-25T00:39:16.054Z,1761352756.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397533,0.880504,-0.258224],[-0.895474,0.433684,0.100223],[0.200234,0.191391,0.960872]]
2025-10-25T00:39:16.063Z,1761352756.063 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003915.00,A,3646.40492,N,12151.71081,W,1.341,100.41,251025,,,A*75
2025-10-25T00:39:16.066Z,1761352756.066 [NAL9602](INFO): GPS fix at 20251025T003915: (36.773415, -121.861847)
2025-10-25T00:39:16.460Z,1761352756.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379163,0.913435,-0.147892],[-0.914454,0.394322,0.091015],[0.141454,0.100731,0.984807]]
2025-10-25T00:39:16.862Z,1761352756.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346157,0.938026,0.016779],[-0.938066,0.345788,0.021499],[0.014365,-0.023182,0.999628]]
2025-10-25T00:39:17.266Z,1761352757.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335596,0.931635,0.139395],[-0.941320,0.337305,0.011898],[-0.035934,-0.135208,0.990165]]
2025-10-25T00:39:17.676Z,1761352757.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350107,0.920977,0.170957],[-0.936670,0.345886,0.054876],[-0.008592,-0.179343,0.983749]]
2025-10-25T00:39:18.076Z,1761352758.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326301,0.938939,0.109186],[-0.945000,0.321286,0.061237],[0.022417,-0.123162,0.992133]]
2025-10-25T00:39:18.487Z,1761352758.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254359,0.966422,0.036470],[-0.964545,0.250759,0.082301],[0.070392,-0.056111,0.995940]]
2025-10-25T00:39:18.883Z,1761352758.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199097,0.979966,0.005224],[-0.973165,0.197082,0.118781],[0.115372,-0.028733,0.992907]]
2025-10-25T00:39:19.029Z,1761352759.029 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003918.00,A,3646.40505,N,12151.71052,W,0.564,95.12,251025,,,A*42
2025-10-25T00:39:19.031Z,1761352759.031 [NAL9602](INFO): GPS fix at 20251025T003918: (36.773418, -121.861842)
2025-10-25T00:39:19.286Z,1761352759.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221595,0.974927,-0.020323],[-0.969332,0.222499,0.104352],[0.106258,-0.003424,0.994333]]
2025-10-25T00:39:19.694Z,1761352759.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250592,0.966932,-0.047390],[-0.960154,0.254495,0.115485],[0.123727,0.016562,0.992178]]
2025-10-25T00:39:20.094Z,1761352760.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236961,0.969930,-0.055551],[-0.951183,0.243259,0.189935],[0.197737,0.007831,0.980224]]
2025-10-25T00:39:20.503Z,1761352760.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217464,0.975996,-0.011850],[-0.943092,0.213231,0.255167],[0.251569,-0.044314,0.966824]]
2025-10-25T00:39:20.902Z,1761352760.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205103,0.977451,0.050216],[-0.948610,0.185894,0.256091],[0.240981,-0.100160,0.965348]]
2025-10-25T00:39:21.312Z,1761352761.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196800,0.978386,0.063488],[-0.956661,0.177447,0.230896],[0.214640,-0.106177,0.970905]]
2025-10-25T00:39:21.710Z,1761352761.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164211,0.985694,0.037973],[-0.954506,0.149066,0.258259],[0.248904,-0.078655,0.965329]]
2025-10-25T00:39:22.115Z,1761352762.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124114,0.991479,0.039554],[-0.944227,0.105758,0.311849],[0.305009,-0.076053,0.949308]]
2025-10-25T00:39:22.123Z,1761352762.123 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003921.00,A,3646.40474,N,12151.70991,W,0.292,110.74,251025,,,A*7A
2025-10-25T00:39:22.125Z,1761352762.125 [NAL9602](INFO): GPS fix at 20251025T003921: (36.773412, -121.861832)
2025-10-25T00:39:22.520Z,1761352762.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142803,0.986563,0.079377],[-0.927680,0.105462,0.358173],[0.344989,-0.124784,0.930275]]
2025-10-25T00:39:22.924Z,1761352762.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171025,0.982446,0.074507],[-0.934508,0.137790,0.328191],[0.312163,-0.125756,0.941668]]
2025-10-25T00:39:23.327Z,1761352763.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163206,0.986303,0.023892],[-0.944683,0.149244,0.292062],[0.284496,-0.070237,0.956101]]
2025-10-25T00:39:23.730Z,1761352763.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132403,0.991145,-0.010097],[-0.942673,0.129063,0.307750],[0.306328,-0.031229,0.951414]]
2025-10-25T00:39:24.135Z,1761352764.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123813,0.992078,0.021251],[-0.942078,0.110792,0.316566],[0.311704,-0.059215,0.948332]]
2025-10-25T00:39:24.538Z,1761352764.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146492,0.987488,0.058381],[-0.942683,0.121471,0.310795],[0.299815,-0.100564,0.948682]]
2025-10-25T00:39:24.942Z,1761352764.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152678,0.987110,0.047999],[-0.945252,0.131684,0.298593],[0.288423,-0.090960,0.953173]]
2025-10-25T00:39:24.948Z,1761352764.948 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003924.00,A,3646.40433,N,12151.70948,W,0.972,155.62,251025,,,A*7B
2025-10-25T00:39:24.950Z,1761352764.950 [NAL9602](INFO): GPS fix at 20251025T003924: (36.773406, -121.861825)
2025-10-25T00:39:25.347Z,1761352765.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166393,0.986014,0.009478],[-0.943723,0.156455,0.291392],[0.285834,-0.057430,0.956557]]
2025-10-25T00:39:25.753Z,1761352765.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192115,0.979964,-0.052550],[-0.943276,0.199167,0.265638],[0.270782,-0.001464,0.962640]]
2025-10-25T00:39:26.154Z,1761352766.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181700,0.980707,-0.072110],[-0.954762,0.193496,0.225809],[0.235405,0.027819,0.971499]]
2025-10-25T00:39:26.184Z,1761352766.184 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:39:26.558Z,1761352766.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158135,0.987255,-0.017929],[-0.962772,0.158194,0.219190],[0.219233,-0.017400,0.975517]]
2025-10-25T00:39:26.969Z,1761352766.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167553,0.983186,0.072611],[-0.960835,0.146366,0.235314],[0.220729,-0.109194,0.969203]]
2025-10-25T00:39:27.373Z,1761352767.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176002,0.978837,0.104413],[-0.958628,0.146322,0.244175],[0.223730,-0.143068,0.964094]]
2025-10-25T00:39:27.770Z,1761352767.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153696,0.981488,0.114275],[-0.972802,0.130015,0.191706],[0.173300,-0.140631,0.974777]]
2025-10-25T00:39:28.174Z,1761352768.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124698,0.985191,0.117685],[-0.989646,0.115004,0.085873],[0.071067,-0.127175,0.989331]]
2025-10-25T00:39:28.187Z,1761352768.187 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003927.00,A,3646.40426,N,12151.70973,W,0.505,227.08,251025,,,A*72
2025-10-25T00:39:28.189Z,1761352768.189 [NAL9602](INFO): GPS fix at 20251025T003927: (36.773404, -121.861829)
2025-10-25T00:39:28.579Z,1761352768.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163410,0.982676,0.087438],[-0.985157,0.157814,0.067526],[0.052557,-0.097175,0.993879]]
2025-10-25T00:39:28.989Z,1761352768.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219297,0.975529,-0.015853],[-0.969183,0.219681,0.111469],[0.112223,-0.009080,0.993641]]
2025-10-25T00:39:29.386Z,1761352769.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191781,0.973551,-0.124171],[-0.974469,0.203940,0.093910],[0.116749,0.102991,0.987807]]
2025-10-25T00:39:29.790Z,1761352769.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107367,0.987951,-0.111467],[-0.985009,0.120927,0.123018],[0.135015,0.096588,0.986125]]
2025-10-25T00:39:30.195Z,1761352770.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082929,0.996491,0.011361],[-0.991062,0.081271,0.105784],[0.104490,-0.020032,0.994324]]
2025-10-25T00:39:30.599Z,1761352770.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099304,0.985122,0.140263],[-0.993180,0.089473,0.074753],[0.061091,-0.146730,0.987288]]
2025-10-25T00:39:31.002Z,1761352771.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153788,0.971251,0.181718],[-0.986008,0.138873,0.092205],[0.064318,-0.193355,0.979018]]
2025-10-25T00:39:31.011Z,1761352771.011 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003930.00,A,3646.40393,N,12151.70948,W,1.322,138.81,251025,,,A*7B
2025-10-25T00:39:31.013Z,1761352771.013 [NAL9602](INFO): GPS fix at 20251025T003930: (36.773399, -121.861825)
2025-10-25T00:39:31.417Z,1761352771.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181779,0.978282,0.099601],[-0.979706,0.171476,0.103787],[0.084454,-0.116446,0.989600]]
2025-10-25T00:39:31.810Z,1761352771.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142817,0.989517,0.021448],[-0.989492,0.142252,0.025889],[0.022566,-0.024920,0.999435]]
2025-10-25T00:39:32.215Z,1761352772.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129977,0.991513,0.002666],[-0.990536,0.129968,-0.044113],[-0.044085,0.003093,0.999023]]
2025-10-25T00:39:32.287Z,1761352772.287 [run_backseat_on_surface:CheckIn:C.Wait](INFO): Done Waiting.
2025-10-25T00:39:32.287Z,1761352772.287 [run_backseat_on_surface:CheckIn:C.Wait] Stopped
2025-10-25T00:39:32.287Z,1761352772.287 [run_backseat_on_surface:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-10-25T00:39:32.287Z,1761352772.287 [run_backseat_on_surface:CheckIn:D] Running Loop=1
2025-10-25T00:39:32.618Z,1761352772.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111096,0.993790,-0.006321],[-0.993160,0.110791,-0.036859],[-0.035930,0.010373,0.999300]]
2025-10-25T00:39:32.650Z,1761352772.650 [run_backseat_on_surface:CheckIn:D] Stopped
2025-10-25T00:39:32.650Z,1761352772.650 [run_backseat_on_surface:CheckIn:E] Running Loop=1
2025-10-25T00:39:33.022Z,1761352773.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079659,0.996355,0.030529],[-0.995697,0.078077,0.049911],[0.047345,-0.034374,0.998287]]
2025-10-25T00:39:33.062Z,1761352773.062 [run_backseat_on_surface:CheckIn:E](IMPORTANT): run_backseat_on_surface mission has been running for  11.864925 min 
2025-10-25T00:39:33.062Z,1761352773.062 [run_backseat_on_surface:CheckIn:E] Stopped
2025-10-25T00:39:33.062Z,1761352773.062 [run_backseat_on_surface:CheckIn](INFO): Completed run_backseat_on_surface:CheckIn
2025-10-25T00:39:33.062Z,1761352773.062 [run_backseat_on_surface:CheckIn] Stopped
2025-10-25T00:39:33.062Z,1761352773.062 [run_backseat_on_surface:CheckIn](DEBUG): Aggregate::uninitialize run_backseat_on_surface:CheckIn
2025-10-25T00:39:33.062Z,1761352773.062 [run_backseat_on_surface:CheckIn](INFO): Running loop #3
2025-10-25T00:39:33.062Z,1761352773.062 [run_backseat_on_surface:CheckIn] Running Loop=3
2025-10-25T00:39:33.062Z,1761352773.062 [run_backseat_on_surface:CheckIn](DEBUG): Aggregate::initialize run_backseat_on_surface:CheckIn
2025-10-25T00:39:33.063Z,1761352773.063 [run_backseat_on_surface:CheckIn:Read_GPS] Running Loop=1
2025-10-25T00:39:33.430Z,1761352773.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060301,0.991309,0.116918],[-0.995915,0.051863,0.073916],[0.067210,-0.120898,0.990387]]
2025-10-25T00:39:33.831Z,1761352773.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088994,0.987291,0.131667],[-0.990259,0.073490,0.118261],[0.107082,-0.140909,0.984215]]
2025-10-25T00:39:34.234Z,1761352774.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110675,0.992575,0.050467],[-0.990632,0.106087,0.085988],[0.079995,-0.059511,0.995017]]
2025-10-25T00:39:34.260Z,1761352774.260 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003933.00,A,3646.40359,N,12151.70879,W,1.438,146.65,251025,,,A*72
2025-10-25T00:39:34.262Z,1761352774.262 [NAL9602](INFO): GPS fix at 20251025T003933: (36.773393, -121.861813)
2025-10-25T00:39:34.293Z,1761352774.293 [run_backseat_on_surface:CheckIn:Read_GPS] Stopped
2025-10-25T00:39:34.293Z,1761352774.293 [run_backseat_on_surface:CheckIn:Read_Iridium] Running Loop=1
2025-10-25T00:39:34.638Z,1761352774.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091154,0.995509,-0.025554],[-0.995185,0.091993,0.033824],[0.036023,0.022347,0.999101]]
2025-10-25T00:39:35.042Z,1761352775.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073942,0.996907,-0.026630],[-0.997135,0.074333,0.013997],[0.015933,0.025519,0.999547]]
2025-10-25T00:39:35.455Z,1761352775.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037681,0.996731,0.071474],[-0.999197,0.038555,-0.010897],[-0.013617,-0.071006,0.997383]]
2025-10-25T00:39:35.846Z,1761352775.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003347,0.984955,0.172779],[-0.999831,-0.000177,-0.018361],[-0.018054,-0.172811,0.984790]]
2025-10-25T00:39:36.250Z,1761352776.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017498,0.974397,0.224153],[-0.999818,0.015358,0.011287],[0.007556,-0.224310,0.974488]]
2025-10-25T00:39:36.658Z,1761352776.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057177,0.983152,0.173619],[-0.997982,0.051477,0.037166],[0.027602,-0.175394,0.984111]]
2025-10-25T00:39:37.059Z,1761352777.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042688,0.995585,0.083595],[-0.998226,0.039026,0.044958],[0.041498,-0.085366,0.995485]]
2025-10-25T00:39:37.071Z,1761352777.071 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003936.00,A,3646.40312,N,12151.70850,W,1.186,156.90,251025,,,A*78
2025-10-25T00:39:37.073Z,1761352777.073 [NAL9602](INFO): GPS fix at 20251025T003936: (36.773385, -121.861808)
2025-10-25T00:39:37.468Z,1761352777.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058966,0.998219,0.008996],[-0.998235,0.058898,0.007651],[0.007108,-0.009431,0.999930]]
2025-10-25T00:39:37.866Z,1761352777.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081493,0.992728,-0.088596],[-0.996343,0.083433,0.018416],[0.025674,0.086771,0.995897]]
2025-10-25T00:39:38.270Z,1761352778.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037497,0.993141,-0.110743],[-0.999279,0.037930,0.001805],[0.005993,0.110595,0.993847]]
2025-10-25T00:39:38.681Z,1761352778.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016519,0.999775,0.013314],[-0.998951,-0.015934,-0.042940],[-0.042718,-0.014010,0.998989]]
2025-10-25T00:39:39.078Z,1761352779.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075745,0.981623,0.175155],[-0.997070,-0.076452,-0.002720],[0.010721,-0.174848,0.984537]]
2025-10-25T00:39:39.482Z,1761352779.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062004,0.968466,0.241307],[-0.989756,-0.090816,0.110161],[0.128601,-0.232005,0.964176]]
2025-10-25T00:39:39.897Z,1761352779.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042490,0.973596,0.224288],[-0.988106,0.007743,0.153580],[0.147789,-0.228146,0.962345]]
2025-10-25T00:39:39.948Z,1761352779.948 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003939.00,A,3646.40283,N,12151.70786,W,1.711,140.11,251025,,,A*7C
2025-10-25T00:39:39.953Z,1761352779.953 [NAL9602](INFO): GPS fix at 20251025T003939: (36.773381, -121.861798)
2025-10-25T00:39:40.293Z,1761352780.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104382,0.984205,0.142989],[-0.993027,0.095219,0.069508],[0.054794,-0.149247,0.987281]]
2025-10-25T00:39:40.699Z,1761352780.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097219,0.993854,0.052946],[-0.994577,0.098989,-0.031896],[-0.036941,-0.049558,0.998088]]
2025-10-25T00:39:41.098Z,1761352781.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095530,0.994631,0.039790],[-0.995418,0.095619,-0.000335],[-0.004138,-0.039575,0.999208]]
2025-10-25T00:39:41.148Z,1761352781.148 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-25T00:39:41.148Z,1761352781.148 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-25T00:39:41.503Z,1761352781.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137319,0.989479,0.045546],[-0.984666,0.131368,0.114780],[0.107589,-0.060609,0.992346]]
2025-10-25T00:39:41.955Z,1761352781.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183197,0.981850,0.049097],[-0.969466,0.172153,0.174639],[0.163017,-0.079591,0.983408]]
2025-10-25T00:39:42.311Z,1761352782.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167912,0.984265,0.055024],[-0.975010,0.157578,0.156604],[0.145469,-0.079945,0.986128]]
2025-10-25T00:39:42.714Z,1761352782.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163829,0.981716,0.096923],[-0.977349,0.148183,0.151101],[0.133976,-0.119483,0.983755]]
2025-10-25T00:39:43.118Z,1761352783.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204857,0.974973,0.086382],[-0.968187,0.188890,0.164118],[0.143694,-0.117254,0.982651]]
2025-10-25T00:39:43.123Z,1761352783.123 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003942.00,A,3646.40279,N,12151.70806,W,0.408,74.61,251025,,,A*49
2025-10-25T00:39:43.126Z,1761352783.126 [NAL9602](INFO): GPS fix at 20251025T003942: (36.773380, -121.861801)
2025-10-25T00:39:43.528Z,1761352783.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224785,0.974300,0.014526],[-0.960822,0.219146,0.169693],[0.162149,-0.052101,0.985390]]
2025-10-25T00:39:43.960Z,1761352783.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243840,0.969550,-0.022700],[-0.955321,0.244162,0.166573],[0.167043,-0.018932,0.985768]]
2025-10-25T00:39:44.331Z,1761352784.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242999,0.969084,-0.042749],[-0.946242,0.246510,0.209424],[0.213488,-0.010439,0.976890]]
2025-10-25T00:39:44.735Z,1761352784.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210393,0.977524,-0.013477],[-0.943967,0.206717,0.257282],[0.254286,-0.041409,0.966242]]
2025-10-25T00:39:45.139Z,1761352785.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258798,0.964501,0.052556],[-0.939835,0.238871,0.244233],[0.223009,-0.112602,0.968291]]
2025-10-25T00:39:45.543Z,1761352785.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308249,0.950135,0.047188],[-0.930242,0.290673,0.223964],[0.199079,-0.112933,0.973454]]
2025-10-25T00:39:45.963Z,1761352785.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295423,0.954731,-0.034847],[-0.930753,0.295846,0.214880],[0.215462,-0.031046,0.976019]]
2025-10-25T00:39:45.972Z,1761352785.972 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003945.00,A,3646.40245,N,12151.70839,W,0.952,203.95,251025,,,A*76
2025-10-25T00:39:45.974Z,1761352785.974 [NAL9602](INFO): GPS fix at 20251025T003945: (36.773374, -121.861807)
2025-10-25T00:39:46.350Z,1761352786.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295298,0.954631,-0.038447],[-0.943824,0.297729,0.143364],[0.148306,-0.006048,0.988923]]
2025-10-25T00:39:46.755Z,1761352786.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322726,0.946488,0.002862],[-0.943136,0.321326,0.085113],[0.079639,-0.030168,0.996367]]
2025-10-25T00:39:47.158Z,1761352787.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332151,0.943226,0.000673],[-0.939425,0.330748,0.089920],[0.084592,-0.030499,0.995949]]
2025-10-25T00:39:47.562Z,1761352787.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316663,0.948534,-0.002725],[-0.938461,0.313716,0.144474],[0.137893,-0.043192,0.989505]]
2025-10-25T00:39:47.967Z,1761352787.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314624,0.949051,0.017700],[-0.936531,0.307327,0.168701],[0.154667,-0.069654,0.985508]]
2025-10-25T00:39:48.371Z,1761352788.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328738,0.944328,0.013243],[-0.937227,0.324474,0.127760],[0.116350,-0.054411,0.991717]]
2025-10-25T00:39:48.776Z,1761352788.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344322,0.937471,0.050903],[-0.937103,0.339869,0.079541],[0.057268,-0.075089,0.995531]]
2025-10-25T00:39:49.178Z,1761352789.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323267,0.940924,0.100795],[-0.946305,0.321692,0.031958],[-0.002355,-0.105713,0.994394]]
2025-10-25T00:39:49.205Z,1761352789.205 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003948.00,A,3646.40219,N,12151.70779,W,1.263,121.61,251025,,,A*79
2025-10-25T00:39:49.207Z,1761352789.207 [NAL9602](INFO): GPS fix at 20251025T003948: (36.773370, -121.861796)
2025-10-25T00:39:49.583Z,1761352789.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304317,0.945454,0.116224],[-0.951927,0.306324,0.000617],[-0.035019,-0.110825,0.993223]]
2025-10-25T00:39:49.987Z,1761352789.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340626,0.939674,0.031411],[-0.940175,0.340189,0.018485],[0.006685,-0.035828,0.999336]]
2025-10-25T00:39:50.390Z,1761352790.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372433,0.924770,-0.078071],[-0.927409,0.374002,0.005991],[0.034739,0.070172,0.996930]]
2025-10-25T00:39:50.799Z,1761352790.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355995,0.927553,-0.113636],[-0.934299,0.355729,-0.023301],[0.018811,0.114465,0.993249]]
2025-10-25T00:39:51.205Z,1761352791.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391407,0.920098,0.014836],[-0.914082,0.386888,0.121536],[0.106085,-0.061131,0.992476]]
2025-10-25T00:39:51.609Z,1761352791.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426255,0.904355,0.021164],[-0.902869,0.423874,0.071827],[0.055987,-0.049725,0.997193]]
2025-10-25T00:39:52.014Z,1761352792.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395477,0.916509,0.060080],[-0.918120,0.396298,-0.001925],[-0.025574,-0.054399,0.998192]]
2025-10-25T00:39:52.022Z,1761352792.022 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003951.00,A,3646.40167,N,12151.70702,W,0.894,149.85,251025,,,A*70
2025-10-25T00:39:52.025Z,1761352792.025 [NAL9602](INFO): GPS fix at 20251025T003951: (36.773361, -121.861784)
2025-10-25T00:39:52.417Z,1761352792.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377666,0.917517,0.124621],[-0.925608,0.370483,0.077407],[0.024853,-0.144584,0.989180]]
2025-10-25T00:39:52.815Z,1761352792.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408488,0.902200,0.138462],[-0.903445,0.378018,0.202212],[0.130094,-0.207694,0.969504]]
2025-10-25T00:39:53.218Z,1761352793.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440370,0.893293,0.090013],[-0.884052,0.413947,0.217025],[0.156606,-0.175148,0.972007]]
2025-10-25T00:39:53.622Z,1761352793.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489208,0.871399,-0.036606],[-0.857129,0.488109,0.164555],[0.161261,-0.049125,0.985688]]
2025-10-25T00:39:54.027Z,1761352794.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532578,0.829296,-0.169201],[-0.833246,0.548812,0.067132],[0.148532,0.105233,0.983293]]
2025-10-25T00:39:54.438Z,1761352794.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540249,0.815612,-0.207144],[-0.836986,0.546290,-0.031957],[0.087097,0.190642,0.977788]]
2025-10-25T00:39:54.837Z,1761352794.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511304,0.850513,-0.123268],[-0.859383,0.506893,-0.067233],[0.005301,0.140311,0.990093]]
2025-10-25T00:39:55.239Z,1761352795.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502416,0.864412,0.019244],[-0.864626,0.502314,0.010175],[-0.000871,-0.021751,0.999763]]
2025-10-25T00:39:55.244Z,1761352795.244 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003954.00,A,3646.40146,N,12151.70699,W,0.350,156.85,251025,,,A*78
2025-10-25T00:39:55.246Z,1761352795.246 [NAL9602](INFO): GPS fix at 20251025T003954: (36.773358, -121.861783)
2025-10-25T00:39:55.642Z,1761352795.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504123,0.857391,0.103634],[-0.859942,0.487262,0.151904],[0.079744,-0.165698,0.982947]]
2025-10-25T00:39:56.047Z,1761352796.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540580,0.836379,0.090793],[-0.832564,0.516340,0.200575],[0.120876,-0.184018,0.975462]]
2025-10-25T00:39:56.452Z,1761352796.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591285,0.806183,-0.021228],[-0.795816,0.587540,0.146536],[0.130608,-0.069751,0.988977]]
2025-10-25T00:39:56.855Z,1761352796.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598433,0.791000,-0.127264],[-0.792057,0.608007,0.054538],[0.120517,0.068163,0.990368]]
2025-10-25T00:39:57.258Z,1761352797.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601763,0.783764,-0.153606],[-0.789783,0.612573,0.031582],[0.118848,0.102310,0.987627]]
2025-10-25T00:39:57.680Z,1761352797.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610890,0.781811,-0.124839],[-0.784094,0.619267,0.041291],[0.109591,0.072661,0.991317]]
2025-10-25T00:39:58.083Z,1761352798.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614272,0.785746,-0.072619],[-0.784249,0.618092,0.053992],[0.087309,0.023786,0.995897]]
2025-10-25T00:39:58.089Z,1761352798.089 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003957.00,A,3646.40108,N,12151.70657,W,0.816,141.19,251025,,,A*79
2025-10-25T00:39:58.091Z,1761352798.091 [NAL9602](INFO): GPS fix at 20251025T003957: (36.773351, -121.861776)
2025-10-25T00:39:58.482Z,1761352798.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582326,0.811994,0.039511],[-0.812896,0.582179,0.016317],[-0.009753,-0.041620,0.999086]]
2025-10-25T00:39:58.886Z,1761352798.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616925,0.775809,0.132378],[-0.775127,0.628077,-0.068536],[-0.136314,-0.060328,0.988827]]
2025-10-25T00:39:59.290Z,1761352799.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664281,0.740081,0.104932],[-0.736898,0.671930,-0.074104],[-0.125349,-0.028098,0.991715]]
2025-10-25T00:39:59.697Z,1761352799.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678713,0.733719,-0.031705],[-0.734386,0.677764,-0.036232],[-0.005096,0.047875,0.998840]]
2025-10-25T00:40:00.103Z,1761352800.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648484,0.754103,-0.103912],[-0.759892,0.649371,-0.029692],[0.045087,0.098216,0.994143]]
2025-10-25T00:40:00.503Z,1761352800.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630351,0.767424,-0.117124],[-0.775323,0.629950,-0.045138],[0.039142,0.119262,0.992091]]
2025-10-25T00:40:00.913Z,1761352800.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650368,0.754817,-0.085280],[-0.759468,0.648368,-0.053168],[0.015160,0.099346,0.994937]]
2025-10-25T00:40:00.921Z,1761352800.921 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004000.00,A,3646.40083,N,12151.70692,W,0.622,190.27,251025,,,A*76
2025-10-25T00:40:00.925Z,1761352800.925 [NAL9602](INFO): GPS fix at 20251025T004000: (36.773347, -121.861782)
2025-10-25T00:40:01.312Z,1761352801.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628220,0.776465,-0.049408],[-0.777255,0.629167,0.004836],[0.034841,0.035364,0.998767]]
2025-10-25T00:40:01.714Z,1761352801.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608191,0.793789,0.001723],[-0.793679,0.608067,0.018132],[0.013346,-0.012396,0.999834]]
2025-10-25T00:40:02.155Z,1761352802.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657294,0.752383,0.043421],[-0.752038,0.658560,-0.027150],[-0.049022,-0.014809,0.998688]]
2025-10-25T00:40:02.524Z,1761352802.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692122,0.721544,0.018470],[-0.719329,0.691653,-0.064663],[-0.059433,0.031469,0.997736]]
2025-10-25T00:40:02.931Z,1761352802.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638334,0.768476,-0.044442],[-0.769665,0.638097,-0.021178],[0.012084,0.047724,0.998787]]
2025-10-25T00:40:03.331Z,1761352803.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589767,0.805609,-0.056300],[-0.802018,0.592448,0.075985],[0.094569,0.000340,0.995518]]
2025-10-25T00:40:03.736Z,1761352803.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624857,0.778825,-0.054632],[-0.770910,0.626547,0.114619],[0.123498,-0.029505,0.991906]]
2025-10-25T00:40:04.141Z,1761352804.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674516,0.737829,-0.025223],[-0.735822,0.674670,0.058190],[0.059951,-0.020690,0.997987]]
2025-10-25T00:40:04.158Z,1761352804.158 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004003.00,A,3646.40045,N,12151.70657,W,0.991,133.60,251025,,,A*7B
2025-10-25T00:40:04.160Z,1761352804.160 [NAL9602](INFO): GPS fix at 20251025T004003: (36.773341, -121.861776)
2025-10-25T00:40:04.543Z,1761352804.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663177,0.748431,-0.006890],[-0.748187,0.662655,-0.033231],[-0.020305,0.027193,0.999424]]
2025-10-25T00:40:04.947Z,1761352804.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612483,0.790440,0.008387],[-0.785133,0.609535,-0.109700],[-0.091824,0.060604,0.993929]]
2025-10-25T00:40:05.350Z,1761352805.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622435,0.781541,0.042053],[-0.775230,0.623018,-0.104249],[-0.107675,0.032287,0.993662]]
2025-10-25T00:40:05.700Z,1761352805.700 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T00:40:05.755Z,1761352805.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642207,0.766491,0.007841],[-0.766096,0.641464,0.040248],[0.025820,-0.031854,0.999159]]
2025-10-25T00:40:06.165Z,1761352806.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648553,0.756557,-0.083662],[-0.749676,0.653919,0.101864],[0.131774,-0.003345,0.991274]]
2025-10-25T00:40:06.563Z,1761352806.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685725,0.713123,-0.145728],[-0.713358,0.698223,0.060053],[0.144576,0.062776,0.987500]]
2025-10-25T00:40:06.967Z,1761352806.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681940,0.704911,-0.195084],[-0.711803,0.700960,0.044633],[0.168209,0.108424,0.979770]]
2025-10-25T00:40:06.972Z,1761352806.972 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004006.00,A,3646.40017,N,12151.70600,W,2.119,125.66,251025,,,A*70
2025-10-25T00:40:06.974Z,1761352806.974 [NAL9602](INFO): GPS fix at 20251025T004006: (36.773336, -121.861767)
2025-10-25T00:40:07.371Z,1761352807.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648906,0.736096,-0.192571],[-0.730773,0.673426,0.111665],[0.211879,0.068266,0.974909]]
2025-10-25T00:40:07.774Z,1761352807.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638970,0.756167,-0.141173],[-0.741136,0.654323,0.150266],[0.205999,0.008613,0.978514]]
2025-10-25T00:40:08.178Z,1761352808.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648080,0.758632,-0.066851],[-0.750703,0.651142,0.111617],[0.128205,-0.022151,0.991500]]
2025-10-25T00:40:08.587Z,1761352808.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671050,0.740833,-0.029288],[-0.739561,0.671642,0.044107],[0.052347,-0.007937,0.998597]]
2025-10-25T00:40:08.988Z,1761352808.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685588,0.727547,-0.025370],[-0.727989,0.685229,-0.022233],[0.001209,0.033712,0.999431]]
2025-10-25T00:40:09.396Z,1761352809.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690766,0.721783,0.043263],[-0.711562,0.689183,-0.136775],[-0.128538,0.063695,0.989657]]
2025-10-25T00:40:09.795Z,1761352809.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702699,0.708129,0.069046],[-0.680605,0.697306,-0.224813],[-0.207343,0.110982,0.971953]]
2025-10-25T00:40:10.205Z,1761352810.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728408,0.682218,-0.063251],[-0.682793,0.715167,-0.149435],[-0.056712,0.152036,0.986746]]
2025-10-25T00:40:10.219Z,1761352810.219 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004009.00,A,3646.40002,N,12151.70568,W,1.380,16.84,251025,,,A*4A
2025-10-25T00:40:10.221Z,1761352810.221 [NAL9602](INFO): GPS fix at 20251025T004009: (36.773334, -121.861761)
2025-10-25T00:40:10.612Z,1761352810.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705045,0.680347,-0.200098],[-0.701446,0.710549,-0.055627],[0.104334,0.179578,0.978195]]
2025-10-25T00:40:11.011Z,1761352811.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683004,0.705866,-0.187772],[-0.723347,0.689338,-0.039772],[0.101365,0.162989,0.981407]]
2025-10-25T00:40:11.419Z,1761352811.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687021,0.720654,-0.093056],[-0.725404,0.687667,-0.030063],[0.042326,0.088157,0.995207]]
2025-10-25T00:40:11.818Z,1761352811.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638423,0.769127,0.029310],[-0.769685,0.638009,0.023015],[-0.000998,-0.037253,0.999305]]
2025-10-25T00:40:12.229Z,1761352812.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608512,0.777579,0.158378],[-0.793445,0.599360,0.105892],[-0.012586,-0.190100,0.981684]]
2025-10-25T00:40:12.627Z,1761352812.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631314,0.752198,0.188789],[-0.774922,0.621462,0.115245],[-0.030638,-0.219052,0.975232]]
2025-10-25T00:40:13.034Z,1761352813.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626318,0.774176,0.091521],[-0.778790,0.626608,0.029124],[-0.034801,-0.089517,0.995377]]
2025-10-25T00:40:13.047Z,1761352813.047 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004012.00,A,3646.39950,N,12151.70537,W,1.380,191.85,251025,,,A*75
2025-10-25T00:40:13.049Z,1761352813.049 [NAL9602](INFO): GPS fix at 20251025T004012: (36.773325, -121.861756)
2025-10-25T00:40:13.434Z,1761352813.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615344,0.785869,-0.061337],[-0.787660,0.616044,-0.008998],[0.030715,0.053849,0.998076]]
2025-10-25T00:40:13.838Z,1761352813.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619447,0.765792,-0.172766],[-0.779642,0.625867,-0.021202],[0.091892,0.147830,0.984735]]
2025-10-25T00:40:13.935Z,1761352813.935 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20251024T220733/Courier0048.lzma
2025-10-25T00:40:14.243Z,1761352814.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601832,0.771799,-0.205243],[-0.795826,0.601069,-0.073326],[0.066772,0.207468,0.975960]]
2025-10-25T00:40:14.646Z,1761352814.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555552,0.820709,-0.133414],[-0.831043,0.553275,-0.057039],[0.027002,0.142561,0.989418]]
2025-10-25T00:40:14.930Z,1761352814.930 [DataOverHttps](INFO): Moved sent file to Logs/20251024T220733/Courier0048.lzma.bak
2025-10-25T00:40:14.930Z,1761352814.930 [DataOverHttps](IMPORTANT): SBD MOMSN=26232823, MTMSN=20251025T004014
2025-10-25T00:40:15.050Z,1761352815.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563122,0.825936,-0.026889],[-0.826370,0.562725,-0.021284],[-0.002448,0.034206,0.999412]]
2025-10-25T00:40:15.454Z,1761352815.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581021,0.813889,-0.000429],[-0.813585,0.580790,-0.027609],[-0.022221,0.016391,0.999619]]
2025-10-25T00:40:15.859Z,1761352815.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574243,0.818459,-0.019247],[-0.818188,0.572917,-0.048313],[-0.028515,0.043491,0.998647]]
2025-10-25T00:40:16.265Z,1761352816.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566392,0.824104,-0.007232],[-0.823540,0.565627,-0.042983],[-0.031332,0.030301,0.999050]]
2025-10-25T00:40:16.271Z,1761352816.271 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004015.00,A,3646.39946,N,12151.70516,W,0.816,188.49,251025,,,A*7B
2025-10-25T00:40:16.286Z,1761352816.286 [NAL9602](INFO): GPS fix at 20251025T004015: (36.773324, -121.861753)
2025-10-25T00:40:16.671Z,1761352816.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537960,0.842376,0.031643],[-0.842380,0.538609,-0.017212],[-0.031542,-0.017396,0.999351]]
2025-10-25T00:40:17.070Z,1761352817.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529702,0.844572,0.078184],[-0.846889,0.531733,-0.006235],[-0.046839,-0.062911,0.996919]]
2025-10-25T00:40:17.474Z,1761352817.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548019,0.835606,0.037934],[-0.836445,0.547762,0.017784],[-0.005919,-0.041476,0.999122]]
2025-10-25T00:40:17.905Z,1761352817.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508962,0.860340,-0.027786],[-0.860127,0.509571,0.022768],[0.033747,0.012311,0.999355]]
2025-10-25T00:40:18.284Z,1761352818.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499286,0.860953,-0.097328],[-0.865913,0.499733,-0.021491],[0.030135,0.095007,0.995020]]
2025-10-25T00:40:18.690Z,1761352818.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510272,0.838607,-0.190686],[-0.858610,0.509421,-0.057271],[0.049111,0.192949,0.979979]]
2025-10-25T00:40:19.093Z,1761352819.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530940,0.820314,-0.212574],[-0.847004,0.521480,-0.103166],[0.026225,0.234826,0.971684]]
2025-10-25T00:40:19.099Z,1761352819.099 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004018.00,A,3646.39918,N,12151.70487,W,0.739,156.39,251025,,,A*72
2025-10-25T00:40:19.101Z,1761352819.101 [NAL9602](INFO): GPS fix at 20251025T004018: (36.773320, -121.861748)
2025-10-25T00:40:19.495Z,1761352819.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525662,0.832230,-0.176274],[-0.850666,0.515904,-0.101050],[0.006844,0.203068,0.979141]]
2025-10-25T00:40:19.946Z,1761352819.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533291,0.838832,-0.109367],[-0.845671,0.531864,-0.044288],[0.021018,0.116107,0.993014]]
2025-10-25T00:40:20.303Z,1761352820.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529671,0.847317,-0.038766],[-0.845711,0.531064,0.052380],[0.064969,0.005040,0.997874]]
2025-10-25T00:40:20.708Z,1761352820.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490419,0.867772,0.080380],[-0.869574,0.481150,0.111070],[0.057709,-0.124368,0.990557]]
2025-10-25T00:40:21.110Z,1761352821.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472393,0.866667,0.160416],[-0.880091,0.453947,0.139185],[0.047806,-0.206930,0.977187]]
2025-10-25T00:40:21.514Z,1761352821.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486396,0.857951,0.165344],[-0.872022,0.464816,0.153374],[0.054734,-0.218784,0.974237]]
2025-10-25T00:40:21.955Z,1761352821.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513366,0.842652,0.162461],[-0.857652,0.510355,0.063013],[-0.029815,-0.171684,0.984701]]
2025-10-25T00:40:21.969Z,1761352821.969 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004021.00,A,3646.39894,N,12151.70435,W,0.156,118.69,251025,,,A*74
2025-10-25T00:40:21.971Z,1761352821.971 [NAL9602](INFO): GPS fix at 20251025T004021: (36.773316, -121.861739)
2025-10-25T00:40:22.322Z,1761352822.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474110,0.871007,0.128709],[-0.877332,0.479671,-0.014331],[-0.074220,-0.106126,0.991579]]
2025-10-25T00:40:22.727Z,1761352822.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452389,0.887967,0.082821],[-0.891680,0.452012,0.024323],[-0.015838,-0.084853,0.996268]]
2025-10-25T00:40:23.130Z,1761352823.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483154,0.874636,0.039677],[-0.874252,0.479498,0.075933],[0.047389,-0.071375,0.996323]]
2025-10-25T00:40:23.238Z,1761352823.238 [DataOverHttps](INFO): Received command: stop
2025-10-25T00:40:23.341Z,1761352823.341 [CommandExec](IMPORTANT): got command stop
2025-10-25T00:40:23.341Z,1761352823.341 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-10-25T00:40:23.534Z,1761352823.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501469,0.864959,-0.019346],[-0.862705,0.501601,0.064318],[0.065337,-0.015564,0.997742]]
2025-10-25T00:40:23.582Z,1761352823.582 [MissionManager](INFO): MissionManager is completed.
2025-10-25T00:40:23.582Z,1761352823.582 [MissionManager](INFO): Uninitializing Mission run_backseat_on_surface
2025-10-25T00:40:23.582Z,1761352823.582 [run_backseat_on_surface] Stopped
2025-10-25T00:40:23.583Z,1761352823.583 [run_backseat_on_surface](DEBUG): Aggregate::uninitialize run_backseat_on_surface
2025-10-25T00:40:23.583Z,1761352823.583 [run_backseat_on_surface:Science] Stopped
2025-10-25T00:40:23.583Z,1761352823.583 [run_backseat_on_surface:Science](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science
2025-10-25T00:40:23.583Z,1761352823.583 [run_backseat_on_surface:Science:B] Stopped
2025-10-25T00:40:23.583Z,1761352823.583 [run_backseat_on_surface:Science:C] Stopped
2025-10-25T00:40:23.583Z,1761352823.583 [run_backseat_on_surface:Science:E] Stopped
2025-10-25T00:40:23.583Z,1761352823.583 [run_backseat_on_surface:Science:OceanCurrent] Stopped
2025-10-25T00:40:23.583Z,1761352823.583 [run_backseat_on_surface:Science:OceanCurrent](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:OceanCurrent
2025-10-25T00:40:23.583Z,1761352823.583 [run_backseat_on_surface:Science:OceanCurrent:A.] Stopped
2025-10-25T00:40:23.583Z,1761352823.583 [run_backseat_on_surface:BackseatDriver] Stopped
2025-10-25T00:40:23.583Z,1761352823.583 [run_backseat_on_surface:BackseatDriver](DEBUG): Aggregate::uninitialize run_backseat_on_surface:BackseatDriver
2025-10-25T00:40:23.584Z,1761352823.584 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver] Stopped
2025-10-25T00:40:23.584Z,1761352823.584 [run_backseat_on_surface:PowerOnly] Stopped
2025-10-25T00:40:23.584Z,1761352823.584 [run_backseat_on_surface:PowerOnly](DEBUG): Aggregate::uninitialize run_backseat_on_surface:PowerOnly
2025-10-25T00:40:23.584Z,1761352823.584 [run_backseat_on_surface:PowerOnly:E.Wait] Stopped
2025-10-25T00:40:23.584Z,1761352823.584 [run_backseat_on_surface:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-10-25T00:40:23.584Z,1761352823.584 [run_backseat_on_surface:E.GoToSurface] Stopped
2025-10-25T00:40:23.584Z,1761352823.584 [run_backseat_on_surface:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-25T00:40:23.584Z,1761352823.584 [run_backseat_on_surface:CheckIn] Stopped
2025-10-25T00:40:23.585Z,1761352823.585 [run_backseat_on_surface:CheckIn](DEBUG): Aggregate::uninitialize run_backseat_on_surface:CheckIn
2025-10-25T00:40:23.585Z,1761352823.585 [run_backseat_on_surface:CheckIn:Read_Iridium] Stopped
2025-10-25T00:40:23.956Z,1761352823.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524451,0.848860,-0.066241],[-0.849813,0.526670,0.020899],[0.052627,0.045332,0.997585]]
2025-10-25T00:40:24.011Z,1761352824.011 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-10-25T00:40:24.012Z,1761352824.012 [DefaultWithUndock] Running Loop=1
2025-10-25T00:40:24.012Z,1761352824.012 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-10-25T00:40:24.012Z,1761352824.012 [DefaultWithUndock:A.Wait] Running Loop=1
2025-10-25T00:40:24.012Z,1761352824.012 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-10-25T00:40:24.117Z,1761352824.117 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-10-25T00:40:24.117Z,1761352824.117 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-10-25T00:40:24.346Z,1761352824.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550942,0.831720,-0.068594],[-0.834358,0.550689,-0.024251],[0.017604,0.070593,0.997350]]
2025-10-25T00:40:24.747Z,1761352824.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525143,0.850087,-0.039720],[-0.850235,0.526087,0.018255],[0.036414,0.024185,0.999044]]
2025-10-25T00:40:25.151Z,1761352825.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548400,0.836065,0.015925],[-0.832869,0.544402,0.099779],[0.074752,-0.067983,0.994882]]
2025-10-25T00:40:25.156Z,1761352825.156 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004024.00,A,3646.39859,N,12151.70388,W,0.292,144.26,251025,,,A*78
2025-10-25T00:40:25.158Z,1761352825.158 [NAL9602](INFO): GPS fix at 20251025T004024: (36.773310, -121.861731)
2025-10-25T00:40:25.555Z,1761352825.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584625,0.807807,0.075246],[-0.809872,0.575572,0.113244],[0.048169,-0.127145,0.990714]]
2025-10-25T00:40:25.966Z,1761352825.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529774,0.837870,0.131579],[-0.848113,0.522122,0.089962],[0.006676,-0.159254,0.987215]]
2025-10-25T00:40:26.371Z,1761352826.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518853,0.839805,0.159746],[-0.854840,0.511073,0.089734],[-0.006283,-0.183116,0.983071]]
2025-10-25T00:40:26.766Z,1761352826.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553606,0.827142,0.096725],[-0.832277,0.553559,0.029792],[-0.028901,-0.096995,0.994865]]
2025-10-25T00:40:27.172Z,1761352827.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542503,0.839359,-0.034144],[-0.839907,0.541202,-0.040692],[-0.015676,0.050754,0.998588]]
2025-10-25T00:40:27.576Z,1761352827.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576214,0.806636,-0.131589],[-0.816536,0.575121,-0.050047],[0.035310,0.136285,0.990040]]
2025-10-25T00:40:27.979Z,1761352827.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627803,0.756927,-0.181454],[-0.776265,0.625995,-0.074450],[0.057236,0.187596,0.980577]]
2025-10-25T00:40:27.987Z,1761352827.987 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004027.00,A,3646.39821,N,12151.70453,W,0.564,193.11,251025,,,A*75
2025-10-25T00:40:27.998Z,1761352827.998 [NAL9602](INFO): GPS fix at 20251025T004027: (36.773303, -121.861742)
2025-10-25T00:40:28.389Z,1761352828.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622854,0.759117,-0.189191],[-0.779838,0.621753,-0.072634],[0.062492,0.192779,0.979250]]
2025-10-25T00:40:28.787Z,1761352828.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601805,0.791627,-0.105626],[-0.794757,0.606647,0.018459],[0.078690,0.072839,0.994235]]
2025-10-25T00:40:29.191Z,1761352829.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627060,0.778038,0.038117],[-0.778415,0.624012,0.068404],[0.029436,-0.072564,0.996929]]
2025-10-25T00:40:29.595Z,1761352829.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652746,0.750606,0.102538],[-0.755977,0.654165,0.023805],[-0.049208,-0.093055,0.994444]]
2025-10-25T00:40:29.999Z,1761352829.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633888,0.771022,0.060926],[-0.768333,0.636782,-0.064601],[-0.088605,-0.005862,0.996050]]
2025-10-25T00:40:30.409Z,1761352830.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610073,0.792051,-0.021599],[-0.792332,0.609994,-0.010803],[0.004618,0.023704,0.999708]]
2025-10-25T00:40:30.806Z,1761352830.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634613,0.771490,-0.045492],[-0.770288,0.636199,0.043663],[0.062627,0.007333,0.998010]]
2025-10-25T00:40:31.210Z,1761352831.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701461,0.711157,-0.046984],[-0.711834,0.702340,0.003199],[0.035273,0.031201,0.998891]]
2025-10-25T00:40:31.231Z,1761352831.231 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004030.00,A,3646.39802,N,12151.70410,W,1.263,129.03,251025,,,A*76
2025-10-25T00:40:31.247Z,1761352831.247 [NAL9602](INFO): GPS fix at 20251025T004030: (36.773300, -121.861735)
2025-10-25T00:40:31.614Z,1761352831.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720035,0.691336,-0.060037],[-0.693788,0.718978,-0.041576],[0.014422,0.071589,0.997330]]
2025-10-25T00:40:32.019Z,1761352832.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722119,0.689383,-0.057403],[-0.691441,0.721842,-0.029215],[0.021295,0.060787,0.997923]]
2025-10-25T00:40:32.390Z,1761352832.390 [DataOverHttps](INFO): Sending 1595 bytes from file Logs/20251024T220733/Express0049.lzma
2025-10-25T00:40:32.424Z,1761352832.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725882,0.686214,-0.046964],[-0.685323,0.727372,0.035546],[0.058553,0.006383,0.998264]]
2025-10-25T00:40:32.826Z,1761352832.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746333,0.665512,-0.008937],[-0.662642,0.744239,0.083744],[0.062384,-0.056579,0.996447]]
2025-10-25T00:40:33.231Z,1761352833.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767256,0.641304,0.006935],[-0.639073,0.763588,0.092298],[0.053896,-0.075248,0.995707]]
2025-10-25T00:40:33.390Z,1761352833.390 [DataOverHttps](INFO): Moved sent file to Logs/20251024T220733/Express0049.lzma.bak
2025-10-25T00:40:33.390Z,1761352833.390 [DataOverHttps](INFO): SBD MOMSN=26232827
2025-10-25T00:40:33.634Z,1761352833.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763815,0.645421,-0.004378],[-0.643335,0.761858,0.075451],[0.052033,-0.054814,0.997140]]
2025-10-25T00:40:34.038Z,1761352834.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784236,0.620021,-0.023411],[-0.619627,0.784580,0.022300],[0.032194,-0.002983,0.999477]]
2025-10-25T00:40:34.051Z,1761352834.051 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004033.00,A,3646.39784,N,12151.70309,W,0.564,119.42,251025,,,A*7C
2025-10-25T00:40:34.061Z,1761352834.061 [NAL9602](INFO): GPS fix at 20251025T004033: (36.773297, -121.861718)
2025-10-25T00:40:34.392Z,1761352834.392 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:40:34.449Z,1761352834.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817026,0.569978,-0.087145],[-0.576273,0.812278,-0.090078],[0.019444,0.123815,0.992115]]
2025-10-25T00:40:34.857Z,1761352834.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829786,0.553373,-0.072343],[-0.555550,0.831386,-0.012732],[0.053100,0.050755,0.997299]]
2025-10-25T00:40:35.257Z,1761352835.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835461,0.548119,-0.039624],[-0.545675,0.835959,0.058406],[0.065137,-0.027174,0.997506]]
2025-10-25T00:40:35.659Z,1761352835.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807454,0.589407,-0.024869],[-0.577293,0.798132,0.172387],[0.121455,-0.124837,0.984715]]
2025-10-25T00:40:36.062Z,1761352836.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804470,0.590609,-0.063310],[-0.568573,0.796503,0.205688],[0.171908,-0.129474,0.976568]]
2025-10-25T00:40:36.472Z,1761352836.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866708,0.495391,-0.058353],[-0.488221,0.866457,0.104365],[0.102262,-0.061965,0.992826]]
2025-10-25T00:40:36.876Z,1761352836.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883568,0.467778,0.022175],[-0.467554,0.883842,-0.014732],[-0.026490,0.002649,0.999646]]
2025-10-25T00:40:37.275Z,1761352837.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877116,0.477846,0.048271],[-0.472855,0.876789,-0.087459],[-0.084115,0.053886,0.994998]]
2025-10-25T00:40:37.283Z,1761352837.283 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004036.00,A,3646.39744,N,12151.70286,W,0.836,174.72,251025,,,A*71
2025-10-25T00:40:37.294Z,1761352837.294 [NAL9602](INFO): GPS fix at 20251025T004036: (36.773291, -121.861714)
2025-10-25T00:40:37.679Z,1761352837.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905074,0.424239,-0.029370],[-0.425141,0.901075,-0.085549],[-0.009828,0.089914,0.995901]]
2025-10-25T00:40:38.083Z,1761352838.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902351,0.422243,-0.086448],[-0.427718,0.901990,-0.058914],[0.053099,0.090137,0.994513]]
2025-10-25T00:40:38.488Z,1761352838.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907321,0.416911,-0.054352],[-0.419708,0.905761,-0.058665],[0.024772,0.076040,0.996797]]
2025-10-25T00:40:38.890Z,1761352838.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928517,0.370596,-0.022676],[-0.370924,0.928580,-0.012416],[0.016455,0.019940,0.999666]]
2025-10-25T00:40:39.295Z,1761352839.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929563,0.365311,-0.049601],[-0.363367,0.930602,0.044088],[0.062265,-0.022959,0.997796]]
2025-10-25T00:40:39.699Z,1761352839.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925868,0.368773,-0.082308],[-0.366975,0.929513,0.036549],[0.089985,-0.003635,0.995936]]
2025-10-25T00:40:40.104Z,1761352840.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926941,0.348208,-0.139757],[-0.349258,0.936859,0.017745],[0.137111,0.032362,0.990027]]
2025-10-25T00:40:40.111Z,1761352840.111 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004039.00,A,3646.39733,N,12151.70319,W,0.544,204.33,251025,,,A*70
2025-10-25T00:40:40.113Z,1761352840.113 [NAL9602](INFO): GPS fix at 20251025T004039: (36.773289, -121.861720)
2025-10-25T00:40:40.506Z,1761352840.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924457,0.333822,-0.184235],[-0.333706,0.942114,0.032579],[0.184446,0.031363,0.982342]]
2025-10-25T00:40:40.910Z,1761352840.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935262,0.335113,-0.113945],[-0.335716,0.941853,0.014436],[0.112157,0.024751,0.993382]]
2025-10-25T00:40:41.318Z,1761352841.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946803,0.320402,-0.030120],[-0.321009,0.946905,-0.017980],[0.022760,0.026692,0.999385]]
2025-10-25T00:40:41.720Z,1761352841.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949907,0.311547,-0.024805],[-0.311875,0.950064,-0.010605],[0.020262,0.017809,0.999636]]
2025-10-25T00:40:42.122Z,1761352842.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962099,0.264471,-0.066486],[-0.265997,0.963856,-0.015089],[0.060093,0.032202,0.997673]]
2025-10-25T00:40:42.284Z,1761352842.284 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-10-25T00:40:42.285Z,1761352842.285 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-10-25T00:40:42.285Z,1761352842.285 [LcmPublisher](INFO): Deactivating messaging.
2025-10-25T00:40:42.500Z,1761352842.500 [DAT](INFO): Deactivating messaging.
2025-10-25T00:40:42.526Z,1761352842.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965819,0.253782,-0.052799],[-0.256217,0.965526,-0.045952],[0.039317,0.057909,0.997547]]
2025-10-25T00:40:42.563Z,1761352842.563 [WetLabsBB2FL](INFO): Powering down
2025-10-25T00:40:42.930Z,1761352842.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955464,0.295100,0.002167],[-0.294037,0.952596,-0.078124],[-0.025119,0.074007,0.996941]]
2025-10-25T00:40:42.943Z,1761352842.943 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004042.00,A,3646.39688,N,12151.70277,W,1.050,163.39,251025,,,A*7D
2025-10-25T00:40:42.945Z,1761352842.945 [NAL9602](INFO): GPS fix at 20251025T004042: (36.773281, -121.861713)
2025-10-25T00:40:43.316Z,1761352843.316 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:40:43.338Z,1761352843.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963023,0.267456,0.032475],[-0.263952,0.960759,-0.085279],[-0.054009,0.073553,0.995828]]
2025-10-25T00:40:43.738Z,1761352843.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983012,0.175882,-0.052463],[-0.180776,0.977230,-0.111093],[0.031729,0.118690,0.992424]]
2025-10-25T00:40:44.142Z,1761352844.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971023,0.212489,-0.109371],[-0.229436,0.956945,-0.177809],[0.066880,0.197750,0.977968]]
2025-10-25T00:40:44.547Z,1761352844.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966826,0.227907,-0.115350],[-0.252651,0.919721,-0.300467],[0.037611,0.319643,0.946791]]
2025-10-25T00:40:44.951Z,1761352844.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978566,0.163647,-0.125014],[-0.191712,0.945603,-0.262834],[0.075202,0.281167,0.956708]]
2025-10-25T00:40:45.375Z,1761352845.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988431,0.127770,-0.081721],[-0.132454,0.989679,-0.054699],[0.073889,0.064891,0.995153]]
2025-10-25T00:40:45.377Z,1761352845.377 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-10-25T00:40:45.759Z,1761352845.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994311,0.103505,-0.025127],[-0.098974,0.985036,0.141098],[0.039356,-0.137808,0.989677]]
2025-10-25T00:40:46.164Z,1761352846.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996291,0.083056,-0.022472],[-0.077965,0.981908,0.172565],[0.036398,-0.170173,0.984742]]
2025-10-25T00:40:46.567Z,1761352846.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993907,0.092978,-0.059187],[-0.090746,0.995096,0.039348],[0.062555,-0.033738,0.997471]]
2025-10-25T00:40:46.971Z,1761352846.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994735,0.078841,-0.065468],[-0.086509,0.988501,-0.124020],[0.054938,0.129031,0.990118]]
2025-10-25T00:40:47.374Z,1761352847.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997762,0.062110,-0.024760],[-0.065827,0.977415,-0.200814],[0.011729,0.201994,0.979316]]
2025-10-25T00:40:47.803Z,1761352847.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999167,0.040297,-0.006422],[-0.040803,0.988316,-0.146857],[0.000429,0.146997,0.989137]]
2025-10-25T00:40:48.184Z,1761352848.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998711,-0.012772,-0.049127],[0.012107,0.999831,-0.013814],[0.049295,0.013201,0.998697]]
2025-10-25T00:40:48.586Z,1761352848.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992747,-0.005951,-0.120073],[0.018254,0.994656,0.101622],[0.118826,-0.103077,0.987550]]
2025-10-25T00:40:48.991Z,1761352848.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989492,0.019163,-0.143314],[-0.002681,0.993440,0.114323],[0.144565,-0.112738,0.983052]]
2025-10-25T00:40:49.395Z,1761352849.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991954,0.014223,-0.125800],[-0.005315,0.997472,0.070864],[0.126490,-0.069625,0.989521]]
2025-10-25T00:40:49.800Z,1761352849.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997997,-0.012799,-0.061947],[0.014540,0.999510,0.027725],[0.061561,-0.028570,0.997694]]
2025-10-25T00:40:50.202Z,1761352850.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998890,-0.043873,-0.017170],[0.042683,0.997007,-0.064467],[0.019947,0.063662,0.997772]]
2025-10-25T00:40:50.606Z,1761352850.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997807,-0.059670,-0.028634],[0.053955,0.983929,-0.170216],[0.038331,0.168298,0.984991]]
2025-10-25T00:40:51.010Z,1761352851.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995186,-0.093815,-0.028335],[0.084298,0.966931,-0.240702],[0.049979,0.237155,0.970185]]
2025-10-25T00:40:51.417Z,1761352851.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994253,-0.085763,-0.064071],[0.067658,0.967219,-0.244765],[0.082963,0.239024,0.967463]]
2025-10-25T00:40:51.818Z,1761352851.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995838,-0.049273,-0.076667],[0.037407,0.988104,-0.149167],[0.083105,0.145678,0.985835]]
2025-10-25T00:40:52.222Z,1761352852.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995806,-0.050292,-0.076426],[0.049516,0.998701,-0.012006],[0.076931,0.008171,0.997003]]
2025-10-25T00:40:52.448Z,1761352852.448 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:40:52.626Z,1761352852.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995040,-0.053885,-0.083612],[0.063286,0.991440,0.114201],[0.076743,-0.118926,0.989933]]
2025-10-25T00:40:53.031Z,1761352853.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999609,-0.003333,-0.027775],[0.007003,0.991080,0.133085],[0.027083,-0.133228,0.990715]]
2025-10-25T00:40:53.436Z,1761352853.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998295,-0.007147,0.057925],[0.004607,0.999027,0.043870],[-0.058182,-0.043528,0.997357]]
2025-10-25T00:40:53.838Z,1761352853.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995444,-0.053971,0.078599],[0.059143,0.996129,-0.065038],[-0.074785,0.069391,0.994783]]
2025-10-25T00:40:54.242Z,1761352854.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996977,-0.065178,0.042293],[0.070592,0.987260,-0.142596],[-0.032461,0.145150,0.988877]]
2025-10-25T00:40:54.285Z,1761352854.285 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-10-25T00:40:54.285Z,1761352854.285 [DefaultWithUndock:A.Wait] Stopped
2025-10-25T00:40:54.286Z,1761352854.286 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-10-25T00:40:54.286Z,1761352854.286 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-10-25T00:40:54.286Z,1761352854.286 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-10-25T00:40:54.286Z,1761352854.286 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-10-25T00:40:54.286Z,1761352854.286 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-10-25T00:40:54.286Z,1761352854.286 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-10-25T00:40:54.286Z,1761352854.286 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-10-25T00:40:54.286Z,1761352854.286 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-10-25T00:40:54.647Z,1761352854.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998540,-0.038506,-0.037872],[0.030245,0.979622,-0.198558],[0.044746,0.197123,0.979357]]
2025-10-25T00:40:54.673Z,1761352854.673 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-10-25T00:40:54.673Z,1761352854.673 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-10-25T00:40:54.674Z,1761352854.674 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth 0.164344 m.
2025-10-25T00:40:54.675Z,1761352854.675 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-10-25T00:40:54.675Z,1761352854.675 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-10-25T00:40:55.050Z,1761352855.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996164,-0.013550,-0.086447],[-0.003899,0.980084,-0.198547],[0.087416,0.198123,0.976271]]
2025-10-25T00:40:55.082Z,1761352855.082 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-10-25T00:40:55.454Z,1761352855.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999883,0.005636,-0.014220],[-0.008337,0.980228,-0.197695],[0.012825,0.197791,0.980160]]
2025-10-25T00:40:55.503Z,1761352855.503 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-10-25T00:40:55.617Z,1761352855.617 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-10-25T00:40:55.858Z,1761352855.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999679,-0.017734,-0.018117],[0.014618,0.987074,-0.159598],[0.020713,0.159282,0.987016]]
2025-10-25T00:40:56.264Z,1761352856.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992983,0.009398,-0.117887],[-0.016368,0.998165,-0.058295],[0.117122,0.059815,0.991315]]
2025-10-25T00:40:56.666Z,1761352856.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996759,0.066369,-0.045469],[-0.066870,0.997716,-0.009584],[0.044729,0.012594,0.998920]]
2025-10-25T00:40:57.071Z,1761352857.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992712,0.084233,0.086184],[-0.083061,0.996398,-0.017103],[-0.087314,0.009820,0.996132]]
2025-10-25T00:40:57.475Z,1761352857.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995098,0.067663,0.072122],[-0.066878,0.997673,-0.013244],[-0.072850,0.008355,0.997308]]
2025-10-25T00:40:57.886Z,1761352857.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998032,0.054800,-0.030486],[-0.055802,0.997894,-0.033075],[0.028609,0.034711,0.998988]]
2025-10-25T00:40:58.282Z,1761352858.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996910,0.067616,-0.039979],[-0.071360,0.992312,-0.101121],[0.032834,0.103662,0.994071]]
2025-10-25T00:40:58.686Z,1761352858.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995126,0.076457,-0.062275],[-0.084378,0.987040,-0.136504],[0.051031,0.141093,0.988680]]
2025-10-25T00:40:59.092Z,1761352859.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990580,0.113997,-0.075871],[-0.121826,0.986645,-0.108118],[0.062533,0.116343,0.991239]]
2025-10-25T00:40:59.494Z,1761352859.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982162,0.174618,-0.069762],[-0.179374,0.981361,-0.068955],[0.056421,0.080238,0.995178]]
2025-10-25T00:40:59.935Z,1761352859.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970261,0.235105,-0.057620],[-0.238285,0.969555,-0.056420],[0.042601,0.068472,0.996743]]
2025-10-25T00:41:00.303Z,1761352860.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978368,0.206705,0.008291],[-0.205646,0.976147,-0.069617],[-0.022484,0.066406,0.997539]]
2025-10-25T00:41:00.708Z,1761352860.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982629,0.174957,0.061892],[-0.166864,0.978900,-0.117948],[-0.081222,0.105572,0.991089]]
2025-10-25T00:41:01.111Z,1761352861.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982695,0.169537,0.074622],[-0.154962,0.973143,-0.170231],[-0.101478,0.155722,0.982575]]
2025-10-25T00:41:01.320Z,1761352861.320 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:41:01.514Z,1761352861.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992257,0.120065,-0.031794],[-0.124203,0.958854,-0.255289],[-0.000166,0.257261,0.966342]]
2025-10-25T00:41:01.951Z,1761352861.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964627,0.074495,-0.252873],[-0.152952,0.939434,-0.306707],[0.214709,0.334536,0.917598]]
2025-10-25T00:41:02.328Z,1761352862.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916909,0.206629,-0.341443],[-0.282906,0.939962,-0.190882],[0.281502,0.271618,0.920315]]
2025-10-25T00:41:02.726Z,1761352862.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890140,0.418599,-0.180073],[-0.436342,0.896895,-0.072003],[0.131366,0.142666,0.981014]]
2025-10-25T00:41:03.131Z,1761352863.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881021,0.472457,-0.024215],[-0.473062,0.879439,-0.052907],[-0.003701,0.058068,0.998306]]
2025-10-25T00:41:03.536Z,1761352863.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880180,0.474568,0.008349],[-0.472033,0.877049,-0.089279],[-0.049691,0.074641,0.995972]]
2025-10-25T00:41:03.960Z,1761352863.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889747,0.455860,0.023277],[-0.448198,0.882172,-0.144537],[-0.086423,0.118169,0.989226]]
2025-10-25T00:41:04.344Z,1761352864.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911183,0.411285,-0.024302],[-0.410030,0.899478,-0.151045],[-0.040263,0.147594,0.988228]]
2025-10-25T00:41:04.746Z,1761352864.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917105,0.383434,-0.109070],[-0.396552,0.905481,-0.151166],[0.040799,0.181888,0.982473]]
2025-10-25T00:41:05.151Z,1761352865.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905223,0.399370,-0.145170],[-0.422673,0.881443,-0.210729],[0.043800,0.252116,0.966705]]
2025-10-25T00:41:05.556Z,1761352865.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892088,0.428896,-0.142223],[-0.450053,0.871491,-0.194820],[0.040388,0.237804,0.970473]]
2025-10-25T00:41:05.717Z,1761352865.717 [DAT](INFO): setting remote address to 10
2025-10-25T00:41:05.963Z,1761352865.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877351,0.463033,-0.125921],[-0.471549,0.880558,-0.047541],[0.088868,0.101088,0.990901]]
2025-10-25T00:41:05.969Z,1761352865.969 [DAT](INFO): DAT read: user:8>

2025-10-25T00:41:05.970Z,1761352865.970 [DAT](INFO): DAT read: RemoteAddr      | 10          

2025-10-25T00:41:05.970Z,1761352865.970 [DAT](INFO): set remote address to 10
2025-10-25T00:41:05.970Z,1761352865.970 [DAT](INFO): entering online mode
2025-10-25T00:41:06.221Z,1761352866.221 [DAT](INFO): DAT read: user:9>

2025-10-25T00:41:06.221Z,1761352866.221 [DAT](INFO): DAT read: 

2025-10-25T00:41:06.222Z,1761352866.222 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-25T00:41:06.223Z,1761352866.223 [DAT](INFO): commRate: 600
2025-10-25T00:41:06.223Z,1761352866.223 [DAT](INFO): online mode acknowledged
2025-10-25T00:41:06.223Z,1761352866.223 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-25T00:41:06.362Z,1761352866.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863614,0.502564,-0.040007],[-0.493045,0.858488,0.141083],[0.105249,-0.102116,0.989189]]
2025-10-25T00:41:06.767Z,1761352866.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853935,0.520305,0.008873],[-0.511608,0.836300,0.197130],[0.095147,-0.172876,0.980337]]
2025-10-25T00:41:07.173Z,1761352867.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850927,0.525197,-0.009529],[-0.516677,0.840117,0.165069],[0.094699,-0.135538,0.986236]]
2025-10-25T00:41:07.574Z,1761352867.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845500,0.532220,-0.043272],[-0.528830,0.845821,0.070189],[0.073956,-0.036461,0.996595]]
2025-10-25T00:41:07.978Z,1761352867.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835854,0.543968,-0.073797],[-0.546064,0.837680,-0.010281],[0.056226,0.048892,0.997220]]
2025-10-25T00:41:08.382Z,1761352868.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832279,0.539824,-0.126107],[-0.546440,0.837193,-0.022628],[0.093360,0.087743,0.991759]]
2025-10-25T00:41:08.787Z,1761352868.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825548,0.534722,-0.180398],[-0.542533,0.840004,0.007104],[0.155334,0.092007,0.983568]]
2025-10-25T00:41:09.193Z,1761352869.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820669,0.539030,-0.189602],[-0.537341,0.840875,0.064756],[0.194337,0.048738,0.979723]]
2025-10-25T00:41:09.497Z,1761352869.497 [DAT](INFO): DAT read: Forwarding Delay UpTx time:00:41:09.2610

2025-10-25T00:41:09.497Z,1761352869.497 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-25T00:41:09.594Z,1761352869.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815597,0.551409,-0.175355],[-0.536515,0.834174,0.127690],[0.216686,-0.010063,0.976189]]
2025-10-25T00:41:09.998Z,1761352869.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808751,0.561062,-0.176437],[-0.538381,0.826990,0.161964],[0.236784,-0.035998,0.970895]]
2025-10-25T00:41:10.403Z,1761352870.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794918,0.575122,-0.193238],[-0.547428,0.817208,0.180261],[0.261587,-0.037509,0.964451]]
2025-10-25T00:41:10.808Z,1761352870.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777546,0.604422,-0.173481],[-0.576134,0.795294,0.188619],[0.251974,-0.046712,0.966606]]
2025-10-25T00:41:11.210Z,1761352871.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766807,0.632570,-0.108917],[-0.610715,0.771228,0.179541],[0.197572,-0.071155,0.977702]]
2025-10-25T00:41:11.615Z,1761352871.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765118,0.638757,-0.081141],[-0.617012,0.763364,0.191236],[0.184094,-0.096253,0.978184]]
2025-10-25T00:41:12.021Z,1761352872.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768874,0.621552,-0.150020],[-0.590693,0.780295,0.205476],[0.244774,-0.069370,0.967095]]
2025-10-25T00:41:12.423Z,1761352872.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762278,0.592287,-0.261013],[-0.570866,0.805277,0.160131],[0.305031,0.026940,0.951961]]
2025-10-25T00:41:12.827Z,1761352872.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745928,0.584168,-0.319904],[-0.583365,0.804809,0.109394],[0.321366,0.105020,0.941113]]
2025-10-25T00:41:13.230Z,1761352873.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720634,0.627569,-0.294693],[-0.615363,0.774768,0.145132],[0.319399,0.076756,0.944507]]
2025-10-25T00:41:13.635Z,1761352873.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711452,0.672068,-0.205328],[-0.636505,0.740109,0.217025],[0.297821,-0.023711,0.954327]]
2025-10-25T00:41:14.039Z,1761352874.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721867,0.681714,-0.119055],[-0.646898,0.725839,0.233840],[0.245827,-0.091785,0.964958]]
2025-10-25T00:41:14.442Z,1761352874.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731344,0.672433,-0.113883],[-0.638476,0.733751,0.232288],[0.239760,-0.097171,0.965957]]
2025-10-25T00:41:14.849Z,1761352874.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715286,0.666282,-0.210793],[-0.626638,0.745038,0.228568],[0.309340,-0.031401,0.950433]]
2025-10-25T00:41:15.251Z,1761352875.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690694,0.669951,-0.272226],[-0.649742,0.740188,0.173079],[0.317453,0.057332,0.946539]]
2025-10-25T00:41:15.304Z,1761352875.304 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 1061.40 m. Transitioning docking module to standby.
2025-10-25T00:41:15.654Z,1761352875.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696863,0.675488,-0.241034],[-0.678360,0.729885,0.084236],[0.232827,0.104807,0.966854]]
2025-10-25T00:41:15.658Z,1761352875.658 [NAL9602](INFO): Not Powering down - fast GPS
2025-10-25T00:41:15.671Z,1761352875.671 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-10-25T00:41:16.060Z,1761352876.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713415,0.667298,-0.213897],[-0.672317,0.737865,0.059538],[0.197557,0.101331,0.975040]]
2025-10-25T00:41:16.117Z,1761352876.117 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-10-25T00:41:16.117Z,1761352876.117 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-10-25T00:41:16.117Z,1761352876.117 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2025-10-25T00:41:16.117Z,1761352876.117 [DefaultWithUndock:LeaveDock] Stopped
2025-10-25T00:41:16.117Z,1761352876.117 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-10-25T00:41:16.117Z,1761352876.117 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2025-10-25T00:41:16.117Z,1761352876.117 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2025-10-25T00:41:16.117Z,1761352876.117 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-10-25T00:41:16.118Z,1761352876.118 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-25T00:41:16.118Z,1761352876.118 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-10-25T00:41:16.118Z,1761352876.118 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-10-25T00:41:16.118Z,1761352876.118 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-10-25T00:41:16.119Z,1761352876.119 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-10-25T00:41:16.119Z,1761352876.119 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-25T00:41:16.119Z,1761352876.119 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-25T00:41:16.465Z,1761352876.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725498,0.652302,-0.219443],[-0.655190,0.752224,0.069897],[0.210664,0.093067,0.973118]]
2025-10-25T00:41:16.479Z,1761352876.479 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2025-10-25T00:41:16.479Z,1761352876.479 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-10-25T00:41:16.480Z,1761352876.480 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-10-25T00:41:16.866Z,1761352876.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747160,0.627382,-0.219417],[-0.635695,0.770922,0.039640],[0.194023,0.109865,0.974826]]
2025-10-25T00:41:17.270Z,1761352877.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753699,0.605428,-0.255723],[-0.619255,0.784528,0.032238],[0.220139,0.134060,0.966213]]
2025-10-25T00:41:17.674Z,1761352877.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727456,0.616749,-0.300713],[-0.625465,0.776245,0.078980],[0.282138,0.130631,0.950439]]
2025-10-25T00:41:18.081Z,1761352878.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702534,0.662420,-0.260086],[-0.661643,0.742564,0.104053],[0.262057,0.098983,0.959963]]
2025-10-25T00:41:18.412Z,1761352878.412 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T00:41:18.483Z,1761352878.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692139,0.712562,-0.114890],[-0.701847,0.701594,0.123195],[0.168390,-0.004633,0.985710]]
2025-10-25T00:41:18.504Z,1761352878.504 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004117.00,A,3646.39542,N,12151.69912,W,1.866,128.27,251025,,,A*74
2025-10-25T00:41:18.506Z,1761352878.506 [NAL9602](INFO): GPS fix at 20251025T004117: (36.773257, -121.861652)
2025-10-25T00:41:18.518Z,1761352878.518 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-10-25T00:41:18.518Z,1761352878.518 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-10-25T00:41:18.886Z,1761352878.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687996,0.725273,0.025302],[-0.721157,0.679358,0.135661],[0.081203,-0.111581,0.990432]]
2025-10-25T00:41:19.293Z,1761352879.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690441,0.719043,0.079172],[-0.723378,0.685706,0.080818],[0.003823,-0.113071,0.993580]]
2025-10-25T00:41:19.702Z,1761352879.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666539,0.741990,-0.071944],[-0.742128,0.669582,0.030107],[0.070512,0.033325,0.996954]]
2025-10-25T00:41:20.104Z,1761352880.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679690,0.721848,-0.130216],[-0.726748,0.686769,0.013666],[0.099293,0.085346,0.991391]]
2025-10-25T00:41:20.507Z,1761352880.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687270,0.713725,-0.135115],[-0.718285,0.695459,0.020066],[0.108289,0.083260,0.990627]]
2025-10-25T00:41:20.913Z,1761352880.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689464,0.715681,-0.111539],[-0.712541,0.697820,0.073026],[0.130098,0.029127,0.991073]]
2025-10-25T00:41:21.313Z,1761352881.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663224,0.744832,-0.073203],[-0.730353,0.665471,0.154053],[0.163458,-0.048707,0.985347]]
2025-10-25T00:41:21.714Z,1761352881.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637162,0.770695,-0.007332],[-0.758435,0.628661,0.171935],[0.137119,-0.103990,0.985081]]
2025-10-25T00:41:22.119Z,1761352882.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627076,0.778757,0.017713],[-0.778256,0.625383,0.056682],[0.033064,-0.049329,0.998235]]
2025-10-25T00:41:22.524Z,1761352882.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657489,0.752653,-0.034958],[-0.752187,0.652967,-0.088596],[-0.043856,0.084545,0.995454]]
2025-10-25T00:41:22.927Z,1761352882.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641260,0.760904,-0.099051],[-0.767286,0.634588,-0.092573],[-0.007583,0.135364,0.990767]]
2025-10-25T00:41:23.331Z,1761352883.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590309,0.804658,-0.063730],[-0.805345,0.592447,0.020632],[0.054358,0.039145,0.997754]]
2025-10-25T00:41:23.734Z,1761352883.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608448,0.791442,0.058408],[-0.793317,0.604640,0.071124],[0.020975,-0.089611,0.995756]]
2025-10-25T00:41:24.140Z,1761352884.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634272,0.769227,0.077385],[-0.773044,0.629723,0.076496],[0.010111,-0.108341,0.994062]]
2025-10-25T00:41:24.542Z,1761352884.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617811,0.785609,0.033588],[-0.786321,0.617395,0.022858],[-0.002779,-0.040533,0.999174]]
2025-10-25T00:41:24.946Z,1761352884.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610817,0.791756,0.004984],[-0.788520,0.608866,-0.086706],[-0.071685,0.049032,0.996221]]
2025-10-25T00:41:25.351Z,1761352885.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576306,0.817230,-0.002710],[-0.811625,0.571959,-0.118860],[-0.095586,0.070699,0.992907]]
2025-10-25T00:41:25.488Z,1761352885.488 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20251024T220733/Courier0051.lzma
2025-10-25T00:41:25.756Z,1761352885.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556838,0.830597,0.006293],[-0.826098,0.554579,-0.100021],[-0.086568,0.050497,0.994965]]
2025-10-25T00:41:26.158Z,1761352886.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609656,0.792504,-0.016014],[-0.788981,0.604752,-0.108554],[-0.076344,0.078815,0.993962]]
2025-10-25T00:41:26.490Z,1761352886.490 [DataOverHttps](INFO): Moved sent file to Logs/20251024T220733/Courier0051.lzma.bak
2025-10-25T00:41:26.490Z,1761352886.490 [DataOverHttps](INFO): SBD MOMSN=26232949
2025-10-25T00:41:26.563Z,1761352886.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643344,0.764078,-0.047889],[-0.764227,0.637240,-0.099409],[-0.045439,0.100552,0.993894]]
2025-10-25T00:41:26.966Z,1761352886.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632357,0.769136,-0.092491],[-0.773914,0.632513,-0.031368],[0.034376,0.091415,0.995219]]
2025-10-25T00:41:27.372Z,1761352887.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612230,0.782992,-0.109994],[-0.784130,0.619123,0.042740],[0.101565,0.060083,0.993013]]
2025-10-25T00:41:27.774Z,1761352887.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601043,0.793611,-0.094494],[-0.789432,0.607965,0.084710],[0.124676,0.023682,0.991915]]
2025-10-25T00:41:28.178Z,1761352888.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604123,0.792108,-0.087181],[-0.790112,0.609628,0.063855],[0.103728,0.030306,0.994144]]
2025-10-25T00:41:28.583Z,1761352888.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610071,0.791326,-0.040209],[-0.785559,0.610694,0.099752],[0.103491,-0.029269,0.994200]]
2025-10-25T00:41:28.988Z,1761352888.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607282,0.793986,0.028205],[-0.792427,0.602772,0.093410],[0.057165,-0.079076,0.995228]]
2025-10-25T00:41:29.390Z,1761352889.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584495,0.811231,0.016422],[-0.809582,0.581715,0.078642],[0.054244,-0.059261,0.996768]]
2025-10-25T00:41:29.794Z,1761352889.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562070,0.826979,-0.013555],[-0.825754,0.562018,0.047603],[0.046985,-0.015563,0.998774]]
2025-10-25T00:41:30.199Z,1761352890.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581360,0.813289,-0.024111],[-0.813578,0.580670,-0.030238],[-0.010592,0.037195,0.999252]]
2025-10-25T00:41:30.603Z,1761352890.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612976,0.783501,-0.101913],[-0.787743,0.616000,-0.002271],[0.061000,0.081673,0.994791]]
2025-10-25T00:41:31.008Z,1761352891.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606602,0.771719,-0.191009],[-0.774259,0.627997,0.078373],[0.180435,0.100349,0.978455]]
2025-10-25T00:41:31.411Z,1761352891.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584262,0.780135,-0.223667],[-0.779446,0.616174,0.113108],[0.226057,0.108252,0.968080]]
2025-10-25T00:41:31.814Z,1761352891.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560862,0.808955,-0.176142],[-0.796943,0.585167,0.149874],[0.224313,0.056316,0.972888]]
2025-10-25T00:41:32.218Z,1761352892.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569706,0.818205,-0.077298],[-0.803992,0.574357,0.153984],[0.170387,-0.025579,0.985045]]
2025-10-25T00:41:32.624Z,1761352892.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560326,0.827962,0.022666],[-0.828132,0.559519,0.033700],[0.015220,-0.037653,0.999175]]
2025-10-25T00:41:33.027Z,1761352893.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545483,0.836685,0.049059],[-0.835585,0.547451,-0.045781],[-0.065161,-0.016020,0.997746]]
2025-10-25T00:41:33.430Z,1761352893.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521073,0.853460,-0.009463],[-0.853452,0.521136,0.006122],[0.010156,0.004886,0.999937]]
2025-10-25T00:41:33.835Z,1761352893.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522857,0.851709,-0.034828],[-0.851193,0.523860,0.032265],[0.045725,0.012776,0.998872]]
2025-10-25T00:41:34.240Z,1761352894.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562999,0.825415,-0.041506],[-0.825692,0.563929,0.014746],[0.035578,0.025969,0.999030]]
2025-10-25T00:41:34.643Z,1761352894.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563183,0.821501,-0.089218],[-0.823851,0.566570,0.016353],[0.063983,0.064292,0.995878]]
2025-10-25T00:41:35.046Z,1761352895.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520676,0.845360,-0.119426],[-0.849703,0.526722,0.023862],[0.083077,0.089052,0.992556]]
2025-10-25T00:41:35.451Z,1761352895.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502432,0.860536,-0.083904],[-0.861238,0.506678,0.039338],[0.076364,0.052496,0.995697]]
2025-10-25T00:41:35.855Z,1761352895.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497871,0.866648,-0.032342],[-0.865005,0.498919,0.053362],[0.062382,0.001408,0.998051]]
2025-10-25T00:41:36.259Z,1761352896.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478610,0.877818,0.019191],[-0.875642,0.475585,0.084076],[0.064677,-0.057044,0.996275]]
2025-10-25T00:41:36.662Z,1761352896.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494604,0.866140,0.071895],[-0.868026,0.488143,0.090811],[0.043560,-0.107322,0.993270]]
2025-10-25T00:41:37.066Z,1761352897.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492004,0.867095,0.077959],[-0.870593,0.490064,0.043652],[-0.000354,-0.089348,0.996000]]
2025-10-25T00:41:37.472Z,1761352897.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453448,0.891110,0.017565],[-0.891154,0.453629,-0.008073],[-0.015162,-0.011993,0.999813]]
2025-10-25T00:41:37.879Z,1761352897.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448133,0.893835,-0.015354],[-0.892601,0.446433,-0.062933],[-0.049397,0.041907,0.997900]]
2025-10-25T00:41:38.279Z,1761352898.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489018,0.871937,-0.024229],[-0.871333,0.487012,-0.059975],[-0.040495,0.050440,0.997906]]
2025-10-25T00:41:38.683Z,1761352898.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489894,0.868197,-0.078974],[-0.869460,0.493188,0.028374],[0.063583,0.054764,0.996473]]
2025-10-25T00:41:39.088Z,1761352899.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437241,0.886310,-0.152564],[-0.875002,0.458442,0.155571],[0.207826,0.065472,0.975972]]
2025-10-25T00:41:39.490Z,1761352899.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428931,0.892692,-0.138272],[-0.861929,0.450258,0.233120],[0.270363,0.019189,0.962567]]
2025-10-25T00:41:39.915Z,1761352899.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441138,0.893589,-0.083045],[-0.868018,0.448345,0.213383],[0.227909,-0.022046,0.973433]]
2025-10-25T00:41:40.299Z,1761352900.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365959,0.929953,-0.035509],[-0.898324,0.362964,0.247529],[0.243079,-0.058687,0.968229]]
2025-10-25T00:41:40.704Z,1761352900.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327703,0.942932,0.059081],[-0.906939,0.296441,0.299306],[0.264711,-0.151667,0.952326]]
2025-10-25T00:41:41.107Z,1761352901.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453807,0.875619,0.165378],[-0.885696,0.422811,0.191767],[0.097991,-0.233500,0.967407]]
2025-10-25T00:41:41.511Z,1761352901.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487064,0.863717,0.129466],[-0.867606,0.495503,-0.041671],[-0.100143,-0.092029,0.990708]]
2025-10-25T00:41:41.957Z,1761352901.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437306,0.894375,0.094109],[-0.886806,0.446249,-0.120155],[-0.149459,-0.030912,0.988285]]
2025-10-25T00:41:42.318Z,1761352902.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402670,0.913053,0.064731],[-0.914513,0.404312,-0.014078],[-0.039026,-0.053529,0.997803]]
2025-10-25T00:41:42.722Z,1761352902.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428227,0.902299,0.049790],[-0.903110,0.425368,0.058772],[0.031851,-0.070133,0.997029]]
2025-10-25T00:41:42.977Z,1761352902.977 [DataOverHttps](INFO): Sending 656 bytes from file Logs/20251024T220733/Express0052.lzma
2025-10-25T00:41:43.126Z,1761352903.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461858,0.883880,0.073781],[-0.886805,0.458653,0.056697],[0.016273,-0.091616,0.995661]]
2025-10-25T00:41:43.531Z,1761352903.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486519,0.869750,0.082664],[-0.873131,0.487360,0.011046],[-0.030680,-0.077550,0.996516]]
2025-10-25T00:41:43.955Z,1761352903.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474809,0.877401,0.068731],[-0.875656,0.478803,-0.063040],[-0.088220,-0.030253,0.995641]]
2025-10-25T00:41:43.978Z,1761352903.978 [DataOverHttps](INFO): Moved sent file to Logs/20251024T220733/Express0052.lzma.bak
2025-10-25T00:41:43.978Z,1761352903.978 [DataOverHttps](IMPORTANT): SBD MOMSN=26232953, MTMSN=20251025T004143
2025-10-25T00:41:44.339Z,1761352904.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452713,0.889127,0.067110],[-0.886345,0.456943,-0.074801],[-0.097174,-0.025619,0.994938]]
2025-10-25T00:41:44.742Z,1761352904.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497513,0.866974,0.028926],[-0.866995,0.498060,-0.016026],[-0.028301,-0.017105,0.999453]]
2025-10-25T00:41:45.147Z,1761352905.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498019,0.865509,-0.053587],[-0.864650,0.500329,0.045285],[0.066006,0.023781,0.997536]]
2025-10-25T00:41:45.553Z,1761352905.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491658,0.863612,-0.111564],[-0.866894,0.497529,0.030986],[0.082266,0.081479,0.993274]]
2025-10-25T00:41:45.962Z,1761352905.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505524,0.856000,-0.108210],[-0.860193,0.509776,0.014048],[0.067188,0.085980,0.994029]]
2025-10-25T00:41:46.359Z,1761352906.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483743,0.873883,-0.048176],[-0.873649,0.485434,0.033023],[0.052245,0.026115,0.998293]]
2025-10-25T00:41:46.762Z,1761352906.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507380,0.861591,0.015075],[-0.860956,0.506113,0.051030],[0.036337,-0.038871,0.998583]]
2025-10-25T00:41:47.166Z,1761352907.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524611,0.850298,0.042145],[-0.851075,0.522564,0.050966],[0.021313,-0.062606,0.997811]]
2025-10-25T00:41:47.572Z,1761352907.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504655,0.859283,0.083400],[-0.861456,0.494862,0.114044],[0.056724,-0.129399,0.989969]]
2025-10-25T00:41:47.975Z,1761352907.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495061,0.861035,0.116335],[-0.866077,0.478328,0.145301],[0.069463,-0.172688,0.982524]]
2025-10-25T00:41:48.379Z,1761352908.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523138,0.846225,0.101144],[-0.852174,0.517835,0.075142],[0.011211,-0.125502,0.992030]]
2025-10-25T00:41:48.784Z,1761352908.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539154,0.841215,0.040877],[-0.840599,0.540488,-0.035574],[-0.052019,-0.015181,0.998531]]
2025-10-25T00:41:49.186Z,1761352909.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518496,0.853949,-0.043967],[-0.850217,0.509389,-0.132864],[-0.091063,0.106271,0.990159]]
2025-10-25T00:41:49.592Z,1761352909.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503491,0.860406,-0.078735],[-0.863704,0.498836,-0.071957],[-0.022636,0.104233,0.994295]]
2025-10-25T00:41:49.995Z,1761352909.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483351,0.874524,-0.039741],[-0.875110,0.483899,0.004924],[0.023537,0.032398,0.999198]]
2025-10-25T00:41:50.400Z,1761352910.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516597,0.856127,0.013224],[-0.855557,0.515518,0.047568],[0.033907,-0.035887,0.998780]]
2025-10-25T00:41:50.802Z,1761352910.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570357,0.821131,0.020908],[-0.819272,0.566868,0.086340],[0.059045,-0.066374,0.996046]]
2025-10-25T00:41:51.207Z,1761352911.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551998,0.833792,-0.009380],[-0.830512,0.550762,0.083135],[0.074484,-0.038100,0.996494]]
2025-10-25T00:41:51.613Z,1761352911.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518074,0.854857,-0.028632],[-0.853704,0.518862,0.044396],[0.052808,0.001443,0.998604]]
2025-10-25T00:41:51.752Z,1761352911.752 [DataOverHttps](INFO): Received command: restart logs